Envoi de la position OK

.vscode/settings.json

@@ -16,6 +16,11 @@
         "servomoteur.h": "c",
         "moteurs.h": "c",
         "messagerie_applicative.h": "c",
-        "config_robot.h": "c"
+        "config_robot.h": "c",
+        "wifi.h": "c",
+        "string.h": "c",
+        "lwip_nosys.h": "c",
+        "async_context.h": "c",
+        "wifi_settings.h": "c"
     }
 }

Wifi.c

@@ -1,4 +1,13 @@
+#include "Wifi.h"
+#include <string.h>
 #include "pico/cyw43_arch.h"
+#include "lwip/etharp.h"
+#include "lwip/ethip6.h"
+#include "lwip/dns.h"
+#include "lwip/igmp.h"
+#include "lwip/tcpip.h"
+#include "netif/ethernet.h"
+#include <pico/lwip_nosys.h>
 // Si le fichier n'existe pas, créez-le à partir du modèle "wifi_settings.h.default"
 #include "wifi_settings.h"
 
@@ -7,15 +16,40 @@
 
 struct udp_pcb* pcb;
 struct udp_pcb * pcb_r;
-ip_addr_t addr;
+ip_addr_t my_ip_addr, host_ip_addr;
+
+char udp_buffer_r[UDP_BUFFER_LENGTH];
+unsigned int udp_buffer_r_index = 0;
+
+void udp_receive_put_in_buffer(char c){
+    if(udp_buffer_r_index + 1< UDP_BUFFER_LENGTH){
+        udp_buffer_r[udp_buffer_r_index] = c;
+        udp_buffer_r_index++;
+    }
+}
+
+/// @brief Copie les données reçues par UDP dans le tampon et renvoie le nombre de données copiées
+/// @param tampon qui va contenir les données
+/// @return Nombre de données dans le tampon
+int udp_receive_get_from_buffer(char* tampon){
+    unsigned int taille_tampon;
+    if( udp_buffer_r_index > 0){
+        taille_tampon = udp_buffer_r_index;
+        memcpy(tampon, udp_buffer_r, taille_tampon);
+        udp_buffer_r_index = 0;
+        return taille_tampon;
+    }
+    return 0;
+}
 
 void udp_receive_callback(void *arg, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, u16_t port){
     printf("UDP callback !\n");
-    printf("IP: %d.%d.%d.%d, port %d\n", (addr->addr >>24) & 0xFF, (addr->addr >>16) & 0xFF, (addr->addr >>8) & 0xFF, addr->addr & 0xFF, port);
+    printf("IP: %d.%d.%d.%d, port %d\n", (addr->addr) & 0xFF, (addr->addr >>8) & 0xFF, (addr->addr >>16) & 0xFF, (addr->addr >>24)& 0xFF, port);
     printf("Taille:%d\n", p->len);
     printf("Contenu: ");
     for(int i=0; i < p->len; i++){
         printf("%c", ((char*)p->payload)[i]);
+        udp_receive_put_in_buffer(((char*)p->payload)[i]);
     }
     printf("\n");
 }
@@ -48,35 +82,74 @@ int Wifi_init(void){
     cyw43_arch_enable_sta_mode();
 
     printf("Connecting to Wi-Fi...\n");
-    if (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
+    while (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
         printf("failed to connect.\n");
-        return 1;
-    } else {
-        printf("Connected.\n");
     }
+    printf("Connected.\n");
     
     pcb = udp_new();
-    ipaddr_aton(BEACON_TARGET, &addr);
+    ipaddr_aton(BEACON_TARGET, &my_ip_addr);
+
+    
     UDP_client_init();
     return 0;
 }
 
-void Wifi_udp_send_string(char * message){
+void Wifi_udp_send_data(char * message, unsigned int size){
     static int counter = 0;
 
     struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, BEACON_MSG_LEN_MAX+1, PBUF_RAM);
     char *req = (char *)p->payload;
     memset(req, 0, BEACON_MSG_LEN_MAX+1);
 
-    snprintf(req, BEACON_MSG_LEN_MAX, "%s", message);
+    if(size <BEACON_MSG_LEN_MAX){
+        memcpy(req, message, size);
+    }else{
+        printf("Error: size >= BEACON_MSG_LEN_MAX\n");
+    }
 
-    err_t er = udp_sendto(pcb, p, &addr, UDP_PORT);
+    err_t er = udp_sendto(pcb, p, &my_ip_addr, 1234);
     
     pbuf_free(p);
     if (er != ERR_OK) {
         printf("Failed to send UDP packet! error=%d", er);
     } else {
-        //printf("Sent packet %d\n", counter);
+        printf("Sent packet %d\n", counter);
+        counter++;
+    }
+
+    // Note in practice for this simple UDP transmitter,
+    // the end result for both background and poll is the same
+
+#if PICO_CYW43_ARCH_POLL
+    // if you are using pico_cyw43_arch_poll, then you must poll periodically from your
+    // main loop (not from a timer) to check for Wi-Fi driver or lwIP work that needs to be done.
+    cyw43_arch_poll();
+#else
+    // if you are not using pico_cyw43_arch_poll, then WiFI driver and lwIP work
+    // is done via interrupt in the background. This sleep is just an example of some (blocking)
+    // work you might be doing.
+    // sleep_ms(BEACON_INTERVAL_MS);
+#endif
+}
+
+void Wifi_udp_send_string(char * message){
+    static int counter = 0;
+
+    struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, BEACON_MSG_LEN_MAX+1, PBUF_RAM);
+    char *req = (char *)p->payload;
+    memset(req, 0, BEACON_MSG_LEN_MAX+1);
+
+    snprintf(req, BEACON_MSG_LEN_MAX, "%s", message);
+
+    err_t er = udp_sendto(pcb, p, &my_ip_addr, 1234);
+    //er |= udp_sendto(pcb, p, &my_ip_addr, 1234);
+    
+    pbuf_free(p);
+    if (er != ERR_OK) {
+        printf("Failed to send UDP packet! error=%d", er);
+    } else {
+        printf("Sent packet %d\n", counter);
         counter++;
     }
 

Wifi.h

@@ -1,2 +1,6 @@
+#define UDP_BUFFER_LENGTH 1024
+
 int Wifi_init(void);
 void Wifi_udp_send_string(char * message);
+void Wifi_udp_send_data(char * message, unsigned int size);
+int udp_receive_get_from_buffer(char * );

communication.c

@@ -2,6 +2,7 @@
 #include <stdio.h>
 #include "communication.h"
 #include "messagerie.h"
+#include "Wifi.h"
 #include "tusb.h"
 
 #define TAMPON_TAILLE 1020
@@ -43,6 +44,7 @@ void augmente_index(unsigned int *index, unsigned int offset){
 /// et analyse si un message valide a été reçu.
 void communication_reception_message(){
     int input_char;
+    char tampon_reception_udp[UDP_BUFFER_LENGTH];
     int chaîne_octets_reçus[TAMPON_TAILLE];
     unsigned int index_chaine_recue;
     unsigned int index_tampon;
@@ -66,8 +68,13 @@ void communication_reception_message(){
         }
     }*/
     
-    input_char = stdio_getchar_timeout_us(0);
+    // input_char = stdio_getchar_timeout_us(0);
-    while(input_char != PICO_ERROR_TIMEOUT){
+    int nb_char = udp_receive_get_from_buffer(tampon_reception_udp);
+    int current_char = nb_char;
+    while(current_char > 0){
+        input_char = tampon_reception_udp[nb_char - current_char];
+        current_char--;
+        printf("%c %d\n", input_char, input_char);
         com_reception_buffer.index_tampon_ecriture++;
         if(com_reception_buffer.index_tampon_ecriture >= TAMPON_TAILLE){
             com_reception_buffer.index_tampon_ecriture = 0;
@@ -75,7 +82,7 @@ void communication_reception_message(){
         com_reception_buffer.tampon[com_reception_buffer.index_tampon_ecriture] = input_char;
 
         // Caractère suivant ?
-        input_char = stdio_getchar_timeout_us(0);
+        //input_char = stdio_getchar_timeout_us(0);
     }
 
     // Copie du tampon tournant dans une chaine

config_robot.h

@@ -1,7 +1,7 @@
 // Changer le define en fonction qu'on soit sur les PAMIs ou sur le robot principal
 
-#define ROBOT_PROPULSION_2026
+//#define ROBOT_PROPULSION_2026
-//#define ROBOT_TYPE_PAMI
+#define ROBOT_TYPE_PAMI
 
 #ifndef ROBOT_PROPULSION_2026 
 #ifndef ROBOT_TYPE_PAMI

main.c

@@ -82,7 +82,15 @@ void main(void)
 	sleep_ms(50);
 	Wifi_udp_send_string("Demarrage:1\n");
 	Wifi_udp_send_string("test:1\n");
-
+	sleep_ms(50);
+	Wifi_udp_send_string("Demarrage:1\n");
+	Wifi_udp_send_string("test:1\n");
+	sleep_ms(50);
+	Wifi_udp_send_string("Demarrage:1\n");
+	Wifi_udp_send_string("test:1\n");
+	sleep_ms(50);
+	Wifi_udp_send_data("\x01\x02\x03\x04\x05", 5);
+	Wifi_udp_send_string("test:1\n");
 	//i2c_maitre_init();
 
 	//Servomoteur_Init();
@@ -248,21 +256,30 @@ void main(void)
 							}
 							break;
 						case 'd':
-							//printf("Demande donnees\n");
+							char message_envoi_udp[500];
+							printf("Demande donnees\n");
 							// Demande de données
 							memcpy(&message_applicatif, message.donnees, message.taille_donnees);
 							// printf("id_carte:%c %d\n", message_applicatif.id_carte, message_applicatif.id_carte);
 							// printf("adresse registre:%d\n", message_applicatif.adresse_registre, message_applicatif.id_carte);
 							// printf("taille:%d\n", message_applicatif.taille_donnees, message_applicatif.taille_donnees);
+							message_envoi_udp[0] = 0xFF;
+							message_envoi_udp[1] = 0xFF;
+							message_envoi_udp[2] = 'P';
+							message_envoi_udp[3] = message_applicatif.taille_donnees+1;
 							stdio_putchar_raw(0xFF);
 							stdio_putchar_raw(0xFF);
 							stdio_putchar_raw('P');
 							stdio_putchar_raw(message_applicatif.taille_donnees+1);
 							for(int i=0; i<message_applicatif.taille_donnees; i++ ){
+								message_envoi_udp[4+i] = memoire_echange[message_applicatif.adresse_registre + i];
 								stdio_putchar_raw(memoire_echange[message_applicatif.adresse_registre + i]);
 							}
+							message_envoi_udp[4+message_applicatif.taille_donnees] = 0x00;
 							stdio_putchar_raw(0x00);
 							stdio_putchar_raw('\n');
+							Wifi_udp_send_data(message_envoi_udp, 4+message_applicatif.taille_donnees + 1);
+							//Wifi_udp_send_string("Coucou:1\n");
 							break;
 						default:
 							//printf("Message inconnu: %d %c\n", message.donnees[0], message.donnees[0]);

wifi_settings.h

@@ -1,8 +1,11 @@
-#define MY_WIFI_SSID "Poivron"
+#define MY_WIFI_SSID "Xperia 10 III"
-#define MY_WIFI_PASSWORD "vfS7Kru219vYU3P61D"
+#define MY_WIFI_PASSWORD "keuronde"
 
 #define UDP_PORT 47269
-#define BEACON_TARGET "192.168.1.58"
+
+//#define BEACON_TARGET "192.168.1.58"
+
+#define BEACON_TARGET "172.28.172.11"
 
 /*#define MY_WIFI_SSID "Livebox-A040"
 #define MY_WIFI_PASSWORD "QkqoXCPt6UgvaUAWmq"*/