CIMUXSens_MT4.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/hwdrivers/CIMUXSens_MT4.h>
#include <mrpt/obs/CObservationGPS.h>
#include <mrpt/obs/CObservationIMU.h>

#include <iostream>
#include <thread>

#if MRPT_HAS_xSENS_MT4
/* Copyright (c) Xsens Technologies B.V., 2006-2012. All rights reserved.

      This source code is provided under the MT SDK Software License Agreement
and 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.
 */
#include <xsens/enumerateusbdevices.h>
#include <xsens/int_xsdatapacket.h>
#include <xsens/legacydatapacket.h>
#include <xsens/protocolhandler.h>
#include <xsens/serialinterface.h>
#include <xsens/streaminterface.h>
#include <xsens/usbinterface.h>
#include <xsens/xsbytearray.h>
#include <xsens/xsdatapacket.h>
#include <xsens/xsdeviceid.h>
#include <xsens/xsmessagearray.h>
#include <xsens/xsoutputconfigurationarray.h>
#include <xsens/xsoutputmode.h>
#include <xsens/xsoutputsettings.h>
#include <xsens/xsportinfo.h>
#include <xsens/xsportinfoarray.h>
#include <xsens/xsresultvalue.h>
#include <xsens/xsstatusflag.h>
#include <xsens/xstime.h>

class DeviceClass
{
   public:
    DeviceClass() = default;
    ~DeviceClass() = default;

    /*! \brief Open an IO device
        \param portInfo The info to use for opening the port
        \return True when successful
    */
    bool openPort(const XsPortInfo& portInfo)
    {
        if (portInfo.isUsb())
            m_streamInterface = std::make_unique<UsbInterface>();
        else
            m_streamInterface = std::make_unique<SerialInterface>();

        if (m_streamInterface->open(portInfo) != XRV_OK) return false;
        return true;
    }

    /*! \brief Close an IO device
     */
    void close()
    {
        if (m_streamInterface) m_streamInterface->close();
    }

    /*! \brief Read available data from the open IO device
        \details This function will attempt to read all available data from the
       open device (COM port
        or USB port).
        The function will read from the device, but it won't wait for data to
       become available.
        \param raw A XsByteArray to where the read data will be stored.
        \return Whether data has been read from the IO device
    */
    XsResultValue readDataToBuffer(XsByteArray& raw)
    {
        // always read data and append it to the cache before doing analysis
        const int maxSz = 8192;
        XsResultValue res = m_streamInterface->readData(maxSz, raw);
        if (raw.size()) return XRV_OK;

        return res;
    }

    /*! \brief Read all messages from the buffered read data after adding new
       data supplied in \a rawIn
        \details This function will read all present messages in the read
       buffer. In order for this function
        to work, you need to call readDataToBuffer() first.
        \param rawIn The buffered data in which to search for messages
        \param messages The messages found in the data
        \return The messages that were read.
    */
    XsResultValue processBufferedData(
        XsByteArray& rawIn, XsMessageArray& messages)
    {
        ProtocolHandler protocol;

        if (rawIn.size()) m_dataBuffer.append(rawIn);

        int popped = 0;
        messages.clear();

        for (;;)
        {
            XsByteArray raw(
                m_dataBuffer.data() + popped, m_dataBuffer.size() - popped);
            XsMessage message;
            MessageLocation location = protocol.findMessage(message, raw);

            if (location.isValid())
            {
                // message is valid, remove data from cache
                popped += location.m_size + location.m_startPos;
                messages.push_back(message);
            }
            else
            {
                if (popped) m_dataBuffer.pop_front(popped);

                if (messages.empty()) return XRV_TIMEOUTNODATA;

                return XRV_OK;
            }
        }
    }

    /*! \brief Wait for the requested XsXbusMessageId
        \param xmid The message id to wait for
        \param rcv  The received message
        \return Whether the requested message was found
    */
    bool waitForMessage(XsXbusMessageId xmid, XsMessage& rcv)
    {
        XsByteArray data;
        XsMessageArray msgs;
        bool foundAck = false;
        do
        {
            readDataToBuffer(data);
            processBufferedData(data, msgs);
            for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end();
                 ++it)
                if ((*it).getMessageId() == xmid)
                {
                    foundAck = true;
                    rcv = *it;
                }
        } while (!foundAck);
        return foundAck;
    }

    /*! \brief Write a message to the IO device
        \param msg The message to write
        \return Whether the message could be written
    */
    bool writeMessage(const XsMessage& msg)
    {
        XsByteArray raw;
        if (ProtocolHandler::composeMessage(raw, msg) < 0) return false;

        return (m_streamInterface->writeData(raw) == XRV_OK);
    }

    /*! \brief Put a device in config mode
        \return True when the device acknowledged config mode
    */
    bool gotoConfig()
    {
        XsMessage snd(XMID_GotoConfig, 0), rcv;
        writeMessage(snd);

        return waitForMessage(XMID_GotoConfigAck, rcv);
    }

    /*! \brief Put a device in measurement mode
        \return True when the device acknowledged measurement mode
    */
    bool gotoMeasurement()
    {
        XsMessage snd(XMID_GotoMeasurement, 0), rcv;
        writeMessage(snd);

        return waitForMessage(XMID_GotoMeasurementAck, rcv);
    }

    /*! \brief Request the product code from a device
        \return The product code when ok, otherwise an empty XsString
    */
    XsString getProductCode()
    {
        XsMessage snd(XMID_ReqProductCode, 0), rcv;
        writeMessage(snd);

        if (waitForMessage(XMID_ProductCode, rcv))
        {
            const char* pc = (const char*)rcv.getDataBuffer(0);
            std::string result(pc ? pc : "", rcv.getDataSize());
            std::string::size_type thingy = result.find(" ");
            if (thingy < 20)
                result.erase(
                    result.begin() + thingy, result.end());  // lint !e534
            return XsString(result);
        }
        else
            return XsString();
    }

    /*! \brief Request the device id from a device
        \return The device id (XsDeviceId) when ok, otherwise an empty
       XsDeviceId
    */
    XsDeviceId getDeviceId()
    {
        XsMessage snd(XMID_ReqDid, 0), rcv;
        writeMessage(snd);

        if (waitForMessage(XMID_DeviceId, rcv))
        {
            return rcv.getDataLong();
        }
        else
            return XsDeviceId();
    }

    /*! \brief Set the device mode of a device (outputmode and outputsettings)
        \param outputMode The XsOutputMode to set
        \param outputSettings The XsOutputSettings to set
        \return True when successful
    */
    bool setDeviceMode(
        const XsOutputMode& outputMode, const XsOutputSettings& outputSettings)
    {
        XsMessage sndOM(XMID_SetOutputMode), sndOS(XMID_SetOutputSettings), rcv;

        sndOM.resizeData(2);
        sndOM.setDataShort((uint16_t)outputMode);
        writeMessage(sndOM);
        if (!waitForMessage(XMID_SetOutputModeAck, rcv)) return false;

        XsMessage snd(XMID_SetOutputSettings);
        snd.resizeData(4);
        snd.setDataLong((uint32_t)outputSettings);
        writeMessage(sndOS);
        if (!waitForMessage(XMID_SetOutputSettingsAck, rcv)) return false;

        return true;
    }

    /*! \brief Set the output configuration of a device
        \param config An array XsOutputConfigurationArray) containing the one or
       multiple XsOutputConfigurations
        \return True when successful
    */
    bool setOutputConfiguration(XsOutputConfigurationArray& config)
    {
        XsMessage snd(XMID_SetOutputConfiguration, 4), rcv;
        if (config.size() == 0)
        {
            snd.setDataShort((uint16_t)XDI_None, 0);
            snd.setDataShort(0, 2);
        }
        else
        {
            for (XsSize i = 0; i < (XsSize)config.size(); ++i)
            {
                snd.setDataShort((uint16_t)config[i].m_dataIdentifier, i * 4);
                snd.setDataShort(config[i].m_frequency, i * 4 + 2);
            }
        }
        writeMessage(snd);

        return waitForMessage(XMID_SetOutputConfigurationAck, rcv);
    }

   private:
    std::unique_ptr<StreamInterface> m_streamInterface;
    XsByteArray m_dataBuffer;
};
#endif

// Adaptors for the "void*" memory blocks:
#define my_xsens_device (*static_cast<DeviceClass*>(m_dev_ptr))
#define my_xsens_devid (*static_cast<XsDeviceId*>(m_devid_ptr))

// Include libraries in linking:
#if MRPT_HAS_xSENS_MT4
#ifdef _WIN32
// WINDOWS:
#if defined(_MSC_VER)
#pragma comment(lib, "SetupAPI.lib")
#pragma comment(lib, "WinUsb.lib")
#endif
#endif  // _WIN32
#endif  // MRPT_HAS_xSENS_MT4

IMPLEMENTS_GENERIC_SENSOR(CIMUXSens_MT4, mrpt::hwdrivers)

using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace std;

/*-------------------------------------------------------------
                    CIMUXSens_MT4
-------------------------------------------------------------*/
CIMUXSens_MT4::CIMUXSens_MT4() : m_portname(), m_timeStartTT(), m_sensorPose()

{
    m_sensorLabel = "XSensMTi_MT4";

#if MRPT_HAS_xSENS_MT4
    m_dev_ptr = new DeviceClass;
    m_devid_ptr = new XsDeviceId;
#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT4'=OFF, so this class "
        "cannot be used.");
#endif
}

/*-------------------------------------------------------------
                    ~CIMUXSens_MT4
-------------------------------------------------------------*/
CIMUXSens_MT4::~CIMUXSens_MT4()
{
#if MRPT_HAS_xSENS_MT4
    my_xsens_device.close();
    delete static_cast<DeviceClass*>(m_dev_ptr);
    m_dev_ptr = nullptr;

    delete static_cast<XsDeviceId*>(m_devid_ptr);
    m_devid_ptr = nullptr;
#endif
}

/*-------------------------------------------------------------
                    doProcess
-------------------------------------------------------------*/
void CIMUXSens_MT4::doProcess()
{
#if MRPT_HAS_xSENS_MT4
    if (m_state == ssError)
    {
        std::this_thread::sleep_for(200ms);
        initialize();
    }

    if (m_state == ssError) return;

    XsByteArray data;
    XsMessageArray msgs;

    my_xsens_device.readDataToBuffer(data);
    my_xsens_device.processBufferedData(data, msgs);
    for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end(); ++it)
    {
        // Retrieve a packet
        XsDataPacket packet;
        if ((*it).getMessageId() == XMID_MtData)
        {
            LegacyDataPacket lpacket(1, false);

            lpacket.setMessage((*it));
            lpacket.setXbusSystem(false, false);
            lpacket.setDeviceId(my_xsens_devid, 0);
            lpacket.setDataFormat(
                XOM_Orientation,
                XOS_OrientationMode_Euler | XOS_Timestamp_PacketCounter |
                    XOS_CalibratedMode_All /*XOS_OrientationMode_Quaternion*/,
                0);  // lint !e534
            XsDataPacket_assignFromXsLegacyDataPacket(&packet, &lpacket, 0);
        }
        else if ((*it).getMessageId() == XMID_MtData2)
        {
            packet.setMessage((*it));
            packet.setDeviceId(my_xsens_devid);
        }

        // Data properly collected: extract data fields
        // -------------------------------------------------
        m_state = ssWorking;
        CObservationIMU::Ptr obs = std::make_shared<CObservationIMU>();

        if (packet.containsOrientation())
        {
            XsEuler euler = packet.orientationEuler();
            obs->rawMeasurements[IMU_YAW] = DEG2RAD(euler.yaw());
            obs->dataIsPresent[IMU_YAW] = true;
            obs->rawMeasurements[IMU_PITCH] = DEG2RAD(euler.pitch());
            obs->dataIsPresent[IMU_PITCH] = true;
            obs->rawMeasurements[IMU_ROLL] = DEG2RAD(euler.roll());
            obs->dataIsPresent[IMU_ROLL] = true;

            XsQuaternion quat = packet.orientationQuaternion();
            obs->rawMeasurements[IMU_ORI_QUAT_X] = quat.x();
            obs->dataIsPresent[IMU_ORI_QUAT_X] = true;
            obs->rawMeasurements[IMU_ORI_QUAT_Y] = quat.y();
            obs->dataIsPresent[IMU_ORI_QUAT_Y] = true;
            obs->rawMeasurements[IMU_ORI_QUAT_Z] = quat.z();
            obs->dataIsPresent[IMU_ORI_QUAT_Z] = true;
            obs->rawMeasurements[IMU_ORI_QUAT_W] = quat.w();
            obs->dataIsPresent[IMU_ORI_QUAT_W] = true;
        }

        if (packet.containsCalibratedAcceleration())
        {
            XsVector acc_data = packet.calibratedAcceleration();
            obs->rawMeasurements[IMU_X_ACC] = acc_data[0];
            obs->dataIsPresent[IMU_X_ACC] = true;
            obs->rawMeasurements[IMU_Y_ACC] = acc_data[1];
            obs->dataIsPresent[IMU_Y_ACC] = true;
            obs->rawMeasurements[IMU_Z_ACC] = acc_data[2];
            obs->dataIsPresent[IMU_Z_ACC] = true;
        }

        if (packet.containsCalibratedGyroscopeData())
        {
            XsVector gyr_data = packet.calibratedGyroscopeData();
            obs->rawMeasurements[IMU_YAW_VEL] = gyr_data[2];
            obs->dataIsPresent[IMU_YAW_VEL] = true;
            obs->rawMeasurements[IMU_PITCH_VEL] = gyr_data[1];
            obs->dataIsPresent[IMU_PITCH_VEL] = true;
            obs->rawMeasurements[IMU_ROLL_VEL] = gyr_data[0];
            obs->dataIsPresent[IMU_ROLL_VEL] = true;
        }

        if (packet.containsCalibratedMagneticField())
        {
            XsVector mag_data = packet.calibratedMagneticField();
            obs->rawMeasurements[IMU_MAG_X] = mag_data[0];
            obs->dataIsPresent[IMU_MAG_X] = true;
            obs->rawMeasurements[IMU_MAG_Y] = mag_data[1];
            obs->dataIsPresent[IMU_MAG_Y] = true;
            obs->rawMeasurements[IMU_MAG_Z] = mag_data[2];
            obs->dataIsPresent[IMU_MAG_Z] = true;
        }

        if (packet.containsVelocity())
        {
            XsVector vel_data = packet.velocity();
            obs->rawMeasurements[IMU_X_VEL] = vel_data[0];
            obs->dataIsPresent[IMU_X_VEL] = true;
            obs->rawMeasurements[IMU_Y_VEL] = vel_data[1];
            obs->dataIsPresent[IMU_Y_VEL] = true;
            obs->rawMeasurements[IMU_Z_VEL] = vel_data[2];
            obs->dataIsPresent[IMU_Z_VEL] = true;
        }

        if (packet.containsTemperature())
        {
            obs->rawMeasurements[IMU_TEMPERATURE] = packet.temperature();
            obs->dataIsPresent[IMU_TEMPERATURE] = true;
        }

        if (packet.containsAltitude())
        {
            obs->rawMeasurements[IMU_ALTITUDE] = packet.altitude();
            obs->dataIsPresent[IMU_ALTITUDE] = true;
        }

        // TimeStamp
        if (packet.containsSampleTime64())
        {
            const uint64_t nowUI = packet.sampleTime64();

            uint64_t AtUI = 0;
            if (m_timeStartUI == 0)
            {
                m_timeStartUI = nowUI;
                m_timeStartTT = mrpt::system::now();
            }
            else
                AtUI = nowUI - m_timeStartUI;  // ms

            obs->timestamp = m_timeStartTT + std::chrono::milliseconds(AtUI);
        }
        else if (packet.containsUtcTime())
        {
            XsUtcTime utc = packet.utcTime();

            mrpt::system::TTimeParts parts;

            parts.day_of_week = 0;
            parts.daylight_saving = 0;
            parts.year = utc.m_year;
            parts.month = utc.m_month;
            parts.day = utc.m_day;
            parts.hour = utc.m_hour;
            parts.minute = utc.m_minute;
            parts.second = utc.m_second + (utc.m_nano * 1000000000.0);

            obs->timestamp = mrpt::system::buildTimestampFromParts(parts);
        }
        else
            obs->timestamp = mrpt::system::now();

        obs->sensorPose = m_sensorPose;
        obs->sensorLabel = m_sensorLabel;

        appendObservation(obs);

        if (packet.containsLatitudeLongitude())
        {
            XsVector lla_data = packet.latitudeLongitude();

            CObservationGPS::Ptr obsGPS = CObservationGPS::Create();
            gnss::Message_NMEA_RMC rGPSs;
            gnss::Message_NMEA_RMC::content_t& rGPS = rGPSs.fields;
            rGPS.latitude_degrees = lla_data[0];
            rGPS.longitude_degrees = lla_data[1];

            if (packet.containsStatus() && packet.status() & XSF_GpsValid)
                rGPS.validity_char = 'A';
            else
                rGPS.validity_char = 'V';

            if (packet.containsUtcTime())
            {
                XsUtcTime utc = packet.utcTime();
                rGPS.UTCTime.hour = utc.m_hour;
                rGPS.UTCTime.minute = utc.m_minute;
                rGPS.UTCTime.sec = utc.m_second + (utc.m_nano * 1000000.0);
            }
            else
            {
                rGPS.UTCTime.hour =
                    ((obs->timestamp.time_since_epoch().count() /
                      (60 * 60 * ((uint64_t)1000000 / 100))) %
                     24);
                rGPS.UTCTime.minute =
                    ((obs->timestamp.time_since_epoch().count() /
                      (60 * ((uint64_t)1000000 / 100))) %
                     60);
                rGPS.UTCTime.sec = fmod(
                    obs->timestamp.time_since_epoch().count() /
                        (1000000.0 / 100),
                    60);
            }

            if (packet.containsVelocity())
            {
                XsVector vel_data = packet.velocity();

                rGPS.speed_knots =
                    sqrt(vel_data[0] * vel_data[0] + vel_data[1] * vel_data[1]);
                rGPS.direction_degrees = 0;  // Could be worked out from
                // velocity and magnatic field
                // perhaps.
            }
            else
                rGPS.speed_knots = rGPS.direction_degrees = 0;

            obsGPS->setMsg(rGPSs);
            obsGPS->timestamp = obs->timestamp;
            obsGPS->originalReceivedTimestamp = obs->timestamp;
            obsGPS->has_satellite_timestamp = false;
            obsGPS->sensorPose = m_sensorPose;
            obsGPS->sensorLabel = m_sensorLabel;

            appendObservation(obsGPS);
        }
    }
    msgs.clear();
#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT4'=OFF, so this class "
        "cannot be used.");
#endif
}

/*-------------------------------------------------------------
                    initialize
-------------------------------------------------------------*/
void CIMUXSens_MT4::initialize()
{
#if MRPT_HAS_xSENS_MT4
    m_state = ssInitializing;

    try
    {
        // Try to open a specified device, or scan the bus?
        XsPortInfoArray portInfoArray;

        if (m_portname.empty())
        {
            if (m_verbose)
                cout << "[CIMUXSens_MT4] Scanning for USB devices...\n";
            xsEnumerateUsbDevices(portInfoArray);

            if (portInfoArray.empty())
                THROW_EXCEPTION(
                    "CIMUXSens_MT4: No 'portname' was specified and no XSens "
                    "device was found after scanning the system!");

            if (m_verbose)
                cout << "[CIMUXSens_MT4] Found " << portInfoArray.size()
                     << " devices. Opening the first one.\n";
        }
        else
        {
            XsPortInfo portInfo(
                m_portname, XsBaud::numericToRate(m_port_bauds));
            if (m_verbose)
                cout << "[CIMUXSens_MT4] Using user-supplied portname '"
                     << m_portname << "' at " << m_port_bauds << " baudrate.\n";
            portInfoArray.push_back(portInfo);
        }

        // Use the first detected device
        XsPortInfo mtPort = portInfoArray.at(0);

        // Open the port with the detected device
        cout << "[CIMUXSens_MT4] Opening port "
             << mtPort.portName().toStdString() << std::endl;

        if (!my_xsens_device.openPort(mtPort))
            throw std::runtime_error("Could not open port. Aborting.");

        // Put the device in configuration mode
        if (m_verbose)
            cout << "[CIMUXSens_MT4] Putting device into configuration "
                    "mode...\n";
        if (!my_xsens_device.gotoConfig())  // Put the device into configuration
            // mode before configuring the
            // device
            throw std::runtime_error(
                "Could not put device into configuration mode. Aborting.");

        // Request the device Id to check the device type
        mtPort.setDeviceId(my_xsens_device.getDeviceId());

        my_xsens_devid = mtPort.deviceId();

        // Check if we have an MTi / MTx / MTmk4 device
        if (!mtPort.deviceId().isMtix() && !mtPort.deviceId().isMtMk4())
        {
            throw std::runtime_error(
                "No MTi / MTx / MTmk4 device found. Aborting.");
        }
        cout << "[CIMUXSens_MT4] Found a device with id: "
             << mtPort.deviceId().toString().toStdString()
             << " @ port: " << mtPort.portName().toStdString()
             << ", baudrate: " << mtPort.baudrate() << std::endl;

        // Print information about detected MTi / MTx / MTmk4 device
        if (m_verbose)
            cout << "[CIMUXSens_MT4] Device: "
                 << my_xsens_device.getProductCode().toStdString() << " opened."
                 << std::endl;

        // Configure the device. Note the differences between MTix and MTmk4
        if (m_verbose)
            cout << "[CIMUXSens_MT4] Configuring the device..." << std::endl;
        if (mtPort.deviceId().isMtix())
        {
            XsOutputMode outputMode =
                XOM_Orientation;  // output orientation data
            XsOutputSettings outputSettings =
                XOS_OrientationMode_Euler | XOS_Timestamp_PacketCounter |
                XOS_CalibratedMode_All;  // XOS_OrientationMode_Quaternion; //
            // output orientation data as
            // quaternion

            // set the device configuration
            if (!my_xsens_device.setDeviceMode(outputMode, outputSettings))
                throw std::runtime_error(
                    "Could not configure MT device. Aborting.");
        }
        else if (mtPort.deviceId().isMtMk4())
        {
            XsOutputConfigurationArray configArray;
            configArray.push_back(
                XsOutputConfiguration(XDI_SampleTime64, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_SampleTimeFine, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_SampleTimeCoarse, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_Quaternion, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_Temperature, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_Acceleration, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_RateOfTurn, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_MagneticField, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_VelocityXYZ, m_sampleFreq));

            configArray.push_back(
                XsOutputConfiguration(XDI_StatusByte, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_LatLon, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_UtcTime, m_sampleFreq));
            configArray.push_back(
                XsOutputConfiguration(XDI_AltitudeEllipsoid, m_sampleFreq));

            if (!my_xsens_device.setOutputConfiguration(configArray))
                throw std::runtime_error(
                    "Could not configure MTmk4 device. Aborting.");
        }
        else
        {
            throw std::runtime_error(
                "Unknown device while configuring. Aborting.");
        }

        // Put the device in measurement mode
        if (m_verbose)
            cout << "[CIMUXSens_MT4] Putting device into measurement mode..."
                 << std::endl;
        if (!my_xsens_device.gotoMeasurement())
            throw std::runtime_error(
                "Could not put device into measurement mode. Aborting.");

        m_state = ssWorking;
    }
    catch (std::exception&)
    {
        m_state = ssError;
        std::cerr << "Error Could not initialize the device" << std::endl;
        throw;
    }

#else
    THROW_EXCEPTION(
        "MRPT has been compiled with 'BUILD_XSENS_MT4'=OFF, so this class "
        "cannot be used.");
#endif
}

/*-------------------------------------------------------------
                    loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CIMUXSens_MT4::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection, "pose_x", 0, false),
        configSource.read_float(iniSection, "pose_y", 0, false),
        configSource.read_float(iniSection, "pose_z", 0, false),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0, false)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0, false)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0, false)));

    m_sampleFreq =
        configSource.read_int(iniSection, "sampleFreq", m_sampleFreq, false);

    m_port_bauds =
        configSource.read_int(iniSection, "baudRate", m_port_bauds, false);

#ifdef _WIN32
    m_portname =
        configSource.read_string(iniSection, "portname_WIN", m_portname, false);
#else
    m_portname =
        configSource.read_string(iniSection, "portname_LIN", m_portname, false);
#endif
}