/* FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved 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 #include /* 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, UBaseType_t uxPriority ) { xTaskCreate( vUDPCommandInterpreterTask, "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 char cInputString[ cmdMAX_INPUT_SIZE ], cOutputString[ cmdMAX_OUTPUT_SIZE ], cLocalBuffer[ cmdSOCKET_INPUT_BUFFER_SIZE ]; BaseType_t 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; /* 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( 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; }