protocolmanager.cpp

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#include "protocolmanager.h"
#include "iprotocolhandler.h"
#include "communicator.h"
#include <algorithm>
 
// Remove windows global min/max macros
#undef min
#undef max
 
ProtocolManager::ProtocolManager(Communicator const& communicator)
        : m_communicator(communicator)
{
}
 
ProtocolManager::~ProtocolManager() throw()
{
}
 
ProtocolManager::const_iterator ProtocolManager::begin() const
{
        return m_protocolHandlers.begin();
}
 
ProtocolManager::const_iterator ProtocolManager::end() const
{
        return m_protocolHandlers.end();
}
 
MessageLocation ProtocolManager::findMessage(XsProtocolType& type, const XsByteArray& raw)
{
        MessageLocation bestMessageLocation;
        XsProtocolType bestProtocolType = XPT_Xbus;
        container_type::iterator bestHandlerIter = m_protocolHandlers.end();
 
        for (container_type::iterator i = m_protocolHandlers.begin(); i != m_protocolHandlers.end(); ++i)
        {
                assert((*i).operator->() != 0);
                IProtocolHandler const& handler = **i;
                XsProtocolType currentProtocolType = static_cast<XsProtocolType>(handler.type());
                MessageLocation currentMessageLocation = handler.findMessage(type, raw);
 
                int currentPosition = currentMessageLocation.m_incompletePos >= 0 ? currentMessageLocation.m_incompletePos : currentMessageLocation.m_startPos;
                if (currentPosition < 0)
                        continue;
 
                int bestPosition = bestMessageLocation.m_incompletePos >= 0 ? bestMessageLocation.m_incompletePos : bestMessageLocation.m_startPos;
                if (   (bestPosition < 0)
                        || (currentPosition < bestPosition)
                        || (currentPosition == bestPosition && currentMessageLocation.m_startPos >= 0 && (bestMessageLocation.m_startPos < 0 || currentMessageLocation.m_startPos < bestMessageLocation.m_startPos))
                   )
                {
                        // Message is a better match
                        bestMessageLocation = currentMessageLocation;
                        bestProtocolType = currentProtocolType;
                        bestHandlerIter = i;
                }
 
                // Stop searching if the location is as good as it gets
                if (bestMessageLocation.m_startPos == 0)
                        break;
        }
 
        // Move the best handler to the front of the list to speed up future searches
        if (bestHandlerIter != m_protocolHandlers.end() && bestHandlerIter != m_protocolHandlers.begin())
        {
                value_type bestHandler = *bestHandlerIter;
                container_type& cont = m_protocolHandlers;
                cont.erase(bestHandlerIter);
                cont.push_front(bestHandler);
        }
        type = bestProtocolType;
        return bestMessageLocation;
}
 
XsMessage ProtocolManager::convertToMessage(XsProtocolType& type, MessageLocation& location, const XsByteArray& raw)
{
        for (auto const& handler : m_protocolHandlers)
                if (handler->type() == type)
                        return handler->convertToMessage(location, raw);
 
        return XsMessage();
}
 
bool ProtocolManager::remove(XsProtocolType type)
{
        bool result = false;
        container_type::iterator i = m_protocolHandlers.begin();
        while (i != m_protocolHandlers.end())
        {
                if ((*i)->type() == type)
                {
                        // Increment the incrementing iterator before removing the pointed to element to
                        // prevent icrementing an invalidated iterator
                        container_type::iterator toErase = i;
                        ++i;
                        m_protocolHandlers.erase(toErase);
                        result = true;
                }
                else
                        ++i;
        }
        return result;
}
 
 
ProtocolManager::value_type ProtocolManager::find(XsProtocolType type)
{
        for (auto i : m_protocolHandlers)
        {
                if (i->type() == type)
                        return i;
        }
        return value_type();
}
 
 
bool ProtocolManager::hasProtocol(XsProtocolType type) const
{
        bool result = false;
        for (container_type::const_iterator i = m_protocolHandlers.begin(); i != m_protocolHandlers.end(); ++i)
        {
                if ((*i)->type() == type)
                        result = true;
        }
        return result;
}
 
 
ProtocolManager::value_type ProtocolManager::add(IProtocolHandler* handler)
{
        assert(handler != 0);
        // check for duplicates first
        for (container_type::iterator i = m_protocolHandlers.begin(); i != m_protocolHandlers.end(); ++i)
                if (handler->type() == (*i)->type())
                        return (*i);
 
        m_protocolHandlers.emplace_back(value_type(handler));
        value_type inserted = m_protocolHandlers.back();
        return inserted;
}
 
void ProtocolManager::clear()
{
        m_protocolHandlers.clear();
}
 
bool ProtocolManager::validateMessage(XsMessage const& message) const
{
        return m_communicator.sanityCheck(message);
}
 
int ProtocolManager::likelyMinimumMessageSize() const
{
        if (m_protocolHandlers.empty())
                return 0;
        return (*m_protocolHandlers.begin())->minimumMessageSize();
}