dataparser.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 "dataparser.h"
#include "xscontrollerconfig.h"
#include <xstypes/xsmessage.h>
 
 
DataParser::DataParser()
{
        startThread();
}
 
DataParser::~DataParser()
{
        try
        {
                terminate();
        }
        catch (...)
        {
        }
}
 
void DataParser::addRawData(const XsByteArray& arr)
{
        xsens::Lock locky(&m_incomingMutex);
        m_incoming.push(arr);
        locky.unlock();
        m_newDataEvent.set();
}
 
int32_t DataParser::innerFunction()
{
        // wait for new data
        if (!m_newDataEvent.wait())
                return 0;
 
        // get new data
        XsByteArray raw;
        xsens::Lock lockIncoming(&m_incomingMutex);
        while (!m_incoming.empty() && !isTerminating())
        {
                raw.append(m_incoming.front());
                m_incoming.pop();
                lockIncoming.unlock();
 
                JLTRACEG("raw size: " << raw.size());
 
                // process data
                if (!raw.empty() && !isTerminating())
                {
                        std::deque<XsMessage> msgs;
                        XsResultValue res = processBufferedData(raw, msgs);
                        JLTRACEG("Parse result " << res << ": " << msgs.size() << " messages");
 
                        if (res != XRV_TIMEOUT && res != XRV_TIMEOUTNODATA && !isTerminating())
                        {
                                for (XsMessage const& msg : msgs)
                                {
                                        handleMessage(msg);
                                        if (isTerminating())
                                                break;
                                }
                        }
                        raw.clear();
                }
 
                lockIncoming.lock();
        }
        m_newDataEvent.reset();
 
        return 1;
}
 
void DataParser::initFunction()
{
        setPriority(XS_THREAD_PRIORITY_HIGH);
        sprintf(m_parserType, "XDA %s %p", parserType(), this);
        //JLDEBUGG("Thread " << this << " " << buffer);
        xsNameThisThread(m_parserType);
}
 
void DataParser::clear()
{
        xsens::Lock lockIncoming(&m_incomingMutex);
 
        while (!m_incoming.empty())
                m_incoming.pop();
}
 
void DataParser::signalStopThread(void)
{
        StandardThread::signalStopThread();
        m_newDataEvent.terminate();
}
 
void DataParser::terminate()
{
        JLDEBUGG("Thread " << this << " type: " << m_parserType);
        stopThread();
        clear();
}