Andrew Schaeffer / Mbed 2 deprecated OU_Davis_Old_Robot

This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.

Dependencies:   FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed

blueusb/Socket.cpp@0:bcad524c1856, 2017-11-01 (annotated)

Committer:
DrewSchaef
Date:
Wed Nov 01 15:57:59 2017 +0000
Revision:
0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrewSchaef 0:bcad524c1856 1 /*
DrewSchaef 0:bcad524c1856 2 Copyright (c) 2010 Peter Barrett
DrewSchaef 0:bcad524c1856 3
DrewSchaef 0:bcad524c1856 4 Permission is hereby granted, free of charge, to any person obtaining a copy
DrewSchaef 0:bcad524c1856 5 of this software and associated documentation files (the "Software"), to deal
DrewSchaef 0:bcad524c1856 6 in the Software without restriction, including without limitation the rights
DrewSchaef 0:bcad524c1856 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DrewSchaef 0:bcad524c1856 8 copies of the Software, and to permit persons to whom the Software is
DrewSchaef 0:bcad524c1856 9 furnished to do so, subject to the following conditions:
DrewSchaef 0:bcad524c1856 10
DrewSchaef 0:bcad524c1856 11 The above copyright notice and this permission notice shall be included in
DrewSchaef 0:bcad524c1856 12 all copies or substantial portions of the Software.
DrewSchaef 0:bcad524c1856 13
DrewSchaef 0:bcad524c1856 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DrewSchaef 0:bcad524c1856 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DrewSchaef 0:bcad524c1856 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DrewSchaef 0:bcad524c1856 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DrewSchaef 0:bcad524c1856 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DrewSchaef 0:bcad524c1856 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DrewSchaef 0:bcad524c1856 20 THE SOFTWARE.
DrewSchaef 0:bcad524c1856 21 */
DrewSchaef 0:bcad524c1856 22
DrewSchaef 0:bcad524c1856 23 #include <stdio.h>
DrewSchaef 0:bcad524c1856 24 #include <stdlib.h>
DrewSchaef 0:bcad524c1856 25 #include <stdio.h>
DrewSchaef 0:bcad524c1856 26 #include <string.h>
DrewSchaef 0:bcad524c1856 27
DrewSchaef 0:bcad524c1856 28 #include "Utils.h"
DrewSchaef 0:bcad524c1856 29 #include "Socket.h"
DrewSchaef 0:bcad524c1856 30
DrewSchaef 0:bcad524c1856 31 #define MAX_SOCKET_HANDLERS 3
DrewSchaef 0:bcad524c1856 32 #define MAX_SOCKETS 16
DrewSchaef 0:bcad524c1856 33
DrewSchaef 0:bcad524c1856 34 class SocketInternalPad
DrewSchaef 0:bcad524c1856 35 {
DrewSchaef 0:bcad524c1856 36 public:
DrewSchaef 0:bcad524c1856 37 SocketInternal si;
DrewSchaef 0:bcad524c1856 38 u8 pad[8];
DrewSchaef 0:bcad524c1856 39 };
DrewSchaef 0:bcad524c1856 40
DrewSchaef 0:bcad524c1856 41 class SocketManager
DrewSchaef 0:bcad524c1856 42 {
DrewSchaef 0:bcad524c1856 43 SocketHandler* _handlers[MAX_SOCKET_HANDLERS];
DrewSchaef 0:bcad524c1856 44 SocketInternalPad _sockets[MAX_SOCKETS];
DrewSchaef 0:bcad524c1856 45
DrewSchaef 0:bcad524c1856 46 public:
DrewSchaef 0:bcad524c1856 47 SocketManager()
DrewSchaef 0:bcad524c1856 48 {
DrewSchaef 0:bcad524c1856 49 memset(_handlers,0,sizeof(_handlers));
DrewSchaef 0:bcad524c1856 50 memset(_sockets,0,sizeof(_sockets));
DrewSchaef 0:bcad524c1856 51 }
DrewSchaef 0:bcad524c1856 52
DrewSchaef 0:bcad524c1856 53 SocketHandler* GetHandler(int type)
DrewSchaef 0:bcad524c1856 54 {
DrewSchaef 0:bcad524c1856 55 if (type < 1 || type > MAX_SOCKET_HANDLERS)
DrewSchaef 0:bcad524c1856 56 return 0;
DrewSchaef 0:bcad524c1856 57 return _handlers[type - 1];
DrewSchaef 0:bcad524c1856 58 }
DrewSchaef 0:bcad524c1856 59
DrewSchaef 0:bcad524c1856 60 SocketInternal* GetInternal(int s)
DrewSchaef 0:bcad524c1856 61 {
DrewSchaef 0:bcad524c1856 62 if (s < 1 || s > MAX_SOCKETS)
DrewSchaef 0:bcad524c1856 63 return 0;
DrewSchaef 0:bcad524c1856 64 return &_sockets[s - 1].si;
DrewSchaef 0:bcad524c1856 65 }
DrewSchaef 0:bcad524c1856 66
DrewSchaef 0:bcad524c1856 67 int RegisterSocketHandler(int type, SocketHandler* handler)
DrewSchaef 0:bcad524c1856 68 {
DrewSchaef 0:bcad524c1856 69 if (type < 1 || type > MAX_SOCKET_HANDLERS)
DrewSchaef 0:bcad524c1856 70 return ERR_SOCKET_TYPE_NOT_FOUND;
DrewSchaef 0:bcad524c1856 71 _handlers[type - 1] = handler;
DrewSchaef 0:bcad524c1856 72 return 0;
DrewSchaef 0:bcad524c1856 73 }
DrewSchaef 0:bcad524c1856 74
DrewSchaef 0:bcad524c1856 75 int Open(int type, SocketAddrHdr* addr, SocketCallback callback, void* userData)
DrewSchaef 0:bcad524c1856 76 {
DrewSchaef 0:bcad524c1856 77 SocketHandler* h = GetHandler(type);
DrewSchaef 0:bcad524c1856 78 if (!h)
DrewSchaef 0:bcad524c1856 79 return ERR_SOCKET_TYPE_NOT_FOUND;
DrewSchaef 0:bcad524c1856 80
DrewSchaef 0:bcad524c1856 81 for (int i = 0; i < MAX_SOCKETS; i++)
DrewSchaef 0:bcad524c1856 82 {
DrewSchaef 0:bcad524c1856 83 SocketInternal* si = (SocketInternal*)(_sockets+i);
DrewSchaef 0:bcad524c1856 84 if (si->ID == 0)
DrewSchaef 0:bcad524c1856 85 {
DrewSchaef 0:bcad524c1856 86 si->ID = i+1;
DrewSchaef 0:bcad524c1856 87 si->Type = type;
DrewSchaef 0:bcad524c1856 88 si->Callback = callback;
DrewSchaef 0:bcad524c1856 89 si->userData = userData;
DrewSchaef 0:bcad524c1856 90 return h->Open(si,addr);
DrewSchaef 0:bcad524c1856 91 }
DrewSchaef 0:bcad524c1856 92 }
DrewSchaef 0:bcad524c1856 93 return ERR_SOCKET_NONE_LEFT;
DrewSchaef 0:bcad524c1856 94 }
DrewSchaef 0:bcad524c1856 95
DrewSchaef 0:bcad524c1856 96 int Send(int socket, const u8* data, int len)
DrewSchaef 0:bcad524c1856 97 {
DrewSchaef 0:bcad524c1856 98 SocketInternal* si = GetInternal(socket);
DrewSchaef 0:bcad524c1856 99 if (!si || si->ID != socket)
DrewSchaef 0:bcad524c1856 100 return ERR_SOCKET_NOT_FOUND;
DrewSchaef 0:bcad524c1856 101 return GetHandler(si->Type)->Send(si,data,len);
DrewSchaef 0:bcad524c1856 102 }
DrewSchaef 0:bcad524c1856 103
DrewSchaef 0:bcad524c1856 104 int Close(int socket)
DrewSchaef 0:bcad524c1856 105 {
DrewSchaef 0:bcad524c1856 106 SocketInternal* si = GetInternal(socket);
DrewSchaef 0:bcad524c1856 107 if (!si || si->ID != socket)
DrewSchaef 0:bcad524c1856 108 return ERR_SOCKET_NOT_FOUND;
DrewSchaef 0:bcad524c1856 109 si->ID = 0;
DrewSchaef 0:bcad524c1856 110 return GetHandler(si->Type)->Close(si);
DrewSchaef 0:bcad524c1856 111 }
DrewSchaef 0:bcad524c1856 112 };
DrewSchaef 0:bcad524c1856 113
DrewSchaef 0:bcad524c1856 114 SocketManager gSocketManager;
DrewSchaef 0:bcad524c1856 115
DrewSchaef 0:bcad524c1856 116 int Socket_Open(int type, SocketAddrHdr* addr, SocketCallback callback, void* userData)
DrewSchaef 0:bcad524c1856 117 {
DrewSchaef 0:bcad524c1856 118 return gSocketManager.Open(type,addr,callback,userData);
DrewSchaef 0:bcad524c1856 119 }
DrewSchaef 0:bcad524c1856 120
DrewSchaef 0:bcad524c1856 121 int Socket_Send(int socket, const u8* data, int len)
DrewSchaef 0:bcad524c1856 122 {
DrewSchaef 0:bcad524c1856 123 return gSocketManager.Send(socket,data,len);
DrewSchaef 0:bcad524c1856 124 }
DrewSchaef 0:bcad524c1856 125
DrewSchaef 0:bcad524c1856 126 int Socket_Close(int socket)
DrewSchaef 0:bcad524c1856 127 {
DrewSchaef 0:bcad524c1856 128 return gSocketManager.Close(socket);
DrewSchaef 0:bcad524c1856 129 }
DrewSchaef 0:bcad524c1856 130
DrewSchaef 0:bcad524c1856 131 int RegisterSocketHandler(int type, SocketHandler* handler)
DrewSchaef 0:bcad524c1856 132 {
DrewSchaef 0:bcad524c1856 133 return gSocketManager.RegisterSocketHandler(type,handler);
DrewSchaef 0:bcad524c1856 134 }
DrewSchaef 0:bcad524c1856 135
DrewSchaef 0:bcad524c1856 136 SocketInternal* GetSocketInternal(int socket)
DrewSchaef 0:bcad524c1856 137 {
DrewSchaef 0:bcad524c1856 138 return gSocketManager.GetInternal(socket);
DrewSchaef 0:bcad524c1856 139 }
DrewSchaef 0:bcad524c1856 140