Yuki Suga / RTnoV4

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:   EthernetInterface mbed-rtos

EtherTcp.cpp@0:5f7bc45bc2e8, 2013-06-24 (annotated)

Committer:
ysuga
Date:
Mon Jun 24 06:42:11 2013 +0000
Revision:
0:5f7bc45bc2e8
Child:
1:f74116b37bc9
[mbed] converted /RTnoV3/RTnoV3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:5f7bc45bc2e8 1 #include "mbed.h"
ysuga 0:5f7bc45bc2e8 2 #include "EtherTcp.h"
ysuga 0:5f7bc45bc2e8 3 #include "EthernetNetIf.h"
ysuga 0:5f7bc45bc2e8 4 #include "TCPSocket.h"
ysuga 0:5f7bc45bc2e8 5
ysuga 0:5f7bc45bc2e8 6 #include "ip_addr.h"
ysuga 0:5f7bc45bc2e8 7 /**
ysuga 0:5f7bc45bc2e8 8 #include <../SPI/SPI.h>
ysuga 0:5f7bc45bc2e8 9 #include <../Ethernet/Ethernet.h>
ysuga 0:5f7bc45bc2e8 10
ysuga 0:5f7bc45bc2e8 11 static EthernetServer *m_pServer;
ysuga 0:5f7bc45bc2e8 12 static EthernetClient *m_pClient;
ysuga 0:5f7bc45bc2e8 13 */
ysuga 0:5f7bc45bc2e8 14 static EthernetNetIf* m_pInterface;
ysuga 0:5f7bc45bc2e8 15 static TCPSocket* m_pServerSocket;
ysuga 0:5f7bc45bc2e8 16 static TCPSocket* m_pClientSocket;
ysuga 0:5f7bc45bc2e8 17
ysuga 0:5f7bc45bc2e8 18
ysuga 0:5f7bc45bc2e8 19 #define ETCP_RX_BUFFER_SIZE 128
ysuga 0:5f7bc45bc2e8 20 unsigned char etcp_rx_buffer[ETCP_RX_BUFFER_SIZE];
ysuga 0:5f7bc45bc2e8 21 int etcp_rx_buffer_pointer_head = 0;
ysuga 0:5f7bc45bc2e8 22 int etcp_rx_buffer_pointer_tail = 0;
ysuga 0:5f7bc45bc2e8 23 Host m_Client;
ysuga 0:5f7bc45bc2e8 24
ysuga 0:5f7bc45bc2e8 25 Serial *pSerial;
ysuga 0:5f7bc45bc2e8 26
ysuga 0:5f7bc45bc2e8 27 /**
ysuga 0:5f7bc45bc2e8 28 * Push data to ring buffer.
ysuga 0:5f7bc45bc2e8 29 */
ysuga 0:5f7bc45bc2e8 30 int etcp_rx_buffer_push(unsigned char c) {
ysuga 0:5f7bc45bc2e8 31 etcp_rx_buffer[etcp_rx_buffer_pointer_tail] = c;
ysuga 0:5f7bc45bc2e8 32 etcp_rx_buffer_pointer_tail++;
ysuga 0:5f7bc45bc2e8 33 if(etcp_rx_buffer_pointer_tail >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:5f7bc45bc2e8 34 etcp_rx_buffer_pointer_tail = 0;
ysuga 0:5f7bc45bc2e8 35 }
ysuga 0:5f7bc45bc2e8 36 return 0;
ysuga 0:5f7bc45bc2e8 37 }
ysuga 0:5f7bc45bc2e8 38
ysuga 0:5f7bc45bc2e8 39 /**
ysuga 0:5f7bc45bc2e8 40 * Pop data fron ring buffer
ysuga 0:5f7bc45bc2e8 41 */
ysuga 0:5f7bc45bc2e8 42 int etcp_rx_buffer_pop(unsigned char *c) {
ysuga 0:5f7bc45bc2e8 43 *c = etcp_rx_buffer[etcp_rx_buffer_pointer_head];
ysuga 0:5f7bc45bc2e8 44 etcp_rx_buffer_pointer_head++;
ysuga 0:5f7bc45bc2e8 45 if(etcp_rx_buffer_pointer_head >= ETCP_RX_BUFFER_SIZE) {
ysuga 0:5f7bc45bc2e8 46 etcp_rx_buffer_pointer_head = 0;
ysuga 0:5f7bc45bc2e8 47 }
ysuga 0:5f7bc45bc2e8 48 return 0;
ysuga 0:5f7bc45bc2e8 49 }
ysuga 0:5f7bc45bc2e8 50
ysuga 0:5f7bc45bc2e8 51 int etcp_rx_buffer_get_size() {
ysuga 0:5f7bc45bc2e8 52 int size = etcp_rx_buffer_pointer_tail - etcp_rx_buffer_pointer_head;
ysuga 0:5f7bc45bc2e8 53 if(size < 0) {
ysuga 0:5f7bc45bc2e8 54 size += ETCP_RX_BUFFER_SIZE;
ysuga 0:5f7bc45bc2e8 55 }
ysuga 0:5f7bc45bc2e8 56 return size;
ysuga 0:5f7bc45bc2e8 57 }
ysuga 0:5f7bc45bc2e8 58
ysuga 0:5f7bc45bc2e8 59 static void EtherTcp_onClientEvent(TCPSocketEvent e) {
ysuga 0:5f7bc45bc2e8 60 switch (e) {
ysuga 0:5f7bc45bc2e8 61 // If the socket is readable, do stuff
ysuga 0:5f7bc45bc2e8 62 case TCPSOCKET_READABLE:
ysuga 0:5f7bc45bc2e8 63 while(1) {
ysuga 0:5f7bc45bc2e8 64 char buf;
ysuga 0:5f7bc45bc2e8 65 int ret = m_pClientSocket->recv(&buf, 1);
ysuga 0:5f7bc45bc2e8 66 if (ret == 0) break;
ysuga 0:5f7bc45bc2e8 67 etcp_rx_buffer_push(buf);
ysuga 0:5f7bc45bc2e8 68 }
ysuga 0:5f7bc45bc2e8 69
ysuga 0:5f7bc45bc2e8 70 break;
ysuga 0:5f7bc45bc2e8 71 case TCPSOCKET_CONTIMEOUT:
ysuga 0:5f7bc45bc2e8 72 case TCPSOCKET_CONRST:
ysuga 0:5f7bc45bc2e8 73 case TCPSOCKET_CONABRT:
ysuga 0:5f7bc45bc2e8 74 case TCPSOCKET_ERROR:
ysuga 0:5f7bc45bc2e8 75 case TCPSOCKET_DISCONNECTED:
ysuga 0:5f7bc45bc2e8 76 delete m_pClientSocket;
ysuga 0:5f7bc45bc2e8 77 m_pClientSocket = NULL;
ysuga 0:5f7bc45bc2e8 78 break;
ysuga 0:5f7bc45bc2e8 79 }
ysuga 0:5f7bc45bc2e8 80 }
ysuga 0:5f7bc45bc2e8 81
ysuga 0:5f7bc45bc2e8 82 static void EtherTcp_onServerEvent(TCPSocketEvent e) {
ysuga 0:5f7bc45bc2e8 83 if(e == TCPSOCKET_ACCEPT ) {
ysuga 0:5f7bc45bc2e8 84 if ( m_pServerSocket->accept(&m_Client, &m_pClientSocket) ) {
ysuga 0:5f7bc45bc2e8 85 return; //Error in accept, discard connection
ysuga 0:5f7bc45bc2e8 86 }
ysuga 0:5f7bc45bc2e8 87
ysuga 0:5f7bc45bc2e8 88 m_pClientSocket->setOnEvent(EtherTcp_onClientEvent);
ysuga 0:5f7bc45bc2e8 89 }
ysuga 0:5f7bc45bc2e8 90 }
ysuga 0:5f7bc45bc2e8 91
ysuga 0:5f7bc45bc2e8 92 void EtherTcp_init(uint8_t* mac, uint8_t* ip,
ysuga 0:5f7bc45bc2e8 93 uint8_t* gateway, uint8_t* subnet,
ysuga 0:5f7bc45bc2e8 94 uint16_t port)
ysuga 0:5f7bc45bc2e8 95
ysuga 0:5f7bc45bc2e8 96 {
ysuga 0:5f7bc45bc2e8 97 pSerial = new Serial(USBTX, USBRX);
ysuga 0:5f7bc45bc2e8 98 m_pInterface = new EthernetNetIf(
ysuga 0:5f7bc45bc2e8 99 IpAddr(ip[0], ip[1], ip[2], ip[3]),
ysuga 0:5f7bc45bc2e8 100 IpAddr(subnet[0], subnet[1], subnet[2], subnet[3]),
ysuga 0:5f7bc45bc2e8 101 IpAddr(gateway[0], gateway[1], gateway[2], gateway[3]),
ysuga 0:5f7bc45bc2e8 102 IpAddr(gateway[0], gateway[1], gateway[2], gateway[3]));
ysuga 0:5f7bc45bc2e8 103 printf("Hello %d %d %d %d\r\n", ip[0], ip[1], ip[2], ip[3]);
ysuga 0:5f7bc45bc2e8 104 EthernetErr ethErr = m_pInterface->setup();
ysuga 0:5f7bc45bc2e8 105 if (ethErr) {
ysuga 0:5f7bc45bc2e8 106 return;
ysuga 0:5f7bc45bc2e8 107 }
ysuga 0:5f7bc45bc2e8 108
ysuga 0:5f7bc45bc2e8 109 m_pServerSocket = new TCPSocket();
ysuga 0:5f7bc45bc2e8 110 m_pServerSocket->setOnEvent(EtherTcp_onServerEvent);
ysuga 0:5f7bc45bc2e8 111 m_pServerSocket->bind(Host(IP_ADDR_ANY, port));
ysuga 0:5f7bc45bc2e8 112 m_pServerSocket->listen();
ysuga 0:5f7bc45bc2e8 113 SerialDevice_available = EtherTcp_available;
ysuga 0:5f7bc45bc2e8 114 SerialDevice_getc = EtherTcp_getc;
ysuga 0:5f7bc45bc2e8 115 SerialDevice_putc = EtherTcp_putc;
ysuga 0:5f7bc45bc2e8 116 }
ysuga 0:5f7bc45bc2e8 117
ysuga 0:5f7bc45bc2e8 118 uint8_t EtherTcp_available()
ysuga 0:5f7bc45bc2e8 119 {
ysuga 0:5f7bc45bc2e8 120 Net::poll();
ysuga 0:5f7bc45bc2e8 121 return etcp_rx_buffer_get_size();
ysuga 0:5f7bc45bc2e8 122 }
ysuga 0:5f7bc45bc2e8 123
ysuga 0:5f7bc45bc2e8 124
ysuga 0:5f7bc45bc2e8 125 void EtherTcp_putc(const char c) {
ysuga 0:5f7bc45bc2e8 126 if(m_pClientSocket != NULL) {
ysuga 0:5f7bc45bc2e8 127 m_pClientSocket->send(&c, 1);
ysuga 0:5f7bc45bc2e8 128 }
ysuga 0:5f7bc45bc2e8 129 }
ysuga 0:5f7bc45bc2e8 130
ysuga 0:5f7bc45bc2e8 131 char EtherTcp_getc()
ysuga 0:5f7bc45bc2e8 132 {
ysuga 0:5f7bc45bc2e8 133 char c;
ysuga 0:5f7bc45bc2e8 134 etcp_rx_buffer_pop((unsigned char*)&c);
ysuga 0:5f7bc45bc2e8 135 return c;
ysuga 0:5f7bc45bc2e8 136 }