RTDM Kernel Driver exchanging with Linux Application via /dev/rtp0/ using RTIPC Protocol and XDDP socket

[ayaida marwane <ayaida_marwane@yahoo.fr>]

Dear all,

I am trying to develop a simple example of a RTDM driver running from Xenomai Kernel, that exchanges a string ("Hello world!") with a Linux Application using /dev/rtp0.

I already succeeded doing this with Xenomai 2 using RT_PIPE. However, as I understand, this using RT_PIPE from the Kernel depreciated in Xenomai 3 and it is recommended to use RTIPC Protocol and a XDDP socket.

In the documentation, there are some examples (xddp-echo.c, xddp-label.c and xddp-stream.c), that worked well in my Xenomai 3.0.7 installed on a Raspberry Pi3.

However, these examples are using a simple socket Protocol (socket(), bind(), sendto() and recvfrom()) using the POSIX Skin. So, using this in a RTDM module, will surely not work.

Therefore, as I understand, I have to use the Real-time IPC defined in the RTDM Skin  (socket__AF_RTIPC(), bind__AF_RTIPC(), sendmsg__AF_RTIPC() and recvmsg__AF_RTIPC()).

I started with a simple example (inspired from xddp-echo.c):

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#include <rtdm/driver.h>
#include <rtdm/ipc.h>

#define XDDP_PORT 0
static const char *msg = "Hello world!";

static int __init my_module_init (void)
{
        int s;

        rtdm_printk(KERN_INFO "%s.%s()\n", THIS_MODULE->name, __FUNCTION__);

        s = socket__AF_RTIPC(AF_RTIPC, SOCK_DGRAM, IPCPROTO_XDDP);
        if (s < 0) {
                rtdm_printk(KERN_INFO "socket error\n");
        }
}

static void __exit my_module_exit (void)
{
        rtdm_printk(KERN_INFO "%s.%s()\n", THIS_MODULE->name, __FUNCTION__);
}

module_init(my_module_init);
module_exit(my_module_exit);
MODULE_LICENSE("GPL »);

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The Makefile used to compile is this one:

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obj-m += rtdm-xddp.o

        KERNEL_DIR ?= /usr/src/linux
        MODULE_DIR := $(shell pwd)

modules:
        $(MAKE) -C $(KERNEL_DIR) SUBDIRS=$(MODULE_DIR) modules

clean::
        rm -f  *.o  .*.o  .*.o.* *.ko  .*.ko  *.mod.* .*.mod.* .*.cmd *~
        rm -f Module.symvers Module.markers modules.order
        rm -rf .tmp_versions

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The error that I have is:

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root@raspberrypi:/home/pi/TD3/xddp-noyau# make
make -C /usr/src/linux SUBDIRS=/home/pi/TD3/xddp-noyau modules
make[1] : on entre dans le répertoire « /usr/src/linux »
  CC [M]  /home/pi/TD3/xddp-noyau/rtdm-xddp.o
/home/pi/TD3/xddp-noyau/rtdm-xddp.c: In function ‘my_module_init’:
/home/pi/TD3/xddp-noyau/rtdm-xddp.c:35:13: error: implicit declaration of function ‘socket__AF_RTIPC’; did you mean ‘socket_seq_show’? [-Werror=implicit-function-declaration]
         s = socket__AF_RTIPC(AF_RTIPC, SOCK_DGRAM, IPCPROTO_XDDP);
             ^~~~~~~~~~~~~~~~
             socket_seq_show
At top level:
/home/pi/TD3/xddp-noyau/rtdm-xddp.c:16:20: warning: ‘msg’ defined but not used [-Wunused-variable]
 static const char *msg = "Hello world!";
                    ^~~
cc1: some warnings being treated as errors
make[2]: *** [scripts/Makefile.build:335: /home/pi/TD3/xddp-noyau/rtdm-xddp.o] Error 1
make[1]: *** [Makefile:1528: _module_/home/pi/TD3/xddp-noyau] Error 2
make[1] : on quitte le répertoire « /usr/src/linux »
make: *** [Makefile:8: modules] Error 2

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I verified that socket__AF_RTIPC is  well defined in rtdm/uapi/ipc.h, which is included on rtdm/ipc.h. So with #include <rtdm/ipc.h>, I must have resolved this issue and socket__AF_RTIPC must be already declared.

I did not even add for now the other RTIPC socket's methods (bind__AF_RTIPC(), sendmsg__AF_RTIPC() and recvmsg__AF_RTIPC()).

Am I understanding well or I missed something? Could you please clarify if I am wrong. Perhaps, this is not possible?

Otherwise, did you have such an example using RTIPC Protocol to communicate with a Linux application, It could inspire me to fix my error. I did not found any example on the net...

Thank you for your support.

Best regards,
Marwane Ayaida.