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@23:381b6c77a6a0, 2016-01-26 (annotated)

Committer:
henryrawas
Date:
Tue Jan 26 20:26:24 2016 +0000
Revision:
23:381b6c77a6a0
Parent:
21:051751f9ca9e
Child:
24:f6aa0e64c5e1
replace connection string

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 21:051751f9ca9e 12 #include "iothub_mod_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 18:224289104fc0 17
henryrawas 4:36a4eceb1b7f 18 #include "MeasureBuf.h"
henryrawas 4:36a4eceb1b7f 19 #include "IothubRobotArm.h"
henryrawas 4:36a4eceb1b7f 20 #include "IothubSerial.h"
henryrawas 4:36a4eceb1b7f 21
henryrawas 4:36a4eceb1b7f 22 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 23 #include "certs.h"
henryrawas 4:36a4eceb1b7f 24 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 25
henryrawas 5:36916b1c5a06 26 // TODO: move to config file
henryrawas 23:381b6c77a6a0 27 static const char* connectionString = "[Insert ITHub connection string here]";
henryrawas 5:36916b1c5a06 28
henryrawas 10:9b21566a5ddb 29 extern void ShowLedColor(int col);
henryrawas 10:9b21566a5ddb 30
henryrawas 15:4bd10f531cdc 31 // method to initialize platform - Time of day
henryrawas 10:9b21566a5ddb 32 int setupRealTime(void)
henryrawas 10:9b21566a5ddb 33 {
henryrawas 10:9b21566a5ddb 34 int result;
henryrawas 10:9b21566a5ddb 35
henryrawas 10:9b21566a5ddb 36 (void)printf("setupRealTime begin\r\n");
henryrawas 10:9b21566a5ddb 37 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 38 {
henryrawas 10:9b21566a5ddb 39 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 40 result = __LINE__;
henryrawas 10:9b21566a5ddb 41 }
henryrawas 10:9b21566a5ddb 42 else
henryrawas 10:9b21566a5ddb 43 {
henryrawas 10:9b21566a5ddb 44 (void)printf("setupRealTime NTP begin\r\n");
henryrawas 10:9b21566a5ddb 45 NTPClient ntp;
henryrawas 10:9b21566a5ddb 46 if (ntp.setTime("0.pool.ntp.org") != 0)
henryrawas 10:9b21566a5ddb 47 {
henryrawas 10:9b21566a5ddb 48 (void)printf("Failed setting time.\r\n");
henryrawas 10:9b21566a5ddb 49 result = __LINE__;
henryrawas 10:9b21566a5ddb 50 }
henryrawas 10:9b21566a5ddb 51 else
henryrawas 10:9b21566a5ddb 52 {
henryrawas 10:9b21566a5ddb 53 (void)printf("set time correctly!\r\n");
henryrawas 10:9b21566a5ddb 54 result = 0;
henryrawas 10:9b21566a5ddb 55 }
henryrawas 10:9b21566a5ddb 56 (void)printf("setupRealTime NTP end\r\n");
henryrawas 10:9b21566a5ddb 57 EthernetInterface::disconnect();
henryrawas 10:9b21566a5ddb 58 }
henryrawas 10:9b21566a5ddb 59 (void)printf("setupRealTime end\r\n");
henryrawas 10:9b21566a5ddb 60
henryrawas 10:9b21566a5ddb 61 return result;
henryrawas 10:9b21566a5ddb 62 }
henryrawas 10:9b21566a5ddb 63
henryrawas 15:4bd10f531cdc 64 // method to initialize platform - Ethernet
henryrawas 10:9b21566a5ddb 65 int InitEthernet()
henryrawas 10:9b21566a5ddb 66 {
henryrawas 10:9b21566a5ddb 67 (void)printf("Initializing ethernet..\r\n");
henryrawas 10:9b21566a5ddb 68
henryrawas 10:9b21566a5ddb 69 /* These are needed in order to initialize the time provider for Proton-C */
henryrawas 10:9b21566a5ddb 70 mbed_log_init();
henryrawas 10:9b21566a5ddb 71 mbedtime_init();
henryrawas 10:9b21566a5ddb 72
henryrawas 10:9b21566a5ddb 73 if (EthernetInterface::init())
henryrawas 10:9b21566a5ddb 74 {
henryrawas 10:9b21566a5ddb 75 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 76 return -1;
henryrawas 10:9b21566a5ddb 77 }
henryrawas 10:9b21566a5ddb 78
henryrawas 10:9b21566a5ddb 79 if (setupRealTime() != 0)
henryrawas 10:9b21566a5ddb 80 {
henryrawas 10:9b21566a5ddb 81 (void)printf("Failed setting up real time clock\r\n");
henryrawas 10:9b21566a5ddb 82 return -1;
henryrawas 10:9b21566a5ddb 83 }
henryrawas 10:9b21566a5ddb 84
henryrawas 10:9b21566a5ddb 85 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 86 {
henryrawas 10:9b21566a5ddb 87 (void)printf("Error connecting EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 88 return -1;
henryrawas 10:9b21566a5ddb 89 }
henryrawas 10:9b21566a5ddb 90
henryrawas 10:9b21566a5ddb 91 return 0;
henryrawas 10:9b21566a5ddb 92 }
henryrawas 10:9b21566a5ddb 93
henryrawas 15:4bd10f531cdc 94 // IoTHub SDK stuff
henryrawas 4:36a4eceb1b7f 95 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
henryrawas 4:36a4eceb1b7f 96
henryrawas 4:36a4eceb1b7f 97 typedef struct EVENT_INSTANCE_TAG
henryrawas 4:36a4eceb1b7f 98 {
henryrawas 4:36a4eceb1b7f 99 IOTHUB_MESSAGE_HANDLE messageHandle;
henryrawas 4:36a4eceb1b7f 100 int messageTrackingId; // For tracking the messages within the user callback.
henryrawas 4:36a4eceb1b7f 101 } EVENT_INSTANCE;
henryrawas 4:36a4eceb1b7f 102
henryrawas 13:ffeff9b5e513 103
henryrawas 5:36916b1c5a06 104 // message buffers to use
henryrawas 13:ffeff9b5e513 105 #define MESSAGE_LEN 1024
henryrawas 5:36916b1c5a06 106 static char msgText[MESSAGE_LEN];
henryrawas 13:ffeff9b5e513 107
henryrawas 15:4bd10f531cdc 108 // a larger MESSAGE_COUNT results in being able to send as data is available
henryrawas 15:4bd10f531cdc 109 // but requires more heap space to hold buffers
henryrawas 21:051751f9ca9e 110 #define MESSAGE_COUNT 4
henryrawas 13:ffeff9b5e513 111 EVENT_INSTANCE messages[MESSAGE_COUNT];
henryrawas 7:6723f6887d00 112
henryrawas 15:4bd10f531cdc 113 // sending thread timeout
henryrawas 13:ffeff9b5e513 114 #define SEND_POLL_MS 500
henryrawas 13:ffeff9b5e513 115
henryrawas 5:36916b1c5a06 116
henryrawas 5:36916b1c5a06 117 // context for send & receive
henryrawas 5:36916b1c5a06 118 static int receiveContext;
henryrawas 5:36916b1c5a06 119 static int callbackCounter;
henryrawas 5:36916b1c5a06 120 static int msgNumber;
henryrawas 5:36916b1c5a06 121
henryrawas 5:36916b1c5a06 122 static IOTHUB_CLIENT_HANDLE iotHubClientHandle;
henryrawas 5:36916b1c5a06 123
henryrawas 10:9b21566a5ddb 124 // used to detect send confirmation timeout
henryrawas 10:9b21566a5ddb 125 #define SEND_CONFIRM_TO 30000
henryrawas 10:9b21566a5ddb 126 RtosTimer* confirmTimer;
henryrawas 10:9b21566a5ddb 127
henryrawas 21:051751f9ca9e 128 // object for IoTHub interface
henryrawas 21:051751f9ca9e 129 IothubRobotArm iotRobot;
henryrawas 21:051751f9ca9e 130
henryrawas 10:9b21566a5ddb 131
henryrawas 15:4bd10f531cdc 132 // pass received commands to device
henryrawas 14:570c8071f577 133 extern void ControlArmCommands(const char* cmd);
henryrawas 5:36916b1c5a06 134
henryrawas 15:4bd10f531cdc 135 // callback for incoming messages
henryrawas 4:36a4eceb1b7f 136 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 137 {
henryrawas 4:36a4eceb1b7f 138 int* counter = (int*)userContextCallback;
henryrawas 4:36a4eceb1b7f 139 const char* buffer;
henryrawas 4:36a4eceb1b7f 140 size_t size;
henryrawas 5:36916b1c5a06 141 char cmdbuf[20];
henryrawas 5:36916b1c5a06 142
henryrawas 4:36a4eceb1b7f 143 if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
henryrawas 4:36a4eceb1b7f 144 {
henryrawas 5:36916b1c5a06 145 int slen = size;
henryrawas 13:ffeff9b5e513 146
henryrawas 5:36916b1c5a06 147 if (size >= 20)
henryrawas 5:36916b1c5a06 148 slen = 19;
henryrawas 5:36916b1c5a06 149 strncpy(cmdbuf, buffer, slen);
henryrawas 5:36916b1c5a06 150 cmdbuf[slen] = 0;
henryrawas 13:ffeff9b5e513 151 (void)printf(cmdbuf);
henryrawas 13:ffeff9b5e513 152 (void)printf("\r\n");
henryrawas 14:570c8071f577 153 ControlArmCommands((const char*)cmdbuf);
henryrawas 4:36a4eceb1b7f 154 }
henryrawas 4:36a4eceb1b7f 155
henryrawas 4:36a4eceb1b7f 156 (*counter)++;
henryrawas 4:36a4eceb1b7f 157 return IOTHUBMESSAGE_ACCEPTED;
henryrawas 4:36a4eceb1b7f 158 }
henryrawas 4:36a4eceb1b7f 159
henryrawas 15:4bd10f531cdc 160 // callback for completion of sent messages
henryrawas 4:36a4eceb1b7f 161 static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 162 {
henryrawas 4:36a4eceb1b7f 163 EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback;
henryrawas 11:3a2e6eb9fbb8 164 if (eventInstance == NULL)
henryrawas 11:3a2e6eb9fbb8 165 {
henryrawas 11:3a2e6eb9fbb8 166 printf("SendConfirmation with NULL context\r\n");
henryrawas 11:3a2e6eb9fbb8 167 return;
henryrawas 11:3a2e6eb9fbb8 168 }
henryrawas 13:ffeff9b5e513 169
henryrawas 13:ffeff9b5e513 170 (void)printf("Confirmation received\r\n");
henryrawas 7:6723f6887d00 171
henryrawas 10:9b21566a5ddb 172 confirmTimer->stop();
henryrawas 4:36a4eceb1b7f 173 callbackCounter++;
henryrawas 4:36a4eceb1b7f 174 IoTHubMessage_Destroy(eventInstance->messageHandle);
henryrawas 4:36a4eceb1b7f 175 }
henryrawas 4:36a4eceb1b7f 176
henryrawas 21:051751f9ca9e 177
henryrawas 21:051751f9ca9e 178 static void SendCallback(IOTHUB_CLIENT_HANDLE iotHubClientHandle, void* userContextCallback)
henryrawas 21:051751f9ca9e 179 {
henryrawas 21:051751f9ca9e 180 iotRobot.SendMessage(iotHubClientHandle, userContextCallback);
henryrawas 21:051751f9ca9e 181 }
henryrawas 21:051751f9ca9e 182
henryrawas 10:9b21566a5ddb 183 // communication timeout
henryrawas 10:9b21566a5ddb 184 void CommunicationTO(void const * tid)
henryrawas 10:9b21566a5ddb 185 {
henryrawas 10:9b21566a5ddb 186 (void)printf("*** Iothub thread communication Timeout\r\n");
henryrawas 10:9b21566a5ddb 187 ShowLedColor(2);
henryrawas 10:9b21566a5ddb 188 }
henryrawas 10:9b21566a5ddb 189
henryrawas 21:051751f9ca9e 190 // entry point to start IoTHub connection
henryrawas 4:36a4eceb1b7f 191 bool StartIothubThread()
henryrawas 4:36a4eceb1b7f 192 {
henryrawas 13:ffeff9b5e513 193 InitEthernet();
henryrawas 13:ffeff9b5e513 194
henryrawas 21:051751f9ca9e 195 confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
henryrawas 21:051751f9ca9e 196
henryrawas 21:051751f9ca9e 197 iotRobot.Init();
henryrawas 13:ffeff9b5e513 198
henryrawas 4:36a4eceb1b7f 199 return true;
henryrawas 4:36a4eceb1b7f 200 }
henryrawas 4:36a4eceb1b7f 201
henryrawas 21:051751f9ca9e 202 // stop IoTHub connection
henryrawas 4:36a4eceb1b7f 203 void EndIothubThread()
henryrawas 4:36a4eceb1b7f 204 {
henryrawas 21:051751f9ca9e 205 iotRobot.Terminate();
henryrawas 4:36a4eceb1b7f 206 }
henryrawas 4:36a4eceb1b7f 207
henryrawas 21:051751f9ca9e 208 // IoTHub connection for RobotArm
henryrawas 21:051751f9ca9e 209 // sends and receives messages between RobotArm and IoTHub
henryrawas 4:36a4eceb1b7f 210 IothubRobotArm::IothubRobotArm()
henryrawas 4:36a4eceb1b7f 211 {
henryrawas 4:36a4eceb1b7f 212 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 213 }
henryrawas 4:36a4eceb1b7f 214
henryrawas 4:36a4eceb1b7f 215 bool IothubRobotArm::Init()
henryrawas 4:36a4eceb1b7f 216 {
henryrawas 5:36916b1c5a06 217 receiveContext = 0;
henryrawas 4:36a4eceb1b7f 218 callbackCounter = 0;
henryrawas 4:36a4eceb1b7f 219 msgNumber = 0;
henryrawas 4:36a4eceb1b7f 220
henryrawas 4:36a4eceb1b7f 221 (void)printf("Starting the IoTHub RobotArm sample AMQP...\r\n");
henryrawas 4:36a4eceb1b7f 222
henryrawas 21:051751f9ca9e 223 if ((iotHubClientHandle = IoTHubClient_Mod_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
henryrawas 4:36a4eceb1b7f 224 {
henryrawas 4:36a4eceb1b7f 225 (void)printf("ERROR: iotHubClientHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 226 return false;
henryrawas 4:36a4eceb1b7f 227 }
henryrawas 4:36a4eceb1b7f 228 else
henryrawas 4:36a4eceb1b7f 229 {
henryrawas 4:36a4eceb1b7f 230 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 231 (void)printf("INFO: IoTHubClient_SetOption\r\n");
henryrawas 4:36a4eceb1b7f 232 // For mbed add the certificate information
henryrawas 21:051751f9ca9e 233 if (IoTHubClient_Mod_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 234 {
henryrawas 11:3a2e6eb9fbb8 235 printf("failure to set option \"TrustedCerts\"\r\n");
henryrawas 4:36a4eceb1b7f 236 return false;
henryrawas 4:36a4eceb1b7f 237 }
henryrawas 4:36a4eceb1b7f 238 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 239
henryrawas 4:36a4eceb1b7f 240 /* Setting Message call back, so we can receive Commands. */
henryrawas 21:051751f9ca9e 241 if (IoTHubClient_Mod_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 242 {
henryrawas 4:36a4eceb1b7f 243 (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 244 return false;
henryrawas 4:36a4eceb1b7f 245 }
henryrawas 4:36a4eceb1b7f 246 else
henryrawas 4:36a4eceb1b7f 247 {
henryrawas 4:36a4eceb1b7f 248 (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n");
henryrawas 4:36a4eceb1b7f 249 }
henryrawas 21:051751f9ca9e 250
henryrawas 21:051751f9ca9e 251 /* Setting Send call back, so we can send from worker thread. */
henryrawas 21:051751f9ca9e 252 if (IoTHubClient_Mod_SetSendCallback(iotHubClientHandle, SendCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 21:051751f9ca9e 253 {
henryrawas 21:051751f9ca9e 254 (void)printf("ERROR: IoTHubClient_SetSendCallback..........FAILED!\r\n");
henryrawas 21:051751f9ca9e 255 return false;
henryrawas 21:051751f9ca9e 256 }
henryrawas 21:051751f9ca9e 257 else
henryrawas 21:051751f9ca9e 258 {
henryrawas 21:051751f9ca9e 259 (void)printf("IoTHubClient_SetSendCallback...successful.\r\n");
henryrawas 21:051751f9ca9e 260 }
henryrawas 4:36a4eceb1b7f 261 }
henryrawas 4:36a4eceb1b7f 262 return true;
henryrawas 4:36a4eceb1b7f 263 }
henryrawas 4:36a4eceb1b7f 264
henryrawas 4:36a4eceb1b7f 265 void IothubRobotArm::Terminate()
henryrawas 4:36a4eceb1b7f 266 {
henryrawas 4:36a4eceb1b7f 267 if (iotHubClientHandle != NULL)
henryrawas 4:36a4eceb1b7f 268 {
henryrawas 21:051751f9ca9e 269 IoTHubClient_Mod_Destroy(iotHubClientHandle);
henryrawas 4:36a4eceb1b7f 270 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 271 }
henryrawas 4:36a4eceb1b7f 272 }
henryrawas 4:36a4eceb1b7f 273
henryrawas 21:051751f9ca9e 274 // Invoked from callback
henryrawas 21:051751f9ca9e 275 void IothubRobotArm::SendMessage(IOTHUB_CLIENT_HANDLE iotHubClient, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 276 {
henryrawas 5:36916b1c5a06 277 // send until circular buf empty or no sending buffers avail
henryrawas 5:36916b1c5a06 278 // may drop message if confirmations are slow
henryrawas 5:36916b1c5a06 279 while (msgNumber - callbackCounter < MESSAGE_COUNT)
henryrawas 5:36916b1c5a06 280 {
henryrawas 5:36916b1c5a06 281 // get buffer from array
henryrawas 5:36916b1c5a06 282 int i = msgNumber % MESSAGE_COUNT;
henryrawas 4:36a4eceb1b7f 283
henryrawas 7:6723f6887d00 284 int msglen = 0;
henryrawas 13:ffeff9b5e513 285
henryrawas 7:6723f6887d00 286 // get alert if any, otherwise get measure data
henryrawas 18:224289104fc0 287 msglen = _msgSerialize.AlertBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 288 if (msglen == 0)
henryrawas 7:6723f6887d00 289 {
henryrawas 18:224289104fc0 290 msglen = _msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 291 }
henryrawas 7:6723f6887d00 292
henryrawas 4:36a4eceb1b7f 293 if (msglen > 0)
henryrawas 4:36a4eceb1b7f 294 {
henryrawas 4:36a4eceb1b7f 295 if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
henryrawas 4:36a4eceb1b7f 296 {
henryrawas 4:36a4eceb1b7f 297 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 298 }
henryrawas 4:36a4eceb1b7f 299 else
henryrawas 4:36a4eceb1b7f 300 {
henryrawas 4:36a4eceb1b7f 301 messages[i].messageTrackingId = msgNumber;
henryrawas 21:051751f9ca9e 302
henryrawas 10:9b21566a5ddb 303 confirmTimer->stop();
henryrawas 21:051751f9ca9e 304 if (IoTHubClient_Mod_SendEventAsync(iotHubClient, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 305 {
henryrawas 4:36a4eceb1b7f 306 (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 307 }
henryrawas 4:36a4eceb1b7f 308 else
henryrawas 4:36a4eceb1b7f 309 {
henryrawas 10:9b21566a5ddb 310 confirmTimer->start(SEND_CONFIRM_TO);
henryrawas 13:ffeff9b5e513 311 (void)printf("Send async completed\r\n");
henryrawas 4:36a4eceb1b7f 312 }
henryrawas 4:36a4eceb1b7f 313 msgNumber++;
henryrawas 4:36a4eceb1b7f 314 }
henryrawas 4:36a4eceb1b7f 315 }
henryrawas 4:36a4eceb1b7f 316 else if (msglen == 0)
henryrawas 4:36a4eceb1b7f 317 {
henryrawas 13:ffeff9b5e513 318 break;
henryrawas 4:36a4eceb1b7f 319 }
henryrawas 4:36a4eceb1b7f 320 else if (msglen < 0)
henryrawas 4:36a4eceb1b7f 321 {
henryrawas 4:36a4eceb1b7f 322 (void)printf("ERROR: Serialized message too big for buffer\r\n");
henryrawas 4:36a4eceb1b7f 323 break;
henryrawas 4:36a4eceb1b7f 324 }
henryrawas 4:36a4eceb1b7f 325 } // while
henryrawas 4:36a4eceb1b7f 326
henryrawas 4:36a4eceb1b7f 327 }
henryrawas 7:6723f6887d00 328