xsens_compat.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 __XSENS_LINUX_H
#define __XSENS_LINUX_H
 
/* #undef HAVE_STRTOK_S */
/* #undef HAVE_STRTOK_R */
/* #undef HAVE__WCSICMP */
/* #undef HAVE_WCSICMP */
/* #undef HAVE__WCSNICMP */
/* #undef HAVE_WCSNICMP */
#define HAVE_WCSNCASECMP 1
#define HAVE_WCSCASECMP 1
/* #undef HAVE_SPRINTF_S */
/* #undef HAVE_STRCPY_S */
/* #undef HAVE_STRCAT_S */
/* #undef HAVE_STRNCPY_S */
/* #undef HAVE_FOPEN_S */
/* #undef HAVE_STRICMP */
/* #undef HAVE__STRICMP */
#define HAVE_STRCASECMP 1
/* #undef HAVE_STRNICMP */
/* #undef HAVE__STRNICMP */
#define HAVE_STRNCASECMP 1
/* #undef HAVE_WFOPEN */
/* #undef HAVE__WFOPEN */
/* #undef HAVE__STRDUP */
#define HAVE_STRDUP 1
/* #undef HAVE__WCSDUP */
#define HAVE_WCSDUP 1
/* #undef HAVE__FULLPATH */
/* #undef HAVE_FULLPATH */
#define HAVE_REALPATH 1
/* #undef HAVE_WFULLPATH */
/* #undef HAVE_WFREOPEN */
/* #undef HAVE__UNLINK */
#define HAVE_UNLINK 1
/* #undef HAVE__ISNAN */
#define HAVE_ISNAN 1
/* #undef HAVE__FILENO */
#define HAVE_FILENO 1
/* #undef HAVE_VSNPRINTF_S */
/* #undef HAVE_VSPRINTF_S */
/* #undef HAVE___DEBUGBREAK */
 
#ifdef __GNUC__
 
#include "pstdint.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <wchar.h>
#include <assert.h>
#include <pthread.h>
#include <unistd.h>
 
#include "xstypedefs.h"
 
#define LPSTR char *
#define _T(x) (x)
 
#define _ASSERT assert
#define _ASSERTE assert
#define HMODULE void *
 
#define LINUX_MBS_LENGTH 256
#define LINUX_MBS_MODELENGTH 5
 
#ifdef __cplusplus
#define XSEXTC extern "C"
#else
#define XSEXTC
#endif
 
#define __compat_always_deprecated(msg) __attribute__((deprecated(msg)))
#if 0
#define __compat_deprecated(msg) __compat_always_deprecated(msg)
#else
#define __compat_deprecated(msg)
#endif
#define __compat_defdeprecated __compat_deprecated("compat should be nicely merged into xstypes")
 
#ifndef HAVE_SPRINTF_S
XSEXTC int32_t sprintf_s(char *dest, uint32_t num, const char *fmt, ...) __compat_defdeprecated;
#endif
 
#ifndef HAVE_STRCPY_S
XSEXTC int32_t strcpy_s(char *dest, uint32_t size, const char *src) __compat_defdeprecated;
 
#ifdef __cplusplus
template <uint32_t size>
int32_t strcpy_s(char (&dest)[size], const char *src) __compat_defdeprecated;
template <uint32_t size>
int32_t strcpy_s(char (&dest)[size], const char *src)
{
        if (!src) return EINVAL;
        if (size == 0 || size < strlen(src) + 1) return ERANGE;
 
        strcpy(dest, src);
 
        return 0;
}
#endif
#endif
 
#ifndef HAVE_STRCAT_S
XSEXTC int32_t strcat_s(char *dest, uint32_t size, const char *src) __compat_defdeprecated;
 
#ifdef __cplusplus
template <uint32_t size>
int32_t strncpy_s(char (&dest)[size], const char *src, uint32_t count) __compat_defdeprecated;
template <uint32_t size>
int32_t strncpy_s(char (&dest)[size], const char *src, uint32_t count)
{
        if (!src) return EINVAL;
        size_t itemsToAdd = (count < strlen(src) ? count : strlen(src));
        if (size == 0 || size < itemsToAdd + 1) return ERANGE;
 
        strncpy(dest, src, count);
 
        return 0;
}
#endif
#endif
 
#ifndef HAVE_STRNCPY_S
XSEXTC int32_t strncpy_s(char *dest, uint32_t size, const char *src, uint32_t count) __compat_defdeprecated;
 
#ifdef __cplusplus
template <uint32_t size>
int32_t strcat_s(char (&dest)[size], const char *src) __compat_defdeprecated;
template <uint32_t size>
int32_t strcat_s(char (&dest)[size], const char *src)
{
        if (!src) return EINVAL;
        if (size == 0 || size < strlen(src) + strlen(dest) + 1) return ERANGE;
 
        strcat (dest, src);
 
        return 0;
}
#endif
#endif
 
#ifndef HAVE_FOPEN_S
XSEXTC int fopen_s(FILE **file, const char *filename, const char *mode) __compat_deprecated("Use XsFile instead");
#endif
 
#ifndef HAVE__STRICMP
#define _stricmp strcasecmp
#endif
#ifndef HAVE_STRICMP
#define stricmp strcasecmp
#endif
#ifndef HAVE__STRNICMP
#define _strnicmp strncasecmp
#endif
#ifndef HAVE_STRICMP
#define strnicmp strncasecmp
#endif
 
/* not available on cygwin */
#ifdef HAVE_WCSCASECMP
#define _wcsicmp wcscasecmp
#else
#define _wcsicmp(s1, s2)                compat_wcsnicmp(s1, s2, 0x7fffffff)
XSEXTC int compat_wcsnicmp(const wchar_t* s1, const wchar_t* s2, size_t length) __compat_defdeprecated;
#endif
 
/* not available on cygwin */
#ifdef HAVE_WCSNCASECMP
#define _wcsnicmp wcsncasecmp
#else
#define _wcsnicmp(s1, s2, n)    compat_wcsnicmp(s1, s2, n)
XSEXTC int compat_wcsnicmp(const wchar_t* s1, const wchar_t* s2, size_t length) __compat_defdeprecated;
#endif
 
#define _wfopen wfopen
#ifndef HAVE_WFOPEN
#define wfopen compat_wfopen
XSEXTC FILE *compat_wfopen(const wchar_t *filename, const wchar_t *mode) __compat_deprecated("Use XsFile instead");
#endif
 
#define _wfreopen wfreopen
#ifndef HAVE_WFREOPEN
#define wfreopen compat_wfreopen
XSEXTC FILE *compat_wfreopen(const wchar_t *path, const wchar_t *mode, FILE *) __compat_deprecated("Use XsFile instead");
#endif
 
#define _set_printf_count_output(x)
 
#ifndef HAVE__STRDUP
#define _strdup strdup
#endif
 
#ifndef HAVE__WCSDUP
#ifdef HAVE_WCSDUP
#define _wcsdup wcsdup
#else
#define _wcsdup compat_wcsdup
#endif
#endif
XSEXTC wchar_t *compat_wcsdup(const wchar_t *data) __compat_defdeprecated;
 
#ifndef HAVE_FULLPATH
#define fullpath(src,dest,len) realpath(src,dest)
#endif
#ifndef HAVE__FULLPATH
#define _fullpath fullpath
#endif
 
#ifndef HAVE__WFULLPATH
#define _wfullpath compat_wfullpath
XSEXTC int32_t compat_wfullpath(wchar_t *resolvedPath, const wchar_t *path, size_t length) __compat_deprecated("Use Xsfile_fullPath instead");
#endif
 
#ifndef HAVE_STRTOK_S
XSEXTC char *strtok_s(char *token, const char *delim, char **context) __compat_defdeprecated;
#endif
 
#ifndef _finite
#define _finite compat_finite
XSEXTC int compat_finite(XsReal x) __compat_deprecated("Use XsMath_isFinite instead");
#endif
 
#define LOBYTE(w)       ((uint8_t)((w) & 0xff))
#define HIBYTE(w)       ((uint8_t)(((w) >> 8) & 0xff))
 
#define __assume(val)
 
#if !defined(HAVE_CDECL)
#       if !defined(__cdecl)
#               if defined(__x86_64__)
#                       define __cdecl
#               else
#                       define __cdecl __attribute__((cdecl))
#               endif
#       endif
#       if !defined(__stdcall)
#               if defined(__x86_64__)
#                       define __stdcall
#               else
#                       define __stdcall __attribute__((stdcall))
#               endif
#       endif
#endif
 
#ifndef HAVE__UNLINK
#define _unlink unlink
#endif
#ifndef HAVE___DEBUGBREAK
#define __debugbreak()
#endif
#ifndef HAVE__FILENO
#define _fileno fileno
#endif
#ifndef HAVE__STRDUP
#define _strdup strdup
#endif
#ifndef HAVE__ISNAN
#define _isnan isnan
#endif
 
#ifndef GetRValue
/* The others will most likely not be defined either */
#define GetRValue(rgb) ((uint8_t)(rgb))
#define GetGValue(rgb) ((uint8_t)(((uint32_t)(rgb)) >> 8))
#define GetBValue(rgb) ((uint8_t)(((uint32_t)(rgb)) >> 16))
#endif
 
typedef pthread_mutex_t CRITICAL_SECTION __compat_deprecated("Use XsMutex instead");
 
static inline void InitializeCriticalSection(CRITICAL_SECTION *cs) __compat_deprecated("Use XsMutex instead");
static inline void DeleteCriticalSection(CRITICAL_SECTION *cs) __compat_deprecated("Use XsMutex instead");
static inline void EnterCriticalSection(CRITICAL_SECTION *cs) __compat_deprecated("Use XsMutex instead");
static inline int TryEnterCriticalSection(CRITICAL_SECTION *cs) __compat_deprecated("Use XsMutex instead");
static inline void LeaveCriticalSection(CRITICAL_SECTION *cs) __compat_deprecated("Use XsMutex instead");
 
static inline void InitializeCriticalSection(CRITICAL_SECTION *cs)      { pthread_mutex_init(cs, 0); }
static inline void DeleteCriticalSection(CRITICAL_SECTION *cs)          { pthread_mutex_destroy(cs); }
static inline void EnterCriticalSection(CRITICAL_SECTION *cs)           { pthread_mutex_lock(cs); }
static inline int TryEnterCriticalSection(CRITICAL_SECTION *cs)         { return (pthread_mutex_trylock(cs) == 0); }
static inline void LeaveCriticalSection(CRITICAL_SECTION *cs)           { pthread_mutex_unlock(cs); }
 
#ifndef DWORD
#       define DWORD uint32_t
#endif
 
XSEXTC int IsBadWritePtr(void *p, size_t size);
 
#ifndef HAVE_VSNPRINTF_S
#define _TRUNCATE 1
#define vsnprintf_s(str, size, thingy, fmt, vp) vsnprintf(str, size, fmt, vp)
#endif
#ifndef HAVE_VSPRINTF_S
#define vsprintf_s(str, size, format, args) vsprintf(str, format, args)
#endif
 
// MRO (10/24/2013): Linux compiler does not support override keyword yet
// \todo Remove override define when linux compiler supports it
#ifdef __GNUC__
#if (__GNUC__ >= 4) && (__GNUC_MINOR__ >= 7)
        // override keyword supported
#else
        #define override
#endif
#endif
 
#endif // __GNUC__
#endif // __XSENS_LINUX_H