Ian Key
UDP comms to ROV
RovComms.h@2:48524892982c, 2012-01-16 (annotated)
- Committer:
- inky
- Date:
- Mon Jan 16 17:32:54 2012 +0000
- Revision:
- 2:48524892982c
- Parent:
- 1:f51739cada16
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inky | 0:4a75d653c18c | 1 | /* ROV communication class |
| inky | 0:4a75d653c18c | 2 | */ |
| inky | 0:4a75d653c18c | 3 | #ifndef ROVCOMMS_H |
| inky | 0:4a75d653c18c | 4 | #define ROVCOMMS_H |
| inky | 0:4a75d653c18c | 5 | #include "mbed.h" |
| inky | 0:4a75d653c18c | 6 | #include "msg.h" |
| inky | 0:4a75d653c18c | 7 | |
| inky | 1:f51739cada16 | 8 | #include "EthernetNetIf.h" |
| inky | 1:f51739cada16 | 9 | #include "UDPSocket.h" |
| inky | 1:f51739cada16 | 10 | |
| inky | 0:4a75d653c18c | 11 | #define STATIC_IP_ADDR |
| inky | 0:4a75d653c18c | 12 | |
| inky | 0:4a75d653c18c | 13 | #define MAX_BUFFER_SIZE 10 // max chars in the data stream |
| inky | 0:4a75d653c18c | 14 | |
| inky | 0:4a75d653c18c | 15 | #define ipGateway IpAddr(10,0,0,1) |
| inky | 0:4a75d653c18c | 16 | #define ipMask IpAddr(255,255,255,0) |
| inky | 0:4a75d653c18c | 17 | #define ipDns IpAddr(10,0,0,1) |
| inky | 0:4a75d653c18c | 18 | |
| inky | 0:4a75d653c18c | 19 | #define RX_TCP_LISTENING_PORT 0xdead // 57005 |
| inky | 0:4a75d653c18c | 20 | |
| inky | 0:4a75d653c18c | 21 | // last digit for the IP address, defining below 100 for below water |
| inky | 0:4a75d653c18c | 22 | // and above 100 for above water :) |
| inky | 0:4a75d653c18c | 23 | // The host/server is the ROV, so the handset can send info to the host |
| inky | 0:4a75d653c18c | 24 | #define ROV_ADDR 50 // ROV as host and below 100 for below water |
| inky | 0:4a75d653c18c | 25 | #define IPCAMERA_ADDR 60 |
| inky | 0:4a75d653c18c | 26 | #define SURFACE_PC_ADDR 102 |
| inky | 0:4a75d653c18c | 27 | #define HANDSET_ADDR 101 |
| inky | 0:4a75d653c18c | 28 | |
| inky | 0:4a75d653c18c | 29 | class RovComms |
| inky | 0:4a75d653c18c | 30 | { |
| inky | 0:4a75d653c18c | 31 | public: |
| inky | 0:4a75d653c18c | 32 | RovComms(int addr); |
| inky | 1:f51739cada16 | 33 | void InitUDP(int addr); |
| inky | 0:4a75d653c18c | 34 | |
| inky | 1:f51739cada16 | 35 | void CloseSocket(UDPSocket *s, int *state); |
| inky | 0:4a75d653c18c | 36 | |
| inky | 0:4a75d653c18c | 37 | void CallbackFn( void (*function)(void) ) { _callback.attach(function); } |
| inky | 0:4a75d653c18c | 38 | |
| inky | 1:f51739cada16 | 39 | void onUDPSocketEvent(UDPSocketEvent e); |
| inky | 0:4a75d653c18c | 40 | void Transmit(int pktType); |
| inky | 0:4a75d653c18c | 41 | char *Receive(void); |
| inky | 0:4a75d653c18c | 42 | |
| inky | 0:4a75d653c18c | 43 | void RovPropulsion(int speed, int turn, int vert); |
| inky | 0:4a75d653c18c | 44 | int RovSpeed() { return iRovSpeed;} |
| inky | 0:4a75d653c18c | 45 | int RovTurn() { return iRovTurn;} |
| inky | 0:4a75d653c18c | 46 | int RovVert() { return iRovVert;} |
| inky | 0:4a75d653c18c | 47 | |
| inky | 0:4a75d653c18c | 48 | void FrontLights(int state); |
| inky | 0:4a75d653c18c | 49 | int FrontLights() { return ( (iLight & AUX_FN_LIGHT1_ON)==AUX_FN_LIGHT1_ON?1:0); } |
| inky | 0:4a75d653c18c | 50 | void RearLights(int state); |
| inky | 0:4a75d653c18c | 51 | int RearLights() { return ( (iLight & AUX_FN_LIGHT2_ON)==AUX_FN_LIGHT2_ON?1:0); } |
| inky | 0:4a75d653c18c | 52 | |
| inky | 0:4a75d653c18c | 53 | void Camera(int cam); |
| inky | 0:4a75d653c18c | 54 | int Camera(); |
| inky | 0:4a75d653c18c | 55 | |
| inky | 0:4a75d653c18c | 56 | private: |
| inky | 0:4a75d653c18c | 57 | void Debug(const char *format, ...); |
| inky | 0:4a75d653c18c | 58 | void ClearBuffer(char *buf) {int i=MAX_BUFFER_SIZE;while (i>0) buf[i--]=0;} |
| inky | 0:4a75d653c18c | 59 | void ResetValues(); |
| inky | 0:4a75d653c18c | 60 | |
| inky | 0:4a75d653c18c | 61 | private: |
| inky | 0:4a75d653c18c | 62 | EthernetNetIf *eth; |
| inky | 1:f51739cada16 | 63 | UDPSocket *UdpSkt; |
| inky | 0:4a75d653c18c | 64 | IpAddr rovAddr; |
| inky | 0:4a75d653c18c | 65 | Host server; |
| inky | 0:4a75d653c18c | 66 | |
| inky | 0:4a75d653c18c | 67 | enum NETWORK_STATE { INIT, OPEN, LISTEN, CONNECTED, ERROR, CLOSED }; |
| inky | 0:4a75d653c18c | 68 | int RxNetworkState; |
| inky | 0:4a75d653c18c | 69 | int TxNetworkState; |
| inky | 0:4a75d653c18c | 70 | |
| inky | 0:4a75d653c18c | 71 | char iRxData[MAX_BUFFER_SIZE]; |
| inky | 0:4a75d653c18c | 72 | char iTxData[MAX_BUFFER_SIZE]; |
| inky | 0:4a75d653c18c | 73 | int iState; |
| inky | 0:4a75d653c18c | 74 | |
| inky | 0:4a75d653c18c | 75 | FunctionPointer _callback; // used to call back into code when data arrives |
| inky | 0:4a75d653c18c | 76 | |
| inky | 0:4a75d653c18c | 77 | // ROV params |
| inky | 0:4a75d653c18c | 78 | int iRovSpeed; |
| inky | 0:4a75d653c18c | 79 | int iRovTurn; |
| inky | 0:4a75d653c18c | 80 | int iRovVert; |
| inky | 0:4a75d653c18c | 81 | |
| inky | 0:4a75d653c18c | 82 | int iLight; |
| inky | 0:4a75d653c18c | 83 | int iWaterSol; |
| inky | 0:4a75d653c18c | 84 | int iAirSol; |
| inky | 0:4a75d653c18c | 85 | int iCamera; |
| inky | 0:4a75d653c18c | 86 | int iPressure; |
| inky | 0:4a75d653c18c | 87 | int iCompass; |
| inky | 0:4a75d653c18c | 88 | int iAccelX; |
| inky | 0:4a75d653c18c | 89 | int iAccelY; |
| inky | 0:4a75d653c18c | 90 | int iAccelZ; |
| inky | 0:4a75d653c18c | 91 | |
| inky | 0:4a75d653c18c | 92 | }; // end class RovComms |
| inky | 0:4a75d653c18c | 93 | |
| inky | 0:4a75d653c18c | 94 | #endif // ROVCOMMS_H |