HoHCI-BikeSteering/External/BikePowerRecordingLibrary/PowerRecordingExample/PowerRecordingExample.cpp

/*
This software is subject to the license described in the License.txt file
included with this software distribution. You may not use this file except in compliance
with this license.

Copyright (c) Dynastream Innovations Inc. 2014
All rights reserved.
*/

#include "PowerRecordingExample.h"

#include "types.h"
#include "dsi_framer_ant.hpp"
#include "dsi_thread.h"
#include "dsi_serial_generic.hpp"
#include "dsi_debug.hpp"

extern "C" {
#include "PowerDecoder.h"
}

#include <stdio.h>
#include <assert.h>
#include <string.h>
#include <time.h>

#define ENABLE_EXTENDED_MESSAGES

#define USER_BAUDRATE         (50000)  // For AT3/AP2, use 57600
#define USER_RADIOFREQ        (57)

#define USER_ANTCHANNEL       (0)
#define USER_DEVICETYPE       (11)
#define USER_TRANSTYPE        (0)

#define USER_NETWORK_KEY      {0xB9, 0xA5, 0x21, 0xFB, 0xBD, 0x72, 0xC3, 0x45}  //ANT+ Network Key
#define USER_NETWORK_NUM      (0)      // The network key is assigned to this network number

#define MESSAGE_TIMEOUT       (1000)

// Indexes into message recieved from ANT
#define MESSAGE_BUFFER_DATA1_INDEX ((UCHAR) 0)
#define MESSAGE_BUFFER_DATA2_INDEX ((UCHAR) 1)
#define MESSAGE_BUFFER_DATA3_INDEX ((UCHAR) 2)
#define MESSAGE_BUFFER_DATA4_INDEX ((UCHAR) 3)
#define MESSAGE_BUFFER_DATA5_INDEX ((UCHAR) 4)
#define MESSAGE_BUFFER_DATA6_INDEX ((UCHAR) 5)
#define MESSAGE_BUFFER_DATA7_INDEX ((UCHAR) 6)
#define MESSAGE_BUFFER_DATA8_INDEX ((UCHAR) 7)
#define MESSAGE_BUFFER_DATA9_INDEX ((UCHAR) 8)
#define MESSAGE_BUFFER_DATA10_INDEX ((UCHAR) 9)
#define MESSAGE_BUFFER_DATA11_INDEX ((UCHAR) 10)
#define MESSAGE_BUFFER_DATA12_INDEX ((UCHAR) 11)
#define MESSAGE_BUFFER_DATA13_INDEX ((UCHAR) 12)
#define MESSAGE_BUFFER_DATA14_INDEX ((UCHAR) 13)
#define MESSAGE_BUFFER_DATA15_INDEX ((UCHAR) 14)
#define MESSAGE_BUFFER_DATA16_INDEX ((UCHAR) 15)

FILE *fp1; // output file

////////////////////////////////////////////////////////////////////////////////
// main
//
// Usage:
//
// c:\PowerRecordingExample.exe [device_no]
//
// ... where
//
// device_no:     USB Device port, starting at 0
//
// ... example
//
// c:\PowerRecordingExample.exe 0 0 1.0 0
//
// Comment to USB port 0, wild card device number, record at 1.0s intervals, from an event based power meter
//
// If the optional arguments are not supplied, the user will
// be prompted to enter them after the program starts.
//
////////////////////////////////////////////////////////////////////////////////
int main(int argc, char **argv)
{
    Example* pclExample = new Example();

    UCHAR ucDeviceNumber = 0xFF;
    UCHAR ucChannelType = CHANNEL_TYPE_SLAVE;
    USHORT usAntDeviceNumber = 0xFFFF;
    DOUBLE dRecordInterval = 0;
    DOUBLE dTimeBase = 0xFF;
    UCHAR ucPowerMeterType = 254;
    DOUBLE dReSyncInterval = 0;

    if (argc == 6)
    {
        ucDeviceNumber = (UCHAR)atoi(argv[1]);
        usAntDeviceNumber = (UCHAR)atoi(argv[2]);
        dRecordInterval = (DOUBLE)atoi(argv[3]);
        dTimeBase = (DOUBLE)atoi(argv[4]);
        dReSyncInterval = (DOUBLE)atoi(argv[4]);
    }

    if (argc > 6)
    {
        ucDeviceNumber = (UCHAR)atoi(argv[1]);
        usAntDeviceNumber = (UCHAR)atoi(argv[2]);
        dRecordInterval = (DOUBLE)atoi(argv[3]);
        dTimeBase = (DOUBLE)atoi(argv[4]);
        ucPowerMeterType = (UCHAR)atoi(argv[5]);
        dReSyncInterval = (DOUBLE)atoi(argv[4]);
    }

    if (pclExample->Init(ucDeviceNumber, ucChannelType, usAntDeviceNumber, dRecordInterval, dTimeBase, ucPowerMeterType, dReSyncInterval))
        pclExample->Start();
    else
        delete pclExample;
    return 0;
}

////////////////////////////////////////////////////////////////////////////////
// Example
//
// Constructor, intializes Example class
//
////////////////////////////////////////////////////////////////////////////////
Example::Example()
{
    ucChannelType = CHANNEL_TYPE_INVALID;
    pclSerialObject = (DSISerialGeneric*)NULL;
    pclMessageObject = (DSIFramerANT*)NULL;
    uiDSIThread = (DSI_THREAD_ID)NULL;
    bMyDone = FALSE;
    bDone = FALSE;
    bDisplay = TRUE;
    bBroadcasting = FALSE;
    bPowerDecoderInitialized = FALSE;

    ulNewEventTime = 0;
    usPreviousEventTime = 0;
    previousRxTime = time(NULL);

    ucPowerOnlyUpdateEventCount = 0;
    dRxTimeTePs = 0;

    memset(aucTransmitBuffer, 0, ANT_STANDARD_DATA_PAYLOAD_SIZE);
}

////////////////////////////////////////////////////////////////////////////////
// ~Example
//
// Destructor, clean up and free memory
//
////////////////////////////////////////////////////////////////////////////////
Example::~Example()
{
    if (pclMessageObject)
        delete pclMessageObject;

    if (pclSerialObject)
        delete pclSerialObject;
}

////////////////////////////////////////////////////////////////////////////////
// Init
//
// Initialize the Example and ANT Library.
//
// ucDeviceNumber_:     USB Device Number (0 for first USB stick plugged and so on)
//                      If not specified on command line, 0xFF is passed in as invalid.
// ucChannelType_:      ANT Channel Type. 0 = Master, 1 = Slave
//                      If not specified, 2 is passed in as invalid.
// usAntDeviceNumber_:  The device number of the channel
//
// dRecordInterval_:    The time in seconds between records generated by the Power Decoder
//
// dTimeBase_:          The time in seconds at which power/torque pages are updated. Set to 0 if the power meter is event based.
//
// ucPowerMeterType_:   The type of power meter. Knowing this ahead of time helps deal with a corner case
//                      where power only messages may be decoded before torque pages at initialization.
//
// dResyncInterval_:    The maximum time allowed for a dropout (no power messages to be received) before resetting the decoder's internal values.
//
////////////////////////////////////////////////////////////////////////////////
BOOL Example::Init(UCHAR ucDeviceNumber_, UCHAR ucChannelType_, USHORT usAntDeviceNumber_, DOUBLE dRecordInterval_, DOUBLE dTimeBase_, UCHAR ucPowerMeterType_, DOUBLE dReSyncInterval_)
{
    BOOL bStatus;

    // Initialize condition var and mutex
    UCHAR ucCondInit = DSIThread_CondInit(&condTestDone);
    assert(ucCondInit == DSI_THREAD_ENONE);

    UCHAR ucMutexInit = DSIThread_MutexInit(&mutexTestDone);
    assert(ucMutexInit == DSI_THREAD_ENONE);

#if defined(DEBUG_FILE)
    // Enable logging
    DSIDebug::Init();
    DSIDebug::SetDebug(TRUE);
#endif

    // Create Serial object.
    pclSerialObject = new DSISerialGeneric();
    assert(pclSerialObject);

    // NOTE: Will fail if the module is not available.
    // If no device number was specified on the command line,
    // prompt the user for input.

    if (ucDeviceNumber_ == 255)
    {
        printf("USB Device number?\n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        sscanf(st, "%u", &ucDeviceNumber_);

        // Set USB device number to 0 by default
        if (ucDeviceNumber_ == 255)
            ucDeviceNumber_ = 0;
    }

    if (usAntDeviceNumber_ == 65535)
    {
        printf("Power Meter Device Number? (0 to wildcard)\n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        sscanf(st, "%u", &usAntDeviceNumber_);

        // Set ANT Device Number to 0 by default
        if (usAntDeviceNumber_ == 65535)
            usAntDeviceNumber_ = 0;
    }

    if (dRecordInterval_ > -0.001 && dRecordInterval_ < 0.001)
    {
        printf("Power Record Interval? (1.0s standard)\n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        dRecordInterval_ = atof(st);

        // Set Record Interval to 1 second by default
        if (dRecordInterval_ > -0.001 && dRecordInterval_ < 0.001)
            dRecordInterval_ = 1;
    }

    if (dTimeBase_ >= (255-0.001))
    {
        printf("Power Meter Timebase? (0.0s for Event Based Power Meters)\n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        dTimeBase_ = atof(st);

        // Set timebase to 0 by default
        if (dTimeBase_ >= (255 - 0.001))
            dTimeBase_ = 0;
    }

    // Prior knowledge of the power meter type prevents a corner case where the decoder may begin decoding power only messages before only decoding torque pages
    if (ucPowerMeterType_ == 254)
    {
        printf("Power Meter Type? (16-Power Only,17-Wheel Torque,18-CrankTorque,32-CTF,255-Unknown)\n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        sscanf(st, "%u", &ucPowerMeterType_);

    // Set power meter type to unknown by default
    if (ucPowerMeterType_ == 254)
        ucPowerMeterType_ = 255;
    }

    if (dReSyncInterval_ > -0.001 && dReSyncInterval_ < 0.001)
    {
        printf("Re-Sync Interval? (10s default) \n"); fflush(stdout);
        char st[1024];
        fgets(st, sizeof(st), stdin);
        dReSyncInterval_ = atof(st);

        // Set Re-Sync Interval to 10 seconds by default
        if (dReSyncInterval_ > -0.001 && dReSyncInterval_ < 0.001)
            dReSyncInterval_ = 10;
    }

    ucChannelType = ucChannelType_;
    usAntDeviceNumber = usAntDeviceNumber_;
    dRecordInterval = dRecordInterval_;
    dTimeBase = dTimeBase_;
    dReSyncInterval = dReSyncInterval_;
    SetPowerMeterType(ucPowerMeterType_);

    // Initialize Serial object.
    // The device number depends on how many USB sticks have been
    // plugged into the PC. The first USB stick plugged will be 0
    // the next 1 and so on.
    //
    // The Baud Rate depends on the ANT solution being used. AP1
    // is 50000, all others are 57600
    bStatus = pclSerialObject->Init(USER_BAUDRATE, ucDeviceNumber_);
    assert(bStatus);

    // Create Framer object.
    pclMessageObject = new DSIFramerANT(pclSerialObject);
    assert(pclMessageObject);

    // Initialize Framer object.
    bStatus = pclMessageObject->Init();
    assert(bStatus);

    // Let Serial know about Framer.
    pclSerialObject->SetCallback(pclMessageObject);

    // Open Serial.
    bStatus = pclSerialObject->Open();

    // If the Open function failed, most likely the device
    // we are trying to access does not exist, or it is connected
    // to another program
    if (!bStatus)
    {
        printf("Failed to connect to device at USB port %d\n", ucDeviceNumber_);
        return FALSE;
    }

    // Create message thread.
    uiDSIThread = DSIThread_CreateThread(&Example::RunMessageThread, this);
    assert(uiDSIThread);

    printf("Initialization was successful!\n"); fflush(stdout);

    fopen_s(&fp1, "Output.csv", "w");
    fprintf(fp1, "Record Time, Rotations, Energy, Avg Cadence, Avg Power\n");
    return TRUE;
}


////////////////////////////////////////////////////////////////////////////////
// Close
//
// Close connection to USB stick.
//
////////////////////////////////////////////////////////////////////////////////
void Example::Close()
{
    //Wait for test to be done
    DSIThread_MutexLock(&mutexTestDone);
    bDone = TRUE;

    UCHAR ucWaitResult = DSIThread_CondTimedWait(&condTestDone, &mutexTestDone, DSI_THREAD_INFINITE);
    assert(ucWaitResult == DSI_THREAD_ENONE);

    DSIThread_MutexUnlock(&mutexTestDone);

    //Destroy mutex and condition var
    DSIThread_MutexDestroy(&mutexTestDone);
    DSIThread_CondDestroy(&condTestDone);

    //Close all stuff
    if (pclSerialObject)
        pclSerialObject->Close();

#if defined(DEBUG_FILE)
    DSIDebug::Close();
#endif

}

////////////////////////////////////////////////////////////////////////////////
// Start
//
// Starts the Example
//
////////////////////////////////////////////////////////////////////////////////
void Example::Start()
{
    BOOL bStatus;

    // Print out the menu to start
    PrintMenu();

    // Start ANT channel setup
    bStatus = InitANT();

    while (!bMyDone)
    {

        UCHAR ucChar;
        char st[1024];
        fgets(st, sizeof(st), stdin);
        sscanf(st, "%c", &ucChar);

        switch (ucChar)
        {
        case 'M':
        case 'm':
        {
            // Printout options
            PrintMenu();
            break;
        }
        case 'Q':
        case 'q':
        {
            // Quit
            fclose(fp1);
            printf("Closing channel...\n");
            bBroadcasting = FALSE;
            pclMessageObject->CloseChannel(USER_ANTCHANNEL, MESSAGE_TIMEOUT);
            break;
        }
        case 'r':
        case 'R':
        {
            // Reset the system and start over the test
            bStatus = InitANT();
            break;
        }
        case 'c':
        case 'C':
        {
            // Request capabilites.
            ANT_MESSAGE_ITEM stResponse;
            pclMessageObject->SendRequest(MESG_CAPABILITIES_ID, USER_ANTCHANNEL, &stResponse, 0);
            break;
        }
        case 'v':
        case 'V':
        {
            // Request version
            ANT_MESSAGE_ITEM stResponse;
            pclMessageObject->SendRequest(MESG_VERSION_ID, USER_ANTCHANNEL, &stResponse, 0);
            break;
        }
        case 'S':
        case 's':
        {
            // Request channel status
            ANT_MESSAGE_ITEM stResponse;
            pclMessageObject->SendRequest(MESG_CHANNEL_STATUS_ID, USER_ANTCHANNEL, &stResponse, 0);
            break;
        }
        case 'I':
        case 'i':
        {
            // Request channel ID
            ANT_MESSAGE_ITEM stResponse;
            pclMessageObject->SendRequest(MESG_CHANNEL_ID_ID, USER_ANTCHANNEL, &stResponse, 0);
            break;
        }
        case 'd':
        case 'D':
        {
            // Toggle display of data messages
            bDisplay = !bDisplay;
            break;
        }
        case 'u':
        case 'U':
        {
            // Print out information about the device we are connected to
            printf("USB Device Description\n");
            USHORT usDevicePID;
            USHORT usDeviceVID;
            UCHAR aucDeviceDescription[USB_MAX_STRLEN];
            UCHAR aucDeviceSerial[USB_MAX_STRLEN];
            // Retrieve info
            if (pclMessageObject->GetDeviceUSBVID(usDeviceVID))
            {
                printf("  VID: 0x%X\n", usDeviceVID);
            }
            if (pclMessageObject->GetDeviceUSBPID(usDevicePID))
            {
                printf("  PID: 0x%X\n", usDevicePID);
            }
            if (pclMessageObject->GetDeviceUSBInfo(pclSerialObject->GetDeviceNumber(), aucDeviceDescription, aucDeviceSerial, USB_MAX_STRLEN))
            {
                printf("  Product Description: %s\n", aucDeviceDescription);
                printf("  Serial String: %s\n", aucDeviceSerial);
            }
            break;
        }
        default:
        {
            break;
        }
        }
        DSIThread_Sleep(0);
    }

    //Disconnecting from module
    printf("Disconnecting module...\n");
    this->Close();

    printf("Example has completed successfully!\n");

    return;
}


////////////////////////////////////////////////////////////////////////////////
// InitANT
//
// Resets the system and starts the test
//
////////////////////////////////////////////////////////////////////////////////
BOOL Example::InitANT(void)
{
    BOOL bStatus;

    // Reset system
    printf("Resetting module...\n");
    bStatus = pclMessageObject->ResetSystem();
    DSIThread_Sleep(1000);

    // Start the test by setting network key
    printf("Setting network key...\n");
    UCHAR ucNetKey[8] = USER_NETWORK_KEY;

    bStatus = pclMessageObject->SetNetworkKey(USER_NETWORK_NUM, ucNetKey, MESSAGE_TIMEOUT);

    return bStatus;
}

////////////////////////////////////////////////////////////////////////////////
// RunMessageThread
//
// Callback function that is used to create the thread. This is a static
// function.
//
////////////////////////////////////////////////////////////////////////////////
DSI_THREAD_RETURN Example::RunMessageThread(void *pvParameter_)
{
    ((Example*)pvParameter_)->MessageThread();
    return NULL;
}

////////////////////////////////////////////////////////////////////////////////
// MessageThread
//
// Run message thread
////////////////////////////////////////////////////////////////////////////////
void Example::MessageThread()
{
    ANT_MESSAGE stMessage;
    USHORT usSize;
    bDone = FALSE;

    while (!bDone)
    {
        if (pclMessageObject->WaitForMessage(1000))
        {
            usSize = pclMessageObject->GetMessage(&stMessage);

            if (bDone)
                break;

            if (usSize == DSI_FRAMER_ERROR)
            {
                // Get the message to clear the error
                usSize = pclMessageObject->GetMessage(&stMessage, MESG_MAX_SIZE_VALUE);
                continue;
            }

            if (usSize != DSI_FRAMER_ERROR && usSize != DSI_FRAMER_TIMEDOUT && usSize != 0)
            {
                ProcessMessage(stMessage, usSize);
            }
        }
    }

    DSIThread_MutexLock(&mutexTestDone);
    UCHAR ucCondResult = DSIThread_CondSignal(&condTestDone);
    assert(ucCondResult == DSI_THREAD_ENONE);
    DSIThread_MutexUnlock(&mutexTestDone);

}


////////////////////////////////////////////////////////////////////////////////
// ProcessMessage
//
// Process ALL messages that come from ANT, including event messages.
//
// stMessage: Message struct containing message recieved from ANT
// usSize_:
////////////////////////////////////////////////////////////////////////////////
void Example::ProcessMessage(ANT_MESSAGE stMessage, USHORT usSize_)
{
    BOOL bStatus;
    BOOL bPrintBuffer = FALSE;
    UCHAR ucDataOffset = MESSAGE_BUFFER_DATA2_INDEX;   // For most data messages


    switch (stMessage.ucMessageID)
    {
        //RESPONSE MESG
    case MESG_RESPONSE_EVENT_ID:
    {
        //RESPONSE TYPE
        switch (stMessage.aucData[1])
        {
        case MESG_NETWORK_KEY_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error configuring network key: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Network key set.\n");
            printf("Assigning channel...\n");
            if (ucChannelType == CHANNEL_TYPE_MASTER)
            {
                bStatus = pclMessageObject->AssignChannel(USER_ANTCHANNEL, PARAMETER_TX_NOT_RX, 0, MESSAGE_TIMEOUT);
            }
            else if (ucChannelType == CHANNEL_TYPE_SLAVE)
            {
                bStatus = pclMessageObject->AssignChannel(USER_ANTCHANNEL, 0, 0, MESSAGE_TIMEOUT);
            }
            break;
        }

        case MESG_ASSIGN_CHANNEL_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error assigning channel: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Channel assigned\n");
            printf("Setting Channel ID...\n");
            bStatus = pclMessageObject->SetChannelID(USER_ANTCHANNEL, usAntDeviceNumber, USER_DEVICETYPE, USER_TRANSTYPE, MESSAGE_TIMEOUT);
            break;
        }

        case MESG_CHANNEL_ID_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error configuring Channel ID: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Channel ID set\n");
            printf("Setting Radio Frequency...\n");
            bStatus = pclMessageObject->SetChannelRFFrequency(USER_ANTCHANNEL, USER_RADIOFREQ, MESSAGE_TIMEOUT);
            break;
        }

        case MESG_CHANNEL_RADIO_FREQ_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error configuring Radio Frequency: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Radio Frequency set\n");
            printf("Setting Channel Period...\n");
            bStatus = pclMessageObject->SetChannelPeriod(USER_ANTCHANNEL, 8182, MESSAGE_TIMEOUT);
            break;
        }

        case MESG_CHANNEL_MESG_PERIOD_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error configuring Channel Period: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Channel Period set\n");
            printf("Opening channel...\n");
            bBroadcasting = TRUE;
            bStatus = pclMessageObject->OpenChannel(USER_ANTCHANNEL, MESSAGE_TIMEOUT);
            break;
        }

        case MESG_OPEN_CHANNEL_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error opening channel: Code 0%d\n", stMessage.aucData[2]);
                bBroadcasting = FALSE;
                break;
            }
            printf("Channel opened\n");

            // We register the power record receiver and initialize the bike power decoders after the channel has opened
            InitPowerDecoder(dRecordInterval, dTimeBase, dReSyncInterval, RecordReceiver);
            bPowerDecoderInitialized = TRUE;
            printf("Power record decode library initialized\n");

#if defined (ENABLE_EXTENDED_MESSAGES)
            printf("Enabling extended messages...\n");
            pclMessageObject->SetLibConfig(ANT_LIB_CONFIG_MESG_OUT_INC_TIME_STAMP | ANT_LIB_CONFIG_MESG_OUT_INC_DEVICE_ID, MESSAGE_TIMEOUT);
#endif
            break;
        }

        case MESG_ANTLIB_CONFIG_ID:
        {
            if (stMessage.aucData[2] == INVALID_MESSAGE)
            {
                printf("Extended messages not supported in this ANT product\n");
                break;
            }
            else if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error enabling extended messages: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Extended messages enabled\n");
            break;
        }

        case MESG_UNASSIGN_CHANNEL_ID:
        {
            if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error unassigning channel: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            printf("Channel unassigned\n");
            printf("Press enter to exit\n");
            bMyDone = TRUE;
            break;
        }

        case MESG_CLOSE_CHANNEL_ID:
        {
            if (stMessage.aucData[2] == CHANNEL_IN_WRONG_STATE)
            {
                // We get here if we tried to close the channel after the search timeout (slave)
                printf("Channel is already closed\n");
                printf("Unassigning channel...\n");
                bStatus = pclMessageObject->UnAssignChannel(USER_ANTCHANNEL, MESSAGE_TIMEOUT);
                break;
            }
            else if (stMessage.aucData[2] != RESPONSE_NO_ERROR)
            {
                printf("Error closing channel: Code 0%d\n", stMessage.aucData[2]);
                break;
            }
            // If this message was successful, wait for EVENT_CHANNEL_CLOSED to confirm channel is closed
            break;
        }

        case MESG_REQUEST_ID:
        {
            if (stMessage.aucData[2] == INVALID_MESSAGE)
            {
                printf("Requested message not supported in this ANT product\n");
            }
            break;
        }

        case MESG_EVENT_ID:
        {
            switch (stMessage.aucData[2])
            {
            case EVENT_CHANNEL_CLOSED:
            {
                printf("Channel Closed\n");
                printf("Unassigning channel...\n");
                bStatus = pclMessageObject->UnAssignChannel(USER_ANTCHANNEL, MESSAGE_TIMEOUT);
                break;
            }
            case EVENT_TX:
            {
                // This event indicates that a message has just been
                // sent over the air. We take advantage of this event to set
                // up the data for the next message period.
                static UCHAR ucIncrement = 0;      // Increment the first byte of the buffer

                aucTransmitBuffer[0] = ucIncrement++;

                // Broadcast data will be sent over the air on
                // the next message period.
                if (bBroadcasting)
                {
                    pclMessageObject->SendBroadcastData(USER_ANTCHANNEL, aucTransmitBuffer);

                    // Echo what the data will be over the air on the next message period.
                    if (bDisplay)
                    {
                        printf("Tx:(%d): [%02x],[%02x],[%02x],[%02x],[%02x],[%02x],[%02x],[%02x]\n",
                            USER_ANTCHANNEL,
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA1_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA2_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA3_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA4_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA5_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA6_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA7_INDEX],
                            aucTransmitBuffer[MESSAGE_BUFFER_DATA8_INDEX]);
                    }
                    else
                    {
                        static int iIndex = 0;
                        static char ac[] = { '|', '/', '-', '\\' };
                        printf("Tx: %c\r", ac[iIndex++]); fflush(stdout);
                        iIndex &= 3;
                    }
                }
                break;

            }
            case EVENT_RX_SEARCH_TIMEOUT:
            {
                printf("Search Timeout\n");
                break;
            }
            case EVENT_RX_FAIL:
            {
                printf("Rx Fail\n");
                break;
            }
            case EVENT_TRANSFER_RX_FAILED:
            {
                printf("Burst receive has failed\n");
                break;
            }
            case EVENT_TRANSFER_TX_COMPLETED:
            {
                printf("Tranfer Completed\n");
                break;
            }
            case EVENT_TRANSFER_TX_FAILED:
            {
                printf("Tranfer Failed\n");
                break;
            }
            case EVENT_RX_FAIL_GO_TO_SEARCH:
            {
                printf("Go to Search\n");
                break;
            }
            case EVENT_CHANNEL_COLLISION:
            {
                printf("Channel Collision\n");
                break;
            }
            case EVENT_TRANSFER_TX_START:
            {
                printf("Burst Started\n");
                break;
            }
            default:
            {
                printf("Unhandled channel event: 0x%X\n", stMessage.aucData[2]);
                break;
            }

            }

            break;
        }

        default:
        {
            printf("Unhandled response 0%d to message 0x%X\n", stMessage.aucData[2], stMessage.aucData[1]);
            break;
        }
        }
        break;
    }

    case MESG_STARTUP_MESG_ID:
    {
        printf("RESET Complete, reason: ");

        UCHAR ucReason = stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX];

        if (ucReason == RESET_POR)
            printf("RESET_POR");
        if (ucReason & RESET_SUSPEND)
            printf("RESET_SUSPEND ");
        if (ucReason & RESET_SYNC)
            printf("RESET_SYNC ");
        if (ucReason & RESET_CMD)
            printf("RESET_CMD ");
        if (ucReason & RESET_WDT)
            printf("RESET_WDT ");
        if (ucReason & RESET_RST)
            printf("RESET_RST ");
        printf("\n");

        break;
    }

    case MESG_CAPABILITIES_ID:
    {
        printf("CAPABILITIES:\n");
        printf("   Max ANT Channels: %d\n", stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
        printf("   Max ANT Networks: %d\n", stMessage.aucData[MESSAGE_BUFFER_DATA2_INDEX]);

        UCHAR ucStandardOptions = stMessage.aucData[MESSAGE_BUFFER_DATA3_INDEX];
        UCHAR ucAdvanced = stMessage.aucData[MESSAGE_BUFFER_DATA4_INDEX];
        UCHAR ucAdvanced2 = stMessage.aucData[MESSAGE_BUFFER_DATA5_INDEX];

        printf("Standard Options:\n");
        if (ucStandardOptions & CAPABILITIES_NO_RX_CHANNELS)
            printf("CAPABILITIES_NO_RX_CHANNELS\n");
        if (ucStandardOptions & CAPABILITIES_NO_TX_CHANNELS)
            printf("CAPABILITIES_NO_TX_CHANNELS\n");
        if (ucStandardOptions & CAPABILITIES_NO_RX_MESSAGES)
            printf("CAPABILITIES_NO_RX_MESSAGES\n");
        if (ucStandardOptions & CAPABILITIES_NO_TX_MESSAGES)
            printf("CAPABILITIES_NO_TX_MESSAGES\n");
        if (ucStandardOptions & CAPABILITIES_NO_ACKD_MESSAGES)
            printf("CAPABILITIES_NO_ACKD_MESSAGES\n");
        if (ucStandardOptions & CAPABILITIES_NO_BURST_TRANSFER)
            printf("CAPABILITIES_NO_BURST_TRANSFER\n");

        printf("Advanced Options:\n");
        if (ucAdvanced & CAPABILITIES_OVERUN_UNDERRUN)
            printf("CAPABILITIES_OVERUN_UNDERRUN\n");
        if (ucAdvanced & CAPABILITIES_NETWORK_ENABLED)
            printf("CAPABILITIES_NETWORK_ENABLED\n");
        if (ucAdvanced & CAPABILITIES_AP1_VERSION_2)
            printf("CAPABILITIES_AP1_VERSION_2\n");
        if (ucAdvanced & CAPABILITIES_SERIAL_NUMBER_ENABLED)
            printf("CAPABILITIES_SERIAL_NUMBER_ENABLED\n");
        if (ucAdvanced & CAPABILITIES_PER_CHANNEL_TX_POWER_ENABLED)
            printf("CAPABILITIES_PER_CHANNEL_TX_POWER_ENABLED\n");
        if (ucAdvanced & CAPABILITIES_LOW_PRIORITY_SEARCH_ENABLED)
            printf("CAPABILITIES_LOW_PRIORITY_SEARCH_ENABLED\n");
        if (ucAdvanced & CAPABILITIES_SCRIPT_ENABLED)
            printf("CAPABILITIES_SCRIPT_ENABLED\n");
        if (ucAdvanced & CAPABILITIES_SEARCH_LIST_ENABLED)
            printf("CAPABILITIES_SEARCH_LIST_ENABLED\n");

        if (usSize_ > 4)
        {
            printf("Advanced 2 Options 1:\n");
            if (ucAdvanced2 & CAPABILITIES_LED_ENABLED)
                printf("CAPABILITIES_LED_ENABLED\n");
            if (ucAdvanced2 & CAPABILITIES_EXT_MESSAGE_ENABLED)
                printf("CAPABILITIES_EXT_MESSAGE_ENABLED\n");
            if (ucAdvanced2 & CAPABILITIES_SCAN_MODE_ENABLED)
                printf("CAPABILITIES_SCAN_MODE_ENABLED\n");
            if (ucAdvanced2 & CAPABILITIES_RESERVED)
                printf("CAPABILITIES_RESERVED\n");
            if (ucAdvanced2 & CAPABILITIES_PROX_SEARCH_ENABLED)
                printf("CAPABILITIES_PROX_SEARCH_ENABLED\n");
            if (ucAdvanced2 & CAPABILITIES_EXT_ASSIGN_ENABLED)
                printf("CAPABILITIES_EXT_ASSIGN_ENABLED\n");
            if (ucAdvanced2 & CAPABILITIES_FS_ANTFS_ENABLED)
                printf("CAPABILITIES_FREE_1\n");
            if (ucAdvanced2 & CAPABILITIES_FIT1_ENABLED)
                printf("CAPABILITIES_FIT1_ENABLED\n");
        }
        break;
    }
    case MESG_CHANNEL_STATUS_ID:
    {
        printf("Got Status\n");

        char astrStatus[][32] = { "STATUS_UNASSIGNED_CHANNEL",
            "STATUS_ASSIGNED_CHANNEL",
            "STATUS_SEARCHING_CHANNEL",
            "STATUS_TRACKING_CHANNEL" };

        UCHAR ucStatusByte = stMessage.aucData[MESSAGE_BUFFER_DATA2_INDEX] & STATUS_CHANNEL_STATE_MASK; // MUST MASK OFF THE RESERVED BITS
        printf("STATUS: %s\n", astrStatus[ucStatusByte]);
        break;
    }
    case MESG_CHANNEL_ID_ID:
    {
        // Channel ID of the device that we just recieved a message from.
        USHORT usDeviceNumber = stMessage.aucData[MESSAGE_BUFFER_DATA2_INDEX] | (stMessage.aucData[MESSAGE_BUFFER_DATA3_INDEX] << 8);
        UCHAR ucDeviceType = stMessage.aucData[MESSAGE_BUFFER_DATA4_INDEX];
        UCHAR ucTransmissionType = stMessage.aucData[MESSAGE_BUFFER_DATA5_INDEX];

        printf("CHANNEL ID: (%d/%d/%d)\n", usDeviceNumber, ucDeviceType, ucTransmissionType);
        break;
    }
    case MESG_VERSION_ID:
    {
        printf("VERSION: %s\n", (char*)&stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
        break;
    }
    case MESG_ACKNOWLEDGED_DATA_ID:
    case MESG_BURST_DATA_ID:
    case MESG_BROADCAST_DATA_ID:
    {
        // The flagged and unflagged data messages have the same
        // message ID. Therefore, we need to check the size to
        // verify of a flag is present at the end of a message.
        // To enable flagged messages, must call ANT_RxExtMesgsEnable first.
        if (usSize_ > MESG_DATA_SIZE)
        {
            UCHAR ucFlag = stMessage.aucData[MESSAGE_BUFFER_DATA10_INDEX];

            if (ucFlag & ANT_LIB_CONFIG_MESG_OUT_INC_TIME_STAMP && ucFlag & ANT_EXT_MESG_BITFIELD_DEVICE_ID)
            {
                // In case we miss messages for 2 seconds or longer, we use the system time from the standard C time library to calculate rollovers
                time_t currentRxTime = time(NULL);
                if (currentRxTime - previousRxTime >= 2)
                {
                    ulNewEventTime += (currentRxTime - previousRxTime) / 2 * 32768;
                }
                previousRxTime = currentRxTime;

                unsigned short usCurrentEventTime = stMessage.aucData[MESSAGE_BUFFER_DATA15_INDEX] | (stMessage.aucData[MESSAGE_BUFFER_DATA16_INDEX] << 8);
                unsigned short usDeltaEventTime = usCurrentEventTime - usPreviousEventTime;
                ulNewEventTime += usDeltaEventTime;
                usPreviousEventTime = usCurrentEventTime;
                printf("%f-", (double)ulNewEventTime / 32768);

                // NOTE: In this example we use the incoming message timestamp as it typically has the most accuracy
                // NOTE: The library will handle the received time discrepancy caused by power only event count linked messages
                if (bPowerDecoderInitialized)
                {
                    DecodePowerMessage((double)ulNewEventTime / 32768, &stMessage.aucData[ucDataOffset]);
                }

                // NOTE: We must compensate for the power only event count/rx time discrepance here, because the library does not decode Te/Ps
                // The torque effectiveness/pedal smoothness page is tied to the power only page and vice versa,
                // so both pages share the same "received time" depending on which page was received first and if the event count updated.
                if (stMessage.aucData[ucDataOffset] == ANT_TEPS || stMessage.aucData[ucDataOffset] == ANT_POWERONLY)
                {
                    UCHAR ucNewPowerOnlyUpdateEventCount = stMessage.aucData[ucDataOffset + 1];

                    if (ucNewPowerOnlyUpdateEventCount != ucPowerOnlyUpdateEventCount)
                    {
                        ucPowerOnlyUpdateEventCount = ucNewPowerOnlyUpdateEventCount;
                        dRxTimeTePs = (double)ulNewEventTime / 32768;
                    }

                    if (stMessage.aucData[ucDataOffset] == ANT_TEPS)
                    {
                        // NOTE: Any value greater than 200 or 100% should be considered "INVALID"
                        FLOAT fLeftTorqueEffectiveness = (float)stMessage.aucData[ucDataOffset + 2] / 2;
                        FLOAT fRightTorqueEffectiveness = (float)stMessage.aucData[ucDataOffset + 3] / 2;
                        FLOAT fLeftOrCombPedalSmoothness = (float)stMessage.aucData[ucDataOffset + 4] / 2;
                        FLOAT fRightPedalSmoothness = (float)stMessage.aucData[ucDataOffset + 4] / 2;
                        TePsReceiver(dRxTimeTePs, fLeftTorqueEffectiveness, fRightTorqueEffectiveness, fLeftOrCombPedalSmoothness, fRightPedalSmoothness);
                    }
                    else
                    {
                        // NOTE: Power only is a separate data stream containing similar power data compared to torque data pages but containing pedal power balance
                        // On power only sensors, it would be valuable to average power balance between generated records
                        FLOAT fPowerBalance = (float)(0x7F & stMessage.aucData[ucDataOffset + 2]);
                        BOOL bPowerBalanceRightPedalIndicator = 0x80 & stMessage.aucData[ucDataOffset + 2] != 0;
                        PowerBalanceReceiver(dRxTimeTePs, fPowerBalance, bPowerBalanceRightPedalIndicator);
                    }
                }
            }

            if (bDisplay && ucFlag & ANT_EXT_MESG_BITFIELD_DEVICE_ID)
            {
                // Channel ID of the device that we just recieved a message from.
                USHORT usDeviceNumber = stMessage.aucData[MESSAGE_BUFFER_DATA11_INDEX] | (stMessage.aucData[MESSAGE_BUFFER_DATA12_INDEX] << 8);
                UCHAR ucDeviceType = stMessage.aucData[MESSAGE_BUFFER_DATA13_INDEX];
                UCHAR ucTransmissionType = stMessage.aucData[MESSAGE_BUFFER_DATA14_INDEX];

                printf("Chan ID(%d/%d/%d) - ", usDeviceNumber, ucDeviceType, ucTransmissionType);
            }
        }

        // Display recieved message
        bPrintBuffer = TRUE;
        ucDataOffset = MESSAGE_BUFFER_DATA2_INDEX;   // For most data messages

        if (bDisplay)
        {
            if (stMessage.ucMessageID == MESG_ACKNOWLEDGED_DATA_ID)
                printf("Acked Rx:(%d): ", stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
            else if (stMessage.ucMessageID == MESG_BURST_DATA_ID)
                printf("Burst(0x%02x) Rx:(%d): ", ((stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX] & 0xE0) >> 5), stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX] & 0x1F);
            else
                printf("Rx:(%d): ", stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
        }
        break;
    }
    case MESG_EXT_BROADCAST_DATA_ID:
    case MESG_EXT_ACKNOWLEDGED_DATA_ID:
    case MESG_EXT_BURST_DATA_ID:
    {

        // The "extended" part of this message is the 4-byte channel
        // id of the device that we recieved this message from. This message
        // is only available on the AT3. The AP2 uses flagged versions of the
        // data messages as shown above.

        // Channel ID of the device that we just recieved a message from.
        USHORT usDeviceNumber = stMessage.aucData[MESSAGE_BUFFER_DATA2_INDEX] | (stMessage.aucData[MESSAGE_BUFFER_DATA3_INDEX] << 8);
        UCHAR ucDeviceType = stMessage.aucData[MESSAGE_BUFFER_DATA4_INDEX];
        UCHAR ucTransmissionType = stMessage.aucData[MESSAGE_BUFFER_DATA5_INDEX];

        bPrintBuffer = TRUE;
        ucDataOffset = MESSAGE_BUFFER_DATA6_INDEX;   // For most data messages

        if (bDisplay)
        {
            // Display the channel id
            printf("Chan ID(%d/%d/%d) ", usDeviceNumber, ucDeviceType, ucTransmissionType);

            if (stMessage.ucMessageID == MESG_EXT_ACKNOWLEDGED_DATA_ID)
                printf("- Acked Rx:(%d): ", stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
            else if (stMessage.ucMessageID == MESG_EXT_BURST_DATA_ID)
                printf("- Burst(0x%02x) Rx:(%d): ", ((stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX] & 0xE0) >> 5), stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX] & 0x1F);
            else
                printf("- Rx:(%d): ", stMessage.aucData[MESSAGE_BUFFER_DATA1_INDEX]);
        }

        // NOTE: A different source of sub-second timing is required if the device does not support received time extended messages.

        break;
    }

    default:
    {
        break;
    }
    }

    // If we recieved a data message, diplay its contents here.
    if (bPrintBuffer)
    {
        if (bDisplay)
        {
            printf("[%02x],[%02x],[%02x],[%02x],[%02x],[%02x],[%02x],[%02x]\n",
                stMessage.aucData[ucDataOffset + 0],
                stMessage.aucData[ucDataOffset + 1],
                stMessage.aucData[ucDataOffset + 2],
                stMessage.aucData[ucDataOffset + 3],
                stMessage.aucData[ucDataOffset + 4],
                stMessage.aucData[ucDataOffset + 5],
                stMessage.aucData[ucDataOffset + 6],
                stMessage.aucData[ucDataOffset + 7]);
        }
        else
        {
            static int iIndex = 0;
            static char ac[] = { '|', '/', '-', '\\' };
            printf("Rx: %c\r", ac[iIndex++]); fflush(stdout);
            iIndex &= 3;

        }
    }

    return;
}

////////////////////////////////////////////////////////////////////////////////
// RecordReceiver
//
// Handle new records from power recording library.
//
////////////////////////////////////////////////////////////////////////////////
void Example::RecordReceiver(double dLastRecordTime_, double dTotalRotation_, double dTotalEnergy_, float fAverageCadence_, float fAveragePower_)
{
    fprintf(fp1, "%lf, %lf, %lf, %f, %f\n",
        dLastRecordTime_, dTotalRotation_, dTotalEnergy_, fAverageCadence_, fAveragePower_);
}
////////////////////////////////////////////////////////////////////////////////
// TePsReceiver
//
// Handle new torque effectiveness and pedal smoothness data page.
//
////////////////////////////////////////////////////////////////////////////////
void Example::TePsReceiver(double dRxTime_, float fLeftTorqEff_, float fRightTorqEff_, float fLeftOrCPedSmth_, float fRightPedSmth_)
{
    fprintf(fp1, "RxTime,LTE,RTE,LCPS,RPS,%f, %f, %f, %f, %f\n",
        dRxTime_, fLeftTorqEff_, fRightTorqEff_, fLeftOrCPedSmth_, fRightPedSmth_);
}
////////////////////////////////////////////////////////////////////////////////
// PowerBalanceReceiver
//
// Handle power balance from power only data page.
// NOTE: This should be handled by the library for power only sensors using the same integrated power into energy technique.
//
////////////////////////////////////////////////////////////////////////////////
void Example::PowerBalanceReceiver(double dRxTime_, float fPowerBalance_, bool bPowerBalanceRightPedalIndicator_)
{
    fprintf(fp1, "RxTime,PwrBal,RightPedal,%f, %f, %d\n",
        dRxTime_, fPowerBalance_, bPowerBalanceRightPedalIndicator_);
}

////////////////////////////////////////////////////////////////////////////////
// PrintMenu
//
// Start the Test program.
//
////////////////////////////////////////////////////////////////////////////////
void Example::PrintMenu()
{
    // Printout options
    printf("\n");
    printf("M - Print this menu\n");
    printf("R - Reset\n");
    printf("C - Request Capabilites\n");
    printf("V - Request Version\n");
    printf("I - Request Channel ID\n");
    printf("S - Request Status\n");
    printf("U - Request USB Descriptor\n");
    printf("D - Toggle Display\n");
    printf("Q - Quit\n");
    printf("\n");
    fflush(stdout);
}