| |
Hi,
Can you send me the full loader.c and any other changes that was done to
get it to compile under Solaris? I am in the process of re-writing most
of dll to be easier to read (getting rid of a lot of the ifdefs,
renaming functions, etc), but still maintaining the cross-platform
compiling for both UNIX and Windows. Thanks
Ram
Ryan VanderBijl wrote:
>
> YEAH! It works! And there was great rejoicing! :-)
>
> This version sucsefully d/led the helloworld.lx, and it ran perfectly.
> Thank you much!
>
> I'm curious, what all did you change? I saw you did a cool thing to make
> the getopt_long work... (btw, it gave a small warning saying that
> option_index
> was unused in the main function.)
> That should be applied to convert.c also, although you may have to do
> something with optind to make it work.
>
> Thanks again!
>
> Ryan
>
> > > ... well.. i know that... i tried using that one before. Like you said,
> > > it
> > > doesn't work.
> >
> > Could you please try the appended version of loader.c?
> >
> > Eddie C. Dost
> > ecd@skynet.be
> > --
> >
> > /*! \file loader.c
> > \brief legOS task downloading
> > \author Markus L. Noga <markus@noga.de>
> > */
> >
> > /*
> > * The contents of this file are subject to the Mozilla Public License
> > * Version 1.0 (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.mozilla.org/MPL/
> > *
> > * Software distributed under the License is distributed on an "AS IS"
> > * basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
> > * License for the specific language governing rights and limitations
> > * under the License.
> > *
> > * The Original Code is legOS code, released October 2, 1999.
> > *
> > * The Initial Developer of the Original Code is Markus L. Noga.
> > * Portions created by Markus L. Noga are Copyright (C) 1999
> > * Markus L. Noga. All Rights Reserved.
> > *
> > * Contributor(s): everyone discussing LNP at LUGNET
> > */
> >
> > /* 2000.05.01
> > *
> > * Modifications to the original loader.c file for LegOS 0.2.2 include:
> > *
> > * Paolo Masetti's patches to eliminate "Invalid Argument" error and
> > * to get rid of several compiler warnings:
> > * <paolo.masetti@itlug.org>
> > * http://www.lugnet.com/robotics/rcx/legos/?n=619
> > *
> > * Markus L. Noga's solution to Cygwin's failure to define the O_ASYNC
> > symbol:
> > * <markus@noga.de>
> > * http://www.lugnet.com/robotics/rcx/legos/?n=439
> > *
> > * Paolo Masetti's adaptation for definitive porting to Win32. No more
> > errors in
> > * serial communication and conditional compile for Winnt (cygnwin).
> > * Several addition to dll option to better support user. Execute dll
> > without
> > * arguments to get help.
> > * <paolo.masetti@itlug.org>
> > */
> >
> > #include <stdio.h>
> > #include <stdlib.h>
> > #include <unistd.h>
> > #include <string.h>
> > #include <fcntl.h>
> > #include <sys/time.h>
> > #include <sys/types.h>
> > #include <signal.h>
> > #include <errno.h>
> >
> > #if defined(_WIN32)
> > #include <windows.h>
> > #endif
> >
> > #include <sys/lnp.h>
> > #include <sys/lnp-logical.h>
> >
> > #include "rcxtty.h"
> > #include "keepalive.h"
> > #include <lx.h>
> >
> > #define MAX_DATA_CHUNK 0xf8 //!< maximum data bytes/packet for
> > boot protocol
> > #define XMIT_RETRIES 5 //!< number of packet transmit retries
> > #define REPLY_TIMEOUT 750000 //!< timeout for reply
> > #define BYTE_TIME (1000*LNP_BYTE_TIME) //!< time to transmit a byte.
> >
> > #define DEFAULT_DEST 0
> > #define DEFAULT_PROGRAM 0
> > #define DEFAULT_SRCPORT 0
> > #define DEFAULT_PRIORITY 10
> >
> > typedef enum {
> > CMDacknowledge, //!< 1:
> > CMDdelete, //!< 1+ 1: b[nr]
> > CMDcreate, //!< 1+12: b[nr] s[textsize] s[datasize] s[bsssize] s[stacksize] s[start] b[prio]
> > CMDoffsets, //!< 1+ 7: b[nr] s[text] s[data] s[bss]
> > CMDdata, //!< 1+>3: b[nr] s[offset] array[data]
> > CMDrun, //!< 1+ 1: b[nr]
> > CMDirmode, //!< 1+ 1: b[0=near/1=far]
> > CMDlast //!< ?
> > } packet_cmd_t;
> >
> > #if defined(__sun__) && defined(__svr4__)
> > #define _SOLARIS 1
> > #endif
> >
> > #if !defined(_SOLARIS)
> > #include <getopt.h>
> >
> > static const struct option long_options[]={
> > {"rcxaddr",required_argument,0,'r'},
> > {"program",required_argument,0,'p'},
> > {"srcport",required_argument,0,'s'},
> > {"tty", required_argument,0,'t'},
> > {"irmode", required_argument,0,'i'},
> > {"execute",no_argument ,0,'e'},
> > {"verbose",no_argument ,0,'v'},
> > {0 ,0 ,0,0 }
> > };
> >
> > #else // _SOLARIS
> >
> > #define getopt_long(ac, av, opt, lopt, lidx) (getopt((ac), (av), (opt)))
> >
> > #endif // _SOLARIS
> >
> > volatile int receivedAck=0;
> >
> > volatile unsigned short relocate_to=0;
> >
> > unsigned int rcxaddr = DEFAULT_DEST,
> > prog = DEFAULT_PROGRAM,
> > srcport = DEFAULT_SRCPORT,
> > irmode = -1;
> >
> > int run_flag=0;
> > int verbose_flag=0;
> >
> > void io_handler(void);
> >
> > /*! blocking I/R write.
> > *! return number of bytes written, or negative for error.
> > */
> > int lnp_logical_write(const void *data, size_t length) {
> >
> > // With Win32 we are using Blocking Write by default
> > #if !defined(_WIN32)
> > fd_set fds;
> >
> > // wait for transmission
> > //
> > do {
> > FD_ZERO(&fds);
> > FD_SET(rcxFD(),&fds);
> > } while(select(rcxFD()+1,NULL,&fds,NULL,NULL)<1);
> > #endif
> >
> > // transmit
> > //
> > keepaliveRenew();
> >
> > return mywrite(rcxFD(), data, length)!=length;
> > }
> >
> > //! send a LNP layer 0 packet of given length
> > /*! \return 0 on success.
> > */
> > int lnp_assured_write(const unsigned char *data, unsigned char length,
> > unsigned char dest, unsigned char srcport) {
> > int i;
> > struct timeval timeout,now;
> > unsigned long total,elapsed;
> >
> > for(i=0; i<XMIT_RETRIES; i++) {
> > receivedAck=0;
> >
> > lnp_addressing_write(data,length,dest,srcport);
> >
> > gettimeofday(&timeout,0);
> > total=REPLY_TIMEOUT+length*BYTE_TIME;
> > elapsed=0;
> >
> > do {
> > #if defined(_WIN32)
> > io_handler();
> > #else
> > struct timeval tv;
> > fd_set fds;
> >
> > FD_ZERO(&fds);
> > FD_SET(rcxFD(), &fds);
> >
> > tv.tv_sec = (total - elapsed) / 1000000;
> > tv.tv_usec = (total - elapsed) % 1000000;
> > select(rcxFD() + 1, &fds, NULL, NULL, &tv);
> > if (FD_ISSET(rcxFD(), &fds))
> > io_handler();
> > #endif
> >
> > gettimeofday(&now,0);
> > elapsed=1000000*(now.tv_sec - timeout.tv_sec ) +
> > now.tv_usec - timeout.tv_usec;
> >
> > } while((!receivedAck) && (elapsed < total));
> >
> > if(i || !receivedAck)
> > if(verbose_flag)
> > fprintf(stderr,"try %d: ack:%d\n",i,receivedAck);
> >
> > if(receivedAck)
> > return 0;
> > }
> >
> > return -1;
> > }
> >
> > void io_handler(void) {
> >
> > static struct timeval last={0,0};
> > struct timeval now;
> > unsigned long diff;
> >
> > unsigned char buffer[256];
> > #if defined(_WIN32)
> > DWORD len;
> > int i;
> > #else
> > int len,i;
> > #endif
> >
> > gettimeofday(&now,0);
> > diff= 1000000*now .tv_sec + now .tv_usec -
> > (1000000*last.tv_sec + last.tv_usec);
> >
> > if(diff> 10000*LNP_BYTE_TIMEOUT) {
> > if(verbose_flag)
> > fprintf(stderr,"\n#time %lu ",diff);
> > lnp_integrity_reset();
> > }
> > #if defined(_WIN32)
> > ReadFile(rcxFD(), buffer, sizeof(buffer), &len, NULL);
> > #else
> > len=read(rcxFD(),buffer,sizeof(buffer));
> > #endif
> > for(i=0; i<len; i++) {
> > if(verbose_flag)
> > fprintf(stderr,"%02x ",buffer[i]);
> > lnp_integrity_byte(buffer[i]);
> > }
> > gettimeofday(&last,0);
> > }
> >
> > void LNPinit(const char *tty) {
> > struct timeval timeout,now;
> > long diff;
> >
> > #if !defined(_WIN32)
> > unsigned char buffer[256];
> > #endif
> >
> > // initialize RCX communications
> > //
> > if (verbose_flag) fputs("opening tty...\n", stderr);
> > #ifdef LNP_FAST
> > rcxInit(tty, 1);
> > #else
> > rcxInit(tty, 0);
> > #endif
> >
> > if (rcxFD() == BADFILE) {
> > myperror("opening tty");
> > exit(1);
> > }
> > keepaliveInit();
> >
> > // wait for IR to settle
> > //
> > gettimeofday(&timeout,0);
> > do {
> > usleep(100000);
> > gettimeofday(&now,0);
> > diff=1000000*(now.tv_sec - timeout.tv_sec ) +
> > now.tv_usec - timeout.tv_usec;
> >
> > } while(diff < 100000);
> > #if defined(_WIN32)
> > PurgeComm(rcxFD(), PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR);
> > #else
> > read(rcxFD(),buffer,256);
> > #endif
> > }
> >
> > void ahandler(const unsigned char *data,unsigned char len,unsigned char src)
> > {
> > if(*data==CMDacknowledge) {
> > receivedAck=1;
> > if(len==8) {
> > // offset packet
> > //
> > relocate_to=(data[2]<<8)|data[3];
> > }
> > }
> > }
> >
> > void lnp_download(const lx_t *lx) {
> > unsigned char buffer[256+3];
> >
> > size_t i,chunkSize,totalSize=lx->text_size+lx->data_size;
> >
> > if(verbose_flag)
> > fputs("\ndata ",stderr);
> >
> > buffer[0]=CMDdata;
> > buffer[1]=prog;
> >
> > for(i=0; i<totalSize; i+=chunkSize) {
> > chunkSize=totalSize-i;
> > if(chunkSize>MAX_DATA_CHUNK)
> > chunkSize=MAX_DATA_CHUNK;
> >
> > buffer[2]= i >> 8;
> > buffer[3]= i & 0xff;
> > memcpy(buffer+4,lx->text + i,chunkSize);
> > if(lnp_assured_write(buffer,chunkSize+4,rcxaddr,srcport)) {
> > fputs("error downloading program\n",stderr);
> > exit(-1);
> > }
> > }
> > }
> >
> > int main(int argc, char **argv) {
> > lx_t lx; // the legOS executable
> > char *filename;
> > int opt,option_index;
> >
> > unsigned char buffer[256+3]="";
> > char *tty=NULL;
> >
> > while((opt=getopt_long(argc, argv, "r:p:s:t:i:ev",
> > (struct option *)long_options, &option_index) )!=-1)
> > {
> > switch(opt) {
> > case 'e':
> > run_flag=1;
> > break;
> > case 'r':
> > sscanf(optarg,"%x",&rcxaddr);
> > break;
> > case 'p':
> > sscanf(optarg,"%x",&prog);
> > break;
> > case 's':
> > sscanf(optarg,"%x",&srcport);
> > break;
> > case 't':
> > sscanf(optarg,"%s",buffer);
> > break;
> > case 'i':
> > sscanf(optarg,"%x",&irmode);
> > break;
> > case 'v':
> > verbose_flag=1;
> > break;
> > }
> > }
> >
> > // load executable
> > //
> > if(argc-optind<1) {
> > char *usage_string =
> > " -p<prognum> , --program=<prognum> set destination program to <prognum>\n"
> > " -r<rcxadress>, --rcxaddr=<rcxadress> set RCX address to <rcxaddress>\n"
> > " -s<srcadress>, --srcport=<srcadress> set RCX sourceport to
> > <srcaddress>\n"
> > " -t<comport> , --tty=<comport> set IR Tower com port <comport>\n"
> > " -i<0/1> , --irmode=<0/1> set IR mode near(0)/far(1) on
> > RCX\n"
> > " -e , --execute execute program after download\n"
> > " -v , --verbose verbose mode\n"
> > "\n"
> > "Default com port can be set using environment variable RCXTTY.\n"
> > "Eg:\tset RCXTTY=COM2\n"
> > "\n"
> > ;
> >
> > fprintf(stderr, "usage: %s [options] file.lx\n", argv[0]);
> > fprintf(stderr, usage_string);
> >
> > return -1;
> > }
> > filename=argv[optind++];
> > if(lx_read(&lx,filename)) {
> > fprintf(stderr,"unable to load legOS executable from %s.\n",filename);
> > return -1;
> > }
> >
> > // Moved tty device setting for a new option on command line
> > if (buffer[0]) tty=buffer;
> > if (!tty) tty = getenv(TTY_VARIABLE);
> > if (!tty) tty = DEFAULTTTY;
> >
> > LNPinit(tty);
> >
> > if (verbose_flag)
> > fputs("\nLNP Initialized...\n",stderr);
> >
> > lnp_addressing_set_handler(0,ahandler);
> >
> > if(verbose_flag)
> > fprintf(stderr,"loader hostaddr=%02x hostmask=%02x portmask=%02x\n",
> > LNP_HOSTADDR & 0x00ff,LNP_HOSTMASK & 0x00ff, LNP_PORTMASK &
> > 0x00ff);
> >
> > // Set IR mode
> > if (irmode != -1) {
> > buffer[0]=CMDirmode;
> > buffer[1]=irmode;
> > if(lnp_assured_write(buffer,2,rcxaddr,srcport)) {
> > fputs("error setting IR mode to far\n",stderr);
> > return -1;
> > }
> > }
> >
> > if(verbose_flag)
> > fputs("\ndelete",stderr);
> > buffer[0]=CMDdelete;
> > buffer[1]=prog; // prog 0
> > if(lnp_assured_write(buffer,2,rcxaddr,srcport)) {
> > fputs("error deleting program\n",stderr);
> > return -1;
> > }
> >
> > if(verbose_flag)
> > fputs("\ncreate ",stderr);
> > buffer[ 0]=CMDcreate;
> > buffer[ 1]=prog; // prog 0
> > buffer[ 2]=lx.text_size>>8;
> > buffer[ 3]=lx.text_size & 0xff;
> > buffer[ 4]=lx.data_size>>8;
> > buffer[ 5]=lx.data_size & 0xff;
> > buffer[ 6]=lx.bss_size>>8;
> > buffer[ 7]=lx.bss_size & 0xff;
> > buffer[ 8]=lx.stack_size>>8;
> > buffer[ 9]=lx.stack_size & 0xff;
> > buffer[10]=lx.offset >> 8; // start offset from text segment
> > buffer[11]=lx.offset & 0xff;
> > buffer[12]=DEFAULT_PRIORITY;
> > if(lnp_assured_write(buffer,13,rcxaddr,srcport)) {
> > fputs("error creating program\n",stderr);
> > return -1;
> > }
> >
> > // relocation target address in relocate_to
> > //
> > lx_relocate(&lx,relocate_to);
> >
> > lnp_download(&lx);
> >
> > if (run_flag) {
> > if(verbose_flag)
> > fputs("\nrun ",stderr);
> > buffer[0]=CMDrun;
> > buffer[1]=prog; // prog 0
> > if(lnp_assured_write(buffer,2,rcxaddr,srcport)) {
> > fputs("error running program\n",stderr);
> > return -1;
> > }
> > }
> >
> > return 0;
> > }
>
>
> --
> Ryan VanderBijl http://www.calvin.edu/~rvbijl39
>
> (Frodo:) "I don't want to answer a string of questions while I am
> eating. I want to think!" "Good heavens!" said Pippin. "At breakfast?"
>
>
|
|
Message has 1 Reply:
 | | Re: solaris + legOS
|
| (...) Actually you should refer to CVS files that are available from (URL) tree contains the Solaris patch too. Bye, Paolo. --- Gambling: The sure way of getting nothing for something. (24 years ago, 1-Aug-00, to lugnet.robotics.rcx.legos)
|
Message is in Reply To:
| | Re: solaris + legOS
|
| YEAH! It works! And there was great rejoicing! :-) This version sucsefully d/led the helloworld.lx, and it ran perfectly. Thank you much! I'm curious, what all did you change? I saw you did a cool thing to make the getopt_long work... (btw, it gave (...) (24 years ago, 28-Jul-00, to lugnet.robotics.rcx.legos)
|
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