CPAL Playground

/* Copyright (C) 2015, RealTime-at-Work, All Rights Reserved
 *
 * You may use, copy, reproduce, and distribute this sample cource code for any non-commercial purpose.
 * Some purposes which can be non-commercial are teaching, academic research,
 * public demonstrations and personal experimentation. You may also distribute this Software
 * with books or other teaching materials, or publish the Software on websites,
 * that are intended to teaching for academic or other non-commercial purposes.
 *
 * In return, we simply require that you agree: 
 * 1. That you will not remove any copyright or other notices from the Software.
 * 2. THAT THE SOFTWARE COMES "AS IS", WITH NO WARRANTIES. THIS MEANS NO EXPRESS, 
 *    IMPLIED OR STATUTORY WARRANTY.
 * @keywords udp, network
 */

/* 
 * This is a simple UDP sender process sending to a group
 */

/* 
 * A CPAL UDP stream is a queue of packets */
struct UDP_datagram {
    uint8: address[4];
    uint16 : size;
    uint8: data[100];
};

processdef sender( out channel<UDP_datagram>: send) {
    static var uint8: alive_counter = 0;

state Main {
        
        var UDP_datagram : p;
        /* send to group address */
        p.address[0] = 239;
        p.address[1] = 0;
        p.address[2] = 0;
        p.address[3] = 222;
        p.size = 2;
        p.data[0] = uint8.as(self.pid);
        p.data[1] = alive_counter;
        /* send */
        send.push(p);
        alive_counter = alive_counter + 1;
        
    }
}

/* udp port */
var queue<UDP_datagram>: udp_out_sender[20];

/* process instance */ 
process sender: p_sender[100ms](udp_out_sender);

include "annotations/hardware/hw_udp.cpal"

@cpal:hardware:udp_out_sender
{
	var 	UDP: udp1;
	udp1.port =12345;
	udp1.direction = Hw_Direction.HW_OUTPUT;
}

for ms or try the desktop editor with advanced diagram views

Simulation
Tasks diagram


Error
Quiet mode disabled
[0.000000000000:ASSIGN] Assign cpal_system new value: Scheduling_Policy.FIFO
[0.000000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.000000000000:STATE] process "sender", instance "p_sender", state "Main"
[0.000000000000:ASSIGN][0.000000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.000000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.100000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.100000000000:ASSIGN][0.100000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.100000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.200000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.200000000000:ASSIGN][0.200000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.200000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.300000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.300000000000:ASSIGN][0.300000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.300000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.400000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.400000000000:ASSIGN][0.400000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.400000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.500000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.500000000000:ASSIGN][0.500000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.500000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.600000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.600000000000:ASSIGN][0.600000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.600000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.700000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.700000000000:ASSIGN][0.700000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.700000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.800000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.800000000000:ASSIGN][0.800000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,8,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.800000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[0.900000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[0.900000000000:ASSIGN][0.900000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[0.900000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.000000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.000000000000:ASSIGN][1.000000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.000000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.100000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.100000000000:ASSIGN][1.100000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,11,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.100000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.200000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.200000000000:ASSIGN][1.200000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,12,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.200000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.300000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.300000000000:ASSIGN][1.300000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,13,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.300000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.400000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.400000000000:ASSIGN][1.400000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,14,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.400000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.500000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.500000000000:ASSIGN][1.500000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.500000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.600000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.600000000000:ASSIGN][1.600000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,16,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.600000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.700000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.700000000000:ASSIGN][1.700000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.700000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.800000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.800000000000:ASSIGN][1.800000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.800000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[1.900000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[1.900000000000:ASSIGN][1.900000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
[1.900000000000:udp-group-sender:TASK_FINISHED] 'p_sender'
[2.000000000000:udp-group-sender:STARTING_TASK] 'p_sender'
[2.000000000000:ASSIGN][2.000000000000] Pushed udp_out_sender new value: {{239,0,0,222},2,{0,20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}}
udp-group-sender : queue full at line 44
EXIT (1) AT 2s (2000000000000)

['timeout', '30s', '/srv/d_realtime/emb4cyphys/RTaW_Interp/rtaw_interpreter/cpal_interpreter', '--time', '3000', '/tmp/udp-group-sender.cpalNKGGVf.ast']

PID	start	end	name	state
0	0	0	p_sender	Main
0	100000000000	100000000000	p_sender	Main
0	200000000000	200000000000	p_sender	Main
0	300000000000	300000000000	p_sender	Main
0	400000000000	400000000000	p_sender	Main
0	500000000000	500000000000	p_sender	Main
0	600000000000	600000000000	p_sender	Main
0	700000000000	700000000000	p_sender	Main
0	800000000000	800000000000	p_sender	Main
0	900000000000	900000000000	p_sender	Main
0	1000000000000	1000000000000	p_sender	Main
0	1100000000000	1100000000000	p_sender	Main
0	1200000000000	1200000000000	p_sender	Main
0	1300000000000	1300000000000	p_sender	Main
0	1400000000000	1400000000000	p_sender	Main
0	1500000000000	1500000000000	p_sender	Main
0	1600000000000	1600000000000	p_sender	Main
0	1700000000000	1700000000000	p_sender	Main
0	1800000000000	1800000000000	p_sender	Main
0	1900000000000	1900000000000	p_sender	Main
0	2000000000000	2000000000000	p_sender	Main
0	2100000000000	2100000000000	p_sender	Main
0	2200000000000	2200000000000	p_sender	Main
0	2300000000000	2300000000000	p_sender	Main
0	2400000000000	2400000000000	p_sender	Main
0	2500000000000	2500000000000	p_sender	Main
0	2600000000000	2600000000000	p_sender	Main
0	2700000000000	2700000000000	p_sender	Main
0	2800000000000	2800000000000	p_sender	Main
0	2900000000000	2900000000000	p_sender	Main
0	3000000000000	3000000000000	p_sender	Main