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!!";
        }
}