Yuki Suga / RTnoV3

RTno is communicating library and framework which allows you to make your embedded device capable of communicating with RT-middleware world. RT-middleware is a platform software to realize Robotic system. In RTM, robots are developed by constructing robotics technologies\' elements (components) named RT-component. Therefore, the RTno helps you to create your own RT-component with your mbed and arduino. To know how to use your RTno device, visit here: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en To know about RT-middleware and RT-component, visit http://www.openrtm.org

Dependencies:   EthernetNetIf

Dependents:   RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more

EtherTcp.cpp@0:9fac71a0bff3, 2012-02-09 (annotated)

Committer:
ysuga
Date:
Thu Feb 09 02:33:10 2012 +0000
Revision:
0:9fac71a0bff3
RTno Version 3: RTno is a software library and tool to connect embedded devices like arduino and mbed to RT-middleware world.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:9fac71a0bff3 1 #include "mbed.h"
ysuga 0:9fac71a0bff3 2 #include "EtherTcp.h"
ysuga 0:9fac71a0bff3 3 #include "EthernetNetIf.h"
ysuga 0:9fac71a0bff3 4 #include "TCPSocket.h"
ysuga 0:9fac71a0bff3 5
ysuga 0:9fac71a0bff3 6 #include "ip_addr.h"
ysuga 0:9fac71a0bff3 7 /**
ysuga 0:9fac71a0bff3 8 #include <../SPI/SPI.h>
ysuga 0:9fac71a0bff3 9 #include <../Ethernet/Ethernet.h>
ysuga 0:9fac71a0bff3 10
ysuga 0:9fac71a0bff3 11 static EthernetServer *m_pServer;
ysuga 0:9fac71a0bff3 12 static EthernetClient *m_pClient;
ysuga 0:9fac71a0bff3 13 */
ysuga 0:9fac71a0bff3 14 static EthernetNetIf* m_pInterface;
ysuga 0:9fac71a0bff3 15 static TCPSocket* m_pServerSocket;
ysuga 0:9fac71a0bff3 16 static TCPSocket* m_pClientSocket;
ysuga 0:9fac71a0bff3 17
ysuga 0:9fac71a0bff3 18
ysuga 0:9fac71a0bff3 19 #define ETCP_RX_BUFFER_SIZE 128
ysuga 0:9fac71a0bff3 20 unsigned char etcp_rx_buffer[ETCP_RX_BUFFER_SIZE];
ysuga 0:9fac71a0bff3 21 int etcp_rx_buffer_pointer_head = 0;
ysuga 0:9fac71a0bff3 22 int etcp_rx_buffer_pointer_tail = 0;
ysuga 0:9fac71a0bff3 23 Host m_Client;
ysuga 0:9fac71a0bff3 24
ysuga 0:9fac71a0bff3 25 Serial *pSerial;
ysuga 0:9fac71a0bff3 26
ysuga 0:9fac71a0bff3 27 /**
ysuga 0:9fac71a0bff3 28 * Push data to ring buffer.
ysuga 0:9fac71a0bff3 29 */
ysuga 0:9fac71a0bff3 30 int etcp_rx_buffer_push(unsigned char c) {
ysuga 0:9fac71a0bff3 31 etcp_rx_buffer[etcp_rx_buffer_pointer_tail] = c;
ysuga 0:9fac71a0bff3 32 etcp_rx_buffer_pointer_tail++;
ysuga 0:9fac71a0bff3 33 if(etcp_rx_buffer_pointer_tail >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:9fac71a0bff3 34 etcp_rx_buffer_pointer_tail = 0;
ysuga 0:9fac71a0bff3 35 }
ysuga 0:9fac71a0bff3 36 return 0;
ysuga 0:9fac71a0bff3 37 }
ysuga 0:9fac71a0bff3 38
ysuga 0:9fac71a0bff3 39 /**
ysuga 0:9fac71a0bff3 40 * Pop data fron ring buffer
ysuga 0:9fac71a0bff3 41 */
ysuga 0:9fac71a0bff3 42 int etcp_rx_buffer_pop(unsigned char *c) {
ysuga 0:9fac71a0bff3 43 *c = etcp_rx_buffer[etcp_rx_buffer_pointer_head];
ysuga 0:9fac71a0bff3 44 etcp_rx_buffer_pointer_head++;
ysuga 0:9fac71a0bff3 45 if(etcp_rx_buffer_pointer_head >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:9fac71a0bff3 46 etcp_rx_buffer_pointer_head = 0;
ysuga 0:9fac71a0bff3 47 }
ysuga 0:9fac71a0bff3 48 return 0;
ysuga 0:9fac71a0bff3 49 }
ysuga 0:9fac71a0bff3 50
ysuga 0:9fac71a0bff3 51 int etcp_rx_buffer_get_size() {
ysuga 0:9fac71a0bff3 52 int size = etcp_rx_buffer_pointer_tail - etcp_rx_buffer_pointer_head;
ysuga 0:9fac71a0bff3 53 if(size < 0) {
ysuga 0:9fac71a0bff3 54 size += ETCP_RX_BUFFER_SIZE;
ysuga 0:9fac71a0bff3 55 }
ysuga 0:9fac71a0bff3 56 return size;
ysuga 0:9fac71a0bff3 57 }
ysuga 0:9fac71a0bff3 58
ysuga 0:9fac71a0bff3 59 static void EtherTcp_onClientEvent(TCPSocketEvent e) {
ysuga 0:9fac71a0bff3 60 switch (e) {
ysuga 0:9fac71a0bff3 61 // If the socket is readable, do stuff
ysuga 0:9fac71a0bff3 62 case TCPSOCKET_READABLE:
ysuga 0:9fac71a0bff3 63 while(1) {
ysuga 0:9fac71a0bff3 64 char buf;
ysuga 0:9fac71a0bff3 65 int ret = m_pClientSocket->recv(&buf, 1);
ysuga 0:9fac71a0bff3 66 if (ret == 0) break;
ysuga 0:9fac71a0bff3 67 etcp_rx_buffer_push(buf);
ysuga 0:9fac71a0bff3 68 }
ysuga 0:9fac71a0bff3 69
ysuga 0:9fac71a0bff3 70 break;
ysuga 0:9fac71a0bff3 71 case TCPSOCKET_CONTIMEOUT:
ysuga 0:9fac71a0bff3 72 case TCPSOCKET_CONRST:
ysuga 0:9fac71a0bff3 73 case TCPSOCKET_CONABRT:
ysuga 0:9fac71a0bff3 74 case TCPSOCKET_ERROR:
ysuga 0:9fac71a0bff3 75 case TCPSOCKET_DISCONNECTED:
ysuga 0:9fac71a0bff3 76 delete m_pClientSocket;
ysuga 0:9fac71a0bff3 77 m_pClientSocket = NULL;
ysuga 0:9fac71a0bff3 78 break;
ysuga 0:9fac71a0bff3 79 }
ysuga 0:9fac71a0bff3 80 }
ysuga 0:9fac71a0bff3 81
ysuga 0:9fac71a0bff3 82 static void EtherTcp_onServerEvent(TCPSocketEvent e) {
ysuga 0:9fac71a0bff3 83 if(e == TCPSOCKET_ACCEPT ) {
ysuga 0:9fac71a0bff3 84 if ( m_pServerSocket->accept(&m_Client, &m_pClientSocket) ) {
ysuga 0:9fac71a0bff3 85 return; //Error in accept, discard connection
ysuga 0:9fac71a0bff3 86 }
ysuga 0:9fac71a0bff3 87
ysuga 0:9fac71a0bff3 88 m_pClientSocket->setOnEvent(EtherTcp_onClientEvent);
ysuga 0:9fac71a0bff3 89 }
ysuga 0:9fac71a0bff3 90 }
ysuga 0:9fac71a0bff3 91
ysuga 0:9fac71a0bff3 92 void EtherTcp_init(uint8_t* mac, uint8_t* ip,
ysuga 0:9fac71a0bff3 93 uint8_t* gateway, uint8_t* subnet,
ysuga 0:9fac71a0bff3 94 uint16_t port)
ysuga 0:9fac71a0bff3 95
ysuga 0:9fac71a0bff3 96 {
ysuga 0:9fac71a0bff3 97 pSerial = new Serial(USBTX, USBRX);
ysuga 0:9fac71a0bff3 98 m_pInterface = new EthernetNetIf(
ysuga 0:9fac71a0bff3 99 IpAddr(ip[0], ip[1], ip[2], ip[3]),
ysuga 0:9fac71a0bff3 100 IpAddr(subnet[0], subnet[1], subnet[2], subnet[3]),
ysuga 0:9fac71a0bff3 101 IpAddr(gateway[0], gateway[1], gateway[2], gateway[3]),
ysuga 0:9fac71a0bff3 102 IpAddr(gateway[0], gateway[1], gateway[2], gateway[3]));
ysuga 0:9fac71a0bff3 103 printf("Hello %d %d %d %d\r\n", ip[0], ip[1], ip[2], ip[3]);
ysuga 0:9fac71a0bff3 104 EthernetErr ethErr = m_pInterface->setup();
ysuga 0:9fac71a0bff3 105 if (ethErr) {
ysuga 0:9fac71a0bff3 106 return;
ysuga 0:9fac71a0bff3 107 }
ysuga 0:9fac71a0bff3 108
ysuga 0:9fac71a0bff3 109 m_pServerSocket = new TCPSocket();
ysuga 0:9fac71a0bff3 110 m_pServerSocket->setOnEvent(EtherTcp_onServerEvent);
ysuga 0:9fac71a0bff3 111 m_pServerSocket->bind(Host(IP_ADDR_ANY, port));
ysuga 0:9fac71a0bff3 112 m_pServerSocket->listen();
ysuga 0:9fac71a0bff3 113 SerialDevice_available = EtherTcp_available;
ysuga 0:9fac71a0bff3 114 SerialDevice_getc = EtherTcp_getc;
ysuga 0:9fac71a0bff3 115 SerialDevice_putc = EtherTcp_putc;
ysuga 0:9fac71a0bff3 116 }
ysuga 0:9fac71a0bff3 117
ysuga 0:9fac71a0bff3 118 uint8_t EtherTcp_available()
ysuga 0:9fac71a0bff3 119 {
ysuga 0:9fac71a0bff3 120 Net::poll();
ysuga 0:9fac71a0bff3 121 return etcp_rx_buffer_get_size();
ysuga 0:9fac71a0bff3 122 }
ysuga 0:9fac71a0bff3 123
ysuga 0:9fac71a0bff3 124
ysuga 0:9fac71a0bff3 125 void EtherTcp_putc(const char c) {
ysuga 0:9fac71a0bff3 126 if(m_pClientSocket != NULL) {
ysuga 0:9fac71a0bff3 127 m_pClientSocket->send(&c, 1);
ysuga 0:9fac71a0bff3 128 }
ysuga 0:9fac71a0bff3 129 }
ysuga 0:9fac71a0bff3 130
ysuga 0:9fac71a0bff3 131 char EtherTcp_getc()
ysuga 0:9fac71a0bff3 132 {
ysuga 0:9fac71a0bff3 133 char c;
ysuga 0:9fac71a0bff3 134 etcp_rx_buffer_pop((unsigned char*)&c);
ysuga 0:9fac71a0bff3 135 return c;
ysuga 0:9fac71a0bff3 136 }