mti7_mti8device.cpp

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#include "mti7_mti8device.h"
#include <xstypes/xsstatusflag.h>
#include <xstypes/xsvector.h>
 
MTi7_MTi8Device::MTi7_MTi8Device(Communicator* comm)
        : MtiBaseDeviceEx(comm)
{
        if (comm)
                comm->setDefaultTimeout(2000); //Increase the default timeout for MTi-1 devices because a settings write can occasionally take ~900ms
}
 
MTi7_MTi8Device::MTi7_MTi8Device(XsDevice* masterdevice)
        : MtiBaseDeviceEx(masterdevice)
{
}
 
MTi7_MTi8Device::~MTi7_MTi8Device()
{
}
 
namespace
{
int baseFreq(XsDataIdentifier dataType)
{
        switch (dataType & XDI_TypeMask)
        {
                case XDI_None:
                        return 100;
                case XDI_TimestampGroup:
                        return XDI_MAX_FREQUENCY_VAL;
                case XDI_StatusGroup:
                        return 100;
                case XDI_TemperatureGroup:
                        return 100;
                case XDI_PositionGroup:
                        return 100;
                case XDI_VelocityGroup:
                        return 100;
                case XDI_OrientationGroup:
                        return 100;
                case XDI_AccelerationGroup:
                        return 100;
                case XDI_AngularVelocityGroup:
                        return 100;
                case XDI_MagneticGroup:
                        return 100;
                case XDI_PressureGroup:
                        return 50;
                case XDI_GnssGroup:
                {
                        XsDataIdentifier fullType = (dataType & XDI_FullTypeMask);
                        if (fullType == XDI_GnssGroup || fullType == XDI_GnssPvtData)
                                return 4;
                        return 0;
                }
                default:
                        return 0;
        }
}
}
 
MtiBaseDevice::BaseFrequencyResult MTi7_MTi8Device::getBaseFrequencyInternal(XsDataIdentifier dataType) const
{
        BaseFrequencyResult result;
        result.m_frequency = 0;
        result.m_divedable = true;
 
        if ((dataType & XDI_FullTypeMask) == XDI_LocationId || (dataType & XDI_FullTypeMask) == XDI_DeviceId)
                return result;
 
        if ((dataType & XDI_FullTypeMask) == XDI_AccelerationHR || (dataType & XDI_FullTypeMask) == XDI_RateOfTurnHR)
        {
                bool isMtMk4_1_v1 = hardwareVersion().major() == 1;
                bool isMtMk4_1_v2 = hardwareVersion().major() == 2;
                result.m_frequency = isMtMk4_1_v2 ? 800 : 1000;
                result.m_divedable = isMtMk4_1_v1 ? false : true;
 
                return result;
        }
 
        result.m_frequency = baseFreq(dataType);
 
        if (((dataType & XDI_TypeMask) == XDI_TimestampGroup) || ((dataType & XDI_TypeMask) == XDI_GnssGroup))
                result.m_divedable = false;
 
        return result;
}
 
bool MTi7_MTi8Device::hasIccSupport() const
{
        return true;
}
 
uint32_t MTi7_MTi8Device::supportedStatusFlags() const
{
        return (uint32_t)(
                        //|XSF_SelfTestOk
                        XSF_OrientationValid
                        | XSF_GpsValid
                        | XSF_NoRotationMask
                        | XSF_RepresentativeMotion
                        | XSF_ExternalClockSynced
                        | XSF_ClipAccX
                        | XSF_ClipAccY
                        | XSF_ClipAccZ
                        | XSF_ClipGyrX
                        | XSF_ClipGyrY
                        | XSF_ClipGyrZ
                        | XSF_ClipMagX
                        | XSF_ClipMagY
                        | XSF_ClipMagZ
                        //|XSF_Retransmitted
                        | XSF_ClippingDetected
                        //|XSF_Interpolated
                        //|XSF_SyncIn
                        //|XSF_SyncOut
                        | XSF_FilterMode
                        | XSF_HaveGnssTimePulse
                        | (deviceId().isRtk() ? XSF_RtkStatus : 0)
                );
}
 
bool MTi7_MTi8Device::setStringOutputMode(uint16_t /*type*/, uint16_t /*period*/, uint16_t /*skipFactor*/)
{
        return true;
}
 
XsString MTi7_MTi8Device::shortProductCode() const
{
        XsString code = productCode();
 
        if (hardwareVersion() >= XsVersion(2, 0, 0))
                code = stripProductCode(code);
 
        return code;
}
 
bool MTi7_MTi8Device::setGnssLeverArm(const XsVector& arm)
{
        if (!deviceId().isRtk())
                return false;
 
        XsMessage snd(XMID_SetGnssLeverArm, 3 * sizeof(float));
        snd.setBusId(busId());
        snd.setDataFloat((float)arm[0], 0/* sizeof(float)*/);
        snd.setDataFloat((float)arm[1], 1 * sizeof(float));
        snd.setDataFloat((float)arm[2], 2 * sizeof(float));
 
        XsMessage rcv;
        if (!doTransaction(snd, rcv))
                return false;
 
        return true;
}
 
XsVector MTi7_MTi8Device::gnssLeverArm() const
{
        if (!deviceId().isRtk())
                return XsVector();
 
        XsMessage snd(XMID_ReqGnssLeverArm), rcv;
        if (!doTransaction(snd, rcv))
                return XsVector();
 
        XsVector arm(3);
        arm[0] = rcv.getDataFloat(0/* sizeof(float)*/);
        arm[1] = rcv.getDataFloat(1 * sizeof(float));
        arm[2] = rcv.getDataFloat(2 * sizeof(float));
        return arm;
}