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

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;
+}