2026-Propulsion/Wifi.c

#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"

#define BEACON_MSG_LEN_MAX 500
#define UDP_CLIENT_PORT 1234

struct udp_pcb* pcb;
struct udp_pcb * pcb_r;
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){
    for(int i=0; i < p->len; i++){
        udp_receive_put_in_buffer(((char*)p->payload)[i]);
    }
    pbuf_free(p);
}

int UDP_client_init(void){
    pcb_r = udp_new();
    if(pcb_r == NULL)
    {
        puts("Error creating UDP client");
        return -1;
    }
    udp_recv(pcb_r, udp_receive_callback, NULL);
    err_t err = udp_bind(pcb_r, IP_ADDR_ANY, UDP_CLIENT_PORT);
    if(err)
    {
        printf("Error binding UDP client: %d\n", err);
        return -1;
    }

    printf("UDP client started on port %d\n", UDP_CLIENT_PORT);

}

int Wifi_init(void){
    if (cyw43_arch_init()) {
        printf("failed to initialise\n");
        return 1;
    }

    cyw43_arch_enable_sta_mode();

    printf("Connecting to Wi-Fi...\n");
    while (cyw43_arch_wifi_connect_timeout_ms(MY_WIFI_SSID, MY_WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
        printf("failed to connect.\n");
    }
    printf("Connected.\n");
    
    pcb = udp_new();
    ipaddr_aton(BEACON_TARGET, &my_ip_addr);

    
    UDP_client_init();
    return 0;
}

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);

    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, &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++;
    }

    // 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++;
    }

    // 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
}