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cmt3.cpp File Reference

Detailed Description

For information about objects in this file, see the appropriate header: Cmt3.h

Copyright Notice

Copyright (C) Xsens Technologies B.V., 2006. All rights reserved.

This source code is intended for use only by Xsens Technologies BV and those that have explicit written permission to use it from Xsens Technologies BV.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Changelog

2006-04-28, v0.0.1
  • Job Mulder: Created
2006-07-21, v0.1.0
  • Job Mulder: Updated file for release 0.1.0

Definition in file cmt3.cpp.

#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

◆ CMT3EXITLOG

#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().

◆ CMT3EXITLOGDAT

#define CMT3EXITLOGDAT

◆ CMT3F_DEVINFO_SIZE

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

Definition at line 54 of file cmt3.cpp.

◆ CMT3LOG

#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().

◆ CMT3LOGDAT

#define CMT3LOGDAT (   ...)

◆ DO_DATA_REQUEST

#define DO_DATA_REQUEST (   req)

◆ DO_DATA_REQUEST_BID

#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
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().

◆ DO_DATA_SET

#define DO_DATA_SET (   req,
  size,
  type,
  data 
)
Value:
uint8_t bid = getBusIdInternal(deviceId);\
if (bid == CMT_BID_INVALID)\
return (m_lastResult = XRV_INVALIDID);\
DO_DATA_SET_BID(req,size,type,data,bid);
unsigned char uint8_t
Definition: rptypes.h:43
Invalid id supplied.
Definition: xsens_std.h:66
#define CMT_BID_INVALID
Definition: cmtdef.h:1194
GLsizeiptr size
Definition: glext.h:3779
GLsizei GLsizei GLenum GLenum const GLvoid * data
Definition: glext.h:3520
#define deviceId
Definition: CIMUXSens.cpp:41
GLuint GLuint GLsizei GLenum type
Definition: glext.h:3512

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().

◆ DO_DATA_SET_BID

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

◆ HANDLE_ERR_RESULT

#define HANDLE_ERR_RESULT



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