The MTi device used for the 8X0-series. More...

#include <mti8x0device.h>

Inheritance diagram for Mti8X0Device:

[legend]

Public Member Functions
uint32_t	canConfiguration () const override
	Returns the currently configured CAN configuration of the device. More...

XsCanOutputConfigurationArray	canOutputConfiguration () const override
	Returns the currently configured CAN output of the device. More...

	Mti8X0Device (Communicator *comm)
	Constructs a device. More...

	Mti8X0Device (XsDevice *master)
	An empty constructor for a master device. More...

XsIntArray	portConfiguration () const override
	Get the current port configuration of a device. More...

bool	setCanConfiguration (uint32_t config) override
	Set the CAN output configuration for this device. More...

bool	setCanOutputConfiguration (XsCanOutputConfigurationArray &config) override
	Set the CAN output configuration for this device. More...

bool	setPortConfiguration (XsIntArray &config) override
	Change the port configuration of a device. More...

bool	setStringOutputMode6x0 (uint32_t type, uint16_t frequency)
	Sets the string output mode for this device. More...

XsString	shortProductCode () const override
	Return the shortened product code of the device suitable for display. More...

uint32_t	supportedStatusFlags () const override
	Returns a bitmask with all the status flags supported by this device. More...

XsStringOutputTypeArray	supportedStringOutputTypes () const override
	Ask the device for its supported string output types. More...

virtual	~Mti8X0Device ()
	Destroys a device. More...

Public Member Functions inherited from MtiBaseDeviceEx
	MtiBaseDeviceEx (Communicator *comm)
	Constructs a device. More...

	MtiBaseDeviceEx (XsDevice *master)
	Constructs a device. More...

Public Member Functions inherited from MtiBaseDevice
XsMatrix	alignmentRotationMatrix (XsAlignmentFrame frame) const override
	Retrieve the alignment rotation matrix to rotate S to the chosen frame S'. More...

XsQuaternion	alignmentRotationQuaternion (XsAlignmentFrame frame) const override
	Retrieve the alignment rotation quaternion. More...

XsErrorMode	errorMode () const override
	Returns the error mode of the device. More...

int	getBaseFrequency (XsDataIdentifier dataType=XDI_None) const override

	MtiBaseDevice (Communicator *comm)
	Constructs a device. More...

	MtiBaseDevice (XsDevice *master)
	Constructs a child device for a master device. More...

XsOutputConfigurationArray	outputConfiguration () const
	Returns the currently configured output of the device. More...

bool	representativeMotionState () override

uint16_t	rs485TransmissionDelay () const
	Returns the transmission delay used for RS485 transmissions. More...

bool	setAlignmentRotationMatrix (XsAlignmentFrame frame, const XsMatrix &matrix) override
	Set an arbitrary alignment rotation matrix Use to rotate either L to the chosen frame L' or S to the chosen frame S'. More...

bool	setAlignmentRotationQuaternion (XsAlignmentFrame frame, const XsQuaternion &quat) override
	Set an arbitrary alignment rotation matrix Use to rotate either L to the chosen frame L' or S to the chosen frame S'. More...

bool	setErrorMode (XsErrorMode errorMode) override
	Sets the error mode of the device. More...

bool	setHeadingOffset (double offset)
	Set the 'heading offset' setting of the device. More...

bool	setInitialPositionLLA (const XsVector &lla)
	Sets the 'Latitude Longitude Altitude' setting of the device to the given vector. More...

bool	setNoRotation (uint16_t duration)
	Set the no rotation period to duration. More...

XsResultValue	setOutputConfigurationInternal (XsOutputConfigurationArray &o) override
	Set the output configuration for this device. More...

bool	setRs485TransmissionDelay (uint16_t delay)
	Set the transmission delay used for RS485 transmissions. More...

bool	setSyncSettings (const XsSyncSettingArray &s) override
	Set the synchronization settings of the device. More...

bool	setUtcTime (const XsTimeInfo &time)
	Sets the 'UTC Time' setting of the device to the given time. More...

bool	startRepresentativeMotion () override
	Starts the representative motion. More...

XsIccRepMotionResult	stopRepresentativeMotion () override
	Stops the representative motion. More...

bool	storeIccResults () override
	Stores the ICC results. More...

std::vector< int >	supportedUpdateRates (XsDataIdentifier dataType=XDI_None) const override
	Ask the device for its supported update rates for the given dataType. More...

XsSyncSettingArray	syncSettings () const override
	Get all the current synchronization settings of the device. More...

XsTimeInfo	utcTime () const
	Gets the 'UTC Time' setting of the device. More...

virtual	~MtiBaseDevice ()

Public Member Functions inherited from MtDevice
double	accelerometerRange () const

XsFilterProfileArray	availableOnboardFilterProfiles () const override
	Return the list of filter profiles available on the device. More...

virtual bool	canDoOrientationResetInFirmware (XsResetMethod method)
	Checks if this device can do orientation reset in firmware. More...

XsDeviceOptionFlag	deviceOptionFlags () const override
	Returns the device option flags. More...

XsIntArray	gnssReceiverSettings () const override
	Gets some GNSS receiver settings. More...

double	gyroscopeRange () const

XsVersion	hardwareVersion () const
	Return the hardware version of the device. More...

double	headingOffset () const
	The heading offset set for this device. More...

bool	initialize () override
	Initialize the Mt device using the supplied filter profiles. More...

XsVector	initialPositionLLA () const override

bool	isMotionTracker () const override

int	locationId () const
	Get the location ID of the device. More...

bool	messageLooksSane (const XsMessage &msg) const override
	Checks for the sanity of a message. More...

XsFilterProfile	onboardFilterProfile () const override
	Gets the filter profile in use by the device for computing orientations. More...

XsString	productCode () const
	Return the product code of the device. More...

bool	reinitialize ()
	Reinitialize the XsDevice. More...

bool	requestData ()
	Request data from the motion tracker. More...

bool	restoreFactoryDefaults ()
	Restore to factory default settings. More...

XsSelfTestResult	runSelfTest ()
	Run a self test. More...

virtual bool	scheduleOrientationReset (XsResetMethod method)

XsBaudRate	serialBaudRate () const override
	The baud rate configured for cabled connection. More...

bool	setGnssReceiverSettings (const XsIntArray &gnssReceiverSettings) override
	Sets some GNSS receiver settings. More...

virtual bool	setLocationId (int id)
	Set the location ID of the device. More...

bool	setOnboardFilterProfile (int profileType) override
	Sets the filter profile to use for computing orientations on the device. More...

bool	setOnboardFilterProfile (XsString const &profileType) override
	Sets the filter profile to use for computing orientations on the device. More...

bool	setUbloxGnssPlatform (XsUbloxGnssPlatform ubloxGnssPlatform) override
	Set the device GNSS platform for u-blox GNSS receivers. More...

virtual bool	storeAlignmentMatrix ()
	Store the current alignment matrix in the device. More...

bool	storeFilterState () override
	Store orientation filter state in the device. More...

uint16_t	stringOutputType () const override
	Returns the string output type. More...

uint16_t	stringSamplePeriod () const override
	Returns the sample period for string output. More...

uint16_t	stringSkipFactor () const override
	Returns the skipfactor for string output. More...

XsUbloxGnssPlatform	ubloxGnssPlatform () const override
	Returns the device GNSS platform for u-blox GNSS receivers. More...

int	updateRateForDataIdentifier (XsDataIdentifier dataType) const override
	Returns the currently configured update rate for the supplied dataType. More...

void	writeDeviceSettingsToFile () override
	Write the emts of the device to the open logfile. More...

virtual	~MtDevice ()
	Destroys the MtDevice. More...

bool	resetLogFileReadPosition () override
	Set the read position of the open log file to the start of the file. More...

Public Member Functions inherited from XsDevice
virtual bool	abortFlushing ()
	Abort the wireless flushing operation and finalize the recording. More...

virtual bool	abortLoadLogFile ()
	Aborts loading a logfile. More...

virtual bool	acceptConnection ()
	Accept connections from the device on the parent/master device. More...

virtual XsAccessControlMode	accessControlMode () const
	Request the access control mode of the master device. More...

virtual void	addRef ()
	Increase reference count of XsDevice pointer XsDevice pointers stay alive while reference counter is not zero Also increases the reference count of each child device with 1. More...

virtual std::shared_ptr< ReplyObject >	addReplyObject (XsXbusMessageId messageId, uint8_t data)

virtual XsResultValue	applyConfigFile (const XsString &filename)
	Loads a config file(.xsa) and configures the device accordingly. More...

virtual bool	areOptionsEnabled (XsOption options) const
	Returns true when all the specified processing options are enabled. More...

virtual XsFilterProfileArray	availableXdaFilterProfiles () const
	Return the list of filter profiles available on the host PC. More...

virtual int	batteryLevel () const
	Get the batterylevel of this device The battery level is a value between 0 and 100 that indicates the remaining capacity as a percentage. Due to battery characteristics, this is not directly the remaining time, but just a rough indication. More...

virtual XsTimeStamp	batteryLevelTime ()
	Requests the time the battery level was last updated. More...

virtual XsBaudRate	baudRate () const
	Get the baud rate (communication speed) of the serial port on which the given deviceId is connected. More...

virtual int	busId () const
	The bus ID for this device. More...

int	cacheSize () const
	Get the number of items currently in the slow data cache for the device. More...

virtual void XSNOEXPORT	checkDataCache ()

virtual int	childCount () const
	Return the number of child-devices this device has. For standalone devices this is always 0. More...

virtual std::vector< XsDevice * >	children () const
	Return a managed array containing the child-devices this device has. For standalone devices this is always an empty array. More...

virtual bool	closeLogFile ()
	Close the log file. More...

Communicator XSNOEXPORT *	communicator () const

virtual XsConnectivityState	connectivityState () const
	Returns the connectivity state of the device. More...

virtual XsResultValue	createConfigFile (const XsString &filename)
	Stores the current device configuration in a config file(.xsa) More...

XsResultValue	createLogFile (const XsString &filename)
	Create a log file for logging. More...

virtual XsDeviceIdArray	currentAccessControlList () const
	Request the access control list of the master device. More...

virtual int	dataLength () const
	Returns the length of the data in the legacy MTData packets that the device will send in measurement mode. More...

virtual void XSNOEXPORT	deinitializeSoftwareCalibration ()

virtual XsDevice *	deviceAtBusId (int busid)
	Return the device with bus ID busid. More...

const XsDevice *	deviceAtBusIdConst (int busid) const
	Return the device with bus ID busid. More...

virtual uint32_t	deviceBufferSize ()
	Request the size of the interal buffer. More...

XsDeviceConfiguration	deviceConfiguration () const
	Returns the device configuration. More...

virtual XsDeviceConfiguration const &XSNOEXPORT	deviceConfigurationConst () const

XsDeviceConfiguration &XSNOEXPORT	deviceConfigurationRef ()

XsDeviceId const &	deviceId () const
	Return the device ID of the device. More...

virtual bool	deviceIsDocked (XsDevice *dev) const
	Check if the device is docked. More...

virtual XsResultValue	deviceParameter (XsDeviceParameter &parameter) const
	Retrieves the requested parameter's current value. More...

virtual XsDeviceState	deviceState () const
	Return the state of this device. More...

virtual bool	disableProtocol (XsProtocolType protocol)
	Disable a communication protocol previously added by XsDevice::enableProtocol. More...

virtual bool	disableRadio ()
	Disables the radio for this station, resetting all children to disconnected state. More...

virtual void	discardRetransmissions (int64_t firstNewPacketId)
	Tell XDA and the device that any data from before firstNewPacketId may be lossy. More...

virtual bool	enableProtocol (XsProtocolType protocol)
	Enable an additional communication protocol when reading messages. More...

virtual bool	enableRadio (int channel)
	Set the radio channel to use for wireless communication. More...

virtual XsDevice *	findDevice (XsDeviceId const &deviceid) const
	Find the child device with deviceid. More...

XsDevice const *	findDeviceConst (XsDeviceId const &deviceid) const
	Find the child device with deviceid. More...

virtual XsVersion	firmwareVersion () const
	Return the firmware version. More...

virtual void	flushInputBuffers ()
	Clear the inbound data buffers of the device. More...

virtual XsDataPacket	getDataPacketByIndex (XsSize index) const
	Return the cached data packet with index. More...

XsSize	getDataPacketCount () const
	Return the current size of the retained data packet cache. More...

virtual XsDevice *	getDeviceFromLocationId (uint16_t locId)
	Get the device given locId. More...

XsOption	getOptions () const
	Return the currently enabled options. More...

int64_t	getStartRecordingPacketId () const
	Return the ID of the first packet that should be recorded. More...

int64_t	getStopRecordingPacketId () const
	Return the ID of the last packet that should be recorded. More...

virtual XsVector	gnssLeverArm () const

XSNOEXPORT XSDEPRECATED XsGnssPlatform	gnssPlatform () const

virtual bool	gotoConfig ()
	Put the device in config mode. More...

virtual bool	gotoMeasurement ()
	Put this device in measurement mode. More...

virtual double	gravityMagnitude () const
	Returns the 'Gravity Magnitude' of the device. More...

virtual XSNOEXPORT void	handleDataPacket (const XsDataPacket &packet)

virtual XSNOEXPORT void	handleErrorMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleMasterIndication (const XsMessage &message)

virtual XSNOEXPORT void	handleMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleNonDataMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleUnavailableData (int64_t frameNumber)

virtual XSNOEXPORT void	handleWakeupMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleWarningMessage (const XsMessage &msg)

virtual bool	hasDataEnabled (XsDataIdentifier dataType) const
	Returns if the currently configured output contains dataType. More...

virtual bool	hasProcessedDataEnabled (XsDataIdentifier dataType) const
	Returns if the currently configured output contains dataType after processing on the host. More...

virtual bool XSNOEXPORT	initializeSoftwareCalibration ()

virtual bool	isBlueToothEnabled () const
	Returns true if the device has its BlueTooth radio enabled. More...

virtual bool	isBusPowerEnabled () const
	Returns if the Xbus is powering its child devices or not. More...

virtual bool	isContainerDevice () const
	Returns true if this device can have child devices. More...

virtual bool	isFixedGravityEnabled () const
	Returns if the fixed gravity value should be used or if it should be computed from the initialPositionLLA value. More...

virtual bool	isInitialBiasUpdateEnabled () const
	Returns if the device does gyroscope bias estimation when switching to measurement mode. More...

bool	isInitialized () const
	Returns true when the device is initialized. More...

virtual bool	isInStringOutputMode () const
	Returns if the device is outputting data in string mode. More...

virtual bool	isInSyncStationMode ()

bool	isLoadLogFileInProgress () const
	Returns true if the file operation started by loadLogFile is still in progress. More...

bool	isMasterDevice () const
	Returns true if this is the master device (not a child of another device) More...

virtual bool	isMeasuring () const
	Returns true if the device is currently in a measuring state. More...

virtual bool	isOperational () const

virtual bool	isProtocolEnabled (XsProtocolType protocol) const

virtual bool	isRadioEnabled () const
	Returns if the radio is enabled. More...

virtual bool	isReadingFromFile () const
	Returns true if the device is reading from a file. More...

virtual bool	isRecording () const
	Returns true if the device is currently in a recording state. More...

bool	isStandaloneDevice () const
	Returns true if this is a standalone device (not a child of another device and not a container device) More...

virtual bool	isSyncMaster () const
	returns whether this device is in a master role regarding the device synchronization More...

virtual bool	isSyncSlave () const
	returns whether this device is in a slave role regarding the device synchronization More...

XsDataPacket	lastAvailableLiveData () const
	Return the last available live data. More...

virtual int16_t	lastKnownRssi () const
	Returns the last known RSSI value of the device. More...

XsResultValue	lastResult () const
	Get the result value of the last operation. More...

XsString	lastResultText () const
	Get the accompanying error text for the value returned by lastResult() It may provide situation-specific information instead. More...

virtual bool	loadLogFile ()
	Load a complete logfile. More...

virtual DataLogger XSNOEXPORT *	logFileInterface (std::unique_ptr< xsens::Lock > &myLock) const

virtual XsString	logFileName () const
	Get the name of the log file the device is reading from. More...

XsFilePos	logFileReadPosition () const
	Get the current read position of the open log file. More...

XsFilePos	logFileSize () const
	Get the size of the log file the device is reading from. More...

virtual bool	makeOperational ()
	Sets the Awinda station to operational state. More...

virtual XsDevice *	master () const
	Return the master device of this device. More...

virtual int	maximumUpdateRate () const
	Get the maximum update rate for the device. More...

xsens::GuardedMutex *	mutex () const

virtual XsMatrix	objectAlignment () const
	Returns the object alignment matrix of the device. More...

virtual XsOperationalMode	operationalMode () const
	Returns the operational mode. More...

bool	operator< (const XsDevice &dev) const
	Compare device ID with that of dev. More...

bool	operator< (XsDeviceId const &devId) const
	Compare device ID with devId. More...

bool	operator== (const XsDevice &dev) const
	Compare device ID with that of dev. More...

bool	operator== (XsDeviceId const &devId) const
	Compare device ID with devId. More...

virtual int	packetErrorRate () const
	Returns the packet error rate for the for the device. More...

virtual XsPortInfo	portInfo () const
	The port information of the connection. More...

virtual XsString	portName () const
	The port name of the connection. More...

virtual bool	powerDown ()
	Tell the device to power down completely. More...

virtual XSNOEXPORT void	prepareForTermination ()

virtual XsOutputConfigurationArray	processedOutputConfiguration () const
	Return the full output configuration including post processing outputs. More...

virtual int	radioChannel () const
	Returns the radio channel used for wireless communication. More...

virtual XSNOEXPORT bool	readEmtsAndDeviceConfiguration ()

virtual XsByteArray	readMetaDataFromLogFile ()
	Returns internal meta-data about the recording that some devices store in the mtb logfile. More...

int	recordingQueueLength () const
	Get the number of packets currently waiting in the slow data cache for the device based. More...

XsSize	refCounter () const
	The current reference counter. More...

virtual bool	rejectConnection ()
	Reject connections from the device on the parent/master device. More...

virtual XsRejectReason	rejectReason () const
	Returns the reason why a device's connection was rejected. More...

virtual void	removeRef ()
	Decrease this XsDevices reference counter with 1. More...

virtual bool	reopenPort (bool gotoConfig, bool skipDeviceIdCheck=false)
	Reopens a port Uses rescan method to redetect a device. Also if USB descriptor has changed. More...

virtual bool	replaceFilterProfile (XsFilterProfile const &profileCurrent, XsFilterProfile const &profileNew)
	Replaces profileCurrent by profileNew in the device. More...

virtual bool	requestBatteryLevel ()
	Request the battery level from the device. More...

virtual XSNOEXPORT bool	requestUtcTime ()

virtual bool	reset ()
	Reset the device. More...

virtual XSNOEXPORT bool	reset (bool skipDeviceIdCheck)

virtual bool	resetOrientation (XsResetMethod resetmethod)
	Perform an orientation reset on the device using the given resetMethod. More...

virtual void	restartFilter ()
	Restart the software filter used by this device. More...

virtual bool	sendCustomMessage (const XsMessage &messageSend, bool waitForResult, XsMessage &messageReceive, int timeout=0)
	Send a custom message messageSend to the device and possibly wait for a result. More...

virtual XSNOEXPORT bool	sendCustomMessage (const XsMessage &messageSend, bool waitForResult, XsXbusMessageId messageId, XsMessage &messageReceive, int timeout=0)

virtual bool	sendRawMessage (const XsMessage &message)
	Send a message directly to the communicator. More...

virtual bool	setAccessControlMode (XsAccessControlMode mode, const XsDeviceIdArray &initialList)
	Set the access control mode of the master device. More...

virtual bool	setBlueToothEnabled (bool enabled)
	Enable or disable the BlueTooth radio of the device. More...

virtual bool	setBusPowerEnabled (bool enabled)
	Tell the Xbus to provide power to its child devices or not. More...

virtual bool	setDeviceAccepted (const XsDeviceId &deviceId)
	Accepts a device. More...

virtual bool	setDeviceBufferSize (uint32_t frames)
	Request the device to set it's internal buffer to the specified size. More...

virtual bool	setDeviceOptionFlags (XsDeviceOptionFlag setFlags, XsDeviceOptionFlag clearFlags)
	Set the device option flags. More...

virtual XsResultValue	setDeviceParameter (XsDeviceParameter const &parameter)
	Sets the given parameter for the device. More...

virtual bool	setDeviceRejected (const XsDeviceId &deviceId)
	Rejects a device. More...

virtual bool	setFixedGravityEnabled (bool enable)
	Sets whether the fixed gravity value should be used or if it should be computed from the initialPositionLLA value. More...

virtual bool	setGnssLeverArm (const XsVector &arm)
	Sets the GNSS Lever Arm vector. More...

XSNOEXPORT virtual XSDEPRECATED bool	setGnssPlatform (XsGnssPlatform gnssPlatform)

void	setGotoConfigOnClose (bool gotoConfigOnClose)
	On closePort the device will go to config by default, with this function it is possible to prevent that. More...

virtual bool	setGravityMagnitude (double mag)
	Sets the 'Gravity Magnitude' of the device to the given value mag. More...

virtual bool	setInitialBiasUpdateEnabled (bool enable)
	Set if the device does gyroscope bias estimation when switching to measurement mode. More...

virtual bool	setObjectAlignment (const XsMatrix &matrix)
	Sets the object alignment of the device to the given matrix. More...

virtual bool	setOperationalMode (XsOperationalMode mode)
	Set the device in the given operational mode. More...

virtual void	setOptions (XsOption enable, XsOption disable)
	Enable and disable processing options. More...

bool	setOutputConfiguration (XsOutputConfigurationArray &config)
	Set the output configuration for this device. More...

virtual XSNOEXPORT void	setPacketErrorRate (int per)

virtual bool	setSerialBaudRate (XsBaudRate baudrate)
	Change the serial baudrate to baudrate. More...

XSNOEXPORT void	setSkipEmtsReadOnInit (bool skip)

virtual bool	setStealthMode (bool enabled)
	Enable or disable stealth mode. More...

virtual bool	setStringOutputMode (uint16_t type, uint16_t period, uint16_t skipFactor)
	Sets the string output mode for this device. More...

virtual bool	setSyncStationMode (bool enabled)
	Set the Sync Station mode of the Awinda Station device. More...

virtual bool	setTransportMode (bool transportModeEnabled)
	Enable or disable the transport mode for the device. More...

virtual bool	setUpdateRate (int rate)
	Set the legacy update rate of the device. More...

virtual bool	setWirelessPriority (int priority)
	Sets the wireless priority of the device. More...

virtual bool	setXdaFilterProfile (int profileType)
	Sets the filter profile to use for computing orientations on the host PC. More...

virtual bool	setXdaFilterProfile (XsString const &profileType)
	Sets the filter profile to use for computing orientations on the host PC. More...

virtual bool	startRecording ()
	Start recording incoming data. More...

virtual bool	stealthMode () const
	Return the state of the stealth mode setting. More...

virtual bool	stopRecording ()
	Stop recording incoming data. More...

virtual XsDevice *	subDevice (int subDeviceId) const
	Returns the sub-device at index index. More...

virtual int	subDeviceCount () const
	Returns the number of sub-devices of this device. More...

virtual XsSyncSettingArray	supportedSyncSettings () const
	Get all supported synchronization settings available on the device. More...

virtual XsSyncRole	syncRole () const
	Returns the synchronization role of the device. More...

XsDataPacket	takeFirstDataPacketInQueue ()
	Return the first packet in the packet queue or an empty packet if the queue is empty. More...

template<typename T >
XSNOEXPORT T *	toType ()

virtual bool	transportMode ()
	Returns the current state of the transport mode feature. More...

virtual bool	triggerStartRecording ()
	Start recording incoming data through generating a virtual input trigger. More...

virtual bool	updateCachedDeviceInformation ()
	Updates the cached device information for all devices connected to this port. More...

virtual XsResultValue	updatePortInfo (XsPortInfo const &newInfo)
	Update the connection information, this is only useful for devices communicating over a dynamic link such as a TCP/IP connection. More...

virtual int	updateRate () const
	Get the legacy update rate of the device. More...

virtual int	updateRateForProcessedDataIdentifier (XsDataIdentifier dataType) const
	Returns the currently configured update rate for the supplied dataType. More...

virtual bool	usesLegacyDeviceMode () const
	Returns whether the device uses legacy device mode. More...

virtual void	waitForAllDevicesInitialized ()
	Wait until are known devices are initialized. More...

virtual XSNOEXPORT bool	waitForCustomMessage (std::shared_ptr< ReplyObject > reply, XsMessage &messageReceive, int timeout)

virtual XSNOEXPORT bool	waitForCustomMessage (XsXbusMessageId messageId, XsMessage &messageReceive, int timeout=0)

void	waitForLoadLogFileDone () const
	Wait for the file operation started by loadLogFile to complete. More...

virtual int	wirelessPriority () const
	Returns the wireless priority of the device. More...

virtual XSNOEXPORT bool	writeEmtsPage (uint8_t const *data, int pageNr, int bankNr)

virtual XsFilterProfile	xdaFilterProfile () const
	Gets the filter profile in use for computing orientations on the host PC. More...

virtual XSNOEXPORT	~XsDevice ()
	Destroy the device. More...

virtual XSNOEXPORT void	onMessageSent (const XsMessage &message)

virtual XSNOEXPORT void	onMessageReceived (const XsMessage &message)

virtual XSNOEXPORT void	onMessageDetected2 (XsProtocolType type, const XsByteArray &rawMessage)

virtual XSNOEXPORT void	onSessionRestarted ()

virtual XSNOEXPORT void	onConnectionLost ()

virtual XSNOEXPORT void	onEofReached ()

virtual XSNOEXPORT void	onWirelessConnectionLost ()

virtual XSNOEXPORT int64_t	deviceRecordingBufferItemCount (int64_t &lastCompletePacketId) const

Public Member Functions inherited from CallbackManagerXda
void	addCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Add a handler to the list. More...

void	addChainedManager (CallbackManagerXda *cm)
	Add a chained manager to the list. More...

	CallbackManagerXda ()
	Constructor, initializes the callback list. More...

void	clearCallbackHandlers (bool chain=true)
	Clear the callback list. More...

void	clearChainedManagers ()
	Clear the chained manager list. More...

void	copyCallbackHandlersFrom (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from cm into this manager. More...

void	copyCallbackHandlersTo (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from this manager into cm. More...

void	onAllBufferedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllBufferedDataAvailable() callback forwarding function. More...

void	onAllDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllDataAvailable() callback forwarding function. More...

void	onAllLiveDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllLiveDataAvailable() callback forwarding function. More...

void	onAllRecordedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllRecordedDataAvailable() callback forwarding function. More...

void	onBufferedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onBufferedDataAvailable() callback forwarding function. More...

void	onConnectivityChanged (XsDevice *dev, XsConnectivityState newState) override
	The XsCallback::onConnectivityChanged() callback forwarding function. More...

void	onDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onDataAvailable() callback forwarding function. More...

void	onDataUnavailable (XsDevice *dev, int64_t packetId) override
	The XsCallback::onDataUnavailable() callback forwarding function. More...

void	onDeviceStateChanged (XsDevice *dev, XsDeviceState newState, XsDeviceState oldState) override
	The XsCallback::onDeviceStateChanged() callback forwarding function. More...

void	onError (XsDevice *dev, XsResultValue error) override
	The Xscallback::onError() callback forwarding function. More...

void	onInfoResponse (XsDevice *dev, XsInfoRequest request) override
	The XsCallback::onInfoResponse() callback forwarding function. More...

void	onLiveDataAvailable (XsDevice dev, const XsDataPacket packet) override
	The XsCallback::onLiveDataAvailable() callback forwarding function. More...

void	onMessageDetected (XsDevice dev, XsProtocolType type, XsByteArray const rawMessage) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageReceivedFromDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageSentToDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageSentToDevice() callback forwarding function. More...

void	onMissedPackets (XsDevice *dev, int count, int first, int last) override
	The XsCallback::onMissedPackets() callback forwarding function. More...

void	onNonDataMessage (XsDevice dev, XsMessage const message) override
	The Xscallback::onNonDataMessage() callback forwarding function. More...

void	onProgressUpdated (XsDevice dev, int current, int total, const XsString identifier) override
	The XsCallback::onProgressUpdated() callback forwarding function. More...

void	onRecordedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onRecordedDataAvailable() callback forwarding function. More...

void	onRestoreCommunication (const XsString *portName, XsResultValue result) override
	The Xscallback::onRestoreCommunication callback forwarding function. More...

void	onTransmissionRequest (int channelId, const XsByteArray *data) override

void	onWakeupReceived (XsDevice *dev) override
	The XsCallback::onWakeupReceived() callback forwarding function. More...

int	onWriteMessageToLogFile (XsDevice dev, const XsMessage message) override
	The XsCallback::onWriteMessageToLogFile() callback forwarding function. More...

void	removeCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Remove a handler from the list. More...

void	removeChainedManager (CallbackManagerXda *cm)
	Remove achained manager from the list. More...

	~CallbackManagerXda ()
	Destructor, clears the callback list. More...

Static Public Member Functions
static XsDevice *	constructStandalone (Communicator *comm)
	Constructs a standalone device using a provided communicator. More...

Static Public Member Functions inherited from MtiBaseDevice
static XsDevice *	constructAsMaster (Communicator *comm)
	Construct a device as a master. More...

Static Public Member Functions inherited from MtDevice
static int	calcFrequency (int baseFrequency, uint16_t skipFactor)
	Calculates the frequency. More...

Static Public Member Functions inherited from XsDevice
static bool	isCompatibleSyncSetting (XsDeviceId const &deviceId, XsSyncSetting const &setting1, XsSyncSetting const &setting2)
	Determines whether setting1 is compatible with setting2 for deviceId deviceId. More...

static XsSyncSettingArray	supportedSyncSettings (XsDeviceId const &deviceId)
	Return the supported synchronization settings for a specified deviceId or deviceId mask. More...

static bool	supportsSyncSettings (XsDeviceId const &deviceId)
	Determines whether the device specified by deviceId supports sync settings. More...

static unsigned int	syncSettingsTimeResolutionInMicroSeconds (XsDeviceId const &deviceId)

Protected Member Functions
MtiBaseDevice::BaseFrequencyResult	getBaseFrequencyInternal (XsDataIdentifier dataType=XDI_None) const override
	Returns the base update rate (Hz) corresponding to the dataType. More...

bool	hasIccSupport () const override

uint8_t	syncLine (const XsSyncSetting &setting) const override

Protected Member Functions inherited from MtiBaseDevice
virtual int	calculateUpdateRate (XsDataIdentifier dataType) const

virtual int	calculateUpdateRateImp (XsDataIdentifier dataType, const XsOutputConfigurationArray &configurations) const

virtual bool	deviceUsesOnBoardFiltering ()

void	fetchAvailableHardwareScenarios () override
	Fetches available hardware scenarios. More...

bool	resetRemovesPort () const override

virtual XsSyncSettingArray	syncSettingsFromBuffer (const uint8_t *buffer) const
	Create an XsSyncSttingsArray from the given buffer of sync configuration data. More...

virtual XsSyncLine	syncSettingsLine (const uint8_t *buff, XsSize offset) const
	Returns the sync settings line for a generic mti device. More...

Protected Member Functions inherited from MtDeviceEx
	MtDeviceEx (Communicator *comm)
	Construct a device using comm for communication. More...

	MtDeviceEx (XsDevice *master, const XsDeviceId &childDeviceId)
	Construct a device with device id childDeviceId for master master. More...

Protected Member Functions inherited from MtDevice
	MtDevice (Communicator *comm)
	Constructs a standalone MtDevice based on comm. More...

	MtDevice (XsDevice *, const XsDeviceId &)
	Constructs a standalone MtDevice based on master and childDeviceId. More...

	MtDevice (XsDeviceId const &id)
	Constructs a standalone MtDevice with device Id id. More...

XsFilterProfileArray	readFilterProfilesFromDevice () const
	Request the filter profiles headers from the hardware device and returns a vector with the found profiles. the order in the output vector is the same as the order in the hardware device. More...

uint32_t	syncTicksToUs (uint32_t ticks) const
	Convert mt sync ticks to microseconds. More...

virtual void	updateFilterProfiles ()
	Updates the scenarios. More...

uint32_t	usToSyncTicks (uint32_t us) const
	Convert microseconds to mt sync ticks. More...

Protected Member Functions inherited from XsDeviceEx
	XsDeviceEx (Communicator *comm)
	Construct a device using comm for communication. More...

	XsDeviceEx (XsDevice *master, const XsDeviceId &childDeviceId)
	Construct a device using a device id childDeviceId for master masterDevice. More...

	XsDeviceEx (XsDeviceId const &id)
	Construct a device using a device id id. More...

virtual	~XsDeviceEx ()
	Destroy the device. More...

Protected Member Functions inherited from XsDevice
virtual void	clearExternalPacketCaches ()

virtual XsDevice const *	firstChild () const

virtual bool	interpolateMissingData (XsDataPacket const &pack, XsDataPacket const &prev, std::function< void(XsDataPacket *)> packetHandler)

void	retainPacket (XsDataPacket const &pack)

void	setCommunicator (Communicator *comm)

virtual void	setRecordingStartFrame (uint16_t startFrame)

virtual void	setRecordingStopFrame (uint16_t stopFrame)

virtual bool	shouldDataMsgBeRecorded (const XsMessage &msg) const

virtual bool	shouldDoRecordedCallback (XsDataPacket const &packet) const

bool	skipEmtsReadOnInit () const

void	updateLastAvailableLiveDataCache (XsDataPacket const &pack)

void	useLogInterface (DataLogger *logger)
	Uses log interface for a given data logger. More...

	XSENS_DISABLE_COPY (XsDevice)

void	extractFirmwareVersion (XsMessage const &message)

virtual void	setDeviceState (XsDeviceState state)

virtual void	updateDeviceState (XsDeviceState state)

void	removeIfNoRefs ()

	XsDevice (XsDeviceId const &id)
	Construct an empty device with device id id. More...

	XsDevice (Communicator *comm)
	Construct a device using inf for communication. More...

	XsDevice (XsDevice *master, const XsDeviceId &childDeviceId)
	Construct a device with device id childDeviceId for master masterDevice. More...

const XsDeviceConfiguration &	deviceConfig () const

void	setDeviceId (const XsDeviceId &deviceId)

XsOutputConfiguration	findConfiguration (XsDataIdentifier dataType) const

virtual void	writeMessageToLogFile (const XsMessage &message)

virtual void	writeFilterStateToFile ()

virtual void	processLivePacket (XsDataPacket &pack)

virtual void	processBufferedPacket (XsDataPacket &pack)

virtual bool	readDeviceConfiguration ()

XsDataPacket &	latestLivePacket ()

XsDataPacket &	latestBufferedPacket ()

XsDataPacket const &	latestLivePacketConst () const

XsDataPacket const &	latestBufferedPacketConst () const

virtual int64_t	latestLivePacketId () const

virtual int64_t	latestBufferedPacketId () const

virtual void	resetPacketStamping ()

void	updateConnectivityState (XsConnectivityState newState)

virtual XsConnectivityState	defaultChildConnectivityState () const

void	setInitialized (bool initialized)
	Set the initialized state to initialized. More...

void	setTerminationPrepared (bool prepared) NOEXCEPT
	Set the "termination prepared" state to prepared. More...

virtual bool	shouldWriteMessageToLogFile (const XsMessage &msg) const

virtual bool	shouldWriteMessageToLogFile (const XsDevice *dev, const XsMessage &message) const

bool	doTransaction (const XsMessage &snd) const

bool	doTransaction (const XsMessage &snd, XsMessage &rcv) const

bool	doTransaction (const XsMessage &snd, XsMessage &rcv, uint32_t timeout) const

bool	doTransaction (const XsMessage &snd, uint32_t timeout) const

bool	justWriteSetting () const

virtual void	clearProcessors ()

virtual void	clearDataCache ()

virtual void	insertIntoDataCache (int64_t pid, XsDataPacket *pack)

virtual void	reinitializeProcessors ()

virtual bool	expectingRetransmissionForPacket (int64_t packetId) const

virtual bool	isSoftwareFilteringEnabled () const

virtual bool	isSoftwareCalibrationEnabled () const

virtual void	setStartRecordingPacketId (int64_t startFrame)

virtual void	setStopRecordingPacketId (int64_t stopFrame)

virtual void	endRecordingStream ()

virtual void	clearCacheToRecordingStart ()

Additional Inherited Members
Static Protected Member Functions inherited from MtDevice
static XsString	stripProductCode (const XsString &code)
	Helper function to strip the hardware type from the product code. More...

Static Protected Member Functions inherited from XsDevice
static bool	checkDataEnabled (XsDataIdentifier dataType, XsOutputConfigurationArray const &configurations)

static bool	packetContainsRetransmission (XsDataPacket const &pack)

Protected Attributes inherited from MtDevice
XsFilterProfile	m_hardwareFilterProfile
	A hardware filter profile. More...

XsFilterProfileArray	m_hardwareFilterProfiles
	A vector of hardware filter profiles. More...

Protected Attributes inherited from XsDevice
Communicator *	m_communicator
	A communicator. More...

XsDeviceConfiguration	m_config
	A device configuration. More...

XsConnectivityState	m_connectivity
	A current device connectivity state. More...

DataPacketCache	m_dataCache
	A data cache. More...

XsDeviceId	m_deviceId
	An ID of the device. More...

xsens::GuardedMutex	m_deviceMutex
	The mutex for guarding state changes of the device. More...

XsMessage	m_emtsBlob
	An EMTS blob from device. More...

XsVersion	m_firmwareVersion
	A firmware version. More...

bool	m_gotoConfigOnClose
	Go to confing on close boolean variable. More...

bool	m_isInitialized
	Is intialized boolean variable. More...

bool	m_justWriteSetting
	Just write setting boolean variable. More...

XsDataPacket *	m_lastAvailableLiveDataCache
	A last available live data cache. More...

XsTimeStamp	m_lastDataOkStamp
	A time stamp for an OK last data. More...

LastResultManager	m_lastResult
	The last result of an operation. More...

XsDataPacket *	m_latestBufferedPacket
	A copy of the latest ready recording packet. This is the last packet that was popped off the front of m_dataCache. Use latestBufferedPacket() to access. More...

XsDataPacket *	m_latestLivePacket
	A copy of the latest ready live packet. This is the packet with the highest 64-bit sample counter so far. Use latestLivePacket() to access. More...

std::deque< XsDataPacket * >	m_linearPacketCache
	A linear data packet cache. More...

DataLogger *	m_logFileInterface
	A data logger for a file interface. More...

xsens::Mutex	m_logFileMutex
	The mutex for guarding access to the log file. More...

XsDevice *	m_master
	A device object. More...

XsOption	m_options
	The options. More...

XsOutputConfigurationArray	m_outputConfiguration
	A devices output configuration. More...

PacketStamper	m_packetStamper
	A packet stamper. More...

volatile std::atomic_int	m_refCounter
	A reference counter. More...

bool	m_skipEmtsReadOnInit
	Skip EMTS read on init boolean variable. More...

int64_t	m_startRecordingPacketId
	The ID of the first packet that should be / was recorded. More...

XsDeviceState	m_state
	A current device state. More...

int64_t	m_stoppedRecordingPacketId
	The ID of the last packet that was recorded. Remains valid after Flushing has ended, until a new recording is started. More...

int64_t	m_stopRecordingPacketId
	The ID of the last packet that should be / was recorded. Only valid in Recording/Flushing states. More...

bool	m_terminationPrepared
	Termination prepared boolean variable. More...

DebugFileType *	m_toaDumpFile
	To a dump file. More...

int64_t	m_unavailableDataBoundary
	A packet ID of the last sample we know to be unavailable. More...

bool	m_writeToFile
	Write to file boolean variable. More...

Detailed Description

The MTi device used for the 8X0-series.

Definition at line 73 of file mti8x0device.h.

Constructor & Destructor Documentation

◆ Mti8X0Device() [1/2]

Mti8X0Device::Mti8X0Device ( Communicator * comm )

explicit

Constructs a device.

Parameters

comm	The communicator to construct with

Definition at line 86 of file mti8x0device.cpp.

◆ Mti8X0Device() [2/2]

Mti8X0Device::Mti8X0Device ( XsDevice * master )

inlineexplicit

An empty constructor for a master device.

Definition at line 85 of file mti8x0device.h.

◆ ~Mti8X0Device()

Mti8X0Device::~Mti8X0Device ( )

virtual

Destroys a device.

Definition at line 93 of file mti8x0device.cpp.

Member Function Documentation

◆ canConfiguration()

uint32_t Mti8X0Device::canConfiguration ( ) const

overridevirtual

Returns the currently configured CAN configuration of the device.

Reimplemented from XsDevice.

Definition at line 294 of file mti8x0device.cpp.

◆ canOutputConfiguration()

XsCanOutputConfigurationArray Mti8X0Device::canOutputConfiguration ( ) const

overridevirtual

Returns the currently configured CAN output of the device.

Reimplemented from XsDevice.

Definition at line 260 of file mti8x0device.cpp.

◆ constructStandalone()

static XsDevice* Mti8X0Device::constructStandalone ( Communicator * comm )

inlinestatic

Constructs a standalone device using a provided communicator.

Definition at line 77 of file mti8x0device.h.

◆ getBaseFrequencyInternal()

MtiBaseDevice::BaseFrequencyResult Mti8X0Device::getBaseFrequencyInternal ( XsDataIdentifier dataType = XDI_None ) const

overrideprotectedvirtual

Returns the base update rate (Hz) corresponding to the dataType.

Reimplemented from MtiBaseDevice.

Definition at line 99 of file mti8x0device.cpp.

◆ hasIccSupport()

bool Mti8X0Device::hasIccSupport ( ) const

overrideprotectedvirtual

Returns: True if this device has an ICC support

Reimplemented from MtiBaseDevice.

Definition at line 183 of file mti8x0device.cpp.

◆ portConfiguration()

XsIntArray Mti8X0Device::portConfiguration ( ) const

overridevirtual

Get the current port configuration of a device.

Remarks: Only Mti6x0 devices supported

Returns: The current port configurations of the device

See also: setPortConfiguration, XsBaudCode

Reimplemented from XsDevice.

Definition at line 305 of file mti8x0device.cpp.

◆ setCanConfiguration()

bool Mti8X0Device::setCanConfiguration ( uint32_t config )

overridevirtual

Set the CAN output configuration for this device.

When the function exits with a true value config will contain the actual configuration in the device after configuration. When it exits with false the contents of config are undefined.

Note: The config is updated to reflect frequency mismatches in desired configuration and actually possible configuration. As input, a frequency of 65535 (0xFFFF) may be supplied to indicate 'maximum output rate', but after configuration XDA will have put the actual maximum value in config. Similarly, some data types may not have a real update rate (ie. packet counter) and will return an update rate of 65535 (0xFFFF) when configured at any rate other than 0.

Parameters

config The desired output configuration

Returns: true if the output configuration was successfully updated

Reimplemented from XsDevice.

Definition at line 346 of file mti8x0device.cpp.

◆ setCanOutputConfiguration()

bool Mti8X0Device::setCanOutputConfiguration ( XsCanOutputConfigurationArray & config )

overridevirtual

Set the CAN output configuration for this device.

When the function exits with a true value config will contain the actual configuration in the device after configuration. When it exits with false the contents of config are undefined.

Note: The config is updated to reflect frequency mismatches in desired configuration and actually possible configuration. As input, a frequency of 65535 (0xFFFF) may be supplied to indicate 'maximum output rate', but after configuration XDA will have put the actual maximum value in config. Similarly, some data types may not have a real update rate (ie. packet counter) and will return an update rate of 65535 (0xFFFF) when configured at any rate other than 0.

Parameters

config The desired output configuration

Returns: true if the output configuration was successfully updated

Reimplemented from XsDevice.

Definition at line 275 of file mti8x0device.cpp.

◆ setPortConfiguration()

bool Mti8X0Device::setPortConfiguration ( XsIntArray & config )

overridevirtual

Change the port configuration of a device.

Configures the 2 ports of the 6x0 device The integers consist of:

bits 0:7 XsBaudcode
bit 8 Enable flow control
bit 9 Use 2nd stop bit
bit 10 Use Parity bit
bit 11 Even/odd parity
bit 12:15 reserved
bits 16:19 bits XsProtocol
Parameters

config An array of elements containing a configuration for each port (UART and RS232)

Remarks
Only Mti6x0 devices supported

Returns
true if the port configuration was successfully updated

See also
portConfiguration, XsBaudCode

Reimplemented from XsDevice.

Definition at line 320 of file mti8x0device.cpp.

◆ setStringOutputMode6x0()

bool Mti8X0Device::setStringOutputMode6x0	(	uint32_t	type,
		uint16_t	frequency
	)

Sets the string output mode for this device.

Parameters

type	The type to set
frequency	The frequency to set

Returns: True if the device was successfully updated

Definition at line 217 of file mti8x0device.cpp.

◆ shortProductCode()

XsString Mti8X0Device::shortProductCode ( ) const

overridevirtual

Return the shortened product code of the device suitable for display.

Reimplemented from XsDevice.

Definition at line 165 of file mti8x0device.cpp.

◆ supportedStatusFlags()

uint32_t Mti8X0Device::supportedStatusFlags ( ) const

overridevirtual

Returns a bitmask with all the status flags supported by this device.

Not all devices support all status flags. When receiving an XsDataPacket with a status in it, this can affect how to interpret the flags. Especially with a flag like the self-test it's important not to conclude that a device is defective because it is not set when the device doesn't actually support this feature.

Returns: The bitmask with all the status flags that this device supports

Reimplemented from MtDevice.

Definition at line 230 of file mti8x0device.cpp.

◆ supportedStringOutputTypes()

XsStringOutputTypeArray Mti8X0Device::supportedStringOutputTypes ( ) const

overridevirtual

Ask the device for its supported string output types.

Returns: A list with the supported string output types.

Reimplemented from XsDevice.

Definition at line 189 of file mti8x0device.cpp.

◆ syncLine()

uint8_t Mti8X0Device::syncLine ( const XsSyncSetting & setting ) const

overrideprotectedvirtual

Returns: The sync line for a mtitx0 device This overrides the base class method.

Parameters

setting The sync setting to get a sync line from

Reimplemented from MtiBaseDevice.

Definition at line 174 of file mti8x0device.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Mti8X0Device() [1/2]

◆ Mti8X0Device() [2/2]

◆ ~Mti8X0Device()

Member Function Documentation

◆ canConfiguration()

◆ canOutputConfiguration()

◆ constructStandalone()

◆ getBaseFrequencyInternal()

◆ hasIccSupport()

◆ portConfiguration()

◆ setCanConfiguration()

◆ setCanOutputConfiguration()

◆ setPortConfiguration()

◆ setStringOutputMode6x0()

◆ shortProductCode()

◆ supportedStatusFlags()

◆ supportedStringOutputTypes()

◆ syncLine()