Diff: IothubRobotArm.cpp

Revision:

21:051751f9ca9e

Parent:

18:224289104fc0

Child:

23:381b6c77a6a0

--- a/IothubRobotArm.cpp	Tue Jan 26 17:34:51 2016 +0000
+++ b/IothubRobotArm.cpp	Tue Jan 26 20:19:43 2016 +0000
@@ -9,7 +9,7 @@
 #include "mbed/mbedtime.h"
 #include <NTPClient.h>
 
-#include "iothub_client.h"
+#include "iothub_mod_client.h"
 #include "iothub_message.h"
 #include "threadapi.h"
 #include "crt_abstractions.h"
@@ -107,7 +107,7 @@
 
 // a larger MESSAGE_COUNT results in being able to send as data is available
 // but requires more heap space to hold buffers
-#define MESSAGE_COUNT       2
+#define MESSAGE_COUNT       4
 EVENT_INSTANCE messages[MESSAGE_COUNT];
 
 // sending thread timeout
@@ -125,6 +125,9 @@
 #define SEND_CONFIRM_TO  30000
 RtosTimer* confirmTimer;
 
+// object for IoTHub interface
+IothubRobotArm iotRobot;
+
 
 // pass received commands to device
 extern void ControlArmCommands(const char* cmd);
@@ -171,6 +174,12 @@
     IoTHubMessage_Destroy(eventInstance->messageHandle);
 }
 
+
+static void SendCallback(IOTHUB_CLIENT_HANDLE iotHubClientHandle, void* userContextCallback)
+{
+    iotRobot.SendMessage(iotHubClientHandle, userContextCallback);
+}
+
 // communication timeout
 void CommunicationTO(void const * tid)
 {
@@ -178,59 +187,26 @@
     ShowLedColor(2);
 }
 
-
-// IoT Hub thread
-static THREAD_HANDLE IotThread;
-static bool IotThreadClose;
-
-// entry point for ITHub sending thread
-int IothubThread(void *args)
-{
-    (void)printf("Iothub thread start\r\n");
-    IotThreadClose = false;
-    IothubRobotArm iotRobot;
- 
-    confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
-  
-    iotRobot.Init();
-    // wait for connection establishment for SSL
-    ThreadAPI_Sleep(15000);
-    
-    while (1)
-    {
-        if (IotThreadClose)
-        {
-            (void)printf("Iothub thread close\r\n");
-            iotRobot.Terminate();
-            break;
-        }
-        else
-        {
-            iotRobot.SendMessage();
-        }
-        ThreadAPI_Sleep(SEND_POLL_MS);        
-    }
-    
-    return 0;
-}
-
-
+// entry point to start IoTHub connection
 bool StartIothubThread()
 {
     InitEthernet();
     
-    ThreadAPI_Create(&IotThread, IothubThread, NULL);
+    confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
+  
+    iotRobot.Init();
  
     return true;
 }
 
-
+// stop IoTHub connection
 void EndIothubThread()
 {
-    IotThreadClose = true;
+    iotRobot.Terminate();
 }
 
-
+// IoTHub connection for RobotArm
+// sends and receives messages between RobotArm and IoTHub
 IothubRobotArm::IothubRobotArm()
 {
     iotHubClientHandle = NULL;
@@ -244,7 +220,7 @@
     
     (void)printf("Starting the IoTHub RobotArm sample AMQP...\r\n");
 
-    if ((iotHubClientHandle = IoTHubClient_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
+    if ((iotHubClientHandle = IoTHubClient_Mod_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
     {
         (void)printf("ERROR: iotHubClientHandle is NULL!\r\n");
         return false;
@@ -254,16 +230,15 @@
 #ifdef MBED_BUILD_TIMESTAMP
         (void)printf("INFO: IoTHubClient_SetOption\r\n");
         // For mbed add the certificate information
-        if (IoTHubClient_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
+        if (IoTHubClient_Mod_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
         {
             printf("failure to set option \"TrustedCerts\"\r\n");
             return false;
         }
 #endif // MBED_BUILD_TIMESTAMP
 
-        (void)printf("INFO: IoTHubClient_SetMessageCallback\r\n");
         /* Setting Message call back, so we can receive Commands. */
-        if (IoTHubClient_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
+        if (IoTHubClient_Mod_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
         {
             (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n");
             return false;
@@ -272,6 +247,17 @@
         {
             (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n");
         }
+
+        /* Setting Send call back, so we can send from worker thread. */
+        if (IoTHubClient_Mod_SetSendCallback(iotHubClientHandle, SendCallback, &receiveContext) != IOTHUB_CLIENT_OK)
+        {
+            (void)printf("ERROR: IoTHubClient_SetSendCallback..........FAILED!\r\n");
+            return false;
+        }
+        else
+        {
+            (void)printf("IoTHubClient_SetSendCallback...successful.\r\n");
+        }
     }
     return true;
 }
@@ -280,13 +266,13 @@
 {
     if (iotHubClientHandle != NULL)
     {
-        IoTHubClient_Destroy(iotHubClientHandle);
+        IoTHubClient_Mod_Destroy(iotHubClientHandle);
         iotHubClientHandle = NULL;
     }
 }
 
-
-void IothubRobotArm::SendMessage(void)
+// Invoked from callback
+void IothubRobotArm::SendMessage(IOTHUB_CLIENT_HANDLE iotHubClient, void* userContextCallback)
 {
     // send until circular buf empty or no sending buffers avail
     // may drop message if confirmations are slow
@@ -313,9 +299,9 @@
             else
             {
                 messages[i].messageTrackingId = msgNumber;
-                
+
                 confirmTimer->stop();
-                if (IoTHubClient_SendEventAsync(iotHubClientHandle, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
+                if (IoTHubClient_Mod_SendEventAsync(iotHubClient, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
                 {
                     (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
                 }