C++ (Cpp) sbp_send_message Examples

Example #1

File: error.c Project: Paakkit/piksi_firmware

/** Error message.
 * Halts the program while continually sending a fixed error message in SBP
 * message format to the FTDI USART, in a way that should get the message
 * through to the Python console even if it's interrupting another transmission.
 *
 * \param msg A pointer to an array of chars containing the error message.
 */
void _screaming_death(const char *pos, const char *msg)
{
  __asm__("CPSID if;");           /* Disable all interrupts and faults */

  #define SPEAKING_MSG_N 222       /* Maximum length of error message */

  static char err_msg[SPEAKING_MSG_N] = "ERROR: ";

  strncat(err_msg, pos, SPEAKING_MSG_N - 8);
  strncat(err_msg, " : ", SPEAKING_MSG_N - strlen(err_msg) - 1);
  strncat(err_msg, msg, SPEAKING_MSG_N - strlen(err_msg) - 1);
  strncat(err_msg, "\n", SPEAKING_MSG_N - strlen(err_msg) - 1);
  u8 len = strlen(err_msg);

  static sbp_state_t sbp_state;
  sbp_state_init(&sbp_state);

  /* Continuously send error message */
  #define APPROX_ONE_SEC 200000000
  while (1) {
    led_toggle(LED_RED);
    for (u32 d = 0; d < APPROX_ONE_SEC; d++) {
      __asm__("nop");
    }
    /* TODO: Send to other UARTs? */
    sbp_send_message(&sbp_state, SBP_MSG_PRINT_DEP, 0, len, (u8*)err_msg, &fallback_write_ftdi);
  }
}

Example #2

File: check_sbp.c Project: cbeighley/libsbp

END_TEST

START_TEST(test_sbp_send_message)
{
  /* TODO: Tests with different write function behaviour. */

  sbp_state_t s;
  sbp_state_init(&s);


  u8 smsg[] = { 0x22, 0x33 };

  fail_unless(sbp_send_message(&s, 0x2233, 0x4455, 0, smsg, 0) == SBP_NULL_ERROR,
      "sbp_send_message should return an error if write is NULL");

  dummy_reset();
  fail_unless(sbp_send_message(&s, 0x2233, 0x4455, 1, 0, &dummy_write)
        == SBP_NULL_ERROR,
      "sbp_send_message should return an error if payload is NULL and len != 0");

  dummy_reset();
  fail_unless(sbp_send_message(&s, 0x2233, 0x4455, 0, 0, &dummy_write)
        == SBP_OK,
      "sbp_send_message should return OK if payload is NULL and len == 0");

  u8 zero_len_message[] = {0x55, 0x33, 0x22, 0x55, 0x44, 0x00, 0x2C, 0x4C};

  fail_unless(memcmp(dummy_buff, zero_len_message, sizeof(zero_len_message))
        == 0,
      "sbp_send_message encode error for len = 0");

  dummy_reset();
  sbp_send_message(&s, 0x2233, 0x6677, sizeof(smsg), smsg, &dummy_write);

  u8 awesome_message[] = {0x55, 0x33, 0x22, 0x77, 0x66,
                          0x02, 0x22, 0x33, 0x8A, 0x33};

  fail_unless(memcmp(dummy_buff, awesome_message, sizeof(awesome_message))
        == 0,
      "sbp_send_message encode error for test message");
}