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@33:8b9dcbf6d8ec, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:10:33 2016 +0000
Revision:
33:8b9dcbf6d8ec
Parent:
27:4239713d9690 
update libs

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 27:4239713d9690 26 #include "RobotArmCfg.h"
henryrawas 5:36916b1c5a06 27
henryrawas 10:9b21566a5ddb 28 extern void ShowLedColor(int col);
henryrawas 10:9b21566a5ddb 29
henryrawas 15:4bd10f531cdc 30 // method to initialize platform - Time of day
henryrawas 10:9b21566a5ddb 31 int setupRealTime(void)
henryrawas 10:9b21566a5ddb 32 {
henryrawas 10:9b21566a5ddb 33 int result;
henryrawas 10:9b21566a5ddb 34
henryrawas 10:9b21566a5ddb 35 (void)printf("setupRealTime begin\r\n");
henryrawas 10:9b21566a5ddb 36 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 37 {
henryrawas 10:9b21566a5ddb 38 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 39 result = __LINE__;
henryrawas 10:9b21566a5ddb 40 }
henryrawas 10:9b21566a5ddb 41 else
henryrawas 10:9b21566a5ddb 42 {
henryrawas 10:9b21566a5ddb 43 (void)printf("setupRealTime NTP begin\r\n");
henryrawas 10:9b21566a5ddb 44 NTPClient ntp;
henryrawas 10:9b21566a5ddb 45 if (ntp.setTime("0.pool.ntp.org") != 0)
henryrawas 10:9b21566a5ddb 46 {
henryrawas 10:9b21566a5ddb 47 (void)printf("Failed setting time.\r\n");
henryrawas 10:9b21566a5ddb 48 result = __LINE__;
henryrawas 10:9b21566a5ddb 49 }
henryrawas 10:9b21566a5ddb 50 else
henryrawas 10:9b21566a5ddb 51 {
henryrawas 10:9b21566a5ddb 52 (void)printf("set time correctly!\r\n");
henryrawas 10:9b21566a5ddb 53 result = 0;
henryrawas 10:9b21566a5ddb 54 }
henryrawas 10:9b21566a5ddb 55 (void)printf("setupRealTime NTP end\r\n");
henryrawas 10:9b21566a5ddb 56 EthernetInterface::disconnect();
henryrawas 10:9b21566a5ddb 57 }
henryrawas 10:9b21566a5ddb 58 (void)printf("setupRealTime end\r\n");
henryrawas 10:9b21566a5ddb 59
henryrawas 10:9b21566a5ddb 60 return result;
henryrawas 10:9b21566a5ddb 61 }
henryrawas 10:9b21566a5ddb 62
henryrawas 15:4bd10f531cdc 63 // method to initialize platform - Ethernet
henryrawas 10:9b21566a5ddb 64 int InitEthernet()
henryrawas 10:9b21566a5ddb 65 {
henryrawas 10:9b21566a5ddb 66 (void)printf("Initializing ethernet..\r\n");
henryrawas 10:9b21566a5ddb 67
henryrawas 10:9b21566a5ddb 68 /* These are needed in order to initialize the time provider for Proton-C */
henryrawas 10:9b21566a5ddb 69 mbedtime_init();
henryrawas 10:9b21566a5ddb 70
henryrawas 10:9b21566a5ddb 71 if (EthernetInterface::init())
henryrawas 10:9b21566a5ddb 72 {
henryrawas 10:9b21566a5ddb 73 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 74 return -1;
henryrawas 10:9b21566a5ddb 75 }
henryrawas 10:9b21566a5ddb 76
henryrawas 10:9b21566a5ddb 77 if (setupRealTime() != 0)
henryrawas 10:9b21566a5ddb 78 {
henryrawas 10:9b21566a5ddb 79 (void)printf("Failed setting up real time clock\r\n");
henryrawas 10:9b21566a5ddb 80 return -1;
henryrawas 10:9b21566a5ddb 81 }
henryrawas 10:9b21566a5ddb 82
henryrawas 10:9b21566a5ddb 83 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 84 {
henryrawas 10:9b21566a5ddb 85 (void)printf("Error connecting EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 86 return -1;
henryrawas 10:9b21566a5ddb 87 }
henryrawas 10:9b21566a5ddb 88
henryrawas 10:9b21566a5ddb 89 return 0;
henryrawas 10:9b21566a5ddb 90 }
henryrawas 10:9b21566a5ddb 91
henryrawas 15:4bd10f531cdc 92 // IoTHub SDK stuff
henryrawas 4:36a4eceb1b7f 93 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
henryrawas 4:36a4eceb1b7f 94
henryrawas 4:36a4eceb1b7f 95 typedef struct EVENT_INSTANCE_TAG
henryrawas 4:36a4eceb1b7f 96 {
henryrawas 4:36a4eceb1b7f 97 IOTHUB_MESSAGE_HANDLE messageHandle;
henryrawas 4:36a4eceb1b7f 98 int messageTrackingId; // For tracking the messages within the user callback.
henryrawas 4:36a4eceb1b7f 99 } EVENT_INSTANCE;
henryrawas 4:36a4eceb1b7f 100
henryrawas 13:ffeff9b5e513 101
henryrawas 5:36916b1c5a06 102 // message buffers to use
henryrawas 13:ffeff9b5e513 103 #define MESSAGE_LEN 1024
henryrawas 5:36916b1c5a06 104 static char msgText[MESSAGE_LEN];
henryrawas 13:ffeff9b5e513 105
henryrawas 15:4bd10f531cdc 106 // a larger MESSAGE_COUNT results in being able to send as data is available
henryrawas 15:4bd10f531cdc 107 // but requires more heap space to hold buffers
henryrawas 21:051751f9ca9e 108 #define MESSAGE_COUNT 4
henryrawas 13:ffeff9b5e513 109 EVENT_INSTANCE messages[MESSAGE_COUNT];
henryrawas 7:6723f6887d00 110
henryrawas 5:36916b1c5a06 111
henryrawas 5:36916b1c5a06 112 // context for send & receive
henryrawas 5:36916b1c5a06 113 static int receiveContext;
henryrawas 5:36916b1c5a06 114 static int callbackCounter;
henryrawas 5:36916b1c5a06 115 static int msgNumber;
henryrawas 5:36916b1c5a06 116
henryrawas 5:36916b1c5a06 117 static IOTHUB_CLIENT_HANDLE iotHubClientHandle;
henryrawas 5:36916b1c5a06 118
henryrawas 10:9b21566a5ddb 119 // used to detect send confirmation timeout
henryrawas 10:9b21566a5ddb 120 #define SEND_CONFIRM_TO 30000
henryrawas 10:9b21566a5ddb 121 RtosTimer* confirmTimer;
henryrawas 10:9b21566a5ddb 122
henryrawas 21:051751f9ca9e 123 // object for IoTHub interface
henryrawas 21:051751f9ca9e 124 IothubRobotArm iotRobot;
henryrawas 21:051751f9ca9e 125
henryrawas 10:9b21566a5ddb 126
henryrawas 15:4bd10f531cdc 127 // pass received commands to device
henryrawas 14:570c8071f577 128 extern void ControlArmCommands(const char* cmd);
henryrawas 5:36916b1c5a06 129
henryrawas 15:4bd10f531cdc 130 // callback for incoming messages
henryrawas 4:36a4eceb1b7f 131 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 132 {
henryrawas 4:36a4eceb1b7f 133 int* counter = (int*)userContextCallback;
henryrawas 4:36a4eceb1b7f 134 const char* buffer;
henryrawas 4:36a4eceb1b7f 135 size_t size;
henryrawas 5:36916b1c5a06 136 char cmdbuf[20];
henryrawas 5:36916b1c5a06 137
henryrawas 4:36a4eceb1b7f 138 if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
henryrawas 4:36a4eceb1b7f 139 {
henryrawas 5:36916b1c5a06 140 int slen = size;
henryrawas 13:ffeff9b5e513 141
henryrawas 5:36916b1c5a06 142 if (size >= 20)
henryrawas 5:36916b1c5a06 143 slen = 19;
henryrawas 5:36916b1c5a06 144 strncpy(cmdbuf, buffer, slen);
henryrawas 5:36916b1c5a06 145 cmdbuf[slen] = 0;
henryrawas 13:ffeff9b5e513 146 (void)printf(cmdbuf);
henryrawas 13:ffeff9b5e513 147 (void)printf("\r\n");
henryrawas 14:570c8071f577 148 ControlArmCommands((const char*)cmdbuf);
henryrawas 4:36a4eceb1b7f 149 }
henryrawas 4:36a4eceb1b7f 150
henryrawas 4:36a4eceb1b7f 151 (*counter)++;
henryrawas 4:36a4eceb1b7f 152 return IOTHUBMESSAGE_ACCEPTED;
henryrawas 4:36a4eceb1b7f 153 }
henryrawas 4:36a4eceb1b7f 154
henryrawas 15:4bd10f531cdc 155 // callback for completion of sent messages
henryrawas 4:36a4eceb1b7f 156 static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 157 {
henryrawas 4:36a4eceb1b7f 158 EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback;
henryrawas 11:3a2e6eb9fbb8 159 if (eventInstance == NULL)
henryrawas 11:3a2e6eb9fbb8 160 {
henryrawas 11:3a2e6eb9fbb8 161 printf("SendConfirmation with NULL context\r\n");
henryrawas 11:3a2e6eb9fbb8 162 return;
henryrawas 11:3a2e6eb9fbb8 163 }
henryrawas 13:ffeff9b5e513 164
henryrawas 13:ffeff9b5e513 165 (void)printf("Confirmation received\r\n");
henryrawas 7:6723f6887d00 166
henryrawas 10:9b21566a5ddb 167 confirmTimer->stop();
henryrawas 4:36a4eceb1b7f 168 callbackCounter++;
henryrawas 4:36a4eceb1b7f 169 IoTHubMessage_Destroy(eventInstance->messageHandle);
henryrawas 4:36a4eceb1b7f 170 }
henryrawas 4:36a4eceb1b7f 171
henryrawas 21:051751f9ca9e 172
henryrawas 21:051751f9ca9e 173 static void SendCallback(IOTHUB_CLIENT_HANDLE iotHubClientHandle, void* userContextCallback)
henryrawas 21:051751f9ca9e 174 {
henryrawas 21:051751f9ca9e 175 iotRobot.SendMessage(iotHubClientHandle, userContextCallback);
henryrawas 21:051751f9ca9e 176 }
henryrawas 21:051751f9ca9e 177
henryrawas 10:9b21566a5ddb 178 // communication timeout
henryrawas 10:9b21566a5ddb 179 void CommunicationTO(void const * tid)
henryrawas 10:9b21566a5ddb 180 {
henryrawas 10:9b21566a5ddb 181 (void)printf("*** Iothub thread communication Timeout\r\n");
henryrawas 10:9b21566a5ddb 182 ShowLedColor(2);
henryrawas 10:9b21566a5ddb 183 }
henryrawas 10:9b21566a5ddb 184
henryrawas 21:051751f9ca9e 185 // entry point to start IoTHub connection
henryrawas 4:36a4eceb1b7f 186 bool StartIothubThread()
henryrawas 4:36a4eceb1b7f 187 {
henryrawas 13:ffeff9b5e513 188 InitEthernet();
henryrawas 13:ffeff9b5e513 189
henryrawas 21:051751f9ca9e 190 confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
henryrawas 21:051751f9ca9e 191
henryrawas 21:051751f9ca9e 192 iotRobot.Init();
henryrawas 13:ffeff9b5e513 193
henryrawas 4:36a4eceb1b7f 194 return true;
henryrawas 4:36a4eceb1b7f 195 }
henryrawas 4:36a4eceb1b7f 196
henryrawas 21:051751f9ca9e 197 // stop IoTHub connection
henryrawas 4:36a4eceb1b7f 198 void EndIothubThread()
henryrawas 4:36a4eceb1b7f 199 {
henryrawas 21:051751f9ca9e 200 iotRobot.Terminate();
henryrawas 4:36a4eceb1b7f 201 }
henryrawas 4:36a4eceb1b7f 202
henryrawas 21:051751f9ca9e 203 // IoTHub connection for RobotArm
henryrawas 21:051751f9ca9e 204 // sends and receives messages between RobotArm and IoTHub
henryrawas 4:36a4eceb1b7f 205 IothubRobotArm::IothubRobotArm()
henryrawas 4:36a4eceb1b7f 206 {
henryrawas 4:36a4eceb1b7f 207 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 208 }
henryrawas 4:36a4eceb1b7f 209
henryrawas 4:36a4eceb1b7f 210 bool IothubRobotArm::Init()
henryrawas 4:36a4eceb1b7f 211 {
henryrawas 5:36916b1c5a06 212 receiveContext = 0;
henryrawas 4:36a4eceb1b7f 213 callbackCounter = 0;
henryrawas 4:36a4eceb1b7f 214 msgNumber = 0;
henryrawas 4:36a4eceb1b7f 215
henryrawas 24:f6aa0e64c5e1 216 (void)printf("Starting the IoTHub RobotArm connection\r\n");
henryrawas 24:f6aa0e64c5e1 217
henryrawas 24:f6aa0e64c5e1 218 if (connectionString[0] == '[')
henryrawas 24:f6aa0e64c5e1 219 {
henryrawas 24:f6aa0e64c5e1 220 // forgot to replace placeholder
henryrawas 24:f6aa0e64c5e1 221 (void)printf("ERROR: connectionString is not set to a device connection!\r\n");
henryrawas 24:f6aa0e64c5e1 222 return false;
henryrawas 24:f6aa0e64c5e1 223 }
henryrawas 4:36a4eceb1b7f 224
henryrawas 21:051751f9ca9e 225 if ((iotHubClientHandle = IoTHubClient_Mod_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
henryrawas 4:36a4eceb1b7f 226 {
henryrawas 4:36a4eceb1b7f 227 (void)printf("ERROR: iotHubClientHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 228 return false;
henryrawas 4:36a4eceb1b7f 229 }
henryrawas 4:36a4eceb1b7f 230 else
henryrawas 4:36a4eceb1b7f 231 {
henryrawas 4:36a4eceb1b7f 232 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 233 // For mbed add the certificate information
henryrawas 21:051751f9ca9e 234 if (IoTHubClient_Mod_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 235 {
henryrawas 11:3a2e6eb9fbb8 236 printf("failure to set option \"TrustedCerts\"\r\n");
henryrawas 4:36a4eceb1b7f 237 return false;
henryrawas 4:36a4eceb1b7f 238 }
henryrawas 4:36a4eceb1b7f 239 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 240
henryrawas 4:36a4eceb1b7f 241 /* Setting Message call back, so we can receive Commands. */
henryrawas 21:051751f9ca9e 242 if (IoTHubClient_Mod_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 243 {
henryrawas 4:36a4eceb1b7f 244 (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 245 return false;
henryrawas 4:36a4eceb1b7f 246 }
henryrawas 4:36a4eceb1b7f 247 else
henryrawas 4:36a4eceb1b7f 248 {
henryrawas 4:36a4eceb1b7f 249 (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n");
henryrawas 4:36a4eceb1b7f 250 }
henryrawas 21:051751f9ca9e 251
henryrawas 21:051751f9ca9e 252 /* Setting Send call back, so we can send from worker thread. */
henryrawas 21:051751f9ca9e 253 if (IoTHubClient_Mod_SetSendCallback(iotHubClientHandle, SendCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 21:051751f9ca9e 254 {
henryrawas 21:051751f9ca9e 255 (void)printf("ERROR: IoTHubClient_SetSendCallback..........FAILED!\r\n");
henryrawas 21:051751f9ca9e 256 return false;
henryrawas 21:051751f9ca9e 257 }
henryrawas 21:051751f9ca9e 258 else
henryrawas 21:051751f9ca9e 259 {
henryrawas 21:051751f9ca9e 260 (void)printf("IoTHubClient_SetSendCallback...successful.\r\n");
henryrawas 21:051751f9ca9e 261 }
henryrawas 4:36a4eceb1b7f 262 }
henryrawas 4:36a4eceb1b7f 263 return true;
henryrawas 4:36a4eceb1b7f 264 }
henryrawas 4:36a4eceb1b7f 265
henryrawas 4:36a4eceb1b7f 266 void IothubRobotArm::Terminate()
henryrawas 4:36a4eceb1b7f 267 {
henryrawas 4:36a4eceb1b7f 268 if (iotHubClientHandle != NULL)
henryrawas 4:36a4eceb1b7f 269 {
henryrawas 21:051751f9ca9e 270 IoTHubClient_Mod_Destroy(iotHubClientHandle);
henryrawas 4:36a4eceb1b7f 271 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 272 }
henryrawas 4:36a4eceb1b7f 273 }
henryrawas 4:36a4eceb1b7f 274
henryrawas 21:051751f9ca9e 275 // Invoked from callback
henryrawas 21:051751f9ca9e 276 void IothubRobotArm::SendMessage(IOTHUB_CLIENT_HANDLE iotHubClient, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 277 {
henryrawas 5:36916b1c5a06 278 // send until circular buf empty or no sending buffers avail
henryrawas 5:36916b1c5a06 279 // may drop message if confirmations are slow
henryrawas 5:36916b1c5a06 280 while (msgNumber - callbackCounter < MESSAGE_COUNT)
henryrawas 5:36916b1c5a06 281 {
henryrawas 5:36916b1c5a06 282 // get buffer from array
henryrawas 5:36916b1c5a06 283 int i = msgNumber % MESSAGE_COUNT;
henryrawas 4:36a4eceb1b7f 284
henryrawas 7:6723f6887d00 285 int msglen = 0;
henryrawas 13:ffeff9b5e513 286
henryrawas 7:6723f6887d00 287 // get alert if any, otherwise get measure data
henryrawas 18:224289104fc0 288 msglen = _msgSerialize.AlertBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 289 if (msglen == 0)
henryrawas 7:6723f6887d00 290 {
henryrawas 18:224289104fc0 291 msglen = _msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 292 }
henryrawas 7:6723f6887d00 293
henryrawas 4:36a4eceb1b7f 294 if (msglen > 0)
henryrawas 4:36a4eceb1b7f 295 {
henryrawas 4:36a4eceb1b7f 296 if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
henryrawas 4:36a4eceb1b7f 297 {
henryrawas 4:36a4eceb1b7f 298 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 299 }
henryrawas 4:36a4eceb1b7f 300 else
henryrawas 4:36a4eceb1b7f 301 {
henryrawas 4:36a4eceb1b7f 302 messages[i].messageTrackingId = msgNumber;
henryrawas 21:051751f9ca9e 303
henryrawas 10:9b21566a5ddb 304 confirmTimer->stop();
henryrawas 21:051751f9ca9e 305 if (IoTHubClient_Mod_SendEventAsync(iotHubClient, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 306 {
henryrawas 4:36a4eceb1b7f 307 (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 308 }
henryrawas 4:36a4eceb1b7f 309 else
henryrawas 4:36a4eceb1b7f 310 {
henryrawas 10:9b21566a5ddb 311 confirmTimer->start(SEND_CONFIRM_TO);
henryrawas 13:ffeff9b5e513 312 (void)printf("Send async completed\r\n");
henryrawas 4:36a4eceb1b7f 313 }
henryrawas 4:36a4eceb1b7f 314 msgNumber++;
henryrawas 4:36a4eceb1b7f 315 }
henryrawas 4:36a4eceb1b7f 316 }
henryrawas 4:36a4eceb1b7f 317 else if (msglen == 0)
henryrawas 4:36a4eceb1b7f 318 {
henryrawas 13:ffeff9b5e513 319 break;
henryrawas 4:36a4eceb1b7f 320 }
henryrawas 4:36a4eceb1b7f 321 else if (msglen < 0)
henryrawas 4:36a4eceb1b7f 322 {
henryrawas 4:36a4eceb1b7f 323 (void)printf("ERROR: Serialized message too big for buffer\r\n");
henryrawas 4:36a4eceb1b7f 324 break;
henryrawas 4:36a4eceb1b7f 325 }
henryrawas 4:36a4eceb1b7f 326 } // while
henryrawas 4:36a4eceb1b7f 327
henryrawas 4:36a4eceb1b7f 328 }
henryrawas 7:6723f6887d00 329