Add RTEMS TCP/UDP Support

CMakeLists.txt

@@ -149,6 +149,8 @@ elseif(CMAKE_SYSTEM_NAME STREQUAL "Generic")
         set(UCLIENT_PLATFORM_POSIX_NOPOLL ON)
     elseif(PLATFORM_NAME STREQUAL "FreeRTOS_Plus_TCP")
         set(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP ON)
+    elseif(PLATFORM_NAME STREQUAL "RTEMS_BSD_NET")
+        set(UCLIENT_PLATFORM_RTEMS_BSD_NET ON)
     endif()
 endif()
 
@@ -169,6 +171,8 @@ if(UCLIENT_PROFILE_UDP)
         list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/udp/udp_transport_rtems_bsd_net.c)
     endif()
 endif()
 
@@ -180,6 +184,8 @@ if(UCLIENT_PROFILE_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.c)
     endif()
 endif()
 
@@ -204,6 +210,8 @@ if(UCLIENT_PROFILE_DISCOVERY OR UCLIENT_PROFILE_UDP OR UCLIENT_PROFILE_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/ip_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/transport/ip/ip_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/transport/ip/ip_rtems_bsd_net.c)
     endif()
 endif()
 
@@ -218,6 +226,8 @@ if(UCLIENT_PROFILE_DISCOVERY)
         list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
         list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c)
+    elseif(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+        list(APPEND _transport_src src/c/profile/discovery/transport/udp_transport_datagram_rtems_bsd_net.c)
     endif()
 endif()
 

include/uxr/client/config.h.in

@@ -34,6 +34,7 @@
 #cmakedefine UCLIENT_PLATFORM_POSIX_NOPOLL
 #cmakedefine UCLIENT_PLATFORM_WINDOWS
 #cmakedefine UCLIENT_PLATFORM_FREERTOS_PLUS_TCP
+#cmakedefine UCLIENT_PLATFORM_RTEMS_BSD_NET
 #cmakedefine UCLIENT_PLATFORM_ZEPHYR
 
 #define UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS     @UCLIENT_MAX_OUTPUT_BEST_EFFORT_STREAMS@

include/uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h

@@ -0,0 +1,40 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_
+#define _UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+#include "arpa/inet.h"
+#include "sys/socket.h"
+#include "sys/select.h"
+#include "netinet/in.h"
+
+
+typedef struct uxrTCPPlatform
+{
+    struct sockaddr_in remote_addr;
+    struct fd_set select_fd;
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif //_UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_

include/uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h

@@ -0,0 +1,39 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_
+#define _UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+#include "arpa/inet.h"
+#include "sys/socket.h"
+#include "sys/select.h"
+#include "netinet/in.h"
+
+typedef struct uxrUDPPlatform
+{
+    struct sockaddr_in remote_addr;
+    struct fd_set select_fd;
+    int fd;
+} uxrUDPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif //_UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_

include/uxr/client/transport.h

@@ -26,6 +26,8 @@
 #include <uxr/client/profile/transport/ip/udp/udp_transport_windows.h>
 #elif defined(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
 #include <uxr/client/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.h>
+#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+#include <uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h>
 #endif // if defined(UCLIENT_EXTERNAL_UDP)
 #include <uxr/client/profile/transport/ip/udp/udp_transport.h>
 #endif //UCLIENT_PROFILE_UDP
@@ -35,6 +37,8 @@
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>
+#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h>
 #endif // if defined(UCLIENT_EXTERNAL_TCP)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport.h>
 #endif //UCLIENT_PROFILE_TCP

src/c/profile/discovery/transport/udp_transport_datagram_internal.h

@@ -39,6 +39,10 @@ extern "C"
 #include "list.h"
 #include "FreeRTOS_IP.h"
 #include "FreeRTOS_Sockets.h"
+#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+#include <sys/types.h>
+#include <sys/select.h>
+#include <sys/socket.h>
 #endif // if defined(UCLIENT_PLATFORM_POSIX)
 
 
@@ -57,6 +61,9 @@ typedef struct uxrUDPTransportDatagram
 #elif defined(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
     SocketSet_t poll_fd;
     Socket_t fd;
+#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET)
+    struct fd_set select_fd;
+    int fd;
 #endif // if defined(UCLIENT_PLATFORM_POSIX)
 
 } uxrUDPTransportDatagram;

src/c/profile/discovery/transport/udp_transport_datagram_rtems_bsd_net.c

@@ -0,0 +1,125 @@
+// Copyright 2018 eSOL Co.,Ltd.
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "udp_transport_datagram_internal.h"
+#include "arpa/inet.h"
+#include "sys/socket.h"
+#include "netinet/in.h"
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+
+bool uxr_init_udp_transport_datagram(
+        uxrUDPTransportDatagram* transport)
+{
+    bool rv = false;
+
+    transport->fd = socket(AF_INET, SOCK_DGRAM, 0);
+
+    if (-1 != transport->fd)
+    {
+        /* Poll setup. */
+        #pragma GCC diagnostic push
+        #pragma GCC diagnostic ignored "-Wsign-conversion"
+        FD_ZERO(&transport->select_fd);
+        FD_SET(transport->fd, &transport->select_fd);
+        #pragma GCC diagnostic pop
+        rv = true;
+    }
+
+    return rv;
+}
+
+bool uxr_close_udp_transport_datagram(
+        uxrUDPTransportDatagram* transport)
+{
+    (void) close(transport->fd);
+
+    return true;
+}
+
+bool uxr_udp_send_datagram_to(
+        uxrUDPTransportDatagram* transport,
+        const uint8_t* buf,
+        size_t len,
+        const TransportLocator* locator)
+{
+    bool rv = true;
+
+    struct sockaddr_in remote_addr;
+    memcpy(&remote_addr.sin_addr.s_addr, &locator->_.medium_locator.address, sizeof(locator->_.medium_locator.address));
+    if (0 != remote_addr.sin_addr.s_addr)
+    {
+        remote_addr.sin_family = AF_INET;
+        remote_addr.sin_port = htons(locator->_.medium_locator.locator_port);
+
+        int32_t bytes_sent = sendto(transport->fd, (void*)buf, len, 0,
+                        (struct sockaddr*)&remote_addr, sizeof(remote_addr));
+
+        if (0 >= bytes_sent)
+        {
+            rv = false;
+        }
+    }
+
+    return rv;
+}
+
+bool uxr_udp_recv_datagram(
+        uxrUDPTransportDatagram* transport,
+        uint8_t** buf,
+        size_t* len,
+        int timeout)
+{
+    bool rv = false;
+
+    struct timeval tv;
+    tv.tv_sec = timeout / 1000;
+    tv.tv_usec = (timeout % 1000) * 1000;
+
+
+    int32_t poll_rv = select(transport->fd + 1, &transport->select_fd, NULL, NULL, &tv);
+    if (0 < poll_rv)
+    {
+        int32_t bytes_received = recvfrom(transport->fd, (void*)transport->buffer, sizeof(transport->buffer),
+                        0, NULL, NULL);
+        if (0 < bytes_received)
+        {
+            *len = (size_t)bytes_received;
+            *buf = transport->buffer;
+            rv = true;
+        }
+    }
+    else if (0 == poll_rv)
+    {
+        errno = ETIME;
+    }
+
+    return rv;
+}
+
+void uxr_bytes_to_ip(
+        const uint8_t* bytes,
+        char* ip)
+{
+    uint32_t addr;
+    addr = (uint32_t)(*bytes + (*(bytes + 1) << 8) + (*(bytes + 2) << 16) + (*(bytes + 3) << 24));
+    struct in_addr saddr;
+    saddr.s_addr = addr;
+    char* res = inet_ntoa(saddr);
+    strncpy(ip, res, 16); // 16 == MAX_IPv4_LEN
+}

src/c/profile/transport/ip/ip_rtems_bsd_net.c

@@ -0,0 +1,75 @@
+// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <uxr/client/profile/transport/ip/ip.h>
+#include <uxr/client/config.h>
+
+#include "sys/socket.h"
+#include "arpa/inet.h"
+#include <netinet/in.h>
+#include <string.h>
+
+bool uxr_ip_to_locator(
+        char const* ip,
+        uint16_t port,
+        uxrIpProtocol ip_protocol,
+        TransportLocator* locator)
+{
+    bool result = false;
+    switch (ip_protocol)
+    {
+        case UXR_IPv4:
+            locator->format = ADDRESS_FORMAT_MEDIUM;
+            locator->_.medium_locator.locator_port = port;
+            uint32_t addr = inet_addr(ip);
+            memcpy(&locator->_.medium_locator.address, &addr, sizeof(locator->_.medium_locator.address));
+            result = locator->_.medium_locator.address != 0;
+            break;
+        case UXR_IPv6:
+            break;
+        default:
+            break;
+    }
+    return result;
+}
+
+bool uxr_locator_to_ip(
+        TransportLocator const* locator,
+        char* ip,
+        size_t size,
+        uint16_t* port,
+        uxrIpProtocol* ip_protocol)
+{
+    bool result = false;
+    (void)size;
+    switch (locator->format)
+    {
+        case ADDRESS_FORMAT_MEDIUM:
+            *port = locator->_.medium_locator.locator_port;
+            *ip_protocol = UXR_IPv4;
+            struct in_addr saddr;
+            uint32_t addr;
+            memcpy(&addr, &locator->_.medium_locator.address, sizeof(locator->_.medium_locator.address));
+            saddr.s_addr = addr;
+            char* res = inet_ntoa(saddr);
+            strncpy(ip, res, 16); // 16 == MAX_IPv4_LEN
+            result = true;
+            break;
+        case ADDRESS_FORMAT_LARGE:
+            break;
+        default:
+            break;
+    }
+    return result;
+}