#include "sbgEComCmdCommon.h"
#include <streamBuffer/sbgStreamBuffer.h>

Include dependency graph for sbgEComCmdCommon.c:

Functions
SbgErrorCode	sbgEComCmdGenericGetModelId (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, uint32_t pModelId)

SbgErrorCode	sbgEComCmdGenericGetModelInfo (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, SbgEComModelInfo pModelInfo)

SbgErrorCode	sbgEComCmdGenericSetModelId (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t modelId)

SbgErrorCode	sbgEComReceiveAnyCmd (SbgEComHandle pHandle, uint8_t pMsgClass, uint8_t pMsg, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComReceiveCmd (SbgEComHandle pHandle, uint8_t msgClass, uint8_t msg, void pData, size_t *pSize, size_t maxSize, uint32_t timeOut)

SbgErrorCode	sbgEComSendAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, SbgErrorCode cmdError)

SbgErrorCode	sbgEComWaitForAck (SbgEComHandle *pHandle, uint8_t msgClass, uint8_t msg, uint32_t timeOut)

Function Documentation

SbgErrorCode sbgEComCmdGenericGetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t *	pModelId
	)

Generic function to get an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[out]	pModelId	Returns the currently used model ID.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 446 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComCmdGenericGetModelInfo	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		SbgEComModelInfo *	pModelInfo
	)

Generic function to retrieve error model information.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[out]	pMotionProfileInfo	Pointer to a SbgEComModelInfo to contain model info.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 512 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComCmdGenericSetModelId	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	modelId
	)

Generic function to set an error model ID

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	Original message class
[in]	msg	Original message ID
[in]	modelId	Model ID to set

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 380 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComReceiveAnyCmd	(	SbgEComHandle *	pHandle,
		uint8_t *	pMsgClass,
		uint8_t *	pMsg,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Wait until any command that is not a output log is recevied during a specific time out. All binary logs received during this time are handled trough the standard callback system.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pMsgClass	Pointer used to hold the received command class.
[out]	pMsg	Pointer used to hold the received command ID.
[out]	pData	Allocated buffer used to hold received data field.
[out]	pSize	Pointer used to hold the received data field size.
[in]	maxSize	Max number of bytes that can be stored in the pData buffer.
[in]	timeOut	Time out in ms during which we can receive the command.

Returns: SBG_NO_ERROR if we have received a valid frame.
SBG_NOT_READY if we haven't received a valid frame or if the serial buffer is empty.
SBG_INVALID_CRC if the received frame has an invalid CRC.
SBG_NULL_POINTER if an input parameter is NULL.
SBG_BUFFER_OVERFLOW if the received frame payload couldn't fit into the pData buffer. SBG_TIME_OUT if the command hasn't been received withint the specified time out.

Definition at line 25 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComReceiveCmd	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		void *	pData,
		size_t *	pSize,
		size_t	maxSize,
		uint32_t	timeOut
	)

Wait for a specific command to be received given a time out.
All binary logs received during this time are handled trough the standard callback system.
NACK for the requested command is treated as a negative answer and the corresponding error code is returned to user. In case an ACK is returned, we condider it's an error as well as expected command is not an ACK but regular command.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	msgClass	Command class we expect to receive
[out]	msg	Message id we expect to receive
[out]	pData	Allocated buffer used to hold received data field.
[out]	pSize	Pointer used to hold the received data field size.
[in]	maxSize	Max number of bytes that can be stored in the pData buffer.
[in]	timeOut	Time out in ms during which we can receive the command.

Returns: SBG_NO_ERROR if we have received a valid frame.
Other error codes may come from the function itself, or from the device returning an NACK.

Definition at line 174 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComSendAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		SbgErrorCode	cmdError
	)

Send an ACK for a specific command with an associated error code.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to send
[in]	msg	The message ID that we want to send.
[in]	cmdError	The associated error code.

Returns: SBG_NO_ERROR if the ACK has been sent.

Definition at line 351 of file sbgEComCmdCommon.c.

SbgErrorCode sbgEComWaitForAck	(	SbgEComHandle *	pHandle,
		uint8_t	msgClass,
		uint8_t	msg,
		uint32_t	timeOut
	)

Wait for an ACK for a specified amount of time.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	msgClass	The message class that we want to check
[in]	msg	The message ID that we want to check
[in]	timeOut	Time out in ms during which we can receive the ACK.

Returns: SBG_NO_ERROR if the ACK has been received.

Definition at line 278 of file sbgEComCmdCommon.c.

Functions

Function Documentation