mtibasedevice.h

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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.
//  
 
#ifndef XSMTIBASEDEVICE_H
#define XSMTIBASEDEVICE_H
 
#include "mtdevice.h"
#include <xstypes/xssyncline.h>
 
class MtiBaseDevice : public MtDeviceEx
{
public:
        static XsDevice* constructAsMaster(Communicator* comm)
        {
                return new MtiBaseDevice(comm);
        }
 
        explicit MtiBaseDevice(Communicator* comm);
        explicit MtiBaseDevice(XsDevice* master);
        virtual ~MtiBaseDevice();
 
        XsOutputConfigurationArray outputConfiguration() const;
 
        XsResultValue setOutputConfigurationInternal(XsOutputConfigurationArray& o) override;
 
        int getBaseFrequency(XsDataIdentifier dataType = XDI_None) const override;
        std::vector<int> supportedUpdateRates(XsDataIdentifier dataType = XDI_None) const override;
 
        bool setAlignmentRotationMatrix(XsAlignmentFrame frame, const XsMatrix& matrix) override;
        XsMatrix alignmentRotationMatrix(XsAlignmentFrame frame) const override;
        bool setAlignmentRotationQuaternion(XsAlignmentFrame frame, const XsQuaternion& quat) override;
        XsQuaternion alignmentRotationQuaternion(XsAlignmentFrame frame) const override;
 
        bool setHeadingOffset(double offset);
 
        XsSyncSettingArray syncSettings() const override;
        bool setSyncSettings(const XsSyncSettingArray& s) override;
 
        bool setNoRotation(uint16_t duration);
 
        bool setInitialPositionLLA(const XsVector& lla);
        XsTimeInfo utcTime() const;
        bool setUtcTime(const XsTimeInfo& time);
 
        XsErrorMode errorMode() const override;
        bool setErrorMode(XsErrorMode errorMode) override;
        uint16_t rs485TransmissionDelay() const;
        bool setRs485TransmissionDelay(uint16_t delay);
 
        bool startRepresentativeMotion() override;
        bool representativeMotionState() override;
        XsIccRepMotionResult stopRepresentativeMotion() override;
        bool storeIccResults() override;
 
        struct BaseFrequencyResult
        {
                int m_frequency; 
                bool m_divedable; 
        };
 
protected:
        virtual int calculateUpdateRate(XsDataIdentifier dataType) const;
 
        virtual int calculateUpdateRateImp(XsDataIdentifier dataType, const XsOutputConfigurationArray& configurations) const;
 
        virtual XsSyncLine syncSettingsLine(const uint8_t* buff, XsSize offset) const;
        virtual uint8_t syncLine(const XsSyncSetting& setting) const;
        virtual XsSyncSettingArray syncSettingsFromBuffer(const uint8_t* buffer) const;
 
        bool resetRemovesPort() const override;
 
        virtual BaseFrequencyResult getBaseFrequencyInternal(XsDataIdentifier dataType = XDI_None) const
        {
                (void) dataType;
                return BaseFrequencyResult();
        };
 
        virtual bool hasIccSupport() const;
        virtual bool deviceUsesOnBoardFiltering();
 
        void fetchAvailableHardwareScenarios() override;
};
 
#ifndef XDA_PRIVATE_BUILD
 
struct MtiBaseDeviceEx : public MtiBaseDevice
{
        explicit MtiBaseDeviceEx(Communicator* comm) : MtiBaseDevice(comm) { };
 
        explicit MtiBaseDeviceEx(XsDevice* master) : MtiBaseDevice(master) { };
};
#else
#include "mtibasedeviceex.h"
#endif
 
#endif