xsresultvalue.h

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/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */
#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
        /** 0: Operation was performed successfully */
        XRV_OK = 0

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

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

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

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

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

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

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

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

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

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