129 lines
3.8 KiB
C++
129 lines
3.8 KiB
C++
/// \file
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/// {COMMON_HEADER}
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#ifndef _VN_UTILITIES_H_
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#define _VN_UTILITIES_H_
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#include <string>
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#include <vector>
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#include "int.h"
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#include "export.h"
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/// \brief Defines for the specific version of the VectorNav library.
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#define VNAPI_MAJOR 1
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#define VNAPI_MINOR 2
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#define VNAPI_PATCH 0
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#define VNAPI_REVISION 126
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namespace vn {
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/// \brief Class for version information about the VectorNav library.
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class ApiVersion
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{
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public:
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/// \brief Returns the major version of the VectorNav library.
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///
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/// \return The major version.
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static int major();
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/// \brief Returns the minor version of the VectorNav library.
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///
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/// \return The minor version
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static int minor();
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/// \brief Returns the patch version of the VectorNav library.
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///
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/// \return The patch version.
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static int patch();
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/// \brief Returns the revision version of the VectorNav library.
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///
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/// \return The revision version.
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static int revision();
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/// \brief Returns the full version of the VectorNav library.
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///
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/// \return The library's version in a string format.
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static std::string getVersion();
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};
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/// \brief Converts two characters encoded in hex to a uint8_t.
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///
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/// \param[in] str Two characters string with hexadecimal encoding.
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/// \return The converted value.
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uint8_t toUint8FromHexStr(const char* str);
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/// \brief Converts a 16-bit integer in sensor order to host order.
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///
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/// \param[in] sensorOrdered The 16-bit integer in sensor order.
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/// \return The value converted to host ordered.
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uint16_t stoh(uint16_t sensorOrdered);
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/// \brief Converts a 32-bit integer in sensor order to host order.
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///
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/// \param[in] sensorOrdered The 32-bit integer in sensor order.
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/// \return The value converted to host ordered.
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uint32_t stoh(uint32_t sensorOrdered);
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/// \brief Converts a 64-bit integer in sensor order to host order.
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///
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/// \param[in] sensorOrdered The 64-bit integer in sensor order.
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/// \return The value converted to host ordered.
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uint64_t stoh(uint64_t sensorOrdered);
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/// \brief Counts the number of bits set in the provided value.
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///
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/// \param[in] d The value to count the bits of.
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/// \return The number of bits set.
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uint8_t countSetBits(uint8_t d);
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/// \brief Converts the character encoded as a hexadecimal to a uint8_t.
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///
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/// \param[in] c The hexadecimal character to convert.
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/// \return The converted value.
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uint8_t to_uint8_from_hexchar(char c);
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/// \brief Converts two characters encoded in hex to a uint8_t.
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///
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/// \param[in] str Two characters string with hexadecimal encoding.
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/// \return The converted value.
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uint8_t to_uint8_from_hexstr(const char* str);
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/// \brief Converts four characters encoded in hex to a uint16_t.
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///
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/// \param[in] str Four characters string with hexadecimal encoding.
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/// \return The converted value.
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uint16_t to_uint16_from_hexstr(const char* str);
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#if PYTHON
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/// \brief Checks a DLL's first level dependencies to see if they are all
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/// present. If any of the DLLs cannot be found the software will
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/// print the missing DLLs to the console
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///
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/// \param[in] dllName absolute or relative path to the dll in question
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/// \param[in] workingDirectory current working directory. Must be the
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/// same one as the program or results may be incorrect
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/// \param[out] missingDlls vector of stings to hold the names of any missing
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/// Dlls. This vector will be emptied if all Dlls are
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/// present.
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/// \return flag indicating succes so the user may choose to shut down
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/// gracefully should the DLL be missing
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vn_proglib_DLLEXPORT bool checkDllValidity(const std::string& dllName,
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const std::string& workingDirectory,
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std::vector<std::string>& missingDlls);
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#endif
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}
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#endif
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