sbgEComCmdAdvanced.c

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

//----------------------------------------------------------------------//
//- Event commands                                                             -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdAdvancedGetConf(SbgEComHandle *pHandle, SbgEComAdvancedConf *pConf)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        size_t                          receivedSize;
        uint8_t                         receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        assert(pHandle);
        assert(pConf);

        //
        // Send the command three times
        //
        for (trial = 0; trial < pHandle->numTrials; trial++)
        {
                //
                // Send the command without payload since this is a no-payload command
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_ADVANCED_CONF, 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_ADVANCED_CONF, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);

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

                                //
                                // Read parameters
                                //
                                pConf->timeReference = (SbgEComTimeReferenceSrc)sbgStreamBufferReadUint8LE(&inputStream);

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

SbgErrorCode sbgEComCmdAdvancedSetConf(SbgEComHandle *pHandle, const SbgEComAdvancedConf *pConf)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        uint8_t                         outputBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         outputStream;

        assert(pHandle);
        assert(pConf);
        
        //
        // 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_t)pConf->timeReference);

                //
                // Send the payload over ECom
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_ADVANCED_CONF, 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, SBG_ECOM_CMD_ADVANCED_CONF, 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;
                }
        }
        
        return errorCode;
}

SbgErrorCode sbgEComCmdAdvancedGetThresholds(SbgEComHandle *pHandle, SbgEComValidityThresholds *pConf)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        size_t                          receivedSize;
        uint8_t                         receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;

        assert(pHandle);
        assert(pConf);
                
        //
        // Send the command three times
        //
        for (trial = 0; trial < pHandle->numTrials; trial++)
        {
                //
                // Send the command without payload since this is a no-payload command
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_VALIDITY_THRESHOLDS, 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_VALIDITY_THRESHOLDS, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);

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

                                //
                                // Read parameters and check payload consistency
                                //
                                pConf->positionThreshold = sbgStreamBufferReadFloatLE(&inputStream);
                                pConf->velocityThreshold = sbgStreamBufferReadFloatLE(&inputStream);
                                pConf->attitudeThreshold = sbgStreamBufferReadFloatLE(&inputStream);
                                pConf->headingThreshold = sbgStreamBufferReadFloatLE(&inputStream);

                                errorCode = sbgStreamBufferGetLastError(&inputStream);

                                //
                                // The command has been executed successfully so return
                                //
                                break;
                        }
                }
                else
                {
                        //
                        // We have a write error so exit the try loop
                        //
                        break;
                }
        }
        
        return errorCode;
}
SbgErrorCode sbgEComCmdAdvancedSetThresholds(SbgEComHandle *pHandle, const SbgEComValidityThresholds *pConf)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        uint8_t                         outputBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         outputStream;

        assert(pHandle);
        assert(pConf);
                
        //
        // 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, pConf->positionThreshold);
                sbgStreamBufferWriteFloatLE(&outputStream, pConf->velocityThreshold);
                sbgStreamBufferWriteFloatLE(&outputStream, pConf->attitudeThreshold);
                sbgStreamBufferWriteFloatLE(&outputStream, pConf->headingThreshold);

                //
                // Send the payload over ECom
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_VALIDITY_THRESHOLDS, 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, SBG_ECOM_CMD_VALIDITY_THRESHOLDS, 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;
                }
        }
        
        return errorCode;
}