xsresultvalue.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 |
   +------------------------------------------------------------------------+ */
#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