xsdeviceconfiguration.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 XSDEVICECONFIGURATION_H
#define XSDEVICECONFIGURATION_H
 
#include "xscontrollerconfig.h"
#include <xstypes/pstdint.h>
#include <xstypes/xsbusid.h>
#include <xstypes/xstypedefs.h>
#ifdef __cplusplus
        #include <xstypes/xsexception.h>
#endif
 
struct MtwInfo;
struct XsDeviceConfiguration;
struct XsMessage;
struct XsDeviceId;
 
#ifdef __cplusplus
extern "C" {
#else
#define XSDEVICEINFO_INITIALIZER                        { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
#define XSDEVICECONFIGURATION_INITIALIZER       { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
#endif
 
XDA_DLL_API void XsDeviceConfiguration_construct(struct XsDeviceConfiguration* thisPtr);
XDA_DLL_API void XsDeviceConfiguration_assign(struct XsDeviceConfiguration* thisPtr, XsSize numberOfDevices, const struct XsDeviceConfiguration* src);
XDA_DLL_API void XsDeviceConfiguration_destruct(struct XsDeviceConfiguration* thisPtr);
XDA_DLL_API void XsDeviceConfiguration_copy(struct XsDeviceConfiguration* copy, struct XsDeviceConfiguration const* src);
XDA_DLL_API int  XsDeviceConfiguration_empty(const struct XsDeviceConfiguration* thisPtr);
XDA_DLL_API void XsDeviceConfiguration_readFromMessage(struct XsDeviceConfiguration* thisPtr, const struct XsMessage* msg);
XDA_DLL_API void XsDeviceConfiguration_writeToMessage(const struct XsDeviceConfiguration* thisPtr, struct XsMessage* msg);
XDA_DLL_API XsSize XsDeviceConfiguration_findDevice(const struct XsDeviceConfiguration* thisPtr, const struct XsDeviceId* deviceId);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
struct XsMtDeviceConfiguration
{
        uint64_t        m_deviceId;                             
        uint8_t         m_reserved[8];                  
        uint16_t        m_filterProfile;                
        uint8_t         m_fwRevMajor;                   
        uint8_t         m_fwRevMinor;                   
        uint8_t         m_fwRevRevision;                
        char            m_filterType;                   
        uint8_t         m_filterMajor;                  
        uint8_t         m_filterMinor;                  
};
 
typedef struct XsMtDeviceConfiguration XsMtDeviceConfiguration;
 
struct XsMasterDeviceConfiguration
{
        uint64_t                m_masterDeviceId;       
        uint16_t                m_samplingPeriod;       
        uint16_t                m_outputSkipFactor;     
        uint8_t                 m_reserved1[8];         
        uint8_t                 m_date[8];                      
        uint8_t                 m_time[8];                      
        uint8_t                 m_productCode[20];      
        uint8_t                 m_reserved2[44];        
};
typedef struct XsMasterDeviceConfiguration XsMasterDeviceConfiguration;
 
#ifdef __cplusplus
 
class XsDeviceConfigurationException : public XsException
{
public:
        XsDeviceConfigurationException() : XsException("Invalid device configuration") {}
};
#endif
 
struct XsDeviceConfiguration
{
#ifdef __cplusplus
 
        explicit XsDeviceConfiguration(uint16_t numberOfDevs = 0)
                : m_numberOfDevices(0)
                , m_deviceInfo(0)
        {
                memset(this, 0, sizeof(XsDeviceConfiguration));
                if (numberOfDevs)
                        XsDeviceConfiguration_assign(this, numberOfDevs, 0);
        }
 
        XsDeviceConfiguration(const XsDeviceConfiguration& other)
                : m_numberOfDevices(0)
                , m_deviceInfo(0)
        {
                memset(this, 0, sizeof(XsDeviceConfiguration));
                XsDeviceConfiguration_copy(this, &other);
        }
 
        inline const XsDeviceConfiguration& operator = (const XsDeviceConfiguration& other)
        {
                XsDeviceConfiguration_copy(this, &other);
                return *this;
        }
 
        inline ~XsDeviceConfiguration()
        {
                XsDeviceConfiguration_destruct(this);
        }
 
        inline void clear()
        {
                XsDeviceConfiguration_destruct(this);
        }
 
        inline bool empty() const
        {
                return m_numberOfDevices == 0;
        }
 
        inline void readFromMessage(const XsMessage& msg)
        {
                XsDeviceConfiguration_readFromMessage(this, &msg);
        }
 
        inline void writeToMessage(XsMessage& msg) const
        {
                XsDeviceConfiguration_writeToMessage(this, &msg);
        }
 
        inline bool containsDevice(const XsDeviceId& deviceId) const
        {
                return XsDeviceConfiguration_findDevice(this, &deviceId) != 0;
        }
 
        inline XsMtDeviceConfiguration const& deviceInfo(const XsDeviceId& deviceId) const
        {
                XsSize busId = XsDeviceConfiguration_findDevice(this, &deviceId);
                if (busId == 0)
                        throw XsDeviceConfigurationException();
 
                return deviceInfo(busId);
        }
 
        inline XsMtDeviceConfiguration& deviceInfo(const XsDeviceId& deviceId)
        {
                XsSize busId = XsDeviceConfiguration_findDevice(this, &deviceId);
                if (busId == 0)
                        throw XsDeviceConfigurationException();
 
                return deviceInfo(busId);
        }
 
        inline XsMtDeviceConfiguration& deviceInfo(XsSize busId)
        {
                if (!m_numberOfDevices)
                        throw XsDeviceConfigurationException();
 
                if (busId == XS_BID_MASTER)
                        return m_deviceInfo[0];
 
                if (busId > m_numberOfDevices)
                        throw XsDeviceConfigurationException();
 
                return m_deviceInfo[busId - 1];
        }
 
        inline const XsMtDeviceConfiguration& deviceInfo(XsSize busId) const
        {
                if (!m_numberOfDevices)
                        throw XsDeviceConfigurationException();
 
                if (busId == XS_BID_MASTER)
                        return m_deviceInfo[0];
 
                if (busId > m_numberOfDevices)
                        throw XsDeviceConfigurationException();
 
                return m_deviceInfo[busId - 1];
        }
 
 
        inline XsMasterDeviceConfiguration& masterInfo()
        {
                return m_masterInfo;
        }
 
        inline const XsMasterDeviceConfiguration& masterInfo() const
        {
                return m_masterInfo;
        }
 
        inline void setNumberOfDevices(XsSize count)
        {
                XsDeviceConfiguration_assign(this, count, 0);
        }
 
        inline XsSize numberOfDevices() const
        {
                return (XsSize) m_numberOfDevices;
        }
 
        inline XsSize deviceCount() const
        {
                return numberOfDevices();
        }
 
private:
#endif
        XsMasterDeviceConfiguration m_masterInfo;       
        const uint16_t  m_numberOfDevices;              
        XsMtDeviceConfiguration* const m_deviceInfo;    
};
 
typedef struct XsDeviceConfiguration XsDeviceConfiguration;
 
#endif