hpm6750/controller_yy_app/middleware/opener/cip/cipioconnection.c

/*******************************************************************************
 * Copyright (c) 2011, Rockwell Automation, Inc.
 * All rights reserved.
 *
 ******************************************************************************/

#include <string.h>
#include <stdbool.h>

#include "cipioconnection.h"

#include "generic_networkhandler.h"
#include "cipconnectionmanager.h"
#include "cipassembly.h"
#include "cipidentity.h"
#include "ciptcpipinterface.h"
#include "cipcommon.h"
#include "appcontype.h"
#include "cpf.h"
#include "trace.h"
#include "endianconv.h"
#include "opener_error.h"

/* producing multicast connection have to consider the rules that apply for
 * application connection types.
 */
EipStatus OpenProducingMulticastConnection(
  CipConnectionObject *connection_object,
  CipCommonPacketFormatData *common_packet_format_data);

EipStatus OpenMulticastConnection(UdpCommuncationDirection direction,
                                  CipConnectionObject *connection_object,
                                  CipCommonPacketFormatData *common_packet_format_data);

EipStatus OpenConsumingPointToPointConnection(
  CipConnectionObject *const connection_object,
  CipCommonPacketFormatData *const common_packet_format_data);

CipError OpenProducingPointToPointConnection(
  CipConnectionObject *connection_object,
  CipCommonPacketFormatData *common_packet_format_data);

EipUint16 HandleConfigData(CipConnectionObject *connection_object);

/* Regularly close the IO connection. If it is an exclusive owner or input only
 * connection and in charge of the connection a new owner will be searched
 */
void CloseIoConnection(CipConnectionObject *RESTRICT connection_object);

void HandleIoConnectionTimeOut(CipConnectionObject *connection_object);

/** @brief  Send the data from the produced CIP Object of the connection via the socket of the connection object
 *   on UDP.
 *      @param connection_object  pointer to the connection object
 *      @return status  EIP_OK .. success
 *                     EIP_ERROR .. error
 */
EipStatus SendConnectedData(CipConnectionObject *connection_object);

EipStatus HandleReceivedIoConnectionData(CipConnectionObject *connection_object,
                                         const EipUint8 *data,
                                         EipUint16 data_length);

/**** Global variables ****/
EipUint8 *g_config_data_buffer = NULL; /**< buffers for the config data coming with a forward open request. */
unsigned int g_config_data_length = 0; /**< length of g_config_data_buffer. Initialized with 0 */

EipUint32 g_run_idle_state = 0; /**< buffer for holding the run idle information. */

/**** Local variables, set by API, with build-time defaults ****/
#ifdef OPENER_CONSUMED_DATA_HAS_RUN_IDLE_HEADER
static EipUint8 s_consume_run_idle = 1;
#else
static EipUint8 s_consume_run_idle = 0;
#endif
#ifdef OPENER_PRODUCED_DATA_HAS_RUN_IDLE_HEADER
static EipUint8 s_produce_run_idle = 1;
#else
static EipUint8 s_produce_run_idle = 0;
#endif

void CipRunIdleHeaderSetO2T(bool onoff) {
  s_consume_run_idle = onoff;
}

bool CipRunIdleHeaderGetO2T(void) {
  return s_consume_run_idle;
}

void CipRunIdleHeaderSetT2O(bool onoff) {
  s_produce_run_idle = onoff;
}

bool CipRunIdleHeaderGetT2O(void) {
  return s_produce_run_idle;
}

EipUint16 ProcessProductionInhibitTime(
  CipConnectionObject *io_connection_object) {
  if( kConnectionObjectTransportClassTriggerProductionTriggerCyclic ==
      ConnectionObjectGetTransportClassTriggerProductionTrigger(
        io_connection_object) )
  {
    if( 256 ==
        ConnectionObjectGetProductionInhibitTime(io_connection_object) ) {
      OPENER_TRACE_INFO("No PIT segment available\n");
      /* there was no PIT segment in the connection path; set PIT to one fourth of RPI */
      ConnectionObjectSetProductionInhibitTime(io_connection_object,
                                               ConnectionObjectGetTToORequestedPacketInterval(
                                                 io_connection_object) / 4000);
    } else {
      /* If a production inhibit time is provided, it needs to be smaller than the Requested Packet Interval */
      if( ConnectionObjectGetProductionInhibitTime(io_connection_object) >
          (ConnectionObjectGetTToORequestedPacketInterval(io_connection_object)
           /
           1000) ) {
        /* see section C-1.4.3.3 */
        return
          kConnectionManagerExtendedStatusCodeProductionInhibitTimerGreaterThanRpi;
      }
    }
  }
  return kConnectionManagerExtendedStatusCodeSuccess;
}

void SetIoConnectionCallbacks(CipConnectionObject *const io_connection_object) {
  io_connection_object->connection_close_function = CloseIoConnection;
  io_connection_object->connection_timeout_function = HandleIoConnectionTimeOut;
  io_connection_object->connection_send_data_function = SendConnectedData;
  io_connection_object->connection_receive_data_function =
    HandleReceivedIoConnectionData;
}

EipUint16 SetupIoConnectionOriginatorToTargetConnectionPoint(
  CipConnectionObject *const io_connection_object,
  CipConnectionObject *const RESTRICT connection_object) {
  CipClass *const assembly_class = GetCipClass(kCipAssemblyClassCode);
  CipInstance *instance = NULL;
  if( NULL !=
      ( instance =
          GetCipInstance(assembly_class,
                         io_connection_object->consumed_path.instance_id) ) ) {
    /* consuming Connection Point is present */
    io_connection_object->consuming_instance = instance;
    io_connection_object->consumed_connection_path_length = 6;
    /*io_connection_object->consumed_path.class_id =
       io_connection_object->connection_path.class_id;
       io_connection_object->consumed_connection_path.instance_number =
       io_connection_object->connection_path.connection_point[
       kConnectionPointConsumer];*/
    io_connection_object->consumed_path.attribute_id_or_connection_point =
      kAssemblyObjectInstanceAttributeIdData;
    int data_size = ConnectionObjectGetOToTConnectionSize(io_connection_object);
    int diff_size = 0;

    /* an assembly object should always have a data attribute. */
    CipAttributeStruct *attribute = GetCipAttribute(instance,
                                                    kAssemblyObjectInstanceAttributeIdData);
    OPENER_ASSERT(attribute != NULL);
    bool is_heartbeat = ( ( (CipByteArray *) attribute->data )->length == 0 );
    if( kConnectionObjectTransportClassTriggerTransportClass1 ==
        ConnectionObjectGetTransportClassTriggerTransportClass(
          io_connection_object) )
    {
      /* class 1 connection */
      data_size -= 2; /* remove 16-bit sequence count length */
      diff_size += 2;
    }

    if( s_consume_run_idle && (data_size > 0) && (!is_heartbeat) ) {
      /* we only have an run idle header if it is not an heartbeat connection */
      data_size -= 4; /* remove the 4 bytes needed for run/idle header */
      diff_size += 4;
    }

    if( ( (CipByteArray *) attribute->data )->length != data_size ) {
      /*wrong connection size */
      connection_object->correct_originator_to_target_size =
        ( (CipByteArray *) attribute->data )->length + diff_size;
      return kConnectionManagerExtendedStatusCodeErrorInvalidOToTConnectionSize;
    }
  } else {
    return kConnectionManagerExtendedStatusCodeInvalidConsumingApplicationPath;
  }
  return kConnectionManagerExtendedStatusCodeSuccess;
}

EipUint16 SetupIoConnectionTargetToOriginatorConnectionPoint(
  CipConnectionObject *const io_connection_object,
  CipConnectionObject *const RESTRICT connection_object) {
  DoublyLinkedListNode *node = connection_list.first;
  while( NULL != node &&
         kConnectionObjectConnectionTypeMulticast ==
         ConnectionObjectGetTToOConnectionType(io_connection_object) ) {
    CipConnectionObject *iterator = node->data;
    if(io_connection_object->produced_path.instance_id ==
       iterator->produced_path.instance_id) {
      //Check parameters
      if( ConnectionObjectGetTToORequestedPacketInterval(io_connection_object)
          !=
          ConnectionObjectGetTToORequestedPacketInterval(iterator) ) {
        return kConnectionManagerExtendedStatusCodeErrorRpiValuesNotAcceptable;
      }
      if( ConnectionObjectGetTToOConnectionSizeType(io_connection_object) !=
          ConnectionObjectGetTToOConnectionSizeType(iterator) ) {
        return
          kConnectionManagerExtendedStatusCodeMismatchedTToONetworkConnectionFixVar;
      }
      if( ConnectionObjectGetTToOPriority(io_connection_object) !=
          ConnectionObjectGetTToOPriority(iterator) ) {
        return
          kConnectionManagerExtendedStatusCodeMismatchedTToONetworkConnectionPriority;
      }

      if( ConnectionObjectGetTransportClassTriggerTransportClass(
            io_connection_object) !=
          ConnectionObjectGetTransportClassTriggerTransportClass(iterator) ) {
        return kConnectionManagerExtendedStatusCodeMismatchedTransportClass;
      }

      if( ConnectionObjectGetTransportClassTriggerProductionTrigger(
            io_connection_object)
          != ConnectionObjectGetTransportClassTriggerProductionTrigger(iterator) )
      {
        return
          kConnectionManagerExtendedStatusCodeMismatchedTToOProductionTrigger;
      }

      if( ConnectionObjectGetProductionInhibitTime(io_connection_object) !=
          ConnectionObjectGetProductionInhibitTime(iterator) ) {
        return
          kConnectionManagerExtendedStatusCodeMismatchedTToOProductionInhibitTimeSegment;
      }

    }

    node = node->next;
  }

  /*setup producer side*/
  CipClass *const assembly_class = GetCipClass(kCipAssemblyClassCode);
  CipInstance *instance = NULL;
  if( NULL !=
      ( instance =
          GetCipInstance(assembly_class,
                         io_connection_object->produced_path.instance_id) ) ) {

    io_connection_object->producing_instance = instance;
    int data_size = ConnectionObjectGetTToOConnectionSize(io_connection_object);
    int diff_size = 0;
    /* an assembly object should always have a data attribute. */
    io_connection_object->produced_path.attribute_id_or_connection_point =
      kAssemblyObjectInstanceAttributeIdData;
    CipAttributeStruct *attribute = GetCipAttribute(instance,
                                                    kAssemblyObjectInstanceAttributeIdData);
    OPENER_ASSERT(attribute != NULL);
    bool is_heartbeat = ( ( (CipByteArray *) attribute->data )->length == 0 );
    if( kConnectionObjectTransportClassTriggerTransportClass1 ==
        ConnectionObjectGetTransportClassTriggerTransportClass(
          io_connection_object) )
    {
      /* class 1 connection */
      data_size -= 2; /* remove 16-bit sequence count length */
      diff_size += 2;
    }
    if ( s_produce_run_idle && (data_size > 0) && (!is_heartbeat) ) {
      /* we only have an run idle header if it is not an heartbeat connection */
      data_size -= 4; /* remove the 4 bytes needed for run/idle header */
      diff_size += 4;
    }
    if( ( (CipByteArray *) attribute->data )->length != data_size ) {
      /*wrong connection size*/
      connection_object->correct_target_to_originator_size =
        ( (CipByteArray *) attribute->data )->length + diff_size;
      return kConnectionManagerExtendedStatusCodeErrorInvalidTToOConnectionSize;
    }
  } else {
    return kConnectionManagerExtendedStatusCodeInvalidProducingApplicationPath;
  }
  return kConnectionManagerExtendedStatusCodeSuccess;
}

/** @brief Establishes a new IO Type 1 Connection
 *
 * This function needs the guarantee that no Null request will be passed to it.
 * It will generate a new IO connection based on the data parsed in the Forward Open service
 *
 * @param connection_object pointer to the connection object structure holding the parsed data from the forward open request
 * @param extended_error the extended error code in case an error happened
 * @return general status on the establishment
 *    - kEipStatusOk ... on success
 *    - On an error the general status code to be put into the response
 */
CipError EstablishIoConnection(
  CipConnectionObject *RESTRICT const connection_object,
  EipUint16 *const extended_error) {
  CipError cip_error = kCipErrorSuccess;

  CipConnectionObject *io_connection_object = GetIoConnectionForConnectionData(
    connection_object,
    extended_error);
  if(NULL == io_connection_object) {
    return kCipErrorConnectionFailure;
  }

  *extended_error = ProcessProductionInhibitTime(io_connection_object);

  if(0 != *extended_error) {
    return kCipErrorConnectionFailure;
  }

  SetIoConnectionCallbacks(io_connection_object);

  ConnectionObjectGeneralConfiguration(io_connection_object);

  ConnectionObjectConnectionType originator_to_target_connection_type =
    ConnectionObjectGetOToTConnectionType(io_connection_object);
  ConnectionObjectConnectionType target_to_originator_connection_type =
    ConnectionObjectGetTToOConnectionType(io_connection_object);

  /** Already handled by forward open */
  OPENER_ASSERT(
    !(originator_to_target_connection_type ==
      kConnectionObjectConnectionTypeNull &&
      target_to_originator_connection_type ==
      kConnectionObjectConnectionTypeNull) );

  io_connection_object->consuming_instance = NULL;
  io_connection_object->consumed_connection_path_length = 0;
  io_connection_object->producing_instance = NULL;
  io_connection_object->produced_connection_path_length = 0;

  /* we don't need to check for zero as this is handled in the connection path parsing */

  if(originator_to_target_connection_type !=
     kConnectionObjectConnectionTypeNull) {                                         /*setup consumer side*/
    *extended_error = SetupIoConnectionOriginatorToTargetConnectionPoint(
      io_connection_object,
      connection_object);
    if(kConnectionManagerExtendedStatusCodeSuccess != *extended_error) {
      return kCipErrorConnectionFailure;
    }
  }

  if(target_to_originator_connection_type !=
     kConnectionObjectConnectionTypeNull) {                                         /*setup producer side*/
    *extended_error = SetupIoConnectionTargetToOriginatorConnectionPoint(
      io_connection_object,
      connection_object);
    if(kConnectionManagerExtendedStatusCodeSuccess != *extended_error) {
      return kCipErrorConnectionFailure;
    }
  }

  if(NULL != g_config_data_buffer) { /* config data has been sent with this forward open request */
    *extended_error = HandleConfigData(io_connection_object);
    if(kConnectionManagerExtendedStatusCodeSuccess != *extended_error) {
      return kCipErrorConnectionFailure;
    }
  }

  cip_error = OpenCommunicationChannels(io_connection_object);
  if(kCipErrorSuccess != cip_error) {
    *extended_error = 0; /*TODO find out the correct extended error code*/
    return cip_error;
  }

  AddNewActiveConnection(io_connection_object);
  CheckIoConnectionEvent(io_connection_object->consumed_path.instance_id,
                         io_connection_object->produced_path.instance_id,
                         kIoConnectionEventOpened);
  return cip_error;
}

static SocketAddressInfoItem *AllocateSocketAddressInfoItem(
  CipCommonPacketFormatData *const common_packet_format_data,
  CipUint type) {
  const int address_info_item_size =
    sizeof(common_packet_format_data->address_info_item) /
    sizeof(common_packet_format_data->address_info_item[0]);

  SocketAddressInfoItem *s = common_packet_format_data->address_info_item;

  for (int i = 0; i < address_info_item_size; i++) {
    if( (s->type_id == 0) || (s->type_id == type) ) {
      return s;
    }
    s++;
  }

  return NULL;
}

/** @brief Open a Point2Point connection dependent on pa_direction.
 *
 * @param connection_object Pointer to registered Object in ConnectionManager.
 * @param common_packet_format_data Index of the connection object
 * @return kEipStatusOk on success, otherwise kEipStatusError
 */
EipStatus OpenConsumingPointToPointConnection(
  CipConnectionObject *const connection_object,
  CipCommonPacketFormatData *const common_packet_format_data) {

  SocketAddressInfoItem *sock_addr_info =
    AllocateSocketAddressInfoItem(common_packet_format_data,
                                  kCipItemIdSocketAddressInfoOriginatorToTarget);

  if (NULL == sock_addr_info) {
    OPENER_TRACE_ERR("OpenConsumingPointToPointConnection: could not allocate "
                     "socket address info.\n");
    return kEipStatusError;
  }

  struct sockaddr_in addr =
  { .sin_family = AF_INET, .sin_addr.s_addr = INADDR_ANY, .sin_port = htons(
      kOpenerEipIoUdpPort) };

  CipUsint qos_for_socket = ConnectionObjectGetTToOPriority(connection_object);
  int error = SetQos(qos_for_socket);
  if (error != 0) {
    OPENER_TRACE_ERR(
      "cannot set QoS for UDP socket in OpenPointToPointConnection\n");
    return kEipStatusError;
  }
  /* store the address of the originator for packet scanning */
  connection_object->originator_address.sin_family = AF_INET;
  connection_object->originator_address.sin_addr.s_addr = GetPeerAddress();
  connection_object->originator_address.sin_port = htons(kOpenerEipIoUdpPort);

  connection_object->socket[kUdpCommuncationDirectionConsuming] =
    g_network_status.udp_io_messaging;

  sock_addr_info->length = 16;
  sock_addr_info->type_id = kCipItemIdSocketAddressInfoOriginatorToTarget;
  sock_addr_info->sin_port = addr.sin_port;
  /*TODO should we add our own address here? */
  sock_addr_info->sin_addr = addr.sin_addr.s_addr;
  memset(sock_addr_info->nasin_zero, 0, 8);
  sock_addr_info->sin_family = htons(AF_INET);

  return kEipStatusOk;
}

CipError OpenProducingPointToPointConnection(
  CipConnectionObject *connection_object,
  CipCommonPacketFormatData *common_packet_format_data) {
  /* the default port to be used if no port information is part of the forward open request */
  in_port_t port = htons(kOpenerEipIoUdpPort);

  if(kCipItemIdSocketAddressInfoTargetToOriginator ==
     common_packet_format_data->address_info_item[0].type_id) {
    port = common_packet_format_data->address_info_item[0].sin_port;
  } else {
    if(kCipItemIdSocketAddressInfoTargetToOriginator ==
       common_packet_format_data->address_info_item[1].type_id) {
      port = common_packet_format_data->address_info_item[1].sin_port;
    }
  }

  connection_object->remote_address.sin_family = AF_INET;
  connection_object->remote_address.sin_addr.s_addr = GetPeerAddress();
  connection_object->remote_address.sin_port = port;

  CipUsint qos_for_socket = ConnectionObjectGetTToOPriority(connection_object);
  int error = SetQos(qos_for_socket);
  if (error != 0) {
    OPENER_TRACE_ERR(
      "cannot set QoS for UDP socket in OpenPointToPointConnection\n");
    return kEipStatusError;
  }

  connection_object->socket[kUdpCommuncationDirectionProducing] =
    g_network_status.udp_io_messaging;

  return kCipErrorSuccess;
}

EipStatus OpenProducingMulticastConnection(
  CipConnectionObject *connection_object,
  CipCommonPacketFormatData *common_packet_format_data) {
  /* Here we look for existing multi-cast IO connections only. */
  CipConnectionObject *existing_connection_object =
    GetExistingProducerIoConnection(true,
                                    connection_object->produced_path.instance_id);

  SocketAddressInfoItem *sock_addr_info =
    AllocateSocketAddressInfoItem(common_packet_format_data,
                                  kCipItemIdSocketAddressInfoTargetToOriginator);

  if (NULL == sock_addr_info) {
    OPENER_TRACE_ERR("OpenProducingMulticastConnection: could not allocate "
                     "socket address info.\n");
    return kEipStatusError;
  }

  uint16_t port = htons(kOpenerEipIoUdpPort);
  if(kCipItemIdSocketAddressInfoTargetToOriginator != sock_addr_info->type_id) {
    port = sock_addr_info->sin_port;
  }

  sock_addr_info->type_id = kCipItemIdSocketAddressInfoTargetToOriginator;

  if(NULL == existing_connection_object) { /* we are the first connection producing for the given Input Assembly */
    return OpenMulticastConnection(kUdpCommuncationDirectionProducing,
                                   connection_object,
                                   common_packet_format_data);
  } else {
    /* we need to inform our originator on the correct connection id */
    connection_object->cip_produced_connection_id =
      existing_connection_object->cip_produced_connection_id;
  }

  /* we have a connection reuse the data and the socket */

  if(kConnectionObjectInstanceTypeIOExclusiveOwner ==
     connection_object->instance_type) {
    /* exclusive owners take the socket and further manage the connection
     * especially in the case of time outs.
     */
    connection_object->socket[kUdpCommuncationDirectionProducing] =
      existing_connection_object->socket[kUdpCommuncationDirectionProducing];
    existing_connection_object->socket[kUdpCommuncationDirectionProducing] =
      kEipInvalidSocket;
  } else { /* this connection will not produce the data */
    connection_object->socket[kUdpCommuncationDirectionProducing] =
      kEipInvalidSocket;
  }

  sock_addr_info->length = 16;

  connection_object->remote_address.sin_family = AF_INET;
  connection_object->remote_address.sin_port = sock_addr_info->sin_port = port;
  connection_object->remote_address.sin_addr.s_addr = sock_addr_info->sin_addr =
    g_tcpip.mcast_config.starting_multicast_address;
  memset(sock_addr_info->nasin_zero, 0, 8);
  sock_addr_info->sin_family = htons(AF_INET);

  return kEipStatusOk;
}

/** @brief Open a Multicast connection dependent on @p direction.
 *
 * @param direction Flag to indicate if consuming or producing.
 * @param connection_object Pointer to registered Object in ConnectionManager.
 * @param common_packet_format_data Received CPF Data Item.
 * @return kEipStatusOk on success, otherwise kEipStatusError
 */
EipStatus OpenMulticastConnection(UdpCommuncationDirection direction,
                                  CipConnectionObject *connection_object,
                                  CipCommonPacketFormatData *common_packet_format_data)
{
  int j = -1;

  int address_info_item_which_contains_o_to_t = -1;
  int address_info_item_which_contains_t_to_o = -1;

  if(kCipItemIdSocketAddressInfoOriginatorToTarget ==
     common_packet_format_data->address_info_item[0].type_id) {
    address_info_item_which_contains_o_to_t = 0;
  } else if(kCipItemIdSocketAddressInfoOriginatorToTarget ==
            common_packet_format_data->address_info_item[1].type_id) {
    address_info_item_which_contains_o_to_t = 1;
  } else {
    OPENER_TRACE_INFO("No O->T Sockaddr info available\n");
  }

  if(kCipItemIdSocketAddressInfoTargetToOriginator ==
     common_packet_format_data->address_info_item[0].type_id) {
    address_info_item_which_contains_t_to_o = 0;
  } else if(kCipItemIdSocketAddressInfoTargetToOriginator ==
            common_packet_format_data->address_info_item[1].type_id) {
    address_info_item_which_contains_t_to_o = 1;
  } else {
    OPENER_TRACE_INFO("No T->O Sockaddr info available\n");
  }

  if(kUdpCommuncationDirectionConsuming == direction) {
    j = address_info_item_which_contains_o_to_t;
  }

  if(kUdpCommuncationDirectionProducing == direction) {
    j = address_info_item_which_contains_t_to_o;
  }

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

  if(-1 == j) {
    OPENER_TRACE_ERR(
      "no suitable addr info item available / O->T: %d, T->O: %d, Selector: %d, direction: %d\n",
      address_info_item_which_contains_o_to_t,
      address_info_item_which_contains_t_to_o,
      j,
      direction);
    return kEipStatusError;
  }

  if(kCipItemIdSocketAddressInfoTargetToOriginator ==
     common_packet_format_data->address_info_item[j].type_id) {
    /* we are using an unused item initialize it with the default multicast address */
    common_packet_format_data->address_info_item[j].sin_family = htons(AF_INET);
    common_packet_format_data->address_info_item[j].sin_port = htons(
      kOpenerEipIoUdpPort);
    common_packet_format_data->address_info_item[j].sin_addr =
      g_tcpip.mcast_config.starting_multicast_address;
    memset(common_packet_format_data->address_info_item[j].nasin_zero, 0, 8);
    common_packet_format_data->address_info_item[j].length = 16;
  }

  if(htons(AF_INET) !=
     common_packet_format_data->address_info_item[j].sin_family) {
    OPENER_TRACE_ERR(
      "Sockaddr Info Item with wrong sin family value received\n");
    return kEipStatusError;
  }

  /* allocate an unused sockaddr struct to use */
  struct sockaddr_in socket_address = { 0 };
  socket_address.sin_family = ntohs(
    common_packet_format_data->address_info_item[j].sin_family);
  socket_address.sin_addr.s_addr =
    common_packet_format_data->address_info_item[j].sin_addr;
  socket_address.sin_port =
    common_packet_format_data->address_info_item[j].sin_port;

  CipUsint qos_for_socket = ConnectionObjectGetTToOPriority(connection_object);
  int error = SetQos(qos_for_socket);
  if (error != 0) {
    OPENER_TRACE_ERR(
      "cannot set QoS for UDP socket in OpenMulticastConnection\n");
    return kEipStatusError;
  }
  if (direction == kUdpCommuncationDirectionProducing) {
    SetSocketOptionsMulticastProduce();
  }

  connection_object->socket[direction] = g_network_status.udp_io_messaging;

  if(direction == kUdpCommuncationDirectionConsuming) {
    /* store the originators address */
    socket_address.sin_addr.s_addr = GetPeerAddress();
    common_packet_format_data->address_info_item[j].type_id =
      kCipItemIdSocketAddressInfoOriginatorToTarget;
    connection_object->originator_address = socket_address;
  } else {
    common_packet_format_data->address_info_item[j].type_id =
      kCipItemIdSocketAddressInfoTargetToOriginator;
    connection_object->remote_address = socket_address;
  }

  return kEipStatusOk;
}

EipUint16 HandleConfigData(CipConnectionObject *connection_object) {

  CipClass *const assembly_class = GetCipClass(kCipAssemblyClassCode);
  EipUint16 connection_manager_status = 0;
  CipInstance *config_instance = GetCipInstance(assembly_class,
                                                connection_object->configuration_path.instance_id);

  if(0 != g_config_data_length) {
    OPENER_ASSERT(NULL != config_instance);
    if( ConnectionWithSameConfigPointExists(connection_object->
                                            configuration_path
                                            .instance_id) ) {
      /* there is a connected connection with the same config point
       * we have to have the same data as already present in the config point*/
      CipAttributeStruct *attribute_three = GetCipAttribute(config_instance, 3);
      OPENER_ASSERT(NULL != attribute_three);
      CipByteArray *attribute_three_data =
        (CipByteArray *) attribute_three->data;
      OPENER_ASSERT(NULL != attribute_three_data);
      if(attribute_three_data->length != g_config_data_length) {
        connection_manager_status =
          kConnectionManagerExtendedStatusCodeErrorOwnershipConflict;
        OPENER_TRACE_INFO(
          "Hit an Ownership conflict in cipioconnection.c occurrence 1");
      } else {
        /*FIXME check if this is correct */
        if( memcmp(attribute_three_data->data, g_config_data_buffer,
                   g_config_data_length) ) {
          connection_manager_status =
            kConnectionManagerExtendedStatusCodeErrorOwnershipConflict;
          OPENER_TRACE_INFO(
            "Hit an Ownership conflict in cipioconnection.c occurrence 2");
        }
      }
    } else {
      /* put the data on the configuration assembly object with the current
         design this can be done rather efficiently */
      if( kEipStatusOk !=
          NotifyAssemblyConnectedDataReceived(config_instance,
                                              g_config_data_buffer,
                                              g_config_data_length) ) {
        OPENER_TRACE_WARN("Configuration data was invalid\n");
        connection_manager_status =
          kConnectionManagerExtendedStatusCodeInvalidConfigurationApplicationPath;
      }
    }
  }
  return connection_manager_status;
}

/*
 * Returns POSIX OK (0) on successful transfer, otherwise non-zero to
 * trigger closing of connections and sockets associated with object.
 */
static int transfer_master_connection(CipConnectionObject *connection_object) {
  CipConnectionObject *active;

  active = GetNextNonControlMasterConnection(
    connection_object->produced_path.instance_id);
  if (!active) {
    return 1;
  }

  OPENER_TRACE_INFO("Transferring socket ownership\n");
  active->socket[kUdpCommuncationDirectionProducing] =
    connection_object->socket[kUdpCommuncationDirectionProducing];
  connection_object->socket[kUdpCommuncationDirectionProducing] =
    kEipInvalidSocket;

  memcpy( &(active->remote_address), &(connection_object->remote_address),
          sizeof(active->remote_address) );
  active->eip_level_sequence_count_producing =
    connection_object->eip_level_sequence_count_producing;
  active->sequence_count_producing =
    connection_object->sequence_count_producing;
  active->transmission_trigger_timer =
    connection_object->transmission_trigger_timer;

  return 0;
}

/* Always sync any changes with HandleIoConnectionTimeout() */
void CloseIoConnection(CipConnectionObject *RESTRICT connection_object) {
  ConnectionObjectInstanceType instance_type = ConnectionObjectGetInstanceType(
    connection_object);
  ConnectionObjectConnectionType conn_type =
    ConnectionObjectGetTToOConnectionType(connection_object);

  CheckIoConnectionEvent(connection_object->consumed_path.instance_id,
                         connection_object->produced_path.instance_id,
                         kIoConnectionEventClosed);
  ConnectionObjectSetState(connection_object,
                           kConnectionObjectStateNonExistent);

  if(kConnectionObjectInstanceTypeIOExclusiveOwner == instance_type ||
     kConnectionObjectInstanceTypeIOInputOnly == instance_type) {
    if(kConnectionObjectConnectionTypeMulticast == conn_type &&
       kEipInvalidSocket !=
       connection_object->socket[kUdpCommuncationDirectionProducing]) {
      OPENER_TRACE_INFO(
        "Exclusive Owner or Input Only connection closed - Instance type: %d\n",
        instance_type);

      if( transfer_master_connection(connection_object) ) {
        /* No transfer, this was the last master connection, close all
         * listen only connections listening on the port */
        CloseAllConnectionsForInputWithSameType(
          connection_object->produced_path.instance_id,
          kConnectionObjectInstanceTypeIOListenOnly);
      }
    }
  }

  CloseCommunicationChannelsAndRemoveFromActiveConnectionsList(connection_object);
}

/* Always sync any changes with CloseIoConnection() */
void HandleIoConnectionTimeOut(CipConnectionObject *connection_object) {
  ConnectionObjectInstanceType instance_type = ConnectionObjectGetInstanceType(
    connection_object);
  ConnectionObjectConnectionType conn_type =
    ConnectionObjectGetTToOConnectionType(connection_object);
  int handover = 0;

  CheckIoConnectionEvent(connection_object->consumed_path.instance_id,
                         connection_object->produced_path.instance_id,
                         kIoConnectionEventTimedOut);
  ConnectionObjectSetState(connection_object, kConnectionObjectStateTimedOut);

  if(connection_object->last_package_watchdog_timer ==
     connection_object->inactivity_watchdog_timer) {
    CheckForTimedOutConnectionsAndCloseTCPConnections(connection_object,
                                                      CloseEncapsulationSessionBySockAddr);
  }

  if(kConnectionObjectInstanceTypeIOExclusiveOwner == instance_type ||
     kConnectionObjectInstanceTypeIOInputOnly == instance_type) {
    if(kConnectionObjectConnectionTypeMulticast == conn_type &&
       kEipInvalidSocket !=
       connection_object->socket[kUdpCommuncationDirectionProducing]) {
      OPENER_TRACE_INFO(
        "Exclusive Owner or Input Only connection timed out - Instance type: %d\n",
        instance_type);
      /* we are the controlling input only connection find a new controller*/

      if( transfer_master_connection(connection_object) ) {
        /* No transfer, this was the last master connection, close all
         * listen only connections listening on the port */
        CloseAllConnectionsForInputWithSameType(
          connection_object->produced_path.instance_id,
          kConnectionObjectInstanceTypeIOListenOnly);
      } else {
        handover = 1;
      }
    }
  }

  if(kConnectionObjectInstanceTypeIOExclusiveOwner == instance_type &&
     !handover) {
    CloseAllConnectionsForInputWithSameType(
      connection_object->produced_path.instance_id,
      kConnectionObjectInstanceTypeIOInputOnly);
    CloseAllConnectionsForInputWithSameType(
      connection_object->produced_path.instance_id,
      kConnectionObjectInstanceTypeIOListenOnly);
  }

  ConnectionObjectSetState(connection_object, kConnectionObjectStateTimedOut);
}

EipStatus SendConnectedData(CipConnectionObject *connection_object) {

  /* TODO think of adding an own send buffer to each connection object in order to preset up the whole message on connection opening and just change the variable data items e.g., sequence number */

  CipCommonPacketFormatData *common_packet_format_data =
    &g_common_packet_format_data_item;
  /* TODO think on adding a CPF data item to the S_CIP_ConnectionObject in order to remove the code here or even better allocate memory in the connection object for storing the message to send and just change the application data*/

  connection_object->eip_level_sequence_count_producing++;

  /* assembleCPFData */
  common_packet_format_data->item_count = 2;
  if( kConnectionObjectTransportClassTriggerTransportClass0 !=
      ConnectionObjectGetTransportClassTriggerTransportClass(connection_object) )
  /* use Sequenced Address Items if not Connection Class 0 */
  {
    common_packet_format_data->address_item.type_id =
      kCipItemIdSequencedAddressItem;
    common_packet_format_data->address_item.length = 8;
    common_packet_format_data->address_item.data.sequence_number =
      connection_object->eip_level_sequence_count_producing;
  } else {
    common_packet_format_data->address_item.type_id =
      kCipItemIdConnectionAddress;
    common_packet_format_data->address_item.length = 4;

  }
  common_packet_format_data->address_item.data.connection_identifier =
    connection_object->cip_produced_connection_id;

  common_packet_format_data->data_item.type_id = kCipItemIdConnectedDataItem;

  CipByteArray *producing_instance_attributes =
    (CipByteArray *) connection_object->producing_instance->attributes->data;
  common_packet_format_data->data_item.length = 0;

  /* notify the application that data will be sent immediately after the call */
  if( BeforeAssemblyDataSend(connection_object->producing_instance) ) {
    /* the data has changed increase sequence counter */
    connection_object->sequence_count_producing++;
  }

  /* set AddressInfo Items to invalid Type */
  common_packet_format_data->address_info_item[0].type_id = 0;
  common_packet_format_data->address_info_item[1].type_id = 0;

  ENIPMessage outgoing_message;
  InitializeENIPMessage(&outgoing_message);
  AssembleIOMessage(common_packet_format_data, &outgoing_message);

  MoveMessageNOctets(-2, &outgoing_message);
  common_packet_format_data->data_item.length =
    producing_instance_attributes->length;

  bool is_heartbeat = (common_packet_format_data->data_item.length == 0);
  if(s_produce_run_idle && !is_heartbeat) {
    common_packet_format_data->data_item.length += 4;
  }

  if( kConnectionObjectTransportClassTriggerTransportClass1 ==
      ConnectionObjectGetTransportClassTriggerTransportClass(connection_object) )
  {
    common_packet_format_data->data_item.length += 2;
    AddIntToMessage(common_packet_format_data->data_item.length,
                    &outgoing_message);
    AddIntToMessage(connection_object->sequence_count_producing,
                    &outgoing_message);
  } else {
    AddIntToMessage(common_packet_format_data->data_item.length,
                    &outgoing_message);
  }

  if(s_produce_run_idle && !is_heartbeat) {
    AddDintToMessage( g_run_idle_state,
                      &outgoing_message );
  }

  memcpy(outgoing_message.current_message_position,
         producing_instance_attributes->data,
         producing_instance_attributes->length);

  outgoing_message.current_message_position +=
    producing_instance_attributes->length;
  outgoing_message.used_message_length += producing_instance_attributes->length;

  return SendUdpData(&connection_object->remote_address,
                     &outgoing_message);
}

EipStatus HandleReceivedIoConnectionData(CipConnectionObject *connection_object,
                                         const EipUint8 *data,
                                         EipUint16 data_length) {

  OPENER_TRACE_INFO("Starting data length: %d\n", data_length);
  bool no_new_data = false;
  /* check class 1 sequence number*/
  if( kConnectionObjectTransportClassTriggerTransportClass1 ==
      ConnectionObjectGetTransportClassTriggerTransportClass(connection_object) )
  {
    EipUint16 sequence_buffer = GetUintFromMessage( &(data) );
    if( SEQ_LEQ16(sequence_buffer,
                  connection_object->sequence_count_consuming) ) {
      no_new_data = true;
    }
    connection_object->sequence_count_consuming = sequence_buffer;
    data_length -= 2;
  }

  OPENER_TRACE_INFO("data length after sequence count: %d\n", data_length);
  if(data_length > 0) {
    /* we have no heartbeat connection */
    if(s_consume_run_idle) {
      EipUint32 nRunIdleBuf = GetUdintFromMessage( &(data) );
      OPENER_TRACE_INFO("Run/Idle handler: 0x%x\n", nRunIdleBuf);
      const uint32_t kRunBitMask = 0x0001;
      if( (kRunBitMask & nRunIdleBuf) == 1 ) {
        CipIdentitySetExtendedDeviceStatus(kAtLeastOneIoConnectionInRunMode);
      } else {
        CipIdentitySetExtendedDeviceStatus(
          kAtLeastOneIoConnectionEstablishedAllInIdleMode);
      }
      if(g_run_idle_state != nRunIdleBuf) {
        RunIdleChanged(nRunIdleBuf);
      }
      g_run_idle_state = nRunIdleBuf;
      data_length -= 4;
    }
    if(no_new_data) {
      return kEipStatusOk;
    }

    if(NotifyAssemblyConnectedDataReceived(connection_object->consuming_instance,
                                           (EipUint8 *const ) data,
                                           data_length) != 0) {
      return kEipStatusError;
    }
  }
  return kEipStatusOk;
}

CipError OpenCommunicationChannels(CipConnectionObject *connection_object) {

  CipError cip_error = kCipErrorSuccess;
  CreateUdpSocket(); /* open UDP socket for IO messaging*/

/*get pointer to the CPF data, currently we have just one global instance of the struct. This may change in the future*/
  CipCommonPacketFormatData *common_packet_format_data =
    &g_common_packet_format_data_item;

  ConnectionObjectConnectionType originator_to_target_connection_type =
    ConnectionObjectGetOToTConnectionType(connection_object);

  ConnectionObjectConnectionType target_to_originator_connection_type =
    ConnectionObjectGetTToOConnectionType(connection_object);

  /* open a connection "point to point" or "multicast" based on the ConnectionParameter */
  if(originator_to_target_connection_type ==
     kConnectionObjectConnectionTypeMulticast)
  /* Multicast consuming */
  {
    if(OpenMulticastConnection(kUdpCommuncationDirectionConsuming,
                               connection_object,
                               common_packet_format_data) != kEipStatusError) {
      OPENER_TRACE_ERR("error in OpenMulticast Connection\n");
      return kCipErrorConnectionFailure;
    }
  } else if(originator_to_target_connection_type ==
            kConnectionObjectConnectionTypePointToPoint)
  /* Point to Point consuming */
  {
    if(OpenConsumingPointToPointConnection(connection_object,
                                           common_packet_format_data) ==
       kEipStatusError) {
      OPENER_TRACE_ERR("error in PointToPoint consuming connection\n");
      return kCipErrorConnectionFailure;
    }
  }

  if(target_to_originator_connection_type ==
     kConnectionObjectConnectionTypeMulticast)
  /* Multicast producing */
  {
    if(OpenProducingMulticastConnection(connection_object,
                                        common_packet_format_data) ==
       kEipStatusError) {
      OPENER_TRACE_ERR("error in OpenMulticast Connection\n");
      return kCipErrorConnectionFailure;
    }
  } else if(target_to_originator_connection_type ==
            kConnectionObjectConnectionTypePointToPoint)
  /* Point to Point producing */
  {

    if(OpenProducingPointToPointConnection(connection_object,
                                           common_packet_format_data) !=
       kCipErrorSuccess) {
      OPENER_TRACE_ERR("error in PointToPoint producing connection\n");
      return kCipErrorConnectionFailure;
    }
  }
  return cip_error;
}

void CloseCommunicationChannelsAndRemoveFromActiveConnectionsList(
  CipConnectionObject *connection_object) {
  if(kEipInvalidSocket !=
     connection_object->socket[kUdpCommuncationDirectionConsuming]) {
    CloseUdpSocket(connection_object->socket[kUdpCommuncationDirectionConsuming]);
  }

  if(kEipInvalidSocket !=
     connection_object->socket[kUdpCommuncationDirectionProducing]) {
    CloseUdpSocket(connection_object->socket[kUdpCommuncationDirectionProducing]);
  }

  RemoveFromActiveConnections(connection_object);
  ConnectionObjectInitializeEmpty(connection_object);
  OPENER_TRACE_INFO(
    "cipioconnection: CloseCommunicationChannelsAndRemoveFromActiveConnectionsList\n");
}