基于FreeRTOS与MQTT的物联网技术应用系列——步进电机控制（五）MQTT的移植和步进电机控制的实现

本文在前一篇的基础上进行MQTT的移植，并实现对步进电机驱动器的控制。

分两步完成：
1、移植MQTT协议栈，并进行验证；
2、对步进电机进行控制。

一，移植MQTT协议

参考实现：https://github.com/baoshi/ESP-RTOS-Paho/tree/63c2c74dfe978f215b3bb05f7e1258454908c4fb

以前一篇文章完成的代码为基础，在工程目录下的APP文件夹中新建一个文件夹命名为MQTTClient，
把paho.mqtt.embedded-c源码包中的
paho.mqtt.embedded-c\MQTTPacket\src下的：

    MQTTConnect.h
    MQTTConnectClient.c
    MQTTDeserializePublish.c
    MQTTFormat.h
    MQTTPacket.c
    MQTTPacket.h
    MQTTPublish.h
    MQTTSerializePublish.c
    MQTTSubscribe.h
    MQTTSubscribeClient.c
    MQTTUnsubscribe.h
    MQTTUnsubscribeClient.c
    StackTrace.h

拷贝到MQTTClient文件夹中。
接下来，就是实现两个层面的连接处理：
1、tcp/ip建立连接，或由socket连接完成。
这部分放在

    MQTTFreeRTOSImpl.c
    MQTTFreeRTOSImpl.h

2、MQTT连接。
这部分放在：

    MQTTClient.c
    MQTTClient.h

MQTTFreeRTOSImpl.h的代码如下：

#ifndef MQTTFREERTOSIMPL_H
#define MQTTFREERTOSIMPL_H

#include "FreeRTOS.h"
#include "portmacro.h"

typedef struct Timer Timer;

struct Timer
{
    portTickType end_time;
};

typedef struct Network Network;

struct Network
{
    int my_socket;
    int (*mqttread) (Network*, unsigned char*, int, int);
    int (*mqttwrite) (Network*, unsigned char*, int, int);
};

char expired(Timer*);
void countdown_ms(Timer*, unsigned int);
void countdown(Timer*, unsigned int);
int left_ms(Timer*);

void InitTimer(Timer*);

int FreeRTOS_MQTT_read(Network*, unsigned char*, int, int);
int FreeRTOS_MQTT_write(Network*, unsigned char*, int, int);
void FreeRTOS_MQTT_disconnect(Network*);

void NewNetwork(Network* n);
int ConnectNetwork(Network* n, const char* host, int port);
int DisconnectNetwork(Network* n);


#endif /* MQTTFREERTOSIMPL_H */

MQTTFreeRTOSImpl.c的代码如下：


/*
²Î¿¼https://github.com/baoshi/ESP-RTOS-Paho/tree/63c2c74dfe978f215b3bb05f7e1258454908c4fb
*/

#include <string.h>  
#include "FreeRTOS.h"
#include "portmacro.h"
#include "lwip/sockets.h"
#include "lwip/inet.h"
#include "lwip/netdb.h"
#include "lwip/sys.h"

#include "MQTTFreeRTOSImpl.h"

#define _DEBUG
#include "dprintf.h"

char  expired(Timer* timer)
{
    portTickType now = xTaskGetTickCount();
    int32_t left = timer->end_time - now;
    return (left < 0);
}


void  countdown_ms(Timer* timer, unsigned int timeout)
{
    portTickType now = xTaskGetTickCount();
    timer->end_time = now + timeout / portTICK_RATE_MS;
}


void  countdown(Timer* timer, unsigned int timeout)
{
    countdown_ms(timer, timeout);
}


int  left_ms(Timer* timer)
{
    portTickType now = xTaskGetTickCount();
    int32_t left = timer->end_time - now;
    return (left < 0) ? 0 : left / portTICK_RATE_MS;
}


void  InitTimer(Timer* timer)
{
    timer->end_time = 0;
}

#include "task.h"
#include "timers.h"

__asm void _nop(void)
{   
    nop     
}
void delay(int i)
{
    for(;i>0;i--)
        _nop();
}

int  FreeRTOS_MQTT_read(Network* n, unsigned char* buffer, int len, int timeout_ms)
{
    TickType_t xTicksToWait = timeout_ms / portTICK_PERIOD_MS; /* convert milliseconds to ticks */
    TimeOut_t xTimeOut;
    int recvLen = 0;

    vTaskSetTimeOutState(&xTimeOut); /* Record the time at which this function was entered. */
    do
    {
        int rc = 0;
        lwip_setsockopt(n->my_socket, SOL_SOCKET, SO_RCVTIMEO, &xTicksToWait, sizeof(TickType_t));
        rc = recv(n->my_socket, buffer + recvLen, len - recvLen, 0);
        //dprintf("rc=%d\n",rc);
        delay(50);//must delay enough,otherwise,it will be  blocked
        if (rc >= 0)
            recvLen += rc;  
        else if (rc <0)
        {   
            recvLen = rc;
            break;
        }
    } while (recvLen < len && xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE);

    return recvLen;
}


int  FreeRTOS_MQTT_write(Network* n, unsigned char* buffer, int len, int timeout_ms)
{
    TickType_t xTicksToWait = timeout_ms / portTICK_PERIOD_MS; /* convert milliseconds to ticks */
    TimeOut_t xTimeOut;
    int sentLen = 0;

    vTaskSetTimeOutState(&xTimeOut); /* Record the time at which this function was entered. */
    do
    {
        int rc = 0;

        lwip_setsockopt(n->my_socket, SOL_SOCKET, SO_SNDTIMEO, &xTicksToWait, sizeof(xTicksToWait));
        rc = send(n->my_socket, buffer + sentLen, len - sentLen, 0);
        if (rc > 0)
            sentLen += rc;
        else if (rc < 0)
        {
            sentLen = rc;
            break;
        }
    } while (sentLen < len && xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE);

    return sentLen;
}



void  NewNetwork(Network* n)
{
    n->my_socket = -1;
    n->mqttread = FreeRTOS_MQTT_read;
    n->mqttwrite = FreeRTOS_MQTT_write;
}


int  host2addr(const char *hostname , struct in_addr *in)
{
    struct addrinfo hints, *servinfo, *p;
    struct sockaddr_in *h;
    int rv;

    memset(&hints, 0, sizeof(hints));
    hints.ai_family = AF_INET;
    hints.ai_socktype = SOCK_STREAM;
    rv = getaddrinfo(hostname, 0 , &hints , &servinfo);
    if (rv != 0)
    {
        return rv;
    }

    // loop through all the results and get the first resolve
    for (p = servinfo; p != 0; p = p->ai_next)
    {
        h = (struct sockaddr_in *)p->ai_addr;
        in->s_addr = h->sin_addr.s_addr;
    }
    freeaddrinfo(servinfo); // all done with this structure
    return 0;
}


int  ConnectNetwork(Network* n, const char* host, int port)
{
    struct sockaddr_in addr;
    int ret;

    if (host2addr(host, &(addr.sin_addr)) != 0)
    {
        return -1;
    }

    addr.sin_family = AF_INET;
    addr.sin_port = htons(port);

    n->my_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
    if( n->my_socket < 0 )
    {
        // error
        return -1;
    }
    ret = connect(n->my_socket, ( struct sockaddr *)&addr, sizeof(struct sockaddr_in));
    if( ret < 0 )
    {
        // error
        lwip_close(n->my_socket);
        return ret;
    }

    return ret;
}


int  DisconnectNetwork(Network* n)
{
    lwip_close(n->my_socket);
    n->my_socket = -1;
    return 0;
}

MQTTClient.h代码如下：

/*******************************************************************************
 * Copyright (c) 2014 IBM Corp.
 *
 * All rights reserved. This program and t