Diff: RovComms.h

Revision:

0:4a75d653c18c

Child:

1:f51739cada16

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RovComms.h	Fri Jan 13 20:24:19 2012 +0000
@@ -0,0 +1,97 @@
+/* ROV communication class
+ */
+#ifndef ROVCOMMS_H
+#define ROVCOMMS_H
+#include "EthernetNetIf.h"
+#include <TCPSocket.h>
+#include "mbed.h"
+#include "msg.h"
+
+#define STATIC_IP_ADDR
+
+#define MAX_BUFFER_SIZE 10 // max chars in the data stream
+
+#define ipGateway   IpAddr(10,0,0,1)
+#define ipMask      IpAddr(255,255,255,0)
+#define ipDns       IpAddr(10,0,0,1)
+
+#define RX_TCP_LISTENING_PORT      0xdead // 57005
+
+// last digit for the IP address, defining below 100 for below water
+// and above 100 for above water :)
+// The host/server is the ROV, so the handset can send info to the host
+#define ROV_ADDR        50  // ROV as host and below 100 for below water
+#define IPCAMERA_ADDR   60
+#define SURFACE_PC_ADDR 102
+#define HANDSET_ADDR    101
+
+class RovComms
+{
+ public:
+    RovComms(int addr);
+    void InitRx(int addr);
+    void InitTx(int addr);
+    
+    void CloseSocket(TCPSocket *s, int *state);
+    
+    void CallbackFn(  void (*function)(void) ) { _callback.attach(function); }
+    
+    void onTxTCPSocketEvent(TCPSocketEvent e);
+    void onRxTCPSocketEvent(TCPSocketEvent e);
+    void onConnectedTCPSocketEvent(TCPSocketEvent e);
+    void Transmit(int pktType);
+    char *Receive(void);
+    
+    void RovPropulsion(int speed, int turn, int vert);
+    int RovSpeed() { return iRovSpeed;}
+    int RovTurn()  { return iRovTurn;}
+    int RovVert()  { return iRovVert;}
+    
+    void FrontLights(int state);
+    int  FrontLights() { return ( (iLight & AUX_FN_LIGHT1_ON)==AUX_FN_LIGHT1_ON?1:0); }
+    void RearLights(int state);
+    int  RearLights() { return ( (iLight & AUX_FN_LIGHT2_ON)==AUX_FN_LIGHT2_ON?1:0); }
+    
+    void Camera(int cam);
+    int  Camera();
+
+private:
+    void Debug(const char *format, ...);
+    void ClearBuffer(char *buf) {int i=MAX_BUFFER_SIZE;while (i>0) buf[i--]=0;}
+    void ResetValues();
+
+private:
+    EthernetNetIf *eth;
+    TCPSocket *RxSock;
+    TCPSocket *TxSock;
+    IpAddr rovAddr;
+    Host server;
+    
+   enum NETWORK_STATE { INIT, OPEN, LISTEN, CONNECTED, ERROR, CLOSED };
+   int RxNetworkState;
+   int TxNetworkState;
+     
+   char iRxData[MAX_BUFFER_SIZE];
+   char iTxData[MAX_BUFFER_SIZE];
+   int iState;
+   
+   FunctionPointer _callback; // used to call back into code when data arrives
+
+   // ROV params
+   int iRovSpeed;
+   int iRovTurn;
+   int iRovVert;
+   
+   int iLight;
+   int iWaterSol;
+   int iAirSol;
+   int iCamera;
+   int iPressure;
+   int iCompass;
+   int iAccelX;
+   int iAccelY;
+   int iAccelZ;
+
+ }; // end class RovComms
+
+#endif // ROVCOMMS_H
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