path: root/drivers/staging/epl/EplSdoUdpu.c

/****************************************************************************

  (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
      www.systec-electronic.com

  Project:      openPOWERLINK

  Description:  source file for SDO/UDP-Protocolabstractionlayer module

  License:

    Redistribution and use in source and binary forms, with or without
    modification, are permitted provided that the following conditions
    are met:

    1. Redistributions of source code must retain the above copyright
       notice, this list of conditions and the following disclaimer.

    2. Redistributions in binary form must reproduce the above copyright
       notice, this list of conditions and the following disclaimer in the
       documentation and/or other materials provided with the distribution.

    3. Neither the name of SYSTEC electronic GmbH nor the names of its
       contributors may be used to endorse or promote products derived
       from this software without prior written permission. For written
       permission, please contact info@systec-electronic.com.

    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    POSSIBILITY OF SUCH DAMAGE.

    Severability Clause:

        If a provision of this License is or becomes illegal, invalid or
        unenforceable in any jurisdiction, that shall not affect:
        1. the validity or enforceability in that jurisdiction of any other
           provision of this License; or
        2. the validity or enforceability in other jurisdictions of that or
           any other provision of this License.

  -------------------------------------------------------------------------

                $RCSfile: EplSdoUdpu.c,v $

                $Author: D.Krueger $

                $Revision: 1.8 $  $Date: 2008/10/17 15:32:32 $

                $State: Exp $

                Build Environment:
                    GCC V3.4

  -------------------------------------------------------------------------

  Revision History:

  2006/06/26 k.t.:   start of the implementation

****************************************************************************/


#include "user/EplSdoUdpu.h"

#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
#include "SocketLinuxKernel.h"
#include <linux/completion.h>
#include <linux/sched.h>
#endif


/***************************************************************************/
/*                                                                         */
/*                                                                         */
/*          G L O B A L   D E F I N I T I O N S                            */
/*                                                                         */
/*                                                                         */
/***************************************************************************/

//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------

#ifndef EPL_SDO_MAX_CONNECTION_UDP
#define EPL_SDO_MAX_CONNECTION_UDP  5
#endif

//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------

typedef struct
{
    unsigned long   m_ulIpAddr;     // in network byte order
    unsigned int    m_uiPort;       // in network byte order

} tEplSdoUdpCon;

// instance table
typedef struct
{
    tEplSdoUdpCon           m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
    tEplSequLayerReceiveCb  m_fpSdoAsySeqCb;
    SOCKET                  m_UdpSocket;

#if (TARGET_SYSTEM == _WIN32_)
    HANDLE                  m_ThreadHandle;
    LPCRITICAL_SECTION      m_pCriticalSection;
    CRITICAL_SECTION        m_CriticalSection;

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
    struct completion       m_CompletionUdpThread;
    int                     m_ThreadHandle;
    int                     m_iTerminateThread;
#endif

} tEplSdoUdpInstance;

//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------

static tEplSdoUdpInstance  SdoUdpInstance_g;

//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------

#if (TARGET_SYSTEM == _WIN32_)
static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter);

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
static int EplSdoUdpThread(void * pArg_p);
#endif

/***************************************************************************/
/*                                                                         */
/*                                                                         */
/*          C L A S S  <EPL-SDO-UDP-Layer>                                 */
/*                                                                         */
/*                                                                         */
/***************************************************************************/
//
// Description: Protocolabstraction layer for UDP
//
//
/***************************************************************************/



//=========================================================================//
//                                                                         //
//          P U B L I C   F U N C T I O N S                                //
//                                                                         //
//=========================================================================//

//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuInit
//
// Description: init first instance of the module
//
//
//
// Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
//                                  callback-function
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel  Ret;


    Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);

return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuAddInstance
//
// Description: init additional instance of the module
//              înit socket and start Listen-Thread
//
//
//
// Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
//                                  callback-function
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel          Ret;

#if (TARGET_SYSTEM == _WIN32_)
int                 iError;
WSADATA             Wsa;

#endif

    // set instance variables to 0
    EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));

    Ret = kEplSuccessful;

    // save pointer to callback-function
    if (fpReceiveCb_p != NULL)
    {
        SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
    }
    else
    {
        Ret = kEplSdoUdpMissCb;
        goto Exit;
    }

#if (TARGET_SYSTEM == _WIN32_)
    // start winsock2 for win32
    // windows specific start of socket
    iError = WSAStartup(MAKEWORD(2,0),&Wsa);
    if (iError != 0)
    {
        Ret = kEplSdoUdpNoSocket;
        goto Exit;
    }

    // create critical section for acccess of instnace variables
    SdoUdpInstance_g.m_pCriticalSection = &SdoUdpInstance_g.m_CriticalSection;
    InitializeCriticalSection(SdoUdpInstance_g.m_pCriticalSection);

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
    init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
    SdoUdpInstance_g.m_iTerminateThread = 0;
#endif

    SdoUdpInstance_g.m_ThreadHandle = 0;
    SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;

    Ret = EplSdoUdpuConfig(INADDR_ANY, 0);

Exit:
    return Ret;
}


//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuDelInstance
//
// Description: del instance of the module
//              del socket and del Listen-Thread
//
//
//
// Parameters:
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuDelInstance()
{
tEplKernel      Ret;

#if (TARGET_SYSTEM == _WIN32_)
BOOL                fTermError;
#endif

    Ret = kEplSuccessful;

    if (SdoUdpInstance_g.m_ThreadHandle != 0)
    {   // listen thread was started
        // close thread
#if (TARGET_SYSTEM == _WIN32_)
        fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
        if(fTermError == FALSE)
        {
            Ret = kEplSdoUdpThreadError;
            goto Exit;
        }

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
        SdoUdpInstance_g.m_iTerminateThread = 1;
        /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
        send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
        wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
#endif

        SdoUdpInstance_g.m_ThreadHandle = 0;
    }

    if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
    {
        // close socket
        closesocket(SdoUdpInstance_g.m_UdpSocket);
        SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
    }

#if (TARGET_SYSTEM == _WIN32_)
    // delete critical section
    DeleteCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif

#if (TARGET_SYSTEM == _WIN32_)
    // for win 32
    WSACleanup();
#endif

#if (TARGET_SYSTEM == _WIN32_)
Exit:
#endif
    return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuConfig
//
// Description: reconfigurate socket with new IP-Address
//              -> needed for NMT ResetConfiguration
//
// Parameters:  ulIpAddr_p      = IpAddress in platform byte order
//              uiPort_p        = port number in platform byte order
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
{
tEplKernel          Ret;
struct sockaddr_in  Addr;
int                 iError;

#if (TARGET_SYSTEM == _WIN32_)
BOOL                fTermError;
unsigned long       ulThreadId;
#endif

    Ret = kEplSuccessful;

    if (uiPort_p == 0)
    {   // set UDP port to default port number
        uiPort_p = EPL_C_SDO_EPL_PORT;
    }
    else if (uiPort_p > 65535)
    {
        Ret = kEplSdoUdpSocketError;
        goto Exit;
    }

    if (SdoUdpInstance_g.m_ThreadHandle != 0)
    {   // listen thread was started

        // close old thread
#if (TARGET_SYSTEM == _WIN32_)
        fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
        if(fTermError == FALSE)
        {
            Ret = kEplSdoUdpThreadError;
            goto Exit;
        }

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
        SdoUdpInstance_g.m_iTerminateThread = 1;
        /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
        send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
        wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
        SdoUdpInstance_g.m_iTerminateThread = 0;
#endif

        SdoUdpInstance_g.m_ThreadHandle = 0;
    }

    if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
    {
        // close socket
        iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
        SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
        if(iError != 0)
        {
            Ret = kEplSdoUdpSocketError;
            goto Exit;
        }
    }

    // create Socket
    SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
    if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET)
    {
        Ret = kEplSdoUdpNoSocket;
        EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
        goto Exit;
    }

    // bind socket
    Addr.sin_family = AF_INET;
    Addr.sin_port = htons((unsigned short) uiPort_p);
    Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
    iError = bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr*)&Addr, sizeof (Addr));
    if (iError < 0)
    {
        //iError = WSAGetLastError();
        EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuConfig: bind() finished with %i\n", iError);
        Ret = kEplSdoUdpNoSocket;
        goto Exit;
    }

    // create Listen-Thread
#if (TARGET_SYSTEM == _WIN32_)
    // for win32

    // create thread
    SdoUdpInstance_g.m_ThreadHandle = CreateThread(NULL,
                                                    0,
                                                    EplSdoUdpThread,
                                                    &SdoUdpInstance_g,
                                                    0,
                                                    &ulThreadId);
    if(SdoUdpInstance_g.m_ThreadHandle == NULL)
    {
        Ret = kEplSdoUdpThreadError;
        goto Exit;
    }

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)

    SdoUdpInstance_g.m_ThreadHandle = kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
    if(SdoUdpInstance_g.m_ThreadHandle == 0)
    {
        Ret = kEplSdoUdpThreadError;
        goto Exit;
    }
#endif


Exit:
    return Ret;

}


//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuInitCon
//
// Description: init a new connect
//
//
//
// Parameters:  pSdoConHandle_p = pointer for the new connection handle
//              uiTargetNodeId_p = NodeId of the target node
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuInitCon(tEplSdoConHdl*  pSdoConHandle_p,
                                    unsigned int    uiTargetNodeId_p)
{
tEplKernel          Ret;
unsigned int        uiCount;
unsigned int        uiFreeCon;
tEplSdoUdpCon*      pSdoUdpCon;

    Ret = kEplSuccessful;

    // get free entry in control structure
    uiCount = 0;
    uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
    pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
    while (uiCount < EPL_SDO_MAX_CONNECTION_UDP)
    {
        if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p))
        {   // existing connection to target node found
            // set handle
            *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);

            goto Exit;
        }
        else if ((pSdoUdpCon->m_ulIpAddr == 0)
                && (pSdoUdpCon->m_uiPort == 0))
        {
            uiFreeCon = uiCount;
        }
        uiCount++;
        pSdoUdpCon++;
    }

    if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP)
    {
        // error no free handle
        Ret = kEplSdoUdpNoFreeHandle;
    }
    else
    {
        pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
        // save infos for connection
        pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
        pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p);   // 192.168.100.uiTargetNodeId_p

        // set handle
        *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);

    }

Exit:
    return Ret;

}

//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuSendData
//
// Description: send data using exisiting connection
//
//
//
// Parameters:  SdoConHandle_p  = connection handle
//              pSrcData_p      = pointer to data
//              dwDataSize_p    = number of databyte
//                                  -> without asend-header!!!
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuSendData(tEplSdoConHdl       SdoConHandle_p,
                                    tEplFrame *          pSrcData_p,
                                    DWORD                dwDataSize_p)
{
tEplKernel          Ret;
int                 iError;
unsigned int        uiArray;
struct sockaddr_in  Addr;

    Ret = kEplSuccessful;

    uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
    if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
    {
        Ret = kEplSdoUdpInvalidHdl;
        goto Exit;
    }
    //set message type
    AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
    // target node id (for Udp = 0)
    AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
    // set source-nodeid (for Udp = 0)
    AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

    // calc size
    dwDataSize_p += EPL_ASND_HEADER_SIZE;

    // call sendto
    Addr.sin_family = AF_INET;
#if (TARGET_SYSTEM == _WIN32_)
        // enter  critical section for process function
    EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif

    Addr.sin_port = (unsigned short) SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort;
    Addr.sin_addr.s_addr = SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;

#if (TARGET_SYSTEM == _WIN32_)
    // leave critical section for process function
    LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif

    iError = sendto (SdoUdpInstance_g.m_UdpSocket,       // sockethandle
                (const char*) &pSrcData_p->m_le_bMessageType,        // data to send
                dwDataSize_p,                          // number of bytes to send
                0,                                     // flags
                (struct sockaddr*)&Addr,                      // target
                sizeof(struct sockaddr_in));                  // sizeof targetadress
    if(iError < 0)
    {
        EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
        Ret = kEplSdoUdpSendError;
        goto Exit;
    }

Exit:
    return Ret;

}


//---------------------------------------------------------------------------
//
// Function:    EplSdoUdpuDelCon
//
// Description: delete connection from intern structure
//
//
//
// Parameters:  SdoConHandle_p  = connection handle
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
{
tEplKernel      Ret;
unsigned int    uiArray;


    uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

    if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
    {
        Ret = kEplSdoUdpInvalidHdl;
        goto Exit;
    }
    else
    {
        Ret = kEplSuccessful;
    }


    // delete connection
    SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
    SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;

Exit:
    return Ret;
}

//=========================================================================//
//                                                                         //
//          P R I V A T E   F U N C T I O N S                              //
//                                                                         //
//=========================================================================//

//---------------------------------------------------------------------------
//
// Function:        EplSdoUdpThread
//
// Description:     thread check socket for new data
//
//
//
// Parameters:      lpParameter = pointer to parameter type tEplSdoUdpThreadPara
//
//
// Returns:         DWORD   =   errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
#if (TARGET_SYSTEM == _WIN32_)
static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter)
#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
static int EplSdoUdpThread(void * pArg_p)
#endif
{

tEplSdoUdpInstance* pInstance;
struct sockaddr_in  RemoteAddr;
int                 iError;
int                 iCount;
int                 iFreeEntry;
BYTE                abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
unsigned int        uiSize;
tEplSdoConHdl       SdoConHdl;

#if (TARGET_SYSTEM == _WIN32_)
    pInstance = (tEplSdoUdpInstance*)lpParameter;

    for (;;)

#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
    pInstance = (tEplSdoUdpInstance*)pArg_p;
    daemonize("EplSdoUdpThread");
    allow_signal( SIGTERM );

    for (;pInstance->m_iTerminateThread == 0;)
#endif

    {
        // wait for data
        uiSize = sizeof(struct sockaddr);
        iError = recvfrom(pInstance->m_UdpSocket,   // Socket
                        (char *)&abBuffer[0],               // buffer for data
                        sizeof(abBuffer),           // size of the buffer
                        0,                          // flags
                        (struct sockaddr*)&RemoteAddr,
                        (int*)&uiSize);
#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
        if (iError == -ERESTARTSYS)
        {
            break;
        }
#endif
        if (iError > 0)
        {
            // get handle for higher layer
            iCount = 0;
            iFreeEntry = 0xFFFF;
#if (TARGET_SYSTEM == _WIN32_)
        // enter  critical section for process function
    EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif
            while (iCount < EPL_SDO_MAX_CONNECTION_UDP)
            {
                // check if this connection is already known
                if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
                    && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == RemoteAddr.sin_port))
                {
                    break;
                }

                if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == 0)
                    && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == 0)
                    && (iFreeEntry == 0xFFFF))

                {
                    iFreeEntry  = iCount;
                }

                iCount++;
            }

            if (iCount == EPL_SDO_MAX_CONNECTION_UDP)
            {
                // connection unknown
                // see if there is a free handle
                if (iFreeEntry != 0xFFFF)
                {
                    // save adress infos
                    pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_ulIpAddr =
                        RemoteAddr.sin_addr.s_addr;
                    pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_uiPort =
                        RemoteAddr.sin_port;
#if (TARGET_SYSTEM == _WIN32_)
    // leave critical section for process function
    LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif
                    // call callback
                    SdoConHdl = iFreeEntry;
                    SdoConHdl |= EPL_SDO_UDP_HANDLE;
                    // offset 4 -> start of SDO Sequence header
                    pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
                }
                else
                {
                    EPL_DBGLVL_SDO_TRACE0("Error in EplSdoUdpThread() no free handle\n");
#if (TARGET_SYSTEM == _WIN32_)
    // leave critical section for process function
    LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif
                }

            }
            else
            {
                // known connection
                // call callback with correct handle
                SdoConHdl = iCount;
                SdoConHdl |= EPL_SDO_UDP_HANDLE;
#if (TARGET_SYSTEM == _WIN32_)
    // leave critical section for process function
    LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
#endif
                // offset 4 -> start of SDO Sequence header
                pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
            }
        } // end of  if(iError!=SOCKET_ERROR)
    }// end of for(;;)

#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
    complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
#endif

    return 0;
}

#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

// EOF