proxycommunicator.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 "proxycommunicator.h"
#include "callbackmanagerxda.h"
#include <xstypes/xsportinfo.h>
#include <xscommon/xsens_janitors.h>
#include "deviceredetector.h"
 
 
ProxyCommunicator::ProxyCommunicator(int channelId, uint32_t channelLatency)
        : m_channelId(channelId)
        , m_channelLatency(channelLatency)
{
}
 
ProxyCommunicator::~ProxyCommunicator()
{
}
 
void ProxyCommunicator::flushPort()
{
        //ProxyCommunicator maintains no stream. No action required
}
 
void ProxyCommunicator::closePort()
{
        m_activePortInfo = XsPortInfo();
}
 
bool ProxyCommunicator::isPortOpen() const
{
        return !m_activePortInfo.portName().empty();
}
 
bool ProxyCommunicator::openPort(const XsPortInfo& portInfo, OpenPortStage stage, bool detectRs485)
{
        auto result = [this]()
        {
                bool ok = (lastResult() == XRV_OK);
                if (!ok)
                        prepareForDestruction();
                return ok;
        };
 
        if (stage & OPS_OpenPort)
        {
                if (isPortOpen())
                {
                        setLastResult(XRV_ALREADYOPEN);
                        return (this->portInfo() == portInfo);
                }
        }
 
        if (stage & OPS_InitDevice)
        {
                if (gotoConfig(detectRs485) != XRV_OK)
                        return result();
 
                if (getDeviceId() != XRV_OK)
                        return result();
        }
 
        setLastResult(XRV_OK);
        m_activePortInfo = portInfo;
        m_activePortInfo.setDeviceId(masterDeviceId());
        return result();
}
 
bool ProxyCommunicator::reopenPort(OpenPortStage stage, bool skipDeviceIdCheck)
{
        XsPortInfo pi = portInfo();
 
        closePort();
        DeviceRedetector redetector(pi);
        if (!redetector.redetect(masterDeviceId(), pi, skipDeviceIdCheck))
                return false;
 
        return openPort(pi, stage);
}
 
bool ProxyCommunicator::isDockedAt(Communicator*) const
{
        return false;
}
 
XsResultValue ProxyCommunicator::writeRawData(const XsByteArray& data)
{
        onTransmissionRequest(m_channelId, &data);
        return XRV_OK;
}
 
void ProxyCommunicator::handleReceivedData(const XsByteArray& data)
{
        addRawData(data);
}
 
bool ProxyCommunicator::doTransaction(const XsMessage& msg, XsMessage& rcv, uint32_t timeout)
{
        return SerialCommunicator::doTransaction(msg, rcv, timeout + m_channelLatency);
}
 
XsResultValue ProxyCommunicator::readDataToBuffer(XsByteArray&)
{
        //No action required as data is pushed (no polling required) in the buffer by the handleReceivedData function
        return XRV_OK;
}
 
void ProxyCommunicator::handleMessage(const XsMessage& msg)
{
        DeviceCommunicator::handleMessage(msg);
}
 
XsResultValue ProxyCommunicator::processBufferedData(const XsByteArray& rawIn, std::deque<XsMessage>& messages)
{
        return extractMessages(rawIn, messages);
}
 
XsPortInfo ProxyCommunicator::createPortInfo(int channelId)
{
        XsPortInfo portInfo;
        char tmp[16];
        snprintf(tmp, sizeof(tmp), "PROXY#%d", channelId);
        portInfo.setPortName(tmp);
        return portInfo;
}
 
uint32_t ProxyCommunicator::defaultInterfaceTimeout() const
{
        return m_channelLatency;
}