xsens::Cmt2s Class Reference

Detailed Description

Mid-level serial communication class.

The class uses CMT level 1, but does not inherit from it. If software needs to access the level 1 component, it needs to be done through the getCmt1s() function.

Definition at line 41 of file cmt2.h.

#include <xSens_MT3/cmt2.h>

Public Member Functions
	Cmt2s ()
	Default constructor, initialize all members to their default values. More...
	~Cmt2s ()
	Destructor, de-initialize, free memory allocated for buffers, etc. More...
XsensResultValue	close (void)
	Close the serial communication port. More...
uint32_t	getBaudrate (void)
	Return the baudrate that is currently being used by the port. More...
Cmt1s *	getCmt1s (void)
	Return a reference to the embedded Cmt1s object. More...
XsensResultValue	getLastResult (void) const
	Return the error code of the last operation. More...
XsensResultValue	getPortNr (uint8_t &port) const
	Retrieve the port that the object is connected to. More...
XsensResultValue	getPortNr (int32_t &port) const
XsensResultValue	getPortName (char *portname) const
uint32_t	getTimeout (void) const
	Return the current timeout value in ms. More...
bool	isOpen (void) const
	Return whether the communication port is open or not. More...
XsensResultValue	open (const char *portName, const uint32_t baudRate=CMT_DEFAULT_BAUD_RATE)
	Open a communication channel to the given serial port name. More...
XsensResultValue	open (const uint32_t portNumber, const uint32_t baudRate=CMT_DEFAULT_BAUD_RATE)
	Open a communication channel to the given COM port number. More...
XsensResultValue	readMessage (Message *rcv)
	Read a message from the COM port. More...
XsensResultValue	setCallbackFunction (CmtCallbackSelector tp, int32_t instance, CmtCallbackFunction func, void *param)
	Set the callback function for when a message has been received or sent. More...
XsensResultValue	setTimeout (const uint32_t ms=CMT2_DEFAULT_TIMEOUT)
	Set the default timeout value to use in blocking operations. More...
XsensResultValue	waitForMessage (Message *rcv, const uint8_t msgId, uint32_t timeoutOverride, bool acceptErrorMessage)
	Wait for a message to arrive. More...
XsensResultValue	writeMessage (Message *msg)
	Send a message over the COM port. More...

Protected Attributes
uint32_t	m_baudrate
	The baudrate that was last set to be used by the port. More...
Cmt1s	m_cmt1s
	The CMT level 1 object that this class operates on. More...
XsensResultValue	m_lastResult
	The last result of an operation. More...
uint8_t	m_readBuffer [CMT_DEFAULT_READ_BUFFER_SIZE]
	Buffer for reading data until a valid message is read. More...
uint16_t	m_readBufferCount
	The number of valid bytes in the readBuffer. More...
uint32_t	m_timeout
	Timeout in ms for blocking operations. More...
uint32_t	m_toEnd
	The timestamp at which to end an operation. More...

Private Member Functions
	Cmt2s (const Cmt2s &ref)
	This object cannot be copied, so this function is not implemented. More...

Private Attributes
CmtCallbackFunction	m_onMessageReceived
	The message received function. More...
int32_t	m_onMessageReceivedInstance
	Custom, user supplied parameter for the OnMessageReceived callback function, passed as the first argument. More...
void *	m_onMessageReceivedParam
	Custom, user supplied parameter for the OnMessageReceived callback function, passed as the last argument. More...
CmtCallbackFunction	m_onMessageSent
	The message sent function. More...
int32_t	m_onMessageSentInstance
	Custom, user supplied parameter for the OnMessageSent callback function, passed as the first argument. More...
void *	m_onMessageSentParam
	Custom, user supplied parameter for the OnMessageSent callback function, passed as the last argument. More...

Constructor & Destructor Documentation

Cmt2s() [1/2]

xsens::Cmt2s::Cmt2s ( const Cmt2s &  ref )

private

This object cannot be copied, so this function is not implemented.

Cmt2s() [2/2]

xsens::Cmt2s::Cmt2s

(

)

Default constructor, initialize all members to their default values.

Definition at line 108 of file cmt2.cpp.

References CMT2_DEFAULT_TIMEOUT, CMT_DEFAULT_BAUD_RATE, m_baudrate, m_lastResult, m_readBufferCount, m_timeout, m_toEnd, and XRV_OK.

~Cmt2s()

xsens::Cmt2s::~Cmt2s

(

)

Destructor, de-initialize, free memory allocated for buffers, etc.

Definition at line 119 of file cmt2.cpp.

Member Function Documentation

close()

XsensResultValue xsens::Cmt2s::close

(

void

)

Close the serial communication port.

Definition at line 120 of file cmt2.cpp.

References xsens::Cmt1s::close(), CMT2LOG, xsens::Cmt1s::getPortNr(), m_cmt1s, m_lastResult, m_toEnd, and XRV_NOPORTOPEN.

Referenced by xsens::Cmt3::closePort(), xsens::Cmt3::openPort(), and xsens::Cmt3::~Cmt3().

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getBaudrate()

uint32_t xsens::Cmt2s::getBaudrate ( void  )

inline

Return the baudrate that is currently being used by the port.

Definition at line 103 of file cmt2.h.

References xsens::Cmt1s::getBaudrate(), m_baudrate, and m_cmt1s.

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getCmt1s()

Cmt1s* xsens::Cmt2s::getCmt1s ( void  )

inline

Return a reference to the embedded Cmt1s object.

Any manipulation of the object should be done through Cmt2s. Cmt2s integrity is not guaranteed if the Cmt1s object is manipulated directly.

Definition at line 110 of file cmt2.h.

References m_cmt1s.

Referenced by xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), and xsens::Cmt3::initBus().

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getLastResult()

XsensResultValue xsens::Cmt2s::getLastResult ( void  ) const

inline

Return the error code of the last operation.

Definition at line 112 of file cmt2.h.

References m_lastResult.

Referenced by xsens::Cmt3::gotoConfig().

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getPortName()

XsensResultValue xsens::Cmt2s::getPortName

(

char *

portname

)

const

Definition at line 134 of file cmt2.cpp.

References xsens::Cmt1s::getPortName(), m_cmt1s, m_lastResult, XRV_ERROR, and XRV_OK.

Referenced by xsens::Cmt3::setBaudrate().

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getPortNr() [1/2]

XsensResultValue xsens::Cmt2s::getPortNr

(

uint8_t &

port

)

const

Retrieve the port that the object is connected to.

Definition at line 144 of file cmt2.cpp.

References xsens::Cmt1s::getPortNr(), m_cmt1s, m_lastResult, XRV_ERROR, and XRV_OK.

Referenced by xsens::Cmt3::getPortNr(), and xsens::Cmt3::setBaudrate().

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getPortNr() [2/2]

XsensResultValue xsens::Cmt2s::getPortNr

(

int32_t &

port

)

const

Definition at line 153 of file cmt2.cpp.

References xsens::Cmt1s::getPortNr(), m_cmt1s, m_lastResult, XRV_ERROR, and XRV_OK.

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getTimeout()

uint32_t xsens::Cmt2s::getTimeout ( void  ) const

inline

Return the current timeout value in ms.

Definition at line 118 of file cmt2.h.

References m_timeout.

isOpen()

bool xsens::Cmt2s::isOpen ( void  ) const

inline

Return whether the communication port is open or not.

Definition at line 120 of file cmt2.h.

References xsens::Cmt1s::isOpen(), and m_cmt1s.

Referenced by xsens::Cmt3::createLogFile(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDeviceCount(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getMasterId(), xsens::Cmt3::getMtCount(), xsens::Cmt3::isPortOpen(), xsens::Cmt3::openLogFile(), xsens::Cmt3::refreshCache(), and xsens::Cmt3::setDataSource().

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open() [1/2]

XsensResultValue xsens::Cmt2s::open	(	const char *	portName,
		const uint32_t	baudRate = CMT_DEFAULT_BAUD_RATE
	)

Open a communication channel to the given serial port name.

Definition at line 162 of file cmt2.cpp.

References CMT2LOG, m_baudrate, m_cmt1s, m_lastResult, m_toEnd, xsens::Cmt1s::open(), and xsensResultText().

Referenced by xsens::Cmt3::openPort().

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open() [2/2]

XsensResultValue xsens::Cmt2s::open	(	const uint32_t	portNumber,
		const uint32_t	baudRate = CMT_DEFAULT_BAUD_RATE
	)

Open a communication channel to the given COM port number.

Definition at line 177 of file cmt2.cpp.

References CMT2LOG, m_baudrate, m_cmt1s, m_lastResult, m_toEnd, xsens::Cmt1s::open(), and xsensResultText().

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readMessage()

XsensResultValue xsens::Cmt2s::readMessage

(

Message *

rcv

)

Read a message from the COM port.

The function reads data from the embedded Cmt1s object. The data is then converted into a Message object. If an error occurred, a nullptr pointer is returned and the error code can be retrieved with getLastError().

Definition at line 192 of file cmt2.cpp.

References CMT2LOG, CMT_CALLBACK_ONMESSAGERECEIVED, CMT_EXTLENCODE, CMT_LEN_MSGEXTHEADERCS, CMT_LEN_MSGHEADERCS, CMT_MAXDATALEN, CMT_MAXMSGLEN, CMT_PREAMBLE, CMTLOG, xsens::Message::getMessageStart(), xsens::Cmt1s::getPortNr(), xsens::Message::loadFromString(), m_cmt1s, CmtBinaryData::m_data, xsens::MessageHeader::m_datlen, xsens::MessageHeader::_mdl::m_extended, xsens::MessageHeader::_mdl::_mextd::_mlen::m_high, m_lastResult, xsens::MessageHeader::m_length, xsens::MessageHeader::_mdl::_mextd::m_length, xsens::MessageHeader::_mdl::_mextd::_mlen::m_low, m_onMessageReceived, m_onMessageReceivedInstance, m_onMessageReceivedParam, CmtBinaryData::m_portNr, m_readBuffer, m_readBufferCount, CmtBinaryData::m_size, mrpt::system::os::memcpy(), xsens::Cmt1s::readData(), XRV_OK, and XRV_TIMEOUT.

Referenced by xsens::Cmt3::readDataPacket().

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setCallbackFunction()

XsensResultValue xsens::Cmt2s::setCallbackFunction	(	CmtCallbackSelector	tp,
		int32_t	instance,
		CmtCallbackFunction	func,
		void *	param
	)

Set the callback function for when a message has been received or sent.

Definition at line 346 of file cmt2.cpp.

References CMT_CALLBACK_ONMESSAGERECEIVED, CMT_CALLBACK_ONMESSAGESENT, m_lastResult, m_onMessageReceived, m_onMessageReceivedInstance, m_onMessageReceivedParam, m_onMessageSent, m_onMessageSentInstance, m_onMessageSentParam, XRV_INVALIDPARAM, and XRV_OK.

setTimeout()

XsensResultValue xsens::Cmt2s::setTimeout

(

const uint32_t

ms = CMT2_DEFAULT_TIMEOUT

)

Set the default timeout value to use in blocking operations.

This function sets the level 2 timeout value. The L1 value is set to half the given timeout value.

Definition at line 370 of file cmt2.cpp.

References CMT2LOG, m_cmt1s, m_lastResult, m_timeout, m_toEnd, xsens::Cmt1s::setTimeout(), and XRV_OK.

Referenced by xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::openPort(), xsens::Cmt3::setTimeout(), xsens::Cmt3::setTimeoutConfig(), and xsens::Cmt3::setTimeoutMeasurement().

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waitForMessage()

XsensResultValue xsens::Cmt2s::waitForMessage	(	Message *	rcv,
		const uint8_t	msgId,
		uint32_t	timeoutOverride,
		bool	acceptErrorMessage
	)

Wait for a message to arrive.

The function waits for a message to arrive or until a timeout occurs. If the msgId parameter is set to a value other than 0, the function will wait until a message has arrived with that particular msgId.

Note

msgId 0 is the ReqDeviceID MID, but that is an outgoing only message. It is illogical to wait for a message that will never be sent to the host. So 0 is a safe value for the 'all' messages option.

If an error message is received, the contents are stored in the m_lastResult field and a nullptr value is returned immediately.

Definition at line 382 of file cmt2.cpp.

References xsens::Message::clear(), CMT2LOG, CMT_CALLBACK_ONMESSAGERECEIVED, CMT_EXTLENCODE, CMT_LEN_MSGEXTHEADERCS, CMT_LEN_MSGHEADER, CMT_LEN_MSGHEADERCS, CMT_MAXDATALEN, CMT_MID_ERROR, CMT_PREAMBLE, CMTLOG, xsens::findValidMessage(), xsens::Message::getMessageId(), xsens::Cmt1s::getPortNr(), xsens::getTimeOfDay(), xsens::Message::loadFromString(), m_cmt1s, CmtBinaryData::m_data, xsens::MessageHeader::m_datlen, xsens::MessageHeader::_mdl::m_extended, xsens::MessageHeader::_mdl::_mextd::_mlen::m_high, m_lastResult, xsens::MessageHeader::m_length, xsens::MessageHeader::_mdl::_mextd::m_length, xsens::MessageHeader::_mdl::_mextd::_mlen::m_low, m_onMessageReceived, m_onMessageReceivedInstance, m_onMessageReceivedParam, CmtBinaryData::m_portNr, m_readBuffer, m_readBufferCount, CmtBinaryData::m_size, m_timeout, m_toEnd, mrpt::system::os::memcpy(), xsens::Cmt1s::readData(), XRV_OK, XRV_TIMEOUT, XRV_TIMEOUTNODATA, and XSENS_MS_PER_DAY.

Referenced by xsens::Cmt3::getEMtsData(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::refreshCache(), xsens::Cmt3::reset(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::waitForDataMessage().

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writeMessage()

XsensResultValue xsens::Cmt2s::writeMessage

(

Message *

msg

)

Send a message over the COM port.

The function attempts to write the message over the connected COM port.

Parameters

msg	The message to send.

Definition at line 599 of file cmt2.cpp.

References CMT2LOG, CMT_CALLBACK_ONMESSAGESENT, CMTLOG, xsens::Message::getMessageStart(), xsens::Cmt1s::getPortNr(), xsens::Message::getTotalMessageSize(), m_cmt1s, CmtBinaryData::m_data, m_lastResult, m_onMessageSent, m_onMessageSentInstance, m_onMessageSentParam, CmtBinaryData::m_portNr, CmtBinaryData::m_size, mrpt::system::os::memcpy(), xsens::Cmt1s::writeData(), XRV_ERROR, XRV_OK, and xsensResultText().

Referenced by xsens::Cmt3::getEMtsData(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::refreshCache(), xsens::Cmt3::requestData(), xsens::Cmt3::reset(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::setXmPowerOff(), and xsens::Cmt3::storeXkfState().

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Member Data Documentation

m_baudrate

uint32_t xsens::Cmt2s::m_baudrate

protected

The baudrate that was last set to be used by the port.

Definition at line 77 of file cmt2.h.

Referenced by Cmt2s(), getBaudrate(), and open().

m_cmt1s

Cmt1s xsens::Cmt2s::m_cmt1s

protected

The CMT level 1 object that this class operates on.

Definition at line 79 of file cmt2.h.

Referenced by close(), getBaudrate(), getCmt1s(), getPortName(), getPortNr(), isOpen(), open(), readMessage(), setTimeout(), waitForMessage(), and writeMessage().

m_lastResult

XsensResultValue xsens::Cmt2s::m_lastResult

mutableprotected

The last result of an operation.

Definition at line 81 of file cmt2.h.

Referenced by close(), Cmt2s(), getLastResult(), getPortName(), getPortNr(), open(), readMessage(), setCallbackFunction(), setTimeout(), waitForMessage(), and writeMessage().

m_onMessageReceived

CmtCallbackFunction xsens::Cmt2s::m_onMessageReceived

private

The message received function.

This function is automatically called every time a complete message was read from the connected COM port.

Definition at line 53 of file cmt2.h.

Referenced by readMessage(), setCallbackFunction(), and waitForMessage().

m_onMessageReceivedInstance

int32_t xsens::Cmt2s::m_onMessageReceivedInstance

private

Custom, user supplied parameter for the OnMessageReceived callback function, passed as the first argument.

Definition at line 56 of file cmt2.h.

Referenced by readMessage(), setCallbackFunction(), and waitForMessage().

m_onMessageReceivedParam

void* xsens::Cmt2s::m_onMessageReceivedParam

private

Custom, user supplied parameter for the OnMessageReceived callback function, passed as the last argument.

Definition at line 59 of file cmt2.h.

Referenced by readMessage(), setCallbackFunction(), and waitForMessage().

m_onMessageSent

CmtCallbackFunction xsens::Cmt2s::m_onMessageSent

private

The message sent function.

This function is automatically called every time a complete message was sent to the connected COM port.

Definition at line 67 of file cmt2.h.

Referenced by setCallbackFunction(), and writeMessage().

m_onMessageSentInstance

int32_t xsens::Cmt2s::m_onMessageSentInstance

private

Custom, user supplied parameter for the OnMessageSent callback function, passed as the first argument.

Definition at line 70 of file cmt2.h.

Referenced by setCallbackFunction(), and writeMessage().

m_onMessageSentParam

void* xsens::Cmt2s::m_onMessageSentParam

private

Custom, user supplied parameter for the OnMessageSent callback function, passed as the last argument.

Definition at line 73 of file cmt2.h.

Referenced by setCallbackFunction(), and writeMessage().

m_readBuffer

uint8_t xsens::Cmt2s::m_readBuffer[CMT_DEFAULT_READ_BUFFER_SIZE]

protected

Buffer for reading data until a valid message is read.

Should be rarely used.

Definition at line 84 of file cmt2.h.

Referenced by readMessage(), and waitForMessage().

m_readBufferCount

uint16_t xsens::Cmt2s::m_readBufferCount

protected

The number of valid bytes in the readBuffer.

Definition at line 86 of file cmt2.h.

Referenced by Cmt2s(), readMessage(), and waitForMessage().

m_timeout

uint32_t xsens::Cmt2s::m_timeout

protected

Timeout in ms for blocking operations.

Definition at line 88 of file cmt2.h.

Referenced by Cmt2s(), getTimeout(), setTimeout(), and waitForMessage().

m_toEnd

uint32_t xsens::Cmt2s::m_toEnd

protected

The timestamp at which to end an operation.

Definition at line 90 of file cmt2.h.

Referenced by close(), Cmt2s(), open(), setTimeout(), and waitForMessage().