Ad van der Weiden / Mbed 2 deprecated tcpft

Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.

Dependencies:   mbed ConfigFile

ftserver.cpp@1:2c9d412ad471, 2011-05-04 (annotated)

Committer:
networker
Date:
Wed May 04 15:42:13 2011 +0000
Revision:
1:2c9d412ad471
Parent:
0:7f26f0680202 
first publication (mbed challenge submission)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
networker 0:7f26f0680202 1 #include "mbed.h"
networker 0:7f26f0680202 2 #include "EthernetNetIf.h"
networker 0:7f26f0680202 3 #include "HTTPServer.h"
networker 0:7f26f0680202 4 #include "ft.h"
networker 0:7f26f0680202 5 #include "ftserver.h"
networker 0:7f26f0680202 6 #define MBED
networker 0:7f26f0680202 7 #include "ftlib.h"
networker 0:7f26f0680202 8
networker 0:7f26f0680202 9
networker 0:7f26f0680202 10 ftServer::ftServer(IpAddr host, unsigned short port) {
networker 0:7f26f0680202 11 err = listeningSock.bind(Host(host, port));
networker 0:7f26f0680202 12 if (err) {
networker 1:2c9d412ad471 13 printf("Binding failed!\n");
networker 0:7f26f0680202 14 errorMsg();
networker 0:7f26f0680202 15 return;
networker 0:7f26f0680202 16 }
networker 1:2c9d412ad471 17 printf("Bound to host\n");
networker 1:2c9d412ad471 18 printf("listening on port %d\n", port);
networker 0:7f26f0680202 19 listeningSock.setOnEvent(this, &ftServer::onTCPEvent);
networker 0:7f26f0680202 20 index = 0;
networker 0:7f26f0680202 21 isMsg = false;
networker 0:7f26f0680202 22 text = 0;
networker 0:7f26f0680202 23 }
networker 0:7f26f0680202 24
networker 0:7f26f0680202 25 void ftServer::errorMsg() {
networker 0:7f26f0680202 26 switch (err) {
networker 0:7f26f0680202 27 case __TCPSOCKET_MIN:
networker 1:2c9d412ad471 28 printf("Err: MIN");
networker 0:7f26f0680202 29 break;
networker 0:7f26f0680202 30 case TCPSOCKET_SETUP:
networker 1:2c9d412ad471 31 printf("Err:TCPSocket not properly configured");
networker 0:7f26f0680202 32 break;
networker 0:7f26f0680202 33 case TCPSOCKET_TIMEOUT:
networker 1:2c9d412ad471 34 printf("Err:Connection timed out");
networker 0:7f26f0680202 35 break;
networker 0:7f26f0680202 36 case TCPSOCKET_IF:
networker 1:2c9d412ad471 37 printf("Err:Interface has problems, does not exist or is not initialized");
networker 0:7f26f0680202 38 break;
networker 0:7f26f0680202 39 case TCPSOCKET_MEM:
networker 1:2c9d412ad471 40 printf("Err:Not enough mem");
networker 0:7f26f0680202 41 break;
networker 0:7f26f0680202 42 case TCPSOCKET_INUSE:
networker 1:2c9d412ad471 43 printf("Err:Interface / Port is in use");
networker 0:7f26f0680202 44 break;
networker 0:7f26f0680202 45 case TCPSOCKET_EMPTY:
networker 1:2c9d412ad471 46 printf("Err:Connections queue is empty");
networker 0:7f26f0680202 47 break;
networker 0:7f26f0680202 48 case TCPSOCKET_RST:
networker 1:2c9d412ad471 49 printf("Err:Connection was reset by remote host");
networker 0:7f26f0680202 50 break;
networker 0:7f26f0680202 51 case TCPSOCKET_OK:
networker 1:2c9d412ad471 52 printf("Err:Success");
networker 0:7f26f0680202 53 break;
networker 0:7f26f0680202 54 default:
networker 1:2c9d412ad471 55 printf("Err:Unknown");
networker 0:7f26f0680202 56 }
networker 1:2c9d412ad471 57 printf("\r\n");
networker 0:7f26f0680202 58 }
networker 0:7f26f0680202 59
networker 0:7f26f0680202 60 void ftServer::onTCPEvent(TCPSocketEvent ev) {
networker 0:7f26f0680202 61 Host client;
networker 0:7f26f0680202 62 TCPSocket *pConnectedSock;
networker 0:7f26f0680202 63 switch (ev) {
networker 0:7f26f0680202 64 case TCPSOCKET_ACCEPT:
networker 1:2c9d412ad471 65 printf("Accept event\r\n");
networker 0:7f26f0680202 66 err = listeningSock.accept(&client, &pConnectedSock);
networker 0:7f26f0680202 67 if (err) {
networker 1:2c9d412ad471 68 printf("accept failed!\r\n");
networker 0:7f26f0680202 69 errorMsg();
networker 0:7f26f0680202 70 return; //Could not accept client
networker 0:7f26f0680202 71 }
networker 1:2c9d412ad471 72 printf("Accepted\r\n");
networker 0:7f26f0680202 73 queue.push_back(new connection(this, client, pConnectedSock));
networker 0:7f26f0680202 74 break;
networker 0:7f26f0680202 75 default:
networker 1:2c9d412ad471 76 printf("listenSocket other event\r\n");
networker 0:7f26f0680202 77 break;
networker 0:7f26f0680202 78 }
networker 0:7f26f0680202 79 }
networker 0:7f26f0680202 80
networker 0:7f26f0680202 81 void ftServer::remove(connection *c) {
networker 0:7f26f0680202 82 queue.remove(c);
networker 0:7f26f0680202 83 delete c;
networker 0:7f26f0680202 84 int n = 0;
networker 0:7f26f0680202 85 char s[40];
networker 0:7f26f0680202 86 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++) {
networker 0:7f26f0680202 87 sprintf(s, "You are in position %d in the queue", n++);
networker 0:7f26f0680202 88 (*i)->writeStream(s);
networker 0:7f26f0680202 89 }
networker 0:7f26f0680202 90 }
networker 0:7f26f0680202 91
networker 0:7f26f0680202 92 bool ftServer::startServer() {
networker 0:7f26f0680202 93 err = listeningSock.listen(); //Starts listening
networker 0:7f26f0680202 94 if (err) {
networker 1:2c9d412ad471 95 printf("listen failed!\n");
networker 0:7f26f0680202 96 errorMsg();
networker 0:7f26f0680202 97 return false;
networker 0:7f26f0680202 98 }
networker 1:2c9d412ad471 99 printf("listen OK\t");
networker 0:7f26f0680202 100 return true;
networker 0:7f26f0680202 101 }
networker 0:7f26f0680202 102 /*
networker 0:7f26f0680202 103 void ftServer::pollServer() {
networker 0:7f26f0680202 104 Net::poll();
networker 0:7f26f0680202 105 }
networker 0:7f26f0680202 106 */
networker 0:7f26f0680202 107 char* ftServer::render() {
networker 0:7f26f0680202 108 static char text[40];
networker 0:7f26f0680202 109 sprintf(text, "%02X %02X %02X %02X %02X %02X %02X; ", msg[0],msg[1],msg[2],msg[3],msg[4],msg[5],msg[6]);
networker 0:7f26f0680202 110 return text;
networker 0:7f26f0680202 111 }
networker 0:7f26f0680202 112
networker 0:7f26f0680202 113 #if 1
networker 0:7f26f0680202 114 bool ftServer::readStream(TCPSocket *pConnectedSock) {
networker 0:7f26f0680202 115 char c;
networker 0:7f26f0680202 116 if (pConnectedSock != queue.front()->socket()) {
networker 0:7f26f0680202 117 char flush[7];
networker 0:7f26f0680202 118 pConnectedSock->recv(flush, sizeof(flush));
networker 0:7f26f0680202 119 return false;
networker 0:7f26f0680202 120 }
networker 0:7f26f0680202 121 while (!isMsg) {
networker 0:7f26f0680202 122 if (pConnectedSock->recv(&c, 1) == 0) {
networker 1:2c9d412ad471 123 printf("NoData ");
networker 0:7f26f0680202 124 return false; //no data available
networker 0:7f26f0680202 125 }
networker 0:7f26f0680202 126 isMsg = c == 0x90;//start of message
networker 0:7f26f0680202 127 if (isMsg) {//potentially we are at the start of a message
networker 0:7f26f0680202 128 msg[0] = c; //0x90
networker 1:2c9d412ad471 129 printf(" SOM ");
networker 0:7f26f0680202 130 index = 1;
networker 0:7f26f0680202 131 if (text) {
networker 1:2c9d412ad471 132 printf(text);
networker 0:7f26f0680202 133 delete[] text;
networker 0:7f26f0680202 134 text = 0;
networker 0:7f26f0680202 135 }
networker 0:7f26f0680202 136 break;
networker 0:7f26f0680202 137 }
networker 0:7f26f0680202 138 //text
networker 0:7f26f0680202 139 if (text == 0) {
networker 0:7f26f0680202 140 textlen = c;//potential length of the string
networker 0:7f26f0680202 141 text = new char[textlen+1];
networker 0:7f26f0680202 142 index = 0;
networker 1:2c9d412ad471 143 printf("STX ");
networker 0:7f26f0680202 144 } else {
networker 0:7f26f0680202 145 text[index++] = c;
networker 1:2c9d412ad471 146 printf("+");
networker 0:7f26f0680202 147 }
networker 0:7f26f0680202 148 if (index == textlen) { //assume the entire string was read
networker 0:7f26f0680202 149 text[index] = '\0';
networker 1:2c9d412ad471 150 printf(text);
networker 1:2c9d412ad471 151 printf(" ETX ");
networker 0:7f26f0680202 152 // if (s == "QUIT")
networker 0:7f26f0680202 153 // return false;//in-band signalling, not used
networker 0:7f26f0680202 154 delete[] text;
networker 0:7f26f0680202 155 text = 0;
networker 0:7f26f0680202 156 return false;//text messages are ignored
networker 0:7f26f0680202 157 }
networker 0:7f26f0680202 158 }
networker 0:7f26f0680202 159 index += pConnectedSock->recv(msg+index, sizeof(msg) - index);
networker 0:7f26f0680202 160 if (index >= sizeof(msg)) {
networker 1:2c9d412ad471 161 printf(render());
networker 0:7f26f0680202 162 isMsg = false; //start over on the presumption of text
networker 1:2c9d412ad471 163 printf(" EOM\r\n");
networker 0:7f26f0680202 164 return true; //message is ready
networker 0:7f26f0680202 165 }
networker 1:2c9d412ad471 166 printf("-");
networker 0:7f26f0680202 167 return false;
networker 0:7f26f0680202 168 }
networker 0:7f26f0680202 169 #else
networker 0:7f26f0680202 170 bool ftServer::readStream() {
networker 0:7f26f0680202 171 char c;
networker 0:7f26f0680202 172 while (pConnectedSock->recv(&c, 1) == 1) {
networker 0:7f26f0680202 173 char txt[20];
networker 0:7f26f0680202 174 sprintf(txt, "%02X ", c);
networker 1:2c9d412ad471 175 printf(txt);
networker 0:7f26f0680202 176 }
networker 1:2c9d412ad471 177 printf(";");
networker 0:7f26f0680202 178 return false;
networker 0:7f26f0680202 179 }
networker 0:7f26f0680202 180 #endif
networker 0:7f26f0680202 181
networker 0:7f26f0680202 182 bool ftServer::writeStream(char *s) {
networker 0:7f26f0680202 183 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++)
networker 0:7f26f0680202 184 (*i)->writeStream(s);
networker 0:7f26f0680202 185 return true;
networker 0:7f26f0680202 186 }
networker 0:7f26f0680202 187
networker 0:7f26f0680202 188 bool ftServer::writeStream(SMESSAGE *m) {
networker 0:7f26f0680202 189 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++)
networker 0:7f26f0680202 190 (*i)->writeStream(m);
networker 0:7f26f0680202 191 return true;
networker 0:7f26f0680202 192 }
networker 0:7f26f0680202 193
networker 0:7f26f0680202 194 void connection::onConnectedTCPSocketEvent(TCPSocketEvent ev) {//called as part of NetPoll
networker 0:7f26f0680202 195 switch (ev) {
networker 0:7f26f0680202 196 case TCPSOCKET_CONNECTED:
networker 1:2c9d412ad471 197 printf("connectedSocket: Connected to host\n\r");//did not happen
networker 0:7f26f0680202 198 return;
networker 0:7f26f0680202 199 case TCPSOCKET_ACCEPT://should not happen
networker 1:2c9d412ad471 200 printf("connectedSocket: Client is connected, must call accept() to get a new Socket\n\r");
networker 0:7f26f0680202 201 return;
networker 0:7f26f0680202 202 case TCPSOCKET_READABLE: //this happens when data is received
networker 1:2c9d412ad471 203 //printf("connectedSocket: Data in buf\n\r");
networker 0:7f26f0680202 204 if (server->readStream(pConnectedSock)) {
networker 0:7f26f0680202 205 //writeStream("received the message");
networker 0:7f26f0680202 206 //writeStream((SMESSAGE*)(msg+1));
networker 0:7f26f0680202 207 server->handleMessage();
networker 0:7f26f0680202 208 }
networker 0:7f26f0680202 209 return;
networker 0:7f26f0680202 210 case TCPSOCKET_WRITEABLE://this happens
networker 1:2c9d412ad471 211 //printf("connectedSocket: Can write data to buf\n\r");
networker 0:7f26f0680202 212 return;
networker 0:7f26f0680202 213 case TCPSOCKET_CONTIMEOUT:
networker 1:2c9d412ad471 214 printf("connectedSocket: Connection timed out\n\r");
networker 0:7f26f0680202 215 break;
networker 0:7f26f0680202 216 case TCPSOCKET_CONRST:
networker 1:2c9d412ad471 217 printf("connectedSocket: Connection was reset by remote host\n\r");
networker 0:7f26f0680202 218 break;
networker 0:7f26f0680202 219 case TCPSOCKET_CONABRT:
networker 1:2c9d412ad471 220 printf("connectedSocket: Connection was aborted\n\r");
networker 0:7f26f0680202 221 break;
networker 0:7f26f0680202 222 case TCPSOCKET_ERROR:
networker 1:2c9d412ad471 223 printf("connectedSocket: Unknown error\n\r");
networker 0:7f26f0680202 224 break;
networker 0:7f26f0680202 225 case TCPSOCKET_DISCONNECTED://this happens
networker 1:2c9d412ad471 226 printf("connectedSocket: Disconnected\n\r");
networker 0:7f26f0680202 227 break;
networker 0:7f26f0680202 228 default:
networker 1:2c9d412ad471 229 printf("connectedSocket: Unknown event\r\n");
networker 0:7f26f0680202 230 return;
networker 0:7f26f0680202 231 }
networker 0:7f26f0680202 232 //disconnected socket
networker 0:7f26f0680202 233 server->remove(this);
networker 0:7f26f0680202 234 }
networker 0:7f26f0680202 235
networker 0:7f26f0680202 236 bool connection::writeStream(char *s) {//I'm not sure this works for large or rapid messages because NetPoll is not called, when I call it it may be recursively
networker 0:7f26f0680202 237 if (!pConnectedSock)
networker 0:7f26f0680202 238 return false;
networker 0:7f26f0680202 239 char l = strlen(s);
networker 0:7f26f0680202 240 while (pConnectedSock->send(&l, 1)==0);
networker 0:7f26f0680202 241 while (strlen(s))
networker 0:7f26f0680202 242 s += pConnectedSock->send(s, strlen(s));
networker 0:7f26f0680202 243 return true;
networker 0:7f26f0680202 244 }
networker 0:7f26f0680202 245
networker 0:7f26f0680202 246 bool connection::writeStream(SMESSAGE *m) {//I'm not sure this works for large or rapid messages because NetPoll is not called, when I call it it may be recursively
networker 0:7f26f0680202 247 if (!pConnectedSock)
networker 0:7f26f0680202 248 return false;
networker 0:7f26f0680202 249 char header = 0x90;
networker 0:7f26f0680202 250 char l = 6;
networker 0:7f26f0680202 251 char i = 0;
networker 0:7f26f0680202 252 while (pConnectedSock->send(&header, 1)==0);
networker 0:7f26f0680202 253 while (i<l)
networker 0:7f26f0680202 254 i += pConnectedSock->send((char*)m+i, l-i);
networker 0:7f26f0680202 255 return true;
networker 0:7f26f0680202 256 }