Xenomai EVL network for Hostmot2: Enable port in initf

Requres:
initf hm2_eth.realtime-init servo-thread
in .hal file

Author: hdiethelm

src/hal/drivers/mesa-hostmot2/hm2_eth.c

@@ -1656,6 +1656,16 @@ static int hm2_eth_items(hm2_eth_t *board) {
     return 0;
 }
 
+static int num_boards = 0;
+void init_board_realtime_all(void *arg, long period){
+    (void)arg;
+    (void)period;
+    int i;
+    for(i = 0; i<num_boards; i++) {
+        init_board_realtime(&boards[i]);
+    }
+}
+
 int rtapi_app_main(void) {
     RTAPI_INIT_LIST_HEAD(&ifnames);
     RTAPI_INIT_LIST_HEAD(&board_num);
@@ -1679,7 +1689,7 @@ int rtapi_app_main(void) {
     if (ret < 0)
         goto error;
 
-    int num_boards = i;
+    num_boards = i;
     comm_active = 1;
 
     for(i = 0; i<num_boards; i++)
@@ -1704,9 +1714,7 @@ int rtapi_app_main(void) {
         *added = 1;
     }
 
-    for(i = 0; i<num_boards; i++) {
-        init_board_realtime(&boards[i]);
-    }
+    hal_export_functf(init_board_realtime_all, 0, 0, 0, comp_id, "%s.realtime-init", HM2_LLIO_NAME);
 
     hal_ready(comp_id);
 

src/hal/drivers/mesa-hostmot2/hm2_eth_net_evl.c

@@ -232,8 +232,27 @@ static void print_addr(char* desc, struct sockaddr_in *addr){
 }
 */
 
+static int check_evl(hm2_eth_t *board){
+    static bool error_shown = false;
+    if(!board->is_evl_oob_active && evl_get_self() >= 0){
+        if(!error_shown){
+            LL_PRINT("ERROR: hm2_eth evl mode: OOB not active in realtime thread\n"
+                "    Please add: initf hm2_eth.realtime-init servo-thread\n"
+                "    to your hal file\n");
+            error_shown = true;
+        }
+        return -1;
+    }else{
+        return 0;
+    }
+}
+
 int hm2_evl_eth_socket_send(hm2_eth_t *board, const void *buffer, int len, int flags){
     ssize_t ret = 0;
+    ret = check_evl(board);
+    if(ret < 0){
+        return ret;
+    }
     if(board->is_evl_oob_active){
         struct iovec iov;
         struct oob_msghdr msghdr;
@@ -270,6 +289,10 @@ int hm2_evl_eth_socket_send(hm2_eth_t *board, const void *buffer, int len, int f
 
 int hm2_evl_eth_socket_recv(hm2_eth_t *board, void *buffer, int len, int flags){
     ssize_t ret = 0;
+    ret = check_evl(board);
+    if(ret < 0){
+        return ret;
+    }
     if(board->is_evl_oob_active){
         struct oob_msghdr msghdr;
         struct iovec iov;