RTOS/TM4C129XNCZAD: inter-task communication via network localhost

/*
 * Copyright (c) 2015, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

/*
 *    ======== udpEcho.c ========
 *    Contains BSD sockets code.
 */

#include <string.h>

#include <xdc/std.h>
#include <xdc/runtime/System.h>

#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/drivers/GPIO.h>

/* NDK BSD support */
#include <sys/socket.h>

/* Example/Board Header file */
#include "Board.h"

#define UDPPACKETSIZE 256

Void echoFxnClient(UArg arg0, UArg arg1)
{
    int                bytesRcvd;
    int                bytesSent;
    int                status;
    int                client;
    struct sockaddr_in localAddr;
    struct sockaddr_in serverAddr;
    socklen_t          addrlen;
    char               buffer[UDPPACKETSIZE];
    int                i;

    for (i = 0; i < UDPPACKETSIZE; i++) {
        buffer[i] = i;
    }

    Task_sleep(10000);

    client = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
    if (client == -1) {
        System_abort("Error: socket not created.\n");
    }

    memset(&serverAddr, 0, sizeof(serverAddr));
    serverAddr.sin_family = AF_INET;
    serverAddr.sin_addr.s_addr = htonl(127<<24 | 1);
    serverAddr.sin_port = htons(arg0);

    addrlen = sizeof(serverAddr);

    memset(&localAddr, 0, sizeof(localAddr));
    localAddr.sin_family = AF_INET;
    localAddr.sin_addr.s_addr = htonl(INADDR_ANY);
    localAddr.sin_port = htons(arg0 + 1);

   status = bind(client, (struct sockaddr *)&localAddr, sizeof(localAddr));
   if (status == -1) {
       System_abort("Error: echoFxnClient bind failed.\n");
   }

    bytesSent = sendto(client, buffer, UDPPACKETSIZE, 0,
                       (struct sockaddr *)&serverAddr, addrlen);
    if (bytesSent <= 0) {
        System_abort("Error: sendto failed\n");
    }

    bytesRcvd = recvfrom(client, buffer, UDPPACKETSIZE, 0,
                        (struct sockaddr *)&serverAddr, &addrlen);

    if (bytesRcvd <= 0) {
        System_abort("Error: sendto failed\n");
    }
}

/*
 *  ======== echoFxn ========
 *  Echoes UDP messages.
 *
 */
Void echoFxnServer(UArg arg0, UArg arg1)
{
    int                bytesRcvd;
    int                bytesSent;
    int                status;
    int                server;
    fd_set             readSet;
    struct sockaddr_in localAddr;
    struct sockaddr_in clientAddr;
    socklen_t          addrlen;
    char               buffer[UDPPACKETSIZE];

    server = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
    if (server == -1) {
        System_printf("Error: socket not created.\n");
        goto shutdown;
    }

    memset(&localAddr, 0, sizeof(localAddr));
    localAddr.sin_family = AF_INET;
    localAddr.sin_addr.s_addr = htonl(INADDR_ANY);
    localAddr.sin_port = htons(arg0);

    status = bind(server, (struct sockaddr *)&localAddr, sizeof(localAddr));
    if (status == -1) {
        System_printf("Error: bind failed.\n");
        goto shutdown;
    }

    do {
        /*
         *  readSet and addrlen are value-result arguments, which must be reset
         *  in between each select() and recvfrom() call
         */
        FD_ZERO(&readSet);
        FD_SET(server, &readSet);
        addrlen = sizeof(clientAddr);

        /* Wait forever for the reply */
        status = select(server + 1, &readSet, NULL, NULL, NULL);
        if (status > 0) {
            if (FD_ISSET(server, &readSet)) {
                bytesRcvd = recvfrom(server, buffer, UDPPACKETSIZE, 0,
                        (struct sockaddr *)&clientAddr, &addrlen);

                buffer[0] = buffer[0] + 3;
                if (bytesRcvd > 0) {
                    bytesSent = sendto(server, buffer, bytesRcvd, 0,
                            (struct sockaddr *)&clientAddr, addrlen);
                    if (bytesSent < 0 || bytesSent != bytesRcvd) {
                        System_printf("Error: sendto failed.\n");
                        goto shutdown;
                    }
                }
            }
        }
    } while (status > 0);

shutdown:
    if (server > 0) {
        close(server);
    }
}

/*
 *  ======== main ========
 */
int main(void)
{
    /* Call board init functions */
    Board_initGeneral();
    Board_initGPIO();
    Board_initEMAC();

    /* Turn on user LED */
    GPIO_write(Board_LED0, Board_LED_ON);

    System_printf("Starting the UDP Echo example\nSystem provider is set to "
                  "SysMin. Halt the target to view any SysMin contents in"
                  " ROV.\n");
    /* SysMin will only print to the console when you call flush or exit */
    System_flush();

    /* Start BIOS */
    BIOS_start();

    return (0);
}

/*
 * Copyright (c) 2015, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

/*
 *    ======== udpEchoHooks.c ========
 *    Contains non-BSD sockets code (NDK Network Open Hook)
 */

/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

#define UDPPORT 1000

/* Prototypes */
Void echoFxnServer(UArg arg0, UArg arg1);
Void echoFxnClient(UArg arg0, UArg arg1);

/*
 *  ======== netOpenHook ========
 *  NDK network open hook used to initialize IPv6
 */
void netOpenHook()
{
    Task_Handle taskHandle;
    Task_Params taskParams;
    Error_Block eb;

    /* Make sure Error_Block is initialized */
    Error_init(&eb);

    /*
     *  Create the Task that handles UDP "connections."
     *  arg0 will be the port that this task listens to.
     */
    Task_Params_init(&taskParams);
    taskParams.stackSize = 2048;
    taskParams.priority = 1;
    taskParams.arg0 = UDPPORT;
    taskHandle = Task_create((Task_FuncPtr)echoFxnServer, &taskParams, &eb);
    if (taskHandle == NULL) {
        System_abort("main: Failed to create echoFxnServer Task\n");
    }
    taskParams.arg0 = UDPPORT;
    taskHandle = Task_create((Task_FuncPtr)echoFxnClient, &taskParams, &eb);
    if (taskHandle == NULL) {
        System_abort("main: Failed to create echoFxnClient Task\n");
    }
}