/* | |
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* Standard includes. */ | |
#include <stdint.h> | |
#include <stdio.h> | |
#include <stdarg.h> | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "semphr.h" | |
/* FreeRTOS+CLI includes. */ | |
#include "FreeRTOS_CLI.h" | |
/* FreeRTOS+TCP includes. */ | |
#include "FreeRTOS_IP.h" | |
#include "FreeRTOS_Sockets.h" | |
/* Demo app includes. */ | |
#include "TCPCommandConsole.h" | |
/* Dimensions the buffer into which input characters are placed. */ | |
#define cmdMAX_INPUT_SIZE 60 | |
/* Dimensions the buffer into which string outputs can be placed. */ | |
#define cmdMAX_OUTPUT_SIZE 1024 | |
/* Dimensions the buffer passed to the recv() call. */ | |
#define cmdSOCKET_INPUT_BUFFER_SIZE 60 | |
/* DEL acts as a backspace. */ | |
#define cmdASCII_DEL ( 0x7F ) | |
/* The maximum time to wait for a closing socket to close. */ | |
#define cmdSHUTDOWN_DELAY ( pdMS_TO_TICKS( 5000 ) ) | |
/* | |
* The task that runs FreeRTOS+CLI. | |
*/ | |
static void prvTCPCommandInterpreterTask( void *pvParameters ); | |
/* | |
* Open and configure the TCP socket. | |
*/ | |
static Socket_t prvOpenTCPServerSocket( uint16_t usPort ); | |
/* | |
* A connected socket is being closed. Ensure the socket is closed at both ends | |
* properly. | |
*/ | |
static void prvGracefulShutdown( Socket_t xSocket ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Various buffers used by the command lin interpreter. | |
*/ | |
static char cOutputString[ cmdMAX_OUTPUT_SIZE ], cLocalBuffer[ cmdSOCKET_INPUT_BUFFER_SIZE ]; | |
static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ]; | |
/* Const messages output by the command console. */ | |
static const char * const pcWelcomeMessage = "FreeRTOS command server.\r\nType help to view a list of registered commands.\r\nType quit to end a session.\r\n\r\n>"; | |
static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>"; | |
static const char * const pcNewLine = "\r\n"; | |
/*-----------------------------------------------------------*/ | |
void vStartTCPCommandInterpreterTask( uint16_t usStackSize, uint32_t ulPort, UBaseType_t uxPriority ) | |
{ | |
xTaskCreate( prvTCPCommandInterpreterTask, "TCP CLI", usStackSize, ( void * ) ulPort, uxPriority, NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
void prvTCPCommandInterpreterTask( void *pvParameters ) | |
{ | |
int32_t lBytes, lByte, lSent; | |
char cRxedChar, cInputIndex = 0; | |
BaseType_t xMoreDataToFollow; | |
struct freertos_sockaddr xClient; | |
Socket_t xListeningSocket, xConnectedSocket; | |
socklen_t xSize = sizeof( xClient ); | |
memset( cInputString, 0x00, cmdMAX_INPUT_SIZE ); | |
for( ;; ) | |
{ | |
/* Attempt to open the socket. The port number is passed in the task | |
parameter. The strange casting is to remove compiler warnings on 32-bit | |
machines. NOTE: The FREERTOS_SO_REUSE_LISTEN_SOCKET option is used, | |
so the listening and connecting socket are the same - meaning only one | |
connection will be accepted at a time, and that xListeningSocket must | |
be created on each iteration. */ | |
xListeningSocket = prvOpenTCPServerSocket( ( uint16_t ) ( ( uint32_t ) pvParameters ) & 0xffffUL ); | |
/* Nothing for this task to do if the socket cannot be created. */ | |
if( xListeningSocket == FREERTOS_INVALID_SOCKET ) | |
{ | |
vTaskDelete( NULL ); | |
} | |
/* Wait for an incoming connection. */ | |
xConnectedSocket = FreeRTOS_accept( xListeningSocket, &xClient, &xSize ); | |
/* The FREERTOS_SO_REUSE_LISTEN_SOCKET option is set, so the | |
connected and listening socket should be the same socket. */ | |
configASSERT( xConnectedSocket == xListeningSocket ); | |
/* Send the welcome message. */ | |
lSent = FreeRTOS_send( xConnectedSocket, ( void * ) pcWelcomeMessage, strlen( pcWelcomeMessage ), 0 ); | |
/* Process the socket as long as it remains connected. */ | |
while( lSent >= 0 ) | |
{ | |
/* Receive data on the socket. */ | |
lBytes = FreeRTOS_recv( xConnectedSocket, cLocalBuffer, sizeof( cLocalBuffer ), 0 ); | |
if( lBytes >= 0 ) | |
{ | |
/* Process each received byte in turn. */ | |
lByte = 0; | |
while( lByte < lBytes ) | |
{ | |
/* The next character in the input buffer. */ | |
cRxedChar = cLocalBuffer[ lByte ]; | |
lByte++; | |
/* Newline characters are taken as the end of the command | |
string. */ | |
if( cRxedChar == '\n' ) | |
{ | |
/* Just to space the output from the input. */ | |
FreeRTOS_send( xConnectedSocket, pcNewLine, strlen( pcNewLine ), 0 ); | |
/* See if the command is empty, indicating that the last | |
command is to be executed again. */ | |
if( cInputIndex == 0 ) | |
{ | |
/* Copy the last command back into the input string. */ | |
strcpy( cInputString, cLastInputString ); | |
} | |
/* If the command was "quit" then close the console. */ | |
if( strcasecmp( cInputString, "quit" ) == 0 ) | |
{ | |
/* Fake an error code so the outer loop exits on the | |
assumption there was an error on the socket. The | |
socket will then be shut down gracefully. */ | |
lSent = -1; | |
break; | |
} | |
/* Process the input string received prior to the | |
newline. */ | |
do | |
{ | |
/* Pass the string to FreeRTOS+CLI. */ | |
cOutputString[ 0 ] = 0x00; | |
xMoreDataToFollow = FreeRTOS_CLIProcessCommand( cInputString, cOutputString, cmdMAX_OUTPUT_SIZE ); | |
/* Send the output generated by the command's | |
implementation. */ | |
lSent = FreeRTOS_send( xConnectedSocket, cOutputString, strlen( ( const char * ) cOutputString ), 0 ); | |
/* Until the command does not generate any more output. */ | |
} while( ( xMoreDataToFollow != pdFALSE ) && ( lSent >= 0 ) ); | |
if( lSent >= 0 ) | |
{ | |
/* All the strings generated by the command | |
processing have been sent. Clear the input string | |
ready to receive the next command. Remember the | |
previous command so it can be executed again by | |
pressing [ENTER]. */ | |
strcpy( cLastInputString, cInputString ); | |
cInputIndex = 0; | |
memset( cInputString, 0x00, cmdMAX_INPUT_SIZE ); | |
/* Transmit a spacer to make the console easier to | |
read. */ | |
lSent = FreeRTOS_send( xConnectedSocket, ( void * ) pcEndOfOutputMessage, strlen( pcEndOfOutputMessage ), 0 ); | |
} | |
if( lSent < 0 ) | |
{ | |
/* Socket closed? */ | |
break; | |
} | |
} | |
else | |
{ | |
if( cRxedChar == '\r' ) | |
{ | |
/* Ignore the character. Newlines are used to | |
detect the end of the input string. */ | |
} | |
else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) ) | |
{ | |
/* Backspace was pressed. Erase the last character | |
in the string - if any. */ | |
if( cInputIndex > 0 ) | |
{ | |
cInputIndex--; | |
cInputString[ ( int ) cInputIndex ] = '\0'; | |
} | |
} | |
else | |
{ | |
/* A character was entered. Add it to the string | |
entered so far. When a \n is entered the complete | |
string will be passed to the command interpreter. */ | |
if( cInputIndex < cmdMAX_INPUT_SIZE ) | |
{ | |
if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) ) | |
{ | |
cInputString[ ( int ) cInputIndex ] = cRxedChar; | |
cInputIndex++; | |
} | |
} | |
} | |
} | |
} | |
} | |
else | |
{ | |
/* Socket closed? */ | |
break; | |
} | |
} | |
/* Close the socket correctly. */ | |
prvGracefulShutdown( xListeningSocket ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvGracefulShutdown( Socket_t xSocket ) | |
{ | |
TickType_t xTimeOnShutdown; | |
/* Initiate a shutdown in case it has not already been initiated. */ | |
FreeRTOS_shutdown( xSocket, FREERTOS_SHUT_RDWR ); | |
/* Wait for the shutdown to take effect, indicated by FreeRTOS_recv() | |
returning an error. */ | |
xTimeOnShutdown = xTaskGetTickCount(); | |
do | |
{ | |
if( FreeRTOS_recv( xSocket, cInputString, ipconfigTCP_MSS, 0 ) < 0 ) | |
{ | |
break; | |
} | |
} while( ( xTaskGetTickCount() - xTimeOnShutdown ) < cmdSHUTDOWN_DELAY ); | |
/* Finished with the socket and the task. */ | |
FreeRTOS_closesocket( xSocket ); | |
} | |
/*-----------------------------------------------------------*/ | |
static Socket_t prvOpenTCPServerSocket( uint16_t usPort ) | |
{ | |
struct freertos_sockaddr xBindAddress; | |
Socket_t xSocket; | |
static const TickType_t xReceiveTimeOut = portMAX_DELAY; | |
const BaseType_t xBacklog = 20; | |
BaseType_t xReuseSocket = pdTRUE; | |
/* Attempt to open the socket. */ | |
xSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_STREAM, FREERTOS_IPPROTO_TCP ); | |
configASSERT( xSocket != FREERTOS_INVALID_SOCKET ); | |
/* Set a time out so accept() will just wait for a connection. */ | |
FreeRTOS_setsockopt( xSocket, 0, FREERTOS_SO_RCVTIMEO, &xReceiveTimeOut, sizeof( xReceiveTimeOut ) ); | |
/* Only one connection will be used at a time, so re-use the listening | |
socket as the connected socket. See SimpleTCPEchoServer.c for an example | |
that accepts multiple connections. */ | |
FreeRTOS_setsockopt( xSocket, 0, FREERTOS_SO_REUSE_LISTEN_SOCKET, &xReuseSocket, sizeof( xReuseSocket ) ); | |
/* NOTE: The CLI is a low bandwidth interface (typing characters is slow), | |
so the TCP window properties are left at their default. See | |
SimpleTCPEchoServer.c for an example of a higher throughput TCP server that | |
uses are larger RX and TX buffer. */ | |
/* Bind the socket to the port that the client task will send to, then | |
listen for incoming connections. */ | |
xBindAddress.sin_port = usPort; | |
xBindAddress.sin_port = FreeRTOS_htons( xBindAddress.sin_port ); | |
FreeRTOS_bind( xSocket, &xBindAddress, sizeof( xBindAddress ) ); | |
FreeRTOS_listen( xSocket, xBacklog ); | |
return xSocket; | |
} | |
/*-----------------------------------------------------------*/ | |