xsens_std.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

/*! \cond NODOXYGEN */

#ifndef _XSENS_STD_H_2006_09_11
#       define _XSENS_STD_H_2006_09_11

//////////////////////////////////////////////////////////////////////////////////////////

#if defined(_WIN32) && !defined(_WIN32_WINNT)
#       define _WIN32_WINNT 0x0502
#endif

#ifdef _WIN32
#       include <windows.h>
#endif

/*! \endcond */

//////////////////////////////////////////////////////////////////////////////////////////
//! Xsens return values
// NOTE!!! When adding a value to this list, also add its description in xsens_std.cpp
typedef enum /*! \cond NODOXYGEN */ _XsensResultValue_ /*! \endcond */ {
        // general OK
         XRV_OK                                 = 0             //!< Operation was performed successfully

        // communication protocol
        ,XRV_NOBUS                              = 1             //!< No bus communication possible
        ,XRV_BUSNOTREADY                = 2             //!< InitBus and/or SetBID are not issued
        ,XRV_INVALIDPERIOD              = 3             //!< Period sent is invalid
        ,XRV_INVALIDMSG                 = 4             //!< The message is invalid or not implemented
        ,XRV_INITBUSFAIL1               = 16    //!< A slave did not respond to WaitForSetBID
        ,XRV_INITBUSFAIL2               = 17    //!< An incorrect answer received after WaitForSetBID
        ,XRV_INITBUSFAIL3               = 18    //!< After four bus-scans still undetected Motion Trackers
        ,XRV_SETBIDFAIL1                = 20    //!< No reply to SetBID message during SetBID procedure
        ,XRV_SETBIDFAIL2                = 21    //!< Other than SetBIDAck received
        ,XRV_MEASUREMENTFAIL1   = 24    //!< Timer overflow - period too short to collect all data from Motion Trackers
        ,XRV_MEASUREMENTFAIL2   = 25    //!< Motion Tracker responds with other than SlaveData message
        ,XRV_MEASUREMENTFAIL3   = 26    //!< Total bytes of data of Motion Trackers including sample counter exceeds 255 bytes
        ,XRV_MEASUREMENTFAIL4   = 27    //!< Timer overflows during measurement
        ,XRV_MEASUREMENTFAIL5   = 28    //!< Timer overflows during measurement
        ,XRV_MEASUREMENTFAIL6   = 29    //!< No correct response from Motion Tracker during measurement
        ,XRV_TIMEROVERFLOW              = 30    //!< Timer overflows during measurement
        ,XRV_BAUDRATEINVALID    = 32    //!< Baud rate does not comply with valid range
        ,XRV_PARAMINVALID               = 33    //!< An invalid parameter is supplied
        ,XRV_INVALIDPARAM               = 33    //!< An invalid parameter is supplied
        ,XRV_MEASUREMENTFAIL7   = 35    //!< TX PC Buffer is full
        ,XRV_MEASUREMENTFAIL8   = 36    //!< TX PC Buffer overflow, cannot fit full message

        // CMT / XME / etc
        ,XRV_ERROR                              = 256   //!< A generic error occurred
        ,XRV_NOTIMPLEMENTED             = 257   //!< Operation not implemented in this version (yet)
        ,XRV_TIMEOUT                    = 258   //!< A timeout occurred
        ,XRV_TIMEOUTNODATA              = 259   //!< Operation aborted because of no data read
        ,XRV_CHECKSUMFAULT              = 260   //!< Checksum fault occured
        ,XRV_OUTOFMEMORY                = 261   //!< No internal memory available
        ,XRV_NOTFOUND                   = 262   //!< The requested item was not found
        ,XRV_UNEXPECTEDMSG              = 263   //!< Unexpected message received (e.g. no acknowledge message received)
        ,XRV_INVALIDID                  = 264   //!< Invalid id supplied
        ,XRV_INVALIDOPERATION   = 265           //!< Operation is invalid at this point
        ,XRV_INSUFFICIENTSPACE          = 266   //!< Insufficient buffer space available
        ,XRV_INPUTCANNOTBEOPENED        = 267   //!< The specified i/o device can not be opened
        ,XRV_OUTPUTCANNOTBEOPENED       = 268   //!< The specified i/o device can not be opened
        ,XRV_ALREADYOPEN                        = 269   //!< An I/O device is already opened with this object
        ,XRV_ENDOFFILE                  = 270           //!< End of file is reached
        ,XRV_COULDNOTREADSETTINGS       = 271   //!< A required settings file could not be opened or is missing some data
        ,XRV_NODATA                             = 272   //!< No data is available
        ,XRV_READONLY                   = 273   //!< Tried to change a read-only value
        ,XRV_NULLPTR                    = 274   //!< Tried to supply a NULL value where it is not allowed
        ,XRV_INSUFFICIENTDATA   = 275   //!< Insufficient data was supplied to a function
        ,XRV_BUSY                               = 276   //!< Busy processing, try again later
        ,XRV_INVALIDINSTANCE    = 277   //!< Invalid instance called
        ,XRV_DATACORRUPT                = 278   //!< A trusted data stream proves to contain corrupted data

        ,XRV_READINITFAILED             = 279   //!< Failure during read of settings
        ,XRV_NOXMFOUND                  = 280   //!< Could not find any Moven-compatible hardware
        ,XRV_ONLYONEXMFOUND             = 281   //!< Found only one responding Xbus Master
        ,XRV_MTCOUNTZERO                        = 282   //!< No sensors found
        ,XRV_MTLOCATIONINVALID  = 283   //!< One or more sensors are not where they were expected
        ,XRV_INSUFFICIENTMTS            = 284   //!< Not enough sensors were found
        ,XRV_INITFUSIONFAILED           = 285   //!< Failure during initialization of Fusion Engine
        ,XRV_OTHER                                      = 286   //!< Something else was received than was requested

        ,XRV_NOFILEOPEN                 = 287   //!< No file opened for reading/writing
        ,XRV_NOPORTOPEN                 = 288   //!< No serial port opened for reading/writing
        ,XRV_NOFILEORPORTOPEN   = 289   //!< No file or serial port opened for reading/writing
        ,XRV_PORTNOTFOUND               = 290   //!< A required port could not be found
        ,XRV_INITPORTFAILED             = 291   //!< The low-level port handler failed to initialize
        ,XRV_CALIBRATIONFAILED  = 292   //!< A calibration routine failed

        ,XRV_CONFIGCHECKFAIL    = 293   //!< The in-config check of the device failed
        ,XRV_ALREADYDONE                = 294   //!< The operation is once only and has already been performed

        ,XRV_SYNC_SINGLE_SLAVE  = 295   //!< The single connected device is configured as a slave
        ,XRV_SYNC_SECOND_MASTER = 296   //!< More than one master was detected
        ,XRV_SYNC_NO_SYNC               = 297   //!< A device was detected that was neither master nor slave
        ,XRV_SYNC_NO_MASTER             = 298   //!< No master detected
        ,XRV_SYNC_DATA_MISSING  = 299   //!< A device is not sending enough data

        ,XRV_VERSION_TOO_LOW    = 300   //!< The version of the object is too low for the requested operation
        ,XRV_VERSION_PROBLEM    = 301   //!< The object has an unrecognized version, so it's not safe to perform the operation
} XsensResultValue;

//////////////////////////////////////////////////////////////////////////////////////////

/*! \cond NODOXYGEN */
#ifndef DELNUL
//! This macro deletes a pointer and sets it to NULL
#define DELNUL(ptr)             { delete ptr; ptr = NULL; }
//! This macro deletes a pointer if it is not NULL and then sets it to NULL
#define CHKDELNUL(ptr)  { if (ptr != NULL) { delete ptr; ptr = NULL; } }
//! This macro deletes a multi-object pointer and sets it to NULL
#define LSTDELNUL(ptr)          { delete[] ptr; ptr = NULL; }
//! This macro deletes a multi-object pointer if it is not NULL and then sets it to NULL
#define LSTCHKDELNUL(ptr)       { if (ptr != NULL) { delete[] ptr; ptr = NULL; } }

//! This macro frees a pointer and then sets it to NULL
#define FREENUL(ptr)    { free(ptr); ptr = NULL; }
//! This macro frees a pointer if it is not NULL and then sets it to NULL
#define CHKFREENUL(ptr) { if (ptr != NULL) { free(ptr); ptr = NULL; } }
#endif
/*! \endcond */

//////////////////////////////////////////////////////////////////////////////////////////

/* \brief Retrieve a string corresponding to the given result code.

        This function uses the CmtResultText list to return a string with the relevant result 
        code in a textual format. If the supplied result code is invalid the
        "!!Invalid result code!!" string is returned.
*/
#if !defined(_CMT_DLL_IMPORT) && !defined(_XME_DLL_IMPORT)
const char* xsensResultText(const XsensResultValue result);
#endif

//////////////////////////////////////////////////////////////////////////////////////////

#define XSENS_LABEL_SIZE                        64              //!< The maximum length of a label
#define XSENS_SHORT_STRING_SIZE         256             //!< The maximum length of a short string
#define XSENS_LONG_STRING_SIZE          16384   //!< The maximum length of a long string

//////////////////////////////////////////////////////////////////////////////////////////

#endif  // _XSENS_STD_H_2006_09_11