irobotSensorPoll.cpp

00001 #include "irobotOpcode.h"
00002 #include "irobotSensor.h"
00003 #include "irobotSensorPoll.h"
00004 #include "xqueue.h"
00005 
00006 int32_t irobotSensorPollSensorGroup6(
00007     const irobotUARTPort_t  port,
00008     irobotSensorGroup6_t *  const sensorGroup6
00009 ){
00010     int32_t status = ERROR_SUCCESS;
00011 
00012     // initialize communications buffer
00013     uint8_t txBuffer[OP_SENSORS_SIZE];
00014     uint8_t rxQueueBuffer[SENSOR_SIZE_UPPER_BOUND] = {0x00};
00015     xqueue_t rxQueue;
00016     xqueue_init(&rxQueue, rxQueueBuffer, SENSOR_SIZE_UPPER_BOUND);
00017 
00018     // check for NULL pointer
00019     if(!sensorGroup6){
00020         return ERROR_INVALID_PARAMETER;
00021     }
00022 
00023     // request packet
00024     txBuffer[0] = OP_SENSORS;
00025     txBuffer[1] = SENSOR_GROUP6;
00026     irobot_StatusMerge(&status, irobotUARTWriteRaw(port, txBuffer, OP_SENSORS_SIZE));
00027     
00028     // receive response
00029     if(!irobot_IsError(status)){
00030         irobot_StatusMerge(&status, irobotUARTRead(port, &rxQueue, SENSOR_GROUP6_SIZE));
00031     }
00032 
00033     // read response
00034     if(!irobot_IsError(status)){
00035         irobot_StatusMerge(&status, irobotReadSensorGroup6(&rxQueue, sensorGroup6));
00036     }
00037 
00038     return status;
00039 }