unsigned int sw_location(char* hardwareId, float lat, float lon, float ele, int64_t eventDate,
uint8_t* buffer, size_t length, char* originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
SiteWhere_Header header = { };
header.command = SiteWhere_Command_DEVICELOCATION;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, SiteWhere_Header_fields, &header)) {
return 0;
}
SiteWhere_DeviceLocation location = { };
strcpy(location.hardwareId, hardwareId);
location.latitude = float_to_double(lat);
location.longitude = float_to_double(lon);
location.elevation = float_to_double(ele);
location.has_elevation = true;
if (eventDate != NULL) {
location.has_eventDate = true;
location.eventDate = eventDate;
}
if (!pb_encode_delimited(&stream, SiteWhere_DeviceLocation_fields, &location)) {
return 0;
}
return stream.bytes_written;
}
unsigned int sw_measurement(char* hardwareId, char* name, float value, int64_t eventDate,
uint8_t* buffer, size_t length, char* originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
SiteWhere_Header header = { };
header.command = SiteWhere_Command_DEVICEMEASUREMENT;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, SiteWhere_Header_fields, &header)) {
return 0;
}
SiteWhere_DeviceMeasurements measurements = { };
strcpy(measurements.hardwareId, hardwareId);
SiteWhere_Measurement measurement = { };
strcpy(measurement.measurementId, name);
measurement.measurementValue = float_to_double(value);
measurements.measurement[0] = measurement;
measurements.measurement_count = 1;
if (eventDate != NULL) {
measurements.has_eventDate = true;
measurements.eventDate = eventDate;
}
if (!pb_encode_delimited(&stream, SiteWhere_DeviceMeasurements_fields, &measurements)) {
return 0;
}
return stream.bytes_written;
}
unsigned int openiot_location(char *hardwareId, char *lat, char *lon, char *ele, int64_t eventDate,
uint8_t *buffer, size_t length, char *originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
OpenIoT_Header header = {};
header.command = OpenIoT_Command_DEVICELOCATION;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, OpenIoT_Header_fields, &header)) {
return 0;
}
OpenIoT_DeviceLocation location = {};
strcpy(location.hardwareId, hardwareId);
strcpy(location.latitude, lat);
strcpy(location.longitude, lon);
strcpy(location.elevation, ele);
location.has_elevation = true;
if (eventDate != 0) {
location.has_eventDate = true;
location.eventDate = eventDate;
}
if (!pb_encode_delimited(&stream, OpenIoT_DeviceLocation_fields, &location)) {
return 0;
}
return stream.bytes_written;
}
void send_debug_telemetry()
{
#ifdef SEND_TELEMETRY
shedBoat_Telemetry telemetryMessage = shedBoat_Telemetry_init_zero;
telemetryMessage.status = shedBoat_Telemetry_Status_STATIONARY;
telemetryMessage.has_debug = true;
telemetryMessage.debug.has_bearing_compensation = true;
telemetryMessage.debug.bearing_compensation = bearingCompensation * 1000;
telemetryMessage.debug.has_speed_over_ground_compensation = true;
telemetryMessage.debug.speed_over_ground_compensation = speedOverGroundCompensation * 1000;
telemetryMessage.debug.has_motor_1_throttle_compensation = true;
telemetryMessage.debug.motor_1_throttle_compensation = leftThrottle * 1000;
telemetryMessage.debug.has_motor_2_throttle_compensation = true;
telemetryMessage.debug.motor_2_throttle_compensation = rightThrottle * 1000;
uint8_t buffer[100];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
bool success = pb_encode(&stream, shedBoat_Telemetry_fields, &telemetryMessage);
if(success) {
send_xbee_packet(buffer, stream.bytes_written);
} else {
error("Failed to encode Proto Buffer");
DEBUG_OUTPUT("Failed to encode Proto Buffer /r/n");
}
#endif
}
TEST(test_encoder, test_encode_object_none) {
uint8_t data[1];
pb_ostream_t stream = pb_ostream_from_buffer(data, sizeof(data));
krpc_TestService_TestClass_t value = 0;
ASSERT_EQ(KRPC_OK, krpc_encode_object(&stream, value));
ASSERT_EQ("00", hexlify(data, stream.bytes_written));
}
unsigned int openiot_alert(char *hardwareId, char *alertType, char *alertMessage, int64_t eventDate,
uint8_t *buffer, size_t length, char *originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
OpenIoT_Header header = {};
header.command = OpenIoT_Command_DEVICEALERT;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, OpenIoT_Header_fields, &header)) {
return 0;
}
OpenIoT_DeviceAlert alert = {};
strcpy(alert.hardwareId, hardwareId);
strcpy(alert.alertType, alertType);
strcpy(alert.alertMessage, alertMessage);
if (eventDate != 0) {
alert.has_eventDate = true;
alert.eventDate = eventDate;
}
if (!pb_encode_delimited(&stream, OpenIoT_DeviceAlert_fields, &alert)) {
return 0;
}
return stream.bytes_written;
}
void sendSensorValue(MotorMsg_Data_Param_Id dataId, MotorMsg_Unit unit, double value) {
pb_ostream_t stream = pb_ostream_from_buffer(gTxFrameBuffer, FRAME_BUFFER_MAX_LEN);
static MotorMsg_Data_Param param = MotorMsg_Data_Param_init_zero;
param.id = dataId;
param.unit = unit;
param.value = value;
static MotorMsg_Data motorData = MotorMsg_Data_init_zero;
motorData.action = MotorMsg_Data_Action_RESULT;
motorData.params.funcs.encode = &motordataEncoderCallback;
motorData.params.arg = ¶m;
static MotorMsg motorMsg = MotorMsg_init_zero;
memcpy(motorMsg.uuid, UUID, sizeof(motorMsg.uuid));
motorMsg.which_content = MotorMsg_motor_data_tag;
motorMsg.content.motor_data = motorData;
pb_encode(&stream, MotorMsg_fields, &motorMsg);
//pb_encode_tag_for_field(stream, field);
//pb_encode_submessage(&stream, MotorMsg_MotorData_fields, &motorData);
usbTransmitFrame((BufferStoragePtrType) gTxFrameBuffer, stream.bytes_written);
}
/**
* encode the gateway message and write the encoded buf to GATEWAY_MSG_PATH
* @param ssmsg
*/
void gwmsg_write(SSMsg *ssmsg)
{
uint8_t buffer[1024];
int msg_len;
FILE *fd;
int status;
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
status=pb_encode(&stream, SSMsg_fields, ssmsg);
msg_len=stream.bytes_written;
if (!status)
{
log_printf(LOG_ERROR,"GateWay Msg Encoding failed: %s\n", PB_GET_ERROR(&stream));
return ;
}
fd=fopen(GATEWAY_MSG_PATH,"wb");
if(fd==NULL)
{
log_printf(LOG_ERROR,"Can not open %s error!\n",GATEWAY_MSG_PATH);
}
fwrite(buffer,msg_len,1,fd);
fclose(fd);
}
void MotorController::sendRequest()
{
/* This is the buffer where we will store the request message. */
uint8_t requestbuffer[256];
/* allocate space for the request message to the server */
RequestMessage request = RequestMessage_init_zero;
/* Create a stream that will write to our buffer. */
pb_ostream_t ostream = pb_ostream_from_buffer(requestbuffer, sizeof(requestbuffer));
/* indicate that speed fields will contain values */
request.has_speed_l = true;
request.has_speed_r = true;
/* fill in the message fields */
request.speed_l = static_cast<float>(current_motor_command_.left_velocity);
request.speed_r = static_cast<float>(current_motor_command_.right_velocity);
/* encode the protobuffer */
bool status = pb_encode(&ostream, RequestMessage_fields, &request);
size_t message_length = ostream.bytes_written;
/* check for any errors.. */
if (!status)
{
ROS_ERROR_STREAM("Encoding failed: " << PB_GET_ERROR(&ostream));
ros::shutdown();
}
/* Send the message strapped to a pigeon's leg! */
(*sock_).sendMessage(reinterpret_cast<char*>(requestbuffer), message_length);
}
unsigned int openiot_acknowledge(char *hardwareId, char *message, uint8_t *buffer, size_t length, char *originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
OpenIoT_Header header = {};
header.command = OpenIoT_Command_ACKNOWLEDGE;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, OpenIoT_Header_fields, &header)) {
return 0;
}
OpenIoT_Acknowledge ack = {};
strcpy(ack.hardwareId, hardwareId);
if (message != NULL) {
ack.has_message = true;
strcpy(ack.message, message);
}
if (!pb_encode_delimited(&stream, OpenIoT_Acknowledge_fields, &ack)) {
return 0;
}
return stream.bytes_written;
}
void cdc_rx_notify(uint8_t port) {
l("cdc_rx_notify [%d]", port);
uint8_t b = udi_cdc_getc();
if (b != 0x08) {
l("Protocol desync");
}
l("First byte ok");
uint32_t offset = 0;
do {
buffer[offset++] = b;
b = udi_cdc_getc();
l("-> 0x%02x", b);
} while (b & 0x80);
buffer[offset++] = b;
// Now we have enough to know the size
l("Length read, decoding...");
l("... 0x%02x 0x%02x", buffer[0], buffer[1]);
pb_istream_t istream = pb_istream_from_buffer(buffer + 1, USB_BUFFER_SIZE);
l("istream bytes_left before %d", istream.bytes_left);
uint64_t len = 0;
pb_decode_varint(&istream, &len);
l("message_length %d", (uint32_t)len);
l("offset %d", offset);
udi_cdc_read_buf(buffer + offset, len);
l("decode message");
istream = pb_istream_from_buffer(buffer + offset, len);
DonglePiRequest request = {0};
request.config.i2c.funcs.decode = handle_i2c_config_cb;
request.config.uart.funcs.decode = handle_uart_config_cb;
request.config.spi.funcs.decode = handle_spi_config_cb;
request.config.gpio.pins.funcs.decode = handle_gpio_pin_config_cb;
request.data.i2c.writes.funcs.decode = handle_i2c_write_cb;
if (!pb_decode(&istream, DonglePiRequest_fields, &request)) {
l("failed to decode the packet, wait for more data");
return;
}
l("Request #%d received", request.message_nb);
if (request.has_data && request.data.has_gpio) {
handle_gpio_write(request.data.gpio);
}
pb_ostream_t ostream = pb_ostream_from_buffer(buffer, USB_BUFFER_SIZE);
DonglePiResponse response = {};
response.message_nb = request.message_nb;
l("Create response for #%d", response.message_nb);
handle_gpio_read(&response);
pb_encode_delimited(&ostream, DonglePiResponse_fields, &response);
l("Write response nb_bytes = %d", ostream.bytes_written);
uint32_t wrote = udi_cdc_write_buf(buffer, ostream.bytes_written);
l("Done. wrote %d bytes", wrote);
}
TEST(test_encoder, test_encode_unicode_string) {
char in[4];
unhexlify((uint8_t*)in, "e284a2");
in[3] = '\0';
uint8_t data[4];
pb_ostream_t stream = pb_ostream_from_buffer(data, sizeof(data));
ASSERT_EQ(KRPC_OK, krpc_encode_string(&stream, in));
ASSERT_EQ("03e284a2", hexlify(data, stream.bytes_written));
}
int pc_pb_encode(uint8_t *buf, size_t len, size_t *written, const json_t *gprotos, const json_t *protos, json_t *msg) {
pb_ostream_t stream = pb_ostream_from_buffer(buf, len);
if (!pb_encode(&stream, gprotos, protos, msg)) {
fprintf(stderr, "pb_encode error\n");
return 0;
}
*written = stream.bytes_written;
return 1;
}
int pc_pb_encode(uint8_t *buf, size_t len, size_t *written, const pc_JSON *gprotos, const pc_JSON *protos, const pc_JSON *msg) {
/* TODO: const */
pb_ostream_t stream = pb_ostream_from_buffer(buf, len);
if (!pb_encode(&stream, gprotos, protos, (pc_JSON*)msg)) {
return 0;
}
*written = stream.bytes_written;
return 1;
}
TEST(test_encoder, test_encode_procedure_message) {
uint8_t data[256];
krpc_call_t call;
krpc_argument_t arguments[0];
ASSERT_EQ(KRPC_OK, krpc_call(&call, 99, 42, 0, arguments));
pb_ostream_t stream = pb_ostream_from_buffer(data, sizeof(data));
ASSERT_EQ(KRPC_OK, krpc_encode_message_ProcedureCall(&stream, &call.message));
std::string expected = "0a0012002063282a";
ASSERT_EQ(expected, hexlify(data, stream.bytes_written));
}
void gps_satellite_telemetry() {
DEBUG_OUTPUT("Time: %02d:%02d:%02d\r\n", NMEA::getHour(), NMEA::getMinute(), NMEA::getSecond());
DEBUG_OUTPUT("Satellites: %d\r\n", NMEA::getSatellites());
DEBUG_OUTPUT("Latitude: %0.5f\r\n", NMEA::getLatitude());
DEBUG_OUTPUT("Longitude: %0.5f\r\n", NMEA::getLongitude());
DEBUG_OUTPUT("Altitude: %0.2fm\r\n", NMEA::getAltitude());
DEBUG_OUTPUT("Speed: %0.2fkm/h\r\n", NMEA::getSpeed());
DEBUG_OUTPUT("GPS Bearing (Track made good): %0.2f degrees\r\n", NMEA::getBearing());
DEBUG_OUTPUT("Compass Bearing: %03.0f\r\n", bearing);
DEBUG_OUTPUT("Heading Delta to Waypoint: %03.0f\r\n", heading_delta(180.0, bearing));
DEBUG_OUTPUT("Distance to Next Nav %06.2fm\r\n",
distance_to_current_nav(degToRad((double)NMEA::getLatitude()), degToRad((double)NMEA::getLongitude()))
);
#ifdef SEND_TELEMETRY
shedBoat_Telemetry telemetryMessage = shedBoat_Telemetry_init_zero;
if(autopilotEngaged) {
telemetryMessage.status = shedBoat_Telemetry_Status_UNDERWAY_AUTOPILOT;
}
else {
telemetryMessage.status = shedBoat_Telemetry_Status_UNDERWAY_MANUAL;
}
telemetryMessage.has_location = true;
telemetryMessage.location.has_latitude = true;
telemetryMessage.location.latitude = NMEA::getLatitude();
telemetryMessage.location.has_longitude = true;
telemetryMessage.location.longitude = NMEA::getLongitude();
telemetryMessage.location.has_number_of_satellites_visible = true;
telemetryMessage.location.number_of_satellites_visible = NMEA::getSatellites();
telemetryMessage.location.has_true_heading = true;
telemetryMessage.location.true_heading = heading * 1000;
telemetryMessage.location.has_true_bearing = true;
telemetryMessage.location.true_bearing = bearing * 1000;
telemetryMessage.location.has_speed_over_ground = true;
telemetryMessage.location.speed_over_ground = NMEA::getSpeed() * 1000;
telemetryMessage.location.has_utc_seconds = true;
telemetryMessage.location.utc_seconds = NMEA::getSecond();
telemetryMessage.location.fix_quality = (_shedBoat_Location_Quality)NMEA::getFixQuality();
telemetryMessage.location.has_distance_to_waypoint = true;
telemetryMessage.location.distance_to_waypoint = (int32_t)distance_to_current_nav(degToRad((double)NMEA::getLatitude()), degToRad((double)NMEA::getLongitude()));
telemetryMessage.location.has_waypoint_number = true;
telemetryMessage.location.waypoint_number = get_nav_num();
uint8_t buffer[100];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
bool success = pb_encode(&stream, shedBoat_Telemetry_fields, &telemetryMessage);
if(success) {
send_xbee_packet(buffer, stream.bytes_written);
} else {
error("Failed to encode Proto Buffer");
}
#endif
}
TEST(test_encoder, test_encode_procedure_message_with_args) {
uint8_t data[256];
int32_t x = 42;
double y = 3.14159;
krpc_call_t call;
krpc_argument_t arguments[2];
ASSERT_EQ(KRPC_OK, krpc_call(&call, 99, 42, 2, arguments));
ASSERT_EQ(KRPC_OK, krpc_add_argument(&call, 0, &krpc_encode_callback_int32, &x));
ASSERT_EQ(KRPC_OK, krpc_add_argument(&call, 1, &krpc_encode_callback_double, &y));
pb_ostream_t stream = pb_ostream_from_buffer(data, sizeof(data));
ASSERT_EQ(KRPC_OK, krpc_encode_message_ProcedureCall(&stream, &call.message));
std::string expected = "0a0012001a031201541a0c080112086e861bf0f92109402063282a";
ASSERT_EQ(expected, hexlify(data, stream.bytes_written));
}
int main()
{
int status = 0;
uint8_t buf[256];
SignedMsg msg1;
UnsignedMsg msg2;
pb_ostream_t s;
{
COMMENT("Test negative value of signed enum");
/* Negative value should take up the maximum size */
msg1.value = SignedEnum_SE_MIN;
s = pb_ostream_from_buffer(buf, sizeof(buf));
TEST(pb_encode(&s, SignedMsg_fields, &msg1));
TEST(s.bytes_written == SignedMsg_size);
COMMENT("Test positive value of signed enum");
/* Positive value should be smaller */
msg1.value = SignedEnum_SE_MAX;
s = pb_ostream_from_buffer(buf, sizeof(buf));
TEST(pb_encode(&s, SignedMsg_fields, &msg1));
TEST(s.bytes_written < SignedMsg_size);
}
{
COMMENT("Test positive value of unsigned enum");
/* This should take up the maximum size */
msg2.value = UnsignedEnum_UE_MAX;
s = pb_ostream_from_buffer(buf, sizeof(buf));
TEST(pb_encode(&s, UnsignedMsg_fields, &msg2));
TEST(s.bytes_written == UnsignedMsg_size);
}
return status;
}
ENetPacket *NetEncode(const GameEventType e, const void *data)
{
uint8_t buffer[1024];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof buffer);
const pb_field_t *fields = GameEventGetEntry(e).Fields;
const bool status =
(data && fields) ? pb_encode(&stream, fields, data) : true;
CASSERT(status, "Failed to encode pb");
int msgId = (int)e;
ENetPacket *packet = enet_packet_create(
&msgId, NET_MSG_SIZE + stream.bytes_written,
ENET_PACKET_FLAG_RELIABLE);
memcpy(packet->data + NET_MSG_SIZE, buffer, stream.bytes_written);
return packet;
}
int main(int argc, char **argv)
{
if (argc != 2)
{
fprintf(stderr, "Usage: %s (1|2|3)\n", argv[0]);
return 1;
}
uint8_t buffer[512];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
bool status = false;
int msgtype = atoi(argv[1]);
if (msgtype == 1)
{
/* Send message of type 1 */
MsgType1 msg = {42};
status = encode_unionmessage(&stream, MsgType1_fields, &msg);
}
else if (msgtype == 2)
{
/* Send message of type 2 */
MsgType2 msg = {true};
status = encode_unionmessage(&stream, MsgType2_fields, &msg);
}
else if (msgtype == 3)
{
/* Send message of type 3 */
MsgType3 msg = {3, 1415};
status = encode_unionmessage(&stream, MsgType3_fields, &msg);
}
else
{
fprintf(stderr, "Unknown message type: %d\n", msgtype);
return 2;
}
if (!status)
{
fprintf(stderr, "Encoding failed!\n");
return 3;
}
else
{
fwrite(buffer, 1, stream.bytes_written, stdout);
return 0; /* Success */
}
}
// This function assumes the TraceContext is valid.
size_t encode_trace_context(google_trace_TraceContext *ctxt, uint8_t *buffer,
const size_t buf_size) {
// Create a stream that will write to our buffer.
pb_ostream_t stream = pb_ostream_from_buffer(buffer, buf_size);
// encode message
bool status = pb_encode(&stream, google_trace_TraceContext_fields, ctxt);
if (!status) {
gpr_log(GPR_DEBUG, "TraceContext encoding failed: %s",
PB_GET_ERROR(&stream));
return 0;
}
return stream.bytes_written;
}
grpc_slice grpc_grpclb_request_encode(const grpc_grpclb_request *request) {
size_t encoded_length;
pb_ostream_t sizestream;
pb_ostream_t outputstream;
grpc_slice slice;
memset(&sizestream, 0, sizeof(pb_ostream_t));
pb_encode(&sizestream, grpc_lb_v1_LoadBalanceRequest_fields, request);
encoded_length = sizestream.bytes_written;
slice = grpc_slice_malloc(encoded_length);
outputstream =
pb_ostream_from_buffer(GRPC_SLICE_START_PTR(slice), encoded_length);
GPR_ASSERT(pb_encode(&outputstream, grpc_lb_v1_LoadBalanceRequest_fields,
request) != 0);
return slice;
}
unsigned int openiot_measurement_multi(char *hardwareId, char **measurementTokens, int64_t eventDate,
uint8_t *buffer, size_t length, char *originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
OpenIoT_Header header = {};
header.command = OpenIoT_Command_DEVICEMEASUREMENT;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, OpenIoT_Header_fields, &header)) {
return 0;
}
OpenIoT_DeviceMeasurements measurements = {};
strcpy(measurements.hardwareId, hardwareId);
measurements.measurement_count = 0;
if (measurementTokens) {
int i;
for (i = 0; *(measurementTokens + i); i++) {
OpenIoT_Measurement measurement = {};
char *key = strtok(*(measurementTokens + i), ":");
//float value = atof(strtok(NULL, ":"));
char *value = strtok(NULL, ":");
//printf("value is %lf\n", value);
strcpy(measurement.measurementId, key);
//measurement.measurementValue = float_to_double(value);
//measurement.measurementValue = value;
strcpy(measurement.measurementValue, value);
measurements.measurement[i] = measurement;
measurements.measurement_count++;
free(*(measurementTokens + i));
}
free(measurementTokens);
}
if (eventDate != 0) {
measurements.has_eventDate = true;
measurements.eventDate = eventDate;
}
if (!pb_encode_delimited(&stream, OpenIoT_DeviceMeasurements_fields, &measurements)) {
return 0;
}
return stream.bytes_written;
}
// encode message struct in msg according to 'fields', and send off via rb
// return 0 on success or < 0 on failure; see rtmsg_errors_t
//
static int npb_send_msg(const void *msg, const pb_field_t *fields,
ringbuffer_t *rb, const hal_funct_args_t *fa)
{
void *buffer;
int retval;
size_t size;
// determine size
pb_ostream_t sstream = PB_OSTREAM_SIZING;
if (!pb_encode(&sstream, fields, msg)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s: sizing pb_encode(): %s written=%zu\n",
fa_funct_name(fa), PB_GET_ERROR(&sstream), sstream.bytes_written);
return NBP_SIZE_FAIL;
}
size = sstream.bytes_written;
// preallocate memory in ringbuffer
if ((retval = record_write_begin(rb, (void **)&buffer, size)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s: record_write_begin(%zu) failed: %d\n",
fa_funct_name(fa), size, retval);
return RB_RESERVE_FAIL;
}
// zero-copy encode directly into ringbuffer
pb_ostream_t rstream = pb_ostream_from_buffer(buffer, size);
if (!pb_encode(&rstream, fields, msg)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s: pb_encode failed: %s, size=%zu written=%zu\n",
fa_funct_name(fa),
PB_GET_ERROR(&rstream),
size,
rstream.bytes_written);
return NBP_ENCODE_FAIL;
}
// send it off
if ((retval = record_write_end(rb, buffer, rstream.bytes_written))) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s: record_write_end(%zu) failed: %d\n",
fa_funct_name(fa), size, retval);
return RB_WRITE_FAIL;
}
return 0;
}
int main()
{
TestResults results = {};
AllTypes message = {};
pb_istream_t istream = pb_istream_from_buffer((uint8_t*)input_data, sizeof(input_data));
results.success = pb_decode(&istream, AllTypes_fields, &message);
results.success &= (message.end == 1099);
results.has_stack_usage = true;
results.stack_usage = platform_stack_usage();
uint8_t buf[16];
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&ostream, TestResults_fields, &results);
platform_write(buf, ostream.bytes_written);
return 0;
}
void send_printer_status() {
uint8_t out[16];
uint8_t type;
pb_ostream_t stream = pb_ostream_from_buffer(out, sizeof(out));
bool status;
PrinterStatus record;
type = PRINTER_STATUS;
pb_write(&stream, &type, 1);
record.cardInserted = 1;
record.keyInserted = get_interlock_state();
record.overrideSwitch = get_interlock_state();
record.laserOn = g_laser_gating;
record.laserPowerFeedback = 42;
status = pb_encode(&stream, PrinterStatus_fields, &record);
if (status) {
serialio_write(out, stream.bytes_written);
}
}
void send_system_telemetry()
{
#ifdef SEND_TELEMETRY
shedBoat_Telemetry telemetryMessage = shedBoat_Telemetry_init_zero;
telemetryMessage.status = shedBoat_Telemetry_Status_STATIONARY;
telemetryMessage.motor_count = 2;
telemetryMessage.motor[0].motor_number = 1;
telemetryMessage.motor[0].has_is_alive = true;
telemetryMessage.motor[0].is_alive = leftMotor.isAlive();
telemetryMessage.motor[0].has_rpm = true;
telemetryMessage.motor[0].rpm = leftMotor.rpm();
telemetryMessage.motor[0].has_temperature = true;
telemetryMessage.motor[0].temperature = leftMotor.temperature();
telemetryMessage.motor[0].has_voltage = true;
telemetryMessage.motor[0].voltage = leftMotor.voltage();
telemetryMessage.motor[1].motor_number = 2;
telemetryMessage.motor[1].has_is_alive = true;
telemetryMessage.motor[1].is_alive = rightMotor.isAlive();
telemetryMessage.motor[1].has_rpm = true;
telemetryMessage.motor[1].rpm = rightMotor.rpm();
telemetryMessage.motor[1].has_temperature = true;
telemetryMessage.motor[1].temperature = rightMotor.temperature();
telemetryMessage.motor[1].has_voltage = true;
telemetryMessage.motor[1].voltage = rightMotor.voltage();
telemetryMessage.has_battery = false;
uint8_t buffer[100];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
bool success = pb_encode(&stream, shedBoat_Telemetry_fields, &telemetryMessage);
if(success) {
send_xbee_packet(buffer, stream.bytes_written);
} else {
error("Failed to encode Proto Buffer");
DEBUG_OUTPUT("Failed to encode Proto Buffer /r/n");
}
#endif
}
unsigned int sw_register(char* hardwareId, char* specificationToken, uint8_t* buffer, size_t length, char* originator) {
pb_ostream_t stream = pb_ostream_from_buffer(buffer, length);
SiteWhere_Header header = { };
header.command = SiteWhere_Command_REGISTER;
if (originator != NULL) {
header.has_originator = true;
strcpy(header.originator, originator);
}
if (!pb_encode_delimited(&stream, SiteWhere_Header_fields, &header)) {
return 0;
}
SiteWhere_RegisterDevice registerDevice = { };
strcpy(registerDevice.hardwareId, hardwareId);
strcpy(registerDevice.specificationToken, specificationToken);
if (!pb_encode_delimited(&stream, SiteWhere_RegisterDevice_fields, ®isterDevice)) {
return 0;
}
return stream.bytes_written;
}
static THD_FUNCTION(can_rx, p) {
event_listener_t el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&CAND1.rxfull_event, &el, 0);
while (true) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
/* Process message.*/
oca_led_toggle(oca_led_act);
CanMessage UsbMessage = CanMessage_init_default;
UsbMessage.DLC = rxmsg.DLC;
UsbMessage.RTR = rxmsg.DLC;
UsbMessage.IDE = rxmsg.IDE;
UsbMessage.ID = rxmsg.EID;
UsbMessage.Data1 = rxmsg.data32[0];
UsbMessage.Data1 = rxmsg.data32[1];
uint8_t buffer[30];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
pb_encode(&stream, CanMessage_fields, &UsbMessage);
/*if(serusbcfg.usbp->state == USB_ACTIVE)
{
if(SDU1.state == SDU_READY)
chnWrite(&SDU1, buffer, stream.bytes_written);
}*/
}
}
chEvtUnregister(&CAND1.rxfull_event, &el);
}
int main(int argc, char *argv[])
{
uint8_t buffer[256];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
Dictionary dict = Dictionary_init_zero;
if (argc <= 1)
{
fprintf(stderr, "Usage: %s \"{'foobar': 1234, ...}\"\n", argv[0]);
return 1;
}
dict.dictItem.funcs.encode = encode_dictionary;
dict.dictItem.arg = argv[1];
if (!pb_encode(&stream, Dictionary_fields, &dict))
{
fprintf(stderr, "Encoding error: %s\n", PB_GET_ERROR(&stream));
return 1;
}
fwrite(buffer, 1, stream.bytes_written, stdout);
return 0;
}
