TCPspittertobi -

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Leo Veenstra / Mbed 2 deprecated TCPspittertobi

Dependencies: EthernetNetIf mbed ADXL345_I2C

main.cpp@0:5abac0d420fc, 2012-02-23 (annotated)

Committer:: SED9008
Date:: Thu Feb 23 13:36:41 2012 +0000
Revision:: 0:5abac0d420fc

Who changed what in which revision?

User	Revision	Line number	New contents of line
SED9008	0:5abac0d420fc	1	#include "mbed.h"
SED9008	0:5abac0d420fc	2	#include "EthernetNetIf.h"
SED9008	0:5abac0d420fc	3	#include "TCPSocket.h"
SED9008	0:5abac0d420fc	4	#include "ADXL345_I2C.h"
SED9008	0:5abac0d420fc	5
SED9008	0:5abac0d420fc	6	DigitalOut led1(LED1, "led1");
SED9008	0:5abac0d420fc	7	DigitalOut led2(LED2, "led2");
SED9008	0:5abac0d420fc	8	DigitalOut led3(LED3, "led3");
SED9008	0:5abac0d420fc	9	DigitalOut led4(LED4, "led4");
SED9008	0:5abac0d420fc	10	AnalogIn ana_x(p19, "ana_x");
SED9008	0:5abac0d420fc	11	AnalogIn ana_y(p20, "ana_y");
SED9008	0:5abac0d420fc	12	DigitalIn init(p5);
SED9008	0:5abac0d420fc	13	DigitalIn garbage(p6);
SED9008	0:5abac0d420fc	14	DigitalIn closesock(p7);
SED9008	0:5abac0d420fc	15	ADXL345_I2C accelerometer(p9, p10);
SED9008	0:5abac0d420fc	16
SED9008	0:5abac0d420fc	17
SED9008	0:5abac0d420fc	18	EthernetNetIf eth(
SED9008	0:5abac0d420fc	19	IpAddr(192,168,0,16), //IP Address
SED9008	0:5abac0d420fc	20	IpAddr(255,255,255,0), //Network Mask
SED9008	0:5abac0d420fc	21	IpAddr(192,168,0,1), //Gateway
SED9008	0:5abac0d420fc	22	IpAddr(192,168,0,1) //DNS
SED9008	0:5abac0d420fc	23	);
SED9008	0:5abac0d420fc	24
SED9008	0:5abac0d420fc	25
SED9008	0:5abac0d420fc	26	// == stability vars
SED9008	0:5abac0d420fc	27	Ticker routine;
SED9008	0:5abac0d420fc	28
SED9008	0:5abac0d420fc	29	float base_x_0 = 50;
SED9008	0:5abac0d420fc	30	float base_y_0 = 50;
SED9008	0:5abac0d420fc	31	float base_x_1 = 50;
SED9008	0:5abac0d420fc	32	float base_y_1 = 50;
SED9008	0:5abac0d420fc	33	float base_x_2 = 50;
SED9008	0:5abac0d420fc	34	float base_y_2 = 50;
SED9008	0:5abac0d420fc	35	float base_x_3 = 50;
SED9008	0:5abac0d420fc	36	float base_y_3 = 50;
SED9008	0:5abac0d420fc	37
SED9008	0:5abac0d420fc	38	float motor_0 = 50;
SED9008	0:5abac0d420fc	39	float motor_1 = 50;
SED9008	0:5abac0d420fc	40	float motor_2 = 50;
SED9008	0:5abac0d420fc	41	float motor_3 = 50;
SED9008	0:5abac0d420fc	42
SED9008	0:5abac0d420fc	43	float a_motor_0 = motor_0;
SED9008	0:5abac0d420fc	44	float a_motor_1 = motor_1;
SED9008	0:5abac0d420fc	45	float a_motor_2 = motor_2;
SED9008	0:5abac0d420fc	46	float a_motor_3 = motor_3;
SED9008	0:5abac0d420fc	47
SED9008	0:5abac0d420fc	48	long x = 50;
SED9008	0:5abac0d420fc	49	long y = 50;
SED9008	0:5abac0d420fc	50
SED9008	0:5abac0d420fc	51	// == end
SED9008	0:5abac0d420fc	52
SED9008	0:5abac0d420fc	53	int go = 0;
SED9008	0:5abac0d420fc	54	int countertje = 0;
SED9008	0:5abac0d420fc	55
SED9008	0:5abac0d420fc	56	#define TCP_LISTENING_PORT 1337
SED9008	0:5abac0d420fc	57
SED9008	0:5abac0d420fc	58	TCPSocket ListeningSock; //Listener
SED9008	0:5abac0d420fc	59	TCPSocket* pConnectedSock; // for ConnectedSock
SED9008	0:5abac0d420fc	60	Host client;
SED9008	0:5abac0d420fc	61	TCPSocketErr err;
SED9008	0:5abac0d420fc	62	char data[128];
SED9008	0:5abac0d420fc	63
SED9008	0:5abac0d420fc	64	void sender(const char*);
SED9008	0:5abac0d420fc	65	void interrupt();
SED9008	0:5abac0d420fc	66	void onConnectedTCPSocketEvent( TCPSocketEvent );
SED9008	0:5abac0d420fc	67	void onListeningTCPSocketEvent( TCPSocketEvent );
SED9008	0:5abac0d420fc	68
SED9008	0:5abac0d420fc	69	int main() {
SED9008	0:5abac0d420fc	70
SED9008	0:5abac0d420fc	71	//Go into standby mode to configure the device.
SED9008	0:5abac0d420fc	72	accelerometer.setPowerControl(0x00);
SED9008	0:5abac0d420fc	73
SED9008	0:5abac0d420fc	74	//Full resolution, +/-16g, 4mg/LSB.
SED9008	0:5abac0d420fc	75	accelerometer.setDataFormatControl(0x0B);
SED9008	0:5abac0d420fc	76
SED9008	0:5abac0d420fc	77	//3.2kHz data rate.
SED9008	0:5abac0d420fc	78	accelerometer.setDataRate(ADXL345_3200HZ);
SED9008	0:5abac0d420fc	79
SED9008	0:5abac0d420fc	80	//Measurement mode.
SED9008	0:5abac0d420fc	81	accelerometer.setPowerControl(0x08);
SED9008	0:5abac0d420fc	82
SED9008	0:5abac0d420fc	83	EthernetErr ethErr = eth.setup();
SED9008	0:5abac0d420fc	84	if(ethErr)
SED9008	0:5abac0d420fc	85	{
SED9008	0:5abac0d420fc	86	led3 = 1;
SED9008	0:5abac0d420fc	87	return -1;
SED9008	0:5abac0d420fc	88	}
SED9008	0:5abac0d420fc	89	// Set the callbacks for Listening
SED9008	0:5abac0d420fc	90	ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
SED9008	0:5abac0d420fc	91	// bind and listen on TCP
SED9008	0:5abac0d420fc	92	err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT)); // listen on own ipaddres, port 1337
SED9008	0:5abac0d420fc	93	if(err)
SED9008	0:5abac0d420fc	94	{
SED9008	0:5abac0d420fc	95	//Deal with that error...
SED9008	0:5abac0d420fc	96	led3 = 1;
SED9008	0:5abac0d420fc	97	}
SED9008	0:5abac0d420fc	98	err=ListeningSock.listen(); // Starts listening
SED9008	0:5abac0d420fc	99	if(err)
SED9008	0:5abac0d420fc	100	{
SED9008	0:5abac0d420fc	101	led3 = 1;
SED9008	0:5abac0d420fc	102	}
SED9008	0:5abac0d420fc	103	routine.attach(&interrupt, 1);
SED9008	0:5abac0d420fc	104	Timer timer;
SED9008	0:5abac0d420fc	105	timer.start();
SED9008	0:5abac0d420fc	106	while(true)
SED9008	0:5abac0d420fc	107	{
SED9008	0:5abac0d420fc	108	Net::poll(); //poll TCPstack
SED9008	0:5abac0d420fc	109	while(init) {
SED9008	0:5abac0d420fc	110	if(!init){
SED9008	0:5abac0d420fc	111	sender("220 Connected\n");
SED9008	0:5abac0d420fc	112	go=1;
SED9008	0:5abac0d420fc	113	break;
SED9008	0:5abac0d420fc	114
SED9008	0:5abac0d420fc	115	}
SED9008	0:5abac0d420fc	116	}
SED9008	0:5abac0d420fc	117	while(closesock) {
SED9008	0:5abac0d420fc	118	if(!closesock){
SED9008	0:5abac0d420fc	119	led1=0;
SED9008	0:5abac0d420fc	120	go=0;
SED9008	0:5abac0d420fc	121	pConnectedSock->close();
SED9008	0:5abac0d420fc	122	break;
SED9008	0:5abac0d420fc	123	}
SED9008	0:5abac0d420fc	124	}
SED9008	0:5abac0d420fc	125	if(go){
SED9008	0:5abac0d420fc	126	if(countertje == 10){
SED9008	0:5abac0d420fc	127	countertje = 0;
SED9008	0:5abac0d420fc	128	}
SED9008	0:5abac0d420fc	129	char buffer [128];
SED9008	0:5abac0d420fc	130	sprintf (buffer, "%d\n",countertje);
SED9008	0:5abac0d420fc	131	sender(buffer);
SED9008	0:5abac0d420fc	132	sprintf (buffer, "x: %d\ny: %d\nmotor_0: %f\nmotor_1: %f\nmotor_2: %f\nmotor_3: %f\n", x,y,motor_0,motor_1,motor_2,motor_3);
SED9008	0:5abac0d420fc	133	sender(buffer);
SED9008	0:5abac0d420fc	134	char receive[128];
SED9008	0:5abac0d420fc	135	while ( int len = pConnectedSock->recv(receive, 128) ) {
SED9008	0:5abac0d420fc	136	led2 != led2;
SED9008	0:5abac0d420fc	137	if(strcmp(receive,"Got it!")==0){
SED9008	0:5abac0d420fc	138	led2 = 0;
SED9008	0:5abac0d420fc	139	break;
SED9008	0:5abac0d420fc	140	}
SED9008	0:5abac0d420fc	141	}
SED9008	0:5abac0d420fc	142	/*
SED9008	0:5abac0d420fc	143	sprintf (buffer, "y: %d\n", y);
SED9008	0:5abac0d420fc	144	sender(buffer);
SED9008	0:5abac0d420fc	145	sprintf (buffer, "motor_0: %d\n", motor_0);
SED9008	0:5abac0d420fc	146	sender(buffer);
SED9008	0:5abac0d420fc	147	sprintf (buffer, "motor_1: %d\n", motor_1);
SED9008	0:5abac0d420fc	148	sender(buffer);
SED9008	0:5abac0d420fc	149	sprintf (buffer, "motor_2: %d\n", motor_2);
SED9008	0:5abac0d420fc	150	sender(buffer);
SED9008	0:5abac0d420fc	151	sprintf (buffer, "motor_3: %d\n", motor_3);
SED9008	0:5abac0d420fc	152	sender(buffer); */
SED9008	0:5abac0d420fc	153	countertje++;
SED9008	0:5abac0d420fc	154	}
SED9008	0:5abac0d420fc	155	if(timer.read() > 0.2)
SED9008	0:5abac0d420fc	156	{
SED9008	0:5abac0d420fc	157	led4=!led4; //Status light toggle
SED9008	0:5abac0d420fc	158	timer.reset();
SED9008	0:5abac0d420fc	159	}
SED9008	0:5abac0d420fc	160	}
SED9008	0:5abac0d420fc	161	}
SED9008	0:5abac0d420fc	162
SED9008	0:5abac0d420fc	163	void sender( const char* data ){
SED9008	0:5abac0d420fc	164	int len = strlen(data);
SED9008	0:5abac0d420fc	165	pConnectedSock->send(data, len);
SED9008	0:5abac0d420fc	166	}
SED9008	0:5abac0d420fc	167
SED9008	0:5abac0d420fc	168
SED9008	0:5abac0d420fc	169	void interrupt()
SED9008	0:5abac0d420fc	170	{
SED9008	0:5abac0d420fc	171	x = accelerometer.getAx();
SED9008	0:5abac0d420fc	172	y = accelerometer.getAy();
SED9008	0:5abac0d420fc	173
SED9008	0:5abac0d420fc	174	a_motor_0 = a_motor_0-((((base_x_0-x)/2)+((base_x_0-y)/2))/1000);
SED9008	0:5abac0d420fc	175	if(a_motor_0>99){
SED9008	0:5abac0d420fc	176	motor_0 = 100;}
SED9008	0:5abac0d420fc	177	else if(a_motor_0 < 1){
SED9008	0:5abac0d420fc	178	motor_0 = 0;}
SED9008	0:5abac0d420fc	179	else{
SED9008	0:5abac0d420fc	180	motor_0 = a_motor_0;}
SED9008	0:5abac0d420fc	181	a_motor_1 = a_motor_1-((((base_x_1-x)/2)-((base_x_1-y)/2))/1000);
SED9008	0:5abac0d420fc	182	if(a_motor_1>99){
SED9008	0:5abac0d420fc	183	motor_1 = 100;}
SED9008	0:5abac0d420fc	184	else if(a_motor_1 < 1){
SED9008	0:5abac0d420fc	185	motor_1 = 0;}
SED9008	0:5abac0d420fc	186	else{
SED9008	0:5abac0d420fc	187	motor_1 = a_motor_1;}
SED9008	0:5abac0d420fc	188	a_motor_2 = a_motor_2+((((base_x_2-x)/2)-((base_x_2-y)/2))/1000);
SED9008	0:5abac0d420fc	189	if(a_motor_2>99){
SED9008	0:5abac0d420fc	190	motor_2 = 100;}
SED9008	0:5abac0d420fc	191	else if(a_motor_2 < 1){
SED9008	0:5abac0d420fc	192	motor_2 = 0;}
SED9008	0:5abac0d420fc	193	else{
SED9008	0:5abac0d420fc	194	motor_2 = a_motor_2;}
SED9008	0:5abac0d420fc	195	a_motor_3 = a_motor_3+((((base_x_3-x)/2)+((base_x_3-y)/2))/1000);
SED9008	0:5abac0d420fc	196	if(a_motor_3>99){
SED9008	0:5abac0d420fc	197	motor_3 = 100;}
SED9008	0:5abac0d420fc	198	else if(a_motor_3 < 1){
SED9008	0:5abac0d420fc	199	motor_3 = 0;}
SED9008	0:5abac0d420fc	200	else{
SED9008	0:5abac0d420fc	201	motor_3 = a_motor_3;}
SED9008	0:5abac0d420fc	202	}
SED9008	0:5abac0d420fc	203
SED9008	0:5abac0d420fc	204	void onConnectedTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5abac0d420fc	205	{
SED9008	0:5abac0d420fc	206	switch(e)
SED9008	0:5abac0d420fc	207	{
SED9008	0:5abac0d420fc	208	case TCPSOCKET_CONNECTED:
SED9008	0:5abac0d420fc	209	led1 = 1;
SED9008	0:5abac0d420fc	210	break;
SED9008	0:5abac0d420fc	211	case TCPSOCKET_WRITEABLE:
SED9008	0:5abac0d420fc	212	//Can now write some data...
SED9008	0:5abac0d420fc	213	led1 = 1;
SED9008	0:5abac0d420fc	214	break;
SED9008	0:5abac0d420fc	215	case TCPSOCKET_READABLE:
SED9008	0:5abac0d420fc	216	//Can now read dome data...
SED9008	0:5abac0d420fc	217	led1 = 1;
SED9008	0:5abac0d420fc	218	// Read in any available data into the buffer
SED9008	0:5abac0d420fc	219	char buff[128];
SED9008	0:5abac0d420fc	220	while ( int len = pConnectedSock->recv(buff, 128) ) {
SED9008	0:5abac0d420fc	221	// And send straight back out again
SED9008	0:5abac0d420fc	222
SED9008	0:5abac0d420fc	223	//pConnectedSock->send(buff, len);
SED9008	0:5abac0d420fc	224	//buff[len]=0; // make terminater
SED9008	0:5abac0d420fc	225	led2 != led2;
SED9008	0:5abac0d420fc	226	strcpy(data,buff);
SED9008	0:5abac0d420fc	227	}
SED9008	0:5abac0d420fc	228	break;
SED9008	0:5abac0d420fc	229	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5abac0d420fc	230	printf("TCP Socket Timeout\r\n");
SED9008	0:5abac0d420fc	231	break;
SED9008	0:5abac0d420fc	232	case TCPSOCKET_CONRST:
SED9008	0:5abac0d420fc	233	printf("TCP Socket CONRST\r\n");
SED9008	0:5abac0d420fc	234	break;
SED9008	0:5abac0d420fc	235	case TCPSOCKET_CONABRT:
SED9008	0:5abac0d420fc	236	printf("TCP Socket CONABRT\r\n");
SED9008	0:5abac0d420fc	237	break;
SED9008	0:5abac0d420fc	238	case TCPSOCKET_ERROR:
SED9008	0:5abac0d420fc	239	printf("TCP Socket Error\r\n");
SED9008	0:5abac0d420fc	240	break;
SED9008	0:5abac0d420fc	241	case TCPSOCKET_DISCONNECTED:
SED9008	0:5abac0d420fc	242	//Close socket...
SED9008	0:5abac0d420fc	243	printf("TCP Socket Disconnected\r\n");
SED9008	0:5abac0d420fc	244	pConnectedSock->close();
SED9008	0:5abac0d420fc	245	led1=0;
SED9008	0:5abac0d420fc	246	break;
SED9008	0:5abac0d420fc	247	default:
SED9008	0:5abac0d420fc	248	printf("DEFAULT\r\n");
SED9008	0:5abac0d420fc	249	}
SED9008	0:5abac0d420fc	250	}
SED9008	0:5abac0d420fc	251
SED9008	0:5abac0d420fc	252
SED9008	0:5abac0d420fc	253	void onListeningTCPSocketEvent(TCPSocketEvent e)
SED9008	0:5abac0d420fc	254	{
SED9008	0:5abac0d420fc	255	switch(e)
SED9008	0:5abac0d420fc	256	{
SED9008	0:5abac0d420fc	257	case TCPSOCKET_ACCEPT:
SED9008	0:5abac0d420fc	258	printf("Listening: TCP Socket Accepted\r\n");
SED9008	0:5abac0d420fc	259	// Accepts connection from client and gets connected socket.
SED9008	0:5abac0d420fc	260	err=ListeningSock.accept(&client, &pConnectedSock);
SED9008	0:5abac0d420fc	261	if (err) {
SED9008	0:5abac0d420fc	262	led3 = 1;
SED9008	0:5abac0d420fc	263	return; //Error in accept, discard connection
SED9008	0:5abac0d420fc	264	}
SED9008	0:5abac0d420fc	265	// Setup the new socket events
SED9008	0:5abac0d420fc	266	pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
SED9008	0:5abac0d420fc	267	// We can find out from where the connection is coming by looking at the
SED9008	0:5abac0d420fc	268	// Host parameter of the accept() method
SED9008	0:5abac0d420fc	269	IpAddr clientIp = client.getIp();
SED9008	0:5abac0d420fc	270	printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
SED9008	0:5abac0d420fc	271	clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
SED9008	0:5abac0d420fc	272	break;
SED9008	0:5abac0d420fc	273	// the following cases will not happen
SED9008	0:5abac0d420fc	274	case TCPSOCKET_CONNECTED:
SED9008	0:5abac0d420fc	275	printf("Listening: TCP Socket Connected\r\n");
SED9008	0:5abac0d420fc	276	break;
SED9008	0:5abac0d420fc	277	case TCPSOCKET_WRITEABLE:
SED9008	0:5abac0d420fc	278	printf("Listening: TCP Socket Writable\r\n");
SED9008	0:5abac0d420fc	279	break;
SED9008	0:5abac0d420fc	280	case TCPSOCKET_READABLE:
SED9008	0:5abac0d420fc	281	printf("Listening: TCP Socket Readable\r\n");
SED9008	0:5abac0d420fc	282	break;
SED9008	0:5abac0d420fc	283	case TCPSOCKET_CONTIMEOUT:
SED9008	0:5abac0d420fc	284	printf("Listening: TCP Socket Timeout\r\n");
SED9008	0:5abac0d420fc	285	break;
SED9008	0:5abac0d420fc	286	case TCPSOCKET_CONRST:
SED9008	0:5abac0d420fc	287	printf("Listening: TCP Socket CONRST\r\n");
SED9008	0:5abac0d420fc	288	break;
SED9008	0:5abac0d420fc	289	case TCPSOCKET_CONABRT:
SED9008	0:5abac0d420fc	290	printf("Listening: TCP Socket CONABRT\r\n");
SED9008	0:5abac0d420fc	291	break;
SED9008	0:5abac0d420fc	292	case TCPSOCKET_ERROR:
SED9008	0:5abac0d420fc	293	led3 = 1;
SED9008	0:5abac0d420fc	294	break;
SED9008	0:5abac0d420fc	295	case TCPSOCKET_DISCONNECTED:
SED9008	0:5abac0d420fc	296	//Close socket...
SED9008	0:5abac0d420fc	297	printf("Listening: TCP Socket Disconnected\r\n");
SED9008	0:5abac0d420fc	298	ListeningSock.close();
SED9008	0:5abac0d420fc	299	break;
SED9008	0:5abac0d420fc	300	default:
SED9008	0:5abac0d420fc	301	printf("DEFAULT\r\n");
SED9008	0:5abac0d420fc	302	};
SED9008	0:5abac0d420fc	303	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Feb 2012
Imports:	1
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	3
Followers:	1

main.cpp@0:5abac0d420fc, 2012-02-23 (annotated)

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