Shinya Matsuyama / Mbed OS MF_FUJIKO_BASE

update from matsu

Dependencies:   libTCS34725

MF_FJK_UDPManager/UDPManager.h@6:fd9d4fed9946, 2019-03-16 (annotated)

Committer:
shinyamatsuyama
Date:
Sat Mar 16 15:42:24 2019 +0000
Revision:
6:fd9d4fed9946
Parent:
2:89530618a5c7 
091_sendfix; 11_udpread

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,
shinyamatsuyama 6:fd9d4fed9946 13 MESSAGE_F,
shinyamatsuyama 6:fd9d4fed9946 14 MESSAGE_G,
shinyamatsuyama 6:fd9d4fed9946 15 MESSAGE_H,
poipoi 2:89530618a5c7 16 MESSAGE_NONE = -1
poipoi 2:89530618a5c7 17 };
poipoi 2:89530618a5c7 18
poipoi 2:89530618a5c7 19 enum ColorID {
poipoi 2:89530618a5c7 20 COLOR_RED = 0,
poipoi 2:89530618a5c7 21 COLOR_BLUE,
poipoi 2:89530618a5c7 22 COLOR_GREEN,
poipoi 2:89530618a5c7 23 COLOR_YELLOW,
poipoi 2:89530618a5c7 24 COLOR_NONE = -1
poipoi 2:89530618a5c7 25 };
poipoi 2:89530618a5c7 26
poipoi 2:89530618a5c7 27 enum CourseID {
poipoi 2:89530618a5c7 28 COURSE_LEFT = 0,
poipoi 2:89530618a5c7 29 COURSE_CENTER,
poipoi 2:89530618a5c7 30 COURSE_RIGHT,
poipoi 2:89530618a5c7 31 COURSE_TOP,
poipoi 2:89530618a5c7 32 COURSE_MIDDLE,
poipoi 2:89530618a5c7 33 COURSE_BOTTOM,
poipoi 2:89530618a5c7 34 COURSE_NONE = -1
poipoi 2:89530618a5c7 35 };
poipoi 2:89530618a5c7 36
poipoi 2:89530618a5c7 37 class UDPManager {
poipoi 2:89530618a5c7 38 private:
poipoi 2:89530618a5c7 39 EthernetInterface eth;
poipoi 2:89530618a5c7 40 UDPSocket sock;
poipoi 2:89530618a5c7 41 SocketAddress adr;
poipoi 2:89530618a5c7 42 char sendBuff[256];
poipoi 2:89530618a5c7 43 char recBuff[256];
poipoi 2:89530618a5c7 44 bool isOpen;
poipoi 2:89530618a5c7 45 uint32_t index;
poipoi 2:89530618a5c7 46
poipoi 2:89530618a5c7 47 void sendMessage(MessageID msgID, ColorID colorID, CourseID courseID = COURSE_NONE, int contentID = -1) {
poipoi 2:89530618a5c7 48 memset(sendBuff, '\0', sizeof(sendBuff));
poipoi 2:89530618a5c7 49
poipoi 2:89530618a5c7 50 if (msgID == MESSAGE_NONE) return;
poipoi 2:89530618a5c7 51 switch (msgID) {
poipoi 2:89530618a5c7 52 case MESSAGE_A:
poipoi 2:89530618a5c7 53 strcat(sendBuff, "01");
poipoi 2:89530618a5c7 54 break;
poipoi 2:89530618a5c7 55 case MESSAGE_B:
poipoi 2:89530618a5c7 56 strcat(sendBuff, "02");
poipoi 2:89530618a5c7 57 break;
poipoi 2:89530618a5c7 58 case MESSAGE_C:
poipoi 2:89530618a5c7 59 strcat(sendBuff, "03");
poipoi 2:89530618a5c7 60 break;
poipoi 2:89530618a5c7 61 case MESSAGE_D:
poipoi 2:89530618a5c7 62 strcat(sendBuff, "04");
poipoi 2:89530618a5c7 63 break;
poipoi 2:89530618a5c7 64 }
poipoi 2:89530618a5c7 65
poipoi 2:89530618a5c7 66 // TimeStamp
poipoi 2:89530618a5c7 67 sprintf(sendBuff, "%s,%d", sendBuff, index++);
poipoi 2:89530618a5c7 68
poipoi 2:89530618a5c7 69 if (colorID == COLOR_NONE) return;
poipoi 2:89530618a5c7 70 switch (colorID) {
poipoi 2:89530618a5c7 71 case COLOR_RED:
poipoi 2:89530618a5c7 72 strcat(sendBuff, ",R");
poipoi 2:89530618a5c7 73 break;
poipoi 2:89530618a5c7 74 case COLOR_BLUE:
poipoi 2:89530618a5c7 75 strcat(sendBuff, ",B");
poipoi 2:89530618a5c7 76 break;
poipoi 2:89530618a5c7 77 case COLOR_GREEN:
poipoi 2:89530618a5c7 78 strcat(sendBuff, ",G");
poipoi 2:89530618a5c7 79 break;
poipoi 2:89530618a5c7 80 case COLOR_YELLOW:
poipoi 2:89530618a5c7 81 strcat(sendBuff, ",Y");
poipoi 2:89530618a5c7 82 break;
poipoi 2:89530618a5c7 83 }
poipoi 2:89530618a5c7 84
poipoi 2:89530618a5c7 85 if (courseID != COURSE_NONE) {
poipoi 2:89530618a5c7 86 switch (courseID) {
poipoi 2:89530618a5c7 87 case COURSE_LEFT:
poipoi 2:89530618a5c7 88 strcat(sendBuff, ",L");
poipoi 2:89530618a5c7 89 break;
poipoi 2:89530618a5c7 90 case COURSE_CENTER:
poipoi 2:89530618a5c7 91 strcat(sendBuff, ",C");
poipoi 2:89530618a5c7 92 break;
poipoi 2:89530618a5c7 93 case COURSE_RIGHT:
poipoi 2:89530618a5c7 94 strcat(sendBuff, ",R");
poipoi 2:89530618a5c7 95 break;
poipoi 2:89530618a5c7 96 case COURSE_TOP:
poipoi 2:89530618a5c7 97 strcat(sendBuff, ",T");
poipoi 2:89530618a5c7 98 break;
poipoi 2:89530618a5c7 99 case COURSE_MIDDLE:
poipoi 2:89530618a5c7 100 strcat(sendBuff, ",M");
poipoi 2:89530618a5c7 101 break;
poipoi 2:89530618a5c7 102 case COURSE_BOTTOM:
poipoi 2:89530618a5c7 103 strcat(sendBuff, ",B");
poipoi 2:89530618a5c7 104 break;
poipoi 2:89530618a5c7 105 }
poipoi 2:89530618a5c7 106 }
poipoi 2:89530618a5c7 107
poipoi 2:89530618a5c7 108 if (contentID >= 0) {
poipoi 2:89530618a5c7 109 sprintf(sendBuff, "%s,%d", sendBuff, contentID);
poipoi 2:89530618a5c7 110 }
poipoi 2:89530618a5c7 111
poipoi 2:89530618a5c7 112 nsapi_size_or_error_t err = sock.sendto(adr, sendBuff, strlen(sendBuff));
poipoi 2:89530618a5c7 113 if (err < 0) {
poipoi 2:89530618a5c7 114 printf("sock.sendto error: %d\n", err);
poipoi 2:89530618a5c7 115 }
poipoi 2:89530618a5c7 116 }
poipoi 2:89530618a5c7 117
poipoi 2:89530618a5c7 118 public:
poipoi 2:89530618a5c7 119 UDPManager() : adr("255.255.255.255", 12345), isOpen(false), index(0) {}
poipoi 2:89530618a5c7 120
poipoi 2:89530618a5c7 121 bool init() {
poipoi 2:89530618a5c7 122 isOpen = false;
poipoi 2:89530618a5c7 123
poipoi 2:89530618a5c7 124 int err = eth.connect();
poipoi 2:89530618a5c7 125 if (err != 0) return false;
poipoi 2:89530618a5c7 126
poipoi 2:89530618a5c7 127 sock.open(&eth);
poipoi 2:89530618a5c7 128 sock.set_blocking(false);
poipoi 2:89530618a5c7 129 sock.bind(12345);
poipoi 2:89530618a5c7 130
poipoi 2:89530618a5c7 131 isOpen = true;
poipoi 2:89530618a5c7 132 return true;
poipoi 2:89530618a5c7 133 }
poipoi 2:89530618a5c7 134
poipoi 2:89530618a5c7 135 bool init(const char* ip, const char* mask, const char* gateway) {
poipoi 2:89530618a5c7 136 isOpen = false;
poipoi 2:89530618a5c7 137 eth.set_network(ip, mask, gateway);
poipoi 2:89530618a5c7 138 int err = eth.connect();
poipoi 2:89530618a5c7 139 if (err != 0) return false;
poipoi 2:89530618a5c7 140
poipoi 2:89530618a5c7 141 sock.open(&eth);
poipoi 2:89530618a5c7 142 sock.set_blocking(false);
poipoi 2:89530618a5c7 143 sock.bind(12345);
poipoi 2:89530618a5c7 144
poipoi 2:89530618a5c7 145 isOpen = true;
poipoi 2:89530618a5c7 146 return true;
poipoi 2:89530618a5c7 147 }
poipoi 2:89530618a5c7 148
poipoi 2:89530618a5c7 149 const char* getIPAdr() {
poipoi 2:89530618a5c7 150 if (!isOpen) return "";
poipoi 2:89530618a5c7 151 return eth.get_ip_address();
poipoi 2:89530618a5c7 152 }
poipoi 2:89530618a5c7 153
poipoi 2:89530618a5c7 154 const char* getLatestMessage() {
poipoi 2:89530618a5c7 155 return sendBuff;
poipoi 2:89530618a5c7 156 }
poipoi 2:89530618a5c7 157
poipoi 2:89530618a5c7 158 bool sendA(ColorID colorID) {
poipoi 2:89530618a5c7 159 if (!isOpen) return false;
poipoi 2:89530618a5c7 160
poipoi 2:89530618a5c7 161 sendMessage(MESSAGE_A, colorID);
poipoi 2:89530618a5c7 162 return true;
poipoi 2:89530618a5c7 163 }
poipoi 2:89530618a5c7 164
poipoi 2:89530618a5c7 165 bool sendB(ColorID colorID, CourseID courseID, int contentID) {
poipoi 2:89530618a5c7 166 if (!isOpen) return false;
poipoi 2:89530618a5c7 167
poipoi 2:89530618a5c7 168 sendMessage(MESSAGE_B, colorID, courseID, contentID);
poipoi 2:89530618a5c7 169 return true;
poipoi 2:89530618a5c7 170 }
poipoi 2:89530618a5c7 171
poipoi 2:89530618a5c7 172 bool sendC(ColorID colorID) {
poipoi 2:89530618a5c7 173 if (!isOpen) return false;
poipoi 2:89530618a5c7 174
poipoi 2:89530618a5c7 175 sendMessage(MESSAGE_C, colorID);
poipoi 2:89530618a5c7 176 return true;
poipoi 2:89530618a5c7 177 }
poipoi 2:89530618a5c7 178
poipoi 2:89530618a5c7 179 bool sendD(ColorID colorID, CourseID courseID) {
poipoi 2:89530618a5c7 180 if (!isOpen) return false;
poipoi 2:89530618a5c7 181
poipoi 2:89530618a5c7 182 sendMessage(MESSAGE_D, colorID, courseID);
poipoi 2:89530618a5c7 183 return true;
poipoi 2:89530618a5c7 184 }
poipoi 2:89530618a5c7 185
poipoi 2:89530618a5c7 186 bool receive(MessageID &msgID, int &timeStamp, ColorID &colorID, CourseID &courseID) {
poipoi 2:89530618a5c7 187 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 188 timeStamp = 0;
poipoi 2:89530618a5c7 189 colorID = COLOR_NONE;
poipoi 2:89530618a5c7 190 courseID = COURSE_NONE;
poipoi 2:89530618a5c7 191
poipoi 2:89530618a5c7 192 SocketAddress recAdr;
poipoi 2:89530618a5c7 193 nsapi_size_or_error_t result = sock.recvfrom(&recAdr, recBuff, sizeof(recBuff));
poipoi 2:89530618a5c7 194
poipoi 2:89530618a5c7 195 if (result < 0) {
poipoi 2:89530618a5c7 196 if (result != NSAPI_ERROR_WOULD_BLOCK) {
poipoi 2:89530618a5c7 197 printf("sock.recvfrom error: %d\n", result);
poipoi 2:89530618a5c7 198 }
poipoi 2:89530618a5c7 199 return false;
poipoi 2:89530618a5c7 200 }
poipoi 2:89530618a5c7 201 recBuff[result] = '\0';
poipoi 2:89530618a5c7 202
poipoi 2:89530618a5c7 203 char* tmp = strtok(recBuff, ",");
poipoi 2:89530618a5c7 204 if (strcmp(tmp, "01") == 0) {
poipoi 2:89530618a5c7 205 msgID = MESSAGE_A;
poipoi 2:89530618a5c7 206 } else if (strcmp(tmp, "02") == 0) {
poipoi 2:89530618a5c7 207 msgID = MESSAGE_B;
poipoi 2:89530618a5c7 208 } else if (strcmp(tmp, "03") == 0) {
poipoi 2:89530618a5c7 209 msgID = MESSAGE_C;
poipoi 2:89530618a5c7 210 } else if (strcmp(tmp, "04") == 0) {
poipoi 2:89530618a5c7 211 msgID = MESSAGE_D;
poipoi 2:89530618a5c7 212 } else if (strcmp(tmp, "05") == 0) {
poipoi 2:89530618a5c7 213 msgID = MESSAGE_E;
shinyamatsuyama 6:fd9d4fed9946 214 } else if (strcmp(tmp, "08") == 0) {
shinyamatsuyama 6:fd9d4fed9946 215 msgID = MESSAGE_H;
shinyamatsuyama 6:fd9d4fed9946 216 return true;
poipoi 2:89530618a5c7 217 } else {
poipoi 2:89530618a5c7 218 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 219 return false;
poipoi 2:89530618a5c7 220 }
poipoi 2:89530618a5c7 221
poipoi 2:89530618a5c7 222 // TBD: TimeStamp
poipoi 2:89530618a5c7 223 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 224
poipoi 2:89530618a5c7 225 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 226 switch (msgID) {
poipoi 2:89530618a5c7 227 case MESSAGE_A:
poipoi 2:89530618a5c7 228 case MESSAGE_B:
poipoi 2:89530618a5c7 229 case MESSAGE_C:
poipoi 2:89530618a5c7 230 case MESSAGE_D:
poipoi 2:89530618a5c7 231 if (strcmp(tmp, "R") == 0) {
poipoi 2:89530618a5c7 232 colorID = COLOR_RED;
poipoi 2:89530618a5c7 233 } else if (strcmp(tmp, "B") == 0) {
poipoi 2:89530618a5c7 234 colorID = COLOR_BLUE;
poipoi 2:89530618a5c7 235 } else if (strcmp(tmp, "G") == 0) {
poipoi 2:89530618a5c7 236 colorID = COLOR_GREEN;
poipoi 2:89530618a5c7 237 } else if (strcmp(tmp, "Y") == 0) {
poipoi 2:89530618a5c7 238 colorID = COLOR_YELLOW;
poipoi 2:89530618a5c7 239 } else {
poipoi 2:89530618a5c7 240 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 241 return false;
poipoi 2:89530618a5c7 242 }
poipoi 2:89530618a5c7 243 break;
poipoi 2:89530618a5c7 244
poipoi 2:89530618a5c7 245 case MESSAGE_E:
poipoi 2:89530618a5c7 246 // TBD
poipoi 2:89530618a5c7 247 break;
shinyamatsuyama 6:fd9d4fed9946 248 case MESSAGE_H:
shinyamatsuyama 6:fd9d4fed9946 249 // no param
shinyamatsuyama 6:fd9d4fed9946 250 break;
poipoi 2:89530618a5c7 251 }
poipoi 2:89530618a5c7 252
poipoi 2:89530618a5c7 253 tmp = strtok(NULL, ",");
poipoi 2:89530618a5c7 254 switch (msgID) {
poipoi 2:89530618a5c7 255 case MESSAGE_B:
poipoi 2:89530618a5c7 256 case MESSAGE_C:
poipoi 2:89530618a5c7 257 case MESSAGE_D:
poipoi 2:89530618a5c7 258 if (strcmp(tmp, "L") == 0) {
poipoi 2:89530618a5c7 259 courseID = COURSE_LEFT;
poipoi 2:89530618a5c7 260 } else if (strcmp(tmp, "C") == 0) {
poipoi 2:89530618a5c7 261 courseID = COURSE_CENTER;
poipoi 2:89530618a5c7 262 } else if (strcmp(tmp, "R") == 0) {
poipoi 2:89530618a5c7 263 courseID = COURSE_RIGHT;
poipoi 2:89530618a5c7 264 } else if (strcmp(tmp, "T") == 0) {
poipoi 2:89530618a5c7 265 courseID = COURSE_TOP;
poipoi 2:89530618a5c7 266 } else if (strcmp(tmp, "M") == 0) {
poipoi 2:89530618a5c7 267 courseID = COURSE_MIDDLE;
poipoi 2:89530618a5c7 268 } else if (strcmp(tmp, "B") == 0) {
poipoi 2:89530618a5c7 269 courseID = COURSE_BOTTOM;
poipoi 2:89530618a5c7 270 } else {
poipoi 2:89530618a5c7 271 msgID = MESSAGE_NONE;
poipoi 2:89530618a5c7 272 return false;
poipoi 2:89530618a5c7 273 }
poipoi 2:89530618a5c7 274 break;
poipoi 2:89530618a5c7 275 }
poipoi 2:89530618a5c7 276
poipoi 2:89530618a5c7 277 return true;
poipoi 2:89530618a5c7 278 }
poipoi 2:89530618a5c7 279 };