demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
IothubRobotArm.cpp@11:3a2e6eb9fbb8, 2016-01-06 (annotated)
- Committer:
- henryrawas
- Date:
- Wed Jan 06 22:25:51 2016 +0000
- Revision:
- 11:3a2e6eb9fbb8
- Parent:
- 10:9b21566a5ddb
- Child:
- 13:ffeff9b5e513
error reset. Better sequences;
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 | 10:9b21566a5ddb | 7 | #include "EthernetInterface.h" |
henryrawas | 10:9b21566a5ddb | 8 | #include "mbed/logging.h" |
henryrawas | 10:9b21566a5ddb | 9 | #include "mbed/mbedtime.h" |
henryrawas | 10:9b21566a5ddb | 10 | #include <NTPClient.h> |
henryrawas | 10:9b21566a5ddb | 11 | |
henryrawas | 4:36a4eceb1b7f | 12 | #include "iothub_client.h" |
henryrawas | 4:36a4eceb1b7f | 13 | #include "iothub_message.h" |
henryrawas | 4:36a4eceb1b7f | 14 | #include "crt_abstractions.h" |
henryrawas | 4:36a4eceb1b7f | 15 | #include "iothubtransportamqp.h" |
henryrawas | 4:36a4eceb1b7f | 16 | #include "MeasureBuf.h" |
henryrawas | 4:36a4eceb1b7f | 17 | #include "IothubRobotArm.h" |
henryrawas | 4:36a4eceb1b7f | 18 | #include "IothubSerial.h" |
henryrawas | 4:36a4eceb1b7f | 19 | |
henryrawas | 4:36a4eceb1b7f | 20 | #ifdef MBED_BUILD_TIMESTAMP |
henryrawas | 4:36a4eceb1b7f | 21 | #include "certs.h" |
henryrawas | 4:36a4eceb1b7f | 22 | #endif // MBED_BUILD_TIMESTAMP |
henryrawas | 4:36a4eceb1b7f | 23 | |
henryrawas | 5:36916b1c5a06 | 24 | // TODO: move to config file |
henryrawas | 4:36a4eceb1b7f | 25 | static const char* connectionString = "HostName=HenryrIot.azure-devices.net;DeviceId=RobotArm;SharedAccessKey=FUTqsobGrV0ldHbnmOKluN6W90FG1G5z/jnhz+Gr53k="; |
henryrawas | 5:36916b1c5a06 | 26 | |
henryrawas | 10:9b21566a5ddb | 27 | extern void ShowLedColor(int col); |
henryrawas | 10:9b21566a5ddb | 28 | |
henryrawas | 10:9b21566a5ddb | 29 | int setupRealTime(void) |
henryrawas | 10:9b21566a5ddb | 30 | { |
henryrawas | 10:9b21566a5ddb | 31 | int result; |
henryrawas | 10:9b21566a5ddb | 32 | |
henryrawas | 10:9b21566a5ddb | 33 | (void)printf("setupRealTime begin\r\n"); |
henryrawas | 10:9b21566a5ddb | 34 | if (EthernetInterface::connect()) |
henryrawas | 10:9b21566a5ddb | 35 | { |
henryrawas | 10:9b21566a5ddb | 36 | (void)printf("Error initializing EthernetInterface.\r\n"); |
henryrawas | 10:9b21566a5ddb | 37 | result = __LINE__; |
henryrawas | 10:9b21566a5ddb | 38 | } |
henryrawas | 10:9b21566a5ddb | 39 | else |
henryrawas | 10:9b21566a5ddb | 40 | { |
henryrawas | 10:9b21566a5ddb | 41 | (void)printf("setupRealTime NTP begin\r\n"); |
henryrawas | 10:9b21566a5ddb | 42 | NTPClient ntp; |
henryrawas | 10:9b21566a5ddb | 43 | if (ntp.setTime("0.pool.ntp.org") != 0) |
henryrawas | 10:9b21566a5ddb | 44 | { |
henryrawas | 10:9b21566a5ddb | 45 | (void)printf("Failed setting time.\r\n"); |
henryrawas | 10:9b21566a5ddb | 46 | result = __LINE__; |
henryrawas | 10:9b21566a5ddb | 47 | } |
henryrawas | 10:9b21566a5ddb | 48 | else |
henryrawas | 10:9b21566a5ddb | 49 | { |
henryrawas | 10:9b21566a5ddb | 50 | (void)printf("set time correctly!\r\n"); |
henryrawas | 10:9b21566a5ddb | 51 | result = 0; |
henryrawas | 10:9b21566a5ddb | 52 | } |
henryrawas | 10:9b21566a5ddb | 53 | (void)printf("setupRealTime NTP end\r\n"); |
henryrawas | 10:9b21566a5ddb | 54 | EthernetInterface::disconnect(); |
henryrawas | 10:9b21566a5ddb | 55 | } |
henryrawas | 10:9b21566a5ddb | 56 | (void)printf("setupRealTime end\r\n"); |
henryrawas | 10:9b21566a5ddb | 57 | |
henryrawas | 10:9b21566a5ddb | 58 | return result; |
henryrawas | 10:9b21566a5ddb | 59 | } |
henryrawas | 10:9b21566a5ddb | 60 | |
henryrawas | 10:9b21566a5ddb | 61 | int InitEthernet() |
henryrawas | 10:9b21566a5ddb | 62 | { |
henryrawas | 10:9b21566a5ddb | 63 | (void)printf("Initializing ethernet..\r\n"); |
henryrawas | 10:9b21566a5ddb | 64 | |
henryrawas | 10:9b21566a5ddb | 65 | /* These are needed in order to initialize the time provider for Proton-C */ |
henryrawas | 10:9b21566a5ddb | 66 | mbed_log_init(); |
henryrawas | 10:9b21566a5ddb | 67 | mbedtime_init(); |
henryrawas | 10:9b21566a5ddb | 68 | |
henryrawas | 10:9b21566a5ddb | 69 | if (EthernetInterface::init()) |
henryrawas | 10:9b21566a5ddb | 70 | { |
henryrawas | 10:9b21566a5ddb | 71 | (void)printf("Error initializing EthernetInterface.\r\n"); |
henryrawas | 10:9b21566a5ddb | 72 | return -1; |
henryrawas | 10:9b21566a5ddb | 73 | } |
henryrawas | 10:9b21566a5ddb | 74 | |
henryrawas | 10:9b21566a5ddb | 75 | if (setupRealTime() != 0) |
henryrawas | 10:9b21566a5ddb | 76 | { |
henryrawas | 10:9b21566a5ddb | 77 | (void)printf("Failed setting up real time clock\r\n"); |
henryrawas | 10:9b21566a5ddb | 78 | return -1; |
henryrawas | 10:9b21566a5ddb | 79 | } |
henryrawas | 10:9b21566a5ddb | 80 | |
henryrawas | 10:9b21566a5ddb | 81 | if (EthernetInterface::connect()) |
henryrawas | 10:9b21566a5ddb | 82 | { |
henryrawas | 10:9b21566a5ddb | 83 | (void)printf("Error connecting EthernetInterface.\r\n"); |
henryrawas | 10:9b21566a5ddb | 84 | return -1; |
henryrawas | 10:9b21566a5ddb | 85 | } |
henryrawas | 10:9b21566a5ddb | 86 | |
henryrawas | 10:9b21566a5ddb | 87 | return 0; |
henryrawas | 10:9b21566a5ddb | 88 | } |
henryrawas | 10:9b21566a5ddb | 89 | |
henryrawas | 4:36a4eceb1b7f | 90 | |
henryrawas | 4:36a4eceb1b7f | 91 | DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES); |
henryrawas | 4:36a4eceb1b7f | 92 | |
henryrawas | 4:36a4eceb1b7f | 93 | typedef struct EVENT_INSTANCE_TAG |
henryrawas | 4:36a4eceb1b7f | 94 | { |
henryrawas | 4:36a4eceb1b7f | 95 | IOTHUB_MESSAGE_HANDLE messageHandle; |
henryrawas | 4:36a4eceb1b7f | 96 | int messageTrackingId; // For tracking the messages within the user callback. |
henryrawas | 4:36a4eceb1b7f | 97 | } EVENT_INSTANCE; |
henryrawas | 4:36a4eceb1b7f | 98 | |
henryrawas | 5:36916b1c5a06 | 99 | // message buffers to use |
henryrawas | 5:36916b1c5a06 | 100 | #define MESSAGE_LEN 1024 |
henryrawas | 5:36916b1c5a06 | 101 | static char msgText[MESSAGE_LEN]; |
henryrawas | 7:6723f6887d00 | 102 | //static char propText[MESSAGE_LEN]; |
henryrawas | 7:6723f6887d00 | 103 | |
henryrawas | 10:9b21566a5ddb | 104 | #define MESSAGE_COUNT 1 |
henryrawas | 5:36916b1c5a06 | 105 | EVENT_INSTANCE messages[MESSAGE_COUNT]; |
henryrawas | 5:36916b1c5a06 | 106 | |
henryrawas | 5:36916b1c5a06 | 107 | // context for send & receive |
henryrawas | 5:36916b1c5a06 | 108 | static int receiveContext; |
henryrawas | 5:36916b1c5a06 | 109 | static int callbackCounter; |
henryrawas | 5:36916b1c5a06 | 110 | static int msgNumber; |
henryrawas | 5:36916b1c5a06 | 111 | |
henryrawas | 7:6723f6887d00 | 112 | |
henryrawas | 5:36916b1c5a06 | 113 | static IOTHUB_CLIENT_HANDLE iotHubClientHandle; |
henryrawas | 5:36916b1c5a06 | 114 | |
henryrawas | 10:9b21566a5ddb | 115 | // used to detect send confirmation timeout |
henryrawas | 10:9b21566a5ddb | 116 | #define SEND_CONFIRM_TO 30000 |
henryrawas | 10:9b21566a5ddb | 117 | RtosTimer* confirmTimer; |
henryrawas | 10:9b21566a5ddb | 118 | |
henryrawas | 10:9b21566a5ddb | 119 | |
henryrawas | 5:36916b1c5a06 | 120 | |
henryrawas | 5:36916b1c5a06 | 121 | extern void ControlArm(const char* cmd); |
henryrawas | 5:36916b1c5a06 | 122 | |
henryrawas | 4:36a4eceb1b7f | 123 | static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback) |
henryrawas | 4:36a4eceb1b7f | 124 | { |
henryrawas | 4:36a4eceb1b7f | 125 | int* counter = (int*)userContextCallback; |
henryrawas | 4:36a4eceb1b7f | 126 | const char* buffer; |
henryrawas | 4:36a4eceb1b7f | 127 | size_t size; |
henryrawas | 5:36916b1c5a06 | 128 | char cmdbuf[20]; |
henryrawas | 5:36916b1c5a06 | 129 | |
henryrawas | 4:36a4eceb1b7f | 130 | if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK) |
henryrawas | 4:36a4eceb1b7f | 131 | { |
henryrawas | 10:9b21566a5ddb | 132 | (void)printf("Received Message handle %x with Data: <%.*s> & Size=%d\r\n", message, (int)size, buffer, (int)size); |
henryrawas | 5:36916b1c5a06 | 133 | int slen = size; |
henryrawas | 5:36916b1c5a06 | 134 | if (size >= 20) |
henryrawas | 5:36916b1c5a06 | 135 | slen = 19; |
henryrawas | 5:36916b1c5a06 | 136 | strncpy(cmdbuf, buffer, slen); |
henryrawas | 5:36916b1c5a06 | 137 | cmdbuf[slen] = 0; |
henryrawas | 5:36916b1c5a06 | 138 | ControlArm((const char*)cmdbuf); |
henryrawas | 4:36a4eceb1b7f | 139 | } |
henryrawas | 4:36a4eceb1b7f | 140 | |
henryrawas | 4:36a4eceb1b7f | 141 | (*counter)++; |
henryrawas | 4:36a4eceb1b7f | 142 | return IOTHUBMESSAGE_ACCEPTED; |
henryrawas | 4:36a4eceb1b7f | 143 | } |
henryrawas | 4:36a4eceb1b7f | 144 | |
henryrawas | 4:36a4eceb1b7f | 145 | static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback) |
henryrawas | 4:36a4eceb1b7f | 146 | { |
henryrawas | 4:36a4eceb1b7f | 147 | EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback; |
henryrawas | 11:3a2e6eb9fbb8 | 148 | if (eventInstance == NULL) |
henryrawas | 11:3a2e6eb9fbb8 | 149 | { |
henryrawas | 11:3a2e6eb9fbb8 | 150 | printf("SendConfirmation with NULL context\r\n"); |
henryrawas | 11:3a2e6eb9fbb8 | 151 | return; |
henryrawas | 11:3a2e6eb9fbb8 | 152 | } |
henryrawas | 11:3a2e6eb9fbb8 | 153 | (void)printf("Confirmation[%d] received for tracking id = %d with result = %d\r\n", |
henryrawas | 11:3a2e6eb9fbb8 | 154 | eventInstance->messageHandle, eventInstance->messageTrackingId, result); |
henryrawas | 7:6723f6887d00 | 155 | |
henryrawas | 10:9b21566a5ddb | 156 | confirmTimer->stop(); |
henryrawas | 4:36a4eceb1b7f | 157 | callbackCounter++; |
henryrawas | 4:36a4eceb1b7f | 158 | IoTHubMessage_Destroy(eventInstance->messageHandle); |
henryrawas | 4:36a4eceb1b7f | 159 | |
henryrawas | 4:36a4eceb1b7f | 160 | if (callbackCounter == msgNumber) |
henryrawas | 4:36a4eceb1b7f | 161 | { |
henryrawas | 4:36a4eceb1b7f | 162 | // call SendMeasurements again in case more to send |
henryrawas | 7:6723f6887d00 | 163 | SendIothubData(); |
henryrawas | 4:36a4eceb1b7f | 164 | } |
henryrawas | 4:36a4eceb1b7f | 165 | } |
henryrawas | 4:36a4eceb1b7f | 166 | |
henryrawas | 10:9b21566a5ddb | 167 | // communication timeout |
henryrawas | 10:9b21566a5ddb | 168 | void CommunicationTO(void const * tid) |
henryrawas | 10:9b21566a5ddb | 169 | { |
henryrawas | 10:9b21566a5ddb | 170 | (void)printf("*** Iothub thread communication Timeout\r\n"); |
henryrawas | 10:9b21566a5ddb | 171 | ShowLedColor(2); |
henryrawas | 10:9b21566a5ddb | 172 | } |
henryrawas | 10:9b21566a5ddb | 173 | |
henryrawas | 7:6723f6887d00 | 174 | |
henryrawas | 4:36a4eceb1b7f | 175 | // IoT Hub thread |
henryrawas | 4:36a4eceb1b7f | 176 | static Thread* IotThread = NULL; |
henryrawas | 4:36a4eceb1b7f | 177 | static bool IotThreadClose; |
henryrawas | 4:36a4eceb1b7f | 178 | |
henryrawas | 4:36a4eceb1b7f | 179 | // entry point for ITHub sending thread |
henryrawas | 4:36a4eceb1b7f | 180 | void IothubThread(void const *args) |
henryrawas | 4:36a4eceb1b7f | 181 | { |
henryrawas | 4:36a4eceb1b7f | 182 | (void)printf("Iothub thread start\r\n"); |
henryrawas | 4:36a4eceb1b7f | 183 | IotThreadClose = false; |
henryrawas | 4:36a4eceb1b7f | 184 | IothubRobotArm iotRobot; |
henryrawas | 10:9b21566a5ddb | 185 | |
henryrawas | 10:9b21566a5ddb | 186 | confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId()); |
henryrawas | 10:9b21566a5ddb | 187 | |
henryrawas | 10:9b21566a5ddb | 188 | confirmTimer->start(SEND_CONFIRM_TO); |
henryrawas | 10:9b21566a5ddb | 189 | InitEthernet(); |
henryrawas | 10:9b21566a5ddb | 190 | confirmTimer->stop(); |
henryrawas | 10:9b21566a5ddb | 191 | |
henryrawas | 4:36a4eceb1b7f | 192 | iotRobot.Init(); |
henryrawas | 4:36a4eceb1b7f | 193 | |
henryrawas | 4:36a4eceb1b7f | 194 | while (1) |
henryrawas | 4:36a4eceb1b7f | 195 | { |
henryrawas | 4:36a4eceb1b7f | 196 | osEvent ev = Thread::signal_wait(IS_SendStatus); |
henryrawas | 4:36a4eceb1b7f | 197 | if (IotThreadClose) |
henryrawas | 4:36a4eceb1b7f | 198 | { |
henryrawas | 4:36a4eceb1b7f | 199 | (void)printf("Iothub thread close signal\r\n"); |
henryrawas | 4:36a4eceb1b7f | 200 | iotRobot.Terminate(); |
henryrawas | 4:36a4eceb1b7f | 201 | break; |
henryrawas | 4:36a4eceb1b7f | 202 | } |
henryrawas | 4:36a4eceb1b7f | 203 | else |
henryrawas | 4:36a4eceb1b7f | 204 | { |
henryrawas | 11:3a2e6eb9fbb8 | 205 | iotRobot.SendMeasurements(); |
henryrawas | 4:36a4eceb1b7f | 206 | } |
henryrawas | 4:36a4eceb1b7f | 207 | } |
henryrawas | 4:36a4eceb1b7f | 208 | } |
henryrawas | 4:36a4eceb1b7f | 209 | |
henryrawas | 4:36a4eceb1b7f | 210 | |
henryrawas | 4:36a4eceb1b7f | 211 | bool StartIothubThread() |
henryrawas | 4:36a4eceb1b7f | 212 | { |
henryrawas | 4:36a4eceb1b7f | 213 | IotThread = new Thread(IothubThread, NULL, osPriorityLow); |
henryrawas | 4:36a4eceb1b7f | 214 | return true; |
henryrawas | 4:36a4eceb1b7f | 215 | } |
henryrawas | 4:36a4eceb1b7f | 216 | |
henryrawas | 7:6723f6887d00 | 217 | bool SendIothubData() |
henryrawas | 4:36a4eceb1b7f | 218 | { |
henryrawas | 4:36a4eceb1b7f | 219 | IotThread->signal_set(IS_SendStatus); |
henryrawas | 4:36a4eceb1b7f | 220 | return true; |
henryrawas | 4:36a4eceb1b7f | 221 | } |
henryrawas | 4:36a4eceb1b7f | 222 | |
henryrawas | 4:36a4eceb1b7f | 223 | void EndIothubThread() |
henryrawas | 4:36a4eceb1b7f | 224 | { |
henryrawas | 4:36a4eceb1b7f | 225 | IotThreadClose = true; |
henryrawas | 4:36a4eceb1b7f | 226 | IotThread->signal_set(IS_SendStatus); |
henryrawas | 4:36a4eceb1b7f | 227 | } |
henryrawas | 4:36a4eceb1b7f | 228 | |
henryrawas | 10:9b21566a5ddb | 229 | |
henryrawas | 4:36a4eceb1b7f | 230 | IothubRobotArm::IothubRobotArm() |
henryrawas | 4:36a4eceb1b7f | 231 | { |
henryrawas | 4:36a4eceb1b7f | 232 | iotHubClientHandle = NULL; |
henryrawas | 4:36a4eceb1b7f | 233 | } |
henryrawas | 4:36a4eceb1b7f | 234 | |
henryrawas | 4:36a4eceb1b7f | 235 | bool IothubRobotArm::Init() |
henryrawas | 4:36a4eceb1b7f | 236 | { |
henryrawas | 5:36916b1c5a06 | 237 | receiveContext = 0; |
henryrawas | 4:36a4eceb1b7f | 238 | callbackCounter = 0; |
henryrawas | 4:36a4eceb1b7f | 239 | msgNumber = 0; |
henryrawas | 4:36a4eceb1b7f | 240 | |
henryrawas | 4:36a4eceb1b7f | 241 | // in case calling init twice without terminate |
henryrawas | 4:36a4eceb1b7f | 242 | Terminate(); |
henryrawas | 4:36a4eceb1b7f | 243 | |
henryrawas | 4:36a4eceb1b7f | 244 | (void)printf("Starting the IoTHub RobotArm sample AMQP...\r\n"); |
henryrawas | 4:36a4eceb1b7f | 245 | |
henryrawas | 4:36a4eceb1b7f | 246 | if ((iotHubClientHandle = IoTHubClient_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL) |
henryrawas | 4:36a4eceb1b7f | 247 | { |
henryrawas | 4:36a4eceb1b7f | 248 | (void)printf("ERROR: iotHubClientHandle is NULL!\r\n"); |
henryrawas | 4:36a4eceb1b7f | 249 | return false; |
henryrawas | 4:36a4eceb1b7f | 250 | } |
henryrawas | 4:36a4eceb1b7f | 251 | else |
henryrawas | 4:36a4eceb1b7f | 252 | { |
henryrawas | 4:36a4eceb1b7f | 253 | #ifdef MBED_BUILD_TIMESTAMP |
henryrawas | 4:36a4eceb1b7f | 254 | (void)printf("INFO: IoTHubClient_SetOption\r\n"); |
henryrawas | 4:36a4eceb1b7f | 255 | // For mbed add the certificate information |
henryrawas | 4:36a4eceb1b7f | 256 | if (IoTHubClient_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK) |
henryrawas | 4:36a4eceb1b7f | 257 | { |
henryrawas | 11:3a2e6eb9fbb8 | 258 | printf("failure to set option \"TrustedCerts\"\r\n"); |
henryrawas | 4:36a4eceb1b7f | 259 | return false; |
henryrawas | 4:36a4eceb1b7f | 260 | } |
henryrawas | 4:36a4eceb1b7f | 261 | #endif // MBED_BUILD_TIMESTAMP |
henryrawas | 4:36a4eceb1b7f | 262 | |
henryrawas | 4:36a4eceb1b7f | 263 | (void)printf("INFO: IoTHubClient_SetMessageCallback\r\n"); |
henryrawas | 4:36a4eceb1b7f | 264 | /* Setting Message call back, so we can receive Commands. */ |
henryrawas | 4:36a4eceb1b7f | 265 | if (IoTHubClient_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK) |
henryrawas | 4:36a4eceb1b7f | 266 | { |
henryrawas | 4:36a4eceb1b7f | 267 | (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n"); |
henryrawas | 4:36a4eceb1b7f | 268 | return false; |
henryrawas | 4:36a4eceb1b7f | 269 | } |
henryrawas | 4:36a4eceb1b7f | 270 | else |
henryrawas | 4:36a4eceb1b7f | 271 | { |
henryrawas | 4:36a4eceb1b7f | 272 | (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n"); |
henryrawas | 4:36a4eceb1b7f | 273 | } |
henryrawas | 4:36a4eceb1b7f | 274 | } |
henryrawas | 4:36a4eceb1b7f | 275 | return true; |
henryrawas | 4:36a4eceb1b7f | 276 | } |
henryrawas | 4:36a4eceb1b7f | 277 | |
henryrawas | 4:36a4eceb1b7f | 278 | void IothubRobotArm::Terminate() |
henryrawas | 4:36a4eceb1b7f | 279 | { |
henryrawas | 4:36a4eceb1b7f | 280 | if (iotHubClientHandle != NULL) |
henryrawas | 4:36a4eceb1b7f | 281 | { |
henryrawas | 4:36a4eceb1b7f | 282 | IoTHubClient_Destroy(iotHubClientHandle); |
henryrawas | 4:36a4eceb1b7f | 283 | iotHubClientHandle = NULL; |
henryrawas | 4:36a4eceb1b7f | 284 | } |
henryrawas | 4:36a4eceb1b7f | 285 | } |
henryrawas | 4:36a4eceb1b7f | 286 | |
henryrawas | 4:36a4eceb1b7f | 287 | |
henryrawas | 4:36a4eceb1b7f | 288 | void IothubRobotArm::SendMeasurements(void) |
henryrawas | 4:36a4eceb1b7f | 289 | { |
henryrawas | 5:36916b1c5a06 | 290 | // send until circular buf empty or no sending buffers avail |
henryrawas | 5:36916b1c5a06 | 291 | // may drop message if confirmations are slow |
henryrawas | 5:36916b1c5a06 | 292 | while (msgNumber - callbackCounter < MESSAGE_COUNT) |
henryrawas | 5:36916b1c5a06 | 293 | { |
henryrawas | 5:36916b1c5a06 | 294 | // get buffer from array |
henryrawas | 5:36916b1c5a06 | 295 | int i = msgNumber % MESSAGE_COUNT; |
henryrawas | 4:36a4eceb1b7f | 296 | |
henryrawas | 7:6723f6887d00 | 297 | int msglen = 0; |
henryrawas | 7:6723f6887d00 | 298 | bool ismeasure = false; |
henryrawas | 7:6723f6887d00 | 299 | // get alert if any, otherwise get measure data |
henryrawas | 7:6723f6887d00 | 300 | msglen = msgSerialize.AlertBufToString(msgText, MESSAGE_LEN); |
henryrawas | 7:6723f6887d00 | 301 | if (msglen == 0) |
henryrawas | 7:6723f6887d00 | 302 | { |
henryrawas | 7:6723f6887d00 | 303 | ismeasure = true; |
henryrawas | 7:6723f6887d00 | 304 | msglen = msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN); |
henryrawas | 7:6723f6887d00 | 305 | } |
henryrawas | 7:6723f6887d00 | 306 | |
henryrawas | 4:36a4eceb1b7f | 307 | if (msglen > 0) |
henryrawas | 4:36a4eceb1b7f | 308 | { |
henryrawas | 4:36a4eceb1b7f | 309 | if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL) |
henryrawas | 4:36a4eceb1b7f | 310 | { |
henryrawas | 4:36a4eceb1b7f | 311 | (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n"); |
henryrawas | 4:36a4eceb1b7f | 312 | } |
henryrawas | 4:36a4eceb1b7f | 313 | else |
henryrawas | 4:36a4eceb1b7f | 314 | { |
henryrawas | 4:36a4eceb1b7f | 315 | messages[i].messageTrackingId = msgNumber; |
henryrawas | 4:36a4eceb1b7f | 316 | |
henryrawas | 10:9b21566a5ddb | 317 | confirmTimer->stop(); |
henryrawas | 10:9b21566a5ddb | 318 | |
henryrawas | 4:36a4eceb1b7f | 319 | if (IoTHubClient_SendEventAsync(iotHubClientHandle, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK) |
henryrawas | 4:36a4eceb1b7f | 320 | { |
henryrawas | 4:36a4eceb1b7f | 321 | (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n"); |
henryrawas | 4:36a4eceb1b7f | 322 | } |
henryrawas | 4:36a4eceb1b7f | 323 | else |
henryrawas | 4:36a4eceb1b7f | 324 | { |
henryrawas | 10:9b21566a5ddb | 325 | confirmTimer->start(SEND_CONFIRM_TO); |
henryrawas | 7:6723f6887d00 | 326 | if (ismeasure) |
henryrawas | 7:6723f6887d00 | 327 | (void)printf("IoTHubClient_SendEventAsync sending data to IoT Hub. tracking id: %d, bytes: %d\r\n", msgNumber, msglen); |
henryrawas | 7:6723f6887d00 | 328 | else |
henryrawas | 7:6723f6887d00 | 329 | (void)printf("IoTHubClient_SendEventAsync sending alert to IoT Hub. tracking id: %d, bytes: %d\r\n", msgNumber, msglen); |
henryrawas | 4:36a4eceb1b7f | 330 | } |
henryrawas | 4:36a4eceb1b7f | 331 | msgNumber++; |
henryrawas | 4:36a4eceb1b7f | 332 | } |
henryrawas | 4:36a4eceb1b7f | 333 | } |
henryrawas | 4:36a4eceb1b7f | 334 | else if (msglen == 0) |
henryrawas | 4:36a4eceb1b7f | 335 | { |
henryrawas | 4:36a4eceb1b7f | 336 | break; |
henryrawas | 4:36a4eceb1b7f | 337 | } |
henryrawas | 4:36a4eceb1b7f | 338 | else if (msglen < 0) |
henryrawas | 4:36a4eceb1b7f | 339 | { |
henryrawas | 4:36a4eceb1b7f | 340 | (void)printf("ERROR: Serialized message too big for buffer\r\n"); |
henryrawas | 4:36a4eceb1b7f | 341 | break; |
henryrawas | 4:36a4eceb1b7f | 342 | } |
henryrawas | 4:36a4eceb1b7f | 343 | } // while |
henryrawas | 4:36a4eceb1b7f | 344 | |
henryrawas | 4:36a4eceb1b7f | 345 | } |
henryrawas | 7:6723f6887d00 | 346 |