Yuki Suga / RTnoV4

RTno is communicating library and framework which allows you to make your embedded device capable of communicating with RT-middleware world. RT-middleware is a platform software to realize Robotic system. In RTM, robots are developed by constructing robotics technologies\' elements (components) named RT-component. Therefore, the RTno helps you to create your own RT-component with your mbed and arduino. To know how to use your RTno device, visit here: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en To know about RT-middleware and RT-component, visit http://www.openrtm.org

Dependencies:   EthernetInterface mbed-rtos

EtherTcp.cpp@7:6c7af1d50fb3, 2013-08-29 (annotated)

Committer:
ysuga
Date:
Thu Aug 29 05:29:55 2013 +0000
Revision:
7:6c7af1d50fb3
Parent:
6:86d72601ff54 
update v5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:5f7bc45bc2e8 1 #include "mbed.h"
ysuga 6:86d72601ff54 2 #define RTNO_SUBMODULE_DEFINE
ysuga 6:86d72601ff54 3 #include "RTno.h"
ysuga 6:86d72601ff54 4
ysuga 6:86d72601ff54 5 #ifdef USE_ETHERNET_CONNECTION
ysuga 6:86d72601ff54 6
ysuga 0:5f7bc45bc2e8 7 #include "EtherTcp.h"
ysuga 6:86d72601ff54 8 #include "EthernetInterface.h"
ysuga 6:86d72601ff54 9
ysuga 0:5f7bc45bc2e8 10
ysuga 0:5f7bc45bc2e8 11 #include "ip_addr.h"
ysuga 0:5f7bc45bc2e8 12 /**
ysuga 0:5f7bc45bc2e8 13 #include <../SPI/SPI.h>
ysuga 0:5f7bc45bc2e8 14 #include <../Ethernet/Ethernet.h>
ysuga 0:5f7bc45bc2e8 15
ysuga 0:5f7bc45bc2e8 16 static EthernetServer *m_pServer;
ysuga 0:5f7bc45bc2e8 17 static EthernetClient *m_pClient;
ysuga 0:5f7bc45bc2e8 18 */
ysuga 6:86d72601ff54 19 //static EthernetInterface* m_pInterface;
ysuga 6:86d72601ff54 20 static TCPSocketServer* m_pServerSocket;
ysuga 6:86d72601ff54 21 static TCPSocketConnection m_ClientSocket;
ysuga 0:5f7bc45bc2e8 22
ysuga 0:5f7bc45bc2e8 23
ysuga 0:5f7bc45bc2e8 24 #define ETCP_RX_BUFFER_SIZE 128
ysuga 1:f74116b37bc9 25 uint8_t etcp_rx_buffer[ETCP_RX_BUFFER_SIZE];
ysuga 0:5f7bc45bc2e8 26 int etcp_rx_buffer_pointer_head = 0;
ysuga 0:5f7bc45bc2e8 27 int etcp_rx_buffer_pointer_tail = 0;
ysuga 6:86d72601ff54 28 ///Host m_Client;
ysuga 0:5f7bc45bc2e8 29
ysuga 0:5f7bc45bc2e8 30 Serial *pSerial;
ysuga 0:5f7bc45bc2e8 31
ysuga 0:5f7bc45bc2e8 32 /**
ysuga 0:5f7bc45bc2e8 33 * Push data to ring buffer.
ysuga 0:5f7bc45bc2e8 34 */
ysuga 0:5f7bc45bc2e8 35 int etcp_rx_buffer_push(unsigned char c) {
ysuga 0:5f7bc45bc2e8 36 etcp_rx_buffer[etcp_rx_buffer_pointer_tail] = c;
ysuga 0:5f7bc45bc2e8 37 etcp_rx_buffer_pointer_tail++;
ysuga 0:5f7bc45bc2e8 38 if(etcp_rx_buffer_pointer_tail >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:5f7bc45bc2e8 39 etcp_rx_buffer_pointer_tail = 0;
ysuga 0:5f7bc45bc2e8 40 }
ysuga 0:5f7bc45bc2e8 41 return 0;
ysuga 0:5f7bc45bc2e8 42 }
ysuga 0:5f7bc45bc2e8 43
ysuga 0:5f7bc45bc2e8 44 /**
ysuga 0:5f7bc45bc2e8 45 * Pop data fron ring buffer
ysuga 0:5f7bc45bc2e8 46 */
ysuga 0:5f7bc45bc2e8 47 int etcp_rx_buffer_pop(unsigned char *c) {
ysuga 0:5f7bc45bc2e8 48 *c = etcp_rx_buffer[etcp_rx_buffer_pointer_head];
ysuga 0:5f7bc45bc2e8 49 etcp_rx_buffer_pointer_head++;
ysuga 0:5f7bc45bc2e8 50 if(etcp_rx_buffer_pointer_head >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:5f7bc45bc2e8 51 etcp_rx_buffer_pointer_head = 0;
ysuga 0:5f7bc45bc2e8 52 }
ysuga 0:5f7bc45bc2e8 53 return 0;
ysuga 0:5f7bc45bc2e8 54 }
ysuga 0:5f7bc45bc2e8 55
ysuga 0:5f7bc45bc2e8 56 int etcp_rx_buffer_get_size() {
ysuga 0:5f7bc45bc2e8 57 int size = etcp_rx_buffer_pointer_tail - etcp_rx_buffer_pointer_head;
ysuga 0:5f7bc45bc2e8 58 if(size < 0) {
ysuga 0:5f7bc45bc2e8 59 size += ETCP_RX_BUFFER_SIZE;
ysuga 0:5f7bc45bc2e8 60 }
ysuga 0:5f7bc45bc2e8 61 return size;
ysuga 0:5f7bc45bc2e8 62 }
ysuga 0:5f7bc45bc2e8 63
ysuga 6:86d72601ff54 64 /*
ysuga 0:5f7bc45bc2e8 65 static void EtherTcp_onClientEvent(TCPSocketEvent e) {
ysuga 0:5f7bc45bc2e8 66 switch (e) {
ysuga 0:5f7bc45bc2e8 67 // If the socket is readable, do stuff
ysuga 0:5f7bc45bc2e8 68 case TCPSOCKET_READABLE:
ysuga 0:5f7bc45bc2e8 69 while(1) {
ysuga 0:5f7bc45bc2e8 70 char buf;
ysuga 0:5f7bc45bc2e8 71 int ret = m_pClientSocket->recv(&buf, 1);
ysuga 0:5f7bc45bc2e8 72 if (ret == 0) break;
ysuga 0:5f7bc45bc2e8 73 etcp_rx_buffer_push(buf);
ysuga 0:5f7bc45bc2e8 74 }
ysuga 0:5f7bc45bc2e8 75
ysuga 0:5f7bc45bc2e8 76 break;
ysuga 0:5f7bc45bc2e8 77 case TCPSOCKET_CONTIMEOUT:
ysuga 0:5f7bc45bc2e8 78 case TCPSOCKET_CONRST:
ysuga 0:5f7bc45bc2e8 79 case TCPSOCKET_CONABRT:
ysuga 0:5f7bc45bc2e8 80 case TCPSOCKET_ERROR:
ysuga 0:5f7bc45bc2e8 81 case TCPSOCKET_DISCONNECTED:
ysuga 0:5f7bc45bc2e8 82 delete m_pClientSocket;
ysuga 0:5f7bc45bc2e8 83 m_pClientSocket = NULL;
ysuga 0:5f7bc45bc2e8 84 break;
ysuga 0:5f7bc45bc2e8 85 }
ysuga 0:5f7bc45bc2e8 86 }
ysuga 0:5f7bc45bc2e8 87
ysuga 0:5f7bc45bc2e8 88 static void EtherTcp_onServerEvent(TCPSocketEvent e) {
ysuga 0:5f7bc45bc2e8 89 if(e == TCPSOCKET_ACCEPT ) {
ysuga 0:5f7bc45bc2e8 90 if ( m_pServerSocket->accept(&m_Client, &m_pClientSocket) ) {
ysuga 0:5f7bc45bc2e8 91 return; //Error in accept, discard connection
ysuga 0:5f7bc45bc2e8 92 }
ysuga 0:5f7bc45bc2e8 93
ysuga 0:5f7bc45bc2e8 94 m_pClientSocket->setOnEvent(EtherTcp_onClientEvent);
ysuga 0:5f7bc45bc2e8 95 }
ysuga 0:5f7bc45bc2e8 96 }
ysuga 6:86d72601ff54 97 */
ysuga 0:5f7bc45bc2e8 98
ysuga 6:86d72601ff54 99 void EtherTcp_init(/*const char* mac, */const char* ip,
ysuga 6:86d72601ff54 100 const char* gateway, const char* subnet,
ysuga 0:5f7bc45bc2e8 101 uint16_t port)
ysuga 0:5f7bc45bc2e8 102
ysuga 0:5f7bc45bc2e8 103 {
ysuga 0:5f7bc45bc2e8 104 pSerial = new Serial(USBTX, USBRX);
ysuga 6:86d72601ff54 105 EthernetInterface::init(
ysuga 6:86d72601ff54 106 ip, subnet, gateway);
ysuga 6:86d72601ff54 107 //printf("Hello %d %d %d %d\r\n", ip[0], ip[1], ip[2], ip[3]);
ysuga 6:86d72601ff54 108 //EthernetErr ethErr = m_pInterface->setup();
ysuga 6:86d72601ff54 109 //if (ethErr) {
ysuga 6:86d72601ff54 110 // return;
ysuga 6:86d72601ff54 111 // }
ysuga 0:5f7bc45bc2e8 112
ysuga 6:86d72601ff54 113 m_pServerSocket = new TCPSocketServer();
ysuga 6:86d72601ff54 114 //m_pServerSocket->setOnEvent(EtherTcp_onServerEvent);
ysuga 6:86d72601ff54 115 m_pServerSocket->bind(port);
ysuga 0:5f7bc45bc2e8 116 m_pServerSocket->listen();
ysuga 6:86d72601ff54 117 m_pServerSocket->accept(m_ClientSocket);
ysuga 0:5f7bc45bc2e8 118 SerialDevice_available = EtherTcp_available;
ysuga 0:5f7bc45bc2e8 119 SerialDevice_getc = EtherTcp_getc;
ysuga 0:5f7bc45bc2e8 120 SerialDevice_putc = EtherTcp_putc;
ysuga 0:5f7bc45bc2e8 121 }
ysuga 0:5f7bc45bc2e8 122
ysuga 0:5f7bc45bc2e8 123 uint8_t EtherTcp_available()
ysuga 0:5f7bc45bc2e8 124 {
ysuga 6:86d72601ff54 125 //Net::poll();
ysuga 0:5f7bc45bc2e8 126 return etcp_rx_buffer_get_size();
ysuga 0:5f7bc45bc2e8 127 }
ysuga 0:5f7bc45bc2e8 128
ysuga 0:5f7bc45bc2e8 129
ysuga 0:5f7bc45bc2e8 130 void EtherTcp_putc(const char c) {
ysuga 6:86d72601ff54 131 char d = c;
ysuga 6:86d72601ff54 132 m_ClientSocket.send(&d, 1);
ysuga 0:5f7bc45bc2e8 133 }
ysuga 0:5f7bc45bc2e8 134
ysuga 1:f74116b37bc9 135 uint8_t EtherTcp_getc()
ysuga 0:5f7bc45bc2e8 136 {
ysuga 1:f74116b37bc9 137 uint8_t c;
ysuga 6:86d72601ff54 138 m_ClientSocket.receive((char*)&c, 1);
ysuga 6:86d72601ff54 139 //etcp_rx_buffer_pop(&c);
ysuga 0:5f7bc45bc2e8 140 return c;
ysuga 0:5f7bc45bc2e8 141 }
ysuga 6:86d72601ff54 142
ysuga 6:86d72601ff54 143 #endif