File content as of revision 13:b9bcffe7e649:

#include "mbed.h"
#include "SDC21XX_Motor.h"
#include "rtos.h"
#include "EthernetInterface.h"
#include "NetworkAPI/buffer.hpp"
#include "NetworkAPI/select.hpp"
#include "NetworkAPI/ip/address.hpp"
#include "NetworkAPI/tcp/socket.hpp"
using namespace network;
 
#define MAX_CLIENTS 1
#define SERVER_PORT 11556
#define PERIODE_ENVOI 2.0

#define REDUC_M1 1
#define REDUC_M2 1
#define REDUC_M3 1
#define REDUC_M4 1
#define REDUC_M5 1
#define REDUC_M6 1

Timer t, t2;
Mutex mutex1;

CAN CanBus(P0_4,P0_5);

SDC21XX_Motor Motor1(1, &CanBus, 1, REDUC_M1, 1000);
SDC21XX_Motor Motor2(1, &CanBus, 2, REDUC_M2, 1000);
SDC21XX_Motor Motor3(2, &CanBus, 1, REDUC_M3, 1000);
SDC21XX_Motor Motor4(2, &CanBus, 2, REDUC_M4, 1000);
SDC21XX_Motor Motor5(3, &CanBus, 1, REDUC_M5, 1000);
SDC21XX_Motor Motor6(3, &CanBus, 2, REDUC_M6, 1000);

SDC21XX_Motor Moteur[6] = {Motor1, Motor2, Motor3, Motor4, Motor5, Motor6};

uint8_t client_connected = 0, move_increment = 0, move_increment_val = 0; 

tcp::Socket server;
tcp::Socket client[MAX_CLIENTS];
tcp::Socket *socket = NULL;


void periodic_encoder_isr(void const *args) {
    char reply[45], i = 0;
    long dummy;

    while(1)
    {
        mutex1.lock();
        printf("Ticker\n\r");
    
        reply[0] = 0xa5;
        for(i = 1;i<6;i++)
            reply[7*i] = 0xa6;
        for(i=0;i<6;i++)
        {
            reply[1+i*7] = 0x11;
            reply[2+i*7] = i+1;
            dummy = Moteur[i].GetRB()->ReadAbsoluteEncoderCount(Moteur[i].GetChannel());
            memcpy(&reply[3+i*7], &dummy, 4);
        }
        reply[42] = 0xa7;
        
        client[0].write((void *)reply, 43);
        Thread::wait(200);
        mutex1.unlock();
    }
}

 
int Process_Data_TCP_IP(uint8_t * data, tcp::Socket * client);
    
 

int
main()
{
    mutex1.lock();
    Thread thread1(periodic_encoder_isr);
    
    EthernetInterface interface;
    interface.init();
    interface.connect();
    printf("IP Address is %s\n\r", interface.getIPAddress());
     
    Select select;
     
    int result = 0;
    int index = 0;
     
    network::Buffer buffer(256);
    std::string message("Hello world!");
     
    // Configure the server socket (assume everty thing works)
    server.open();
    server.bind(SERVER_PORT);
    server.listen(MAX_CLIENTS);
   
    // Add sockets to the select api
    select.set(&server, Select::Read);
    for (index = 0; index < MAX_CLIENTS; index++) {
        select.set(&client[index], Select::Read);
    }
     
    do {
        // Wait for activity
        result = select.wait();
        if (result < -1) {
            printf("Failed to select\n\r");
            break;
        }
         
        // Get the first socket
        socket = (tcp::Socket *)select.getReadable();
         
        for (; socket != NULL; socket = (tcp::Socket *)select.getReadable()) {
            // Check if there was a connection request.
            if (socket->getHandle() == server.getHandle()) {                
                // Find an unused client
                for (index = 0; index < MAX_CLIENTS; index++) {
                    if (client[index].getStatus() == network::Socket::Closed) {
                        break;
                    }
                }
                 
                // Maximum connections reached
                if (index == MAX_CLIENTS) {
                    printf("Maximum connections reached\n\r");
                    continue;
                }
             
                // Accept the client
                socket->accept(client[index]);
                printf("Client connected %s:%d\n\r",
                    client[index].getRemoteEndpoint().getAddress().toString().c_str(),
                    client[index].getRemoteEndpoint().getPort());
                     
                // Send a nice message to the client
                client[index].write((void *)message.data(), message.size());
                client_connected = 1;
                mutex1.unlock();
                
                continue;
            }
             
            // It was not the server socket, so it must be a client talking to us.
            switch (socket->read(buffer)) {
                case 0:
                    // Remote end disconnected
                    printf("Client disconnected %s:%d\n\r",
                        socket->getRemoteEndpoint().getAddress().toString().c_str(),
                        socket->getRemoteEndpoint().getPort());
                    client_connected = 0;
                    mutex1.lock();
                    // Close socket
                    socket->close();
                    break;
                 
                case -1:
                    printf("Error while reading data from socket\n\r");
                    socket->close();
                    break;
                 
                default:
                    printf("Message from %s:%d\n\r",
                        socket->getRemoteEndpoint().getAddress().toString().c_str(),
                        socket->getRemoteEndpoint().getPort());
                         
                    printf("%s\n\r", (char *)buffer.data());
                    Process_Data_TCP_IP((uint8_t *)buffer.data(), client);
                    break;
            }
        }
        if(move_increment)
        {
             if(t.read_ms() > 100)
             {
                Moteur[move_increment].GetRB()->SetPosRelative(move_increment_val, Moteur[move_increment].GetChannel());
                t.reset();
                t.start();
             }
             else if(t2.read_ms() > 500)
            {
                move_increment = 0;
                move_increment_val = 0;
            }   
        }

    } while (server.getStatus() == network::Socket::Listening);
}




int Process_Data_TCP_IP(uint8_t * data, tcp::Socket * client)
{
    uint8_t nb_com = 0, cpt_com = 0, cpt_reply = 0;
    int32_t param[3], dummy;
    uint8_t reply[46];
    
    reply[0] = 0xa5;
    cpt_reply ++;
    
    //Check Start byte
    if(data[0] != 0xa5)
        return -1;
    
    switch(data[1 + cpt_com])
    {
        case 0x01 :
            param[0] = data[cpt_com + 3] | data[cpt_com + 4] << 8 | data[cpt_com + 5] << 16 | data[cpt_com + 6] << 24;
            param[1] = data[cpt_com + 7] | data[cpt_com + 8] << 8 | data[cpt_com + 9] << 16 | data[cpt_com + 10] << 24;
            param[2] = data[cpt_com + 11] | data[cpt_com + 12] << 8 | data[cpt_com + 13] << 16 | data[cpt_com + 14] << 24;
            Moteur[data[cpt_com + 2] - 1].Setparameters(param[0], param[1], param[2]);
            
        break;
        
        case 0x02 :
            param[0] = data[cpt_com + 3] | data[cpt_com + 4] << 8 | data[cpt_com + 5] << 16 | data[cpt_com + 6] << 24;
            Moteur[data[cpt_com + 2] - 1].GetRB()->SetPosition(param[0], Moteur[data[cpt_com + 2]].GetChannel());
                    
        break;
        
        case 0x03 :
            move_increment = data[cpt_com + 2] - 1;
            t.reset();
            t.start();
            t2.reset();
            t2.start();
            move_increment_val = data[cpt_com + 3] | data[cpt_com + 4] << 8 | data[cpt_com + 5] << 16 | data[cpt_com + 6] << 24;
            
        break;
        
        case 0x11 :
            if(cpt_reply > 1)
            {
                reply[cpt_reply] = 0xa6;
                cpt_reply++;
            }
            reply[cpt_reply] = data[cpt_com + 2];
            cpt_reply++;
            dummy = Moteur[data[cpt_com + 2] - 1].GetRB()->ReadAbsoluteEncoderCount(Moteur[data[cpt_com + 2]].GetChannel());
            memcpy(&reply[cpt_reply], &dummy, 4);
            cpt_reply += 4;
                        
        break;
        
        case 0x80 :
//            Moteur[0]
        
        break;
    }//end switch
    reply[cpt_reply] = 0xa7;
    reply[cpt_reply + 1] = '\0';
    client->write((void *)reply, cpt_reply + 1);
    
    return 1;
    
}//end function   

/********************/
// Fonction qui permet de modifier l'adresse MAC de la carte
// /!\ /!\ /!\ Le routeur doit être paramétré de façon adequate, pour attribuer une adresse IP définie à cette adresse MAC /!\ /!\ /!\
//(Dans un souci de simplicité, principalement, mais aussi pour différencier la carte des autres appareils se connectant au réseau)
extern "C" void mbed_mac_address(char *mac)
{
    mac[0] = 0x12;
    mac[1] = 0x34;
    mac[2] = 0x56;
    mac[3] = 0x78;
    mac[4] = 0x9A;
    mac[5] = 0xBC;
};