sbgEComCmdGnss.c

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#include "sbgEComCmdGnss.h"
#include <streamBuffer/sbgStreamBuffer.h>
#include "transfer/sbgEComTransfer.h"

//----------------------------------------------------------------------//
//- GNSS private commands                                              -//
//----------------------------------------------------------------------//
SbgErrorCode sbgEComCmdGnssSetModelId(SbgEComHandle *pHandle, uint32 id, SbgEComCmd cmdId)
{
        //
        // Call generic function with specific command name
        //
        return sbgEComCmdGenericSetModelId(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, id);
}

SbgErrorCode sbgEComCmdGnssGetModelInfo(SbgEComHandle *pHandle, SbgEComModelInfo *pModelInfo, SbgEComCmd cmdId)
{
        //
        // Call generic function with specific command name
        //
        return sbgEComCmdGenericGetModelInfo(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, pModelInfo);
}

SbgErrorCode sbgEComCmdGnssSetModel(SbgEComHandle *pHandle, const void *pBuffer, uint32 size, SbgEComCmd cmdId)
{
        //
        // Call function that handle data transfer
        //
        return sbgEComTransferSend(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, pBuffer, size);
}

SbgErrorCode sbgEComCmdGnssGetLeverArmAlignment(SbgEComHandle *pHandle, SbgEComGnssAlignmentInfo *pAlignConf, SbgEComCmd cmdId)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32                          trial;
        size_t                          receivedSize;
        uint8                           receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        //
        // Test that the input pointer are valid
        //
        if ((pHandle) && (pAlignConf))
        {
                //
                // 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, cmdId, 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, cmdId, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);

                                //
                                // Test if we have received a SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT command
                                //
                                if (errorCode == SBG_NO_ERROR)
                                {
                                        //
                                        // Initialize stream buffer to read parameters
                                        //
                                        sbgStreamBufferInitForRead(&inputStream, receivedBuffer, receivedSize);

                                        //
                                        // Read parameters
                                        //
                                        pAlignConf->leverArmX = sbgStreamBufferReadFloatLE(&inputStream);
                                        pAlignConf->leverArmY = sbgStreamBufferReadFloatLE(&inputStream);
                                        pAlignConf->leverArmZ = sbgStreamBufferReadFloatLE(&inputStream);
                                        pAlignConf->pitchOffset = sbgStreamBufferReadFloatLE(&inputStream);
                                        pAlignConf->yawOffset = sbgStreamBufferReadFloatLE(&inputStream);
                                        pAlignConf->antennaDistance = sbgStreamBufferReadFloatLE(&inputStream);

                                        //
                                        // 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;
}

SbgErrorCode sbgEComCmdGnssSetLeverArmAlignment(SbgEComHandle *pHandle, const SbgEComGnssAlignmentInfo *pAlignConf, SbgEComCmd cmdId)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32                          trial;
        uint8                           outputBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         outputStream;

        //
        // Test that the input pointer are valid
        //
        if ((pHandle) && (pAlignConf))
        {
                //
                // Send the command three times
                //
                for (trial = 0; trial < pHandle->numTrials; trial++)
                {
                        //
                        // Init stream buffer for output
                        //
                        sbgStreamBufferInitForWrite(&outputStream, outputBuffer, sizeof(outputBuffer));

                        //
                        // Build payload
                        //
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->leverArmX);
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->leverArmY);
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->leverArmZ);
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->pitchOffset);
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->yawOffset);
                        sbgStreamBufferWriteFloatLE(&outputStream, pAlignConf->antennaDistance);

                        //
                        // Send the payload over ECom
                        //
                        errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, sbgStreamBufferGetLinkedBuffer(&outputStream), sbgStreamBufferGetLength(&outputStream));

                        //
                        // Make sure that the command has been sent
                        //
                        if (errorCode == SBG_NO_ERROR)
                        {
                                //
                                // Try to read the device answer for 500 ms
                                //
                                errorCode = sbgEComWaitForAck(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, pHandle->cmdDefaultTimeOut);

                                //
                                // Test if we have received a valid ACK
                                //
                                if (errorCode == SBG_NO_ERROR)
                                {
                                        //
                                        // The command has been executed successfully so return
                                        //
                                        break;
                                }
                        }
                        else
                        {
                                //
                                // We have a write error so exit the try loop
                                //
                                break;
                        }
                }
        }
        else
        {
                //
                // Invalid protocol handle.
                //
                errorCode = SBG_NULL_POINTER;
        }

        return errorCode;
}

SbgErrorCode sbgEComCmdGnssGetRejection(SbgEComHandle *pHandle, SbgEComGnssRejectionConf *pRejectConf, SbgEComCmd cmdId)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32                          trial;
        size_t                          receivedSize;
        uint8                           receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        //
        // Test that the input pointer are valid
        //
        if ((pHandle) && (pRejectConf))
        {
                //
                // 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, cmdId, 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, cmdId, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);

                                //
                                // Test if we have received a SBG_ECOM_CMD_GNSS_1_REJECT_MODES command
                                //
                                if (errorCode == SBG_NO_ERROR)
                                {
                                        //
                                        // Initialize stream buffer to read parameters
                                        //
                                        sbgStreamBufferInitForRead(&inputStream, receivedBuffer, receivedSize);

                                        //
                                        // Read parameters
                                        //
                                        pRejectConf->position   = (SbgEComRejectionMode)sbgStreamBufferReadUint8LE(&inputStream);
                                        pRejectConf->velocity   = (SbgEComRejectionMode)sbgStreamBufferReadUint8LE(&inputStream);
                                        sbgStreamBufferReadUint8LE(&inputStream);                                                                                                       // Skipped for backward compatibility
                                        pRejectConf->hdt                = (SbgEComRejectionMode)sbgStreamBufferReadUint8LE(&inputStream);

                                        //
                                        // 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;
}

SbgErrorCode sbgEComCmdGnssSetRejection(SbgEComHandle *pHandle, const SbgEComGnssRejectionConf *pRejectConf, SbgEComCmd cmdId)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32                          trial;
        uint8                           outputBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         outputStream;

        //
        // Test that the input pointer are valid
        //
        if ((pHandle) && (pRejectConf))
        {
                //
                // Send the command three times
                //
                for (trial = 0; trial < pHandle->numTrials; trial++)
                {
                        //
                        // Init stream buffer for output
                        //
                        sbgStreamBufferInitForWrite(&outputStream, outputBuffer, sizeof(outputBuffer));

                        //
                        // Build payload
                        //
                        sbgStreamBufferWriteUint8LE(&outputStream, (uint8)pRejectConf->position);
                        sbgStreamBufferWriteUint8LE(&outputStream, (uint8)pRejectConf->velocity);
                        sbgStreamBufferWriteUint8LE(&outputStream, (uint8)SBG_ECOM_NEVER_ACCEPT_MODE);          // Reserved parameter
                        sbgStreamBufferWriteUint8LE(&outputStream, (uint8)pRejectConf->hdt);

                        //
                        // Send the payload over ECom
                        //
                        errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, sbgStreamBufferGetLinkedBuffer(&outputStream), sbgStreamBufferGetLength(&outputStream));

                        //
                        // Make sure that the command has been sent
                        //
                        if (errorCode == SBG_NO_ERROR)
                        {
                                //
                                // Try to read the device answer for 500 ms
                                //
                                errorCode = sbgEComWaitForAck(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, cmdId, pHandle->cmdDefaultTimeOut);

                                //
                                // Test if we have received a valid ACK
                                //
                                if (errorCode == SBG_NO_ERROR)
                                {
                                        //
                                        // The command has been executed successfully so return
                                        //
                                        break;
                                }
                        }
                        else
                        {
                                //
                                // We have a write error so exit the try loop
                                //
                                break;
                        }
                }
        }
        else
        {
                //
                // Invalid protocol handle.
                //
                errorCode = SBG_NULL_POINTER;
        }

        return errorCode;
}


//----------------------------------------------------------------------//
//- GNSS public commands                                                       -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdGnss1SetModelId(SbgEComHandle *pHandle, uint32 id)
{
        return sbgEComCmdGnssSetModelId(pHandle, id, SBG_ECOM_CMD_GNSS_1_MODEL_ID);
}

SbgErrorCode sbgEComCmdGnss1GetModelInfo(SbgEComHandle *pHandle, SbgEComModelInfo *pModelInfo)
{
        return sbgEComCmdGnssGetModelInfo(pHandle, pModelInfo, SBG_ECOM_CMD_GNSS_1_MODEL_ID);
}

SbgErrorCode sbgEComCmdGnss1SetModel(SbgEComHandle *pHandle, const void *pBuffer, uint32 size)
{
        return sbgEComCmdGnssSetModel(pHandle, pBuffer, size, SBG_ECOM_CMD_GNSS_1_SET_MODEL);
}

SbgErrorCode sbgEComCmdGnss1GetLeverArmAlignment(SbgEComHandle *pHandle, SbgEComGnssAlignmentInfo *pAlignConf)
{
        return sbgEComCmdGnssGetLeverArmAlignment(pHandle, pAlignConf, SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT);
}

SbgErrorCode sbgEComCmdGnss1SetLeverArmAlignment(SbgEComHandle *pHandle, const SbgEComGnssAlignmentInfo *pAlignConf)
{
        return sbgEComCmdGnssSetLeverArmAlignment(pHandle, pAlignConf, SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT);
}

SbgErrorCode sbgEComCmdGnss1GetRejection(SbgEComHandle *pHandle, SbgEComGnssRejectionConf *pRejectConf)
{
        return sbgEComCmdGnssGetRejection(pHandle, pRejectConf, SBG_ECOM_CMD_GNSS_1_REJECT_MODES);
}

SbgErrorCode sbgEComCmdGnss1SetRejection(SbgEComHandle *pHandle, const SbgEComGnssRejectionConf *pRejectConf)
{
        return sbgEComCmdGnssSetRejection(pHandle, pRejectConf, SBG_ECOM_CMD_GNSS_1_REJECT_MODES);
}