File content as of revision 2:1b1f3ab29984:

/*
** File name:            Server.cpp
** Descriptions:        TCP server that handles multiple client requests in separate threads
**
**------------------------------------------------------------------------------------------------------
** Created by:            Ivan Shindev
** Created date:        06/11/2013
** Version:                1.0
** Descriptions:        The original version
**
**------------------------------------------------------------------------------------------------------
** Modified by:            
** Modified date:    
** Version:
** Descriptions:        
********************************************************************************************************/
#include "Server.h"

#include "mbed.h"
#include "Motor.h"
/*Handle_client handles the client request
*
* Default: Echo the clients request
*/
Motor motor1(P1_21,P1_22);
Motor motor2(P1_23,P1_24);

void Handle_client(void const *socket_data) {
   
   int socket; 
   char buffer[256];
   char extracted[256];
   char extracted1[256];
   int i1=0;
   int i2=0;
   socket = (int)socket_data;
   int n = lwip_recv(socket ,buffer,sizeof(buffer),0); //read from the client
   while(buffer[i1]!='\0')
   {
        if(buffer[i1]!=' ')
        {
            extracted[i2]=buffer[i1];
            i2++;
        }
        else
        {
            break;
        }
        i1++;
   
   }
   extracted[i2]='\0';
   i2=0;
   i1++;
   while(buffer[i1]!='\0')
   {
           extracted1[i2]=buffer[i1];
            i2++;
            i1++;
   }
   extracted1[i2]='\0';
    if(strcmp(extracted,"Motor1")==0)
    {
        strcpy(buffer,"OK Motor1");
         if (lwip_send(socket ,buffer,strlen(buffer)*sizeof(char),0)!=n) //send the content back to the socket 
           {
   
 
            }
             int speed=atoi(extracted1);
            if((speed>=-100)&&(speed<=100))
            {
                motor1.speed(((float)speed)/100);
            }
            
    }
   else if(strcmp(extracted,"Motor2")==0)
   {
     strcpy(buffer,"OK Motor2");
         if (lwip_send(socket ,buffer,strlen(buffer)*sizeof(char),0)!=n) //send the content back to the socket 
           {
   
 
            }
            int speed=atoi(extracted1);
            if((speed>=-100)&&(speed<=100))
            {
                motor2.speed(((float)speed)/100);
            }
 
   }
   else
   {
     strcpy(buffer,"Unknown command");
         if (lwip_send(socket ,buffer,strlen(buffer)*sizeof(char),0)!=n) //send the content back to the socket 
           {
   
 
            }
   }
   
 lwip_close(socket);
}

osThreadDef(Handle_client, osPriorityNormal, DEFAULT_STACK_SIZE);
 
Server::Server(int port, int max_number_of_clients):
        _port(port), _max_number_of_clients(max_number_of_clients){

   
}

int Server::Start() {

    EthernetInterface eth;
    eth.init(); //Use DHCP
    eth.connect();
    
    int socket_server;
    struct sockaddr_in localHost;
    memset(&localHost, 0, sizeof(localHost));
    int new_socket;
    
    if( (socket_server= lwip_socket(AF_INET, SOCK_STREAM, 0))<0)
    {
        return -1;
    }
    localHost.sin_family = AF_INET;
    localHost.sin_port = htons(_port); //port
    localHost.sin_addr.s_addr = INADDR_ANY;  //localhost address
    
    if (lwip_bind(socket_server, (const struct sockaddr *) &localHost, sizeof(localHost)) < 0) {
 
        return -1;
    }
    if (lwip_listen(socket_server,5)<0)
    {

        perror("listen");
        exit(EXIT_FAILURE);
    }
  
    socklen_t newSockRemoteHostLen = sizeof(localHost);
   
    while(1)
    {
        new_socket = lwip_accept(socket_server, (struct sockaddr*) &localHost, &newSockRemoteHostLen);
        if (new_socket < 0)
         {
            return -1;
         }

               osThreadCreate(osThread(Handle_client), (void *) new_socket);
    
   }

}