cmd_api_cpp/cmd_api_cpp_main.cpp

#include "command_api.h"
#include "string_array.h"
#include "parameter_collection.h"
#include "packet.h"
#include "command_response.h"
#include "track_item.h"
#include <map>
#include <string>

using namespace trek;

// want to have a map of command responses
typedef std::map< std::string, CommandResponse * > CMD_RESP_MAP;

int main(void)
{
    CommandApi api;
    int32_t ret_value;

    //
    //  Connect to a destination.  The name passed into the Connect() call is
    //  the name used when configuring the destination in the TReK Command 
    //  application.
    //

    ret_value = api.Connect( "POIC" );

    if( ret_value )
    {
        printf( "Error %d:  Could not connect to destination.\n", ret_value );
        return 1;
    }

    //
    //  Calling this method allows the API to clean up resources that may be
    //  left over from a user program that crashed.  Not checking the return
    //  value as it is safe to continue if this method fails.
    //

    api.Cleanse();

    //
    //  Once connected to the API, you can make calls to the API to see what is
    //  available for the interface.  Call to see if there are any status
    //  messages.  If there are, print out all of the information in each
    //  message.
    //

    StringArray status_list;

    ret_value = api.GetStatusMessageList( status_list );

    if( ret_value )
    {
        printf( "Error %d: Could not get status message list.\n", ret_value );
        return 1;
    }

    printf( "There are %u status messages for this destination.\n", status_list.Size() );
    
    for( uint32_t ii = 0; ii < status_list.Size(); ii++ )
    {
        printf( "Status Message:  %s\n", status_list.GetAt(ii) );

        ParameterCollection pc;
        char info[1024];
        uint32_t info_space = 1024;
        
        ret_value = api.GetStatusMessage( status_list.GetAt(ii),
                                          pc,
                                          info,
                                          &info_space );

        if( ret_value )
        {
            printf( "Error %d:  Could not retrieve status message %s.\n", ret_value, status_list.GetAt(ii) );
            // not exiting here, we can still use the API
        }
        else
        {
            StringArray param_list;

            // get all of the parameters that make up the status message
            pc.GetSortedParameterList( param_list, false );

            for( uint32_t jj = 0; jj < param_list.Size(); jj++ )
            {
                Parameter *param_ptr;

                // print each name/value in status mesesage
                ret_value = pc.FindParameter( param_list.GetAt(jj), &param_ptr );

                if( ret_value )
                    printf( "Error %d:  Unexpected error when finding parameter %s.\n", ret_value, param_list.GetAt(jj) );
                else
                    printf( "%s:  %s\n", param_list.GetAt(jj), param_ptr->GetValueAsString() );
            }
        }
    }

    //
    //  Check to see if there are command responses associated with this 
    //  destination.  If there is, get a copy of the responses so we can
    //  check any errors that are received when sending commands.  Store
    //  the responses in a map for quick lookup.
    //

    StringArray resp_list;
    ret_value = api.GetCommandResponseList( resp_list );

    if( ret_value )
    {
        printf( "Error %d: Could not get command response list.\n", ret_value );
        return 1;
    }

    CMD_RESP_MAP response_map;

    for( uint32_t ii = 0; ii < resp_list.Size(); ii++ )
    {
        CommandResponse *cmd_response_ptr = new CommandResponse;
        ret_value = api.GetCommandResponse( resp_list.GetAt(ii),
                                            *cmd_response_ptr );

        if( ret_value )
        {
            printf( "Error %d: Could not retrieve response %s.\n", ret_value, resp_list.GetAt(ii) );
            // don't exit as this isn't fatal...and should never occur unless API has coding error.
        }
        else
            response_map[resp_list.GetAt(ii)] = cmd_response_ptr;
    }

    //
    //  Send a command by initiating an uplink from the destination.  This method
    //  of sending commands is not avaiable for all destinations, but will fail
    //  gracefully.  The token will be used to get command track information.
    //

    uint32_t token;
    ret_value = api.InitiateCommand( "ACCELERATE", token );

    if( ret_value )
        printf( "Error %d: Could not initiate command.\n", ret_value );

    TrackItem track_item;
    ret_value = api.GetTrack( token, track_item );

    if( ret_value )
        printf( "Error %d: Could not track command.\n", ret_value );
    else
    {
        for( uint32_t ii = 0; ii < track_item.GetNumberOfResponses(); ii++ )
        {
            response_item resp_item;
            track_item.GetResponse( ii, resp_item );

            CMD_RESP_MAP::iterator response_map_it;
            response_map_it = response_map.find( resp_item.name );

            if( response_map_it != response_map.end() )
            {
                struct response_info resp_info;
                response_map_it->second->GetErrorDetails( resp_item.value, &resp_info );

                printf( "Response %s:  %s.\n", resp_item.name, resp_info.info );
            }
        }
    }

    //
    //  It is always best to call Disconnect when you are finished with the
    //  API.  There are system resources that can be freed when you no 
    //  longer need the API.
    //

    ret_value = api.Disconnect();

    if( ret_value )
    {
        printf( "Error %d:  API did not disconnect properly.\n", ret_value );
        return 1;
    }

    return 0;
}