void TinkerforgeSensors::callbackConnected(uint8_t connect_reason, void *user_data)
{
TinkerforgeSensors *tfs = (TinkerforgeSensors*) user_data;
//if (tfs->is_imu_connected == false)
ipcon_enumerate(&(tfs->ipcon));
return;
}
void LaserTransform::callbackConnected(uint8_t connect_reason, void *user_data)
{
LaserTransform *lt = (LaserTransform*) user_data;
if (lt->is_imu_connected == false)
ipcon_enumerate(&(lt->ipcon));
return;
}
void MasterConnectionImpl::connect(const std::string& host, Poco::UInt16 port)
{
poco_assert (ipcon_get_connection_state(&_ipcon) == IPCON_CONNECTION_STATE_DISCONNECTED);
int rc = ipcon_connect(&_ipcon, host.c_str(), port);
switch (rc)
{
case E_OK:
break;
case E_TIMEOUT:
throw Poco::TimeoutException();
case E_HOSTNAME_INVALID:
throw Poco::IOException("invalid hostname", host);
default:
throw Poco::IOException("cannot establish connection to master");
}
while (ipcon_get_connection_state(&_ipcon) == IPCON_CONNECTION_STATE_PENDING)
{
Poco::Thread::sleep(100);
}
ipcon_register_callback(&_ipcon, IPCON_CALLBACK_ENUMERATE, (void*) enumerate, this);
rc = ipcon_enumerate(&_ipcon);
if (rc != E_OK)
{
throw Poco::IOException();
}
}
void cb_connected(uint8_t connected_reason, void *user_data) {
SmokeDetector *sd = (SmokeDetector *)user_data;
if(connected_reason == IPCON_CONNECT_REASON_AUTO_RECONNECT) {
printf("Auto Reconnect\n");
while(true) {
int rc = ipcon_enumerate(&sd->ipcon);
if(rc < 0) {
fprintf(stderr, "Could not enumerate: %d\n", rc);
// TODO: sleep 1s
continue;
}
break;
}
}
}
int main(void) {
SmokeDetector sd;
ipcon_create(&sd.ipcon);
while(true) {
int rc = ipcon_connect(&sd.ipcon, HOST, PORT);
if(rc < 0) {
fprintf(stderr, "Could not connect to brickd: %d\n", rc);
// TODO: sleep 1s
continue;
}
break;
}
ipcon_register_callback(&sd.ipcon,
IPCON_CALLBACK_ENUMERATE,
(void *)cb_enumerate,
(void *)&sd);
ipcon_register_callback(&sd.ipcon,
IPCON_CALLBACK_CONNECTED,
(void *)cb_connected,
(void *)&sd);
while(true) {
int rc = ipcon_enumerate(&sd.ipcon);
if(rc < 0) {
fprintf(stderr, "Could not enumerate: %d\n", rc);
// TODO: sleep 1s
continue;
}
break;
}
printf("Press key to exit\n");
getchar();
ipcon_destroy(&sd.ipcon);
return 0;
}
