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cmt3.cpp File Reference
#include "cmt3.h"
#include <math.h>
#include "xsens_janitors.h"
Include dependency graph for cmt3.cpp:

Go to the source code of this file.

Namespaces

 xsens
 The namespace of all Xsens software since 2006.
 

Macros

#define CMT3LOG(...)
 
#define CMT3EXITLOG
 
#define CMT3LOGDAT(...)
 
#define CMT3EXITLOGDAT
 
#define CMT3F_DEVINFO_SIZE   (sizeof(CmtDeviceId) + sizeof(CmtDataFormat))
 
#define DO_DATA_REQUEST_BID(req, bid)
 
#define DO_DATA_REQUEST(req)
 
#define DO_DATA_SET_BID(req, size, type, data, bid)
 
#define DO_DATA_SET(req, size, type, data)
 
#define HANDLE_ERR_RESULT
 

Macro Definition Documentation

#define CMT3EXITLOG

Definition at line 43 of file cmt3.cpp.

Referenced by xsens::Cmt3::closeLogFile(), xsens::Cmt3::closePort(), xsens::Cmt3::createLogFile(), xsens::Cmt3::getAvailableScenarios(), xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusId(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDataLength(), xsens::Cmt3::getDeviceId(), xsens::Cmt3::getDeviceMode(), xsens::Cmt3::getDeviceMode2(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getFirmwareRevision(), xsens::Cmt3::getGpsLeverArm(), xsens::Cmt3::getGpsStatus(), xsens::Cmt3::getGravityMagnitude(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getLogFileName(), xsens::Cmt3::getLogFileReadPosition(), xsens::Cmt3::getLogFileSize(), xsens::Cmt3::getMagneticDeclination(), xsens::Cmt3::getMtDeviceId(), xsens::Cmt3::getPortNr(), xsens::Cmt3::getProductCode(), xsens::Cmt3::getScenario(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::getUtcTime(), xsens::Cmt3::getXmOutputMode(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::initBus(), xsens::Cmt3::openLogFile(), xsens::Cmt3::openPort(), xsens::Cmt3::peekLogMessageId(), xsens::Cmt3::refreshCache(), xsens::Cmt3::reset(), xsens::Cmt3::resetLogFileReadPos(), xsens::Cmt3::resetOrientation(), xsens::Cmt3::restoreFactoryDefaults(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setBluetoothState(), xsens::Cmt3::setBusPowerState(), xsens::Cmt3::setDataSource(), xsens::Cmt3::setDeviceMode(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setErrorMode(), xsens::Cmt3::setGotoConfigTries(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setLogMode(), xsens::Cmt3::setMagneticDeclination(), xsens::Cmt3::setScenario(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncMode(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::setTimeoutConfig(), xsens::Cmt3::setTimeoutMeasurement(), xsens::Cmt3::setXmOutputMode(), xsens::Cmt3::setXmPowerOff(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::writeMessageToLogFile().

#define CMT3EXITLOGDAT
#define CMT3F_DEVINFO_SIZE   (sizeof(CmtDeviceId) + sizeof(CmtDataFormat))

Definition at line 54 of file cmt3.cpp.

#define CMT3LOG (   ...)

Definition at line 42 of file cmt3.cpp.

Referenced by xsens::Cmt3::closeLogFile(), xsens::Cmt3::closePort(), xsens::Cmt3::createLogFile(), xsens::Cmt3::getAvailableScenarios(), xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusId(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDataLength(), xsens::Cmt3::getDeviceCount(), xsens::Cmt3::getDeviceId(), xsens::Cmt3::getDeviceMode(), xsens::Cmt3::getDeviceMode2(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getFirmwareRevision(), xsens::Cmt3::getGpsLeverArm(), xsens::Cmt3::getGpsStatus(), xsens::Cmt3::getGravityMagnitude(), xsens::Cmt3::getHeading(), xsens::Cmt3::getLocationId(), xsens::Cmt3::getLogFileName(), xsens::Cmt3::getLogFileReadPosition(), xsens::Cmt3::getLogFileSize(), xsens::Cmt3::getMagneticDeclination(), xsens::Cmt3::getMasterId(), xsens::Cmt3::getMtDeviceId(), xsens::Cmt3::getPortNr(), xsens::Cmt3::getProductCode(), xsens::Cmt3::getSampleFrequency(), xsens::Cmt3::getScenario(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncInMode(), xsens::Cmt3::getSyncInOffset(), xsens::Cmt3::getSyncInSettings(), xsens::Cmt3::getSyncInSkipFactor(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getSyncOutMode(), xsens::Cmt3::getSyncOutOffset(), xsens::Cmt3::getSyncOutPulseWidth(), xsens::Cmt3::getSyncOutSettings(), xsens::Cmt3::getSyncOutSkipFactor(), xsens::Cmt3::getUtcTime(), xsens::Cmt3::getXmOutputMode(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::initBus(), xsens::Cmt3::isLogFileOpen(), xsens::Cmt3::openLogFile(), xsens::Cmt3::openPort(), xsens::Cmt3::peekLogMessageId(), xsens::Cmt3::refreshCache(), xsens::Cmt3::reset(), xsens::Cmt3::resetLogFileReadPos(), xsens::Cmt3::resetOrientation(), xsens::Cmt3::restoreFactoryDefaults(), xsens::Cmt3::setBaudrate(), xsens::Cmt3::setBluetoothState(), xsens::Cmt3::setBusPowerState(), xsens::Cmt3::setDataSource(), xsens::Cmt3::setDeviceMode(), xsens::Cmt3::setDeviceMode2(), xsens::Cmt3::setErrorMode(), xsens::Cmt3::setGotoConfigTries(), xsens::Cmt3::setGpsLeverArm(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setLogMode(), xsens::Cmt3::setMagneticDeclination(), xsens::Cmt3::setScenario(), xsens::Cmt3::setSyncInMode(), xsens::Cmt3::setSyncInOffset(), xsens::Cmt3::setSyncInSettings(), xsens::Cmt3::setSyncInSkipFactor(), xsens::Cmt3::setSyncMode(), xsens::Cmt3::setSyncOutMode(), xsens::Cmt3::setSyncOutOffset(), xsens::Cmt3::setSyncOutPulseWidth(), xsens::Cmt3::setSyncOutSettings(), xsens::Cmt3::setSyncOutSkipFactor(), xsens::Cmt3::setTimeoutConfig(), xsens::Cmt3::setTimeoutMeasurement(), xsens::Cmt3::setXmOutputMode(), xsens::Cmt3::setXmPowerOff(), xsens::Cmt3::storeXkfState(), and xsens::Cmt3::writeMessageToLogFile().

#define CMT3LOGDAT (   ...)
#define DO_DATA_REQUEST (   req)
#define DO_DATA_REQUEST_BID (   req,
  bid 
)
Value:
Message snd(req,0);\
Message rcv;\
if (bid == CMT_BID_INVALID || bid == CMT_BID_BROADCAST)\
return (m_lastResult = XRV_INVALIDID);\
if (!m_readFromFile)\
{\
snd.setBusId(bid);\
m_serial.writeMessage(&snd);\
if ((m_lastResult = m_serial.waitForMessage(&rcv,req+1,0,true)) != XRV_OK)\
return m_lastResult;\
if (m_logging)\
m_logFile.writeMessage(&rcv);\
if (rcv.getMessageId() == CMT_MID_ERROR)\
{ m_lastHwErrorDeviceId = m_config.m_masterDeviceId;\
if (rcv.getDataSize() >= 2)\
{\
uint8_t biddy = rcv.getDataByte(1);\
getDeviceId(biddy,m_lastHwErrorDeviceId);\
}\
return m_lastResult = m_lastHwError = (XsensResultValue) rcv.getDataByte();\
}\
}\
else\
while (1)\
{\
if ((m_lastResult = m_logFile.readMessage(&rcv,req+1)) != XRV_OK)\
return m_lastResult;\
if (rcv.getBusId() == bid || (rcv.getBusId() == 1 && bid == CMT_BID_MASTER))\
break;\
}
Operation was performed successfully.
Definition: xsens_std.h:32
unsigned char uint8_t
Definition: rptypes.h:43
Invalid id supplied.
Definition: xsens_std.h:66
XsensResultValue
Xsens return values.
Definition: xsens_std.h:30
#define CMT_MID_ERROR
Definition: cmtdef.h:473
#define CMT_BID_BROADCAST
Definition: cmtdef.h:1193
#define CMT_BID_INVALID
Definition: cmtdef.h:1194
#define CMT_BID_MASTER
Definition: cmtdef.h:59

Definition at line 198 of file cmt3.cpp.

Referenced by xsens::Cmt3::getBatteryLevel(), xsens::Cmt3::getBluetoothState(), xsens::Cmt3::getBusPowerState(), xsens::Cmt3::getErrorMode(), xsens::Cmt3::getSerialBaudrate(), xsens::Cmt3::getSyncMode(), xsens::Cmt3::getXmOutputMode(), and xsens::Cmt3::initBus().

#define DO_DATA_SET (   req,
  size,
  type,
  data 
)
Value:
uint8_t bid = getBusIdInternal(deviceId);\
if (bid == CMT_BID_INVALID)\
return (m_lastResult = XRV_INVALIDID);\
unsigned char uint8_t
Definition: rptypes.h:43
Invalid id supplied.
Definition: xsens_std.h:66
#define DO_DATA_SET_BID(req, size, type, data, bid)
Definition: cmt3.cpp:236
GLint GLenum GLsizei GLint GLsizei const GLvoid * data
Definition: glew.h:1284
GLsizeiptr size
Definition: glew.h:1586
#define CMT_BID_INVALID
Definition: cmtdef.h:1194
GLuint GLuint GLsizei GLenum type
Definition: glew.h:1167
#define deviceId
Definition: CIMUXSens.cpp:41

Definition at line 280 of file cmt3.cpp.

Referenced by xsens::Cmt3::resetOrientation(), xsens::Cmt3::setGravityMagnitude(), xsens::Cmt3::setHeading(), xsens::Cmt3::setLocationId(), xsens::Cmt3::setMagneticDeclination(), and xsens::Cmt3::setScenario().

#define DO_DATA_SET_BID (   req,
  size,
  type,
  data,
  bid 
)
#define HANDLE_ERR_RESULT



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