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-rw-r--r--src/venus_api.c123
-rw-r--r--src/venus_api.h3
-rw-r--r--src/venus_gps.c46
3 files changed, 112 insertions, 60 deletions
diff --git a/src/venus_api.c b/src/venus_api.c
index 839d9ed..ea5a6bc 100644
--- a/src/venus_api.c
+++ b/src/venus_api.c
@@ -222,6 +222,49 @@ again:
return 0;
}
+int venus_read_ack(int fd)
+{
+ int ret = -1;
+ int err;
+
+ struct venus_msg msg;
+
+ err = venus_read_msg(fd, &msg);
+ if (err < 0) {
+ log_error("venus_read_msg failed");
+ return ret;
+ }
+
+ if (msg.len == 2 && msg.data[0] == ID_ACK) {
+ ret = 0;
+ } else {
+ log_error("msg is not ACK");
+ }
+
+ venus_msg_data_free(&msg);
+
+ return ret;
+}
+
+int venus_write_msg_read_ack(int fd, struct venus_msg *msg)
+{
+ int err;
+
+ err = venus_write_msg(fd, msg);
+ if (err < 0) {
+ log_error("venus_write_msg failed");
+ return -1;
+ }
+
+ err = venus_read_ack(fd);
+ if (err < 0) {
+ log_error("venus_read_ack failed");
+ return -1;
+ }
+
+ return 0;
+}
+
ssize_t venus_read_nmea_sentence(int fd, void *buf, size_t count)
{
int err;
@@ -266,6 +309,8 @@ int venus_system_restart(int fd, uint8_t mode, time_t utc, int16_t latitude, int
struct tm broken;
struct tm *tmp;
+ log_debug("begin");
+
tmp = gmtime_r(&utc, &broken);
if (tmp == NULL) {
log_error("gmtime_r: %m");
@@ -294,18 +339,13 @@ int venus_system_restart(int fd, uint8_t mode, time_t utc, int16_t latitude, int
msg.data = data;
msg.len = sizeof(data);
- err = venus_write_msg(fd, &msg);
+ err = venus_write_msg_read_ack(fd, &msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
- err = venus_read_msg(fd, &msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
- return -1;
- }
- venus_msg_data_free(&msg);
+ log_debug("end");
return 0;
}
@@ -319,20 +359,17 @@ int venus_factory_defaults(int fd, uint8_t type)
data[0] = ID_FACTORY_DEFAULTS;
data[1] = type;
+ log_debug("begin");
+
msg.data = data;
msg.len = sizeof(data);
- err = venus_write_msg(fd, &msg);
+ err = venus_write_msg_read_ack(fd, &msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
- err = venus_read_msg(fd, &msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
- return -1;
- }
- venus_msg_data_free(&msg);
+ log_debug("end");
return 0;
}
@@ -348,20 +385,17 @@ int venus_conf_serial(int fd, uint8_t com, uint8_t baud, uint8_t attr)
data[2] = baud;
data[3] = attr;
+ log_debug("begin");
+
msg.data = data;
msg.len = sizeof(data);
- err = venus_write_msg(fd, &msg);
+ err = venus_write_msg_read_ack(fd, &msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
- err = venus_read_msg(fd, &msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
- return -1;
- }
- venus_msg_data_free(&msg);
+ log_debug("end");
return 0;
}
@@ -376,20 +410,17 @@ int venus_conf_format(int fd, uint8_t type, uint8_t attr)
data[1] = type;
data[2] = attr;
+ log_debug("begin");
+
msg.data = data;
msg.len = sizeof(data);
- err = venus_write_msg(fd, &msg);
+ err = venus_write_msg_read_ack(fd, &msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
- err = venus_read_msg(fd, &msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
- return -1;
- }
- venus_msg_data_free(&msg);
+ log_debug("end");
return 0;
}
@@ -402,11 +433,13 @@ int venus_query_sw_version(int fd, uint8_t type, struct venus_msg *msg)
data[0] = ID_QUERY_SW_VERSION;
data[1] = type;
+ log_debug("begin");
+
msg->data = data;
msg->len = sizeof(data);
- err = venus_write_msg(fd, msg);
+ err = venus_write_msg_read_ack(fd, msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
@@ -415,14 +448,15 @@ int venus_query_sw_version(int fd, uint8_t type, struct venus_msg *msg)
log_error("venus_read_msg: %d", err);
return -1;
}
- venus_msg_data_free(msg);
- err = venus_read_msg(fd, msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
+ if (msg->len != 14 || msg->data[0] != ID_SW_VERSION) {
+ venus_msg_data_free(msg);
+ log_error("expected sw version message");
return -1;
}
+ log_debug("end");
+
return 0;
}
@@ -442,20 +476,17 @@ int venus_conf_nmea(int fd, uint8_t gga, uint8_t gsa, uint8_t gsv, uint8_t gll,
data[7] = zda;
data[8] = attr;
+ log_debug("begin");
+
msg.data = data;
msg.len = sizeof(data);
- err = venus_write_msg(fd, &msg);
+ err = venus_write_msg_read_ack(fd, &msg);
if (err < 0) {
- log_error("venus_write_msg: %d", err);
+ log_error("venus_write_msg_read_ack failed");
return -1;
}
- err = venus_read_msg(fd, &msg);
- if (err < 0) {
- log_error("venus_read_msg: %d", err);
- return -1;
- }
- venus_msg_data_free(&msg);
+ log_debug("end");
return 0;
}
diff --git a/src/venus_api.h b/src/venus_api.h
index 79a1729..8212487 100644
--- a/src/venus_api.h
+++ b/src/venus_api.h
@@ -84,6 +84,9 @@ void venus_msg_free(struct venus_msg *msg);
uint8_t venus_checksum(void *data, uint16_t len);
int venus_write_msg(int fd, struct venus_msg *msg);
int venus_read_msg(int fd, struct venus_msg *msg);
+int venus_read_ack(int fd);
+int venus_write_msg_read_ack(int fd, struct venus_msg *msg);
+
ssize_t venus_read_nmea_sentence(int fd, void *buf, size_t count);
int venus_system_restart(int fd, uint8_t mode, time_t utc, int16_t latitude,
int16_t longitude, int16_t altitude);
diff --git a/src/venus_gps.c b/src/venus_gps.c
index c11bed1..1136d07 100644
--- a/src/venus_gps.c
+++ b/src/venus_gps.c
@@ -710,42 +710,60 @@ int main(int argc, char *argv[])
exit(1);
}
- venus_conf_format(tty, MSG_TYPE_BINARY, UPDATE_ATTR_SRAM);
+ tmp = venus_conf_format(tty, MSG_TYPE_BINARY, UPDATE_ATTR_SRAM);
+ if (tmp < 0) {
+ log_error("failed to change to binary format");
+ exit(1);
+ }
tmp = venus_query_sw_version(tty, SW_TYPE_RESERVED, &msg);
if (tmp < 0) {
log_error("failed to query venus sw version info");
exit(1);
}
- if (msg.len == 14 && msg.data[0] == ID_SW_VERSION) {
- log_notice("Venus Software Type: 0x%02X", msg.data[1]);
- log_notice("Venus Kernel Version: 0x%02X%02X%02X%02X",
- msg.data[2], msg.data[3], msg.data[4], msg.data[5]);
- log_notice("Venus ODM version: 0x%02X%02X%02X%02X",
- msg.data[6], msg.data[7], msg.data[8], msg.data[9]);
- log_notice("Venus Revision: 0x%02X%02X%02X%02X",
- msg.data[10], msg.data[11], msg.data[12], msg.data[13]);
- }
+ log_notice("Venus Software Type: 0x%02X", msg.data[1]);
+ log_notice("Venus Kernel Version: 0x%02X%02X%02X%02X",
+ msg.data[2], msg.data[3], msg.data[4], msg.data[5]);
+ log_notice("Venus ODM version: 0x%02X%02X%02X%02X",
+ msg.data[6], msg.data[7], msg.data[8], msg.data[9]);
+ log_notice("Venus Revision: 0x%02X%02X%02X%02X",
+ msg.data[10], msg.data[11], msg.data[12], msg.data[13]);
venus_msg_data_free(&msg);
#if CONFIG_CAN_DEFAULT
if (factory_defaults) {
- venus_factory_defaults(tty, FACTORY_DEFAULTS_REBOOT);
log_notice("setting factory defaults");
+ tmp = venus_factory_defaults(tty, FACTORY_DEFAULTS_REBOOT);
+ if (tmp < 0) {
+ log_error("failed to set factory defaults");
+ exit(1);
+ }
exit(0);
}
#endif
#if CONFIG_CAN_RESET
if (start_mode != (typeof(start_mode)) - 1) {
- venus_system_restart(tty, start_mode, time(NULL), latitude, longitude, altitude);
log_notice("issuing system restart");
+ tmp = venus_system_restart(tty, start_mode, time(NULL), latitude, longitude, altitude);
+ if (tmp < 0) {
+ log_error("system restart failed");
+ exit(1);
+ }
exit(0);
}
#endif
- venus_conf_nmea(tty, gga, gsa, gsv, gll, rmc, vtg, zda, UPDATE_ATTR_SRAM);
+ tmp = venus_conf_nmea(tty, gga, gsa, gsv, gll, rmc, vtg, zda, UPDATE_ATTR_SRAM);
+ if (tmp < 0) {
+ log_error("failed to configure nmea sentences");
+ exit(1);
+ }
- venus_conf_format(tty, MSG_TYPE_NMEA, UPDATE_ATTR_SRAM);
+ tmp = venus_conf_format(tty, MSG_TYPE_NMEA, UPDATE_ATTR_SRAM);
+ if (tmp < 0) {
+ log_error("failed to change to nmea format");
+ exit(1);
+ }
close(tty);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-21 11:31:08 +0000