Ankit Patel / Mbed 2 deprecated Robot_Control_UDP_Ethernet

Control a robot over the internet using UDP and a Ethernet interface.

Dependencies:   EthernetInterface Motor TextLCD mbed-rtos mbed Socket lwip-eth lwip-sys lwip

EthernetInterface/Socket/Socket.cpp@0:1496281373a5, 2013-10-17 (annotated)

Committer:
apatel336
Date:
Thu Oct 17 13:26:38 2013 +0000
Revision:
0:1496281373a5
Initial Release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apatel336 0:1496281373a5 1 /* Copyright (C) 2012 mbed.org, MIT License
apatel336 0:1496281373a5 2 *
apatel336 0:1496281373a5 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
apatel336 0:1496281373a5 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
apatel336 0:1496281373a5 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
apatel336 0:1496281373a5 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
apatel336 0:1496281373a5 7 * furnished to do so, subject to the following conditions:
apatel336 0:1496281373a5 8 *
apatel336 0:1496281373a5 9 * The above copyright notice and this permission notice shall be included in all copies or
apatel336 0:1496281373a5 10 * substantial portions of the Software.
apatel336 0:1496281373a5 11 *
apatel336 0:1496281373a5 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
apatel336 0:1496281373a5 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
apatel336 0:1496281373a5 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
apatel336 0:1496281373a5 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
apatel336 0:1496281373a5 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
apatel336 0:1496281373a5 17 */
apatel336 0:1496281373a5 18 #include "Socket/Socket.h"
apatel336 0:1496281373a5 19 #include <cstring>
apatel336 0:1496281373a5 20
apatel336 0:1496281373a5 21 using std::memset;
apatel336 0:1496281373a5 22
apatel336 0:1496281373a5 23 Socket::Socket() : _sock_fd(-1), _blocking(true), _timeout(1500) {
apatel336 0:1496281373a5 24
apatel336 0:1496281373a5 25 }
apatel336 0:1496281373a5 26
apatel336 0:1496281373a5 27 void Socket::set_blocking(bool blocking, unsigned int timeout) {
apatel336 0:1496281373a5 28 _blocking = blocking;
apatel336 0:1496281373a5 29 _timeout = timeout;
apatel336 0:1496281373a5 30 }
apatel336 0:1496281373a5 31
apatel336 0:1496281373a5 32 int Socket::init_socket(int type) {
apatel336 0:1496281373a5 33 if (_sock_fd != -1)
apatel336 0:1496281373a5 34 return -1;
apatel336 0:1496281373a5 35
apatel336 0:1496281373a5 36 int fd = lwip_socket(AF_INET, type, 0);
apatel336 0:1496281373a5 37 if (fd < 0)
apatel336 0:1496281373a5 38 return -1;
apatel336 0:1496281373a5 39
apatel336 0:1496281373a5 40 _sock_fd = fd;
apatel336 0:1496281373a5 41 return 0;
apatel336 0:1496281373a5 42 }
apatel336 0:1496281373a5 43
apatel336 0:1496281373a5 44 int Socket::set_option(int level, int optname, const void *optval, socklen_t optlen) {
apatel336 0:1496281373a5 45 return lwip_setsockopt(_sock_fd, level, optname, optval, optlen);
apatel336 0:1496281373a5 46 }
apatel336 0:1496281373a5 47
apatel336 0:1496281373a5 48 int Socket::get_option(int level, int optname, void *optval, socklen_t *optlen) {
apatel336 0:1496281373a5 49 return lwip_getsockopt(_sock_fd, level, optname, optval, optlen);
apatel336 0:1496281373a5 50 }
apatel336 0:1496281373a5 51
apatel336 0:1496281373a5 52 int Socket::select(struct timeval *timeout, bool read, bool write) {
apatel336 0:1496281373a5 53 fd_set fdSet;
apatel336 0:1496281373a5 54 FD_ZERO(&fdSet);
apatel336 0:1496281373a5 55 FD_SET(_sock_fd, &fdSet);
apatel336 0:1496281373a5 56
apatel336 0:1496281373a5 57 fd_set* readset = (read ) ? (&fdSet) : (NULL);
apatel336 0:1496281373a5 58 fd_set* writeset = (write) ? (&fdSet) : (NULL);
apatel336 0:1496281373a5 59
apatel336 0:1496281373a5 60 int ret = lwip_select(FD_SETSIZE, readset, writeset, NULL, timeout);
apatel336 0:1496281373a5 61 return (ret <= 0 || !FD_ISSET(_sock_fd, &fdSet)) ? (-1) : (0);
apatel336 0:1496281373a5 62 }
apatel336 0:1496281373a5 63
apatel336 0:1496281373a5 64 int Socket::wait_readable(TimeInterval& timeout) {
apatel336 0:1496281373a5 65 return select(&timeout._time, true, false);
apatel336 0:1496281373a5 66 }
apatel336 0:1496281373a5 67
apatel336 0:1496281373a5 68 int Socket::wait_writable(TimeInterval& timeout) {
apatel336 0:1496281373a5 69 return select(&timeout._time, false, true);
apatel336 0:1496281373a5 70 }
apatel336 0:1496281373a5 71
apatel336 0:1496281373a5 72 int Socket::close(bool shutdown) {
apatel336 0:1496281373a5 73 if (_sock_fd < 0)
apatel336 0:1496281373a5 74 return -1;
apatel336 0:1496281373a5 75
apatel336 0:1496281373a5 76 if (shutdown)
apatel336 0:1496281373a5 77 lwip_shutdown(_sock_fd, SHUT_RDWR);
apatel336 0:1496281373a5 78 lwip_close(_sock_fd);
apatel336 0:1496281373a5 79 _sock_fd = -1;
apatel336 0:1496281373a5 80
apatel336 0:1496281373a5 81 return 0;
apatel336 0:1496281373a5 82 }
apatel336 0:1496281373a5 83
apatel336 0:1496281373a5 84 Socket::~Socket() {
apatel336 0:1496281373a5 85 close(); //Don't want to leak
apatel336 0:1496281373a5 86 }
apatel336 0:1496281373a5 87
apatel336 0:1496281373a5 88 TimeInterval::TimeInterval(unsigned int ms) {
apatel336 0:1496281373a5 89 _time.tv_sec = ms / 1000;
apatel336 0:1496281373a5 90 _time.tv_usec = (ms - (_time.tv_sec * 1000)) * 1000;
apatel336 0:1496281373a5 91 }