Ankit Patel / Mbed 2 deprecated Robot_Control_UDP_Wifi

Control a robot over the internet using UDP and a Wifly module (WiFi).

Dependencies:   Motor TextLCD WiflyInterface mbed-rtos mbed

WiflyInterface/Socket/UDPSocket.cpp@0:c0dc3a76f3d4, 2013-10-17 (annotated)

Committer:
apatel336
Date:
Thu Oct 17 13:27:56 2013 +0000
Revision:
0:c0dc3a76f3d4
Initial Release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apatel336 0:c0dc3a76f3d4 1 /* Copyright (C) 2012 mbed.org, MIT License
apatel336 0:c0dc3a76f3d4 2 *
apatel336 0:c0dc3a76f3d4 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
apatel336 0:c0dc3a76f3d4 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
apatel336 0:c0dc3a76f3d4 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
apatel336 0:c0dc3a76f3d4 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
apatel336 0:c0dc3a76f3d4 7 * furnished to do so, subject to the following conditions:
apatel336 0:c0dc3a76f3d4 8 *
apatel336 0:c0dc3a76f3d4 9 * The above copyright notice and this permission notice shall be included in all copies or
apatel336 0:c0dc3a76f3d4 10 * substantial portions of the Software.
apatel336 0:c0dc3a76f3d4 11 *
apatel336 0:c0dc3a76f3d4 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
apatel336 0:c0dc3a76f3d4 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
apatel336 0:c0dc3a76f3d4 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
apatel336 0:c0dc3a76f3d4 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
apatel336 0:c0dc3a76f3d4 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
apatel336 0:c0dc3a76f3d4 17 */
apatel336 0:c0dc3a76f3d4 18
apatel336 0:c0dc3a76f3d4 19 #include "UDPSocket.h"
apatel336 0:c0dc3a76f3d4 20
apatel336 0:c0dc3a76f3d4 21 #include <string>
apatel336 0:c0dc3a76f3d4 22 #include <algorithm>
apatel336 0:c0dc3a76f3d4 23
apatel336 0:c0dc3a76f3d4 24 UDPSocket::UDPSocket()
apatel336 0:c0dc3a76f3d4 25 {
apatel336 0:c0dc3a76f3d4 26 endpoint_configured = false;
apatel336 0:c0dc3a76f3d4 27 endpoint_read = false;
apatel336 0:c0dc3a76f3d4 28 }
apatel336 0:c0dc3a76f3d4 29
apatel336 0:c0dc3a76f3d4 30 int UDPSocket::init(void)
apatel336 0:c0dc3a76f3d4 31 {
apatel336 0:c0dc3a76f3d4 32 wifi->setProtocol(UDP);
apatel336 0:c0dc3a76f3d4 33 wifi->exit();
apatel336 0:c0dc3a76f3d4 34 return 0;
apatel336 0:c0dc3a76f3d4 35 }
apatel336 0:c0dc3a76f3d4 36
apatel336 0:c0dc3a76f3d4 37 // Server initialization
apatel336 0:c0dc3a76f3d4 38 int UDPSocket::bind(int port)
apatel336 0:c0dc3a76f3d4 39 {
apatel336 0:c0dc3a76f3d4 40 char cmd[17];
apatel336 0:c0dc3a76f3d4 41
apatel336 0:c0dc3a76f3d4 42 // set local port
apatel336 0:c0dc3a76f3d4 43 sprintf(cmd, "set i l %d\r", port);
apatel336 0:c0dc3a76f3d4 44 if (!wifi->sendCommand(cmd, "AOK"))
apatel336 0:c0dc3a76f3d4 45 return -1;
apatel336 0:c0dc3a76f3d4 46
apatel336 0:c0dc3a76f3d4 47 // save
apatel336 0:c0dc3a76f3d4 48 if (!wifi->sendCommand("save\r", "Stor"))
apatel336 0:c0dc3a76f3d4 49 return -1;
apatel336 0:c0dc3a76f3d4 50
apatel336 0:c0dc3a76f3d4 51 // reboot
apatel336 0:c0dc3a76f3d4 52 wifi->reboot();
apatel336 0:c0dc3a76f3d4 53
apatel336 0:c0dc3a76f3d4 54 // set udp protocol
apatel336 0:c0dc3a76f3d4 55 wifi->setProtocol(UDP);
apatel336 0:c0dc3a76f3d4 56
apatel336 0:c0dc3a76f3d4 57 // connect the network
apatel336 0:c0dc3a76f3d4 58 if (wifi->isDHCP()) {
apatel336 0:c0dc3a76f3d4 59 if (!wifi->sendCommand("join\r", "DHCP=ON", NULL, 10000))
apatel336 0:c0dc3a76f3d4 60 return -1;
apatel336 0:c0dc3a76f3d4 61 } else {
apatel336 0:c0dc3a76f3d4 62 if (!wifi->sendCommand("join\r", "Associated", NULL, 10000))
apatel336 0:c0dc3a76f3d4 63 return -1;
apatel336 0:c0dc3a76f3d4 64 }
apatel336 0:c0dc3a76f3d4 65
apatel336 0:c0dc3a76f3d4 66 // exit
apatel336 0:c0dc3a76f3d4 67 wifi->exit();
apatel336 0:c0dc3a76f3d4 68 wifi->flush();
apatel336 0:c0dc3a76f3d4 69 return 0;
apatel336 0:c0dc3a76f3d4 70 }
apatel336 0:c0dc3a76f3d4 71
apatel336 0:c0dc3a76f3d4 72 // -1 if unsuccessful, else number of bytes written
apatel336 0:c0dc3a76f3d4 73 int UDPSocket::sendTo(Endpoint &remote, char *packet, int length)
apatel336 0:c0dc3a76f3d4 74 {
apatel336 0:c0dc3a76f3d4 75 Timer tmr;
apatel336 0:c0dc3a76f3d4 76 int idx = 0;
apatel336 0:c0dc3a76f3d4 77
apatel336 0:c0dc3a76f3d4 78 confEndpoint(remote);
apatel336 0:c0dc3a76f3d4 79
apatel336 0:c0dc3a76f3d4 80 tmr.start();
apatel336 0:c0dc3a76f3d4 81
apatel336 0:c0dc3a76f3d4 82 while ((tmr.read_ms() < _timeout) || _blocking) {
apatel336 0:c0dc3a76f3d4 83
apatel336 0:c0dc3a76f3d4 84 idx += wifi->send(packet, length);
apatel336 0:c0dc3a76f3d4 85
apatel336 0:c0dc3a76f3d4 86 if (idx == length)
apatel336 0:c0dc3a76f3d4 87 return idx;
apatel336 0:c0dc3a76f3d4 88 }
apatel336 0:c0dc3a76f3d4 89 return (idx == 0) ? -1 : idx;
apatel336 0:c0dc3a76f3d4 90 }
apatel336 0:c0dc3a76f3d4 91
apatel336 0:c0dc3a76f3d4 92 // -1 if unsuccessful, else number of bytes received
apatel336 0:c0dc3a76f3d4 93 int UDPSocket::receiveFrom(Endpoint &remote, char *buffer, int length)
apatel336 0:c0dc3a76f3d4 94 {
apatel336 0:c0dc3a76f3d4 95 Timer tmr;
apatel336 0:c0dc3a76f3d4 96 int idx = 0;
apatel336 0:c0dc3a76f3d4 97 int nb_available = 0;
apatel336 0:c0dc3a76f3d4 98 int time = -1;
apatel336 0:c0dc3a76f3d4 99
apatel336 0:c0dc3a76f3d4 100 if (_blocking) {
apatel336 0:c0dc3a76f3d4 101 while (1) {
apatel336 0:c0dc3a76f3d4 102 nb_available = wifi->readable();
apatel336 0:c0dc3a76f3d4 103 if (nb_available != 0) {
apatel336 0:c0dc3a76f3d4 104 break;
apatel336 0:c0dc3a76f3d4 105 }
apatel336 0:c0dc3a76f3d4 106 }
apatel336 0:c0dc3a76f3d4 107 }
apatel336 0:c0dc3a76f3d4 108
apatel336 0:c0dc3a76f3d4 109 tmr.start();
apatel336 0:c0dc3a76f3d4 110
apatel336 0:c0dc3a76f3d4 111 while (time < _timeout) {
apatel336 0:c0dc3a76f3d4 112
apatel336 0:c0dc3a76f3d4 113 nb_available = wifi->readable();
apatel336 0:c0dc3a76f3d4 114 for (int i = 0; i < min(nb_available, length); i++) {
apatel336 0:c0dc3a76f3d4 115 buffer[idx] = wifi->getc();
apatel336 0:c0dc3a76f3d4 116 idx++;
apatel336 0:c0dc3a76f3d4 117 }
apatel336 0:c0dc3a76f3d4 118
apatel336 0:c0dc3a76f3d4 119 if (idx == length) {
apatel336 0:c0dc3a76f3d4 120 break;
apatel336 0:c0dc3a76f3d4 121 }
apatel336 0:c0dc3a76f3d4 122
apatel336 0:c0dc3a76f3d4 123 time = tmr.read_ms();
apatel336 0:c0dc3a76f3d4 124 }
apatel336 0:c0dc3a76f3d4 125
apatel336 0:c0dc3a76f3d4 126 readEndpoint(remote);
apatel336 0:c0dc3a76f3d4 127 return (idx == 0) ? -1 : idx;
apatel336 0:c0dc3a76f3d4 128 }
apatel336 0:c0dc3a76f3d4 129
apatel336 0:c0dc3a76f3d4 130 bool UDPSocket::confEndpoint(Endpoint & ep)
apatel336 0:c0dc3a76f3d4 131 {
apatel336 0:c0dc3a76f3d4 132 char * host;
apatel336 0:c0dc3a76f3d4 133 char cmd[30];
apatel336 0:c0dc3a76f3d4 134 if (!endpoint_configured) {
apatel336 0:c0dc3a76f3d4 135 host = ep.get_address();
apatel336 0:c0dc3a76f3d4 136 if (host[0] != '\0') {
apatel336 0:c0dc3a76f3d4 137 // set host
apatel336 0:c0dc3a76f3d4 138 sprintf(cmd, "set i h %s\r", host);
apatel336 0:c0dc3a76f3d4 139 if (!wifi->sendCommand(cmd, "AOK"))
apatel336 0:c0dc3a76f3d4 140 return false;
apatel336 0:c0dc3a76f3d4 141
apatel336 0:c0dc3a76f3d4 142 // set remote port
apatel336 0:c0dc3a76f3d4 143 sprintf(cmd, "set i r %d\r", ep.get_port());
apatel336 0:c0dc3a76f3d4 144 if (!wifi->sendCommand(cmd, "AOK"))
apatel336 0:c0dc3a76f3d4 145 return false;
apatel336 0:c0dc3a76f3d4 146
apatel336 0:c0dc3a76f3d4 147 wifi->exit();
apatel336 0:c0dc3a76f3d4 148 endpoint_configured = true;
apatel336 0:c0dc3a76f3d4 149 return true;
apatel336 0:c0dc3a76f3d4 150 }
apatel336 0:c0dc3a76f3d4 151 }
apatel336 0:c0dc3a76f3d4 152 return true;
apatel336 0:c0dc3a76f3d4 153 }
apatel336 0:c0dc3a76f3d4 154
apatel336 0:c0dc3a76f3d4 155 bool UDPSocket::readEndpoint(Endpoint & ep)
apatel336 0:c0dc3a76f3d4 156 {
apatel336 0:c0dc3a76f3d4 157 char recv[256];
apatel336 0:c0dc3a76f3d4 158 int begin = 0;
apatel336 0:c0dc3a76f3d4 159 int end = 0;
apatel336 0:c0dc3a76f3d4 160 string str;
apatel336 0:c0dc3a76f3d4 161 string addr;
apatel336 0:c0dc3a76f3d4 162 int port;
apatel336 0:c0dc3a76f3d4 163 if (!endpoint_read) {
apatel336 0:c0dc3a76f3d4 164 if (!wifi->sendCommand("get ip\r", NULL, recv))
apatel336 0:c0dc3a76f3d4 165 return false;
apatel336 0:c0dc3a76f3d4 166 wifi->exit();
apatel336 0:c0dc3a76f3d4 167 str = recv;
apatel336 0:c0dc3a76f3d4 168 begin = str.find("HOST=");
apatel336 0:c0dc3a76f3d4 169 end = str.find("PROTO=");
apatel336 0:c0dc3a76f3d4 170 if (begin != string::npos && end != string::npos) {
apatel336 0:c0dc3a76f3d4 171 str = str.substr(begin + 5, end - begin - 5);
apatel336 0:c0dc3a76f3d4 172 int pos = str.find(":");
apatel336 0:c0dc3a76f3d4 173 if (pos != string::npos) {
apatel336 0:c0dc3a76f3d4 174 addr = str.substr(0, pos);
apatel336 0:c0dc3a76f3d4 175 port = atoi(str.substr(pos + 1).c_str());
apatel336 0:c0dc3a76f3d4 176 ep.set_address(addr.c_str(), port);
apatel336 0:c0dc3a76f3d4 177 endpoint_read = true;
apatel336 0:c0dc3a76f3d4 178 wifi->flush();
apatel336 0:c0dc3a76f3d4 179 return true;
apatel336 0:c0dc3a76f3d4 180 }
apatel336 0:c0dc3a76f3d4 181 }
apatel336 0:c0dc3a76f3d4 182 wifi->flush();
apatel336 0:c0dc3a76f3d4 183 }
apatel336 0:c0dc3a76f3d4 184 return false;
apatel336 0:c0dc3a76f3d4 185 }