Diff: HLComms.cpp

Revision:

7:5b6a2cefbf3b

Child:

9:cd3607ba5643

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HLComms.cpp	Fri Aug 03 14:58:36 2018 +0000
@@ -0,0 +1,118 @@
+// HLComms.cpp
+
+// Error codes: https://github.com/ARMmbed/mbed-os/blob/master/features/netsocket/nsapi_types.h
+// http://man7.org/linux/man-pages/man3/errno.3.html
+
+#include "HLComms.h"
+
+HLComms::HLComms(short int port) { // Constructor
+    _port = port;
+}
+
+int HLComms::setup_server(void) {
+    int error_code;
+    printf("Starting TCP server...\n\r");
+    if( !IS_DHCP ) {
+        const char* ip = "10.101.79.135"; //"10.101.81.125"; // Get first 3 parts from "ifconfig" on PC
+        const char* mask = "255.255.255.0"; // Get from "ifconfig" on PC
+        const char* gateway =  "10.101.79.1"; //"10.101.81.1"; // Get from "route -n" on PC
+        error_code = interfaces.eth.set_network(ip, mask, gateway); // Dont use DHCP
+        if( error_code < 0 ) {
+            printf("Error %i. Could not network interface to use a static IP address. "
+                "Perhaps the network is already connected?\n\r", error_code);
+            return -1;
+        }
+    }
+    error_code = interfaces.eth.connect();
+    if( error_code < 0 ) {
+        printf("Error %i. Could not start the Ethernet interface.\n\r", error_code);
+        return -1;
+    }
+    const char* server_ip = interfaces.eth.get_ip_address();
+    if( server_ip == NULL ) {
+       error_code = -1;
+        printf("Error %i. Ethernet interface is not yet connected.\n\r", error_code);
+        return -1;
+    }
+    printf("The target IP address is '%s'\n\r", server_ip);
+    error_code = interfaces.srv.open(&interfaces.eth); // Open the server on ethernet stack
+    if( error_code < 0 ) {
+        printf("Error %i. Could not open server socket.\n\r", error_code);
+        return -1;
+    }
+    error_code = interfaces.srv.bind(interfaces.eth.get_ip_address(), _port); // Bind the HTTP port (TCP 80) to the server
+    if( error_code < 0 ) {
+        printf("Error %i. Could not bind server socket to port '%d'.\n\r", error_code, _port);
+        return -1;
+    }
+    error_code = interfaces.srv.listen(1); // Listen for 1 simultaneous connection
+    if( error_code < 0 ) {
+        printf("Error %i. Could not put server socket into listening mode.\n\r", error_code);
+        return -1;
+    }
+    return 0;
+}
+
+
+int HLComms::accept_connection(void) {
+    printf("Waiting to accept a connection on the TCP socket.\n\r");
+    int error_code;
+    error_code = interfaces.srv.accept(&interfaces.clt_sock, &interfaces.clt_addr); // Blocks until data is sent
+    if( error_code < 0 ) {
+        printf("Error %i. Could not create a network socket using the specified socket instance. "
+            "Perhaps the socket is set to non-blocking or timed out?\n\r", error_code);
+        return -1;
+    }
+    printf("Accepted %s:%d\n\r", interfaces.clt_addr.get_ip_address(), interfaces.clt_addr.get_port());
+    return 0;
+}
+
+
+void HLComms::close_server(void) {
+    interfaces.clt_sock.close();
+    interfaces.srv.close();
+    interfaces.eth.disconnect();
+    return;
+}
+
+
+msg_format HLComms::consume_message( unsigned char * msg ) { //HLComms::msg_format
+    // Break message string into chunks at each comma
+    vector<string> tokens;
+    char * delim = ",";
+    char * token = strtok((char *)msg, delim);
+    while(token != NULL) {
+        tokens.push_back(string(token));
+        //printf("%s\n\r",token);
+        token = strtok(NULL, delim);
+    }
+    // Cast into doubles and assign to variables
+    struct msg_format input;
+    stringstream(tokens[0]) >> input.psi[0][0];
+    stringstream(tokens[1]) >> input.psi[0][1];
+    stringstream(tokens[2]) >> input.psi[0][2];
+    stringstream(tokens[3]) >> input.psi[1][0];
+    stringstream(tokens[4]) >> input.psi[1][1];
+    stringstream(tokens[5]) >> input.psi[1][2];
+    stringstream(tokens[6]) >> input.psi[2][0];
+    stringstream(tokens[7]) >> input.psi[2][1];
+    stringstream(tokens[8]) >> input.psi[2][2];
+    stringstream(tokens[9]) >> input.duration;
+    
+    if(input.psi[0][0] < 0.0) input.psi[0][0] = 0.0;
+    if(input.psi[0][1] < 0.0) input.psi[0][1] = 0.0;
+    if(input.psi[0][2] < 0.0) input.psi[0][2] = 0.0;
+    if(input.psi[1][0] < 0.0) input.psi[1][0] = 0.0;
+    if(input.psi[1][1] < 0.0) input.psi[1][1] = 0.0;
+    if(input.psi[1][2] < 0.0) input.psi[1][2] = 0.0;
+    if(input.psi[2][0] < 0.0) input.psi[2][0] = 0.0;
+    if(input.psi[2][1] < 0.0) input.psi[2][1] = 0.0;
+    if(input.psi[2][2] < 0.0) input.psi[2][2] = 0.0;
+    if(input.duration < 0.0) input.duration = 0.0;
+    /*if( input.psi[2][0] > 0.14 ) {
+        printf("Hi\n\r");
+    }*/
+    //throw std::invalid_argument( "received negative value" );
+    //return 0;
+    return input;
+} // End of consume_message()
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