demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
IothubRobotArm.cpp
- Committer:
- henryrawas
- Date:
- 2015-12-28
- Revision:
- 5:36916b1c5a06
- Parent:
- 4:36a4eceb1b7f
- Child:
- 7:6723f6887d00
File content as of revision 5:36916b1c5a06:
// Copyright (c) Microsoft. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for full license information. #include "mbed.h" #include "rtos.h" #include "iothub_client.h" #include "iothub_message.h" #include "crt_abstractions.h" #include "iothubtransportamqp.h" #include "MeasureBuf.h" #include "IothubRobotArm.h" #include "IothubSerial.h" #ifdef MBED_BUILD_TIMESTAMP #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="; DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES); typedef struct EVENT_INSTANCE_TAG { IOTHUB_MESSAGE_HANDLE messageHandle; 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", (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 MAP_HANDLE mapProperties = IoTHubMessage_Properties(message); if (mapProperties != NULL) { const char*const* keys; const char*const* values; size_t propertyCount = 0; if (Map_GetInternals(mapProperties, &keys, &values, &propertyCount) == MAP_OK) { if (propertyCount > 0) { printf("Message Properties:\r\n"); for (size_t index = 0; index < propertyCount; index++) { printf("\tKey: %s Value: %s\r\n", keys[index], values[index]); } printf("\r\n"); } } } /* Some device specific action code goes here... */ (*counter)++; return IOTHUBMESSAGE_ACCEPTED; } static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback) { EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback; (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)); /* Some device specific action code goes here... */ callbackCounter++; IoTHubMessage_Destroy(eventInstance->messageHandle); if (callbackCounter == msgNumber) { // call SendMeasurements again in case more to send } } // IoT Hub thread static Thread* IotThread = NULL; static bool IotThreadClose; // entry point for ITHub sending thread void IothubThread(void const *args) { (void)printf("Iothub thread start\r\n"); IotThreadClose = false; IothubRobotArm iotRobot; iotRobot.Init(); while (1) { (void)printf("Iothub thread wait signal\r\n"); osEvent ev = Thread::signal_wait(IS_SendStatus); //if ((ev.value.signals & IS_Close) == IS_Close) if (IotThreadClose) { (void)printf("Iothub thread close signal\r\n"); iotRobot.Terminate(); break; } else { if ((ev.value.signals & IS_SendStatus) == IS_SendStatus) { (void)printf("Iothub thread send status signal\r\n"); iotRobot.SendMeasurements(); } else { (void)printf("Iothub thread unknown signal\r\n"); } } } } bool StartIothubThread() { IotThread = new Thread(IothubThread, NULL, osPriorityLow); return true; } bool SendIothubMeasurements() { (void)printf("Iothub thread signal to send data\r\n"); IotThread->signal_set(IS_SendStatus); return true; } void EndIothubThread() { IotThreadClose = true; IotThread->signal_set(IS_SendStatus); } IothubRobotArm::IothubRobotArm() { iotHubClientHandle = NULL; } bool IothubRobotArm::Init() { receiveContext = 0; callbackCounter = 0; msgNumber = 0; // in case calling init twice without terminate Terminate(); (void)printf("Starting the IoTHub RobotArm sample AMQP...\r\n"); if ((iotHubClientHandle = IoTHubClient_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL) { (void)printf("ERROR: iotHubClientHandle is NULL!\r\n"); return false; } else { #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) { 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) { (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n"); return false; } else { (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n"); } } return true; } void IothubRobotArm::Terminate() { if (iotHubClientHandle != NULL) { IoTHubClient_Destroy(iotHubClientHandle); iotHubClientHandle = NULL; } } void IothubRobotArm::SendMeasurements(void) { // 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; int msglen = msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN); if (msglen > 0) { if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL) { (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n"); } else { messages[i].messageTrackingId = msgNumber; MAP_HANDLE propMap = IoTHubMessage_Properties(messages[i].messageHandle); sprintf_s(propText, sizeof(propText), "PropMsg_%d", msgNumber); if (Map_AddOrUpdate(propMap, "PropName", propText) != MAP_OK) { (void)printf("ERROR: Map_AddOrUpdate Failed!\r\n"); } if (IoTHubClient_SendEventAsync(iotHubClientHandle, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK) { (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n"); } else { (void)printf("IoTHubClient_SendEventAsync accepted transmission to IoT Hub. tracking id: %d, bytes: %d\r\n", msgNumber, msglen); } msgNumber++; } } else if (msglen == 0) { break; } else if (msglen < 0) { (void)printf("ERROR: Serialized message too big for buffer\r\n"); break; } } // while }