xsens_std.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 |
   +------------------------------------------------------------------------+ */
#include "xsens_std.h"

//////////////////////////////////////////////////////////////////////////////////////////
// Retrieve a string corresponding to the given result code.
const char* xsensResultText(const XsensResultValue result)
{
    switch (result)
    {
        case XRV_OK:
            return "No error";
        case XRV_NOBUS:
            return "Bus has no power";
        case XRV_BUSNOTREADY:
            return "Bus not ready for measurement";
        case XRV_INVALIDPERIOD:
            return "Period is invalid";
        case XRV_INVALIDMSG:
            return "Message is invalid";
        case XRV_INITBUSFAIL1:
            return "A slave did not respond to WaitForSetBID";
        case XRV_INITBUSFAIL2:
            return "An incorrect answer received after WaitForSetBID";
        case XRV_INITBUSFAIL3:
            return "After four bus-scans still undetected Motion Trackers";
        case XRV_SETBIDFAIL1:
            return "No reply to SetBID message during SetBID procedure";
        case XRV_SETBIDFAIL2:
            return "Other than SetBIDAck received";
        case XRV_MEASUREMENTFAIL1:
            return "Timer overflow - period too short to collect all data from "
                   "Motion Trackers";
        case XRV_MEASUREMENTFAIL2:
            return "Motion Tracker responds with other than SlaveData message";
        case XRV_MEASUREMENTFAIL3:
            return "Total bytes of data of Motion Trackers incl sample counter "
                   "exceeds 255 bytes";
        case XRV_MEASUREMENTFAIL4:
            return "Timer overflow during measurement: MT does not respond "
                   "within measurement period. Increase period (lower sample "
                   "frequency)";
        case XRV_MEASUREMENTFAIL5:
            return "Timer overflow during measurement: MT response was not "
                   "received within measurement period. Increase period (lower "
                   "sample frequency) or use fewer Motion Trackers";
        case XRV_MEASUREMENTFAIL6:
            return "No correct response from Motion Tracker during measurement";
        case XRV_TIMEROVERFLOW:
            return "Timer overflow during measurement";
        case XRV_BAUDRATEINVALID:
            return "Baudrate does not comply with valid range";
        case XRV_INVALIDPARAM:
            return "Invalid parameter supplied";
        case XRV_MEASUREMENTFAIL7:
            return "TX PC Buffer is full";
        case XRV_MEASUREMENTFAIL8:
            return "TX PC Buffer overflow, cannot fit full message";
        case XRV_CONFIGCHECKFAIL:
            return "Failure during device configuration";
        case XRV_ERROR:
            return "Generic error";
        case XRV_NOTIMPLEMENTED:
            return "Operation not implemented";
        case XRV_TIMEOUT:
            return "Timeout occurred, some data received";
        case XRV_TIMEOUTNODATA:
            return "Timeout occurred, no data was received";
        case XRV_CHECKSUMFAULT:
            return "Checksum fault";
        case XRV_OUTOFMEMORY:
            return "Out of memory";
        case XRV_NOTFOUND:
            return "Requested item was not found";
        case XRV_UNEXPECTEDMSG:
            return "Unexpected message received";
        case XRV_INVALIDID:
            return "Invalid id supplied";
        case XRV_INVALIDOPERATION:
            return "Invalid operation";
        case XRV_INSUFFICIENTSPACE:
            return "Insufficient buffer space available";
        case XRV_INPUTCANNOTBEOPENED:
            return "Could not open input device";
        case XRV_OUTPUTCANNOTBEOPENED:
            return "Could not open output device";
        case XRV_ALREADYOPEN:
            return "A device is already open";
        case XRV_ENDOFFILE:
            return "End of file reached";
        case XRV_COULDNOTREADSETTINGS:
            return "A required settings file could not be opened or is missing "
                   "some data";
        case XRV_NODATA:
            return "No data available";
        case XRV_READONLY:
            return "Tried to change a read-only value";
        case XRV_NULLPTR:
            return "Invalid nullptr pointer supplied";
        case XRV_INSUFFICIENTDATA:
            return "Insufficient data supplied";
        case XRV_BUSY:
            return "Busy processing, try again later";
        case XRV_INVALIDINSTANCE:
            return "Invalid instance called";
        case XRV_DATACORRUPT:
            return "Data-source corrupt";
        case XRV_READINITFAILED:
            return "Failure during reading of settings. File may be old or "
                   "corrupt.";
        case XRV_NOXMFOUND:
            return "Could not find any Moven-compatible hardware, check "
                   "connections and Xbus Master LEDs";
        case XRV_ONLYONEXMFOUND:
            return "Found only one responding Xbus Master, check connections "
                   "and Xbus Master LEDs";
        case XRV_MTCOUNTZERO:
            return "No sensors found, check cables";
        case XRV_MTLOCATIONINVALID:
            return "One or more sensors are not where they were expected, "
                   "check locations";
        case XRV_INSUFFICIENTMTS:
            return "Not enough sensors were found, check cables";
        case XRV_INITFUSIONFAILED:
            return "Failure during initialization of Fusion Engine. Source "
                   "file may be old or corrupt.";
        case XRV_OTHER:
            return "Something else was received than was requested";
        case XRV_NOFILEOPEN:
            return "No file open";
        case XRV_NOPORTOPEN:
            return "No serial port open";
        case XRV_NOFILEORPORTOPEN:
            return "No file or serial port open";
        case XRV_PORTNOTFOUND:
            return "A required port could not be found";
        case XRV_INITPORTFAILED:
            return "The low-level port handler failed to initialize";
        case XRV_CALIBRATIONFAILED:
            return "A calibration routine failed";
        case XRV_ALREADYDONE:
            return "This once only operation has already been performed";

        case XRV_SYNC_SINGLE_SLAVE:
            return "The single connected device is configured as a slave";
        case XRV_SYNC_SECOND_MASTER:
            return "More than one master was detected";
        case XRV_SYNC_NO_SYNC:
            return "A device was detected that was neither master nor slave";
        case XRV_SYNC_NO_MASTER:
            return "No master detected";
        case XRV_SYNC_DATA_MISSING:
            return "A device is not sending enough data, check synchronization "
                   "cables";

        case XRV_VERSION_TOO_LOW:
            return "The version of the object is too low for the requested "
                   "operation";
        case XRV_VERSION_PROBLEM:
            return "The object has an unrecognized version, so it's not safe "
                   "to perform the operation";

        default:
            return "!!Undefined Result Value!!";
    }
}