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                          trial;
        size_t                          receivedSize;
        uint8                           receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        //
        // Test that the input pointers are valid
        //
        if ((pHandle) && (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;
                        }
                }
        }
        else
        {
                //
                // Null pointer
                //
                errorCode = SBG_NULL_POINTER;
        }

        return errorCode;
}