Shinya Matsuyama / Mbed OS MF_FUJIKO_BASE

update from matsu

Dependencies:   libTCS34725

MF_FJK_UDPManager/UDPManager.h@2:89530618a5c7, 2019-02-02 (annotated)

Committer:
poipoi
Date:
Sat Feb 02 08:19:25 2019 +0000
Revision:
2:89530618a5c7
Child:
6:fd9d4fed9946
change UDPManager to normal directory

Who changed what in which revision?

UserRevisionLine numberNew contents of line
poipoi 2:89530618a5c7 1 #pragma once
poipoi 2:89530618a5c7 2
poipoi 2:89530618a5c7 3 #include "mbed.h"
poipoi 2:89530618a5c7 4 #include "EthernetInterface.h"
poipoi 2:89530618a5c7 5
poipoi 2:89530618a5c7 6
poipoi 2:89530618a5c7 7 enum MessageID {
poipoi 2:89530618a5c7 8 MESSAGE_A = 0,
poipoi 2:89530618a5c7 9 MESSAGE_B,
poipoi 2:89530618a5c7 10 MESSAGE_C,
poipoi 2:89530618a5c7 11 MESSAGE_D,
poipoi 2:89530618a5c7 12 MESSAGE_E,
poipoi 2:89530618a5c7 13 MESSAGE_NONE = -1
poipoi 2:89530618a5c7 14 };
poipoi 2:89530618a5c7 15
poipoi 2:89530618a5c7 16 enum ColorID {
poipoi 2:89530618a5c7 17 COLOR_RED = 0,
poipoi 2:89530618a5c7 18 COLOR_BLUE,
poipoi 2:89530618a5c7 19 COLOR_GREEN,
poipoi 2:89530618a5c7 20 COLOR_YELLOW,
poipoi 2:89530618a5c7 21 COLOR_NONE = -1
poipoi 2:89530618a5c7 22 };
poipoi 2:89530618a5c7 23
poipoi 2:89530618a5c7 24 enum CourseID {
poipoi 2:89530618a5c7 25 COURSE_LEFT = 0,
poipoi 2:89530618a5c7 26 COURSE_CENTER,
poipoi 2:89530618a5c7 27 COURSE_RIGHT,
poipoi 2:89530618a5c7 28 COURSE_TOP,
poipoi 2:89530618a5c7 29 COURSE_MIDDLE,
poipoi 2:89530618a5c7 30 COURSE_BOTTOM,
poipoi 2:89530618a5c7 31 COURSE_NONE = -1
poipoi 2:89530618a5c7 32 };
poipoi 2:89530618a5c7 33
poipoi 2:89530618a5c7 34 class UDPManager {
poipoi 2:89530618a5c7 35 private:
poipoi 2:89530618a5c7 36 EthernetInterface eth;
poipoi 2:89530618a5c7 37 UDPSocket sock;
poipoi 2:89530618a5c7 38 SocketAddress adr;
poipoi 2:89530618a5c7 39 char sendBuff[256];
poipoi 2:89530618a5c7 40 char recBuff[256];
poipoi 2:89530618a5c7 41 bool isOpen;
poipoi 2:89530618a5c7 42 uint32_t index;
poipoi 2:89530618a5c7 43
poipoi 2:89530618a5c7 44 void sendMessage(MessageID msgID, ColorID colorID, CourseID courseID = COURSE_NONE, int contentID = -1) {
poipoi 2:89530618a5c7 45 memset(sendBuff, '\0', sizeof(sendBuff));
poipoi 2:89530618a5c7 46
poipoi 2:89530618a5c7 47 if (msgID == MESSAGE_NONE) return;
poipoi 2:89530618a5c7 48 switch (msgID) {
poipoi 2:89530618a5c7 49 case MESSAGE_A:
poipoi 2:89530618a5c7 50 strcat(sendBuff, "01");
poipoi 2:89530618a5c7 51 break;
poipoi 2:89530618a5c7 52 case MESSAGE_B:
poipoi 2:89530618a5c7 53 strcat(sendBuff, "02");
poipoi 2:89530618a5c7 54 break;
poipoi 2:89530618a5c7 55 case MESSAGE_C:
poipoi 2:89530618a5c7 56 strcat(sendBuff, "03");
poipoi 2:89530618a5c7 57 break;
poipoi 2:89530618a5c7 58 case MESSAGE_D:
poipoi 2:89530618a5c7 59 strcat(sendBuff, "04");
poipoi 2:89530618a5c7 60 break;
poipoi 2:89530618a5c7 61 }
poipoi 2:89530618a5c7 62
poipoi 2:89530618a5c7 63 // TimeStamp
poipoi 2:89530618a5c7 64 sprintf(sendBuff, "%s,%d", sendBuff, index++);
poipoi 2:89530618a5c7 65
poipoi 2:89530618a5c7 66 if (colorID == COLOR_NONE) return;
poipoi 2:89530618a5c7 67 switch (colorID) {
poipoi 2:89530618a5c7 68 case COLOR_RED:
poipoi 2:89530618a5c7 69 strcat(sendBuff, ",R");
poipoi 2:89530618a5c7 70 break;
poipoi 2:89530618a5c7 71 case COLOR_BLUE:
poipoi 2:89530618a5c7 72 strcat(sendBuff, ",B");
poipoi 2:89530618a5c7 73 break;
poipoi 2:89530618a5c7 74 case COLOR_GREEN:
poipoi 2:89530618a5c7 75 strcat(sendBuff, ",G");
poipoi 2:89530618a5c7 76 break;
poipoi 2:89530618a5c7 77 case COLOR_YELLOW:
poipoi 2:89530618a5c7 78 strcat(sendBuff, ",Y");
poipoi 2:89530618a5c7 79 break;
poipoi 2:89530618a5c7 80 }
poipoi 2:89530618a5c7 81
poipoi 2:89530618a5c7 82 if (courseID != COURSE_NONE) {
poipoi 2:89530618a5c7 83 switch (courseID) {
poipoi 2:89530618a5c7 84 case COURSE_LEFT:
poipoi 2:89530618a5c7 85 strcat(sendBuff, ",L");
poipoi 2:89530618a5c7 86 break;
poipoi 2:89530618a5c7 87 case COURSE_CENTER:
poipoi 2:89530618a5c7 88 strcat(sendBuff, ",C");
poipoi 2:89530618a5c7 89 break;
poipoi 2:89530618a5c7 90 case COURSE_RIGHT:
poipoi 2:89530618a5c7 91 strcat(sendBuff, ",R");
poipoi 2:89530618a5c7 92 break;
poipoi 2:89530618a5c7 93 case COURSE_TOP:
poipoi 2:89530618a5c7 94 strcat(sendBuff, ",T");
poipoi 2:89530618a5c7 95 break;
poipoi 2:89530618a5c7 96 case COURSE_MIDDLE:
poipoi 2:89530618a5c7 97 strcat(sendBuff, ",M");
poipoi 2:89530618a5c7 98 break;
poipoi 2:89530618a5c7 99 case COURSE_BOTTOM:
poipoi 2:89530618a5c7 100 strcat(sendBuff, ",B");
poipoi 2:89530618a5c7 101 break;
poipoi 2:89530618a5c7 102 }
poipoi 2:89530618a5c7 103 }
poipoi 2:89530618a5c7 104
poipoi 2:89530618a5c7 105 if (contentID >= 0) {
poipoi 2:89530618a5c7 106 sprintf(sendBuff, "%s,%d", sendBuff, contentID);
poipoi 2:89530618a5c7 107 }
poipoi 2:89530618a5c7 108
poipoi 2:89530618a5c7 109 nsapi_size_or_error_t err = sock.sendto(adr, sendBuff, strlen(sendBuff));
poipoi 2:89530618a5c7 110 if (err < 0) {
poipoi 2:89530618a5c7 111 printf("sock.sendto error: %d\n", err);
poipoi 2:89530618a5c7 112 }
poipoi 2:89530618a5c7 113 }
poipoi 2:89530618a5c7 114
poipoi 2:89530618a5c7 115 public:
poipoi 2:89530618a5c7 116 UDPManager() : adr("255.255.255.255", 12345), isOpen(false), index(0) {}
poipoi 2:89530618a5c7 117
poipoi 2:89530618a5c7 118 bool init() {
poipoi 2:89530618a5c7 119 isOpen = false;
poipoi 2:89530618a5c7 120
poipoi 2:89530618a5c7 121 int err = eth.connect();
poipoi 2:89530618a5c7 122 if (err != 0) return false;
poipoi 2:89530618a5c7 123
poipoi 2:89530618a5c7 124 sock.open(&eth);
poipoi 2:89530618a5c7 125 sock.set_blocking(false);
poipoi 2:89530618a5c7 126 sock.bind(12345);
poipoi 2:89530618a5c7 127
poipoi 2:89530618a5c7 128 isOpen = true;
poipoi 2:89530618a5c7 129 return true;
poipoi 2:89530618a5c7 130 }
poipoi 2:89530618a5c7 131
poipoi 2:89530618a5c7 132 bool init(const char* ip, const char* mask, const char* gateway) {
poipoi 2:89530618a5c7 133 isOpen = false;
poipoi 2:89530618a5c7 134 eth.set_network(ip, mask, gateway);
poipoi 2:89530618a5c7 135 int err = eth.connect();
poipoi 2:89530618a5c7 136 if (err != 0) return false;
poipoi 2:89530618a5c7 137
poipoi 2:89530618a5c7 138 sock.open(&eth);
poipoi 2:89530618a5c7 139 sock.set_blocking(false);
poipoi 2:89530618a5c7 140 sock.bind(12345);
poipoi 2:89530618a5c7 141
poipoi 2:89530618a5c7 142 isOpen = true;
poipoi 2:89530618a5c7 143 return true;
poipoi 2:89530618a5c7 144 }
poipoi 2:89530618a5c7 145
poipoi 2:89530618a5c7 146 const char* getIPAdr() {
poipoi 2:89530618a5c7 147 if (!isOpen) return "";
poipoi 2:89530618a5c7 148 return eth.get_ip_address();
poipoi 2:89530618a5c7 149 }
poipoi 2:89530618a5c7 150
poipoi 2:89530618a5c7 151 const char* getLatestMessage() {
poipoi 2:89530618a5c7 152 return sendBuff;
poipoi 2:89530618a5c7 153 }
poipoi 2:89530618a5c7 154
poipoi 2:89530618a5c7 155 bool sendA(ColorID colorID) {
poipoi 2:89530618a5c7 156 if (!isOpen) return false;
poipoi 2:89530618a5c7 157
poipoi 2:89530618a5c7 158 sendMessage(MESSAGE_A, colorID);
poipoi 2:89530618a5c7 159 return true;
poipoi 2:89530618a5c7 160 }
poipoi 2:89530618a5c7 161
poipoi 2:89530618a5c7 162 bool sendB(ColorID colorID, CourseID courseID, int contentID) {
poipoi 2:89530618a5c7 163 if (!isOpen) return false;
poipoi 2:89530618a5c7 164
poipoi 2:89530618a5c7 165 sendMessage(MESSAGE_B, colorID, courseID, contentID);
poipoi 2:89530618a5c7 166 return true;
poipoi 2:89530618a5c7 167 }
poipoi 2:89530618a5c7 168
poipoi 2:89530618a5c7 169 bool sendC(ColorID colorID) {
poipoi 2:89530618a5c7 170 if (!isOpen) return false;
poipoi 2:89530618a5c7 171
poipoi 2:89530618a5c7 172 sendMessage(MESSAGE_C, colorID);
poipoi 2:89530618a5c7 173 return true;
poipoi 2:89530618a5c7 174 }
poipoi 2:89530618a5c7 175
poipoi 2:89530618a5c7 176 bool sendD(ColorID colorID, CourseID courseID) {
poipoi 2:89530618a5c7 177 if (!isOpen) return false;
poipoi 2:89530618a5c7 178
poipoi 2:89530618a5c7 179 sendMessage(MESSAGE_D, colorID, courseID);
poipoi 2:89530618a5c7 180 return true;
poipoi 2:89530618a5c7 181 }
poipoi 2:89530618a5c7 182
poipoi 2:89530618a5c7 183 bool receive(MessageID &msgID, int &timeStamp, ColorID &colorID, CourseID &courseID) {
poipoi 2:89530618a5c7 184 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 185 timeStamp = 0;
poipoi 2:89530618a5c7 186 colorID = COLOR_NONE;
poipoi 2:89530618a5c7 187 courseID = COURSE_NONE;
poipoi 2:89530618a5c7 188
poipoi 2:89530618a5c7 189 SocketAddress recAdr;
poipoi 2:89530618a5c7 190 nsapi_size_or_error_t result = sock.recvfrom(&recAdr, recBuff, sizeof(recBuff));
poipoi 2:89530618a5c7 191
poipoi 2:89530618a5c7 192 if (result < 0) {
poipoi 2:89530618a5c7 193 if (result != NSAPI_ERROR_WOULD_BLOCK) {
poipoi 2:89530618a5c7 194 printf("sock.recvfrom error: %d\n", result);
poipoi 2:89530618a5c7 195 }
poipoi 2:89530618a5c7 196 return false;
poipoi 2:89530618a5c7 197 }
poipoi 2:89530618a5c7 198 recBuff[result] = '\0';
poipoi 2:89530618a5c7 199
poipoi 2:89530618a5c7 200 char* tmp = strtok(recBuff, ",");
poipoi 2:89530618a5c7 201 if (strcmp(tmp, "01") == 0) {
poipoi 2:89530618a5c7 202 msgID = MESSAGE_A;
poipoi 2:89530618a5c7 203 } else if (strcmp(tmp, "02") == 0) {
poipoi 2:89530618a5c7 204 msgID = MESSAGE_B;
poipoi 2:89530618a5c7 205 } else if (strcmp(tmp, "03") == 0) {
poipoi 2:89530618a5c7 206 msgID = MESSAGE_C;
poipoi 2:89530618a5c7 207 } else if (strcmp(tmp, "04") == 0) {
poipoi 2:89530618a5c7 208 msgID = MESSAGE_D;
poipoi 2:89530618a5c7 209 } else if (strcmp(tmp, "05") == 0) {
poipoi 2:89530618a5c7 210 msgID = MESSAGE_E;
poipoi 2:89530618a5c7 211 } else {
poipoi 2:89530618a5c7 212 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 213 return false;
poipoi 2:89530618a5c7 214 }
poipoi 2:89530618a5c7 215
poipoi 2:89530618a5c7 216 // TBD: TimeStamp
poipoi 2:89530618a5c7 217 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 218
poipoi 2:89530618a5c7 219 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 220 switch (msgID) {
poipoi 2:89530618a5c7 221 case MESSAGE_A:
poipoi 2:89530618a5c7 222 case MESSAGE_B:
poipoi 2:89530618a5c7 223 case MESSAGE_C:
poipoi 2:89530618a5c7 224 case MESSAGE_D:
poipoi 2:89530618a5c7 225 if (strcmp(tmp, "R") == 0) {
poipoi 2:89530618a5c7 226 colorID = COLOR_RED;
poipoi 2:89530618a5c7 227 } else if (strcmp(tmp, "B") == 0) {
poipoi 2:89530618a5c7 228 colorID = COLOR_BLUE;
poipoi 2:89530618a5c7 229 } else if (strcmp(tmp, "G") == 0) {
poipoi 2:89530618a5c7 230 colorID = COLOR_GREEN;
poipoi 2:89530618a5c7 231 } else if (strcmp(tmp, "Y") == 0) {
poipoi 2:89530618a5c7 232 colorID = COLOR_YELLOW;
poipoi 2:89530618a5c7 233 } else {
poipoi 2:89530618a5c7 234 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 235 return false;
poipoi 2:89530618a5c7 236 }
poipoi 2:89530618a5c7 237 break;
poipoi 2:89530618a5c7 238
poipoi 2:89530618a5c7 239 case MESSAGE_E:
poipoi 2:89530618a5c7 240 // TBD
poipoi 2:89530618a5c7 241 break;
poipoi 2:89530618a5c7 242 }
poipoi 2:89530618a5c7 243
poipoi 2:89530618a5c7 244 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 245 switch (msgID) {
poipoi 2:89530618a5c7 246 case MESSAGE_B:
poipoi 2:89530618a5c7 247 case MESSAGE_C:
poipoi 2:89530618a5c7 248 case MESSAGE_D:
poipoi 2:89530618a5c7 249 if (strcmp(tmp, "L") == 0) {
poipoi 2:89530618a5c7 250 courseID = COURSE_LEFT;
poipoi 2:89530618a5c7 251 } else if (strcmp(tmp, "C") == 0) {
poipoi 2:89530618a5c7 252 courseID = COURSE_CENTER;
poipoi 2:89530618a5c7 253 } else if (strcmp(tmp, "R") == 0) {
poipoi 2:89530618a5c7 254 courseID = COURSE_RIGHT;
poipoi 2:89530618a5c7 255 } else if (strcmp(tmp, "T") == 0) {
poipoi 2:89530618a5c7 256 courseID = COURSE_TOP;
poipoi 2:89530618a5c7 257 } else if (strcmp(tmp, "M") == 0) {
poipoi 2:89530618a5c7 258 courseID = COURSE_MIDDLE;
poipoi 2:89530618a5c7 259 } else if (strcmp(tmp, "B") == 0) {
poipoi 2:89530618a5c7 260 courseID = COURSE_BOTTOM;
poipoi 2:89530618a5c7 261 } else {
poipoi 2:89530618a5c7 262 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 263 return false;
poipoi 2:89530618a5c7 264 }
poipoi 2:89530618a5c7 265 break;
poipoi 2:89530618a5c7 266 }
poipoi 2:89530618a5c7 267
poipoi 2:89530618a5c7 268 return true;
poipoi 2:89530618a5c7 269 }
poipoi 2:89530618a5c7 270 };