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/UDPSocket.cpp
- Revision:
- 0:3c24a40c2343
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ESP8266InterfaceTiny/Socket/UDPSocket.cpp Fri Jul 22 05:36:02 2016 +0000 @@ -0,0 +1,154 @@ +/* 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 "UDPSocket.h" + +#include <string> +#include <algorithm> + +UDPSocket::UDPSocket() +{ + endpoint_configured = false; + endpoint_read = false; + Endpoint currentEndpoint; +} + +int UDPSocket::init(void) +{ + return 0; +} + +// Server initialization +int UDPSocket::bind(int port) +{ + return 0; +} + +// -1 if unsuccessful, else number of bytes written +int UDPSocket::sendTo(Endpoint &remote, char *packet, int length) +{ + Timer tmr; + int idx = 0; + + + confEndpoint(remote); + + // initialize transparent mode if not already done + if(!endpoint_configured) { + // initialize UDP (default id of -1 means transparent mode) + //!wifi->start(ESP_UDP_TYPE, remote._ipAddress, remote._port, remote._id + if(!wifi->startUDP(remote._ipAddress, remote._port, 0,length)) { + return(-1); + } + endpoint_configured = true; + } + + tmr.start(); + + while ((tmr.read_ms() < _timeout) || _blocking) { + + idx += wifi->send(packet, length); + + if (idx == length) + return idx; + } + return (idx == 0) ? -1 : idx; +} + +// -1 if unsuccessful, else number of bytes received +int UDPSocket::receiveFrom(Endpoint &remote, char *buffer, int length) +{ + 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(); + } + //--- + readEndpoint(remote); + return (idx == 0) ? -1 : idx; +} + +bool UDPSocket::confEndpoint(Endpoint & ep) +{ + currentEndpoint = ep; + return true; +} + +bool UDPSocket::readEndpoint(Endpoint & ep) +{ + ep = currentEndpoint; + return true; +}