Diff: main.cpp

Revision:

1:b1c3d31236f8

Parent:

0:c490b05d753e

Child:

2:233951f9354d

--- a/main.cpp	Fri Sep 28 00:04:25 2018 +0000
+++ b/main.cpp	Mon Oct 22 15:47:42 2018 +0000
@@ -14,7 +14,7 @@
     @author Wada Suisei   Copyright (C) 2018 - All rights reserved          
     @author modified by yukimakura
 
-    @date LastModified:2018 July 2 
+    @date LastModified:2018 Oct 23 
 */
 
 /*** Including Libraries ***/
@@ -33,23 +33,21 @@
  * @brief 接続のタイムアウト（ミリ秒）
  * 
  */
-#define TIMEOUT_MS 3000 
+#define TIMEOUT_MS 1000 
 
 
 /*** Network Information ***/
 ///myIpAddrこのモータドライバのIPアドレスを入力
-const char myIpAddr[] = "192.168.39.10";   
+#define myIpAddr "10.42.0.98" 
 /// myPortこのプログラムで使用するポートを入力  
-const uint16_t myPort = 50000;
+#define myPort 50000
 /// NetMask このモータドライバ用のネットマスクを入力 
-const char NetMask[] = "255.255.255.0"; 
+#define NetMask "255.255.255.0"
 /// Gateway このモータドライバ用のゲートウェイを入力 
-const char Gateway[] = "192.168.39.1";
+#define Gateway "10.42.0.1"
 
 
 /*** Instantiation ***/
-//Interruption
-Timeout linkdown_catcher;
 Timer Timeout_timer;
 
 //! PWM信号の差動出力ピンを指定
@@ -57,8 +55,11 @@
 //! PWM信号の差動出力ピンを指定
 PwmOut motor_N(p25);
 
+Thread *(eth_pri);
+
 double pipe_pwmduty;
 
+Mutex g_mtx;
 
 //Network
 DigitalOut EthRecv_LED(LED1);
@@ -82,11 +83,12 @@
  * 
  * 
  */
-void INT_TIMER_LINKDOWN_CATCHER(void){
+void timeout(void){
+    g_mtx.lock();
     pipe_pwmduty = 0.0;
+    g_mtx.unlock();
     motor_P = 0.5;
     motor_N = 0.5;
-    exit(-1);
 }
 
 
@@ -103,94 +105,52 @@
  * \endhtmlonly
  */
 void ethernet_thread(void){
-    //Declaration of Local Variables
-    char in_buf[8];
-    char out_buf[10];
+    char in_buf[64];
     
-    //Initializing Network
-    SocketAddress SockAddr_Receive;
-    eth.set_network(myIpAddr, NetMask, Gateway);
-    if(0 != eth.connect()){
-        exit(-1);
-    }
-    TCPServer srv;
-    TCPSocket sock;
-    srv.open(&eth);
-    srv.bind(eth.get_ip_address(), myPort);
+    EthernetInterface eth;
+    //eth.init();
+    eth.init(myIpAddr,NetMask,Gateway);
+    eth.connect();
+    printf("\nServer IP Address is %s\n", eth.getIPAddress());
+    
+    TCPSocketServer server;
+    server.bind(myPort);
+    server.listen();
+    
     while (true) {
-
-        printf("waiting for client\r\n");
-        /* Can handle 5 simultaneous connections */
-        int err= srv.listen(1);
-        printf("server listening error : %d\r\n",err);
-
-        Timeout_timer.start();
-        while(1){
-            /* Initialize variables */
-            memset(in_buf, '\0', sizeof(in_buf));
-            memset(out_buf, '\0', sizeof(out_buf));
-            printf("waiting for client connection\r\n");
-            err = srv.accept(&sock, &SockAddr_Receive);
-            Timeout_timer.reset();
+        printf("\nWait for new connection...\n");
+        TCPSocketConnection client;
+        server.accept(client);
+        //client.set_blocking(false, TIMEOUT_MS); // Timeout after (TIMEOUT_MS)ms
+        
+        printf("Connection from: %s\n", client.get_address());
+        
+        while (client.is_connected()) {
+            
             Ethconnect_LED = 1;
-            //https://docs.mbed.com/docs/vignesh/en/latest/api/group__netsocket.html#ga67a8f07758d2ee2a1809293fa52bdf14
-            switch(err){
-                case NSAPI_ERROR_OK:
-                    printf("client connected :%s:%d\r\n", SockAddr_Receive.get_ip_address(), SockAddr_Receive.get_port());
-                    while(1){
-                        int len = sock.recv(in_buf, sizeof(in_buf));
-                        if(Timeout_timer.read_ms() < TIMEOUT_MS){
-
-                            if(len > 0){
-                                Timeout_timer.reset();
-                                in_buf[len] = '\0';
-                                //Get data
-                                EthRecv_LED = !EthRecv_LED;
-                                memcpy(&pipe_pwmduty, &in_buf[0], 8);
-                                
-
-                                /* Send Data */
-                                //sock.send(out_buf, sizeof(out_buf));
-                                EthSend_LED = !EthSend_LED;
-                            }
-                        }
-                        else{//TIMEOUT
-                            printf("Time_out (over %d ms)\n",TIMEOUT_MS);
-                            memset(in_buf, '\0', sizeof(in_buf));
-                            pipe_pwmduty = 0.0;
-                            motor_P = 0.5;
-                            motor_N = 0.5;
-                            Ethconnect_LED = 0;
-                            sock.close();
-                            break;
-                        }
-                    }
-                    break;
-                case NSAPI_ERROR_WOULD_BLOCK :
-                    printf("NSAPI_ERROR_WOULD_BLOCK\n");
-                    memset(in_buf, '\0', sizeof(in_buf));
-                    INT_TIMER_LINKDOWN_CATCHER();
-                    break;
-                case NSAPI_ERROR_NO_CONNECTION :
-                    printf("NSAPI_ERROR_NO_CONNECTION\n");
-                    memset(in_buf, '\0', sizeof(in_buf));
-                    INT_TIMER_LINKDOWN_CATCHER();
-                    break;
-                case NSAPI_ERROR_NO_SOCKET :
-                    printf("NSAPI_ERROR_NO_SOCKET\n");
-                    memset(in_buf, '\0', sizeof(in_buf));
-                    INT_TIMER_LINKDOWN_CATCHER();
-                    break;
-                case NSAPI_ERROR_NO_ADDRESS :
-                    printf("NSAPI_ERROR_NO_ADDRESS\n");
-                    memset(in_buf, '\0', sizeof(in_buf));
-                    INT_TIMER_LINKDOWN_CATCHER();
-                    break;
-                default:
-                    printf("other error");
-                    break;
+            int len = client.receive(in_buf, sizeof(in_buf));
+            EthRecv_LED = !EthRecv_LED;
+            // print received message to terminal
+            in_buf[len] = '\0';
+            if(len > 0){
+               // Timeout_timer.reset();
+                in_buf[len] = '\0';
+                //Get data
+                EthRecv_LED = !EthRecv_LED;
+                g_mtx.lock();
+                memcpy(&pipe_pwmduty, &in_buf[0], 8);
+                //printf("Received message from Client :'%f'\n",pipe_pwmduty);
+                g_mtx.unlock();
+                Timeout_timer.reset();
+            }
+            if(Timeout_timer.read_ms() > TIMEOUT_MS){
+                break;
             }
         }
+        printf("\nclient closed\n");
+        Ethconnect_LED = 0;
+        timeout();
+        client.close();
     }
 }
 
@@ -200,6 +160,7 @@
  * @return OSに返します。
  */
 int main(){
+    Timeout_timer.start();
     /* Declaration of Local Variables */
     float pwmduty;
 
@@ -219,21 +180,29 @@
     
     /* Start Thread */
     Thread thread_get(ethernet_thread);
-
+    eth_pri = &thread_get;
+    eth_pri -> set_priority(osPriorityHigh);
     
     /* Main Routine */
     while(true){
         //disconnect timeout
         if(Timeout_timer.read_ms() > TIMEOUT_MS){
-            pipe_pwmduty = 0.0;
+            g_mtx.lock();
+            pipe_pwmduty = 0.0;  
+            g_mtx.unlock();
+            timeout();
             EthRecv_LED = 0;
             EthSend_LED = 0;
             Ethconnect_LED = 0;
+            printf("%d\n",Timeout_timer.read_ms());
+            Timeout_timer.reset();
             //return -1;
         }
         
         /* Calculate PWM Duty */
+        g_mtx.lock();
         pwmduty = pipe_pwmduty / 2.0;
+        g_mtx.unlock();
 
         /* Output PWM */
         motor_P = (0.5 + pwmduty);