/*! \brief Wait for data to arrive or a timeout to occur.
\details The function waits until \c maxLength data is available or until a timeout occurs.
The function returns success if data is available or XsResultValue::TIMEOUT if a
timeout occurred. A timeout value of 0 indicates that the default timeout stored
in the class should be used.
\param maxLength The maximum number of bytes to read before returning
\param data The buffer to put the read data in.
\returns XRV_OK if \a maxLength bytes were read, XRV_TIMEOUT if less was read, XRV_TIMEOUTNODATA if nothing was read
*/
XsResultValue SerialInterface::waitForData(XsSize maxLength, XsByteArray& data)
{
data.clear();
data.reserve(maxLength);
//char *data = (char *)&_data[0];
JLTRACE(gJournal, "timeout=" << m_timeout << ", maxLength=" << maxLength);
uint32_t timeout = m_timeout;
uint32_t eTime = XsTime_getTimeOfDay(NULL, NULL) + timeout;
// uint32_t newLength = 0;
while ((data.size() < maxLength) && (XsTime_getTimeOfDay(NULL, NULL) <= eTime))
{
XsByteArray raw;
if (readData(maxLength - data.size(), raw) != XRV_OK)
return m_lastResult;
data.append(raw);
}
JLTRACE(gJournal, "Read " << data.size() << " of " << maxLength << " bytes");
if (data.size() < maxLength)
return (m_lastResult = XRV_TIMEOUT);
else
return (m_lastResult = XRV_OK);
}
/*! \copydoc IoInterface::writeData
\note The default timeout is respected in this operation.
*/
XsResultValue SerialInterface::writeData (const XsByteArray& data, XsSize* written)
{
XsSize bytes;
if (written == NULL)
written = &bytes;
if (!isOpen())
return (m_lastResult = XRV_NOPORTOPEN);
*written = 0;
#ifdef _WIN32
DWORD lwritten = 0;
if (WriteFile(m_handle, data.data(), (DWORD) data.size(), &lwritten, NULL) == 0)
return (m_lastResult = XRV_ERROR);
*written = lwritten;
#else
ssize_t result = write(m_handle, (const void*)data.data(), data.size());
if (result < 0)
return (m_lastResult = XRV_ERROR);
*written = result;
#endif
#ifdef LOG_RX_TX
if (written[0] > 0)
{
if (tx_log == NULL)
{
char fname[XS_MAX_FILENAME_LENGTH];
#ifdef _WIN32
sprintf(fname, "tx_%03d_%d.log", (int32_t) m_port, m_baudrate);
#else
char *devname = strrchr(m_portname, '/');
sprintf(fname,"tx_%s_%d.log", devname + 1, XsBaud::rateToNumeric(m_baudrate));
#endif
makeFilenameUnique(fname);
tx_log = fopen(fname, "wb");
}
fwrite(data.data(), 1, *written, tx_log);
#ifdef LOG_RX_TX_FLUSH
fflush(tx_log);
#endif
}
#endif
return (m_lastResult = XRV_OK);
}
/*! \brief Read all messages from the buffered read data after adding new data supplied in \a rawIn
\details This function will read all present messages in the read buffer. In order for this function
to work, you need to call readDataToBuffer() first.
\param rawIn The buffered data in which to search for messages
\param messages The messages found in the data
\return The messages that were read.
*/
XsResultValue processBufferedData(XsByteArray& rawIn, XsMessageArray& messages)
{
ProtocolHandler protocol;
if (rawIn.size())
m_dataBuffer.append(rawIn);
int popped = 0;
messages.clear();
for(;;)
{
XsByteArray raw(m_dataBuffer.data()+popped, m_dataBuffer.size()-popped);
XsMessage message;
MessageLocation location = protocol.findMessage(message, raw);
if (location.isValid())
{
// message is valid, remove data from cache
popped += location.m_size + location.m_startPos;
messages.push_back(message);
}
else
{
if (popped)
m_dataBuffer.pop_front(popped);
if (messages.empty())
return XRV_TIMEOUTNODATA;
return XRV_OK;
}
}
}
/*! \brief Find a string of bytes in the file
\details The function searches from the current read position until the given \c needle is
found. If the needle is not found, XsResultValue::NOT_FOUND is returned. The function
will update the seek position to the first character of the found needle.
\param needleV The byte string to find.
\param pos The position where \a needleV was found. This will point to the first character
of the found \a needleV.
\returns XRV_OK if the data was found, XRV_ENDOFFILE if it wasn't found
*/
XsResultValue IoInterfaceFile::find(const XsByteArray& needleV, XsFilePos& pos)
{
if (!m_handle)
return m_lastResult = XRV_NOFILEOPEN;
XsSize needleLength = needleV.size();
pos = 0;
if (needleLength == 0)
return m_lastResult = XRV_OK;
const char* needle = (const char*) needleV.data();
gotoRead();
char buffer[512];
uint32_t bufferPos, needlePos = 0;
size_t readBytes;
if (m_readPos & 0x1FF) // read a block of data
readBytes = fread(buffer, 1, (512-((size_t) m_readPos & 0x1FF)), m_handle);
else
readBytes = fread(buffer, 1, 512, m_handle); // read a block of data
while (readBytes > 0)
{
m_readPos += readBytes;
bufferPos = 0;
while (bufferPos < readBytes && needlePos < needleLength)
{
if (buffer[bufferPos] == needle[needlePos])
{
// found a byte
++needlePos;
}
else
{
if (needlePos > 0)
needlePos = 0;
else
if (buffer[bufferPos] == needle[0])
{
// found a byte
needlePos = 1;
}
}
++bufferPos;
}
if (needlePos < needleLength)
readBytes = fread(buffer, 1, 512, m_handle); // read next block
else
{
m_readPos = m_readPos + bufferPos - readBytes - needleLength; // or without needleLength
pos = m_readPos; // - needleLength;
FSEEK(m_readPos);
return m_lastResult = XRV_OK;
}
}
return m_lastResult = XRV_ENDOFFILE;
}
/*! \brief Compose a message for transmission
\param raw The raw byte array to be constructed from the message
\param msg The message to translate into a raw byte array
\returns The size of the generated byte array
\todo Generalize this method -> IProtocolHandler
*/
int ProtocolHandler::composeMessage(XsByteArray& raw, const XsMessage& msg)
{
if (msg.getTotalMessageSize() < 5) // minimum size of an xsens message including envelope is 5 bytes
return -1;
raw.assign(msg.getTotalMessageSize(), msg.getMessageStart());
return (int) raw.size();
}
/*! \brief Write data to the end of the file.
\details The function writes the given data to the file at the end. The
current write
position is also moved to the end of the file.
\param bdata The byte data to append to the file
\returns XRV_OK if the write was successful
*/
XsResultValue IoInterfaceFile::appendData(const XsByteArray& bdata)
{
if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
if (m_readOnly) return m_lastResult = XRV_READONLY;
if (!bdata.size()) return m_lastResult = XRV_OK;
if (m_reading || m_writePos != m_fileSize)
{
m_reading = false;
FSEEK_R(0); // lint !e534
}
size_t bytesWritten = fwrite(bdata.data(), 1, bdata.size(), m_handle);
(void)bytesWritten;
m_writePos = FTELL();
m_fileSize = m_writePos;
return (m_lastResult = XRV_OK);
}
/*! \brief Read available data from the open IO device
\details This function will attempt to read all available data from the
open device (COM port
or USB port).
The function will read from the device, but it won't wait for data to
become available.
\param raw A XsByteArray to where the read data will be stored.
\return Whether data has been read from the IO device
*/
XsResultValue readDataToBuffer(XsByteArray& raw)
{
// always read data and append it to the cache before doing analysis
const int maxSz = 8192;
XsResultValue res = m_streamInterface->readData(maxSz, raw);
if (raw.size()) return XRV_OK;
return res;
}
/*! \brief Insert the given data into the file.
\details The function writes the given data to the file at the current write
position. This
operation may take a while to complete.
The write position is placed at the end of the inserted data.
\param start The offset in the file to write the first byte
\param data The data to insert in the file
\returns XRV_OK if the data was inserted successfully
*/
XsResultValue IoInterfaceFile::insertData(
XsFilePos start, const XsByteArray& data)
{
if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
if (m_readOnly) return m_lastResult = XRV_READONLY;
gotoWrite();
XsSize length = data.size();
XsFilePos rPos = start;
XsFilePos wPos = rPos + length;
size_t read1, read2;
XsFilePos remaining = m_fileSize - start;
size_t bsize = (length > 512) ? length : 512;
char* bufferRoot = (char*)malloc(bsize * 2);
if (!bufferRoot) return XRV_OUTOFMEMORY;
char* buffer1 = bufferRoot;
char* buffer2 = bufferRoot + bsize;
char* btemp;
// copy data
FSEEK(rPos);
if (data.size() == 0) return m_lastResult = XRV_OK;
if (remaining >= (XsFilePos)bsize)
read1 = fread(buffer1, 1, bsize, m_handle);
else
read1 = fread(buffer1, 1, (size_t)remaining, m_handle);
remaining -= read1;
rPos += read1;
while (remaining > 0)
{
// move data to correct buffer
read2 = read1;
btemp = buffer1;
buffer1 = buffer2;
buffer2 = btemp;
// read next block
if (remaining >= (XsFilePos)bsize)
read1 = fread(buffer1, 1, bsize, m_handle);
else
read1 = fread(buffer1, 1, (size_t)remaining, m_handle);
remaining -= read1;
rPos += read1;
// write block to the correct position
FSEEK(wPos);
wPos += fwrite(buffer2, 1, read2, m_handle);
FSEEK(rPos);
}
FSEEK(wPos);
wPos += fwrite(buffer1, 1, read1, m_handle);
FSEEK(start);
m_writePos = start + fwrite(data.data(), 1, length, m_handle);
m_fileSize += length;
free(bufferRoot);
return m_lastResult = XRV_OK;
}
/*! \copydoc IProtocolHandler::findMessage
\todo Since the assumption is that we receive a stream of valid messages without garbage, the scan
is implemented in a rather naive and simple way. If we can expect lots of garbage in the data
stream, this should probably be looked into.
*/
MessageLocation ProtocolHandler::findMessage(XsMessage& rcv, const XsByteArray& raw) const
{
JLTRACE(gJournal, "Entry");
MessageLocation rv(-1,0);
rcv.clear();
int bufferSize = (int) raw.size();
if (bufferSize == 0)
return rv;
const unsigned char* buffer = raw.data();
// loop through the buffer to find a preamble
for (int pre = 0; pre < bufferSize; ++pre)
{
if (buffer[pre] == XS_PREAMBLE)
{
JLTRACE(gJournal, "Preamble found at " << pre);
// we found a preamble, see if we can read a message from here
if (rv.m_startPos == -1)
rv.m_startPos = (int32_t) pre;
int remaining = bufferSize-pre; // remaining bytes in buffer INCLUDING preamble
if (remaining < XS_LEN_MSGHEADERCS)
{
JLTRACE(gJournal, "Not enough header data read");
if (rv.m_startPos != pre)
continue;
rv.m_size = -expectedMessageSize(&buffer[pre], remaining);
return rv;
}
// read header
const uint8_t* msgStart = &(buffer[pre]);
const XsMessageHeader* hdr = (const XsMessageHeader*) msgStart;
if (hdr->m_length == XS_EXTLENCODE)
{
if (remaining < XS_LEN_MSGEXTHEADERCS)
{
JLTRACE(gJournal, "Not enough extended header data read");
if (rv.m_startPos != pre)
continue;
rv.m_size = -expectedMessageSize(&buffer[pre], remaining);
return rv;
}
}
else if (hdr->m_busId == 0 && hdr->m_messageId == 0)
{
// found 'valid' message that isn't actually valid... happens inside GPS raw data
// skip to next preamble
continue;
}
// check the reported size
int target = expectedMessageSize(&buffer[pre], remaining);
JLTRACE(gJournal, "Bytes in buffer=" << remaining << ", full target = " << target);
if (target > (XS_LEN_MSGEXTHEADERCS + XS_MAXDATALEN))
{
// skip current preamble
JLALERT(gJournal, "Invalid message length: " << target);
rv.m_startPos = -1;
continue;
}
if (remaining < target)
{
// not enough data read, skip current preamble
JLTRACE(gJournal, "Not enough data read: " << remaining << " / " << target);
if (rv.m_size == 0)
rv.m_size = -target;
continue;
}
// we have read enough data to fulfill our target so we'll try to parse the message
// and check the checksum
//if (rcv->loadFromString(msgStart, (uint16_t) target) == XRV_OK)
if (rcv.loadFromString(msgStart, (uint16_t)target))
{
JLTRACE(gJournal,
"OK, size = " << (int) rcv.getTotalMessageSize()
<< std::hex << std::setfill('0')
<< " First bytes " << std::setw(2) << (int) msgStart[0]
<< " " << std::setw(2) << (int) msgStart[1]
<< " " << std::setw(2) << (int) msgStart[2]
<< " " << std::setw(2) << (int) msgStart[3]
<< " " << std::setw(2) << (int) msgStart[4]
<< std::dec << std::setfill(' '));
rv.m_size = (int) rcv.getTotalMessageSize();
rv.m_startPos = pre; // we do this again here because this may not be the first preamble encountered (the check for -1 at the start of the loop is necessary)
return rv;
}
// we could not read the message, clear message and try next preamble
rcv.clear();
if (rv.m_startPos == pre)
{
rv.m_startPos = -1;
JLALERT(gJournal,
"Invalid checksum"
<< std::hex << std::setfill('0')
<< " First bytes " << std::setw(2) << (int) msgStart[0]
<< " " << std::setw(2) << (int) msgStart[1]
<< " " << std::setw(2) << (int) msgStart[2]
<< " " << std::setw(2) << (int) msgStart[3]
<< " " << std::setw(2) << (int) msgStart[4]
<< std::dec << std::setfill(' '));
}
}
}
JLTRACE(gJournal, "Exit");
return rv;
}
/*! \brief Write the data to the USB port.
\details The function writes the given data to the connected USB port.
The default timeout is respected in this operation.
\param data The data to be written
\param written An optional pointer to storage for the actual number of bytes that were written
\returns XRV_OK if the data was successfully written
\sa writeData(const XsSize, const void *, XsSize*)
*/
XsResultValue UsbInterface::writeData(const XsByteArray& data, XsSize* written)
{
return writeData(data.size(), data.data(), written);
}
/*! \copydoc IoInterface::writeData
\note The default timeout is respected in this operation.
*/
XsResultValue SerialInterface::writeData (const XsByteArray& data, XsSize* written)
{
XsSize bytes;
if (written == NULL)
written = &bytes;
if (!isOpen())
return (m_lastResult = XRV_NOPORTOPEN);
*written = 0;
#ifdef _WIN32
DWORD lwritten = 0;
if (WriteFile(m_handle, data.data(), (DWORD) data.size(), &lwritten, NULL) == 0)
{
DWORD wErr = ::GetLastError();
JLALERT(gJournal, "WriteFile returned windows error " << wErr);
if (wErr == ERROR_ACCESS_DENIED)
return (m_lastResult = XRV_UNEXPECTED_DISCONNECT);
return (m_lastResult = XRV_ERROR);
}
*written = lwritten;
#else
ssize_t result = write(m_handle, (const void*)data.data(), data.size());
if (result <= 0)
{
int err = errno;
*written = 0;
switch (err)
{
case EAGAIN:
#if defined(EWOULDBLOCK) && EWOULDBLOCK != EAGAIN
case EWOULDBLOCK:
#endif
return XRV_TIMEOUT;
case EIO:
return XRV_UNEXPECTED_DISCONNECT;
/* we don't expect any other errors to actually occur */
default:
break;
}
}
if (result < 0)
*written = 0;
else
*written = result;
#endif
#ifdef LOG_RX_TX
if (written[0] > 0)
{
if (!tx_log.isOpen())
{
char fname[XS_MAX_FILENAME_LENGTH];
#ifdef _WIN32
sprintf(fname, "tx_%03d_%d.log", (int32_t) m_port, m_baudrate);
#else
char *devname = strrchr(m_portname, '/');
sprintf(fname,"tx_%s_%d.log", devname + 1, XsBaud::rateToNumeric(m_baudrate));
#endif
makeFilenameUnique(fname);
tx_log.create(XsString(fname), true);
}
tx_log.write(data.data(), 1, *written);
#ifdef LOG_RX_TX_FLUSH
tx_log.flush();
#endif
}
#endif
return (m_lastResult = XRV_OK);
}