devicecommunicator.h

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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.
//  
 
#ifndef DEVICECOMMUNICATOR_H
#define DEVICECOMMUNICATOR_H
 
#include "communicator.h"
#include "messageextractor.h"
 
#ifdef LOG_COMMUNICATOR_RX_TX
        #include <xstypes/xsfile.h>
#endif
 
 
class DeviceCommunicator : public Communicator
{
public:
 
        typedef XsSize RxChannelId;
 
        DeviceCommunicator(RxChannelId rxChannels = 1);
 
        // live stuff
        XsResultValue getDeviceId() override;
        XsResultValue gotoConfig(bool) override;
        XsResultValue gotoMeasurement() override;
 
        uint32_t gotoConfigTimeout() const
        {
                return m_gotoConfigTimeout;
        }
        void setGotoConfigTimeout(uint32_t timeout) override;
        bool writeMessage(const XsMessage& message) override;
 
        void handleMessage(const XsMessage& message) override;
 
        using Communicator::doTransaction;
        virtual bool doTransaction(const XsMessage& msg, XsMessage& rcv, uint32_t timeout) override;
 
        void setKeepAlive(bool enable) override;
 
        // file stuff
        void closeLogFile() override;
        XsMessage readMessage(uint8_t msgId = 0) override;
        XsMessage readMessageFromStartOfFile(uint8_t msgId, int maxMsgs = 0) override;
        std::deque<XsMessage> readMessagesFromStartOfFile(uint8_t msgId, int maxMsgs = 0) override;
        void loadLogFile(XsDevice* device) override;
        void abortLoadLogFile() override;
        bool openLogFile(const XsString& filename) override;
        XsString logFileName() const override;
        XsFilePos logFileSize() const override;
        XsTimeStamp logFileDate() const override;
        XsFilePos logFileReadPosition() const override;
        void resetLogFileReadPosition(void) override;
        bool isReadingFromFile() const override;
        void waitForLastTaskCompletion() override;
 
        virtual XsResultValue readLogFile(XsDevice* device);
 
        virtual XsResultValue readSinglePacketFromFile();
 
protected:
        ~DeviceCommunicator() override;
        XsResultValue extractMessages(const XsByteArray& rawIn, std::deque<XsMessage>& messages, RxChannelId channel = 0);
 
        virtual XsResultValue writeRawData(const XsByteArray& data) = 0;
        RxChannelId addRxChannel();
        XsSize messageExtractorCount() const;
        MessageExtractor& messageExtractor(RxChannelId = 0);
 
#ifdef LOG_COMMUNICATOR_RX_TX
        void logTxStream(XsMessage const& msg);
        void logRxStream(XsMessage const& msg);
#endif
 
private:
        static const uint32_t m_defaultGotoConfigTimeout = 200; // 1500 just after powerup, 100ms is not enough sometimes during tests
 
        uint32_t m_gotoConfigTimeout;
 
        RxChannelId m_nextRxChannelId;
        std::vector<MessageExtractor> m_messageExtractors;
 
#ifdef LOG_COMMUNICATOR_RX_TX
        XsFile m_rxLog;
        XsFile m_txLog;
#ifdef LOG_COMMUNICATOR_RX_TX_TIMESTAMPED
        XsTimeStamp m_logStart;
#endif
 
        void generateLogFiles();
#endif
};
 
#endif