replyobject.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 "replyobject.h"
#include "replymonitor.h"
#include <xstypes/xsthread.h>
#include <xstypes/xsresultvalue.h>
 
using namespace xsens;
 
ReplyObject::ReplyObject()
        : m_mutex(new Mutex)
        , m_waitCondition(new WaitCondition(*m_mutex))
        , m_delivered(false)
{
}
 
ReplyObject::~ReplyObject()
{
        try
        {
                delete m_waitCondition;
                delete m_mutex;
        }
        catch (...)
        {
        }
}
 
void ReplyObject::setMessage(const XsMessage& msg)
{
        xsens::Lock locker(m_mutex);
 
        m_message = msg;
        m_delivered = true;
        m_waitCondition->signal();
}
 
XsMessage ReplyObject::message(uint32_t timeout)
{
        xsens::Lock locker(m_mutex);
 
        if (!m_delivered)
                m_waitCondition->wait(timeout);
        if (m_delivered)
                return m_message;
        else
                return XsMessage();
}
 
MidReplyObject::MidReplyObject(uint8_t messageId)
        : ReplyObject()
        , m_messageId(messageId)
{
}
 
MidReplyObject::~MidReplyObject()
{
}
 
uint8_t MidReplyObject::msgId() const
{
        return m_messageId;
}
 
bool MidReplyObject::isReplyFor(XsMessage const& msg)
{
        if (m_messageId == msg.getMessageId())
                return true;
 
        if (msg.getMessageId() == XMID_Error)
        {
                assert(msg.getDataSize());
                return (static_cast<XsResultValue>(msg.getDataByte()) != XRV_DATAOVERFLOW);
        }
        return false;
}
 
MidAndDataReplyObject::MidAndDataReplyObject(uint8_t messageId, XsSize offset, XsSize size, uint8_t const* data)
        : ReplyObject()
        , m_messageId(messageId)
        , m_dataOffset(offset)
        , m_dataSize(size)
        , m_data(0)
{
        assert(m_dataSize > 0);
        setData(data);
}
 
MidAndDataReplyObject::~MidAndDataReplyObject()
{
        try
        {
                freeData();
        }
        catch (...)
        {
                assert(false);
        }
}
 
uint8_t MidAndDataReplyObject::msgId() const
{
        return m_messageId;
}
 
bool MidAndDataReplyObject::isReplyFor(XsMessage const& msg)
{
        if (msg.getMessageId() == XMID_Error)
                return true;
        if (m_messageId != msg.getMessageId())
                return false;
        return memcmp(msg.getDataBuffer(m_dataOffset), m_data, m_dataSize) == 0;
}
 
void MidAndDataReplyObject::freeData()
{
        if (m_data != 0)
        {
                free(m_data);
                m_data = 0;
        }
}
 
void MidAndDataReplyObject::setData(uint8_t const* data)
{
        freeData();
        if (data != 0)
        {
                m_data = reinterpret_cast<uint8_t*>(malloc(m_dataSize));
                if (m_data != 0)
                        memcpy(m_data, data, m_dataSize);
        }
}