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/Wifly/Wifly.h@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 * @section DESCRIPTION
apatel336 0:c0dc3a76f3d4 19 *
apatel336 0:c0dc3a76f3d4 20 * Wifly RN131-C, wifi module
apatel336 0:c0dc3a76f3d4 21 *
apatel336 0:c0dc3a76f3d4 22 * Datasheet:
apatel336 0:c0dc3a76f3d4 23 *
apatel336 0:c0dc3a76f3d4 24 * http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Wireless/WiFi/WiFly-RN-UM.pdf
apatel336 0:c0dc3a76f3d4 25 */
apatel336 0:c0dc3a76f3d4 26
apatel336 0:c0dc3a76f3d4 27 #ifndef WIFLY_H
apatel336 0:c0dc3a76f3d4 28 #define WIFLY_H
apatel336 0:c0dc3a76f3d4 29
apatel336 0:c0dc3a76f3d4 30 #include "mbed.h"
apatel336 0:c0dc3a76f3d4 31 #include "CBuffer.h"
apatel336 0:c0dc3a76f3d4 32
apatel336 0:c0dc3a76f3d4 33 #define DEFAULT_WAIT_RESP_TIMEOUT 500
apatel336 0:c0dc3a76f3d4 34
apatel336 0:c0dc3a76f3d4 35 enum Security {
apatel336 0:c0dc3a76f3d4 36 NONE = 0,
apatel336 0:c0dc3a76f3d4 37 WEP_128 = 1,
apatel336 0:c0dc3a76f3d4 38 WPA = 3
apatel336 0:c0dc3a76f3d4 39 };
apatel336 0:c0dc3a76f3d4 40
apatel336 0:c0dc3a76f3d4 41 enum Protocol {
apatel336 0:c0dc3a76f3d4 42 UDP = (1 << 0),
apatel336 0:c0dc3a76f3d4 43 TCP = (1 << 1)
apatel336 0:c0dc3a76f3d4 44 };
apatel336 0:c0dc3a76f3d4 45
apatel336 0:c0dc3a76f3d4 46 class Wifly
apatel336 0:c0dc3a76f3d4 47 {
apatel336 0:c0dc3a76f3d4 48
apatel336 0:c0dc3a76f3d4 49 public:
apatel336 0:c0dc3a76f3d4 50 /*
apatel336 0:c0dc3a76f3d4 51 * Constructor
apatel336 0:c0dc3a76f3d4 52 *
apatel336 0:c0dc3a76f3d4 53 * @param tx mbed pin to use for tx line of Serial interface
apatel336 0:c0dc3a76f3d4 54 * @param rx mbed pin to use for rx line of Serial interface
apatel336 0:c0dc3a76f3d4 55 * @param reset reset pin of the wifi module ()
apatel336 0:c0dc3a76f3d4 56 * @param tcp_status connection status pin of the wifi module (GPIO 6)
apatel336 0:c0dc3a76f3d4 57 * @param ssid ssid of the network
apatel336 0:c0dc3a76f3d4 58 * @param phrase WEP or WPA key
apatel336 0:c0dc3a76f3d4 59 * @param sec Security type (NONE, WEP_128 or WPA)
apatel336 0:c0dc3a76f3d4 60 */
apatel336 0:c0dc3a76f3d4 61 Wifly( PinName tx, PinName rx, PinName reset, PinName tcp_status, const char * ssid, const char * phrase, Security sec);
apatel336 0:c0dc3a76f3d4 62
apatel336 0:c0dc3a76f3d4 63 /*
apatel336 0:c0dc3a76f3d4 64 * Connect the wifi module to the ssid contained in the constructor.
apatel336 0:c0dc3a76f3d4 65 *
apatel336 0:c0dc3a76f3d4 66 * @return true if connected, false otherwise
apatel336 0:c0dc3a76f3d4 67 */
apatel336 0:c0dc3a76f3d4 68 bool join();
apatel336 0:c0dc3a76f3d4 69
apatel336 0:c0dc3a76f3d4 70 /*
apatel336 0:c0dc3a76f3d4 71 * Disconnect the wifly module from the access point
apatel336 0:c0dc3a76f3d4 72 *
apatel336 0:c0dc3a76f3d4 73 * @ returns true if successful
apatel336 0:c0dc3a76f3d4 74 */
apatel336 0:c0dc3a76f3d4 75 bool disconnect();
apatel336 0:c0dc3a76f3d4 76
apatel336 0:c0dc3a76f3d4 77 /*
apatel336 0:c0dc3a76f3d4 78 * Open a tcp connection with the specified host on the specified port
apatel336 0:c0dc3a76f3d4 79 *
apatel336 0:c0dc3a76f3d4 80 * @param host host (can be either an ip address or a name. If a name is provided, a dns request will be established)
apatel336 0:c0dc3a76f3d4 81 * @param port port
apatel336 0:c0dc3a76f3d4 82 * @ returns true if successful
apatel336 0:c0dc3a76f3d4 83 */
apatel336 0:c0dc3a76f3d4 84 bool connect(const char * host, int port);
apatel336 0:c0dc3a76f3d4 85
apatel336 0:c0dc3a76f3d4 86
apatel336 0:c0dc3a76f3d4 87 /*
apatel336 0:c0dc3a76f3d4 88 * Set the protocol (UDP or TCP)
apatel336 0:c0dc3a76f3d4 89 *
apatel336 0:c0dc3a76f3d4 90 * @param p protocol
apatel336 0:c0dc3a76f3d4 91 * @ returns true if successful
apatel336 0:c0dc3a76f3d4 92 */
apatel336 0:c0dc3a76f3d4 93 bool setProtocol(Protocol p);
apatel336 0:c0dc3a76f3d4 94
apatel336 0:c0dc3a76f3d4 95 /*
apatel336 0:c0dc3a76f3d4 96 * Reset the wifi module
apatel336 0:c0dc3a76f3d4 97 */
apatel336 0:c0dc3a76f3d4 98 void reset();
apatel336 0:c0dc3a76f3d4 99
apatel336 0:c0dc3a76f3d4 100 /*
apatel336 0:c0dc3a76f3d4 101 * Reboot the wifi module
apatel336 0:c0dc3a76f3d4 102 */
apatel336 0:c0dc3a76f3d4 103 bool reboot();
apatel336 0:c0dc3a76f3d4 104
apatel336 0:c0dc3a76f3d4 105 /*
apatel336 0:c0dc3a76f3d4 106 * Check if characters are available
apatel336 0:c0dc3a76f3d4 107 *
apatel336 0:c0dc3a76f3d4 108 * @return number of available characters
apatel336 0:c0dc3a76f3d4 109 */
apatel336 0:c0dc3a76f3d4 110 int readable();
apatel336 0:c0dc3a76f3d4 111
apatel336 0:c0dc3a76f3d4 112 /*
apatel336 0:c0dc3a76f3d4 113 * Check if characters are available
apatel336 0:c0dc3a76f3d4 114 *
apatel336 0:c0dc3a76f3d4 115 * @return number of available characters
apatel336 0:c0dc3a76f3d4 116 */
apatel336 0:c0dc3a76f3d4 117 int writeable();
apatel336 0:c0dc3a76f3d4 118
apatel336 0:c0dc3a76f3d4 119 /*
apatel336 0:c0dc3a76f3d4 120 * Check if a tcp link is active
apatel336 0:c0dc3a76f3d4 121 *
apatel336 0:c0dc3a76f3d4 122 * @returns true if successful
apatel336 0:c0dc3a76f3d4 123 */
apatel336 0:c0dc3a76f3d4 124 bool is_connected();
apatel336 0:c0dc3a76f3d4 125
apatel336 0:c0dc3a76f3d4 126 /*
apatel336 0:c0dc3a76f3d4 127 * Read a character
apatel336 0:c0dc3a76f3d4 128 *
apatel336 0:c0dc3a76f3d4 129 * @return the character read
apatel336 0:c0dc3a76f3d4 130 */
apatel336 0:c0dc3a76f3d4 131 char getc();
apatel336 0:c0dc3a76f3d4 132
apatel336 0:c0dc3a76f3d4 133 /*
apatel336 0:c0dc3a76f3d4 134 * Flush the buffer
apatel336 0:c0dc3a76f3d4 135 */
apatel336 0:c0dc3a76f3d4 136 void flush();
apatel336 0:c0dc3a76f3d4 137
apatel336 0:c0dc3a76f3d4 138 /*
apatel336 0:c0dc3a76f3d4 139 * Write a character
apatel336 0:c0dc3a76f3d4 140 *
apatel336 0:c0dc3a76f3d4 141 * @param the character which will be written
apatel336 0:c0dc3a76f3d4 142 */
apatel336 0:c0dc3a76f3d4 143 int putc(char c);
apatel336 0:c0dc3a76f3d4 144
apatel336 0:c0dc3a76f3d4 145
apatel336 0:c0dc3a76f3d4 146 /*
apatel336 0:c0dc3a76f3d4 147 * To enter in command mode (we can configure the module)
apatel336 0:c0dc3a76f3d4 148 *
apatel336 0:c0dc3a76f3d4 149 * @return true if successful, false otherwise
apatel336 0:c0dc3a76f3d4 150 */
apatel336 0:c0dc3a76f3d4 151 bool cmdMode();
apatel336 0:c0dc3a76f3d4 152
apatel336 0:c0dc3a76f3d4 153 /*
apatel336 0:c0dc3a76f3d4 154 * To exit the command mode
apatel336 0:c0dc3a76f3d4 155 *
apatel336 0:c0dc3a76f3d4 156 * @return true if successful, false otherwise
apatel336 0:c0dc3a76f3d4 157 */
apatel336 0:c0dc3a76f3d4 158 bool exit();
apatel336 0:c0dc3a76f3d4 159
apatel336 0:c0dc3a76f3d4 160 /*
apatel336 0:c0dc3a76f3d4 161 * Close a tcp connection
apatel336 0:c0dc3a76f3d4 162 *
apatel336 0:c0dc3a76f3d4 163 * @ returns true if successful
apatel336 0:c0dc3a76f3d4 164 */
apatel336 0:c0dc3a76f3d4 165 bool close();
apatel336 0:c0dc3a76f3d4 166
apatel336 0:c0dc3a76f3d4 167 /*
apatel336 0:c0dc3a76f3d4 168 * Send a string to the wifi module by serial port. This function desactivates the user interrupt handler when a character is received to analyze the response from the wifi module.
apatel336 0:c0dc3a76f3d4 169 * Useful to send a command to the module and wait a response.
apatel336 0:c0dc3a76f3d4 170 *
apatel336 0:c0dc3a76f3d4 171 *
apatel336 0:c0dc3a76f3d4 172 * @param str string to be sent
apatel336 0:c0dc3a76f3d4 173 * @param len string length
apatel336 0:c0dc3a76f3d4 174 * @param ACK string which must be acknowledge by the wifi module. If ACK == NULL, no string has to be acknoledged. (default: "NO")
apatel336 0:c0dc3a76f3d4 175 * @param res this field will contain the response from the wifi module, result of a command sent. This field is available only if ACK = "NO" AND res != NULL (default: NULL)
apatel336 0:c0dc3a76f3d4 176 *
apatel336 0:c0dc3a76f3d4 177 * @return true if ACK has been found in the response from the wifi module. False otherwise or if there is no response in 5s.
apatel336 0:c0dc3a76f3d4 178 */
apatel336 0:c0dc3a76f3d4 179 int send(const char * str, int len, const char * ACK = NULL, char * res = NULL, int timeout = DEFAULT_WAIT_RESP_TIMEOUT);
apatel336 0:c0dc3a76f3d4 180
apatel336 0:c0dc3a76f3d4 181 /*
apatel336 0:c0dc3a76f3d4 182 * Send a command to the wify module. Check if the module is in command mode. If not enter in command mode
apatel336 0:c0dc3a76f3d4 183 *
apatel336 0:c0dc3a76f3d4 184 * @param str string to be sent
apatel336 0:c0dc3a76f3d4 185 * @param ACK string which must be acknowledge by the wifi module. If ACK == NULL, no string has to be acknoledged. (default: "NO")
apatel336 0:c0dc3a76f3d4 186 * @param res this field will contain the response from the wifi module, result of a command sent. This field is available only if ACK = "NO" AND res != NULL (default: NULL)
apatel336 0:c0dc3a76f3d4 187 *
apatel336 0:c0dc3a76f3d4 188 * @returns true if successful
apatel336 0:c0dc3a76f3d4 189 */
apatel336 0:c0dc3a76f3d4 190 bool sendCommand(const char * cmd, const char * ack = NULL, char * res = NULL, int timeout = DEFAULT_WAIT_RESP_TIMEOUT);
apatel336 0:c0dc3a76f3d4 191
apatel336 0:c0dc3a76f3d4 192 /*
apatel336 0:c0dc3a76f3d4 193 * Return true if the module is using dhcp
apatel336 0:c0dc3a76f3d4 194 *
apatel336 0:c0dc3a76f3d4 195 * @returns true if the module is using dhcp
apatel336 0:c0dc3a76f3d4 196 */
apatel336 0:c0dc3a76f3d4 197 bool isDHCP() {
apatel336 0:c0dc3a76f3d4 198 return state.dhcp;
apatel336 0:c0dc3a76f3d4 199 }
apatel336 0:c0dc3a76f3d4 200
apatel336 0:c0dc3a76f3d4 201 bool gethostbyname(const char * host, char * ip);
apatel336 0:c0dc3a76f3d4 202
apatel336 0:c0dc3a76f3d4 203 static Wifly * getInstance() {
apatel336 0:c0dc3a76f3d4 204 return inst;
apatel336 0:c0dc3a76f3d4 205 };
apatel336 0:c0dc3a76f3d4 206
apatel336 0:c0dc3a76f3d4 207 protected:
apatel336 0:c0dc3a76f3d4 208 Serial wifi;
apatel336 0:c0dc3a76f3d4 209 DigitalOut reset_pin;
apatel336 0:c0dc3a76f3d4 210 DigitalIn tcp_status;
apatel336 0:c0dc3a76f3d4 211 char phrase[30];
apatel336 0:c0dc3a76f3d4 212 char ssid[30];
apatel336 0:c0dc3a76f3d4 213 const char * ip;
apatel336 0:c0dc3a76f3d4 214 const char * netmask;
apatel336 0:c0dc3a76f3d4 215 const char * gateway;
apatel336 0:c0dc3a76f3d4 216 int channel;
apatel336 0:c0dc3a76f3d4 217 CircBuffer<char> buf_wifly;
apatel336 0:c0dc3a76f3d4 218
apatel336 0:c0dc3a76f3d4 219 static Wifly * inst;
apatel336 0:c0dc3a76f3d4 220
apatel336 0:c0dc3a76f3d4 221 void attach_rx(bool null);
apatel336 0:c0dc3a76f3d4 222 void handler_rx(void);
apatel336 0:c0dc3a76f3d4 223
apatel336 0:c0dc3a76f3d4 224
apatel336 0:c0dc3a76f3d4 225 typedef struct STATE {
apatel336 0:c0dc3a76f3d4 226 bool associated;
apatel336 0:c0dc3a76f3d4 227 bool tcp;
apatel336 0:c0dc3a76f3d4 228 bool dhcp;
apatel336 0:c0dc3a76f3d4 229 Security sec;
apatel336 0:c0dc3a76f3d4 230 Protocol proto;
apatel336 0:c0dc3a76f3d4 231 bool cmd_mode;
apatel336 0:c0dc3a76f3d4 232 } State;
apatel336 0:c0dc3a76f3d4 233
apatel336 0:c0dc3a76f3d4 234 State state;
apatel336 0:c0dc3a76f3d4 235 char * getStringSecurity();
apatel336 0:c0dc3a76f3d4 236 };
apatel336 0:c0dc3a76f3d4 237
apatel336 0:c0dc3a76f3d4 238 #endif