cmtscan.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
 
/*! \file cmtscan.cpp
 
    For information about objects in this file, see the appropriate header:
    \ref ScanPorts.h
 
    \section FileCopyright Copyright Notice
    Copyright (C) Xsens Technologies B.V., 2006.  All rights reserved.
 
    This source code is intended for use only by Xsens Technologies BV and
    those that have explicit written permission to use it from
    Xsens Technologies BV.
 
    THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
    KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
    IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
    PARTICULAR PURPOSE.
 
    \section FileChangelog  Changelog
    \par 2006-06-08, v0.0.1
    \li Job Mulder: Created
    \par 2006-07-21, v0.1.0
    \li Job Mulder: Updated file for release 0.1.0
*/
 
#ifdef _WIN32
#include <windows.h>
#include <string.h>
#include <setupapi.h>
#include <devguid.h>
#include <regstr.h>
#else
#include <stdlib.h>
#include <string.h>
#include <dirent.h>
#endif
 
#include "cmt3.h"
#include "cmtscan.h"
#include "xsens_janitors.h"
 
namespace xsens
{
#ifdef _LOG_CMT_SCAN
#define SCANLOG CMTLOG
#else
#define SCANLOG(...)
#endif
 
bool abortScan = false;
 
bool cmtScanPort(
    CmtPortInfo& portInfo, uint32_t baud, uint32_t singleScanTimeout,
    uint32_t scanTries)
{
    uint32_t baudrate;
    Cmt3 port;
    port.setGotoConfigTries(scanTries ? (uint16_t)scanTries : 1);
    port.setTimeoutConfig(singleScanTimeout);
    XsensResultValue res;
 
    if (baud == 0)
        baudrate = CMT_BAUD_RATE_115K2;
    else
        baudrate = baud;
 
    while (!abortScan)
    {
// try to connect at current baudrate
#ifdef _WIN32
        if ((res = port.openPort(portInfo.m_portNr, baudrate)) == XRV_OK)
#else
        if ((res = port.openPort(portInfo.m_portName, baudrate)) == XRV_OK)
#endif
        {
            SCANLOG("SP: L3 port-check returns OK\n");
            portInfo.m_baudrate = baudrate;
            portInfo.m_deviceId = port.getMasterId();
            return true;  // this also closes the port
        }
        // failed, determine if we need to scan other baudrates or not
        if (res != XRV_TIMEOUT && res != XRV_TIMEOUTNODATA &&
            res != XRV_CONFIGCHECKFAIL)
        {
            SCANLOG("SP: L3 port-check returned ERROR, aborting\n");
            return false;
        }
 
        SCANLOG(
            "SP: L3 port-check returned TIMEOUT, check next baudrate or "
            "abort\n");
        // not detected, try next baudrate
        if (baud != 0) return false;
        switch (baudrate)
        {
            default:
            case CMT_BAUD_RATE_115K2:
                baudrate = CMT_BAUD_RATE_460K8;
                break;
            case CMT_BAUD_RATE_460K8:
                baudrate = CMT_BAUD_RATE_921K6;
                break;
            case CMT_BAUD_RATE_921K6:
                baudrate = CMT_BAUD_RATE_230K4;
                break;
            case CMT_BAUD_RATE_230K4:
                baudrate = CMT_BAUD_RATE_57K6;
                break;
            case CMT_BAUD_RATE_57K6:
                baudrate = CMT_BAUD_RATE_38K4;
                break;
            case CMT_BAUD_RATE_38K4:
                baudrate = CMT_BAUD_RATE_19K2;
                break;
            case CMT_BAUD_RATE_19K2:
                baudrate = CMT_BAUD_RATE_9600;
                break;
            case CMT_BAUD_RATE_9600:
                return false;  // could not detect Xsens sensor, return false
        }
    }
    return false;
}
 
bool cmtScanPorts(
    List<CmtPortInfo>& ports, uint32_t baudrate, uint32_t singleScanTimeout,
    uint32_t scanTries)
{
    CmtPortInfo current;
    ports.clear();  // clear the list
#ifdef _WIN32
    HDEVINFO hDevInfo;
    SP_DEVINFO_DATA DeviceInfoData;
    DWORD i;
 
    // Create a HDEVINFO with all present devices.
 
    // GUID for Ports: 4D36E978-E325-11CE-BFC1-08002BE10318
    GUID portGuid = {0x4D36E978,
                     0xE325,
                     0x11CE,
                     {0xBF, 0xC1, 0x08, 0x00, 0x2B, 0xE1, 0x03, 0x18}};
 
    //  "4D36E978-E325-11CE-BFC1-08002BE10318"
    hDevInfo =
        SetupDiGetClassDevs(&portGuid, 0, 0, DIGCF_PRESENT | DIGCF_PROFILE);
 
    if (hDevInfo == INVALID_HANDLE_VALUE) return false;
 
    // Enumerate through all devices in Set.
    DeviceInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
    for (i = 0;
         !abortScan && SetupDiEnumDeviceInfo(hDevInfo, i, &DeviceInfoData); ++i)
    {
        DWORD DataT;
        char buffer[256];
        bool isBT = false;
 
//
// Call function with null to begin with,
// then use the returned buffer size
// to Alloc the buffer. Keep calling until
// success or an unknown failure.
//
#if 1
        if (SetupDiGetDeviceRegistryProperty(
                hDevInfo, &DeviceInfoData, SPDRP_MFG, &DataT, (PBYTE)buffer,
                256, nullptr))
        {
            // on failure, this is not an Xsens Device
            // on success, we need to check if the device is an Xsens Device
            // if (_strnicmp(buffer,"xsens",5))
            //  scan = true;
            // else
            if (!_strnicmp(
                    buffer, "(Standard port types)",
                    strlen("(Standard port types)")))
                continue;
            if (_strnicmp(buffer, "xsens", 5))  // if this is NOT an xsens
            // device, treat it as a BT
            // device
            {
                isBT = true;
                if (_strnicmp(buffer, "WIDCOMM", 7))  // if this is NOT a
                    // WIDCOMM (Ezureo / TDK
                    // stack), skip it
                    continue;
            }
        }
#endif
        // we found an Xsens Device, add its port nr to the list
        // Get the registry key which stores the ports settings
        HKEY hDeviceKey = SetupDiOpenDevRegKey(
            hDevInfo, &DeviceInfoData, DICS_FLAG_GLOBAL, 0, DIREG_DEV,
            KEY_QUERY_VALUE);
        if (hDeviceKey != INVALID_HANDLE_VALUE)
        {
            // Read in the name of the port
            char pszPortName[256];
            DWORD dwSize = 256;
            DWORD dwType = 0;
            if ((RegQueryValueExA(
                     hDeviceKey, "PortName", nullptr, &dwType,
                     (LPBYTE)pszPortName, &dwSize) == ERROR_SUCCESS) &&
                (dwType == REG_SZ))
            {
                // If it looks like "COMX" then
                // add it to the array which will be returned
                int32_t nLen = (int32_t)strlen(pszPortName);
                if (nLen > 3)
                {
                    if (_strnicmp(pszPortName, "COM", 3)) continue;
                    int32_t nPort = atoi(&pszPortName[3]);
                    if (nPort)
                    {
                        current.m_portNr = (uint8_t)nPort;
                        if (isBT)
                            current.m_baudrate = CMT_BAUD_RATE_460K8;
                        else
                            current.m_baudrate = baudrate;
                        ports.append(current);
                    }
                }
            }
        }
        // Close the key now that we are finished with it
        RegCloseKey(hDeviceKey);
    }
 
    //  Cleanup
 
    SetupDiDestroyDeviceInfoList(hDevInfo);
 
    // Now sort the list by ascending port nr
    ports.sortAscending();
 
    // Add the standard com ports 1 and 2 unless they are already in the list
    bool add1 = true, add2 = true;
    if ((ports.length() > 0) && (ports[0].m_portNr == 1)) add1 = false;
    if (ports.length() > 0)
    {
        if (ports[0].m_portNr == 2)
            add2 = false;
        else if (ports.length() > 1)
            if (ports[1].m_portNr == 2) add2 = false;
    }
    if (add1)
    {
        current.m_portNr = 1;
        current.m_baudrate = baudrate;
        ports.append(current);
    }
    if (add2)
    {
        current.m_portNr = 2;
        current.m_baudrate = baudrate;
        ports.append(current);
    }
#else
    DIR* dir;
    struct dirent* entry;
 
    if ((dir = opendir("/dev/")) == nullptr) return false;
 
    while ((entry = readdir(dir)))
        if (strncmp("ttyS", entry->d_name, 4) == 0 ||
            strncmp("ttyUSB", entry->d_name, 6) == 0)
        {
            sprintf(current.m_portName, "/dev/%s", entry->d_name);
            current.m_baudrate = baudrate;
            ports.append(current);
        }
    closedir(dir);
 
    ports.sortAscending();
#endif
 
    // try to connect so we can detect if there really is an MT / XM attached
    unsigned p = 0;
    while (!abortScan && p < ports.length())
    {
        if (cmtScanPort(
                ports[p], ports[p].m_baudrate, singleScanTimeout, scanTries))
            ++p;
        else
            ports.remove(p);
    }
 
    if (abortScan) return abortScan = false;
 
    // Now sort the final list by ascending port nr
    ports.sortAscending();
    abortScan = false;
    return true;
}
 
}  // end of xsens namespace