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@14:570c8071f577, 2016-01-15 (annotated)

Committer:
henryrawas
Date:
Fri Jan 15 23:10:30 2016 +0000
Revision:
14:570c8071f577
Parent:
13:ffeff9b5e513
Child:
15:4bd10f531cdc
cleanups

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 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 13:ffeff9b5e513 14 #include "threadapi.h"
henryrawas 4:36a4eceb1b7f 15 #include "crt_abstractions.h"
henryrawas 4:36a4eceb1b7f 16 #include "iothubtransportamqp.h"
henryrawas 4:36a4eceb1b7f 17 #include "MeasureBuf.h"
henryrawas 4:36a4eceb1b7f 18 #include "IothubRobotArm.h"
henryrawas 4:36a4eceb1b7f 19 #include "IothubSerial.h"
henryrawas 4:36a4eceb1b7f 20
henryrawas 4:36a4eceb1b7f 21 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 22 #include "certs.h"
henryrawas 4:36a4eceb1b7f 23 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 24
henryrawas 5:36916b1c5a06 25 // TODO: move to config file
henryrawas 4:36a4eceb1b7f 26 static const char* connectionString = "HostName=HenryrIot.azure-devices.net;DeviceId=RobotArm;SharedAccessKey=FUTqsobGrV0ldHbnmOKluN6W90FG1G5z/jnhz+Gr53k=";
henryrawas 5:36916b1c5a06 27
henryrawas 10:9b21566a5ddb 28 extern void ShowLedColor(int col);
henryrawas 10:9b21566a5ddb 29
henryrawas 10:9b21566a5ddb 30 int setupRealTime(void)
henryrawas 10:9b21566a5ddb 31 {
henryrawas 10:9b21566a5ddb 32 int result;
henryrawas 10:9b21566a5ddb 33
henryrawas 10:9b21566a5ddb 34 (void)printf("setupRealTime begin\r\n");
henryrawas 10:9b21566a5ddb 35 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 36 {
henryrawas 10:9b21566a5ddb 37 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 38 result = __LINE__;
henryrawas 10:9b21566a5ddb 39 }
henryrawas 10:9b21566a5ddb 40 else
henryrawas 10:9b21566a5ddb 41 {
henryrawas 10:9b21566a5ddb 42 (void)printf("setupRealTime NTP begin\r\n");
henryrawas 10:9b21566a5ddb 43 NTPClient ntp;
henryrawas 10:9b21566a5ddb 44 if (ntp.setTime("0.pool.ntp.org") != 0)
henryrawas 10:9b21566a5ddb 45 {
henryrawas 10:9b21566a5ddb 46 (void)printf("Failed setting time.\r\n");
henryrawas 10:9b21566a5ddb 47 result = __LINE__;
henryrawas 10:9b21566a5ddb 48 }
henryrawas 10:9b21566a5ddb 49 else
henryrawas 10:9b21566a5ddb 50 {
henryrawas 10:9b21566a5ddb 51 (void)printf("set time correctly!\r\n");
henryrawas 10:9b21566a5ddb 52 result = 0;
henryrawas 10:9b21566a5ddb 53 }
henryrawas 10:9b21566a5ddb 54 (void)printf("setupRealTime NTP end\r\n");
henryrawas 10:9b21566a5ddb 55 EthernetInterface::disconnect();
henryrawas 10:9b21566a5ddb 56 }
henryrawas 10:9b21566a5ddb 57 (void)printf("setupRealTime end\r\n");
henryrawas 10:9b21566a5ddb 58
henryrawas 10:9b21566a5ddb 59 return result;
henryrawas 10:9b21566a5ddb 60 }
henryrawas 10:9b21566a5ddb 61
henryrawas 10:9b21566a5ddb 62 int InitEthernet()
henryrawas 10:9b21566a5ddb 63 {
henryrawas 10:9b21566a5ddb 64 (void)printf("Initializing ethernet..\r\n");
henryrawas 10:9b21566a5ddb 65
henryrawas 10:9b21566a5ddb 66 /* These are needed in order to initialize the time provider for Proton-C */
henryrawas 10:9b21566a5ddb 67 mbed_log_init();
henryrawas 10:9b21566a5ddb 68 mbedtime_init();
henryrawas 10:9b21566a5ddb 69
henryrawas 10:9b21566a5ddb 70 if (EthernetInterface::init())
henryrawas 10:9b21566a5ddb 71 {
henryrawas 10:9b21566a5ddb 72 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 73 return -1;
henryrawas 10:9b21566a5ddb 74 }
henryrawas 10:9b21566a5ddb 75
henryrawas 10:9b21566a5ddb 76 if (setupRealTime() != 0)
henryrawas 10:9b21566a5ddb 77 {
henryrawas 10:9b21566a5ddb 78 (void)printf("Failed setting up real time clock\r\n");
henryrawas 10:9b21566a5ddb 79 return -1;
henryrawas 10:9b21566a5ddb 80 }
henryrawas 10:9b21566a5ddb 81
henryrawas 10:9b21566a5ddb 82 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 83 {
henryrawas 10:9b21566a5ddb 84 (void)printf("Error connecting EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 85 return -1;
henryrawas 10:9b21566a5ddb 86 }
henryrawas 10:9b21566a5ddb 87
henryrawas 10:9b21566a5ddb 88 return 0;
henryrawas 10:9b21566a5ddb 89 }
henryrawas 10:9b21566a5ddb 90
henryrawas 4:36a4eceb1b7f 91
henryrawas 4:36a4eceb1b7f 92 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
henryrawas 4:36a4eceb1b7f 93
henryrawas 4:36a4eceb1b7f 94 typedef struct EVENT_INSTANCE_TAG
henryrawas 4:36a4eceb1b7f 95 {
henryrawas 4:36a4eceb1b7f 96 IOTHUB_MESSAGE_HANDLE messageHandle;
henryrawas 4:36a4eceb1b7f 97 int messageTrackingId; // For tracking the messages within the user callback.
henryrawas 4:36a4eceb1b7f 98 } EVENT_INSTANCE;
henryrawas 4:36a4eceb1b7f 99
henryrawas 13:ffeff9b5e513 100
henryrawas 5:36916b1c5a06 101 // message buffers to use
henryrawas 13:ffeff9b5e513 102 #define MESSAGE_LEN 1024
henryrawas 5:36916b1c5a06 103 static char msgText[MESSAGE_LEN];
henryrawas 13:ffeff9b5e513 104
henryrawas 13:ffeff9b5e513 105 #define MESSAGE_COUNT 2
henryrawas 13:ffeff9b5e513 106 EVENT_INSTANCE messages[MESSAGE_COUNT];
henryrawas 7:6723f6887d00 107
henryrawas 13:ffeff9b5e513 108 // send thread poll ms
henryrawas 13:ffeff9b5e513 109 #define SEND_POLL_MS 500
henryrawas 13:ffeff9b5e513 110
henryrawas 5:36916b1c5a06 111
henryrawas 5:36916b1c5a06 112 // context for send & receive
henryrawas 5:36916b1c5a06 113 static int receiveContext;
henryrawas 5:36916b1c5a06 114 static int callbackCounter;
henryrawas 5:36916b1c5a06 115 static int msgNumber;
henryrawas 5:36916b1c5a06 116
henryrawas 7:6723f6887d00 117
henryrawas 5:36916b1c5a06 118 static IOTHUB_CLIENT_HANDLE iotHubClientHandle;
henryrawas 5:36916b1c5a06 119
henryrawas 10:9b21566a5ddb 120 // used to detect send confirmation timeout
henryrawas 10:9b21566a5ddb 121 #define SEND_CONFIRM_TO 30000
henryrawas 10:9b21566a5ddb 122 RtosTimer* confirmTimer;
henryrawas 10:9b21566a5ddb 123
henryrawas 10:9b21566a5ddb 124
henryrawas 5:36916b1c5a06 125
henryrawas 14:570c8071f577 126 extern void ControlArmCommands(const char* cmd);
henryrawas 5:36916b1c5a06 127
henryrawas 4:36a4eceb1b7f 128 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 129 {
henryrawas 4:36a4eceb1b7f 130 int* counter = (int*)userContextCallback;
henryrawas 4:36a4eceb1b7f 131 const char* buffer;
henryrawas 4:36a4eceb1b7f 132 size_t size;
henryrawas 5:36916b1c5a06 133 char cmdbuf[20];
henryrawas 5:36916b1c5a06 134
henryrawas 4:36a4eceb1b7f 135 if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
henryrawas 4:36a4eceb1b7f 136 {
henryrawas 5:36916b1c5a06 137 int slen = size;
henryrawas 13:ffeff9b5e513 138
henryrawas 5:36916b1c5a06 139 if (size >= 20)
henryrawas 5:36916b1c5a06 140 slen = 19;
henryrawas 5:36916b1c5a06 141 strncpy(cmdbuf, buffer, slen);
henryrawas 5:36916b1c5a06 142 cmdbuf[slen] = 0;
henryrawas 13:ffeff9b5e513 143 (void)printf(cmdbuf);
henryrawas 13:ffeff9b5e513 144 (void)printf("\r\n");
henryrawas 14:570c8071f577 145 ControlArmCommands((const char*)cmdbuf);
henryrawas 4:36a4eceb1b7f 146 }
henryrawas 4:36a4eceb1b7f 147
henryrawas 4:36a4eceb1b7f 148 (*counter)++;
henryrawas 4:36a4eceb1b7f 149 return IOTHUBMESSAGE_ACCEPTED;
henryrawas 4:36a4eceb1b7f 150 }
henryrawas 4:36a4eceb1b7f 151
henryrawas 4:36a4eceb1b7f 152 static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 153 {
henryrawas 4:36a4eceb1b7f 154 EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback;
henryrawas 11:3a2e6eb9fbb8 155 if (eventInstance == NULL)
henryrawas 11:3a2e6eb9fbb8 156 {
henryrawas 11:3a2e6eb9fbb8 157 printf("SendConfirmation with NULL context\r\n");
henryrawas 11:3a2e6eb9fbb8 158 return;
henryrawas 11:3a2e6eb9fbb8 159 }
henryrawas 13:ffeff9b5e513 160
henryrawas 13:ffeff9b5e513 161 (void)printf("Confirmation received\r\n");
henryrawas 7:6723f6887d00 162
henryrawas 10:9b21566a5ddb 163 confirmTimer->stop();
henryrawas 4:36a4eceb1b7f 164 callbackCounter++;
henryrawas 4:36a4eceb1b7f 165 IoTHubMessage_Destroy(eventInstance->messageHandle);
henryrawas 4:36a4eceb1b7f 166 }
henryrawas 4:36a4eceb1b7f 167
henryrawas 10:9b21566a5ddb 168 // communication timeout
henryrawas 10:9b21566a5ddb 169 void CommunicationTO(void const * tid)
henryrawas 10:9b21566a5ddb 170 {
henryrawas 10:9b21566a5ddb 171 (void)printf("*** Iothub thread communication Timeout\r\n");
henryrawas 10:9b21566a5ddb 172 ShowLedColor(2);
henryrawas 10:9b21566a5ddb 173 }
henryrawas 10:9b21566a5ddb 174
henryrawas 7:6723f6887d00 175
henryrawas 4:36a4eceb1b7f 176 // IoT Hub thread
henryrawas 13:ffeff9b5e513 177 static THREAD_HANDLE IotThread;
henryrawas 4:36a4eceb1b7f 178 static bool IotThreadClose;
henryrawas 4:36a4eceb1b7f 179
henryrawas 4:36a4eceb1b7f 180 // entry point for ITHub sending thread
henryrawas 13:ffeff9b5e513 181 int IothubThread(void *args)
henryrawas 4:36a4eceb1b7f 182 {
henryrawas 4:36a4eceb1b7f 183 (void)printf("Iothub thread start\r\n");
henryrawas 4:36a4eceb1b7f 184 IotThreadClose = false;
henryrawas 4:36a4eceb1b7f 185 IothubRobotArm iotRobot;
henryrawas 10:9b21566a5ddb 186
henryrawas 10:9b21566a5ddb 187 confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
henryrawas 13:ffeff9b5e513 188
henryrawas 4:36a4eceb1b7f 189 iotRobot.Init();
henryrawas 13:ffeff9b5e513 190 // wait for connection establishment for SSL
henryrawas 13:ffeff9b5e513 191 ThreadAPI_Sleep(15000);
henryrawas 4:36a4eceb1b7f 192
henryrawas 4:36a4eceb1b7f 193 while (1)
henryrawas 4:36a4eceb1b7f 194 {
henryrawas 4:36a4eceb1b7f 195 if (IotThreadClose)
henryrawas 4:36a4eceb1b7f 196 {
henryrawas 13:ffeff9b5e513 197 (void)printf("Iothub thread close\r\n");
henryrawas 4:36a4eceb1b7f 198 iotRobot.Terminate();
henryrawas 4:36a4eceb1b7f 199 break;
henryrawas 4:36a4eceb1b7f 200 }
henryrawas 4:36a4eceb1b7f 201 else
henryrawas 4:36a4eceb1b7f 202 {
henryrawas 13:ffeff9b5e513 203 iotRobot.SendMessage();
henryrawas 4:36a4eceb1b7f 204 }
henryrawas 13:ffeff9b5e513 205 ThreadAPI_Sleep(SEND_POLL_MS);
henryrawas 4:36a4eceb1b7f 206 }
henryrawas 13:ffeff9b5e513 207
henryrawas 13:ffeff9b5e513 208 return 0;
henryrawas 4:36a4eceb1b7f 209 }
henryrawas 4:36a4eceb1b7f 210
henryrawas 4:36a4eceb1b7f 211
henryrawas 4:36a4eceb1b7f 212 bool StartIothubThread()
henryrawas 4:36a4eceb1b7f 213 {
henryrawas 13:ffeff9b5e513 214 InitEthernet();
henryrawas 13:ffeff9b5e513 215
henryrawas 13:ffeff9b5e513 216 ThreadAPI_Create(&IotThread, IothubThread, NULL);
henryrawas 13:ffeff9b5e513 217
henryrawas 13:ffeff9b5e513 218 //IotThread = new Thread(IothubThread, NULL, osPriorityLow);
henryrawas 4:36a4eceb1b7f 219 return true;
henryrawas 4:36a4eceb1b7f 220 }
henryrawas 4:36a4eceb1b7f 221
henryrawas 7:6723f6887d00 222 bool SendIothubData()
henryrawas 4:36a4eceb1b7f 223 {
henryrawas 4:36a4eceb1b7f 224 return true;
henryrawas 4:36a4eceb1b7f 225 }
henryrawas 4:36a4eceb1b7f 226
henryrawas 4:36a4eceb1b7f 227 void EndIothubThread()
henryrawas 4:36a4eceb1b7f 228 {
henryrawas 4:36a4eceb1b7f 229 IotThreadClose = true;
henryrawas 4:36a4eceb1b7f 230 }
henryrawas 4:36a4eceb1b7f 231
henryrawas 10:9b21566a5ddb 232
henryrawas 4:36a4eceb1b7f 233 IothubRobotArm::IothubRobotArm()
henryrawas 4:36a4eceb1b7f 234 {
henryrawas 4:36a4eceb1b7f 235 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 236 }
henryrawas 4:36a4eceb1b7f 237
henryrawas 4:36a4eceb1b7f 238 bool IothubRobotArm::Init()
henryrawas 4:36a4eceb1b7f 239 {
henryrawas 5:36916b1c5a06 240 receiveContext = 0;
henryrawas 4:36a4eceb1b7f 241 callbackCounter = 0;
henryrawas 4:36a4eceb1b7f 242 msgNumber = 0;
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 13:ffeff9b5e513 288 void IothubRobotArm::SendMessage(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 13:ffeff9b5e513 298
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 msglen = msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 304 }
henryrawas 7:6723f6887d00 305
henryrawas 4:36a4eceb1b7f 306 if (msglen > 0)
henryrawas 4:36a4eceb1b7f 307 {
henryrawas 4:36a4eceb1b7f 308 if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
henryrawas 4:36a4eceb1b7f 309 {
henryrawas 4:36a4eceb1b7f 310 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 311 }
henryrawas 4:36a4eceb1b7f 312 else
henryrawas 4:36a4eceb1b7f 313 {
henryrawas 4:36a4eceb1b7f 314 messages[i].messageTrackingId = msgNumber;
henryrawas 4:36a4eceb1b7f 315
henryrawas 10:9b21566a5ddb 316 confirmTimer->stop();
henryrawas 4:36a4eceb1b7f 317 if (IoTHubClient_SendEventAsync(iotHubClientHandle, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 318 {
henryrawas 4:36a4eceb1b7f 319 (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 320 }
henryrawas 4:36a4eceb1b7f 321 else
henryrawas 4:36a4eceb1b7f 322 {
henryrawas 10:9b21566a5ddb 323 confirmTimer->start(SEND_CONFIRM_TO);
henryrawas 13:ffeff9b5e513 324 (void)printf("Send async completed\r\n");
henryrawas 4:36a4eceb1b7f 325 }
henryrawas 4:36a4eceb1b7f 326 msgNumber++;
henryrawas 4:36a4eceb1b7f 327 }
henryrawas 4:36a4eceb1b7f 328 }
henryrawas 4:36a4eceb1b7f 329 else if (msglen == 0)
henryrawas 4:36a4eceb1b7f 330 {
henryrawas 13:ffeff9b5e513 331 break;
henryrawas 4:36a4eceb1b7f 332 }
henryrawas 4:36a4eceb1b7f 333 else if (msglen < 0)
henryrawas 4:36a4eceb1b7f 334 {
henryrawas 4:36a4eceb1b7f 335 (void)printf("ERROR: Serialized message too big for buffer\r\n");
henryrawas 4:36a4eceb1b7f 336 break;
henryrawas 4:36a4eceb1b7f 337 }
henryrawas 4:36a4eceb1b7f 338 } // while
henryrawas 4:36a4eceb1b7f 339
henryrawas 4:36a4eceb1b7f 340 }
henryrawas 7:6723f6887d00 341