xsens_std.h

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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 |
   +------------------------------------------------------------------------+ */
 
/*! \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
    /** Operation was performed successfully */
    XRV_OK = 0
 
    // communication protocol
    /** No bus communication possible */
    ,
    XRV_NOBUS = 1
    /** InitBus and/or SetBID are not issued */
    ,
    XRV_BUSNOTREADY = 2
    /** Period sent is invalid */
    ,
    XRV_INVALIDPERIOD = 3
    /** The message is invalid or not implemented */
    ,
    XRV_INVALIDMSG = 4
    /** A slave did not respond to WaitForSetBID */
    ,
    XRV_INITBUSFAIL1 = 16
    /** An incorrect answer received after WaitForSetBID */
    ,
    XRV_INITBUSFAIL2 = 17
    /** After four bus-scans still undetected Motion Trackers */
    ,
    XRV_INITBUSFAIL3 = 18
    /** No reply to SetBID message during SetBID procedure */
    ,
    XRV_SETBIDFAIL1 = 20
    /** Other than SetBIDAck received */
    ,
    XRV_SETBIDFAIL2 = 21
    /** Timer overflow - period too short to collect all data from Motion
       Trackers */
    ,
    XRV_MEASUREMENTFAIL1 = 24
    /** Motion Tracker responds with other than SlaveData message */
    ,
    XRV_MEASUREMENTFAIL2 = 25
    /** Total bytes of data of Motion Trackers including sample counter exceeds
       255 bytes */
    ,
    XRV_MEASUREMENTFAIL3 = 26
    /** Timer overflows during measurement */
    ,
    XRV_MEASUREMENTFAIL4 = 27
    /** Timer overflows during measurement */
    ,
    XRV_MEASUREMENTFAIL5 = 28
    /** No correct response from Motion Tracker during measurement */
    ,
    XRV_MEASUREMENTFAIL6 = 29
    /** Timer overflows during measurement */
    ,
    XRV_TIMEROVERFLOW = 30
    /** Baud rate does not comply with valid range */
    ,
    XRV_BAUDRATEINVALID = 32
    /** An invalid parameter is supplied */
    ,
    XRV_PARAMINVALID = 33
    /** An invalid parameter is supplied */
    ,
    XRV_INVALIDPARAM = 33
    /** TX PC Buffer is full */
    ,
    XRV_MEASUREMENTFAIL7 = 35
    /** TX PC Buffer overflow, cannot fit full message */
    ,
    XRV_MEASUREMENTFAIL8 = 36
 
    // CMT / XME / etc
    /** A generic error occurred */
    ,
    XRV_ERROR = 256
    /** Operation not implemented in this version (yet) */
    ,
    XRV_NOTIMPLEMENTED = 257
    /** A timeout occurred */
    ,
    XRV_TIMEOUT = 258
    /** Operation aborted because of no data read */
    ,
    XRV_TIMEOUTNODATA = 259
    /** Checksum fault occured */
    ,
    XRV_CHECKSUMFAULT = 260
    /** No internal memory available */
    ,
    XRV_OUTOFMEMORY = 261
    /** The requested item was not found */
    ,
    XRV_NOTFOUND = 262
    /** Unexpected message received (e.g. no acknowledge message received) */
    ,
    XRV_UNEXPECTEDMSG = 263
    /** Invalid id supplied */
    ,
    XRV_INVALIDID = 264
    /** Operation is invalid at this point */
    ,
    XRV_INVALIDOPERATION = 265
    /** Insufficient buffer space available */
    ,
    XRV_INSUFFICIENTSPACE = 266
    /** The specified i/o device can not be opened */
    ,
    XRV_INPUTCANNOTBEOPENED = 267
    /** The specified i/o device can not be opened */
    ,
    XRV_OUTPUTCANNOTBEOPENED = 268
    /** An I/O device is already opened with this object */
    ,
    XRV_ALREADYOPEN = 269
    /** End of file is reached */
    ,
    XRV_ENDOFFILE = 270
    /** A required settings file could not be opened or is missing some data */
    ,
    XRV_COULDNOTREADSETTINGS = 271
    /** No data is available */
    ,
    XRV_NODATA = 272
    /** Tried to change a read-only value */
    ,
    XRV_READONLY = 273
    /** Tried to supply a nullptr value where it is not allowed */
    ,
    XRV_NULLPTR = 274
    /** Insufficient data was supplied to a function */
    ,
    XRV_INSUFFICIENTDATA = 275
    /** Busy processing, try again later */
    ,
    XRV_BUSY = 276
    /** Invalid instance called */
    ,
    XRV_INVALIDINSTANCE = 277
    /** A trusted data stream proves to contain corrupted data */
    ,
    XRV_DATACORRUPT = 278
 
    /** Failure during read of settings */
    ,
    XRV_READINITFAILED = 279
    /** Could not find any Moven-compatible hardware */
    ,
    XRV_NOXMFOUND = 280
    /** Found only one responding Xbus Master */
    ,
    XRV_ONLYONEXMFOUND = 281
    /** No sensors found */
    ,
    XRV_MTCOUNTZERO = 282
    /** One or more sensors are not where they were expected */
    ,
    XRV_MTLOCATIONINVALID = 283
    /** Not enough sensors were found */
    ,
    XRV_INSUFFICIENTMTS = 284
    /** Failure during initialization of Fusion Engine */
    ,
    XRV_INITFUSIONFAILED = 285
    /** Something else was received than was requested */
    ,
    XRV_OTHER = 286
 
    /** No file opened for reading/writing */
    ,
    XRV_NOFILEOPEN = 287
    /** No serial port opened for reading/writing */
    ,
    XRV_NOPORTOPEN = 288
    /** No file or serial port opened for reading/writing */
    ,
    XRV_NOFILEORPORTOPEN = 289
    /** A required port could not be found */
    ,
    XRV_PORTNOTFOUND = 290
    /** The low-level port handler failed to initialize */
    ,
    XRV_INITPORTFAILED = 291
    /** A calibration routine failed */
    ,
    XRV_CALIBRATIONFAILED = 292
 
    /** The in-config check of the device failed */
    ,
    XRV_CONFIGCHECKFAIL = 293
    /** The operation is once only and has already been performed */
    ,
    XRV_ALREADYDONE = 294
 
    /** The single connected device is configured as a slave */
    ,
    XRV_SYNC_SINGLE_SLAVE = 295
    /** More than one master was detected */
    ,
    XRV_SYNC_SECOND_MASTER = 296
    /** A device was detected that was neither master nor slave */
    ,
    XRV_SYNC_NO_SYNC = 297
    /** No master detected */
    ,
    XRV_SYNC_NO_MASTER = 298
    /** A device is not sending enough data */
    ,
    XRV_SYNC_DATA_MISSING = 299
 
    /** The version of the object is too low for the requested operation */
    ,
    XRV_VERSION_TOO_LOW = 300
    /** The object has an unrecognized version, so it's not safe to perform the
       operation */
    ,
    XRV_VERSION_PROBLEM = 301
} XsensResultValue;
 
//////////////////////////////////////////////////////////////////////////////////////////
 
/*! \cond NODOXYGEN */
#ifndef DELNUL
//! This macro deletes a pointer and sets it to NULL
#define DELNUL(ptr)    \
    {                  \
        delete ptr;    \
        ptr = nullptr; \
    }
//! This macro deletes a pointer if it is not nullptr and then sets it to NULL
#define CHKDELNUL(ptr)      \
    {                       \
        if (ptr != nullptr) \
        {                   \
            delete ptr;     \
            ptr = nullptr;  \
        }                   \
    }
//! This macro deletes a multi-object pointer and sets it to NULL
#define LSTDELNUL(ptr) \
    {                  \
        delete[] ptr;  \
        ptr = nullptr; \
    }
//! This macro deletes a multi-object pointer if it is not nullptr and then sets
//! it to NULL
#define LSTCHKDELNUL(ptr)   \
    {                       \
        if (ptr != nullptr) \
        {                   \
            delete[] ptr;   \
            ptr = nullptr;  \
        }                   \
    }
 
//! This macro frees a pointer and then sets it to NULL
#define FREENUL(ptr)   \
    {                  \
        free(ptr);     \
        ptr = nullptr; \
    }
//! This macro frees a pointer if it is not nullptr and then sets it to NULL
#define CHKFREENUL(ptr)     \
    {                       \
        if (ptr != nullptr) \
        {                   \
            free(ptr);      \
            ptr = nullptr;  \
        }                   \
    }
#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
 
//////////////////////////////////////////////////////////////////////////////////////////
 
/** The maximum length of a label */
#define XSENS_LABEL_SIZE 64
/** The maximum length of a short string */
#define XSENS_SHORT_STRING_SIZE 256
/** The maximum length of a long string */
#define XSENS_LONG_STRING_SIZE 16384
 
//////////////////////////////////////////////////////////////////////////////////////////
 
#endif  // _XSENS_STD_H_2006_09_11