sbgEComCmdFeatures.c

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

//----------------------------------------------------------------------//
//- Features commands                                                  -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdGetFeatures(SbgEComHandle *pHandle, SbgEComFeatures *pFeatures)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32                          trial;
        size_t                          receivedSize;
        uint8                           receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        //
        // Test that the input pointers are valid
        //
        if ((pHandle) && (pFeatures))
        {
                //
                // 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_FEATURES, 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_FEATURES, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);

                                //
                                // Test if we have received a SBG_ECOM_CMD_GPS_FEATURES command
                                //
                                if (errorCode == SBG_NO_ERROR)
                                {
                                        //
                                        // Initialize stream buffer to read parameters
                                        //
                                        sbgStreamBufferInitForRead(&inputStream, receivedBuffer, receivedSize);

                                        //
                                        // Read parameters
                                        //
                                        pFeatures->sensorFeaturesMask   =  sbgStreamBufferReadUint32LE(&inputStream);
                                        pFeatures->gnssType                             = (SbgEComGnssType)sbgStreamBufferReadUint8LE(&inputStream);
                                        pFeatures->gnssUpdateRate               = sbgStreamBufferReadUint8LE(&inputStream);
                                        pFeatures->gnssSignalsMask              = sbgStreamBufferReadUint32LE(&inputStream);
                                        pFeatures->gnssFeaturesMask             = sbgStreamBufferReadUint32LE(&inputStream);
                                        sbgStreamBufferReadBuffer(&inputStream, pFeatures->gnssProductCode, 32*sizeof(char));
                                        sbgStreamBufferReadBuffer(&inputStream, pFeatures->gnssSerialNumber, 32*sizeof(char));

                                        //
                                        // The command has been executed successfully so return
                                        //
                                        break;
                                }
                        }
                        else
                        {
                                //
                                // We have a write error so exit the try loop
                                //
                                break;
                        }
                }
        }
        else
        {
                //
                // Null pointer
                //
                errorCode = SBG_NULL_POINTER;
        }

        return errorCode;
}