You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
186 lines
3.9 KiB
186 lines
3.9 KiB
#include "BSP/bsp_TCPClient.h"
|
|
#include "lwip/netif.h"
|
|
#include "lwip/ip.h"
|
|
#include "lwip/tcp.h"
|
|
#include "lwip/init.h"
|
|
#include "netif/etharp.h"
|
|
#include "lwip/udp.h"
|
|
#include "lwip/pbuf.h"
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include "BHBF_ROBOT.h"
|
|
|
|
#pragma pack (1) /*指定按1字节对齐*/
|
|
|
|
|
|
|
|
#pragma pack () /*取消指定对齐，恢复缺省对齐*/
|
|
LazorData *ReadLazorData;
|
|
unsigned char *Weld_Out_Flag;
|
|
unsigned char Weld_Out_Count;
|
|
unsigned char Weld_Out_SafeCount = 500;
|
|
|
|
uint8_t ReceivedData[3000];
|
|
static uint16_t receivedLength = 0;
|
|
|
|
void IntiazlieLazor();
|
|
|
|
void IntiazlieLazor1();
|
|
|
|
static err_t client_connected(void *arg, struct tcp_pcb *pcb, err_t err);
|
|
|
|
ip4_addr_t server_ip;
|
|
static struct tcp_pcb *client_pcb = NULL;
|
|
|
|
static void client_err(void *arg, err_t err)
|
|
{
|
|
//printf("connect error! closed by core!!\n");
|
|
//printf("try to connect to server again!!\n");
|
|
|
|
//连接失败的时候释放TCP控制块的内存
|
|
tcp_close(client_pcb);
|
|
|
|
//重新连接
|
|
TCP_Client_Init();
|
|
}
|
|
|
|
|
|
|
|
int index_0 = 0;
|
|
int count_Client;
|
|
static err_t client_send(void *arg, struct tcp_pcb *tpcb)
|
|
{
|
|
// count_Client++;
|
|
// if(count_Client >= 50)
|
|
// {
|
|
// count_Client = 49;
|
|
switch (index_0)
|
|
{
|
|
|
|
case 0:case 1:
|
|
{
|
|
uint8_t send_buf[] =
|
|
{0x00,0x15,0x00,0x00,0x00,0x1B,0x01,0x10,0x03,0xE8,0x00,0x0A,0x14,
|
|
0x0D,0x0C,0x0B,0x0A,0x00,0x00,0x08,0x00,0x00,0x00,0x00,0x00,
|
|
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
|
|
tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|
tcp_output(client_pcb);
|
|
index_0++;
|
|
break;
|
|
}
|
|
|
|
case 2:case 3:
|
|
{
|
|
uint8_t send_buf[] =
|
|
{0x00,0x15,0x00,0x00,0x00,0x1B,0x01,0x10,0x03,0xE8,0x00,0x0A,0x14,
|
|
0x0D,0x0C,0x0B,0x0A,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,
|
|
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
|
|
tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|
tcp_output(client_pcb);
|
|
index_0++;
|
|
break;
|
|
}
|
|
case 4:
|
|
{
|
|
uint8_t send_buf[] =
|
|
{0x00,0x05,0x00,0x00,0x00,0x06,0x01,0x03,0x07,0xD0,0x00,0x12};
|
|
tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|
tcp_output(client_pcb);
|
|
break;
|
|
}
|
|
|
|
// case 0:case 1:
|
|
// {
|
|
// uint8_t send_buf[4] =
|
|
// { 0x01, 0x00, 0x00, 0x00 };
|
|
// tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|
// tcp_output(client_pcb);
|
|
// index_0++;
|
|
// break;
|
|
// }
|
|
//
|
|
// case 2:case 3:
|
|
// {
|
|
// uint8_t send_buf[4] =
|
|
// { 0x08, 0x00, 0x04, 0x00 };
|
|
// tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|
// tcp_output(client_pcb);
|
|
// index_0++;
|
|
// break;
|
|
// }
|
|
}
|
|
|
|
// }
|
|
|
|
return ERR_OK;
|
|
}
|
|
|
|
static err_t client_recv(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
|
|
err_t err)
|
|
{
|
|
if (p != NULL)
|
|
{
|
|
/* 接收数据*/
|
|
|
|
|
|
|
|
/* 返回接收到的数据*/
|
|
//tcp_write(tpcb, p->payload, p->tot_len, 1);
|
|
receivedLength = p->tot_len;
|
|
// if (p->tot_len == 36)
|
|
// {
|
|
memcpy(ReceivedData, p->payload, p->tot_len);
|
|
// }
|
|
|
|
//memset(p->payload, 0, p->tot_len);
|
|
tcp_recved(tpcb, p->tot_len);
|
|
pbuf_free(p);
|
|
} else if (err == ERR_OK)
|
|
{
|
|
//服务器断开连接
|
|
//printf("server has been disconnected!\n");
|
|
tcp_close(tpcb);
|
|
|
|
//重新连接
|
|
TCP_Client_Init();
|
|
// tcp_connect(client_pcb, &server_ip, TCP_CLIENT_PORT, client_connected);
|
|
}
|
|
return ERR_OK;
|
|
}
|
|
|
|
static err_t client_connected(void *arg, struct tcp_pcb *pcb, err_t err)
|
|
{
|
|
// printf("connected ok!\n");
|
|
|
|
//注册一个周期性回调函数
|
|
tcp_poll(pcb, client_send, 1);
|
|
|
|
//注册一个接收函数
|
|
|
|
tcp_recv(pcb, client_recv); //TCP_TMR_INTERVAL == 50 在tcp_priv.h
|
|
|
|
return ERR_OK;
|
|
}
|
|
|
|
void TCP_Client_Init(void)
|
|
{
|
|
|
|
ReadLazorData = &ReceivedData[25];
|
|
|
|
Weld_Out_Flag = &ReceivedData[11];
|
|
|
|
/* 创建一个TCP控制块 */
|
|
client_pcb = tcp_new();
|
|
client_pcb->flags |= TF_NODELAY;
|
|
IP4_ADDR(&server_ip, DEST_IP_ADDR0, DEST_IP_ADDR1, DEST_IP_ADDR2,
|
|
DEST_IP_ADDR3);
|
|
|
|
//printf("client start connect!\n");
|
|
|
|
//开始连接
|
|
tcp_connect(client_pcb, &server_ip, DEST_PORT, client_connected);
|
|
|
|
//注册异常处理
|
|
tcp_err(client_pcb, client_err);
|
|
}
|
|
|
|
|