Detailed Description

The namespace of all Xsens software since 2006.

Classes
class	Cmt1f
	The low-level file communication class. More...

class	Cmt1s
	The low-level serial communication class. More...

class	Cmt2f
	The mid-level file communication class. More...

class	Cmt2s
	Mid-level serial communication class. More...

class	Cmt3
	High-level communication class. More...

class	FifoQueue
	A FIFO queue with limited length (cyclic). More...

class	FifoQueueBasic
	A FIFO queue with limited length (cyclic). More...

class	IntList

union	Itypes

class	JanitorClassFunc
	Class function calling janitor class. More...

class	JanitorDelete
	Memory releasing janitor class. More...

class	JanitorDeleteArray
	Memory releasing janitor class. More...

class	JanitorFree
	Memory releasing janitor class. More...

class	JanitorFunc
	Function calling janitor class. More...

class	JanitorFuncStdCall
	Function calling janitor class. More...

class	JanitorLogFunc
	Log / printf-like function calling janitor class. More...

class	JanitorRestore
	Value restoring janitor class. More...

class	JanitorSet
	Value restoring janitor class. More...

class	List
	Dynamic list class. More...

class	Message
	Class for storing a single message. More...

struct	MessageHeader
	A message header. More...

class	Packet
	A structure containing MT data + timestamp and formatting information. More...

Typedefs
typedef uint64_t	TimeStamp
	A real-time timestamp (ms) More...

Functions
int32_t	findValidMessage (const uint8_t *buffer, const uint16_t bufferLength)
	Find a valid message in the given buffer. More...

uint8_t	computeChecksum (const uint8_t *buffer, uint32_t length)
	Compute the checksum of the given byte string. More...

bool	cmtScanPort (CmtPortInfo &portInfo, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1)
	Scan a single COM port for connected Xsens devices. More...

bool	cmtScanPorts (List< CmtPortInfo > &ports, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1)
	Scan COM ports for connected Xsens devices. More...

uint32_t	getTimeOfDay (tm date_=nullptr, time_t secs_=nullptr)
	A platform-independent clock. More...

void	msleep (uint32_t ms)
	A platform-independent sleep routine. More...

TimeStamp	timeStampNow (void)

Variables
bool	abortScan = false
	Set to true from another thread to abort any scan currently in progress. More...

Typedef Documentation

◆ TimeStamp

typedef uint64_t xsens::TimeStamp

A real-time timestamp (ms)

Definition at line 24 of file xsens_time.h.

Function Documentation

◆ cmtScanPort()

bool xsens::cmtScanPort	(	CmtPortInfo &	portInfo,
		uint32_t	baudrate = `0`,
		uint32_t	singleScanTimeout = `1000`,
		uint32_t	scanTries = `1`
	)

Scan a single COM port for connected Xsens devices.

The cmtScanPort function will scan a single port for connected Xsens

devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baud rate is tried. Any detected devices are returned in the portInfo parameter.

Definition at line 60 of file cmtscan.cpp.

References abortScan, CMT_BAUD_RATE_115K2, CMT_BAUD_RATE_19K2, CMT_BAUD_RATE_230K4, CMT_BAUD_RATE_38K4, CMT_BAUD_RATE_460K8, CMT_BAUD_RATE_57K6, CMT_BAUD_RATE_921K6, CMT_BAUD_RATE_9600, xsens::Cmt3::getMasterId(), CmtPortInfo::m_baudrate, CmtPortInfo::m_deviceId, CmtPortInfo::m_portName, CmtPortInfo::m_portNr, xsens::Cmt3::openPort(), SCANLOG, xsens::Cmt3::setGotoConfigTries(), xsens::Cmt3::setTimeoutConfig(), XRV_CONFIGCHECKFAIL, XRV_OK, XRV_TIMEOUT, and XRV_TIMEOUTNODATA.

Referenced by cmtScanPorts().

◆ cmtScanPorts()

bool xsens::cmtScanPorts	(	List< CmtPortInfo > &	ports,
		uint32_t	baudrate = `0`,
		uint32_t	singleScanTimeout = `1000`,
		uint32_t	scanTries = `1`
	)

Scan COM ports for connected Xsens devices.

The cmtScanPorts function will scan registered Xsens USB converters and

serial COM ports for connected Xsens devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baudrate is tried. Any detected devices are returned in the ports list, which is sorted by port nr.

Definition at line 133 of file cmtscan.cpp.

References mrpt::system::os::_strnicmp(), abortScan, xsens::List< T >::append(), xsens::List< T >::clear(), CMT_BAUD_RATE_460K8, cmtScanPort(), xsens::List< T >::length(), CmtPortInfo::m_baudrate, CmtPortInfo::m_portName, CmtPortInfo::m_portNr, xsens::List< T >::remove(), xsens::List< T >::sortAscending(), and mrpt::system::os::sprintf().

Referenced by mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

◆ computeChecksum()

uint8_t xsens::computeChecksum	(	const uint8_t *	buffer,
		uint32_t	length
	)

Compute the checksum of the given byte string.

Definition at line 789 of file cmtmessage.cpp.

Referenced by xsens::Message::calcChecksum().

◆ findValidMessage()

int32_t xsens::findValidMessage	(	const uint8_t *	buffer,
		const uint16_t	bufferLength
	)

Find a valid message in the given buffer.

If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned.

Definition at line 45 of file cmt2.cpp.

References CMT_EXTLENCODE, CMT_LEN_MSGEXTHEADERCS, CMT_LEN_MSGHEADERCS, CMT_PREAMBLE, xsens::Message::isChecksumOk(), xsens::MessageHeader::m_datlen, xsens::MessageHeader::_mdl::m_extended, xsens::MessageHeader::_mdl::_mextd::_mlen::m_high, xsens::MessageHeader::m_length, xsens::MessageHeader::_mdl::_mextd::m_length, and xsens::MessageHeader::_mdl::_mextd::_mlen::m_low.

Referenced by xsens::Cmt2s::waitForMessage().

◆ getTimeOfDay()

uint32_t xsens::getTimeOfDay	(	tm *	date_ = `nullptr`,
		time_t *	secs_ = `nullptr`
	)

A platform-independent clock.

The function returns the time of day in ms since midnight. If the \c date

parameter is non-nullptr, corresponding the date is placed in the variable it points to.

Definition at line 34 of file xsens_time.cpp.

References XSENS_SEC_PER_DAY.

Referenced by timeStampNow(), UsbInterface::waitForData(), xsens::Cmt1s::waitForData(), xsens::Cmt3::waitForDataMessage(), and xsens::Cmt2s::waitForMessage().

◆ msleep()

void xsens::msleep ( uint32_t ms )

A platform-independent sleep routine.

Time is measured in ms. The function will not return until the specified
number of ms have passed.

Definition at line 82 of file xsens_time.cpp.

Referenced by UsbInterface::closeUsb(), and xsens::Cmt3::gotoConfig().

◆ timeStampNow()

TimeStamp xsens::timeStampNow ( void )

Definition at line 101 of file xsens_time.cpp.

References getTimeOfDay().

Referenced by xsens::Cmt3::gotoConfig(), xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

Variable Documentation

◆ abortScan

bool xsens::abortScan = false

Set to true from another thread to abort any scan currently in progress.

Definition at line 58 of file cmtscan.cpp.

Referenced by cmtScanPort(), and cmtScanPorts().