xsresultvalue.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    |
   +---------------------------------------------------------------------------+ */
#ifndef XSRESULTVALUE_H
#define XSRESULTVALUE_H

#include "xstypesconfig.h"

#ifdef __cplusplus
extern "C" {
#endif

//////////////////////////////////////////////////////////////////////////////////////////
/*!     \addtogroup enums Global enumerations
        @{
*/
/*!     \brief Xsens result values
        \details These values are used to signal success or specific failures of functions
        \sa XsResultValue_toString
*/
enum XsResultValue {
        // general OK
         XRV_OK                                 = 0             //!< 0: Operation was performed successfully

        // communication protocol
        ,XRV_NOBUS                              = 1             //!< 1: No bus communication possible
        ,XRV_BUSNOTREADY                = 2             //!< 2: InitBus and/or SetBID are not issued
        ,XRV_INVALIDPERIOD              = 3             //!< 3: Period sent is invalid
        ,XRV_INVALIDMSG                 = 4             //!< 4: The message is invalid or not implemented
        ,XRV_INITBUSFAIL1               = 16    //!< 16: A slave did not respond to WaitForSetBID
        ,XRV_INITBUSFAIL2               = 17    //!< 17: An incorrect answer received after WaitForSetBID
        ,XRV_INITBUSFAIL3               = 18    //!< 18: After four bus-scans still undetected Motion Trackers
        ,XRV_SETBIDFAIL1                = 20    //!< 20: No reply to SetBID message during SetBID procedure
        ,XRV_SETBIDFAIL2                = 21    //!< 21: Other than SetBIDAck received
        ,XRV_MEASUREMENTFAIL1   = 24    //!< 24: Timer overflow - period too short to collect all data from Motion Trackers
        ,XRV_MEASUREMENTFAIL2   = 25    //!< 25: Motion Tracker responds with other than SlaveData message
        ,XRV_MEASUREMENTFAIL3   = 26    //!< 26: Total bytes of data of Motion Trackers including sample counter exceeds 255 bytes
        ,XRV_MEASUREMENTFAIL4   = 27    //!< 27: Timer overflows during measurement
        ,XRV_MEASUREMENTFAIL5   = 28    //!< 28: Timer overflows during measurement
        ,XRV_MEASUREMENTFAIL6   = 29    //!< 29: No correct response from Motion Tracker during measurement
        ,XRV_TIMEROVERFLOW              = 30    //!< 30: Timer overflows during measurement
        ,XRV_BAUDRATEINVALID    = 32    //!< 32: Baud rate does not comply with valid range
        ,XRV_INVALIDPARAM               = 33    //!< 33: An invalid parameter is supplied
        ,XRV_MEASUREMENTFAIL7   = 35    //!< 35: TX PC Buffer is full
        ,XRV_MEASUREMENTFAIL8   = 36    //!< 36: TX PC Buffer overflow, cannot fit full message
        ,XRV_DEVICEERROR                = 40    //!< 40: The device generated an error, try updating the firmware
        ,XRV_DATAOVERFLOW               = 41    //!< 41: The device generates more data than the bus communication can handle (baud rate may be too low)
        ,XRV_BUFFEROVERFLOW     = 42    //!< 42: The sample buffer of the device was full during a communication outage

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

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

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

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

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

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

        ,XRV_ABORTED                            = 302   //!< 302: The process was aborted by an external event, usually a user action or process termination
        ,XRV_UNSUPPORTED                        = 303   //!< 303: The requested functionality is not supported by the device

        ,XRV_PACKETCOUNTERMISSED        = 304   //!< 304: A packet counter value was missed

        ,XRV_MEASUREMENTFAILED          = 305   //!< 305: An error occured while trying to put the device in measurement mode
};
/*! @} */
typedef enum XsResultValue XsResultValue;


//! These enum values can be used to specify a device error (XRV_DEVICEERROR 0x28), i.e. a xbus message like [FA FF 42 05 28 XXXXXXXX CS]
enum XsDeviceErrorType
{
          XERR_Unknown                                  = 0
        , XERR_ImcuTimeout                              = 1
        , XERR_ImcuSettingsInvalid              = 2
        , XERR_ImcuSettingsFailure              = 3
        , XERR_ImcuEmtsWriteFailure             = 4
        , XERR_ImcuEmtsReadFailure              = 5
        , XERR_DspCrashed                               = 6
        , XERR_DspBootingTimeout                = 7
};
typedef enum XsDeviceErrorType XsDeviceErrorType;



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

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

        This function uses the XsResultText 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.
*/
XSTYPES_DLL_API const char* XsResultValue_toString(XsResultValue result);

#ifdef __cplusplus
} // extern "C"
#endif

#endif  // file guard