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@0:7f26f0680202, 2010-12-31 (annotated)

Committer:
networker
Date:
Fri Dec 31 14:01:14 2010 +0000
Revision:
0:7f26f0680202
Child:
1:2c9d412ad471
initial release: comprises ftlib (no usb), ft-over-ip socket server, and the http server (the html page and java jar I still have to publish somewhere)

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 #include "debug.h"
networker 0:7f26f0680202 7 #define MBED
networker 0:7f26f0680202 8 #include "ftlib.h"
networker 0:7f26f0680202 9
networker 0:7f26f0680202 10
networker 0:7f26f0680202 11 ftServer::ftServer(IpAddr host, unsigned short port) {
networker 0:7f26f0680202 12 err = listeningSock.bind(Host(host, port));
networker 0:7f26f0680202 13 if (err) {
networker 0:7f26f0680202 14 DBG("Binding failed!\n");
networker 0:7f26f0680202 15 errorMsg();
networker 0:7f26f0680202 16 return;
networker 0:7f26f0680202 17 }
networker 0:7f26f0680202 18 DBG("Bound to host\n");
networker 0:7f26f0680202 19 viaUsb.printf("listening on port %d\n", port);
networker 0:7f26f0680202 20 listeningSock.setOnEvent(this, &ftServer::onTCPEvent);
networker 0:7f26f0680202 21 index = 0;
networker 0:7f26f0680202 22 isMsg = false;
networker 0:7f26f0680202 23 text = 0;
networker 0:7f26f0680202 24 }
networker 0:7f26f0680202 25
networker 0:7f26f0680202 26 void ftServer::errorMsg() {
networker 0:7f26f0680202 27 switch (err) {
networker 0:7f26f0680202 28 case __TCPSOCKET_MIN:
networker 0:7f26f0680202 29 DBG("Err: MIN");
networker 0:7f26f0680202 30 break;
networker 0:7f26f0680202 31 case TCPSOCKET_SETUP:
networker 0:7f26f0680202 32 DBG("Err:TCPSocket not properly configured");
networker 0:7f26f0680202 33 break;
networker 0:7f26f0680202 34 case TCPSOCKET_TIMEOUT:
networker 0:7f26f0680202 35 DBG("Err:Connection timed out");
networker 0:7f26f0680202 36 break;
networker 0:7f26f0680202 37 case TCPSOCKET_IF:
networker 0:7f26f0680202 38 DBG("Err:Interface has problems, does not exist or is not initialized");
networker 0:7f26f0680202 39 break;
networker 0:7f26f0680202 40 case TCPSOCKET_MEM:
networker 0:7f26f0680202 41 DBG("Err:Not enough mem");
networker 0:7f26f0680202 42 break;
networker 0:7f26f0680202 43 case TCPSOCKET_INUSE:
networker 0:7f26f0680202 44 DBG("Err:Interface / Port is in use");
networker 0:7f26f0680202 45 break;
networker 0:7f26f0680202 46 case TCPSOCKET_EMPTY:
networker 0:7f26f0680202 47 DBG("Err:Connections queue is empty");
networker 0:7f26f0680202 48 break;
networker 0:7f26f0680202 49 case TCPSOCKET_RST:
networker 0:7f26f0680202 50 DBG("Err:Connection was reset by remote host");
networker 0:7f26f0680202 51 break;
networker 0:7f26f0680202 52 case TCPSOCKET_OK:
networker 0:7f26f0680202 53 DBG("Err:Success");
networker 0:7f26f0680202 54 break;
networker 0:7f26f0680202 55 default:
networker 0:7f26f0680202 56 DBG("Err:Unknown");
networker 0:7f26f0680202 57 }
networker 0:7f26f0680202 58 DBG("\r\n");
networker 0:7f26f0680202 59 }
networker 0:7f26f0680202 60
networker 0:7f26f0680202 61 void ftServer::onTCPEvent(TCPSocketEvent ev) {
networker 0:7f26f0680202 62 Host client;
networker 0:7f26f0680202 63 TCPSocket *pConnectedSock;
networker 0:7f26f0680202 64 switch (ev) {
networker 0:7f26f0680202 65 case TCPSOCKET_ACCEPT:
networker 0:7f26f0680202 66 DBG("Accept event\r\n");
networker 0:7f26f0680202 67 err = listeningSock.accept(&client, &pConnectedSock);
networker 0:7f26f0680202 68 if (err) {
networker 0:7f26f0680202 69 DBG("accept failed!\r\n");
networker 0:7f26f0680202 70 errorMsg();
networker 0:7f26f0680202 71 return; //Could not accept client
networker 0:7f26f0680202 72 }
networker 0:7f26f0680202 73 DBG("Accepted\r\n");
networker 0:7f26f0680202 74 queue.push_back(new connection(this, client, pConnectedSock));
networker 0:7f26f0680202 75 break;
networker 0:7f26f0680202 76 default:
networker 0:7f26f0680202 77 DBG("listenSocket other event\r\n");
networker 0:7f26f0680202 78 break;
networker 0:7f26f0680202 79 }
networker 0:7f26f0680202 80 }
networker 0:7f26f0680202 81
networker 0:7f26f0680202 82 void ftServer::remove(connection *c) {
networker 0:7f26f0680202 83 queue.remove(c);
networker 0:7f26f0680202 84 delete c;
networker 0:7f26f0680202 85 int n = 0;
networker 0:7f26f0680202 86 char s[40];
networker 0:7f26f0680202 87 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++) {
networker 0:7f26f0680202 88 sprintf(s, "You are in position %d in the queue", n++);
networker 0:7f26f0680202 89 (*i)->writeStream(s);
networker 0:7f26f0680202 90 }
networker 0:7f26f0680202 91 }
networker 0:7f26f0680202 92
networker 0:7f26f0680202 93 bool ftServer::startServer() {
networker 0:7f26f0680202 94 err = listeningSock.listen(); //Starts listening
networker 0:7f26f0680202 95 if (err) {
networker 0:7f26f0680202 96 DBG("listen failed!\n");
networker 0:7f26f0680202 97 errorMsg();
networker 0:7f26f0680202 98 return false;
networker 0:7f26f0680202 99 }
networker 0:7f26f0680202 100 DBG("listen OK\t");
networker 0:7f26f0680202 101 return true;
networker 0:7f26f0680202 102 }
networker 0:7f26f0680202 103 /*
networker 0:7f26f0680202 104 void ftServer::pollServer() {
networker 0:7f26f0680202 105 Net::poll();
networker 0:7f26f0680202 106 }
networker 0:7f26f0680202 107 */
networker 0:7f26f0680202 108 char* ftServer::render() {
networker 0:7f26f0680202 109 static char text[40];
networker 0:7f26f0680202 110 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 111 return text;
networker 0:7f26f0680202 112 }
networker 0:7f26f0680202 113
networker 0:7f26f0680202 114 #if 1
networker 0:7f26f0680202 115 bool ftServer::readStream(TCPSocket *pConnectedSock) {
networker 0:7f26f0680202 116 char c;
networker 0:7f26f0680202 117 if (pConnectedSock != queue.front()->socket()) {
networker 0:7f26f0680202 118 char flush[7];
networker 0:7f26f0680202 119 pConnectedSock->recv(flush, sizeof(flush));
networker 0:7f26f0680202 120 return false;
networker 0:7f26f0680202 121 }
networker 0:7f26f0680202 122 while (!isMsg) {
networker 0:7f26f0680202 123 if (pConnectedSock->recv(&c, 1) == 0) {
networker 0:7f26f0680202 124 DBG("NoData ");
networker 0:7f26f0680202 125 return false; //no data available
networker 0:7f26f0680202 126 }
networker 0:7f26f0680202 127 isMsg = c == 0x90;//start of message
networker 0:7f26f0680202 128 if (isMsg) {//potentially we are at the start of a message
networker 0:7f26f0680202 129 msg[0] = c; //0x90
networker 0:7f26f0680202 130 DBG(" SOM ");
networker 0:7f26f0680202 131 index = 1;
networker 0:7f26f0680202 132 if (text) {
networker 0:7f26f0680202 133 DBG(text);
networker 0:7f26f0680202 134 delete[] text;
networker 0:7f26f0680202 135 text = 0;
networker 0:7f26f0680202 136 }
networker 0:7f26f0680202 137 break;
networker 0:7f26f0680202 138 }
networker 0:7f26f0680202 139 //text
networker 0:7f26f0680202 140 if (text == 0) {
networker 0:7f26f0680202 141 textlen = c;//potential length of the string
networker 0:7f26f0680202 142 text = new char[textlen+1];
networker 0:7f26f0680202 143 index = 0;
networker 0:7f26f0680202 144 DBG("STX ");
networker 0:7f26f0680202 145 } else {
networker 0:7f26f0680202 146 text[index++] = c;
networker 0:7f26f0680202 147 DBG("+");
networker 0:7f26f0680202 148 }
networker 0:7f26f0680202 149 if (index == textlen) { //assume the entire string was read
networker 0:7f26f0680202 150 text[index] = '\0';
networker 0:7f26f0680202 151 DBG(text);
networker 0:7f26f0680202 152 DBG(" ETX ");
networker 0:7f26f0680202 153 // if (s == "QUIT")
networker 0:7f26f0680202 154 // return false;//in-band signalling, not used
networker 0:7f26f0680202 155 delete[] text;
networker 0:7f26f0680202 156 text = 0;
networker 0:7f26f0680202 157 return false;//text messages are ignored
networker 0:7f26f0680202 158 }
networker 0:7f26f0680202 159 }
networker 0:7f26f0680202 160 index += pConnectedSock->recv(msg+index, sizeof(msg) - index);
networker 0:7f26f0680202 161 if (index >= sizeof(msg)) {
networker 0:7f26f0680202 162 DBG(render());
networker 0:7f26f0680202 163 isMsg = false; //start over on the presumption of text
networker 0:7f26f0680202 164 DBG(" EOM\r\n");
networker 0:7f26f0680202 165 return true; //message is ready
networker 0:7f26f0680202 166 }
networker 0:7f26f0680202 167 DBG("-");
networker 0:7f26f0680202 168 return false;
networker 0:7f26f0680202 169 }
networker 0:7f26f0680202 170 #else
networker 0:7f26f0680202 171 bool ftServer::readStream() {
networker 0:7f26f0680202 172 char c;
networker 0:7f26f0680202 173 while (pConnectedSock->recv(&c, 1) == 1) {
networker 0:7f26f0680202 174 char txt[20];
networker 0:7f26f0680202 175 sprintf(txt, "%02X ", c);
networker 0:7f26f0680202 176 DBG(txt);
networker 0:7f26f0680202 177 }
networker 0:7f26f0680202 178 DBG(";");
networker 0:7f26f0680202 179 return false;
networker 0:7f26f0680202 180 }
networker 0:7f26f0680202 181 #endif
networker 0:7f26f0680202 182
networker 0:7f26f0680202 183 bool ftServer::writeStream(char *s) {
networker 0:7f26f0680202 184 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++)
networker 0:7f26f0680202 185 (*i)->writeStream(s);
networker 0:7f26f0680202 186 return true;
networker 0:7f26f0680202 187 }
networker 0:7f26f0680202 188
networker 0:7f26f0680202 189 bool ftServer::writeStream(SMESSAGE *m) {
networker 0:7f26f0680202 190 for (list<connection*>::iterator i = queue.begin(); i != queue.end(); i++)
networker 0:7f26f0680202 191 (*i)->writeStream(m);
networker 0:7f26f0680202 192 return true;
networker 0:7f26f0680202 193 }
networker 0:7f26f0680202 194
networker 0:7f26f0680202 195 void connection::onConnectedTCPSocketEvent(TCPSocketEvent ev) {//called as part of NetPoll
networker 0:7f26f0680202 196 switch (ev) {
networker 0:7f26f0680202 197 case TCPSOCKET_CONNECTED:
networker 0:7f26f0680202 198 DBG("connectedSocket: Connected to host\n\r");//did not happen
networker 0:7f26f0680202 199 return;
networker 0:7f26f0680202 200 case TCPSOCKET_ACCEPT://should not happen
networker 0:7f26f0680202 201 DBG("connectedSocket: Client is connected, must call accept() to get a new Socket\n\r");
networker 0:7f26f0680202 202 return;
networker 0:7f26f0680202 203 case TCPSOCKET_READABLE: //this happens when data is received
networker 0:7f26f0680202 204 //DBG("connectedSocket: Data in buf\n\r");
networker 0:7f26f0680202 205 if (server->readStream(pConnectedSock)) {
networker 0:7f26f0680202 206 //writeStream("received the message");
networker 0:7f26f0680202 207 //writeStream((SMESSAGE*)(msg+1));
networker 0:7f26f0680202 208 server->handleMessage();
networker 0:7f26f0680202 209 }
networker 0:7f26f0680202 210 return;
networker 0:7f26f0680202 211 case TCPSOCKET_WRITEABLE://this happens
networker 0:7f26f0680202 212 //DBG("connectedSocket: Can write data to buf\n\r");
networker 0:7f26f0680202 213 return;
networker 0:7f26f0680202 214 case TCPSOCKET_CONTIMEOUT:
networker 0:7f26f0680202 215 DBG("connectedSocket: Connection timed out\n\r");
networker 0:7f26f0680202 216 break;
networker 0:7f26f0680202 217 case TCPSOCKET_CONRST:
networker 0:7f26f0680202 218 DBG("connectedSocket: Connection was reset by remote host\n\r");
networker 0:7f26f0680202 219 break;
networker 0:7f26f0680202 220 case TCPSOCKET_CONABRT:
networker 0:7f26f0680202 221 DBG("connectedSocket: Connection was aborted\n\r");
networker 0:7f26f0680202 222 break;
networker 0:7f26f0680202 223 case TCPSOCKET_ERROR:
networker 0:7f26f0680202 224 DBG("connectedSocket: Unknown error\n\r");
networker 0:7f26f0680202 225 break;
networker 0:7f26f0680202 226 case TCPSOCKET_DISCONNECTED://this happens
networker 0:7f26f0680202 227 DBG("connectedSocket: Disconnected\n\r");
networker 0:7f26f0680202 228 break;
networker 0:7f26f0680202 229 default:
networker 0:7f26f0680202 230 DBG("connectedSocket: Unknown event\r\n");
networker 0:7f26f0680202 231 return;
networker 0:7f26f0680202 232 }
networker 0:7f26f0680202 233 //disconnected socket
networker 0:7f26f0680202 234 server->remove(this);
networker 0:7f26f0680202 235 }
networker 0:7f26f0680202 236
networker 0:7f26f0680202 237 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 238 if (!pConnectedSock)
networker 0:7f26f0680202 239 return false;
networker 0:7f26f0680202 240 char l = strlen(s);
networker 0:7f26f0680202 241 while (pConnectedSock->send(&l, 1)==0);
networker 0:7f26f0680202 242 while (strlen(s))
networker 0:7f26f0680202 243 s += pConnectedSock->send(s, strlen(s));
networker 0:7f26f0680202 244 return true;
networker 0:7f26f0680202 245 }
networker 0:7f26f0680202 246
networker 0:7f26f0680202 247 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 248 if (!pConnectedSock)
networker 0:7f26f0680202 249 return false;
networker 0:7f26f0680202 250 char header = 0x90;
networker 0:7f26f0680202 251 char l = 6;
networker 0:7f26f0680202 252 char i = 0;
networker 0:7f26f0680202 253 while (pConnectedSock->send(&header, 1)==0);
networker 0:7f26f0680202 254 while (i<l)
networker 0:7f26f0680202 255 i += pConnectedSock->send((char*)m+i, l-i);
networker 0:7f26f0680202 256 return true;
networker 0:7f26f0680202 257 }