Leo Veenstra
Dependencies: EthernetNetIf mbed
Diff: main.cpp
- Revision:
- 0:fa3fb9be66e3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 15 21:59:52 2012 +0000
@@ -0,0 +1,275 @@
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "TCPSocket.h"
+DigitalOut led1(LED1, "led1");
+DigitalOut led2(LED2, "led2");
+DigitalOut led3(LED3, "led3");
+DigitalOut led4(LED4, "led4");
+AnalogIn ana_x(p19, "ana_x");
+AnalogIn ana_y(p20, "ana_y");
+DigitalIn init(p5);
+DigitalIn garbage(p6);
+DigitalIn closesock(p7);
+EthernetNetIf eth(
+ IpAddr(192,168,0,16), //IP Address
+ IpAddr(255,255,255,0), //Network Mask
+ IpAddr(192,168,0,1), //Gateway
+ IpAddr(192,168,0,1) //DNS
+);
+
+
+// == stability vars
+Ticker routine;
+
+int base_x_0 = 50;
+int base_y_0 = 50;
+int base_x_1 = 50;
+int base_y_1 = 50;
+int base_x_2 = 50;
+int base_y_2 = 50;
+int base_x_3 = 50;
+int base_y_3 = 50;
+
+int motor_0 = 50;
+int motor_1 = 50;
+int motor_2 = 50;
+int motor_3 = 50;
+
+int a_motor_0 = motor_0;
+int a_motor_1 = motor_1;
+int a_motor_2 = motor_2;
+int a_motor_3 = motor_3;
+
+int x = 50;
+int y = 50;
+
+// == end
+
+int go = 0;
+
+#define TCP_LISTENING_PORT 1337
+
+TCPSocket ListeningSock; //Listener
+TCPSocket* pConnectedSock; // for ConnectedSock
+Host client;
+TCPSocketErr err;
+char data[128];
+
+void sender(const char*);
+void interrupt();
+void onConnectedTCPSocketEvent( TCPSocketEvent );
+void onListeningTCPSocketEvent( TCPSocketEvent );
+
+int main() {
+
+ EthernetErr ethErr = eth.setup();
+ if(ethErr)
+ {
+ led3 = 1;
+ return -1;
+ }
+ // Set the callbacks for Listening
+ ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
+ // bind and listen on TCP
+ err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT)); // listen on own ipaddres, port 1337
+ if(err)
+ {
+ //Deal with that error...
+ led3 = 1;
+ }
+ err=ListeningSock.listen(); // Starts listening
+ if(err)
+ {
+ led3 = 1;
+ }
+ routine.attach(&interrupt, 1);
+ Timer timer;
+ timer.start();
+ while(true)
+ {
+ Net::poll(); //poll TCPstack
+ while(init) {
+ if(!init){
+ sender("220 Connected\n");
+ go=1;
+ break;
+
+ }
+ }
+ while(garbage) {
+ if(!garbage){
+ sender("RAndomstuff\n");
+ break;
+ }
+ }
+ while(closesock) {
+ if(!closesock){
+ pConnectedSock->close();
+ led1=0;
+ break;
+ }
+ }
+ if(go){
+ char buffer [16];
+ sprintf (buffer, "x: %d\n", x);
+ sender(buffer);
+ sprintf (buffer, "y: %d\n", y);
+ sender(buffer);
+ sprintf (buffer, "motor_0: %d\n", motor_0);
+ sender(buffer);
+ sprintf (buffer, "motor_1: %d\n", motor_1);
+ sender(buffer);
+ sprintf (buffer, "motor_2: %d\n", motor_2);
+ sender(buffer);
+ sprintf (buffer, "motor_3: %d\n", motor_3);
+ sender(buffer);
+ }
+ if(timer.read() > 0.2)
+ {
+ led4=!led4; //Status light toggle
+ timer.reset();
+ }
+ }
+}
+
+void sender( const char* data ){
+ int len = strlen(data);
+ pConnectedSock->send(data, len);
+}
+
+
+void interrupt()
+{
+ x = ana_x.read()*100;
+ y = ana_y.read()*100;
+
+ a_motor_0 = a_motor_0-((base_x_0-x)/2)+((base_x_0-y)/2);
+ if(a_motor_0>99){
+ motor_0 = 100;}
+ else if(a_motor_0 < 1){
+ motor_0 = 0;}
+ else{
+ motor_0 = a_motor_0;}
+ a_motor_1 = a_motor_1-((base_x_1-x)/2)-((base_x_1-y)/2);
+ if(a_motor_1>99){
+ motor_1 = 100;}
+ else if(a_motor_1 < 1){
+ motor_1 = 0;}
+ else{
+ motor_1 = a_motor_1;}
+ a_motor_2 = a_motor_2+((base_x_2-x)/2)-((base_x_2-y)/2);
+ if(a_motor_2>99){
+ motor_2 = 100;}
+ else if(a_motor_2 < 1){
+ motor_2 = 0;}
+ else{
+ motor_2 = a_motor_2;}
+ a_motor_3 = a_motor_3+((base_x_3-x)/2)+((base_x_3-y)/2);
+ if(a_motor_3>99){
+ motor_3 = 100;}
+ else if(a_motor_3 < 1){
+ motor_3 = 0;}
+ else{
+ motor_3 = a_motor_3;}
+}
+
+void onConnectedTCPSocketEvent(TCPSocketEvent e)
+{
+ switch(e)
+ {
+ case TCPSOCKET_CONNECTED:
+ led1 = 1;
+ break;
+ case TCPSOCKET_WRITEABLE:
+ //Can now write some data...
+ led1 = 1;
+ break;
+ case TCPSOCKET_READABLE:
+ //Can now read dome data...
+ led1 = 1;
+ // Read in any available data into the buffer
+ char buff[128];
+ while ( int len = pConnectedSock->recv(buff, 128) ) {
+ // And send straight back out again
+
+ //pConnectedSock->send(buff, len);
+ //buff[len]=0; // make terminater
+ led2 != led2;
+ strcpy(data,buff);
+ }
+ break;
+ case TCPSOCKET_CONTIMEOUT:
+ printf("TCP Socket Timeout\r\n");
+ break;
+ case TCPSOCKET_CONRST:
+ printf("TCP Socket CONRST\r\n");
+ break;
+ case TCPSOCKET_CONABRT:
+ printf("TCP Socket CONABRT\r\n");
+ break;
+ case TCPSOCKET_ERROR:
+ printf("TCP Socket Error\r\n");
+ break;
+ case TCPSOCKET_DISCONNECTED:
+ //Close socket...
+ printf("TCP Socket Disconnected\r\n");
+ pConnectedSock->close();
+ led1=0;
+ break;
+ default:
+ printf("DEFAULT\r\n");
+ }
+}
+
+
+void onListeningTCPSocketEvent(TCPSocketEvent e)
+{
+ switch(e)
+ {
+ case TCPSOCKET_ACCEPT:
+ printf("Listening: TCP Socket Accepted\r\n");
+ // Accepts connection from client and gets connected socket.
+ err=ListeningSock.accept(&client, &pConnectedSock);
+ if (err) {
+ led3 = 1;
+ return; //Error in accept, discard connection
+ }
+ // Setup the new socket events
+ pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
+ // We can find out from where the connection is coming by looking at the
+ // Host parameter of the accept() method
+ IpAddr clientIp = client.getIp();
+ printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
+ clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
+ break;
+ // the following cases will not happen
+ case TCPSOCKET_CONNECTED:
+ printf("Listening: TCP Socket Connected\r\n");
+ break;
+ case TCPSOCKET_WRITEABLE:
+ printf("Listening: TCP Socket Writable\r\n");
+ break;
+ case TCPSOCKET_READABLE:
+ printf("Listening: TCP Socket Readable\r\n");
+ break;
+ case TCPSOCKET_CONTIMEOUT:
+ printf("Listening: TCP Socket Timeout\r\n");
+ break;
+ case TCPSOCKET_CONRST:
+ printf("Listening: TCP Socket CONRST\r\n");
+ break;
+ case TCPSOCKET_CONABRT:
+ printf("Listening: TCP Socket CONABRT\r\n");
+ break;
+ case TCPSOCKET_ERROR:
+ led3 = 1;
+ break;
+ case TCPSOCKET_DISCONNECTED:
+ //Close socket...
+ printf("Listening: TCP Socket Disconnected\r\n");
+ ListeningSock.close();
+ break;
+ default:
+ printf("DEFAULT\r\n");
+ };
+}