Diff: IothubRobotArm.cpp

Revision:

5:36916b1c5a06

Parent:

4:36a4eceb1b7f

Child:

7:6723f6887d00

--- a/IothubRobotArm.cpp	Wed Dec 23 18:34:06 2015 +0000
+++ b/IothubRobotArm.cpp	Mon Dec 28 17:19:37 2015 +0000
@@ -16,9 +16,9 @@
 #include "certs.h"
 #endif // MBED_BUILD_TIMESTAMP
 
+// TODO: move to config file
 static const char* connectionString = "HostName=HenryrIot.azure-devices.net;DeviceId=RobotArm;SharedAccessKey=FUTqsobGrV0ldHbnmOKluN6W90FG1G5z/jnhz+Gr53k=";
-static int callbackCounter;
-static int msgNumber;
+
 
 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
 
@@ -28,15 +28,39 @@
     int messageTrackingId;  // For tracking the messages within the user callback.
 } EVENT_INSTANCE;
 
+// message buffers to use
+#define MESSAGE_LEN 1024
+static char msgText[MESSAGE_LEN];
+static char propText[MESSAGE_LEN];
+#define MESSAGE_COUNT 10
+EVENT_INSTANCE messages[MESSAGE_COUNT];
+
+// context for send & receive
+static int receiveContext;
+static int callbackCounter;
+static int msgNumber;
+
+static  IOTHUB_CLIENT_HANDLE iotHubClientHandle;
+
+
+extern void ControlArm(const char* cmd);
+
 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
 {
     int* counter = (int*)userContextCallback;
     const char* buffer;
     size_t size;
-
+    char cmdbuf[20];
+    
     if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
     {
-        (void)printf("Received Message [%d] with Data: <<<%.*s>>> & Size=%d\r\n", *counter, (int)size, buffer, (int)size);
+        (void)printf("Received Message [%d] with Data: <%.*s> & Size=%d\r\n", (int)size, *counter, buffer, (int)size);
+        int slen = size;
+        if (size >= 20)
+            slen = 19;
+        strncpy(cmdbuf, buffer, slen);
+        cmdbuf[slen] = 0;
+        ControlArm((const char*)cmdbuf);
     }
 
     // Retrieve properties from the message
@@ -144,7 +168,7 @@
 
 bool IothubRobotArm::Init()
 {
-    int receiveContext = 0;
+    receiveContext = 0;
     callbackCounter = 0;
     msgNumber = 0;
     
@@ -194,25 +218,20 @@
     }
 }
 
-#define MESSAGE_LEN 1024
-static char msgText[MESSAGE_LEN];
-static char propText[MESSAGE_LEN];
-#define MESSAGE_COUNT 10
 
 void IothubRobotArm::SendMeasurements(void)
 {
-    EVENT_INSTANCE messages[MESSAGE_COUNT];
-
-    int i = 0;
+    // send until circular buf empty or no sending buffers avail
+    // may drop message if confirmations are slow
+    while (msgNumber - callbackCounter < MESSAGE_COUNT)
+    {
+        // get buffer from array
+        int i = msgNumber % MESSAGE_COUNT;
     
-    // send until circular buf empty or send buffer max
-    while (i < MESSAGE_COUNT)
-    {
         int msglen = msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
 
         if (msglen > 0)
         {
-            (void)printf("Sending data bytes %d\r\n", msglen);
             if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
             {
                 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
@@ -234,14 +253,13 @@
                 }
                 else
                 {
-                    (void)printf("IoTHubClient_SendEventAsync accepted data for transmission to IoT Hub. bytes: %d\r\n", msglen);
+                    (void)printf("IoTHubClient_SendEventAsync accepted transmission to IoT Hub. tracking id: %d,  bytes: %d\r\n", msgNumber, msglen);
                 }
                 msgNumber++;
             }
         }
         else if (msglen == 0)
         {
-            (void)printf("No more data to send \r\n");
             break;
         }
         else if (msglen < 0)