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
 */
 
 /* Simple UDP receiver */
 
/*
 * A CPAL UDP packet is a struct made up of two UINT8 arrays: 
 * - the first 4-byte array is reserved for either the sender 
 *   or destination IP address, 
 * - the rest is the data payload field. 
 */
struct UDP_Packet {
    uint8: address[4];
    uint16: size;
    uint8: data[100];
};

/* 
 * A CPAL UDP stream is a queue of packets whose name indicate
 * how it is being configured: 
 * - upd_ prefix tells CPAL that this queue binds to a udp port
 * - then comes the port number (socket) and finally the direction in/out
 * The name of the queue must respect the following regex format udp_([0-9]+)_((out)|(in)).*
 */
var queue<UDP_Packet>: udp_12345_in_recv[20];

/*
 * A CPAL UDP subscription to multiple groups is defined by a uint32 array of group adresses
 * The name of the CPAL variable defining the group subscription must be 
 * the name of the CPAL udp stream variable posfix by _goup 
 */ 
var uint32: udp_12345_in_recv_group[2] = {3724542190,3724542191}; /*group 238.0.0.222 and 239.0.0.222*/

/* helper function to display address */
display_sender(in uint8: m0, in uint8: m1,in uint8: m2, in uint8: m3) {
	IO.print("%u.%u.%u.%u",m0, m1, m2, m3);
}

processdef Receiver(in channel<UDP_Packet>: rcv) {
    state Main {
        /* scan input */
        while(not rcv.is_empty())
        {
        	var UDP_Packet: p =  rcv.pop();
        	IO.println("rcv from ");
        	display_sender(p.address[0],p.address[1],p.address[2],p.address[3]);
        	IO.println(" : %u %u",p.data[0],p.data[1]);
        }
    }
}

process Receiver: p_server[100ms](udp_12345_in_recv);

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Simulation
Tasks diagram


Quiet mode disabled
[0.000000000000:ASSIGN] Assign cpal_system new value: Scheduling_Policy.FIFO
[0.000000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.000000000000:STATE] process "Receiver", instance "p_server", state "Main"
[0.000000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.100000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.100000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.200000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.200000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.300000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.300000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.400000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.400000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.500000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.500000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.600000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.600000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.700000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.700000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.800000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.800000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[0.900000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[0.900000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.000000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.000000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.100000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.100000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.200000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.200000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.300000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.300000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.400000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.400000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.500000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.500000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.600000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.600000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.700000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.700000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.800000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.800000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[1.900000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[1.900000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.000000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.000000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.100000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.100000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.200000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.200000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.300000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.300000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.400000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.400000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.500000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.500000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.600000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.600000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.700000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.700000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.800000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.800000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[2.900000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[2.900000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
[3.000000000000:udp-multigroup-receiver:STARTING_TASK] 'p_server'
[3.000000000000:udp-multigroup-receiver:TASK_FINISHED] 'p_server'
EXIT (SUCCESS) AT 3s (3000000000000)

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