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@25:acc34bcf563e, 2016-02-01 (annotated)

Committer:
henryrawas
Date:
Mon Feb 01 18:47:06 2016 +0000
Revision:
25:acc34bcf563e
Parent:
24:f6aa0e64c5e1
Child:
27:4239713d9690
cleanup

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 24:f6aa0e64c5e1 26 /*String containing Hostname, Device Id & Device Key in the format: */
henryrawas 24:f6aa0e64c5e1 27 /* "HostName=<host_name>;DeviceId=<device_id>;SharedAccessKey=<device_key>" */
henryrawas 24:f6aa0e64c5e1 28 static const char* connectionString = "[device connection string]";
henryrawas 5:36916b1c5a06 29
henryrawas 10:9b21566a5ddb 30 extern void ShowLedColor(int col);
henryrawas 10:9b21566a5ddb 31
henryrawas 15:4bd10f531cdc 32 // method to initialize platform - Time of day
henryrawas 10:9b21566a5ddb 33 int setupRealTime(void)
henryrawas 10:9b21566a5ddb 34 {
henryrawas 10:9b21566a5ddb 35 int result;
henryrawas 10:9b21566a5ddb 36
henryrawas 10:9b21566a5ddb 37 (void)printf("setupRealTime begin\r\n");
henryrawas 10:9b21566a5ddb 38 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 39 {
henryrawas 10:9b21566a5ddb 40 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 41 result = __LINE__;
henryrawas 10:9b21566a5ddb 42 }
henryrawas 10:9b21566a5ddb 43 else
henryrawas 10:9b21566a5ddb 44 {
henryrawas 10:9b21566a5ddb 45 (void)printf("setupRealTime NTP begin\r\n");
henryrawas 10:9b21566a5ddb 46 NTPClient ntp;
henryrawas 10:9b21566a5ddb 47 if (ntp.setTime("0.pool.ntp.org") != 0)
henryrawas 10:9b21566a5ddb 48 {
henryrawas 10:9b21566a5ddb 49 (void)printf("Failed setting time.\r\n");
henryrawas 10:9b21566a5ddb 50 result = __LINE__;
henryrawas 10:9b21566a5ddb 51 }
henryrawas 10:9b21566a5ddb 52 else
henryrawas 10:9b21566a5ddb 53 {
henryrawas 10:9b21566a5ddb 54 (void)printf("set time correctly!\r\n");
henryrawas 10:9b21566a5ddb 55 result = 0;
henryrawas 10:9b21566a5ddb 56 }
henryrawas 10:9b21566a5ddb 57 (void)printf("setupRealTime NTP end\r\n");
henryrawas 10:9b21566a5ddb 58 EthernetInterface::disconnect();
henryrawas 10:9b21566a5ddb 59 }
henryrawas 10:9b21566a5ddb 60 (void)printf("setupRealTime end\r\n");
henryrawas 10:9b21566a5ddb 61
henryrawas 10:9b21566a5ddb 62 return result;
henryrawas 10:9b21566a5ddb 63 }
henryrawas 10:9b21566a5ddb 64
henryrawas 15:4bd10f531cdc 65 // method to initialize platform - Ethernet
henryrawas 10:9b21566a5ddb 66 int InitEthernet()
henryrawas 10:9b21566a5ddb 67 {
henryrawas 10:9b21566a5ddb 68 (void)printf("Initializing ethernet..\r\n");
henryrawas 10:9b21566a5ddb 69
henryrawas 10:9b21566a5ddb 70 /* These are needed in order to initialize the time provider for Proton-C */
henryrawas 10:9b21566a5ddb 71 mbed_log_init();
henryrawas 10:9b21566a5ddb 72 mbedtime_init();
henryrawas 10:9b21566a5ddb 73
henryrawas 10:9b21566a5ddb 74 if (EthernetInterface::init())
henryrawas 10:9b21566a5ddb 75 {
henryrawas 10:9b21566a5ddb 76 (void)printf("Error initializing EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 77 return -1;
henryrawas 10:9b21566a5ddb 78 }
henryrawas 10:9b21566a5ddb 79
henryrawas 10:9b21566a5ddb 80 if (setupRealTime() != 0)
henryrawas 10:9b21566a5ddb 81 {
henryrawas 10:9b21566a5ddb 82 (void)printf("Failed setting up real time clock\r\n");
henryrawas 10:9b21566a5ddb 83 return -1;
henryrawas 10:9b21566a5ddb 84 }
henryrawas 10:9b21566a5ddb 85
henryrawas 10:9b21566a5ddb 86 if (EthernetInterface::connect())
henryrawas 10:9b21566a5ddb 87 {
henryrawas 10:9b21566a5ddb 88 (void)printf("Error connecting EthernetInterface.\r\n");
henryrawas 10:9b21566a5ddb 89 return -1;
henryrawas 10:9b21566a5ddb 90 }
henryrawas 10:9b21566a5ddb 91
henryrawas 10:9b21566a5ddb 92 return 0;
henryrawas 10:9b21566a5ddb 93 }
henryrawas 10:9b21566a5ddb 94
henryrawas 15:4bd10f531cdc 95 // IoTHub SDK stuff
henryrawas 4:36a4eceb1b7f 96 DEFINE_ENUM_STRINGS(IOTHUB_CLIENT_CONFIRMATION_RESULT, IOTHUB_CLIENT_CONFIRMATION_RESULT_VALUES);
henryrawas 4:36a4eceb1b7f 97
henryrawas 4:36a4eceb1b7f 98 typedef struct EVENT_INSTANCE_TAG
henryrawas 4:36a4eceb1b7f 99 {
henryrawas 4:36a4eceb1b7f 100 IOTHUB_MESSAGE_HANDLE messageHandle;
henryrawas 4:36a4eceb1b7f 101 int messageTrackingId; // For tracking the messages within the user callback.
henryrawas 4:36a4eceb1b7f 102 } EVENT_INSTANCE;
henryrawas 4:36a4eceb1b7f 103
henryrawas 13:ffeff9b5e513 104
henryrawas 5:36916b1c5a06 105 // message buffers to use
henryrawas 13:ffeff9b5e513 106 #define MESSAGE_LEN 1024
henryrawas 5:36916b1c5a06 107 static char msgText[MESSAGE_LEN];
henryrawas 13:ffeff9b5e513 108
henryrawas 15:4bd10f531cdc 109 // a larger MESSAGE_COUNT results in being able to send as data is available
henryrawas 15:4bd10f531cdc 110 // but requires more heap space to hold buffers
henryrawas 21:051751f9ca9e 111 #define MESSAGE_COUNT 4
henryrawas 13:ffeff9b5e513 112 EVENT_INSTANCE messages[MESSAGE_COUNT];
henryrawas 7:6723f6887d00 113
henryrawas 5:36916b1c5a06 114
henryrawas 5:36916b1c5a06 115 // context for send & receive
henryrawas 5:36916b1c5a06 116 static int receiveContext;
henryrawas 5:36916b1c5a06 117 static int callbackCounter;
henryrawas 5:36916b1c5a06 118 static int msgNumber;
henryrawas 5:36916b1c5a06 119
henryrawas 5:36916b1c5a06 120 static IOTHUB_CLIENT_HANDLE iotHubClientHandle;
henryrawas 5:36916b1c5a06 121
henryrawas 10:9b21566a5ddb 122 // used to detect send confirmation timeout
henryrawas 10:9b21566a5ddb 123 #define SEND_CONFIRM_TO 30000
henryrawas 10:9b21566a5ddb 124 RtosTimer* confirmTimer;
henryrawas 10:9b21566a5ddb 125
henryrawas 21:051751f9ca9e 126 // object for IoTHub interface
henryrawas 21:051751f9ca9e 127 IothubRobotArm iotRobot;
henryrawas 21:051751f9ca9e 128
henryrawas 10:9b21566a5ddb 129
henryrawas 15:4bd10f531cdc 130 // pass received commands to device
henryrawas 14:570c8071f577 131 extern void ControlArmCommands(const char* cmd);
henryrawas 5:36916b1c5a06 132
henryrawas 15:4bd10f531cdc 133 // callback for incoming messages
henryrawas 4:36a4eceb1b7f 134 static IOTHUBMESSAGE_DISPOSITION_RESULT ReceiveMessageCallback(IOTHUB_MESSAGE_HANDLE message, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 135 {
henryrawas 4:36a4eceb1b7f 136 int* counter = (int*)userContextCallback;
henryrawas 4:36a4eceb1b7f 137 const char* buffer;
henryrawas 4:36a4eceb1b7f 138 size_t size;
henryrawas 5:36916b1c5a06 139 char cmdbuf[20];
henryrawas 5:36916b1c5a06 140
henryrawas 4:36a4eceb1b7f 141 if (IoTHubMessage_GetByteArray(message, (const unsigned char**)&buffer, &size) == IOTHUB_MESSAGE_OK)
henryrawas 4:36a4eceb1b7f 142 {
henryrawas 5:36916b1c5a06 143 int slen = size;
henryrawas 13:ffeff9b5e513 144
henryrawas 5:36916b1c5a06 145 if (size >= 20)
henryrawas 5:36916b1c5a06 146 slen = 19;
henryrawas 5:36916b1c5a06 147 strncpy(cmdbuf, buffer, slen);
henryrawas 5:36916b1c5a06 148 cmdbuf[slen] = 0;
henryrawas 13:ffeff9b5e513 149 (void)printf(cmdbuf);
henryrawas 13:ffeff9b5e513 150 (void)printf("\r\n");
henryrawas 14:570c8071f577 151 ControlArmCommands((const char*)cmdbuf);
henryrawas 4:36a4eceb1b7f 152 }
henryrawas 4:36a4eceb1b7f 153
henryrawas 4:36a4eceb1b7f 154 (*counter)++;
henryrawas 4:36a4eceb1b7f 155 return IOTHUBMESSAGE_ACCEPTED;
henryrawas 4:36a4eceb1b7f 156 }
henryrawas 4:36a4eceb1b7f 157
henryrawas 15:4bd10f531cdc 158 // callback for completion of sent messages
henryrawas 4:36a4eceb1b7f 159 static void SendConfirmationCallback(IOTHUB_CLIENT_CONFIRMATION_RESULT result, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 160 {
henryrawas 4:36a4eceb1b7f 161 EVENT_INSTANCE* eventInstance = (EVENT_INSTANCE*)userContextCallback;
henryrawas 11:3a2e6eb9fbb8 162 if (eventInstance == NULL)
henryrawas 11:3a2e6eb9fbb8 163 {
henryrawas 11:3a2e6eb9fbb8 164 printf("SendConfirmation with NULL context\r\n");
henryrawas 11:3a2e6eb9fbb8 165 return;
henryrawas 11:3a2e6eb9fbb8 166 }
henryrawas 13:ffeff9b5e513 167
henryrawas 13:ffeff9b5e513 168 (void)printf("Confirmation received\r\n");
henryrawas 7:6723f6887d00 169
henryrawas 10:9b21566a5ddb 170 confirmTimer->stop();
henryrawas 4:36a4eceb1b7f 171 callbackCounter++;
henryrawas 4:36a4eceb1b7f 172 IoTHubMessage_Destroy(eventInstance->messageHandle);
henryrawas 4:36a4eceb1b7f 173 }
henryrawas 4:36a4eceb1b7f 174
henryrawas 21:051751f9ca9e 175
henryrawas 21:051751f9ca9e 176 static void SendCallback(IOTHUB_CLIENT_HANDLE iotHubClientHandle, void* userContextCallback)
henryrawas 21:051751f9ca9e 177 {
henryrawas 21:051751f9ca9e 178 iotRobot.SendMessage(iotHubClientHandle, userContextCallback);
henryrawas 21:051751f9ca9e 179 }
henryrawas 21:051751f9ca9e 180
henryrawas 10:9b21566a5ddb 181 // communication timeout
henryrawas 10:9b21566a5ddb 182 void CommunicationTO(void const * tid)
henryrawas 10:9b21566a5ddb 183 {
henryrawas 10:9b21566a5ddb 184 (void)printf("*** Iothub thread communication Timeout\r\n");
henryrawas 10:9b21566a5ddb 185 ShowLedColor(2);
henryrawas 10:9b21566a5ddb 186 }
henryrawas 10:9b21566a5ddb 187
henryrawas 21:051751f9ca9e 188 // entry point to start IoTHub connection
henryrawas 4:36a4eceb1b7f 189 bool StartIothubThread()
henryrawas 4:36a4eceb1b7f 190 {
henryrawas 13:ffeff9b5e513 191 InitEthernet();
henryrawas 13:ffeff9b5e513 192
henryrawas 21:051751f9ca9e 193 confirmTimer = new RtosTimer(CommunicationTO, osTimerOnce, (void *)osThreadGetId());
henryrawas 21:051751f9ca9e 194
henryrawas 21:051751f9ca9e 195 iotRobot.Init();
henryrawas 13:ffeff9b5e513 196
henryrawas 4:36a4eceb1b7f 197 return true;
henryrawas 4:36a4eceb1b7f 198 }
henryrawas 4:36a4eceb1b7f 199
henryrawas 21:051751f9ca9e 200 // stop IoTHub connection
henryrawas 4:36a4eceb1b7f 201 void EndIothubThread()
henryrawas 4:36a4eceb1b7f 202 {
henryrawas 21:051751f9ca9e 203 iotRobot.Terminate();
henryrawas 4:36a4eceb1b7f 204 }
henryrawas 4:36a4eceb1b7f 205
henryrawas 21:051751f9ca9e 206 // IoTHub connection for RobotArm
henryrawas 21:051751f9ca9e 207 // sends and receives messages between RobotArm and IoTHub
henryrawas 4:36a4eceb1b7f 208 IothubRobotArm::IothubRobotArm()
henryrawas 4:36a4eceb1b7f 209 {
henryrawas 4:36a4eceb1b7f 210 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 211 }
henryrawas 4:36a4eceb1b7f 212
henryrawas 4:36a4eceb1b7f 213 bool IothubRobotArm::Init()
henryrawas 4:36a4eceb1b7f 214 {
henryrawas 5:36916b1c5a06 215 receiveContext = 0;
henryrawas 4:36a4eceb1b7f 216 callbackCounter = 0;
henryrawas 4:36a4eceb1b7f 217 msgNumber = 0;
henryrawas 4:36a4eceb1b7f 218
henryrawas 24:f6aa0e64c5e1 219 (void)printf("Starting the IoTHub RobotArm connection\r\n");
henryrawas 24:f6aa0e64c5e1 220
henryrawas 24:f6aa0e64c5e1 221 if (connectionString[0] == '[')
henryrawas 24:f6aa0e64c5e1 222 {
henryrawas 24:f6aa0e64c5e1 223 // forgot to replace placeholder
henryrawas 24:f6aa0e64c5e1 224 (void)printf("ERROR: connectionString is not set to a device connection!\r\n");
henryrawas 24:f6aa0e64c5e1 225 return false;
henryrawas 24:f6aa0e64c5e1 226 }
henryrawas 4:36a4eceb1b7f 227
henryrawas 21:051751f9ca9e 228 if ((iotHubClientHandle = IoTHubClient_Mod_CreateFromConnectionString(connectionString, AMQP_Protocol)) == NULL)
henryrawas 4:36a4eceb1b7f 229 {
henryrawas 4:36a4eceb1b7f 230 (void)printf("ERROR: iotHubClientHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 231 return false;
henryrawas 4:36a4eceb1b7f 232 }
henryrawas 4:36a4eceb1b7f 233 else
henryrawas 4:36a4eceb1b7f 234 {
henryrawas 4:36a4eceb1b7f 235 #ifdef MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 236 // For mbed add the certificate information
henryrawas 21:051751f9ca9e 237 if (IoTHubClient_Mod_SetOption(iotHubClientHandle, "TrustedCerts", certificates) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 238 {
henryrawas 11:3a2e6eb9fbb8 239 printf("failure to set option \"TrustedCerts\"\r\n");
henryrawas 4:36a4eceb1b7f 240 return false;
henryrawas 4:36a4eceb1b7f 241 }
henryrawas 4:36a4eceb1b7f 242 #endif // MBED_BUILD_TIMESTAMP
henryrawas 4:36a4eceb1b7f 243
henryrawas 4:36a4eceb1b7f 244 /* Setting Message call back, so we can receive Commands. */
henryrawas 21:051751f9ca9e 245 if (IoTHubClient_Mod_SetMessageCallback(iotHubClientHandle, ReceiveMessageCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 246 {
henryrawas 4:36a4eceb1b7f 247 (void)printf("ERROR: IoTHubClient_SetMessageCallback..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 248 return false;
henryrawas 4:36a4eceb1b7f 249 }
henryrawas 4:36a4eceb1b7f 250 else
henryrawas 4:36a4eceb1b7f 251 {
henryrawas 4:36a4eceb1b7f 252 (void)printf("IoTHubClient_SetMessageCallback...successful.\r\n");
henryrawas 4:36a4eceb1b7f 253 }
henryrawas 21:051751f9ca9e 254
henryrawas 21:051751f9ca9e 255 /* Setting Send call back, so we can send from worker thread. */
henryrawas 21:051751f9ca9e 256 if (IoTHubClient_Mod_SetSendCallback(iotHubClientHandle, SendCallback, &receiveContext) != IOTHUB_CLIENT_OK)
henryrawas 21:051751f9ca9e 257 {
henryrawas 21:051751f9ca9e 258 (void)printf("ERROR: IoTHubClient_SetSendCallback..........FAILED!\r\n");
henryrawas 21:051751f9ca9e 259 return false;
henryrawas 21:051751f9ca9e 260 }
henryrawas 21:051751f9ca9e 261 else
henryrawas 21:051751f9ca9e 262 {
henryrawas 21:051751f9ca9e 263 (void)printf("IoTHubClient_SetSendCallback...successful.\r\n");
henryrawas 21:051751f9ca9e 264 }
henryrawas 4:36a4eceb1b7f 265 }
henryrawas 4:36a4eceb1b7f 266 return true;
henryrawas 4:36a4eceb1b7f 267 }
henryrawas 4:36a4eceb1b7f 268
henryrawas 4:36a4eceb1b7f 269 void IothubRobotArm::Terminate()
henryrawas 4:36a4eceb1b7f 270 {
henryrawas 4:36a4eceb1b7f 271 if (iotHubClientHandle != NULL)
henryrawas 4:36a4eceb1b7f 272 {
henryrawas 21:051751f9ca9e 273 IoTHubClient_Mod_Destroy(iotHubClientHandle);
henryrawas 4:36a4eceb1b7f 274 iotHubClientHandle = NULL;
henryrawas 4:36a4eceb1b7f 275 }
henryrawas 4:36a4eceb1b7f 276 }
henryrawas 4:36a4eceb1b7f 277
henryrawas 21:051751f9ca9e 278 // Invoked from callback
henryrawas 21:051751f9ca9e 279 void IothubRobotArm::SendMessage(IOTHUB_CLIENT_HANDLE iotHubClient, void* userContextCallback)
henryrawas 4:36a4eceb1b7f 280 {
henryrawas 5:36916b1c5a06 281 // send until circular buf empty or no sending buffers avail
henryrawas 5:36916b1c5a06 282 // may drop message if confirmations are slow
henryrawas 5:36916b1c5a06 283 while (msgNumber - callbackCounter < MESSAGE_COUNT)
henryrawas 5:36916b1c5a06 284 {
henryrawas 5:36916b1c5a06 285 // get buffer from array
henryrawas 5:36916b1c5a06 286 int i = msgNumber % MESSAGE_COUNT;
henryrawas 4:36a4eceb1b7f 287
henryrawas 7:6723f6887d00 288 int msglen = 0;
henryrawas 13:ffeff9b5e513 289
henryrawas 7:6723f6887d00 290 // get alert if any, otherwise get measure data
henryrawas 18:224289104fc0 291 msglen = _msgSerialize.AlertBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 292 if (msglen == 0)
henryrawas 7:6723f6887d00 293 {
henryrawas 18:224289104fc0 294 msglen = _msgSerialize.MeasureBufToString(msgText, MESSAGE_LEN);
henryrawas 7:6723f6887d00 295 }
henryrawas 7:6723f6887d00 296
henryrawas 4:36a4eceb1b7f 297 if (msglen > 0)
henryrawas 4:36a4eceb1b7f 298 {
henryrawas 4:36a4eceb1b7f 299 if ((messages[i].messageHandle = IoTHubMessage_CreateFromByteArray((const unsigned char*)msgText, msglen)) == NULL)
henryrawas 4:36a4eceb1b7f 300 {
henryrawas 4:36a4eceb1b7f 301 (void)printf("ERROR: iotHubMessageHandle is NULL!\r\n");
henryrawas 4:36a4eceb1b7f 302 }
henryrawas 4:36a4eceb1b7f 303 else
henryrawas 4:36a4eceb1b7f 304 {
henryrawas 4:36a4eceb1b7f 305 messages[i].messageTrackingId = msgNumber;
henryrawas 21:051751f9ca9e 306
henryrawas 10:9b21566a5ddb 307 confirmTimer->stop();
henryrawas 21:051751f9ca9e 308 if (IoTHubClient_Mod_SendEventAsync(iotHubClient, messages[i].messageHandle, SendConfirmationCallback, &messages[i]) != IOTHUB_CLIENT_OK)
henryrawas 4:36a4eceb1b7f 309 {
henryrawas 4:36a4eceb1b7f 310 (void)printf("ERROR: IoTHubClient_SendEventAsync..........FAILED!\r\n");
henryrawas 4:36a4eceb1b7f 311 }
henryrawas 4:36a4eceb1b7f 312 else
henryrawas 4:36a4eceb1b7f 313 {
henryrawas 10:9b21566a5ddb 314 confirmTimer->start(SEND_CONFIRM_TO);
henryrawas 13:ffeff9b5e513 315 (void)printf("Send async completed\r\n");
henryrawas 4:36a4eceb1b7f 316 }
henryrawas 4:36a4eceb1b7f 317 msgNumber++;
henryrawas 4:36a4eceb1b7f 318 }
henryrawas 4:36a4eceb1b7f 319 }
henryrawas 4:36a4eceb1b7f 320 else if (msglen == 0)
henryrawas 4:36a4eceb1b7f 321 {
henryrawas 13:ffeff9b5e513 322 break;
henryrawas 4:36a4eceb1b7f 323 }
henryrawas 4:36a4eceb1b7f 324 else if (msglen < 0)
henryrawas 4:36a4eceb1b7f 325 {
henryrawas 4:36a4eceb1b7f 326 (void)printf("ERROR: Serialized message too big for buffer\r\n");
henryrawas 4:36a4eceb1b7f 327 break;
henryrawas 4:36a4eceb1b7f 328 }
henryrawas 4:36a4eceb1b7f 329 } // while
henryrawas 4:36a4eceb1b7f 330
henryrawas 4:36a4eceb1b7f 331 }
henryrawas 7:6723f6887d00 332