robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

IothubRobotArm.cpp@5:36916b1c5a06, 2015-12-28 (annotated)

Committer:
henryrawas
Date:
Mon Dec 28 17:19:37 2015 +0000
Revision:
5:36916b1c5a06
Parent:
4:36a4eceb1b7f
Child:
7:6723f6887d00
Working Robotarm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 4:36a4eceb1b7f 1 // Copyright (c) Microsoft. All rights reserved.
henryrawas 4:36a4eceb1b7f 2 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
henryrawas 4:36a4eceb1b7f 3
henryrawas 4:36a4eceb1b7f 4 #include "mbed.h"
henryrawas 4:36a4eceb1b7f 5 #include "rtos.h"
henryrawas 4:36a4eceb1b7f 6
henryrawas 4:36a4eceb1b7f 7 #include "iothub_client.h"
henryrawas 4:36a4eceb1b7f 8 #include "iothub_message.h"
henryrawas 4:36a4eceb1b7f 9 #include "crt_abstractions.h"
henryrawas 4:36a4eceb1b7f 10 #include "iothubtransportamqp.h"
henryrawas 4:36a4eceb1b7f 11 #include "MeasureBuf.h"
henryrawas 4:36a4eceb1b7f 12 #include "IothubRobotArm.h"
henryrawas 4:36a4eceb1b7f 13 #include "IothubSerial.h"
henryrawas 4:36a4eceb1b7f 14
henryrawas 4:36a4eceb1b7f 15 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 16 #include "certs.h"
henryrawas 4:36a4eceb1b7f 17 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 18
henryrawas 5:36916b1c5a06 19 // TODO: move to config file
henryrawas 4:36a4eceb1b7f 20 static const char* connectionString = "HostName=HenryrIot.azure-devices.net;DeviceId=RobotArm;SharedAccessKey=FUTqsobGrV0ldHbnmOKluN6W90FG1G5z/jnhz+Gr53k=";
henryrawas 5:36916b1c5a06 21
henryrawas 4:36a4eceb1b7f 22
henryrawas 4:36a4eceb1b7f 23 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
henryrawas 4:36a4eceb1b7f 24
henryrawas 4:36a4eceb1b7f 25 typedef struct EVENT_INSTANCE_TAG
henryrawas 4:36a4eceb1b7f 26 {
henryrawas 4:36a4eceb1b7f 27 IOTHUB_MESSAGE_HANDLE messageHandle;
henryrawas 4:36a4eceb1b7f 28 int messageTrackingId; // For tracking the messages within the user callback.
henryrawas 4:36a4eceb1b7f 29 } EVENT_INSTANCE;
henryrawas 4:36a4eceb1b7f 30
henryrawas 5:36916b1c5a06 31 // message buffers to use
henryrawas 5:36916b1c5a06 32 #define MESSAGE_LEN 1024
henryrawas 5:36916b1c5a06 33 static char msgText[MESSAGE_LEN];
henryrawas 5:36916b1c5a06 34 static char propText[MESSAGE_LEN];
henryrawas 5:36916b1c5a06 35 #define MESSAGE_COUNT 10
henryrawas 5:36916b1c5a06 36 EVENT_INSTANCE messages[MESSAGE_COUNT];
henryrawas 5:36916b1c5a06 37
henryrawas 5:36916b1c5a06 38 // context for send & receive
henryrawas 5:36916b1c5a06 39 static int receiveContext;
henryrawas 5:36916b1c5a06 40 static int callbackCounter;
henryrawas 5:36916b1c5a06 41 static int msgNumber;
henryrawas 5:36916b1c5a06 42
henryrawas 5:36916b1c5a06 43 static IOTHUB_CLIENT_HANDLE iotHubClientHandle;
henryrawas 5:36916b1c5a06 44
henryrawas 5:36916b1c5a06 45
henryrawas 5:36916b1c5a06 46 extern void ControlArm(const char* cmd);
henryrawas 5:36916b1c5a06 47
henryrawas 4:36a4eceb1b7f 48 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 49 {
henryrawas 4:36a4eceb1b7f 50 int* counter = (int*)userContextCallback;
henryrawas 4:36a4eceb1b7f 51 const char* buffer;
henryrawas 4:36a4eceb1b7f 52 size_t size;
henryrawas 5:36916b1c5a06 53 char cmdbuf[20];
henryrawas 5:36916b1c5a06 54
henryrawas 4:36a4eceb1b7f 55 if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
henryrawas 4:36a4eceb1b7f 56 {
henryrawas 5:36916b1c5a06 57 (void)printf("Received Message [%d] with Data: <%.*s> & Size=%d\r\n", (int)size, *counter, buffer, (int)size);
henryrawas 5:36916b1c5a06 58 int slen = size;
henryrawas 5:36916b1c5a06 59 if (size >= 20)
henryrawas 5:36916b1c5a06 60 slen = 19;
henryrawas 5:36916b1c5a06 61 strncpy(cmdbuf, buffer, slen);
henryrawas 5:36916b1c5a06 62 cmdbuf[slen] = 0;
henryrawas 5:36916b1c5a06 63 ControlArm((const char*)cmdbuf);
henryrawas 4:36a4eceb1b7f 64 }
henryrawas 4:36a4eceb1b7f 65
henryrawas 4:36a4eceb1b7f 66 // Retrieve properties from the message
henryrawas 4:36a4eceb1b7f 67 MAP_HANDLE mapProperties = IoTHubMessage_Properties(message);
henryrawas 4:36a4eceb1b7f 68 if (mapProperties != NULL)
henryrawas 4:36a4eceb1b7f 69 {
henryrawas 4:36a4eceb1b7f 70 const char*const* keys;
henryrawas 4:36a4eceb1b7f 71 const char*const* values;
henryrawas 4:36a4eceb1b7f 72 size_t propertyCount = 0;
henryrawas 4:36a4eceb1b7f 73 if (Map_GetInternals(mapProperties, &keys, &values, &propertyCount) == MAP_OK)
henryrawas 4:36a4eceb1b7f 74 {
henryrawas 4:36a4eceb1b7f 75 if (propertyCount > 0)
henryrawas 4:36a4eceb1b7f 76 {
henryrawas 4:36a4eceb1b7f 77 printf("Message Properties:\r\n");
henryrawas 4:36a4eceb1b7f 78 for (size_t index = 0; index < propertyCount; index++)
henryrawas 4:36a4eceb1b7f 79 {
henryrawas 4:36a4eceb1b7f 80 printf("\tKey: %s Value: %s\r\n", keys[index], values[index]);
henryrawas 4:36a4eceb1b7f 81 }
henryrawas 4:36a4eceb1b7f 82 printf("\r\n");
henryrawas 4:36a4eceb1b7f 83 }
henryrawas 4:36a4eceb1b7f 84 }
henryrawas 4:36a4eceb1b7f 85 }
henryrawas 4:36a4eceb1b7f 86
henryrawas 4:36a4eceb1b7f 87 /* Some device specific action code goes here... */
henryrawas 4:36a4eceb1b7f 88 (*counter)++;
henryrawas 4:36a4eceb1b7f 89 return IOTHUBMESSAGE_ACCEPTED;
henryrawas 4:36a4eceb1b7f 90 }
henryrawas 4:36a4eceb1b7f 91
henryrawas 4:36a4eceb1b7f 92 static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 93 {
henryrawas 4:36a4eceb1b7f 94 EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback;
henryrawas 4:36a4eceb1b7f 95 (void)printf("Confirmation[%d] received for message tracking id = %d with result = %s\r\n", callbackCounter, eventInstance->messageTrackingId, ENUM_TO_STRING(IOTHUB_CLIENT_CONFIRMATION_RESULT, result));
henryrawas 4:36a4eceb1b7f 96 /* Some device specific action code goes here... */
henryrawas 4:36a4eceb1b7f 97 callbackCounter++;
henryrawas 4:36a4eceb1b7f 98 IoTHubMessage_Destroy(eventInstance->messageHandle);
henryrawas 4:36a4eceb1b7f 99
henryrawas 4:36a4eceb1b7f 100 if (callbackCounter == msgNumber)
henryrawas 4:36a4eceb1b7f 101 {
henryrawas 4:36a4eceb1b7f 102 // call SendMeasurements again in case more to send
henryrawas 4:36a4eceb1b7f 103 }
henryrawas 4:36a4eceb1b7f 104 }
henryrawas 4:36a4eceb1b7f 105
henryrawas 4:36a4eceb1b7f 106 // IoT Hub thread
henryrawas 4:36a4eceb1b7f 107 static Thread* IotThread = NULL;
henryrawas 4:36a4eceb1b7f 108 static bool IotThreadClose;
henryrawas 4:36a4eceb1b7f 109
henryrawas 4:36a4eceb1b7f 110 // entry point for ITHub sending thread
henryrawas 4:36a4eceb1b7f 111 void IothubThread(void const *args)
henryrawas 4:36a4eceb1b7f 112 {
henryrawas 4:36a4eceb1b7f 113 (void)printf("Iothub thread start\r\n");
henryrawas 4:36a4eceb1b7f 114 IotThreadClose = false;
henryrawas 4:36a4eceb1b7f 115 IothubRobotArm iotRobot;
henryrawas 4:36a4eceb1b7f 116 iotRobot.Init();
henryrawas 4:36a4eceb1b7f 117
henryrawas 4:36a4eceb1b7f 118 while (1)
henryrawas 4:36a4eceb1b7f 119 {
henryrawas 4:36a4eceb1b7f 120 (void)printf("Iothub thread wait signal\r\n");
henryrawas 4:36a4eceb1b7f 121 osEvent ev = Thread::signal_wait(IS_SendStatus);
henryrawas 4:36a4eceb1b7f 122 //if ((ev.value.signals & IS_Close) == IS_Close)
henryrawas 4:36a4eceb1b7f 123 if (IotThreadClose)
henryrawas 4:36a4eceb1b7f 124 {
henryrawas 4:36a4eceb1b7f 125 (void)printf("Iothub thread close signal\r\n");
henryrawas 4:36a4eceb1b7f 126 iotRobot.Terminate();
henryrawas 4:36a4eceb1b7f 127 break;
henryrawas 4:36a4eceb1b7f 128 }
henryrawas 4:36a4eceb1b7f 129 else
henryrawas 4:36a4eceb1b7f 130 {
henryrawas 4:36a4eceb1b7f 131 if ((ev.value.signals & IS_SendStatus) == IS_SendStatus)
henryrawas 4:36a4eceb1b7f 132 {
henryrawas 4:36a4eceb1b7f 133 (void)printf("Iothub thread send status signal\r\n");
henryrawas 4:36a4eceb1b7f 134 iotRobot.SendMeasurements();
henryrawas 4:36a4eceb1b7f 135 }
henryrawas 4:36a4eceb1b7f 136 else
henryrawas 4:36a4eceb1b7f 137 {
henryrawas 4:36a4eceb1b7f 138 (void)printf("Iothub thread unknown signal\r\n");
henryrawas 4:36a4eceb1b7f 139 }
henryrawas 4:36a4eceb1b7f 140 }
henryrawas 4:36a4eceb1b7f 141 }
henryrawas 4:36a4eceb1b7f 142 }
henryrawas 4:36a4eceb1b7f 143
henryrawas 4:36a4eceb1b7f 144
henryrawas 4:36a4eceb1b7f 145 bool StartIothubThread()
henryrawas 4:36a4eceb1b7f 146 {
henryrawas 4:36a4eceb1b7f 147 IotThread = new Thread(IothubThread, NULL, osPriorityLow);
henryrawas 4:36a4eceb1b7f 148 return true;
henryrawas 4:36a4eceb1b7f 149 }
henryrawas 4:36a4eceb1b7f 150
henryrawas 4:36a4eceb1b7f 151 bool SendIothubMeasurements()
henryrawas 4:36a4eceb1b7f 152 {
henryrawas 4:36a4eceb1b7f 153 (void)printf("Iothub thread signal to send data\r\n");
henryrawas 4:36a4eceb1b7f 154 IotThread->signal_set(IS_SendStatus);
henryrawas 4:36a4eceb1b7f 155 return true;
henryrawas 4:36a4eceb1b7f 156 }
henryrawas 4:36a4eceb1b7f 157
henryrawas 4:36a4eceb1b7f 158 void EndIothubThread()
henryrawas 4:36a4eceb1b7f 159 {
henryrawas 4:36a4eceb1b7f 160 IotThreadClose = true;
henryrawas 4:36a4eceb1b7f 161 IotThread->signal_set(IS_SendStatus);
henryrawas 4:36a4eceb1b7f 162 }
henryrawas 4:36a4eceb1b7f 163
henryrawas 4:36a4eceb1b7f 164 IothubRobotArm::IothubRobotArm()
henryrawas 4:36a4eceb1b7f 165 {
henryrawas 4:36a4eceb1b7f 166 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 167 }
henryrawas 4:36a4eceb1b7f 168
henryrawas 4:36a4eceb1b7f 169 bool IothubRobotArm::Init()
henryrawas 4:36a4eceb1b7f 170 {
henryrawas 5:36916b1c5a06 171 receiveContext = 0;
henryrawas 4:36a4eceb1b7f 172 callbackCounter = 0;
henryrawas 4:36a4eceb1b7f 173 msgNumber = 0;
henryrawas 4:36a4eceb1b7f 174
henryrawas 4:36a4eceb1b7f 175 // in case calling init twice without terminate
henryrawas 4:36a4eceb1b7f 176 Terminate();
henryrawas 4:36a4eceb1b7f 177
henryrawas 4:36a4eceb1b7f 178 (void)printf("Starting the IoTHub RobotArm sample AMQP...\r\n");
henryrawas 4:36a4eceb1b7f 179
henryrawas 4:36a4eceb1b7f 180 if ((iotHubClientHandle = IoTHubClient_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
henryrawas 4:36a4eceb1b7f 181 {
henryrawas 4:36a4eceb1b7f 182 (void)printf("ERROR: iotHubClientHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 183 return false;
henryrawas 4:36a4eceb1b7f 184 }
henryrawas 4:36a4eceb1b7f 185 else
henryrawas 4:36a4eceb1b7f 186 {
henryrawas 4:36a4eceb1b7f 187 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 188 (void)printf("INFO: IoTHubClient_SetOption\r\n");
henryrawas 4:36a4eceb1b7f 189 // For mbed add the certificate information
henryrawas 4:36a4eceb1b7f 190 if (IoTHubClient_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 191 {
henryrawas 4:36a4eceb1b7f 192 printf("failure to set option \"TrustedCerts\"\r\n");
henryrawas 4:36a4eceb1b7f 193 return false;
henryrawas 4:36a4eceb1b7f 194 }
henryrawas 4:36a4eceb1b7f 195 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 196
henryrawas 4:36a4eceb1b7f 197 (void)printf("INFO: IoTHubClient_SetMessageCallback\r\n");
henryrawas 4:36a4eceb1b7f 198 /* Setting Message call back, so we can receive Commands. */
henryrawas 4:36a4eceb1b7f 199 if (IoTHubClient_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 200 {
henryrawas 4:36a4eceb1b7f 201 (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 202 return false;
henryrawas 4:36a4eceb1b7f 203 }
henryrawas 4:36a4eceb1b7f 204 else
henryrawas 4:36a4eceb1b7f 205 {
henryrawas 4:36a4eceb1b7f 206 (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n");
henryrawas 4:36a4eceb1b7f 207 }
henryrawas 4:36a4eceb1b7f 208 }
henryrawas 4:36a4eceb1b7f 209 return true;
henryrawas 4:36a4eceb1b7f 210 }
henryrawas 4:36a4eceb1b7f 211
henryrawas 4:36a4eceb1b7f 212 void IothubRobotArm::Terminate()
henryrawas 4:36a4eceb1b7f 213 {
henryrawas 4:36a4eceb1b7f 214 if (iotHubClientHandle != NULL)
henryrawas 4:36a4eceb1b7f 215 {
henryrawas 4:36a4eceb1b7f 216 IoTHubClient_Destroy(iotHubClientHandle);
henryrawas 4:36a4eceb1b7f 217 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 218 }
henryrawas 4:36a4eceb1b7f 219 }
henryrawas 4:36a4eceb1b7f 220
henryrawas 4:36a4eceb1b7f 221
henryrawas 4:36a4eceb1b7f 222 void IothubRobotArm::SendMeasurements(void)
henryrawas 4:36a4eceb1b7f 223 {
henryrawas 5:36916b1c5a06 224 // send until circular buf empty or no sending buffers avail
henryrawas 5:36916b1c5a06 225 // may drop message if confirmations are slow
henryrawas 5:36916b1c5a06 226 while (msgNumber - callbackCounter < MESSAGE_COUNT)
henryrawas 5:36916b1c5a06 227 {
henryrawas 5:36916b1c5a06 228 // get buffer from array
henryrawas 5:36916b1c5a06 229 int i = msgNumber % MESSAGE_COUNT;
henryrawas 4:36a4eceb1b7f 230
henryrawas 4:36a4eceb1b7f 231 int msglen = msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
henryrawas 4:36a4eceb1b7f 232
henryrawas 4:36a4eceb1b7f 233 if (msglen > 0)
henryrawas 4:36a4eceb1b7f 234 {
henryrawas 4:36a4eceb1b7f 235 if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
henryrawas 4:36a4eceb1b7f 236 {
henryrawas 4:36a4eceb1b7f 237 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 238 }
henryrawas 4:36a4eceb1b7f 239 else
henryrawas 4:36a4eceb1b7f 240 {
henryrawas 4:36a4eceb1b7f 241 messages[i].messageTrackingId = msgNumber;
henryrawas 4:36a4eceb1b7f 242
henryrawas 4:36a4eceb1b7f 243 MAP_HANDLE propMap = IoTHubMessage_Properties(messages[i].messageHandle);
henryrawas 4:36a4eceb1b7f 244 sprintf_s(propText, sizeof(propText), "PropMsg_%d", msgNumber);
henryrawas 4:36a4eceb1b7f 245 if (Map_AddOrUpdate(propMap, "PropName", propText) != MAP_OK)
henryrawas 4:36a4eceb1b7f 246 {
henryrawas 4:36a4eceb1b7f 247 (void)printf("ERROR: Map_AddOrUpdate Failed!\r\n");
henryrawas 4:36a4eceb1b7f 248 }
henryrawas 4:36a4eceb1b7f 249
henryrawas 4:36a4eceb1b7f 250 if (IoTHubClient_SendEventAsync(iotHubClientHandle, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 251 {
henryrawas 4:36a4eceb1b7f 252 (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 253 }
henryrawas 4:36a4eceb1b7f 254 else
henryrawas 4:36a4eceb1b7f 255 {
henryrawas 5:36916b1c5a06 256 (void)printf("IoTHubClient_SendEventAsync accepted transmission to IoT Hub. tracking id: %d, bytes: %d\r\n", msgNumber, msglen);
henryrawas 4:36a4eceb1b7f 257 }
henryrawas 4:36a4eceb1b7f 258 msgNumber++;
henryrawas 4:36a4eceb1b7f 259 }
henryrawas 4:36a4eceb1b7f 260 }
henryrawas 4:36a4eceb1b7f 261 else if (msglen == 0)
henryrawas 4:36a4eceb1b7f 262 {
henryrawas 4:36a4eceb1b7f 263 break;
henryrawas 4:36a4eceb1b7f 264 }
henryrawas 4:36a4eceb1b7f 265 else if (msglen < 0)
henryrawas 4:36a4eceb1b7f 266 {
henryrawas 4:36a4eceb1b7f 267 (void)printf("ERROR: Serialized message too big for buffer\r\n");
henryrawas 4:36a4eceb1b7f 268 break;
henryrawas 4:36a4eceb1b7f 269 }
henryrawas 4:36a4eceb1b7f 270 } // while
henryrawas 4:36a4eceb1b7f 271
henryrawas 4:36a4eceb1b7f 272 }