examples/netpkt: add ethercat test example for robot

add a simple example to test ethercat's sending and receiving

Signed-off-by: zhanghongyu <[email protected]>

examples/netpkt/CMakeLists.txt

@@ -28,4 +28,14 @@ if(CONFIG_EXAMPLES_NETPKT)
     ${CONFIG_EXAMPLES_NETPKT}
     SRCS
     netpkt_main.c)
+
+  nuttx_add_application(
+    NAME
+    netpkt_ethercat
+    STACKSIZE
+    ${CONFIG_DEFAULT_TASK_STACKSIZE}
+    MODULE
+    ${CONFIG_EXAMPLES_NETPKT}
+    SRCS
+    netpkt_ethercat.c)
 endif()

examples/netpkt/Makefile

@@ -22,13 +22,13 @@ include $(APPDIR)/Make.defs
 
 # Network packet socket example
 
-PROGNAME = netpkt
+PROGNAME = netpkt netpkt_ethercat
 PRIORITY = SCHED_PRIORITY_DEFAULT
 STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
 MODULE = $(CONFIG_EXAMPLES_NETPKT)
 
 # MDIO tool
 
-MAINSRC = netpkt_main.c
+MAINSRC = netpkt_main.c netpkt_ethercat.c
 
 include $(APPDIR)/Application.mk

examples/netpkt/netpkt_ethercat.c

@@ -0,0 +1,125 @@
+/****************************************************************************
+ * apps/examples/netpkt/netpkt_ethercat.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <time.h>
+
+#include <net/if.h>
+#include <netinet/ip.h>
+#include <netpacket/packet.h>
+#include <sys/socket.h>
+
+#include <nuttx/clock.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+  printf("usage: netpkt_ethercat <[ifname] <times>>\n");
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR const char *argv[4])
+{
+  struct timespec send_time;
+  struct timespec recv_time;
+  struct sockaddr_ll addr;
+  uint8_t sendbuff[60] =
+  {
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x9c, 0x7f, 0x81, 0x3c, 0x1e, 0x8e,
+    0x88, 0xa4, 0x0e, 0x10, 0x07, 0x4a, 0x00, 0x00, 0x30, 0x01, 0x02, 0x00,
+  };
+
+  uint8_t recvbuff[100];
+  FAR const char *ifname = "eth0";
+  int repeat = 10;
+  int num_packets = 0;
+  int len;
+  int ifindex;
+  int sockfd = socket(AF_PACKET, SOCK_RAW, IPPROTO_RAW);
+
+  if (sockfd == -1)
+    {
+      perror("ERROR: creating socket failed");
+      return -errno;
+    }
+
+  if (argc >= 2)
+    {
+      ifname = argv[1];
+    }
+
+  ifindex = if_nametoindex(ifname);
+
+  if (argc >= 3)
+    {
+      repeat = atoi(argv[2]);
+    }
+
+  if (ifindex == 0)
+    {
+      printf("Failed to get index of device %s\n", ifname);
+      close(sockfd);
+      usage();
+      return -errno;
+    }
+
+  addr.sll_family = AF_PACKET;
+  addr.sll_ifindex = ifindex;
+  if (bind(sockfd, (FAR const struct sockaddr *)&addr, sizeof(addr)) < 0)
+    {
+      perror("ERROR: binding socket failed");
+      close(sockfd);
+      usage();
+      return -errno;
+    }
+
+  for (num_packets = 0; num_packets < repeat; num_packets++)
+    {
+      clock_gettime(CLOCK_REALTIME, &send_time);
+      if (sendto(sockfd, sendbuff, 60, 0, NULL, 0) < 0)
+        {
+          perror("ERROR: sendto socket failed");
+          continue;
+        }
+
+      len = recvfrom(sockfd, recvbuff, 100, 0, NULL, NULL);
+      clock_gettime(CLOCK_REALTIME, &recv_time);
+      printf("Data recv: %d bytes, spent time %ld ns\n", len,
+              (recv_time.tv_sec - send_time.tv_sec) * NSEC_PER_SEC +
+              recv_time.tv_nsec - send_time.tv_nsec);
+      usleep(1000);
+    }
+
+  close(sockfd);
+
+  return 0;
+}