Remote access

Remote access to the EV3 brick over UDP. More...

Data Structures
struct	EV3_MESSAGE_HEADER
	Header of an UDP message. More...
struct	EV3_MULTI_WRITE_SUBHEADER
	Sub-header for EV3_MULTI_WRITE. More...
struct	EV3_MESSAGE
	UDP message. More...

Macros
#define	UDP_MESSAGE_LIMIT   1500
#define	UDP_CLIENT_RX_TRIES   50
#define	UDP_CLIENT_RX_WAIT   10 /* ms */
#define	UDP_CLIENT_TX_TRIES   2
#define	UDP_SERVER_RX_DELAY   1000 /* us */
#define	UDP_SERVER_TX_DELAY   2000000
#define	EOL   "\n"
#define	ERR_PREF   "*** ERROR *** ev3_link: "
#define	ERR_OUT(F, ...)
#define	ERRNO_OUT(F, ...)

Typedefs
typedef struct EV3_MESSAGE_HEADER *	PEV3_MESSAGE_HEADER
typedef struct EV3_MULTI_WRITE_SUBHEADER *	PEV3_MULTI_WRITE_SUBHEADER
typedef struct EV3_MESSAGE *	PEV3_MESSAGE

Enumerations
enum	{   EV3_IDLE = 0, EV3_WRITE_FILE = 1, EV3_RESULT_WRITE = 2, EV3_READ_FILE = 3,   EV3_DATA_READ = 4, EV3_LIST_DIR = 5, EV3_DIRECTORY = 6, EV3_POWEROFF = 7,   EV3_COMPLETION = 8, EV3_WELCOME = 9, EV3_READ_KEYS = 10, EV3_KEYS = 11,   EV3_MULTI_WRITE = 12 }

Functions
int	udp_ev3_open (char *addr, uint16_t port)
	Open an UDP socket. More...
int	udp_ev3_close (void)
	Close an UDP socket. More...
int	udp_ev3_write (char *fn, void *data, int sz)
	Write data into the specified file over UDP. More...
int	udp_ev3_multi_write (uint8_t *sn, uint16_t pos, char *fn, void *data, int sz)
	Write data into the group of specified files over UDP. More...
int	udp_ev3_read (char *fn, void *buf, int sz)
	Read data from the specified file over UDP. More...
int	udp_ev3_read_keys (uint8_t *buf)
	Read state of EV3 brick keys over UDP. More...
int	udp_ev3_listdir (char *fn, void *buf, int sz)
	List files in the specified directory over UDP. More...
int	udp_ev3_catch_address (void)
	Check for a beacon from the EV3 brick. More...
int	udp_ev3_poweroff (void)
	Power-off the EV3 brick. More...

Detailed Description

Remote access to the EV3 brick over UDP.

Macro Definition Documentation

#define ERR_OUT	(		F,
			...
	)

Value:

do { \
    printf( EOL ERR_PREF F EOL, ## __VA_ARGS__ ); \
} while ( 0 )

#define ERRNO_OUT	(		F,
			...
	)

Value:

do { \
    int e = errno; \
    printf( EOL ERR_PREF F ": %s (%d)" EOL, ## __VA_ARGS__, strerror( e ), e ); \
} while ( 0 )

Enumeration Type Documentation

anonymous enum

Enumerator
EV3_WRITE_FILE	File write command.
EV3_RESULT_WRITE	Write result reply.
EV3_READ_FILE	File read command.
EV3_DATA_READ	Read data reply.
EV3_LIST_DIR	List directory command.
EV3_DIRECTORY	List directory reply.
EV3_POWEROFF	Power-off the brick command.
EV3_COMPLETION	Completion of work reply.
EV3_WELCOME	A broadcast beacon.
EV3_READ_KEYS	Keys read command.
EV3_KEYS	Keys reply.
EV3_MULTI_WRITE	Multi files write command.

Function Documentation

int udp_ev3_catch_address

(

void

)

Check for a beacon from the EV3 brick.

Returns

0 - no beacon, 1 - beacon has been received.

int udp_ev3_close

(

void

)

Close an UDP socket.

Returns

0 - finished successfully, EOF - an error has occurred.

int udp_ev3_listdir	(	char *	fn,
		void *	buf,
		int	sz
	)

List files in the specified directory over UDP.

Parameters

	fn	Directory name.
[out]	buf	Buffer for files list.
	sz	Buffer size.

Returns

Count of read bytes.

int udp_ev3_multi_write	(	uint8_t *	sn,
		uint16_t	pos,
		char *	fn,
		void *	data,
		int	sz
	)

Write data into the group of specified files over UDP.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
pos	Position of the sequence number field into the template.
fn	Filename template.
data	Data.
sz	Data size.

Returns

Count of written bytes.

int udp_ev3_open	(	char *	addr,
		uint16_t	port
	)

Open an UDP socket.

Parameters

addr	IP address of the EV3 brick.
port	UDP port.

Returns

0 - finished successfully, EOF - an error has occurred.

int udp_ev3_poweroff

(

void

)

Power-off the EV3 brick.

Returns

0 - no reply, 1 - OK.

int udp_ev3_read	(	char *	fn,
		void *	buf,
		int	sz
	)

Read data from the specified file over UDP.

Parameters

	fn	Filename.
[out]	buf	Buffer for data.
	sz	Buffer size.

Returns

Count of read bytes.

int udp_ev3_read_keys

(

uint8_t *

buf

)

Read state of EV3 brick keys over UDP.

Parameters

[out]

buf

Buffer for data.

Returns

Count of read bytes.

int udp_ev3_write	(	char *	fn,
		void *	data,
		int	sz
	)

Write data into the specified file over UDP.

Parameters

fn	Filename.
data	Data.
sz	Data size.

Returns

Count of written bytes.