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Common Definitions

This module provides the foundational macros, constants, error codes, and generic template utilities used throughout LibXR. It helps eliminate platform differences, simplifies coding, and supports debugging and runtime validation.

Math and Physical Constants​

  • M_PI, M_2PI: π and 2π, commonly used in angle calculations.
  • M_1G: Standard gravitational acceleration constant, with a value of 9.80665 m/s².

Common Macros​

  • DEF2STR(x): Converts a macro value to string.
  • UNUSED(x): Suppresses compiler warnings for unused variables.
  • OFFSET_OF(type, member): Gets the offset of a struct member.
  • MEMBER_SIZE_OF(type, member): Gets the byte size of a struct member.
  • CONTAINER_OF(ptr, type, member): Retrieves the containing struct pointer from a member pointer, commonly used for object backtracking.

Cache Line Definition​

  • LIBXR_CACHE_LINE_SIZE: Cache line size determined by pointer width—64 bytes on 64-bit platforms, 32 bytes on 32-bit.

Error Codes (ErrorCode)​

The ErrorCode enum defines a unified error code system used to represent various operation results:

NameValueMeaning
OK0Operation succeeded
FAILED-1Operation failed
INIT_ERR-2Initialization error
ARG_ERR-3Invalid argument
STATE_ERR-4Invalid state
SIZE_ERR-5Size mismatch
CHECK_ERR-6Validation failed
NOT_SUPPORT-7Feature not supported
NOT_FOUND-8Object not found
NO_REPONSE-9No response
NO_MEM-10Insufficient memory
NO_BUFF-11Insufficient buffer
TIMEOUT-12Operation timeout
EMPTY-13No data available
FULL-14Data full
BUSY-15Resource busy
PTR_NULL-16Null pointer error
OUT_OF_RANGE-17Out of valid range

Size Limit Modes (SizeLimitMode)​

Used for runtime checks to validate data size:

  • EQUAL: Must exactly match the reference value
  • LESS: Must be less than or equal to the reference
  • MORE: Must be greater than or equal to the reference
  • NONE: No size restriction

Assertion Macros​

Provides unified runtime assertions:

  • ASSERT(x): Verifies the expression at runtime; triggers fatal error if false
  • ASSERT_ISR(x): ISR-safe assertion check

These are only active when LIBXR_DEBUG_BUILD is defined. When triggered, the following function is called:

void libxr_fatal_error(const char *file, uint32_t line, bool in_isr);

You can register a callback to handle assertion failures (see libxr_assert.hpp for details).

Generic Template Utilities​

template <typename T1, typename T2>
constexpr auto LibXR::max(T1 a, T2 b) -> common_type<T1, T2>::type;

template <typename T1, typename T2>
constexpr auto LibXR::min(T1 a, T2 b) -> common_type<T1, T2>::type;

Used to compute the maximum/minimum of any numeric types, including integers and floats.

This file provides foundational capabilities for all LibXR modules. It is strongly recommended to make full use of its utilities and conventions during development.