communicator.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 "communicator.h"
#include "protocolhandler.h"
#include "replymonitor.h"
#include <xstypes/xsportinfo.h>
#include "usbinterface.h"
#include <xstypes/xsdid.h>
#include <xstypes/xsbusid.h>
#include "xsdeviceconfiguration.h"
#include "xsusbhubinfo.h"
#include "xsscanner.h"
#include <xscommon/xsens_debugtools.h>
#include <xscommon/xsens_janitors.h>
#include "xsdevice_def.h"
 
using namespace xsens;
using namespace XsTime;
 
Communicator::Communicator(void)
        : m_preparedForDestruction(false)
        , m_masterInfo(nullptr)
        , m_protocolManager(new ProtocolManager(*this))
        , m_masterDeviceId(0)
        , m_replyMonitor(new ReplyMonitor)
        , m_lastResult(XRV_OK)
        , m_defaultTimeout(500)
{
#ifdef XSENS_DEBUG
        ProtocolManager::value_type addOk = protocolManager()->add(new ProtocolHandler());
        assert(addOk);
#else
        protocolManager()->add(new ProtocolHandler());
#endif
 
        JLDEBUGG("Created " << (void*) this);
}
 
Communicator::~Communicator()
{
        JLDEBUGG("Destroyed " << (void*) this);
        assert(m_preparedForDestruction);
        m_masterInfo = nullptr;
}
 
void Communicator::prepareForDestruction()
{
        m_replyMonitor.reset(nullptr);
        m_protocolManager.reset();
 
        m_preparedForDestruction = true;
}
 
 
void Communicator::setMasterDevice(XsDevice* masterDevice)
{
        JLDEBUGG(masterDevice);
        assert(m_masterInfo == nullptr);
        m_masterInfo = masterDevice;
}
 
XsDevice* Communicator::masterDevice() const
{
        return m_masterInfo;
}
 
std::shared_ptr<ProtocolManager> Communicator::protocolManager() const
{
        return m_protocolManager;
}
 
void Communicator::setMasterDeviceId(const XsDeviceId& id)
{
        m_masterDeviceId = id;
}
 
XsDeviceId Communicator::masterDeviceId() const
{
        return m_masterDeviceId;
}
 
XsResultValue Communicator::lastResult() const
{
        return m_lastResult;
}
 
XsString Communicator::lastResultText() const
{
        return m_lastResultText;
}
 
XsSize Communicator::childDeviceCount() const
{
        return m_masterInfo ? m_masterInfo->deviceConfigurationConst().numberOfDevices() : 0;
}
 
void Communicator::handleMessage(const XsMessage& message)
{
        // handle one message at a time. This is only really necessary for dual-stream interfaces such as to the bodypack
        xsens::Lock locky(&m_handleMux);
 
        //JLTRACEG("Received " << JLHEXLOG(message.getMessageId()) << " size " << message.getTotalMessageSize());
        if (message.getMessageId() == XMID_Error)
        {
                char buffer[256];
                XsSize sz = message.getTotalMessageSize();
                const uint8_t* m = message.getMessageStart();
                for (XsSize i = 0; i < sz; ++i)
                        sprintf(buffer + 2 * i, "%02X", (unsigned int) m[i]);
                buffer[2 * sz] = 0;
                JLALERTG("Error message received: " << buffer);
                JLIF(gJournal, JLL_Alert, m_replyMonitor->dumpObjectList(gJournal, JLL_Alert));
        }
        if (!m_replyMonitor->addReply(message) && m_masterInfo)
                m_masterInfo->handleMessage(message);
}
 
bool Communicator::doTransaction(const XsMessage& msg, uint32_t timeout)
{
        XsMessage rcv;
        return doTransaction(msg, rcv, timeout);
}
 
bool Communicator::doTransaction(const XsMessage& msg)
{
        return doTransaction(msg, defaultTimeout());
}
 
bool Communicator::doTransaction(const XsMessage& msg, XsMessage& rcv)
{
        return doTransaction(msg, rcv, defaultTimeout());
}
 
void Communicator::setLastResult(XsResultValue res, XsString const& text) const
{
        (void)setAndReturnLastResult(res, text);
}
 
XsResultValue Communicator::setAndReturnLastResult(XsResultValue res, XsString const& text) const
{
        m_lastResultText = text;
        return m_lastResult = res;
}
 
bool Communicator::sanityCheck(XsMessage const& msg) const
{
        if (m_masterInfo)
                return m_masterInfo->messageLooksSane(msg);
 
        return true;
}
 
std::shared_ptr<ReplyObject> Communicator::addReplyObject(uint8_t mid)
{
        assert(m_replyMonitor != nullptr);
        return m_replyMonitor->addReplyObject(new MidReplyObject(mid));
}
 
std::shared_ptr<ReplyObject> Communicator::addReplyObject(uint8_t mid, XsSize offset, XsSize size, uint8_t const* data)
{
        assert(m_replyMonitor != nullptr);
        return m_replyMonitor->addReplyObject(new MidAndDataReplyObject(mid, offset, size, data));
}
 
std::shared_ptr<ReplyObject> Communicator::addReplyObject(ReplyObject* obj)
{
        assert(m_replyMonitor != nullptr && obj != nullptr);
        return m_replyMonitor->addReplyObject(obj);
}
 
void Communicator::addProtocolHandler(IProtocolHandler* handler)
{
        assert(handler != 0);
#ifdef XSENS_DEBUG
        ProtocolManager::value_type addOk = protocolManager()->add(handler);
        assert(addOk);
#else
        protocolManager()->add(handler);
#endif
}
 
void Communicator::removeProtocolHandler(XsProtocolType type)
{
        bool removeOk = protocolManager()->remove(type);
        assert(removeOk);
        (void)removeOk; // Prevent unused variable warning in release builds
}
 
bool Communicator::hasProtocol(XsProtocolType type) const
{
        return protocolManager()->hasProtocol(type);
}
 
void Communicator::setCredentials(XsString const& id, XsString const& key)
{
        (void) id;
        (void) key;
}
 
void Communicator::destroy()
{
        prepareForDestruction();
        delete this;
}
 
bool Communicator::isLoadLogFileInProgress() const
{
        return false;
}
 
bool Communicator::allowReprocessing() const
{
        return true;
}