iointerface.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#include "iointerface.h"
#include <xsens/xsthread.h>
#include <cerrno>
#ifndef _WIN32
#include <fcntl.h>  // open, O_RDWR
#include <sys/ioctl.h>  // ioctl
#include <sys/param.h>
#include <unistd.h>  // close
#include <cstdarg>
#include <cstring>  // strcpy
#else
#include <io.h>
#include <winbase.h>
#endif

#ifndef _CRT_SECURE_NO_DEPRECATE
#define _CRT_SECURE_NO_DEPRECATE
#ifdef _WIN32
#pragma warning(disable : 4996)
#endif
#endif

// lint -emacro(534, FSEEK, FSEEK_R)
// lint -emacro({534}, FSEEK, FSEEK_R)
#ifdef _WIN32
#define FSEEK(x) _fseeki64(m_handle, x, SEEK_SET)
#define FSEEK_R(x) _fseeki64(m_handle, x, SEEK_END)
#define FTELL() _ftelli64(m_handle)
#else
#define FSEEK(x) fseeko(m_handle, x, SEEK_SET)
#define FSEEK_R(x) fseeko(m_handle, x, SEEK_END)
#define FTELL() ftello(m_handle)
#endif

/*! \class IoInterface
    \brief An abstract IO interface
    \details An %IoInterface provides a generic interface for dealing with an
   interface device such
    as a file, a com port or a USB port.
    \note The class is not thread safe.
*/

// IOInterface functions
/*! \copydoc SerialInterface::open(const XsPortInfo&, uint32_t, uint32_t) */
XsResultValue IoInterface::open(
    const XsPortInfo&, uint32_t readBufSize, uint32_t writeBufSize)
{
    (void)readBufSize;
    (void)writeBufSize;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc SerialInterface::setTimeout(uint32_t) */
XsResultValue IoInterface::setTimeout(uint32_t ms)
{
    (void)ms;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc SerialInterface::waitForData(XsSize, XsByteArray&) */
XsResultValue IoInterface::waitForData(XsSize maxLength, XsByteArray& data)
{
    (void)maxLength;
    (void)data;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc SerialInterface::cancelIo(void) const */
void IoInterface::cancelIo(void) const {}
// IOInterfaceFile functions
/*! \copydoc IoInterfaceFile::appendData() */
XsResultValue IoInterface::appendData(const XsByteArray& bdata)
{
    (void)bdata;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::closeAndDelete() */
XsResultValue IoInterface::closeAndDelete(void) { return XRV_INVALIDOPERATION; }
/*! \copydoc IoInterfaceFile::create(const XsString&) */
XsResultValue IoInterface::create(const XsString& filename)
{
    (void)filename;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::deleteData(XsFilePos, XsSize) */
XsResultValue IoInterface::deleteData(XsFilePos start, XsSize length)
{
    (void)start;
    (void)length;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::find(const XsByteArray&, XsFilePos&) */
XsResultValue IoInterface::find(const XsByteArray& needleV, XsFilePos& pos)
{
    (void)needleV;
    (void)pos;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::getFileSize() const */
XsFilePos IoInterface::getFileSize(void) const { return 0; }
/*! \copydoc IoInterfaceFile::getName(XsString&) const */
XsResultValue IoInterface::getName(XsString& filename) const
{
    (void)filename;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::getReadPosition() const */
XsFilePos IoInterface::getReadPosition(void) const { return 0; }
/*! \copydoc IoInterfaceFile::getWritePosition() const */
XsFilePos IoInterface::getWritePosition(void) const { return 0; }
/*! \copydoc IoInterfaceFile::insertData(XsFilePos, const XsByteArray&) */
XsResultValue IoInterface::insertData(XsFilePos start, const XsByteArray& data)
{
    (void)start;
    (void)data;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::isReadOnly() const */
bool IoInterface::isReadOnly(void) const { return true; }
/*! \copydoc IoInterfaceFile::open(const XsString&, bool, bool) */
XsResultValue IoInterface::open(
    const XsString& filename, bool createNew, bool readOnly)
{
    (void)filename;
    (void)createNew;
    (void)readOnly;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::setReadPosition(XsFilePos) */
XsResultValue IoInterface::setReadPosition(XsFilePos pos)
{
    (void)pos;
    return XRV_INVALIDOPERATION;
}
/*! \copydoc IoInterfaceFile::setWritePosition(XsFilePos) */
XsResultValue IoInterface::setWritePosition(XsFilePos pos)
{
    (void)pos;
    return XRV_INVALIDOPERATION;
}