sbgEComCmdInfo.c

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#include "sbgEComCmdInfo.h"
#include <streamBuffer/sbgStreamBuffer.h>
 
//----------------------------------------------------------------------//
//- Info commands                                                              -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdGetInfo(SbgEComHandle *pHandle, SbgEComDeviceInfo *pInfo)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        size_t                          receivedSize;
        uint8_t                         receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;
 
        assert(pHandle);
        assert(pInfo);
 
        //
        // Send the command three times
        //
        for (trial = 0; trial < pHandle->numTrials; trial++)
        {
                //
                // Send the command only since this is a no-payload command
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_INFO, NULL, 0);
 
                //
                // Make sure that the command has been sent
                //
                if (errorCode == SBG_NO_ERROR)
                {
                        //
                        // Try to read the device answer for 500 ms
                        //
                        errorCode = sbgEComReceiveCmd(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_INFO, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);
 
                        //
                        // Test if we have correctly received a message
                        //
                        if (errorCode == SBG_NO_ERROR)
                        {
                                //
                                // Make sure we have received a payload
                                //
                                if (receivedSize > 0)
                                {
                                        //
                                        // Initialize stream buffer to read parameters
                                        //
                                        sbgStreamBufferInitForRead(&inputStream, receivedBuffer, receivedSize);
 
                                        //
                                        // Read parameters
                                        //
                                        sbgStreamBufferReadBuffer(&inputStream, pInfo->productCode, SBG_ECOM_INFO_PRODUCT_CODE_LENGTH);
                                        pInfo->serialNumber             = sbgStreamBufferReadUint32LE(&inputStream);
                                        pInfo->calibationRev    = sbgStreamBufferReadUint32LE(&inputStream);
                                        pInfo->calibrationYear  = sbgStreamBufferReadUint16LE(&inputStream);
                                        pInfo->calibrationMonth = sbgStreamBufferReadUint8LE(&inputStream);
                                        pInfo->calibrationDay   = sbgStreamBufferReadUint8LE(&inputStream);
                                        pInfo->hardwareRev              = sbgStreamBufferReadUint32LE(&inputStream);
                                        pInfo->firmwareRev              = sbgStreamBufferReadUint32LE(&inputStream);
 
                                        //
                                        // We have parsed a message so return immediately but report any error during payload parsing
                                        //
                                        errorCode = sbgStreamBufferGetLastError(&inputStream);
 
                                        break;
                                }
                                else
                                {
                                        //
                                        // We should have received a non empty payload so we have received an invalid frame
                                        //
                                        errorCode = SBG_INVALID_FRAME;
                                }
                        }
                }
                else
                {
                        //
                        // We have a write error so exit the try loop
                        //
                        break;
                }
        }
 
        return errorCode;
}