File content as of revision 2:48524892982c:

#include "RovComms.h"


extern void debug(char *format,...);
extern void debugInt(const char *format, int i);


Ticker readNetwork;
void readNetworkKick()
{
    Net::poll();
} // readNetworkKick()


RovComms::RovComms(int addr)
{
    ResetValues();
    
#ifdef STATIC_IP_ADDR
    rovAddr = IpAddr(10,0,0,addr);
    eth = new EthernetNetIf(rovAddr, ipMask, ipGateway, ipDns);
#else
    eth = new EthernetNetIf(); // uses DHCP
#endif
    
    RxNetworkState = TxNetworkState = INIT;
    readNetwork.attach(&readNetworkKick, 0.1); // every 100ms read
    EthernetErr ethErr = eth->setup();
    if(ethErr)
    {
        printf("Error %d in setup.\n", ethErr);
        //return -1;
    }
   debug("Setting up Tx");
   if (addr == ROV_ADDR)
       InitUDP(HANDSET_ADDR);
   else
       InitUDP(ROV_ADDR);

   debug("ROV Comms done");
} // RovComms()


void RovComms::InitUDP(int addr)
{
    UdpSkt = new UDPSocket();
    server = Host( IpAddr(/*10,0,0,addr*/), RX_TCP_LISTENING_PORT, NULL);
    UdpSkt->setOnEvent(this, &RovComms::onUDPSocketEvent);
    UdpSkt->bind(server);
}


void RovComms::CloseSocket(UDPSocket *s, int *state)
{
    s->close();
    *state = CLOSED;
}


/* @fn Transmit(char *data)
 * Sends the buffer to the other end
 */
void RovComms::Transmit(int pktType)
{
    ClearBuffer(iTxData);
    
    iTxData[0] = pktType;
    switch (pktType)
    {
        case CMD_ROV:
            iTxData[ROV_SPEED_POS] = iRovSpeed;
            iTxData[ROV_TURN_POS] = iRovTurn;
            iTxData[ROV_VERT_POS] = iRovVert;
            break;

        case CMD_AUX:
            iTxData[AUX_CMD_POS] = 0;
            iTxData[AUX_LIGHT_POS] = iLight;
            iTxData[AUX_CAM_POS] = iCamera;
            iTxData[AUX_SOLENOID_POS] = iWaterSol + iAirSol;
            break;

        case CMD_STATS:
            iTxData[STATS_COMPASS_POS] = 23;
            iTxData[STATS_PRESSURE_POS] = 4;
            iTxData[STATS_X_ACCEL_POS] = 1;
            iTxData[STATS_Y_ACCEL_POS] = 1;
            iTxData[STATS_Z_ACCEL_POS] = 0;
            iTxData[STATS_TEMPERATURE_POS] = 20;
            iTxData[STATS_MISC_POS] = 69;
            break;
            
        case CMD_CLAW:
            iTxData[1] = 1;
            iTxData[2] = 2;
            iTxData[3] = 3;
            iTxData[4] = 4;
            break;
            
        case CMD_PTZ:
            iTxData[1] = 5;
            iTxData[2] = 6;
            iTxData[3] = 7;
            iTxData[4] = 8;
            break;
                        
        default:
            return;
    } // switch pktType
       
    int  errCode = UdpSkt->sendto(iTxData, MAX_BUFFER_SIZE, NULL);
    if (errCode < 0) // UDPSocketErr
    {
    }
    Net::poll(); // tells stack to process the info (transfer from here to the stack and tx it)
}

char *RovComms::Receive(void)
{
    int errCode = 0;
    Net::poll(); // tell the stack to transfer the data from it's stack to the readable one here
    errCode = UdpSkt->recvfrom(iRxData, MAX_BUFFER_SIZE, &server);
    if (errCode < 0) // TCPSocketErr
    {
    }
    // decode the packet.....
    debugInt("Pkt type = ", iRxData[0]);
    for (int i=1;i<MAX_BUFFER_SIZE;i++)
        debugInt("Pkt data = ", iRxData[i]);
    return iRxData;
}

void RovComms::onUDPSocketEvent(UDPSocketEvent e)
{
    switch (e)
    {
        case UDPSOCKET_READABLE:
        {
            Receive();
            //Host client;
            //int len = UdpSkt->recvfrom(iRxData, MAX_BUFFER_SIZE, &client);
            //printf("Connected from %d.%d.%d.%d\r\n", (unsigned char)client->getIp()[0], (unsigned char)client->getIp()[1], 
            //   (unsigned char)client->getIp()[2], (unsigned char)client->getIp()[3]);
            break;
        }
        
        default:
            break;
    } // end switch
}


void RovComms::ResetValues()
{
   iRovSpeed = 0;
   iRovTurn = 0;
   iRovVert = 0;
   
   iLight = 0;
   iWaterSol = 0;
   iAirSol = 0;
   iCamera = 0;
   iPressure = 0;
   iCompass = 0;
   iAccelX = 0;
   iAccelY = 0;
   iAccelZ = 0;
}
    
void RovComms::RovPropulsion(int speed, int turn, int vert)
{
   iRovSpeed = 0;
   iRovTurn = 0;
   iRovVert = 0;
   Transmit(CMD_ROV);
}
    
void RovComms::FrontLights(int state)
{
    if (state == 1)
        iLight |= AUX_FN_LIGHT1_ON;
    else
        iLight &= ~AUX_FN_LIGHT1_ON;
    Transmit(CMD_AUX);
}

void RovComms::RearLights(int state)
{
    if (state == 1)
        iLight |= AUX_FN_LIGHT2_ON;
    else
        iLight &= ~AUX_FN_LIGHT2_ON;
    Transmit(CMD_AUX);
}
    
void RovComms::Camera(int cam)
{
    if (cam == 1)
        iCamera = AUX_FN_CAM1_ON;
    else
        iCamera = AUX_FN_CAM2_ON;
    Transmit(CMD_AUX);
}

void RovComms::Debug(const char *format, ...)
{
    // send data to the debug device
}

// end of file