モータードライバとWi-FiモジュールESP-WROOM-02をmbed LPC1114FN28に繋げて、RCWControllerからコントロールするプログラム
Dependencies: mbed
Diff: ESP8266InterfaceTiny/Socket/TCPSocketConnection.cpp
- Revision:
- 0:3c24a40c2343
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ESP8266InterfaceTiny/Socket/TCPSocketConnection.cpp Fri Jul 22 05:36:02 2016 +0000 @@ -0,0 +1,246 @@ +/* Copyright (C) 2012 mbed.org, MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, publish, distribute, + * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ +#include "TCPSocketConnection.h" +#include <cstring> +#include <algorithm> + +using std::memset; +using std::memcpy; + +//Debug is disabled by default +#if 0 +#define DBG(x, ...) pc.printf("[TCPConnection : DBG]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); +#define WARN(x, ...) pc.printf("[TCPConnection: WARN]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); +#define ERR(x, ...) pc.printf("[TCPConnection : ERR]"x" \t[%s,%d]\r\n", ##__VA_ARGS__,__FILE__,__LINE__); +#else +#define DBG(x, ...) +#define WARN(x, ...) +#define ERR(x, ...) +#endif + +TCPSocketConnection::TCPSocketConnection() : + _is_connected(false) +{ +} + +int TCPSocketConnection::connect(const char* host, const int port) +{ +// if (init_socket(SOCK_STREAM) < 0) +// return -1; +// + if (set_address(host, port) != 0) + return -1; +// +// if (lwip_connect(_sock_fd, (const struct sockaddr *) &_remoteHost, sizeof(_remoteHost)) < 0) { +// close(); +// return -1; +// } +// _is_connected = true; + + _is_connected = ESP8266->start(ESP_TCP_TYPE,_ipAddress,_port); + if(_is_connected) { //success + return 0; + } else { // fail + return -1; + } +} + +bool TCPSocketConnection::is_connected(void) +{ + return _is_connected; +} + +int TCPSocketConnection::send(char* data, int length) +{ + if (!_is_connected) { + ERR("TCPSocketConnection::receive() - _is_connected is false : you cant receive data until you connect to a socket!"); + return -1; + } + Timer tmr; + int idx = 0; + tmr.start(); + while ((tmr.read_ms() < _timeout) || _blocking) { + + idx += wifi->send(data, length); + + if (idx == length) + return idx; + } + return (idx == 0) ? -1 : idx; + + //return wifi->send(data,length); +// +// if (!_blocking) { +// TimeInterval timeout(_timeout); +// if (wait_writable(timeout) != 0) +// return -1; +// } +// +// int n = lwip_send(_sock_fd, data, length, 0); +// _is_connected = (n != 0); +// +// return n; + +} + +// -1 if unsuccessful, else number of bytes written +int TCPSocketConnection::send_all(char* data, int length) +{ +// if ((_sock_fd < 0) || !_is_connected) +// return -1; +// +// int writtenLen = 0; +// TimeInterval timeout(_timeout); +// while (writtenLen < length) { +// if (!_blocking) { +// // Wait for socket to be writeable +// if (wait_writable(timeout) != 0) +// return writtenLen; +// } +// +// int ret = lwip_send(_sock_fd, data + writtenLen, length - writtenLen, 0); +// if (ret > 0) { +// writtenLen += ret; +// continue; +// } else if (ret == 0) { +// _is_connected = false; +// return writtenLen; +// } else { +// return -1; //Connnection error +// } +// } +// return writtenLen; + return send(data,length); // just remap to send +} + +int TCPSocketConnection::receive(char* buffer, int length) +{ + if (!_is_connected) { + ERR("TCPSocketConnection::receive() - _is_connected is false : you cant receive data until you connect to a socket!"); + return -1; + } + Timer tmr; + int idx = 0; + int nb_available = 0; + int time = -1; + + //make this the non-blocking case and return if <= 0 + // remember to change the config to blocking + // if ( ! _blocking) { + // if ( wifi.readable <= 0 ) { + // return (wifi.readable); + // } + // } + //--- + tmr.start(); + if (_blocking) { + while (1) { + nb_available = wifi->readable(); + if (nb_available != 0) { + break; + } + } + } + //--- + // blocking case + else { + tmr.reset(); + + while (time < _timeout) { + nb_available = wifi->readable(); + if (nb_available < 0) return nb_available; + if (nb_available > 0) break ; + time = tmr.read_ms(); + } + + if (nb_available == 0) return nb_available; + } + + // change this to < 20 mS timeout per byte to detect end of packet gap + // this may not work due to buffering at the UART interface + tmr.reset(); + // while ( tmr.read_ms() < 20 ) { + // if ( wifi.readable() && (idx < length) ) { + // buffer[idx++] = wifi->getc(); + // tmr.reset(); + // } + // if ( idx == length ) { + // break; + // } + // } + //--- + while (time < _timeout) { + + nb_available = wifi->readable(); + //for (int i = 0; i < min(nb_available, length); i++) { + for (int i = 0; i < min(nb_available, (length-idx)); i++) { + buffer[idx] = wifi->getc(); + idx++; + } + if (idx == length) { + break; + } + time = tmr.read_ms(); + } + //--- + return (idx == 0) ? -1 : idx; + +//************************ original code below +// +// if (!_blocking) { +// TimeInterval timeout(_timeout); +// if (wait_readable(timeout) != 0) +// return -1; +// } +// +// int n = lwip_recv(_sock_fd, data, length, 0); +// _is_connected = (n != 0); +// +// return n; + +} + +// -1 if unsuccessful, else number of bytes received +int TCPSocketConnection::receive_all(char* data, int length) +{ + //ERR("receive_all() not yet implimented"); + // if ((_sock_fd < 0) || !_is_connected) +// return -1; +// +// int readLen = 0; +// TimeInterval timeout(_timeout); +// while (readLen < length) { +// if (!_blocking) { +// //Wait for socket to be readable +// if (wait_readable(timeout) != 0) +// return readLen; +// } +// +// int ret = lwip_recv(_sock_fd, data + readLen, length - readLen, 0); +// if (ret > 0) { +// readLen += ret; +// } else if (ret == 0) { +// _is_connected = false; +// return readLen; +// } else { +// return -1; //Connnection error +// } +// } +// return readLen; + receive(data,length); +}