Diff: Ethernet_tcp_comunication/Eth_tcp.cpp

Revision:

3:fc26045926d9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ethernet_tcp_comunication/Eth_tcp.cpp	Wed Nov 06 10:57:51 2019 +0000
@@ -0,0 +1,225 @@
+#include "Eth_tcp.h"
+
+Eth_tcp::Eth_tcp(int port_, int sock_timeout_){
+       
+    port = port_;
+    sock_timeout = sock_timeout_;
+}
+
+void Eth_tcp::connect(){
+    eth.set_network("192.168.1.160", "255.255.255.0", "192.168.1.1");
+    
+    eth.connect();
+    printf("Connected: the target IP address is '%s'\r\n", eth.get_ip_address());
+    
+    //Open the server on ethernet stack 
+    if(srv.open(&eth)==0){printf("SERVER OPENED\r\n");}
+    
+    //Bind the HTTP port (TCP 80) to the server 
+    srv.bind(eth.get_ip_address(), port);
+    srv.set_blocking(false);
+    clt_sock.set_blocking(false);
+    //clt_sock.set_timeout(sock_timeout);
+    //Can handle 1 simultaneous connections 
+    srv.listen(5);   
+    
+    comunicationTimer.start(); 
+    
+    }
+ 
+    
+int Eth_tcp::recv_int(int time_out) {
+    
+    int32_t recv_value;
+    char recv_msg[4];
+    
+    double t_p = comunicationTimer.read();
+    double t = t_p;
+
+    int msg_size = 0;
+    
+    while(msg_size!=4 && (t-t_p)<=(float)time_out/1000){
+                msg_size = clt_sock.recv(&recv_msg,4);
+                t = comunicationTimer.read();
+                
+                //printf("Int: %f \r\n", t-t_p);
+                
+    }
+    //printf("int: %d\r\n",msg_size);
+    recv_value = (uint16_t)recv_msg[0]<<24;
+    recv_value |= (uint16_t)recv_msg[1]<<16;
+    recv_value |= (uint16_t)recv_msg[2]<<8;
+    recv_value |= (uint16_t)recv_msg[3];
+    
+    if((t-t_p)>(float)time_out/1000){
+        printf("int time out..\r\n");
+        recv_value = 0;
+    }
+
+
+    
+    return recv_value;
+    
+}  
+
+
+bool Eth_tcp::recv_pkt(char& cmd, MyBuffer <int> &values, int& n_of_int) {
+    
+    values.clear();
+    int32_t recv_value;
+    char recv_msg[255];
+    
+    int msg_size = -1;
+    
+    msg_size = clt_sock.recv(&recv_msg,255);
+
+    if(msg_size > 0){
+        if(recv_msg[msg_size-1] == '@'){
+            cmd = recv_msg[0];
+            n_of_int = (msg_size-2)/4;
+            int k = 1;
+            for(int i = 0; i< n_of_int; i++){
+                recv_value = (uint16_t)recv_msg[k]<<24;
+                recv_value |= (uint16_t)recv_msg[k+1]<<16;
+                recv_value |= (uint16_t)recv_msg[k+2]<<8;
+                recv_value |= (uint16_t)recv_msg[k+3];
+                
+                k = k+4;
+               
+                
+                values.put(recv_value);
+            }
+            return true;            
+        }else{
+            //printf("Terminatore non valido!\r\n");
+            n_of_int = 0;
+            return false;
+            }
+    }else{
+        //printf("Time out...\r\n");
+        n_of_int = 0;
+        return false;
+    }
+    
+   
+} 
+
+char Eth_tcp::recv_char(int time_out) {
+    
+
+    char recv_msg[1];
+    
+    double t_p = comunicationTimer.read();
+    double t = t_p;
+
+    int msg_size = 0;
+    
+    while(msg_size!=1 && (t-t_p)<=(float)time_out/1000){
+                msg_size = clt_sock.recv(&recv_msg,1);
+                t = comunicationTimer.read();
+                
+    }
+    if((t-t_p)>(float)time_out/1000){
+        printf("time out..\r\n");
+        recv_msg[0] = 'x';
+    }
+
+   
+    return recv_msg[0];
+    
+}
+
+char* Eth_tcp::recv_cmd(int time_out) {
+    
+
+    char recv_msg[2];
+    
+    double t_p = comunicationTimer.read();
+    double t = t_p;
+
+    int msg_size = 0;
+    
+    while(msg_size!=2 && (t-t_p)<=(float)time_out/1000){
+                msg_size = clt_sock.recv(&recv_msg,2);
+                t = comunicationTimer.read();
+                //printf("Cmd: %f \r\n", t-t_p);
+                
+    }
+    //printf("cmd: %d\r\n",msg_size);
+    if((t-t_p)>(float)time_out/1000){
+        printf("cmd time out..\r\n");
+        recv_msg[0] = ' ';
+        recv_msg[1] = ' ';
+    }
+
+   
+    return recv_msg;
+    
+}      
+
+
+void Eth_tcp::StuffIntIntoChar4(char* pIntoChar4, int32_t val)
+{
+    pIntoChar4[0] = val>>24;
+    pIntoChar4[1] = val>>16;
+    pIntoChar4[2] = val>>8;
+    pIntoChar4[3] = val;
+}
+ 
+
+void Eth_tcp::send_vec_of_int(MyBuffer <int> vec_of_int) {
+
+    int value_to_send;
+    
+    char send_msg[255];
+    char temp[4];
+    int k=0;
+    while(vec_of_int.available()){   
+         value_to_send = vec_of_int.get();
+           
+         StuffIntIntoChar4(temp,value_to_send); 
+         
+         send_msg[k] = temp[0];
+         send_msg[k+1] = temp[1];
+         send_msg[k+2] = temp[2];
+         send_msg[k+3] = temp[3];              
+         k= k+4;
+  
+        
+     }
+       
+    clt_sock.send(send_msg, k);
+
+   
+}   
+
+
+void Eth_tcp::sendAck(char c) {
+
+    char send_msg[1];
+    
+    send_msg[0] = c;
+    
+       
+    clt_sock.send(send_msg, 1);
+
+   
+} 
+
+bool Eth_tcp::is_connected() {
+
+    if ( srv.accept(&clt_sock)==0 ){
+        return true;
+    }else{
+        return false;
+    }    
+   
+} 
+
+void Eth_tcp::reset_connection(){ 
+    if(clt_sock.close()==0){printf("SOCHET CLOSED\r\n");}
+    
+}
+    
+    
+   
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