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SITL: examples: add MATLAB TCP/UDP/IP Toolbox

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% PNET - IO-function for TCP and UDP comunation in matlab.
%
%
% This function can be called with different options/commands to operate on
% tcp/udp/ip connection in matlab. It supports data transfer with
% different data types and byte orders. The function is implemented as an
% MEX-file that needs to be
%
% General syntax
% ==============
%
% pnet('command',....) or pnet command ....
%
% ppet(con,'command',....) or pnet con command ....
%
% ...where 'command' is a string specifying what to do. "con" is an
% connection handler holding a number that refers to an already open
% connection/socket. In the cases where "con" is specified before
% 'command' is the commands associated to operate on that connection/
% socket. Connection handler number (and some other numbers like size
% values) can be specified as either a scalar value or a string
% containing the scalar number.
%
% Commands for TCP connections
% ============================
%
% con=pnet('tcpconnect','hostname',port)
%
% Creates tcp/ip connection to the specified 'hostname' and port. On error
% it returns -1, on success it returns a conection handler as an integer
% number >=0. This function call is used to act as a "tcp-client".
% This function is alway nonblocking unless their is some troubles with
% namelookup that can block interpretation for a while.
%
% sockcon=pnet('tcpsocket',port)
%
% Creates a local tcpsocket and bind port-number "port" to it. On fail
% it rerurns -1, on success it returns a connection handler. To fetch
% remote connection connecting to this socket use pnet(sockcon,'tcplisten')
%
% con=pnet(sockcon,'tcplisten', ['noblock'] )
%
% If some remote tcp-connection has connected to the socket "sockcon" this
% functions returns a handler to that tcp connection. On non available
% remote connection or error it returns -1. Unless the option 'noblock' is
% specified or the readtimeout value (default to inf ) is reached it blocks
% until a remote connection is established.
%
% elements=pnet(con,'write', data [,swapping])
%
% Writes all elements of the matlab array "data" to connection "con".
% Supported datatypes are: char, double, single, int8 int16, int32,
% uint8, uint16 and uint32. Arrays of datatype char is written as single
% bytes, all other datatypes are written as it matlabsize. By default
% the bytes are swapped to network byte order unless the swapping option
% is specified. Swapping options:
% 'native' no swapping use the computers native byte order.
% 'swap' allways swap byte order.
% 'network' uses network byte order (little endian) and it is default.
% 'intel' use intel CPUs byte order (big endian).
% This operation blocks until writetimeout (is by default inf) is reached
% or all elements are transfered. Returns number of elements successfull
% written.
% This command can also be used with UDP packets, se the UDP section.
%
% pnet(con,'printf', 'format',.....)
%
% Prints a formated string to the connection "con". SPRINTF is used to
% process format string and following arguments. Se help on SPRINTF for more
% information. It block until writetimeout and returns number of characters
% succesfull written.
% This command can also be used with UDP packets, se the UDP section.
%
% data=pnet(con,'read' [,size] [,datatype] [,swapping] [,'view'] [,'noblock'])
%
% Reads an array of elements from a connection. Unless option 'noblock' is
% used the operation blocks until timeout is reached (by default inf), the
% specified "size" is reached or the connection is disconnected by peer.
% Specified "size" (by default 65536) can be a scalar or a vector of
% specifying dimentions length for the multidimentional array to read.
% If size is a scalar i.e. [10] it return 0 to 10 elements in a rowvector
% depening on available elements. If size is a vector i.e. [1 10] or [5 5 5]
% it returns an array if all elements is available, if not, an empty array
% is returned. The datatype option is a string containing the name of the
% datatype, if not specified its by default 'char'. Supported datatypes is
% the same as for the 'write' command. The option named "swapping" is
% is the same for the 'read' command. The option 'view' gives an "preview"
% of whats available, all data is left in the read buffer. In combination
% with 'noblock' this is a powerfull command to check how much and whats
% available at the moment without blocking.
% This command can also be used with UDP packets, se the UDP section.
%
% str=pnet(con,'readline' [,limitsize] [,'view'] [,'noblock'])
%
% This commands works like 'read' but it reads a string of characters
% until the newline character (code=10) are reached.
% It returns the string without the newline character (or if exist just
% before, the carage return character code=13 ). If the character line
% is longer then the "limitsize" the line is splited at that length.
% The default value for limitsize is 65536.
% The function blocks unless a full line of characters are available or
% 'noblock' is specified until readtimeout is reached. The 'view'
% option also leaves the returned characters in the read buffer.
% This command can also be used with UDP packets, se the UDP section.
%
% ret=pnet(con,'readtofile','filename'[,bytes][,'view'][,'noblock'][,'append'])
%
% Reads data of specified number of "bytes" to a file 'filename'. It
% returns successful number of bytes moved from the connection to the file.
% If the option string 'append' is specified the data will be appended
% th the end of the file, otherwise the file will be overwritten.
% 'view', 'noblock' and timeout behaves as earlier described for read
% operations.
% This command can also be used with UDP packets, se the UDP section.
%
% ret=pnet(con,'writefromfile','filename'[[,start] ,len])
%
% Read data from a file and write it on the connection. All of the
% file will be transmitted of not "start" and "len" specifies a segment.
% The function returns -1 on fail.
% This command can also be used with UDP packets, se the UDP section.
%
% stat=pnet(con,'status')
%
% This returns a number telling about the status of a connection/socket.
% It is a different number for each type of connection or socket se
% #define's in top of pnet.c. The most important status is when
% peer has disconnect the status value is 0 else it is >0.
% This command can also be used with UDP packets, se the UDP section.
%
% stat=pnet(con,'setreadtimeout',sec)
%
% The value "sec" specifies how long read and listen commands blocks before
% it timeouts. The unit is seconds specified as a floting point which means
% that i.e. 0.1 can be specified for a maximum of 0.1 seconds blocking.
% Setting readtimeout to 0 is the same as adding the 'noblock' option to
% all followinging 'read' or 'listen' calls.
% This command can also be used with UDP packets, se the UDP section.
%
% stat=pnet(con,'setwritetimeout',sec)
%
% The value "sec" specifies how long the 'write' commands blocks before
% it timeouts. The unit is seconds specified as a floting point which means
% that i.e. 0.1 can be specified for a maximum of 0.1 seconds blocking.
% This command can also be used with UDP packets, se the UDP section.
%
% [ip,port]=pnet(con,'gethost')
%
% This command call returns ipnumber and port number for the remote host
% that is (latest) associated with the connection/socket. After 'tcplisten'
% you can get the the clients ip and port numbers. After a 'tcpconnect'
% you can get the ip and port that you connected to.
% For UDP sockets this gives remote ip and and port for the latest operation
% of 'readpacket', 'writepacket' (if not connected) or 'udpconnect'.
%
% pnet(con,'close')
%
% Closes a tcpconnection, tcpsocket or udpsocket. This comand must be called
% after ending use of any socket or connection even, if its detected that the
% connection is broken from the remote host side.
% This command should also be used with UDP sockets, se the UDP section.
%
% pnet('closeall')
%
% Closes all pnet connections/sockets used in this matlab session.
%
% UDP packets
% ===========
%
% With PNET it's possible send and receive UDP packets. Same read/write
% commands can be used as for with TCP connection with the difference
% that the operation is alway nonblocking and data is stored in the
% read/write buffer in memory. With pnet(sock,'writepacket'...) can the
% created UDP packet in the write buffer be sent. And with
% pnet(sock,'readpacket') a new packet can be recived before reading its
% contents with read commands. The limitation is how big UDP packets
% your network can transmitt. But about 65500 bytes is maximum.
%
% sock=pnet('udpsocket',port);
%
% Creates a UDP socket and binds it to an UDP port. On this socket can you
% recive UDP packets destinated to this UDP port, and send UDP packets with
% this sockat as source adress. Retruns -1 on fail or a handler >=0 on
% success. In this sockets write buffer you can create a UDP packet that
% is later sent with the 'writepacket' command.
%
% pnet(sock,'udpconnect','hostname',port);
%
% With this command you can connect a destination host and port to the the
% UDP socket causing that the 'writepacket' commands should not have any
% 'hostname' and port arguments supplied.
%
% pnet(sock,'writepacket' [,'hostname',port]);
%
% Sends contents of the sockets write buffer as a UDP packet. If the UDP
% socket is not connected 'hostname' and port must be supplied, if connected
% the arguments is ignored.
%
% size=pnet(sock,'readpacket'[,maxsize][,'noblock']);
%
% Reads next incoming UDP packet on UDP socket "sock". Unless 'noblock'
% is supplied as option it block until readtimeout or next UDP packet is
% received. The optional argument "maxsize" limits the size of the packet.
% The packet is stored in the sockets read buffer and can then be readed
% from the buffer with same commands as for TCP connections. When reciving
% a new packet old non used data from the last packet is discarded.
%
% General alternative syntax
% ==========================
%
% pnet 1 write Hello_World
%
% is the same as
%
% pnet(1,'write','Hello_World')
%
% Numbers like connection handlers and port-numbers can be specified
% as strings in most cases. This syntax should generaly work for all
% variants of calls and is usefull and easy to type when experimenting
% interactively with tcp connection and udp packets from the matlab
% prompt.
%
%
% SE ALSO: PNET_REMOTE, PNET_PUTVAR PNET_GETVAR, WEBGET_DEMO, POPMAIL_DEMO
% UDP_PLOTTER_DEMO, UDP_SEND_DEMO, WEBSERVER_DEMO
%
%
% GOOD LUCK and HAVE FUN! :-)
%
% Peter Rydesäter,
% Mitthögskolan(Mid Sweden University) campus Östersund, SWEDEN
%
error('You need to compile pnet.c to a mex-file for your platform. Read the header of pnet.c');

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History of tcp/udp/ip toolbox for MATLAB
========================================
Version 2.0.6 2008-03-06
-Including precompiled pnet.mexw32 for support to in matlab R2007 (R2008?)
No need to compile pnet.c to run at R2007....
(Included a real application demo that uses UDP and simulates a UDP based DAQ system.)
Version 2.0.5 2003-09-16
-Fixing all GNU License notes more proper and clear and writing an
exception that make it "100%" legal and proper to use this as a plug-in
as the basic intention of cause is. The note also makes it clear that
you can link and distribute this toolbox as non-free stand alone as long as
this part (the tcp_udp_ip toolbox) is distributed with it and fullfills
the licence agreement for it. See license.txt
- The windows dll is compiled with matlab 5.3 to make it possible to
run in matlab 5.x
Version 2.0.4 2003-07-22
-Major bug fix: 'readtofile' and 'writefromfile' now opens the files in
binary mode also for the Windows platform which makes the toolbox work properly
for many cases where it erlier failed. This probably solvs many bugs
that could not be solved. erlier!
-changed call frequency of 'drawnow' from 1 per sec to 10 per seconds.
-'pnet_remote' now supports an array of conection handles for calls that
do not return any thing.
- new author adress information
Version 2.0.3 2002-04-23
-Added support for the "single" (float 32-bit) datatype.
Version 2.0.2 2002-03-12
Windows buggfixes (also bugs for unix):
-Breaking blocking operations with ctrl-c now works (better..)
Fixed with a call to drawnow evry second.
-UDP receive of packets now works stable after initialzing fromlen
in revfrom() call.
Version 2.0.1 2002-02-25
-Long delays in windows is fixed by changing Sleep(...) in pnet.c
to correspond to sleep(...) in unix by div. by 1000.
-Added drawnow into SERVER loop in pnet_remote.
Version 2.0 (Beta) 2002-02-14
Complete rewrite of the API with new calls.
All tcpip_* function is replaced with new mex function named pnet(....).
NEW mutch faster support for datatypes and byte swapping!!
Datatype support: double,char,uint8,unint16,uint32,int8,nint16,int32.
Byte swapping support: native,swap,intel,network byte orders.
tcpip_feval family function replaced by the pnet_remote function.
This version in not backwards compatible wit version 1.x but
are similar -> easy to port (easy to write wrapper functions?)
Version 1.3 2001-01-13
Added support to UDP/IP-packet transmission by Mike Medeiros
This version is never published......
Verion 1.2.1 2001-01-04
Bugfix of variable and file tranfer functions
Prelimnaray remote execution interface!
Version 1.2 2000-12-14
tcpip_servopen() replace by tcpip_servsocket() and
tcpip_listen() Now its a non blocking multi connection
server!!
A simple webserver_demo is now also included.
Version 1.2 BETA 2000-11-20
Bug fixed. multi connections work proper!
Version 1.1 1999-10-28
Now also support for Windows 95/98(?)/NT4 By Mario Bergeron
All data types is now supported to be sent/rec. in network byte
order. Solaris and Linux also seams to work well without
"broke pipe handling" bug!
A demo that reads mail from a pop mail server is also included.
Version 1.0 Beta 1 1999-04-06
Open connections as client or server and send/receive
text strings. Works under Linux and Solaris.
Under soloris some trouble with "broken pipe handling"