#include <InertialSense.h>

Inheritance diagram for InertialSense:

Classes
struct	bootloader_result_t

struct	com_manager_cpp_state_t

struct	is_device_t

Public Member Functions
bool	BroadcastBinaryData (uint32_t dataId, int periodMultiple, pfnHandleBinaryData callback=NULL)

void	BroadcastBinaryDataRmcPreset (uint64_t rmcPreset=RMC_PRESET_INS_BITS, uint32_t rmcOptions=0)

void	Close ()

void	CloseServerConnection ()

bool	CreateHost (const string &ipAndPort)

uint64_t	GetClientServerByteCount ()

size_t	GetDeviceCount ()

const dev_info_t	GetDeviceInfo (int pHandle=0)

nvm_flash_cfg_t	GetFlashConfig (int pHandle=0)

vector< string >	GetPorts ()

serial_port_t *	GetSerialPort (int pHandle=0)

system_command_t	GetSysCmd (int pHandle=0)

time_t	GetTimeoutFlushLoggerSeconds ()

	InertialSense (pfnHandleBinaryData callback=NULL)

bool	IsOpen ()

bool	LoggerEnabled ()

bool	Open (const char *port, int baudRate=IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose=false)

bool	OpenServerConnection (const string &connectionString)

void	SendData (eDataIDs dataId, uint8_t *data, uint32_t length, uint32_t offset)

void	SendRawData (eDataIDs dataId, uint8_t *data, uint32_t length=0, uint32_t offset=0)

void	SetFlashConfig (const nvm_flash_cfg_t &flashConfig, int pHandle=0)

bool	SetLoggerEnabled (bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, uint64_t rmcPreset=RMC_PRESET_PPD_BITS, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 1024 5, const string &subFolder=cISLogger::g_emptyString)

void	SetSysCmd (const system_command_t &sysCmd, int pHandle=0)

void	SetTimeoutFlushLoggerSeconds (time_t timeoutFlushLoggerSeconds)

void	StopBroadcasts (bool allPorts=true)

bool	Update ()

virtual	~InertialSense ()

Static Public Member Functions
static vector< bootloader_result_t >	BootloadFile (const string &comPort, const string &fileName, const string &bootloaderFileName, int baudRate=IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress=NULLPTR, pfnBootloadProgress verifyProgress=NULLPTR, pfnBootloadStatus infoProgress=NULLPTR, bool updateBootloader=false)

static vector< bootloader_result_t >	BootloadFile (const string &comPort, const string &fileName, int baudRate=IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress=NULLPTR, pfnBootloadProgress verifyProgress=NULLPTR, bool updateBootloader=false)

Protected Member Functions
void	OnClientConnected (cISTcpServer *server, socket_t socket) OVERRIDE

void	OnClientConnectFailed (cISTcpServer *server) OVERRIDE

void	OnClientConnecting (cISTcpServer *server) OVERRIDE

void	OnClientDisconnected (cISTcpServer *server, socket_t socket) OVERRIDE

bool	OnPacketReceived (const uint8_t *data, uint32_t dataLength)

Protected Member Functions inherited from iISTcpServerDelegate
virtual void	OnClientDataReceived (cISTcpServer server, socket_t socket, uint8_t data, int dataLength)

Private Member Functions
void	DisableLogging ()

bool	EnableLogging (const string &path, cISLogger::eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, const string &subFolder)

bool	HasReceivedResponseFromAllDevices ()

bool	HasReceivedResponseFromDevice (size_t index)

bool	OpenSerialPorts (const char *port, int baudRate)

void	RemoveDevice (size_t index)

Static Private Member Functions
static void	LoggerThread (void *info)

static void	StepLogger (InertialSense i, const p_data_t data, int pHandle)

Private Attributes
char	m_clientBuffer [512]

int	m_clientBufferBytesToSend

uint64_t	m_clientServerByteCount

cISStream *	m_clientStream

com_manager_init_t	m_cmInit

com_manager_port_t *	m_cmPorts

InertialSense::com_manager_cpp_state_t	m_comManagerState

bool	m_disableBroadcastsOnClose

is_comm_instance_t	m_gpComm

uint8_t	m_gpCommBuffer [PKT_BUF_SIZE]

time_t	m_lastLogReInit

cISLogger	m_logger

cMutex	m_logMutex

map< int, vector< p_data_t > >	m_logPackets

void *	m_logThread

cISSerialPort	m_serialServer

cISTcpClient	m_tcpClient

cISTcpServer	m_tcpServer

Detailed Description

Inertial Sense C++ interface Note only one instance of this class per process is supported

Definition at line 65 of file InertialSense.h.

Constructor & Destructor Documentation

◆ InertialSense()

InertialSense::InertialSense ( pfnHandleBinaryData callback = NULL )

Constructor

Parameters

callback binary data callback, optional. If specified, ALL BroadcastBinaryData requests will callback to this function.

Definition at line 123 of file InertialSense.cpp.

◆ ~InertialSense()

InertialSense::~InertialSense ( )

virtual

Destructor

Definition at line 144 of file InertialSense.cpp.

Member Function Documentation

◆ BootloadFile() [1/2]

vector< InertialSense::bootloader_result_t > InertialSense::BootloadFile	(	const string &	comPort,
		const string &	fileName,
		const string &	bootloaderFileName,
		int	baudRate = `IS_BAUD_RATE_BOOTLOADER`,
		pfnBootloadProgress	uploadProgress = `NULLPTR`,
		pfnBootloadProgress	verifyProgress = `NULLPTR`,
		pfnBootloadStatus	infoProgress = `NULLPTR`,
		bool	updateBootloader = `false`
	)

static

Bootload a file - if the bootloader fails, the device stays in bootloader mode and you must call BootloadFile again until it succeeds. If the bootloader gets stuck or has any issues, power cycle the device. Please ensure that all other connections to the com port are closed before calling this function.

Parameters

the	com port to bootload, can be comma separated for multiple
fileName	the path of the file to bootload
baudRate	the baud rate to bootload at
uploadProgress	optional callback for upload progress
verifyProgress	optional callback for verify progress

Returns: ports and errors, error will be empty if success

Definition at line 662 of file InertialSense.cpp.

◆ BootloadFile() [2/2]

vector< InertialSense::bootloader_result_t > InertialSense::BootloadFile	(	const string &	comPort,
		const string &	fileName,
		int	baudRate = `IS_BAUD_RATE_BOOTLOADER`,
		pfnBootloadProgress	uploadProgress = `NULLPTR`,
		pfnBootloadProgress	verifyProgress = `NULLPTR`,
		bool	updateBootloader = `false`
	)

static

Definition at line 657 of file InertialSense.cpp.

◆ BroadcastBinaryData()

bool InertialSense::BroadcastBinaryData	(	uint32_t	dataId,
		int	periodMultiple,
		pfnHandleBinaryData	callback = `NULL`
	)

Definition at line 618 of file InertialSense.cpp.

◆ BroadcastBinaryDataRmcPreset()

void InertialSense::BroadcastBinaryDataRmcPreset	(	uint64_t	rmcPreset = `RMC_PRESET_INS_BITS`,
		uint32_t	rmcOptions = `0`
	)

Enable streaming of predefined set of messages. The default preset, RMC_PRESET_INS_BITS, stream data necessary for post processing.

Parameters

rmcPreset realtimeMessageController preset

Definition at line 648 of file InertialSense.cpp.

◆ Close()

void InertialSense::Close ( )

Close the connection, logger and free all resources

Definition at line 538 of file InertialSense.cpp.

◆ CloseServerConnection()

void InertialSense::CloseServerConnection ( )

Close any open connection to a server

Definition at line 379 of file InertialSense.cpp.

◆ CreateHost()

bool InertialSense::CreateHost ( const string & ipAndPort )

Create a host that will stream data from the uINS to connected clients. Open must be called first to connect to the uINS unit.

Parameters

ipAndPort ip address followed by colon followed by port. Ip address is optional and can be blank to auto-detect.

Returns: true if success, false if error

Definition at line 387 of file InertialSense.cpp.

◆ DisableLogging()

void InertialSense::DisableLogging ( )

private

Definition at line 169 of file InertialSense.cpp.

◆ EnableLogging()

bool InertialSense::EnableLogging	(	const string &	path,
		cISLogger::eLogType	logType,
		float	maxDiskSpacePercent,
		uint32_t	maxFileSize,
		const string &	subFolder
	)

private

Definition at line 150 of file InertialSense.cpp.

◆ GetClientServerByteCount()

uint64_t InertialSense::GetClientServerByteCount ( )

inline

Get the number of bytes read or written to/from client or server connections

Returns: byte count

Definition at line 288 of file InertialSense.h.

◆ GetDeviceCount()

size_t InertialSense::GetDeviceCount ( )

Get the number of open devices

Returns: the number of open devices

Definition at line 413 of file InertialSense.cpp.

◆ GetDeviceInfo()

const dev_info_t InertialSense::GetDeviceInfo ( int pHandle = 0 )

inline

Get the device info

Parameters

pHandle the pHandle to get device info for

Returns: the device info

Definition at line 233 of file InertialSense.h.

◆ GetFlashConfig()

nvm_flash_cfg_t InertialSense::GetFlashConfig ( int pHandle = 0 )

inline

Get the flash config, returns the latest flash config read from the uINS flash memory

Parameters

pHandle the pHandle to get flash config for

Returns: the flash config

Definition at line 268 of file InertialSense.h.

◆ GetPorts()

vector< string > InertialSense::GetPorts ( )

Get all open serial port names

Definition at line 554 of file InertialSense.cpp.

◆ GetSerialPort()

serial_port_t* InertialSense::GetSerialPort ( int pHandle = 0 )

inline

Get access to the underlying serial port

Parameters

pHandle the pHandle to get the serial port for

Returns: the serial port

Definition at line 295 of file InertialSense.h.

◆ GetSysCmd()

system_command_t InertialSense::GetSysCmd ( int pHandle = 0 )

inline

Get current device system command

Parameters

pHandle the pHandle to get sysCmd for

Returns: current device system command

Definition at line 247 of file InertialSense.h.

◆ GetTimeoutFlushLoggerSeconds()

time_t InertialSense::GetTimeoutFlushLoggerSeconds ( )

inline

Get the timeout flush logger parameter in seconds

Returns: the timeout flush logger parameter in seconds

Definition at line 308 of file InertialSense.h.

◆ HasReceivedResponseFromAllDevices()

bool InertialSense::HasReceivedResponseFromAllDevices ( )

private

Definition at line 190 of file InertialSense.cpp.

◆ HasReceivedResponseFromDevice()

bool InertialSense::HasReceivedResponseFromDevice ( size_t index )

private

Definition at line 178 of file InertialSense.cpp.

◆ IsOpen()

bool InertialSense::IsOpen ( )

Check if the connection is open

Definition at line 408 of file InertialSense.cpp.

◆ LoggerEnabled()

bool InertialSense::LoggerEnabled ( )

inline

Gets whether logging is enabled

Returns: whether logging is enabled

Definition at line 184 of file InertialSense.h.

◆ LoggerThread()

void InertialSense::LoggerThread ( void * info )

staticprivate

Definition at line 218 of file InertialSense.cpp.

◆ OnClientConnected()

void InertialSense::OnClientConnected	(	cISTcpServer *	server,
		socket_t	socket
	)

protectedvirtual

Executes when a client has connected

Parameters

server	the server the client connected to
socket	the connected socket

Reimplemented from iISTcpServerDelegate.

Definition at line 754 of file InertialSense.cpp.

◆ OnClientConnectFailed()

void InertialSense::OnClientConnectFailed ( cISTcpServer * server )

protectedvirtual

Executes when a client fails to connect

Parameters

server the server the client failed to connect to

Reimplemented from iISTcpServerDelegate.

Definition at line 759 of file InertialSense.cpp.

◆ OnClientConnecting()

void InertialSense::OnClientConnecting ( cISTcpServer * server )

protectedvirtual

Executes when a client is connecting

Parameters

server the server the client socket is connecting to

Reimplemented from iISTcpServerDelegate.

Definition at line 748 of file InertialSense.cpp.

◆ OnClientDisconnected()

void InertialSense::OnClientDisconnected	(	cISTcpServer *	server,
		socket_t	socket
	)

protectedvirtual

Executes when a client disconnects

Parameters

server	the server the client disconnected from
socket	the socket that disconnected

Reimplemented from iISTcpServerDelegate.

Definition at line 764 of file InertialSense.cpp.

◆ OnPacketReceived()

bool InertialSense::OnPacketReceived	(	const uint8_t *	data,
		uint32_t	dataLength
	)

protected

Definition at line 736 of file InertialSense.cpp.

◆ Open()

bool InertialSense::Open	(	const char *	port,
		int	baudRate = `IS_COM_BAUDRATE_DEFAULT`,
		bool	disableBroadcastsOnClose = `false`
	)

Closes any open connection and then opens the device

Parameters

port	the port to open
baudRate	the baud rate to connect with - supported rates are 115200, 230400, 460800, 921600, 2000000, 3000000
disableBroadcastsOnClose	whether to send a stop broadcasts command to all units on Close

Returns: true if opened, false if failure (i.e. baud rate is bad or port fails to open)

Definition at line 279 of file InertialSense.cpp.

◆ OpenSerialPorts()

bool InertialSense::OpenSerialPorts	(	const char *	port,
		int	baudRate
	)

private

Definition at line 769 of file InertialSense.cpp.

◆ OpenServerConnection()

bool InertialSense::OpenServerConnection ( const string & connectionString )

Connect to a server and send the data from that server to the uINS. Open must be called first to connect to the uINS unit.

Parameters

connectionString the server to connect, this is the data type (RTCM3,IS,UBLOX) followed by a colon followed by connection info (ip:port or serial:baud). This can also be followed by an optional url, user and password, i.e. RTCM3:192.168.1.100:7777:RTCM3_Mount:user:password

Returns: true if connection opened, false if failure

Definition at line 325 of file InertialSense.cpp.

◆ RemoveDevice()

void InertialSense::RemoveDevice ( size_t index )

private

Definition at line 207 of file InertialSense.cpp.

◆ SendData()

void InertialSense::SendData	(	eDataIDs	dataId,
		uint8_t *	data,
		uint32_t	length,
		uint32_t	offset
	)

Send data to the uINS - this is usually only used for advanced or special cases, normally you won't use this method

Parameters

dataId	the data id of the data to send
data	the data to send
length	length of data to send
offset	offset into data to send at

Definition at line 576 of file InertialSense.cpp.

◆ SendRawData()

void InertialSense::SendRawData	(	eDataIDs	dataId,
		uint8_t *	data,
		uint32_t	length = `0`,
		uint32_t	offset = `0`
	)

Send raw data to the uINS - this is usually only used for advanced or special cases, normally you won't use this method

Parameters

dataId	the data id of the data to send
data	the data to send
length	length of data to send
offset	offset into data to send at

Definition at line 585 of file InertialSense.cpp.

◆ SetFlashConfig()

void InertialSense::SetFlashConfig	(	const nvm_flash_cfg_t &	flashConfig,
		int	pHandle = `0`
	)

Set the flash config and update flash config on the uINS flash memory

Parameters

flashConfig	the flash config
pHandle	the pHandle to set flash config for

Definition at line 605 of file InertialSense.cpp.

◆ SetLoggerEnabled()

bool InertialSense::SetLoggerEnabled	(	bool	enable,
		const string &	path = `cISLogger::g_emptyString`,
		cISLogger::eLogType	logType = `cISLogger::eLogType::LOGTYPE_DAT`,
		uint64_t	rmcPreset = `RMC_PRESET_PPD_BITS`,
		float	maxDiskSpacePercent = `0.5f`,
		uint32_t	maxFileSize = `1024 * 1024 * 5`,
		const string &	subFolder = `cISLogger::g_emptyString`
	)

Enable or disable logging - logging is disabled by default

Parameters

enable	enable or disable the logger - disabling the logger after enabling it will close it and flush all data to disk
path	the path to write the log files to
logType	the type of log to write
logSolution	true to log solution stream, false otherwise
maxDiskSpacePercent	the max disk space to use in percent of free space (0.0 to 1.0)
maxFileSize	the max file size for each log file in bytes
chunkSize	the max data to keep in RAM before flushing to disk in bytes
subFolder	timestamp sub folder or empty for none

Returns: true if success, false if failure

Definition at line 296 of file InertialSense.cpp.

◆ SetSysCmd()

void InertialSense::SetSysCmd	(	const system_command_t &	sysCmd,
		int	pHandle = `0`
	)

Set device configuration

Parameters

pHandle	the pHandle to set sysCmd for
sysCmd	new device configuration

Definition at line 593 of file InertialSense.cpp.

◆ SetTimeoutFlushLoggerSeconds()

void InertialSense::SetTimeoutFlushLoggerSeconds ( time_t timeoutFlushLoggerSeconds )

inline

Set the timeout flush logger parameter in seconds

Parameters

timeoutFlushLoggerSeconds the timeout flush logger parameter in seconds

Definition at line 314 of file InertialSense.h.

◆ StepLogger()

void InertialSense::StepLogger	(	InertialSense *	i,
		const p_data_t *	data,
		int	pHandle
	)

staticprivate

Definition at line 269 of file InertialSense.cpp.

◆ StopBroadcasts()

void InertialSense::StopBroadcasts ( bool allPorts = true )

Turn off all messages. Current port only if allPorts = false.

Definition at line 564 of file InertialSense.cpp.

◆ Update()

bool InertialSense::Update ( )

Call in a loop to send and receive data. Call at regular intervals as frequently as want to receive data.

Returns: true if updating should continue, false if the process should be shutdown

Definition at line 418 of file InertialSense.cpp.

Member Data Documentation

◆ m_clientBuffer

char InertialSense::m_clientBuffer[512]

private

Definition at line 344 of file InertialSense.h.

◆ m_clientBufferBytesToSend

int InertialSense::m_clientBufferBytesToSend

private

Definition at line 345 of file InertialSense.h.

◆ m_clientServerByteCount

uint64_t InertialSense::m_clientServerByteCount

private

Definition at line 349 of file InertialSense.h.

◆ m_clientStream

cISStream* InertialSense::m_clientStream

private

Definition at line 348 of file InertialSense.h.

◆ m_cmInit

com_manager_init_t InertialSense::m_cmInit

private

Definition at line 351 of file InertialSense.h.

◆ m_cmPorts

com_manager_port_t* InertialSense::m_cmPorts

private

Definition at line 352 of file InertialSense.h.

◆ m_comManagerState

InertialSense::com_manager_cpp_state_t InertialSense::m_comManagerState

private

Definition at line 337 of file InertialSense.h.

◆ m_disableBroadcastsOnClose

bool InertialSense::m_disableBroadcastsOnClose

private

Definition at line 350 of file InertialSense.h.

◆ m_gpComm

is_comm_instance_t InertialSense::m_gpComm

private

Definition at line 353 of file InertialSense.h.

◆ m_gpCommBuffer

uint8_t InertialSense::m_gpCommBuffer[PKT_BUF_SIZE]

private

Definition at line 354 of file InertialSense.h.

◆ m_lastLogReInit

time_t InertialSense::m_lastLogReInit

private

Definition at line 342 of file InertialSense.h.

◆ m_logger

cISLogger InertialSense::m_logger

private

Definition at line 338 of file InertialSense.h.

◆ m_logMutex

cMutex InertialSense::m_logMutex

private

Definition at line 340 of file InertialSense.h.

◆ m_logPackets

map<int, vector<p_data_t> > InertialSense::m_logPackets

private

Definition at line 341 of file InertialSense.h.

◆ m_logThread

void* InertialSense::m_logThread

private

Definition at line 339 of file InertialSense.h.

◆ m_serialServer

cISSerialPort InertialSense::m_serialServer

private

Definition at line 347 of file InertialSense.h.

◆ m_tcpClient

cISTcpClient InertialSense::m_tcpClient

private

Definition at line 343 of file InertialSense.h.

◆ m_tcpServer

cISTcpServer InertialSense::m_tcpServer

private

Definition at line 346 of file InertialSense.h.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InertialSense()

◆ ~InertialSense()

Member Function Documentation

◆ BootloadFile() [1/2]

◆ BootloadFile() [2/2]

◆ BroadcastBinaryData()

◆ BroadcastBinaryDataRmcPreset()

◆ Close()

◆ CloseServerConnection()

◆ CreateHost()

◆ DisableLogging()

◆ EnableLogging()

◆ GetClientServerByteCount()

◆ GetDeviceCount()

◆ GetDeviceInfo()

◆ GetFlashConfig()

◆ GetPorts()

◆ GetSerialPort()

◆ GetSysCmd()

◆ GetTimeoutFlushLoggerSeconds()

◆ HasReceivedResponseFromAllDevices()

◆ HasReceivedResponseFromDevice()

◆ IsOpen()

◆ LoggerEnabled()

◆ LoggerThread()

◆ OnClientConnected()

◆ OnClientConnectFailed()

◆ OnClientConnecting()

◆ OnClientDisconnected()

◆ OnPacketReceived()

◆ Open()

◆ OpenSerialPorts()

◆ OpenServerConnection()

◆ RemoveDevice()

◆ SendData()

◆ SendRawData()

◆ SetFlashConfig()

◆ SetLoggerEnabled()

◆ SetSysCmd()

◆ SetTimeoutFlushLoggerSeconds()

◆ StepLogger()

◆ StopBroadcasts()

◆ Update()

Member Data Documentation

◆ m_clientBuffer

◆ m_clientBufferBytesToSend

◆ m_clientServerByteCount

◆ m_clientStream

◆ m_cmInit

◆ m_cmPorts

◆ m_comManagerState

◆ m_disableBroadcastsOnClose

◆ m_gpComm

◆ m_gpCommBuffer

◆ m_lastLogReInit

◆ m_logger

◆ m_logMutex

◆ m_logPackets

◆ m_logThread

◆ m_serialServer

◆ m_tcpClient

◆ m_tcpServer