restorecommunication.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 "restorecommunication.h"
#include "xscontrol_def.h"
#include "serialinterface.h"
#include <xstypes/xsportinfo.h>
 
 
RestoreCommunication::RestoreCommunication(XsControl* control)
        : m_control(control)
        , m_serialInterface(new SerialInterface())
        , m_isRestoring(false)
{
}
 
RestoreCommunication::~RestoreCommunication()
{
        try
        {
                stop();
        }
        catch (...)
        {
        }
        delete m_serialInterface;
}
 
XsResultValue RestoreCommunication::start(const XsString& portName)
{
        m_portName = portName;
        XsPortInfo portInfo(portName, XBR_115k2);
        XsResultValue result;
        if (!m_isRestoring)
        {
                result = openComPort(portInfo);
                if (result == XRV_OK)
                {
                        if (!startThread("RestoreCommunication"))
                                result = XRV_ERROR;
                        else
                                m_isRestoring = true;
                }
        }
        else
        {
                result = XRV_ERROR;
                stop();
        }
        return result;
}
 
void RestoreCommunication::stop()
{
        m_isRestoring = false;
        m_serialInterface->close();
}
 
int32_t RestoreCommunication::innerFunction(void)
{
        m_serialInterface->setTimeout(0);
 
        bool success = false;
        const size_t readDataSize = 4;
        unsigned char resetByte = (unsigned char)0xDE; // reset byte
        unsigned char preambleBuf[1] = { 0 };
        unsigned char readBuf[readDataSize] = { 0, 0, 0, 0 };
 
 
        XsByteArray resetByteArray(1, &resetByte);
        XsByteArray preambleArray(1, &preambleBuf[0]);
        XsByteArray readArray(readDataSize, &readBuf[0]);
 
        while (!success && m_isRestoring)
        {
                XsResultValue writeResult = m_serialInterface->writeData(resetByteArray);
                XsResultValue readResult = m_serialInterface->readData(1, preambleArray);
 
                if (writeResult == XRV_OK && readResult == XRV_OK)
                {
                        if (preambleArray[0] == XS_PREAMBLE)
                                success = true;
                }
 
                XsTime::udelay(100);
        }
 
        bool stoppedByUser = !success;
 
        if (!stoppedByUser)
        {
                m_serialInterface->setTimeout(1000);
                m_serialInterface->readData((XsFilePos) readDataSize, readArray);
                bool restoreOk = (preambleArray[0] == XS_PREAMBLE && readArray[0] == 0xFF && readArray[1] == 0x3E && readArray[2] == 0x00 && readArray[3] == 0xC3);
 
                XsResultValue result = restoreOk ? XRV_OK : XRV_RESTORE_COMMUNICATION_FAILED;
                m_control->onRestoreCommunication(&m_portName, result);
        }
        else
                m_control->onRestoreCommunication(&m_portName, XRV_RESTORE_COMMUNICATION_STOPPED);
 
        m_isRestoring = false;
        stopThread();
        return 0;
}
 
XsResultValue RestoreCommunication::openComPort(const XsPortInfo& portInfo)
{
        XsResultValue result = m_serialInterface->open(portInfo);
        if (result == XRV_ALREADYOPEN)
        {
                result = m_serialInterface->close();
                if (result == XRV_OK)
                        result = m_serialInterface->open(portInfo);
        }
        return result;
}