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@4:36a4eceb1b7f, 2015-12-23 (annotated)

Committer:
henryrawas
Date:
Wed Dec 23 18:34:06 2015 +0000
Revision:
4:36a4eceb1b7f
Child:
5:36916b1c5a06
RobotArm plus publish IoTHub status

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