deviceredetector.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 "xscontrollerconfig.h"
#include <xstypes/xsdeviceid.h>
#include <xstypes/xsportinfoarray.h>
#include <xstypes/xstime.h>
#include <xstypes/xsdid.h>
#include "xsscanner.h"
//#include "networkcommunicator.h"
#include "deviceredetector.h"
 
DeviceRedetector::DeviceRedetector(const XsPortInfo& portInfo)
{
#ifdef XSENS_WINDOWS
        if (portInfo.isUsb())
#else
        (void)portInfo;
        if (1)
#endif
        {
                m_detectFunctions[XS_DID_TYPEH_MT_X_MPU] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XS_DID_TYPEH_MT_X0] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XS_DID_TYPEH_MT_X00] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XS_DID_TYPEH_MT_3X0] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XS_DID64_BIT] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XsDeviceId("MTi-610", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XsDeviceId("MTi-620", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XsDeviceId("MTi-630", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XsDeviceId("MTi-670", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectScanPorts;
                m_detectFunctions[XsDeviceId("MTi-680", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectScanPorts;
        }
        else
        {
                m_detectFunctions[XS_DID_TYPEH_MT_X_MPU] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XS_DID_TYPEH_MT_X0] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XS_DID_TYPEH_MT_X00] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XS_DID_TYPEH_MT_3X0] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XS_DID64_BIT] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XsDeviceId("MTi-610", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XsDeviceId("MTi-620", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XsDeviceId("MTi-630", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XsDeviceId("MTi-670", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectOneComPort;
                m_detectFunctions[XsDeviceId("MTi-680", 0, 0, XS_DID64_BIT)] = &DeviceRedetector::redetectOneComPort;
        }
}
 
bool DeviceRedetector::redetect(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        FunctionPointer currentFunction;
        currentFunction = m_detectFunctions[deviceId.deviceType(false)];
 
        if (currentFunction)
                return (this->*currentFunction)(deviceId, portInfo, skipDeviceIdCheck);
        else
        {
                JLDEBUGG("No functions defined for device. Defaulting to OneComPort" << deviceId);
                return redetectOneComPort(deviceId, portInfo, skipDeviceIdCheck);
        }
}
 
bool DeviceRedetector::redetectNoScan(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        (void)deviceId;
        (void)portInfo;
        (void)skipDeviceIdCheck;
        return true;
}
 
bool DeviceRedetector::redetectScanPorts(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        JLDEBUGG("Redetecting device " << deviceId);
 
        bool found = false;
        int count = 0;
        while (!found && count < 25)
        {
                XsTime::msleep(100);
                XsPortInfoArray portInfoArray = XsScanner::scanPorts(XBR_Invalid, 100, false, true);
 
                JLDEBUGG("Attempt " << count << ". Detected " << portInfoArray.size() << " devices.");
 
                for (uint32_t i = 0; i < portInfoArray.size(); i++)
                {
                        portInfo = portInfoArray[i];
                        if ((skipDeviceIdCheck && !portInfo.empty()) || portInfo.deviceId() == deviceId)
                        {
                                portInfo = portInfoArray[i];
                                JLDEBUGG("Found device: " << portInfo);
                                found = true;
                                break;
                        }
                }
                XsTime::msleep(1000);
                count++;
        }
        JLDEBUGG("Redetecting device " << deviceId << " . Result: " << found << " after " << count << " tries");
        return found;
}
 
bool DeviceRedetector::redetectEnumerateSerialPorts(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        JLDEBUGG("Redetecting device " << deviceId);
 
        bool found = false;
        int count = 0;
        while (!found && count < 20)
        {
                XsTime::msleep(100);
                XsPortInfoArray portInfoArray = XsScanner::enumerateSerialPorts();
 
                JLDEBUGG("Attempt " << count << ". Detected " << portInfoArray.size() << " devices.");
 
                for (uint32_t i = 0; i < portInfoArray.size(); i++)
                {
                        JLDEBUGG(portInfoArray[i]);
                        if ((skipDeviceIdCheck && !portInfoArray[i].empty()) || portInfoArray[i].deviceId() == deviceId)
                        {
                                XsTime::msleep(3000);
                                portInfo = portInfoArray[i];
                                found = true;
                                break;
                        }
                }
                count++;
        }
        JLDEBUGG("Redetecting device " << deviceId << " . Result: " << found << " after " << count << " tries");
        return found;
}
 
bool DeviceRedetector::redetectOneComPort(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        JLDEBUGG("Redetecting device " << deviceId);
 
        bool found = false;
        int count = 0;
 
        XsStringArray portList;
        portList.push_back(portInfo.portName());
 
        XsIntArray portLinesOptions;
        portLinesOptions.push_back((int)portInfo.linesOptions());
 
        while (!found && count < 20)
        {
                XsTime::msleep(100);
 
                XsPortInfoArray detectedPorts = XsScanner::scanComPortList(portList, portLinesOptions, XBR_Invalid, 100);
 
                assert(detectedPorts.size() <= 1); // at most one port found
 
                JLDEBUGG("Attempt " << count << ".");
 
                if (!detectedPorts.empty())
                {
                        const XsPortInfo portInfoDetected = detectedPorts[0];
 
                        JLDEBUGG(portInfoDetected);
 
                        if ((skipDeviceIdCheck && !portInfoDetected.empty()) || portInfoDetected.deviceId() == deviceId)
                        {
                                uint16_t vid, pid;
                                portInfo.getVidPid(vid, pid);
                                portInfo = portInfoDetected;
                                portInfo.setVidPid(vid, pid);
                                found = true;
                                break;
                        }
                }
                count++;
        }
 
        JLDEBUGG("Redetecting device " << deviceId << " . Result: " << found << " after " << count << " tries");
        JLDEBUGG("PortInfo " << portInfo);
        return found;
}
 
bool DeviceRedetector::redetectEnumerateNetworkDevices(const XsDeviceId& deviceId, XsPortInfo& portInfo, bool skipDeviceIdCheck)
{
        (void)deviceId;
        (void)portInfo;
        (void)skipDeviceIdCheck;
        return false;
}