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

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
apatel336 0:1496281373a5 19 #include "Socket/UDPSocket.h"
apatel336 0:1496281373a5 20
apatel336 0:1496281373a5 21 #include <cstring>
apatel336 0:1496281373a5 22
apatel336 0:1496281373a5 23 using std::memset;
apatel336 0:1496281373a5 24
apatel336 0:1496281373a5 25 UDPSocket::UDPSocket() {
apatel336 0:1496281373a5 26 }
apatel336 0:1496281373a5 27
apatel336 0:1496281373a5 28 int UDPSocket::init(void) {
apatel336 0:1496281373a5 29 return init_socket(SOCK_DGRAM);
apatel336 0:1496281373a5 30 }
apatel336 0:1496281373a5 31
apatel336 0:1496281373a5 32 // Server initialization
apatel336 0:1496281373a5 33 int UDPSocket::bind(int port) {
apatel336 0:1496281373a5 34 if (init_socket(SOCK_DGRAM) < 0)
apatel336 0:1496281373a5 35 return -1;
apatel336 0:1496281373a5 36
apatel336 0:1496281373a5 37 struct sockaddr_in localHost;
apatel336 0:1496281373a5 38 std::memset(&localHost, 0, sizeof(localHost));
apatel336 0:1496281373a5 39
apatel336 0:1496281373a5 40 localHost.sin_family = AF_INET;
apatel336 0:1496281373a5 41 localHost.sin_port = htons(port);
apatel336 0:1496281373a5 42 localHost.sin_addr.s_addr = INADDR_ANY;
apatel336 0:1496281373a5 43
apatel336 0:1496281373a5 44 if (lwip_bind(_sock_fd, (const struct sockaddr *) &localHost, sizeof(localHost)) < 0) {
apatel336 0:1496281373a5 45 close();
apatel336 0:1496281373a5 46 return -1;
apatel336 0:1496281373a5 47 }
apatel336 0:1496281373a5 48
apatel336 0:1496281373a5 49 return 0;
apatel336 0:1496281373a5 50 }
apatel336 0:1496281373a5 51
apatel336 0:1496281373a5 52 int UDPSocket::join_multicast_group(const char* address) {
apatel336 0:1496281373a5 53 struct ip_mreq mreq;
apatel336 0:1496281373a5 54
apatel336 0:1496281373a5 55 // Set up group address
apatel336 0:1496281373a5 56 mreq.imr_multiaddr.s_addr = inet_addr(address);
apatel336 0:1496281373a5 57 mreq.imr_interface.s_addr = htonl(INADDR_ANY);
apatel336 0:1496281373a5 58
apatel336 0:1496281373a5 59 return set_option(IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq));
apatel336 0:1496281373a5 60 }
apatel336 0:1496281373a5 61
apatel336 0:1496281373a5 62 int UDPSocket::set_broadcasting(bool broadcast) {
apatel336 0:1496281373a5 63 int option = (broadcast) ? (1) : (0);
apatel336 0:1496281373a5 64 return set_option(SOL_SOCKET, SO_BROADCAST, &option, sizeof(option));
apatel336 0:1496281373a5 65 }
apatel336 0:1496281373a5 66
apatel336 0:1496281373a5 67 // -1 if unsuccessful, else number of bytes written
apatel336 0:1496281373a5 68 int UDPSocket::sendTo(Endpoint &remote, char *packet, int length) {
apatel336 0:1496281373a5 69 if (_sock_fd < 0)
apatel336 0:1496281373a5 70 return -1;
apatel336 0:1496281373a5 71
apatel336 0:1496281373a5 72 if (!_blocking) {
apatel336 0:1496281373a5 73 TimeInterval timeout(_timeout);
apatel336 0:1496281373a5 74 if (wait_writable(timeout) != 0)
apatel336 0:1496281373a5 75 return 0;
apatel336 0:1496281373a5 76 }
apatel336 0:1496281373a5 77
apatel336 0:1496281373a5 78 return lwip_sendto(_sock_fd, packet, length, 0, (const struct sockaddr *) &remote._remoteHost, sizeof(remote._remoteHost));
apatel336 0:1496281373a5 79 }
apatel336 0:1496281373a5 80
apatel336 0:1496281373a5 81 // -1 if unsuccessful, else number of bytes received
apatel336 0:1496281373a5 82 int UDPSocket::receiveFrom(Endpoint &remote, char *buffer, int length) {
apatel336 0:1496281373a5 83 if (_sock_fd < 0)
apatel336 0:1496281373a5 84 return -1;
apatel336 0:1496281373a5 85
apatel336 0:1496281373a5 86 if (!_blocking) {
apatel336 0:1496281373a5 87 TimeInterval timeout(_timeout);
apatel336 0:1496281373a5 88 if (wait_readable(timeout) != 0)
apatel336 0:1496281373a5 89 return 0;
apatel336 0:1496281373a5 90 }
apatel336 0:1496281373a5 91 remote.reset_address();
apatel336 0:1496281373a5 92 socklen_t remoteHostLen = sizeof(remote._remoteHost);
apatel336 0:1496281373a5 93 return lwip_recvfrom(_sock_fd, buffer, length, 0, (struct sockaddr*) &remote._remoteHost, &remoteHostLen);
apatel336 0:1496281373a5 94 }