| /* | |
| FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd. | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from the following | |
| link: http://www.freertos.org/a00114.html | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and 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> | |
| /* FreeRTOS includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* FreeRTOS+CLI includes. */ | |
| #include "FreeRTOS_CLI.h" | |
| /* FreeRTOS+UDP includes. */ | |
| #include "FreeRTOS_UDP_IP.h" | |
| #include "FreeRTOS_Sockets.h" | |
| /* Demo app includes. */ | |
| #include "UDPCommandInterpreter.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 recvfrom() call. */ | |
| #define cmdSOCKET_INPUT_BUFFER_SIZE 60 | |
| /* | |
| * The task that runs FreeRTOS+CLI. | |
| */ | |
| void vUDPCommandInterpreterTask( void *pvParameters ); | |
| /* | |
| * Open and configure the UDP socket. | |
| */ | |
| static xSocket_t prvOpenUDPServerSocket( uint16_t usPort ); | |
| /*-----------------------------------------------------------*/ | |
| void vStartUDPCommandInterpreterTask( uint16_t usStackSize, uint32_t ulPort, unsigned portBASE_TYPE uxPriority ) | |
| { | |
| xTaskCreate( vUDPCommandInterpreterTask, ( signed char * ) "CLI", usStackSize, ( void * ) ulPort, uxPriority, NULL ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Task that provides the input and output for the FreeRTOS+CLI command | |
| * interpreter. In this case a UDP port is used. See the URL in the comments | |
| * within main.c for the location of the online documentation. | |
| */ | |
| void vUDPCommandInterpreterTask( void *pvParameters ) | |
| { | |
| long lBytes, lByte; | |
| signed char cInChar, cInputIndex = 0; | |
| static signed char cInputString[ cmdMAX_INPUT_SIZE ], cOutputString[ cmdMAX_OUTPUT_SIZE ], cLocalBuffer[ cmdSOCKET_INPUT_BUFFER_SIZE ]; | |
| portBASE_TYPE xMoreDataToFollow; | |
| struct freertos_sockaddr xClient; | |
| socklen_t xClientAddressLength = 0; /* This is required as a parameter to maintain the sendto() Berkeley sockets API - but it is not actually used so can take any value. */ | |
| xSocket_t xSocket; | |
| extern const uint8_t ucIPAddress[ 4 ]; | |
| extern const uint8_t ucMACAddress[ 6 ]; | |
| /* Just to prevent compiler warnings. */ | |
| ( void ) pvParameters; | |
| /* 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. */ | |
| xSocket = prvOpenUDPServerSocket( ( uint16_t ) ( ( uint32_t ) pvParameters ) & 0xffffUL ); | |
| if( xSocket != FREERTOS_INVALID_SOCKET ) | |
| { | |
| for( ;; ) | |
| { | |
| /* Wait for incoming data on the opened socket. */ | |
| lBytes = FreeRTOS_recvfrom( xSocket, ( void * ) cLocalBuffer, sizeof( cLocalBuffer ), 0, &xClient, &xClientAddressLength ); | |
| if( lBytes != FREERTOS_SOCKET_ERROR ) | |
| { | |
| /* Process each received byte in turn. */ | |
| lByte = 0; | |
| while( lByte < lBytes ) | |
| { | |
| /* The next character in the input buffer. */ | |
| cInChar = cLocalBuffer[ lByte ]; | |
| lByte++; | |
| /* Newline characters are taken as the end of the command | |
| string. */ | |
| if( cInChar == '\n' ) | |
| { | |
| /* Process the input string received prior to the | |
| newline. */ | |
| do | |
| { | |
| /* Pass the string to FreeRTOS+CLI. */ | |
| xMoreDataToFollow = FreeRTOS_CLIProcessCommand( cInputString, cOutputString, cmdMAX_OUTPUT_SIZE ); | |
| /* Send the output generated by the command's | |
| implementation. */ | |
| FreeRTOS_sendto( xSocket, cOutputString, strlen( ( const char * ) cOutputString ), 0, &xClient, xClientAddressLength ); | |
| } while( xMoreDataToFollow != pdFALSE ); /* Until the command does not generate any more output. */ | |
| /* All the strings generated by the command processing | |
| have been sent. Clear the input string ready to receive | |
| the next command. */ | |
| cInputIndex = 0; | |
| memset( cInputString, 0x00, cmdMAX_INPUT_SIZE ); | |
| /* Transmit a spacer, just to make the command console | |
| easier to read. */ | |
| FreeRTOS_sendto( xSocket, "\r\n", strlen( "\r\n" ), 0, &xClient, xClientAddressLength ); | |
| } | |
| else | |
| { | |
| if( cInChar == '\r' ) | |
| { | |
| /* Ignore the character. Newlines are used to | |
| detect the end of the input string. */ | |
| } | |
| else if( cInChar == '\b' ) | |
| { | |
| /* Backspace was pressed. Erase the last character | |
| in the string - if any. */ | |
| if( cInputIndex > 0 ) | |
| { | |
| cInputIndex--; | |
| cInputString[ 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 ) | |
| { | |
| cInputString[ cInputIndex ] = cInChar; | |
| cInputIndex++; | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| else | |
| { | |
| /* The socket could not be opened. */ | |
| vTaskDelete( NULL ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static xSocket_t prvOpenUDPServerSocket( uint16_t usPort ) | |
| { | |
| struct freertos_sockaddr xServer; | |
| xSocket_t xSocket = FREERTOS_INVALID_SOCKET; | |
| xSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP ); | |
| if( xSocket != FREERTOS_INVALID_SOCKET) | |
| { | |
| /* Zero out the server structure. */ | |
| memset( ( void * ) &xServer, 0x00, sizeof( xServer ) ); | |
| /* Set family and port. */ | |
| xServer.sin_port = FreeRTOS_htons( usPort ); | |
| /* Bind the address to the socket. */ | |
| if( FreeRTOS_bind( xSocket, &xServer, sizeof( xServer ) ) == -1 ) | |
| { | |
| FreeRTOS_closesocket( xSocket ); | |
| xSocket = FREERTOS_INVALID_SOCKET; | |
| } | |
| } | |
| return xSocket; | |
| } | |