| /* | |
| 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; | |
| } | |
| /*-----------------------------------------------------------*/ | |