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App_UDP.c
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App_UDP.c
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/********************************************************************
* File : UDP_server.c
*
* Overview: A simple UDP server to communicate
* with PC
*
* Auteur Date Commentaire E-Mail
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Théou Jean-Baptiste 10/05/11 Initial version [email protected]
*******************************************************************/
#include "main.h"
extern NODE_INFO remoteNode;
/*****************************************************************************
Function:
void UDPServer_CMUcam(void)
Summary:
Implements a simple UDP Server (CMUcam communication).
Description:
Based on Microchip exemple available on M.A.L
Precondition:
UDP is initialized.
Parameters:
None
Returns:
None
***************************************************************************/
void UDPServer_CMUcam(void)
{
static enum {
UDP_REQUEST_HOME = 0,
UDP_REQUEST_LISTEN,
UDP_REQUEST_RECEIVED
} UDPRequestSM = UDP_REQUEST_HOME;
char buffer[6];
static UDP_SOCKET MySocket;
BYTE i[MAX_COMMAND_SIZE];
BYTE size;
BYTE * command;
switch(UDPRequestSM)
{
case UDP_REQUEST_HOME :
// Open a UDP socket for inbound and outbound transmission
// Since we expect to only receive broadcast packets and
// only send unicast packets directly to the node we last
// received from, the remote NodeInfo parameter can be anything
MySocket = UDPOpen(SERVER_PORT_CMUCAM, NULL, SERVER_PORT_CMUCAM);
if(MySocket == INVALID_UDP_SOCKET)
return;
else
UDPRequestSM++;
break;
case UDP_REQUEST_LISTEN :
// Do nothing if no data is waiting
if(!UDPIsGetReady(MySocket))
return;
// Receive the command
size = UDPGetArray((BYTE *)i,MAX_COMMAND_SIZE);
// Alloc command variable
/*
* (!!! You must allocate an heap space on C32 linker option !!!)
*/
command = (BYTE *)malloc(size*sizeof(BYTE));
// Define command variable
strncpy(command,i,size);
// Send command to CMUcam
putsUART1(command);
free(command);
UDPDiscard();
// No break, we must continue without re-loop
// Change the destination to the unicast address of the last received packet
memcpy((void*)&UDPSocketInfo[MySocket].remoteNode, (const void*)&remoteNode, sizeof(remoteNode));
case UDP_REQUEST_RECEIVED:
if(!UDPIsPutReady(MySocket))
return;
xSemaphoreTake(xSemaphoreCMUcamTransmissionEnable,5000);
{
sprintf(buffer,"%d",count);
UDPPutArray((BYTE *)buffer,6);
UDPFlush();
while(!UDPIsPutReady(MySocket));
// We need to split the data, because of UDP packet size limit
Large_UDP_Packet(count,MySocket);
}
// Just if we cannot detect the end of frame
count = 0;
/* Not useful here (No break before and no ++ on the SM)
* Just to be clear */
UDPRequestSM = UDP_REQUEST_LISTEN;
EnableIntU1RX;
break;
}
}
/*****************************************************************************
Function:
void UDPServer_Cmd(void)
Summary:
Implements a simple UDP Server (Control communication without accelerometre).
Description:
Based on Microchip exemple available on M.A.L
Precondition:
UDP is initialized.
Parameters:
None
Returns:
None
***************************************************************************/
void UDPServer_Cmd(void)
{
static enum {
UDP_REQUEST_HOME = 0,
UDP_REQUEST_LISTEN,
UDP_REQUEST_RECEIVED
} UDPRequestSM = UDP_REQUEST_HOME;
char buffer[20];
static UDP_SOCKET MySocket;
BYTE i[MAX_COMMAND_SIZE];
BYTE size;
CMD_CAR UDP_frame;
switch(UDPRequestSM)
{
case UDP_REQUEST_HOME :
// Open a UDP socket for inbound and outbound transmission
// Since we expect to only receive broadcast packets and
// only send unicast packets directly to the node we last
// received from, the remote NodeInfo parameter can be anything
MySocket = UDPOpen(SERVER_PORT_CMD, NULL, SERVER_PORT_CMD);
if(MySocket == INVALID_UDP_SOCKET)
return;
else
UDPRequestSM++;
break;
case UDP_REQUEST_LISTEN :
// Do nothing if no data is waiting
if(!UDPIsGetReady(MySocket))
{
return;
}
// Receive the command
size = UDPGetArray((BYTE *)i,MAX_COMMAND_SIZE);
/* Trame from UDP
* Bytes | Bytes | etc
*
*/
UDP_frame.for_back =i[0];
UDP_frame.speed_up =i[1];
UDP_frame.speed_down =i[2];
UDP_frame.dir_up =i[3];
UDP_frame.dir_down =i[4];
Update_CMD(UDP_frame);
UDPDiscard();
// No break, we must continue without re-loop
// Change the destination to the unicast address of the last received packet
memcpy((void*)&UDPSocketInfo[MySocket].remoteNode, (const void*)&remoteNode, sizeof(remoteNode));
case UDP_REQUEST_RECEIVED:
if(!UDPIsPutReady(MySocket))
return;
sprintf(buffer,"V : %d, D : %d",Vitesse, ConsDir);
UDPPutArray((BYTE *)buffer,20);
UDPFlush();
UDPRequestSM = UDP_REQUEST_LISTEN;
break;
}
}
/*****************************************************************************
Function:
void UDPServer_Cmd_Acc(void)
Summary:
Implements a simple UDP Server (Control communication with accelerometer).
Description:
Based on Microchip exemple available on M.A.L
Precondition:
UDP is initialized.
Parameters:
None
Returns:
None
***************************************************************************/
void UDPServer_Cmd_Acc(void)
{
static enum {
UDP_REQUEST_HOME = 0,
UDP_REQUEST_LISTEN,
UDP_REQUEST_RECEIVED
} UDPRequestSM = UDP_REQUEST_HOME;
char buffer[20];
static UDP_SOCKET MySocket;
BYTE i[MAX_COMMAND_SIZE];
BYTE size;
CMD_CAR_ACC UDP_frame;
switch(UDPRequestSM)
{
case UDP_REQUEST_HOME :
// Open a UDP socket for inbound and outbound transmission
// Since we expect to only receive broadcast packets and
// only send unicast packets directly to the node we last
// received from, the remote NodeInfo parameter can be anything
MySocket = UDPOpen(SERVER_PORT_CMD_ACC, NULL, SERVER_PORT_CMD_ACC);
if(MySocket == INVALID_UDP_SOCKET)
{
return;
}
else
UDPRequestSM++;
break;
case UDP_REQUEST_LISTEN :
// Do nothing if no data is waiting
if(!UDPIsGetReady(MySocket))
{
return;
}
// Receive the command
size = UDPGetArray((BYTE *)i,MAX_COMMAND_SIZE);
/* Trame from UDP
* Bytes | Bytes | etc
*
*/
UDP_frame.active =i[0];
UDP_frame.fb =i[1];
UDP_frame.speed =i[2];
UDP_frame.signe =i[3];
UDP_frame.dir =i[4];
Update_CMD_Acc(UDP_frame);
UDPDiscard();
// No break, we must continue without re-loop
// Change the destination to the unicast address of the last received packet
memcpy((void*)&UDPSocketInfo[MySocket].remoteNode, (const void*)&remoteNode, sizeof(remoteNode));
case UDP_REQUEST_RECEIVED:
if(!UDPIsPutReady(MySocket))
return;
sprintf(buffer,"V : %d, D : %d",Vitesse, ConsDir);
UDPPutArray((BYTE *)buffer,20);
UDPFlush();
UDPRequestSM = UDP_REQUEST_LISTEN;
break;
}
}
/*****************************************************************************
Function:
void Update_CMD_Acc(CMD_CAR_ACC car_info)
Summary:
Implements a simple UDP Server (Control communication with accelerometer).
Description:
Based on Microchip exemple available on M.A.L
Precondition:
UDP is initialized.
Parameters:
None
Returns:
None
***************************************************************************/
void Update_CMD_Acc(CMD_CAR_ACC car_info)
{
float div=1;
if(car_info.active != 0){
/* Mise à jour sens d'avancement (avant/arrière) */
if(car_info.fb == 1){
PORTClearBits(BROCHE_DIR_VITESSE);
}
else if(car_info.fb == 0){
PORTSetBits(BROCHE_DIR_VITESSE);
}
/* Gestion de la consigne de courant (couple -> vitesse) */
/* Protection Vitesse */
xSemaphoreTake(xSemaphoreVitesse,portMAX_DELAY);
{
Vitesse = car_info.speed*10;
if(Vitesse > 100)
{
Vitesse = 100;
}
if(Vitesse < 0)
{
Vitesse = 0;
}
}
xSemaphoreGive(xSemaphoreVitesse);
/* Gestion de la consigne de direction */
/* Protection ConsDir */
xSemaphoreTake(xSemaphoreConsDir,portMAX_DELAY);
{
if(car_info.dir > 5)
car_info.dir = 5;
div = car_info.dir/10.0;
if(car_info.signe == 0){
ConsDir = ZERO_BUTE+(short)((HAUT_BUTE-ZERO_BUTE)*div);
}
else if(car_info.signe == 1){
ConsDir = ZERO_BUTE-(short)((ZERO_BUTE-BAS_BUTE)*div);
}
if(ConsDir > HAUT_BUTE)
{
ConsDir = HAUT_BUTE-10;
}
if(ConsDir < BAS_BUTE)
{
ConsDir = BAS_BUTE+10;
}
}
xSemaphoreGive(xSemaphoreConsDir);
}
/* Fin Action de l'utilisateur (avant ou arrière) */
else{
/* Protection Vitesse*/
xSemaphoreTake(xSemaphoreVitesse,portMAX_DELAY);
{
Vitesse = 0;
}
xSemaphoreGive(xSemaphoreVitesse);
/* Protection ConsDir */
xSemaphoreTake(xSemaphoreConsDir,portMAX_DELAY);
{
ConsDir = ZERO_BUTE;
}
xSemaphoreGive(xSemaphoreConsDir);
}
}
void Update_CMD(CMD_CAR car_info)
{
if(car_info.for_back == FORWARD || car_info.for_back == BACKWARD){
/* Mise à jour sens d'avancement (avant/arrière) */
if(car_info.for_back == FORWARD){
PORTClearBits(BROCHE_DIR_VITESSE);
}
else if(car_info.for_back == BACKWARD){
PORTSetBits(BROCHE_DIR_VITESSE);
}
/* Gestion de la consigne de courant (couple -> vitesse) */
/* Protection Vitesse */
xSemaphoreTake(xSemaphoreVitesse,portMAX_DELAY);
{
if(car_info.speed_up == 1){
Vitesse += increment_vitesse;
}
else if(car_info.speed_down == 1){
Vitesse -= increment_vitesse;
}
if(Vitesse > 100)
{
Vitesse = 100;
}
else if( Vitesse<0)
{
Vitesse =0;
}
}
xSemaphoreGive(xSemaphoreVitesse);
/* Gestion de la consigne de direction */
/* Protection ConsDir */
xSemaphoreTake(xSemaphoreConsDir,portMAX_DELAY);
{
if(car_info.dir_up == 1){
ConsDir += increment_direction;
}
else if(car_info.dir_down == 1){
ConsDir -= increment_direction;
}
if(ConsDir > HAUT_BUTE)
{
ConsDir = HAUT_BUTE-10;
}
if(ConsDir < BAS_BUTE)
{
ConsDir = BAS_BUTE+10;
}
}
xSemaphoreGive(xSemaphoreConsDir);
}
/* Fin Action de l'utilisateur (avant ou arrière) */
else{
/* Protection Vitesse*/
xSemaphoreTake(xSemaphoreVitesse,portMAX_DELAY);
{
Vitesse = 0;
}
xSemaphoreGive(xSemaphoreVitesse);
/* Protection ConsDir */
xSemaphoreTake(xSemaphoreConsDir,portMAX_DELAY);
{
ConsDir = ZERO_BUTE;
}
xSemaphoreGive(xSemaphoreConsDir);
}
}
void Large_UDP_Packet(int value, UDP_SOCKET MySocket)
{
int number_packet =0;
int final_length =0;
int ind;
int cnt=0;
int j=0;
// We testing if buffer need to be split
if(value >= UDP_LIMIT_SIZE)
{
// The number of packet who need to send
number_packet = (int)value/UDP_LIMIT_SIZE;
// The length of the last packet
final_length = value%UDP_LIMIT_SIZE;
// We send the first packet
UDPPutArray((BYTE *)rxbuffer,UDP_LIMIT_SIZE);
UDPFlush();
/* Testing if we need to send more than two packets
* (One of UDP_LIMIT_SIZE and an other to final_length)
*/
if(number_packet > 1)
{
for(cnt=1;cnt<number_packet;cnt++)
{
/* Here, we moving data inside the bufffer
* to not use an other buffer (save space), and sending
* the data, until we need to send the last packet
*/
for(j=0;j<UDP_LIMIT_SIZE;j++)
{
rxbuffer[j] = rxbuffer[cnt*UDP_LIMIT_SIZE+j];
}
// We waiting for hardware buffer
while(!UDPIsPutReady(MySocket));
UDPPutArray((BYTE *)rxbuffer,UDP_LIMIT_SIZE);
UDPFlush();
}
// We sending the last packet
for(ind=0;ind<final_length;ind++)
{
rxbuffer[ind] = rxbuffer[cnt*UDP_LIMIT_SIZE+j+1+ind];
}
while(!UDPIsPutReady(MySocket));
UDPPutArray((BYTE *)rxbuffer,final_length);
UDPFlush();
}
else
{
for(ind=0;ind<final_length;ind++)
{
rxbuffer[ind] = rxbuffer[UDP_LIMIT_SIZE+ind];
}
while(!UDPIsPutReady(MySocket));
UDPPutArray((BYTE *)rxbuffer,final_length);
UDPFlush();
}
}
else
{
UDPPutArray((BYTE *)rxbuffer,value);
UDPFlush();
}
}