pile_com_stm32/main/communication_tcp.c

#include <stdint.h>
#include <string.h>

#include "lwip/ip_addr.h"
#include "lwip/tcp.h"
#include "lwip/err.h"
#include "lwip/opt.h"
#include "lwip/sockets.h"
#include "stm32/ModbusS.h"
#include "esp_log.h"

#define LOG_TAG "[communication_tcp_sr]: "

bool tcp_is_connected = false;
extern bool data_notify_enable;    /* 是否允许数据上报 */
extern void gatts_write_data_cb(uint8_t *data, uint32_t len);

static err_t ModBusSlave_recv(void *arg, struct tcp_pcb *newpcb, struct pbuf *p, err_t err) {
  if (p != NULL) {
    uint8_t *rxbuf;
    int rxlen;
    tcp_recved(newpcb, p->tot_len);
    rxbuf = (uint8_t *)p->payload;
    rxlen = p->len;
    ESP_LOGI(LOG_TAG, "recive data %d:", rxlen);
    esp_log_buffer_hex(LOG_TAG, rxbuf, rxlen);
    gatts_write_data_cb(rxbuf, rxlen);
    pbuf_free(p);
  } 
  else if (err == ERR_OK)
  {
      ESP_LOGI(LOG_TAG, "gps1 remote end is closing the connection\n");
      for (uint8_t i = 0; i < 1; i++)
      { // 清空所有客户端
          gps1_acce_newpacb[i] = 0;
      }
      tcp_err(newpcb, NULL);
      tcp_recv(newpcb, NULL);
      tcp_poll(newpcb, NULL, 120);
      err_t err_p = tcp_close(newpcb);
      tcp_is_connected = false;
      if (ERR_OK != err_p)
      {
          ESP_LOGI(LOG_TAG, "gps1 close error. err:%d\n", err_p);
      }
      return err_p;
  }
  return ERR_OK;
}


static void ModBusSlave_conn_err(void *arg, err_t err) {
  // log_printf(LERROR, LOG_TAG "connection error, err:%d\n", err);
  tcp_is_connected = false;
}
static err_t ModBusSlave_poll(void *arg, struct tcp_pcb *newpcb) {
  // if (newpcb) {
  //   // log_printf(LERROR, LOG_TAG "close pcb\n");
  //   tcp_close(newpcb);
  //   newpcb = NULL;
  // }
  ESP_LOGI(LOG_TAG, "poll!");
  return ERR_OK;
}


static err_t ModBusSlave_accept(void *arg, struct tcp_pcb *pcb, err_t err) {
  tcp_err(pcb, ModBusSlave_conn_err);
  tcp_recv(pcb, ModBusSlave_recv);
  tcp_poll(pcb, ModBusSlave_poll, 120);  // 60 second timeout
  /* Send out the first message */
  // tcp_write(pcb, GREETING, strlen(GREETING), 1);
  tcp_is_connected = true;
  return ERR_OK;
}


static void notify_all_data(void)
{
    ESP_LOGI(GATTS_TABLE_TAG, "notify_all_data");
    uint8_t buf[1024];

    buf[0] = 1; /* tag:深度：速度 时间 深度 桩号 */
    buf[1] = 8;
    buf[2] = depth_data->speed & 0xff;
    buf[3] = (depth_data->speed >> 8) & 0xff;
    buf[4] = depth_data->one_pile_work_time & 0xff;
    buf[5] = (depth_data->one_pile_work_time >> 8) & 0xff;
    buf[6] = depth_data->depth & 0xff;
    buf[7] = (depth_data->depth >> 8) & 0xff;
    buf[8] = gWordVar[LAST_PILE_ID_ADDR] & 0xff;
    buf[9] = (gWordVar[LAST_PILE_ID_ADDR] >> 8) & 0xff;
   

    buf[10] = 2; /* tag:1号通道流量:瞬时，每10cm，总 */
    buf[11] = 6;
    buf[12] = pflow[0].flow & 0xff;                 
    buf[13] = (pflow[0].flow >> 8) & 0xff;
    buf[14] = depth_data->depth_flow[0] & 0xff; 
    buf[15] = (depth_data->depth_flow[0] >> 8) & 0xff;
    buf[16] = pflow[0].total_flow & 0xff;
    buf[17] = (pflow[0].total_flow >> 8) & 0xff;

    buf[18] = 3; /* tag:2号通道流量:瞬时，每10cm，总 */
    buf[19] = 6;
    buf[20] = pflow[1].flow & 0xff;                 
    buf[21] = (pflow[1].flow >> 8) & 0xff;
    buf[22] = depth_data->depth_flow[1] & 0xff; 
    buf[23] = (depth_data->depth_flow[1] >> 8) & 0xff;
    buf[24] = pflow[1].total_flow & 0xff;
    buf[25] = (pflow[1].total_flow >> 8) & 0xff;

    buf[26] = 4; /* tag:电流:三个*/
    buf[27] = 6;
    buf[28] = gWordVar[AC_CURRENT_REG_ADDR + 0] & 0xff;
    buf[29] = (gWordVar[AC_CURRENT_REG_ADDR + 0] >> 8) & 0xff;
    buf[30] = gWordVar[AC_CURRENT_REG_ADDR + 1] & 0xff;
    buf[31] = (gWordVar[AC_CURRENT_REG_ADDR + 1] >> 8) & 0xff;
    buf[32] = gWordVar[AC_CURRENT_REG_ADDR + 2] & 0xff;
    buf[33] = (gWordVar[AC_CURRENT_REG_ADDR + 2] >> 8) & 0xff;

   
    int64_t x = (int64_t)(gpsMessageP->x * 1000);
    int64_t y = (int64_t)(gpsMessageP->y * 1000);
    uint16_t dir = (uint16_t)(gpsMessageP->dir * 100);
    uint16_t pitch = (uint16_t)(gpsMessageP->pitch * 100);
    uint8_t gps_status = gpsMessageP->gps_status;
    uint32_t utc_time = gpsMessageP->utc;
    // ESP_LOGI(GATTS_TABLE_TAG, "x:%f, %f, %lld", gpsMessageP->x, gpsMessageP->x * 1000, (long long int)(gpsMessageP->x * 1000));
    // ESP_LOGI(GATTS_TABLE_TAG, "gps message x:%lld, y:%lld, dir:%ud, pitch:%ud, gps_status:%d, utc_time:%ud", (long long)x, (long long)y, (unsigned int)dir, (unsigned int)pitch, (int)gps_status, (unsigned int)utc_time);
    buf[34] = 5; /* tag:CPS信息1:x, y(int64)*/
    buf[35] = 16;
    buf[36] = x & 0xff;
    buf[37] = (x >> 8) & 0xff;
    buf[38] = (x >> 16) & 0xff;
    buf[39] = (x >> 24) & 0xff;
    buf[40] = (x >> 32) & 0xff;
    buf[41] = (x >> 40) & 0xff;
    buf[42] = (x >> 48) & 0xff;
    buf[43] = (x >> 56) & 0xff;
    buf[44] = y & 0xff;
    buf[45] = (y >> 8) & 0xff;
    buf[56] = (y >> 16) & 0xff;
    buf[47] = (y >> 24) & 0xff;
    buf[48] = (y >> 32) & 0xff;
    buf[49] = (y >> 40) & 0xff;
    buf[50] = (y >> 48) & 0xff;
    buf[51] = (y >> 56) & 0xff;

    buf[52] = 6; /* tag:CPS信息2:方向，俯仰(uint16)， gps定位状态(uint8)， UTC时间(uint32)*/
    buf[53] = 9;
    buf[54] = dir & 0xff;
    buf[55] = (dir >> 8) & 0xff;
    buf[56] = pitch & 0xff;
    buf[57] = (pitch >> 8) & 0xff;
    buf[58] = utc_time & 0xff;
    buf[59] = (utc_time >> 8) & 0xff;
    buf[60] = (utc_time >> 16) & 0xff;
    buf[61] = (utc_time >> 24) & 0xff;
    buf[62] = gps_status & 0xff;
    /* 需要上报什么数据在此处添加 */

    // tcp_write(pcb, GREETING, strlen(GREETING), 1);
}


void notify_tcp_task(void *pvParameters)
{
    ESP_LOGI(GATTS_TABLE_TAG, "notify_tcp_task");
    while (1)
    {
        if (data_notify_enable && tcp_is_connected)
        {
          notify_all_data();
        }
        vTaskDelay(pdMS_TO_TICKS(100));
    }

    vTaskDelete(NULL);
}


void communication_tcp_init(void) {
  struct tcp_pcb *pcb;
  pcb = tcp_new();
  tcp_bind(pcb, IP_ADDR_ANY, 6061);
  pcb = tcp_listen(pcb);
  tcp_accept(pcb, ModBusSlave_accept);

  xTaskCreate(notify_tcp_task, "notify_tcp_Task", 4096, NULL, 8, NULL);
}