xsens_std.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 |
   +------------------------------------------------------------------------+ */
 
/*! \cond NODOXYGEN */
 
#ifndef _XSENS_STD_H_2006_09_11
#define _XSENS_STD_H_2006_09_11
 
//////////////////////////////////////////////////////////////////////////////////////////
 
#if defined(_WIN32) && !defined(_WIN32_WINNT)
#define _WIN32_WINNT 0x0502
#endif
 
#ifdef _WIN32
#include <windows.h>
#endif
 
/*! \endcond */
 
//////////////////////////////////////////////////////////////////////////////////////////
//! Xsens return values
// NOTE!!! When adding a value to this list, also add its description in
// xsens_std.cpp
typedef enum /*! \cond NODOXYGEN */ _XsensResultValue_ /*! \endcond */ {
        // general OK
        /** Operation was performed successfully */
        XRV_OK = 0
 
        // communication protocol
        /** No bus communication possible */
        ,
        XRV_NOBUS = 1
        /** InitBus and/or SetBID are not issued */
        ,
        XRV_BUSNOTREADY = 2
        /** Period sent is invalid */
        ,
        XRV_INVALIDPERIOD = 3
        /** The message is invalid or not implemented */
        ,
        XRV_INVALIDMSG = 4
        /** A slave did not respond to WaitForSetBID */
        ,
        XRV_INITBUSFAIL1 = 16
        /** An incorrect answer received after WaitForSetBID */
        ,
        XRV_INITBUSFAIL2 = 17
        /** After four bus-scans still undetected Motion Trackers */
        ,
        XRV_INITBUSFAIL3 = 18
        /** No reply to SetBID message during SetBID procedure */
        ,
        XRV_SETBIDFAIL1 = 20
        /** Other than SetBIDAck received */
        ,
        XRV_SETBIDFAIL2 = 21
        /** Timer overflow - period too short to collect all data from Motion
           Trackers */
        ,
        XRV_MEASUREMENTFAIL1 = 24
        /** Motion Tracker responds with other than SlaveData message */
        ,
        XRV_MEASUREMENTFAIL2 = 25
        /** Total bytes of data of Motion Trackers including sample counter exceeds
           255 bytes */
        ,
        XRV_MEASUREMENTFAIL3 = 26
        /** Timer overflows during measurement */
        ,
        XRV_MEASUREMENTFAIL4 = 27
        /** Timer overflows during measurement */
        ,
        XRV_MEASUREMENTFAIL5 = 28
        /** No correct response from Motion Tracker during measurement */
        ,
        XRV_MEASUREMENTFAIL6 = 29
        /** Timer overflows during measurement */
        ,
        XRV_TIMEROVERFLOW = 30
        /** Baud rate does not comply with valid range */
        ,
        XRV_BAUDRATEINVALID = 32
        /** An invalid parameter is supplied */
        ,
        XRV_PARAMINVALID = 33
        /** An invalid parameter is supplied */
        ,
        XRV_INVALIDPARAM = 33
        /** TX PC Buffer is full */
        ,
        XRV_MEASUREMENTFAIL7 = 35
        /** TX PC Buffer overflow, cannot fit full message */
        ,
        XRV_MEASUREMENTFAIL8 = 36
 
        // CMT / XME / etc
        /** A generic error occurred */
        ,
        XRV_ERROR = 256
        /** Operation not implemented in this version (yet) */
        ,
        XRV_NOTIMPLEMENTED = 257
        /** A timeout occurred */
        ,
        XRV_TIMEOUT = 258
        /** Operation aborted because of no data read */
        ,
        XRV_TIMEOUTNODATA = 259
        /** Checksum fault occured */
        ,
        XRV_CHECKSUMFAULT = 260
        /** No internal memory available */
        ,
        XRV_OUTOFMEMORY = 261
        /** The requested item was not found */
        ,
        XRV_NOTFOUND = 262
        /** Unexpected message received (e.g. no acknowledge message received) */
        ,
        XRV_UNEXPECTEDMSG = 263
        /** Invalid id supplied */
        ,
        XRV_INVALIDID = 264
        /** Operation is invalid at this point */
        ,
        XRV_INVALIDOPERATION = 265
        /** Insufficient buffer space available */
        ,
        XRV_INSUFFICIENTSPACE = 266
        /** The specified i/o device can not be opened */
        ,
        XRV_INPUTCANNOTBEOPENED = 267
        /** The specified i/o device can not be opened */
        ,
        XRV_OUTPUTCANNOTBEOPENED = 268
        /** An I/O device is already opened with this object */
        ,
        XRV_ALREADYOPEN = 269
        /** End of file is reached */
        ,
        XRV_ENDOFFILE = 270
        /** A required settings file could not be opened or is missing some data */
        ,
        XRV_COULDNOTREADSETTINGS = 271
        /** No data is available */
        ,
        XRV_NODATA = 272
        /** Tried to change a read-only value */
        ,
        XRV_READONLY = 273
        /** Tried to supply a nullptr value where it is not allowed */
        ,
        XRV_NULLPTR = 274
        /** Insufficient data was supplied to a function */
        ,
        XRV_INSUFFICIENTDATA = 275
        /** Busy processing, try again later */
        ,
        XRV_BUSY = 276
        /** Invalid instance called */
        ,
        XRV_INVALIDINSTANCE = 277
        /** A trusted data stream proves to contain corrupted data */
        ,
        XRV_DATACORRUPT = 278
 
        /** Failure during read of settings */
        ,
        XRV_READINITFAILED = 279
        /** Could not find any Moven-compatible hardware */
        ,
        XRV_NOXMFOUND = 280
        /** Found only one responding Xbus Master */
        ,
        XRV_ONLYONEXMFOUND = 281
        /** No sensors found */
        ,
        XRV_MTCOUNTZERO = 282
        /** One or more sensors are not where they were expected */
        ,
        XRV_MTLOCATIONINVALID = 283
        /** Not enough sensors were found */
        ,
        XRV_INSUFFICIENTMTS = 284
        /** Failure during initialization of Fusion Engine */
        ,
        XRV_INITFUSIONFAILED = 285
        /** Something else was received than was requested */
        ,
        XRV_OTHER = 286
 
        /** No file opened for reading/writing */
        ,
        XRV_NOFILEOPEN = 287
        /** No serial port opened for reading/writing */
        ,
        XRV_NOPORTOPEN = 288
        /** No file or serial port opened for reading/writing */
        ,
        XRV_NOFILEORPORTOPEN = 289
        /** A required port could not be found */
        ,
        XRV_PORTNOTFOUND = 290
        /** The low-level port handler failed to initialize */
        ,
        XRV_INITPORTFAILED = 291
        /** A calibration routine failed */
        ,
        XRV_CALIBRATIONFAILED = 292
 
        /** The in-config check of the device failed */
        ,
        XRV_CONFIGCHECKFAIL = 293
        /** The operation is once only and has already been performed */
        ,
        XRV_ALREADYDONE = 294
 
        /** The single connected device is configured as a slave */
        ,
        XRV_SYNC_SINGLE_SLAVE = 295
        /** More than one master was detected */
        ,
        XRV_SYNC_SECOND_MASTER = 296
        /** A device was detected that was neither master nor slave */
        ,
        XRV_SYNC_NO_SYNC = 297
        /** No master detected */
        ,
        XRV_SYNC_NO_MASTER = 298
        /** A device is not sending enough data */
        ,
        XRV_SYNC_DATA_MISSING = 299
 
        /** The version of the object is too low for the requested operation */
        ,
        XRV_VERSION_TOO_LOW = 300
        /** The object has an unrecognized version, so it's not safe to perform the
           operation */
        ,
        XRV_VERSION_PROBLEM = 301
} XsensResultValue;
 
//////////////////////////////////////////////////////////////////////////////////////////
 
/*! \cond NODOXYGEN */
#ifndef DELNUL
//! This macro deletes a pointer and sets it to NULL
#define DELNUL(ptr)    \
        {                  \
                delete ptr;    \
                ptr = nullptr; \
        }
//! This macro deletes a pointer if it is not nullptr and then sets it to NULL
#define CHKDELNUL(ptr)      \
        {                       \
                if (ptr != nullptr) \
                {                   \
                        delete ptr;     \
                        ptr = nullptr;  \
                }                   \
        }
//! This macro deletes a multi-object pointer and sets it to NULL
#define LSTDELNUL(ptr) \
        {                  \
                delete[] ptr;  \
                ptr = nullptr; \
        }
//! This macro deletes a multi-object pointer if it is not nullptr and then sets
//! it to NULL
#define LSTCHKDELNUL(ptr)   \
        {                       \
                if (ptr != nullptr) \
                {                   \
                        delete[] ptr;   \
                        ptr = nullptr;  \
                }                   \
        }
 
//! This macro frees a pointer and then sets it to NULL
#define FREENUL(ptr)   \
        {                  \
                free(ptr);     \
                ptr = nullptr; \
        }
//! This macro frees a pointer if it is not nullptr and then sets it to NULL
#define CHKFREENUL(ptr)     \
        {                       \
                if (ptr != nullptr) \
                {                   \
                        free(ptr);      \
                        ptr = nullptr;  \
                }                   \
        }
#endif
/*! \endcond */
 
//////////////////////////////////////////////////////////////////////////////////////////
 
/* \brief Retrieve a string corresponding to the given result code.
 
        This function uses the CmtResultText 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.
*/
#if !defined(_CMT_DLL_IMPORT) && !defined(_XME_DLL_IMPORT)
const char* xsensResultText(const XsensResultValue result);
#endif
 
//////////////////////////////////////////////////////////////////////////////////////////
 
/** The maximum length of a label */
#define XSENS_LABEL_SIZE 64
/** The maximum length of a short string */
#define XSENS_SHORT_STRING_SIZE 256
/** The maximum length of a long string */
#define XSENS_LONG_STRING_SIZE 16384
 
//////////////////////////////////////////////////////////////////////////////////////////
 
#endif  // _XSENS_STD_H_2006_09_11