Add a periodic real-time thread

simple-client/build/Makefile

@@ -9,11 +9,13 @@ SRCS += send_packet.c
 
 OBJS = $(SRCS:%.c=%.o)
 
-CFLAGS = -O1 -g -Wall -Werror -Wextra
+CFLAGS = -Og -g -Wall -Werror -Wextra
 CFLAGS += -MD -MP
 CFLAGS += -I $(SRCDIR)
 CFLAGS += -std=gnu99
 
+LDFLAGS = -pthread
+
 vpath %.c $(SRCDIR)
 
 

simple-client/src/main.c

+#include <errno.h>
+#include <error.h>
+#include <pthread.h>
+#include <sched.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
 
 #include "getip.h"
 #include "send_packet.h"
 
-int main(int argc, char * argv[]) {
+#define CLOCK_ID CLOCK_MONOTONIC
 
-  if( argc != 2) {
+typedef struct thread_stat {
+  int nb_cycles;
+} thread_stat_t;
+
+typedef struct thread_param {
+  int interval;
+  int priority;
+  int max_cycles;
+  const char *ip_address;
+  thread_stat_t stats;
+} thread_param_t;
+
+
+// Real-time thread
+// Sends packets at a regular intervall
+static void *packet_sending_thread(void *p) {
+
+  struct timespec next;
+  struct sched_param priority;
+
+  thread_param_t *param = (thread_param_t *)p;
+
+  priority.sched_priority = param->priority;
+
+  int err = sched_setscheduler(0, SCHED_FIFO, &priority);
+
+  if (err)
+    error(EXIT_FAILURE, errno, "Couldn't set priority");
+
+  for(param->stats.nb_cycles = 0;; param->stats.nb_cycles++) {
+
+    if(param->max_cycles)
+      if(param->stats.nb_cycles >= param->max_cycles)
+        break;
+
+    clock_gettime(CLOCK_ID, &next);
+    next.tv_sec += param->interval;
+
+    send_udp_packet(param->ip_address);
+
+    clock_nanosleep(CLOCK_ID, TIMER_ABSTIME, &next, NULL);
+
+  }
+
+  return NULL;
+}
+
+static void process_options(int argc, char *argv[], thread_param_t * param) {
+
+  for(;;) {
+
+    int c = getopt(argc, argv, "l:p:i:");
+
+    if(c == -1)
+      break;
+
+    switch(c) {
+    case 'p':
+      param->priority = atoi(optarg);
+      break;
+    case 'l':
+      param->max_cycles = atoi(optarg);
+      break;
+    case 'i':
+      param->interval = atoi(optarg);
+      break;
+    default:
+      exit(EXIT_FAILURE);
+      break;
+    }
+  }
+
+  if (argc != optind + 1) {
     printf("Usage: %s server_ip\n", argv[0]);
-    return -1;
+    exit(EXIT_FAILURE);
   }
+  param->ip_address = argv[optind];
+}
+
+// Main thread, has non-real time priority
+// Handles the IO and creates real time threads
+int main(int argc, char *argv[]) {
+
+  pthread_t thread;
+  thread_param_t param;
 
-  for(int i = 0; i < 100; i++)
-    send_udp_packet(argv[1]);
+  // Default values
+  param.interval = 1;
+  param.max_cycles = -1;
+  param.priority = 80;
+
+  process_options(argc, argv, &param);
+
+
+  int err =
+      pthread_create(&thread, NULL, packet_sending_thread, (void *)&param);
+
+  if(err)
+    error(EXIT_FAILURE, errno, "Couldn't create thread");
+
+  for (;;) {
+    usleep(100000);
+
+    printf("Nb cycles: %d\n", param.stats.nb_cycles);
+
+    if( param.max_cycles == param.stats.nb_cycles )
+      break;
+  }
 
-  return 0;
+  exit(EXIT_SUCCESS);
 }

simple-server/src/main.c

+#include <arpa/inet.h>
+#include <errno.h>
+#include <netdb.h>
+#include <netinet/in.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
-#include <errno.h>
 #include <string.h>
-#include <sys/types.h>
 #include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <netdb.h>
+#include <sys/types.h>
+#include <unistd.h>
 
 #define SERVER_PORT "50000"
 #define BUFFER_SIZE 1024
 
 static void *get_in_addr(struct sockaddr *sa) {
-	if(sa->sa_family == AF_INET)
-		return &(((struct sockaddr_in*) sa)->sin_addr);
-	return &(((struct sockaddr_in6*) sa)->sin6_addr);
+  if (sa->sa_family == AF_INET) return &(((struct sockaddr_in *)sa)->sin_addr);
+  return &(((struct sockaddr_in6 *)sa)->sin6_addr);
 }
 
 int main() {
-
-	int status;
-	int sockfd = 0;
-	struct addrinfo hints, *servinfo, *servinfo_it;
-
-	int bytes_received = 0;
-
-	struct sockaddr_storage client_addr;
-	socklen_t addr_len;
-	char client_addr_str[INET6_ADDRSTRLEN];
-	
-	char buf[BUFFER_SIZE];
-
-	memset(&hints, 0, sizeof hints);
-	hints.ai_family = AF_UNSPEC;
-	hints.ai_socktype = SOCK_DGRAM;
-	hints.ai_flags = AI_PASSIVE;
-
-	status = getaddrinfo(NULL, SERVER_PORT, &hints, &servinfo);
-	if( status != 0 ) {
-		fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(status));
-		printf("getaddrinfo: %s\n", gai_strerror(status));
-		return 1;
-	}
-
-	for(servinfo_it = servinfo; servinfo_it; servinfo_it = servinfo_it->ai_next) {
-		sockfd = socket(servinfo->ai_family, servinfo->ai_socktype, servinfo->ai_protocol);
-		if( sockfd == -1 ) {
-			printf("Socket error, continuing...\n");
-			continue;
-		}
-
-		if( bind(sockfd, servinfo_it->ai_addr, servinfo_it->ai_addrlen) == -1 ) {
-			close(sockfd);
-			printf("Bind error, continuing...\n");
-			continue;
-		}
-		break;
-	}
-
-	freeaddrinfo(servinfo);
-
-	addr_len = sizeof client_addr;
-
-	printf("waiting to recvfrom...\n");
-
-	while(1) {
-
-		if( (bytes_received = recvfrom(sockfd, buf, BUFFER_SIZE-1, 0,
-					      (struct sockaddr *)&client_addr, &addr_len)) == -1) {
-			printf("recvfrom error\n");
-			return 2;
-		}
-
-		inet_ntop(client_addr.ss_family,
-			  get_in_addr((struct sockaddr *)&client_addr),
-			  client_addr_str, sizeof(client_addr_str));
-		buf[bytes_received] = '\0';
-
-		printf("got packet from %s: %s (%d long)\n", client_addr_str, buf, bytes_received);
-	}
-
-	close(sockfd);
-
-	return 0;
+  int status;
+  int sockfd = 0;
+  struct addrinfo hints, *servinfo, *servinfo_it;
+
+  int bytes_received = 0;
+
+  struct sockaddr_storage client_addr;
+  socklen_t addr_len;
+  char client_addr_str[INET6_ADDRSTRLEN];
+
+  char buf[BUFFER_SIZE];
+
+  memset(&hints, 0, sizeof hints);
+  hints.ai_family = AF_UNSPEC;
+  hints.ai_socktype = SOCK_DGRAM;
+  hints.ai_flags = AI_PASSIVE;
+
+  status = getaddrinfo(NULL, SERVER_PORT, &hints, &servinfo);
+  if (status != 0) {
+    fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(status));
+    printf("getaddrinfo: %s\n", gai_strerror(status));
+    return 1;
+  }
+
+  for (servinfo_it = servinfo; servinfo_it;
+       servinfo_it = servinfo_it->ai_next) {
+    sockfd = socket(servinfo->ai_family, servinfo->ai_socktype,
+                    servinfo->ai_protocol);
+    if (sockfd == -1) {
+      printf("Socket error, continuing...\n");
+      continue;
+    }
+
+    if (bind(sockfd, servinfo_it->ai_addr, servinfo_it->ai_addrlen) == -1) {
+      close(sockfd);
+      printf("Bind error, continuing...\n");
+      continue;
+    }
+    break;
+  }
+
+  freeaddrinfo(servinfo);
+
+  addr_len = sizeof client_addr;
+
+  printf("waiting to recvfrom...\n");
+
+  while (1) {
+    if ((bytes_received =
+             recvfrom(sockfd, buf, BUFFER_SIZE - 1, 0,
+                      (struct sockaddr *)&client_addr, &addr_len)) == -1) {
+      printf("recvfrom error\n");
+      return 2;
+    }
+
+    inet_ntop(client_addr.ss_family,
+              get_in_addr((struct sockaddr *)&client_addr), client_addr_str,
+              sizeof(client_addr_str));
+    buf[bytes_received] = '\0';
+
+    printf("got packet from %s: %s (%d long)\n", client_addr_str, buf,
+           bytes_received);
+  }
+
+  close(sockfd);
+
+  return 0;
 }