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?
User | Revision | Line number | New 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 | } |