An IoInterface for dealing specifically with Xsens USB devices. More...

#include <usbinterface.h>

Inheritance diagram for UsbInterface:

Public Member Functions
XsResultValue	close (void)
	Close the USB communication port. More...

XsResultValue	closeUsb (void)
	Close the USB communication port. More...

XsResultValue	flushData (void)
	Flush all data in the buffers to and from the device. More...

XsResultValue	getLastResult (void) const
	Return the error code of the last operation. More...

void	getPortName (XsString &portname) const
	Retrieve the port name that was last successfully opened. More...

bool	getRawIo (void)
	Retrieves the state of the RAWIO mode of the USB interface. More...

uint32_t	getTimeout (void) const
	Return the current timeout value. More...

bool	isOpen (void) const
	Return whether the USB communication port is open or not. More...

XsResultValue	open (const XsPortInfo &portInfo, XsFilePos readBufSize=0, XsFilePos writeBufSize=0, PortOptions=PO_XsensDefaults) override
	Open a communication channel to the given USB port name. More...

XsResultValue	readData (XsFilePos maxLength, void data, XsFilePos length=NULL)
	Read data from the serial port and put it into the data buffer. More...

XsResultValue	readData (XsFilePos maxLength, XsByteArray &data) override
	Read data from the USB port and put it into the data buffer. More...

void	setRawIo (bool enable)
	Sets the RAWIO mode of the USB interface. More...

XsResultValue	setTimeout (uint32_t ms)
	Set the default timeout value to use in blocking operations. More...

uint8_t	usbAddress () const
	The address of the device (libusb/linux only) More...

uint8_t	usbBus () const
	The USB bus number this device is on (libusb/linux only) More...

	UsbInterface ()
	Default constructor, initializes all members to their default values. More...

XsResultValue	waitForData (XsFilePos maxLength, void data, XsFilePos length=NULL)
	Wait for data to arrive or a timeout to occur. More...

virtual XsResultValue	waitForData (XsFilePos maxLength, XsByteArray &data)
	Wait for data to arrive or a timeout to occur. More...

XsResultValue	writeData (const XsByteArray &data, XsFilePos *written=NULL) override
	Write the data to the USB port. More...

XsResultValue	writeData (XsFilePos length, const void data, XsFilePos written=NULL)
	Write the data to the USB port. More...

	XSENS_DISABLE_COPY (UsbInterface)

	~UsbInterface ()
	Destructor, de-initializes, frees memory allocated for buffers, etc. More...

Public Member Functions inherited from StreamInterface
	XSENS_DISABLE_COPY (StreamInterface)

	~StreamInterface ()
	Destroy the stream interface. More...

Public Member Functions inherited from IoInterface
virtual XsResultValue	appendData (const XsByteArray &bdata)
	Write data to the end of the file. More...

virtual void	cancelIo (void) const
	Cancel any pending io requests. More...

virtual XsResultValue	closeAndDelete (void)
	Close the file and delete it. More...

virtual XsResultValue	create (const XsString &filename)
	Create an empty file. More...

virtual XsResultValue	deleteData (XsFilePos start, XsFilePos length)
	Delete the given data from the file. More...

virtual XsResultValue	find (const XsByteArray &needleV, XsFilePos &pos)
	Find a string of bytes in the file. More...

virtual XsFilePos	getFileSize (void) const
	Return the size of the file. More...

virtual XsResultValue	getName (XsString &filename) const
	Retrieve the filename that was last successfully opened. More...

virtual XsFilePos	getReadPosition (void) const
	Return the current read position. More...

virtual XsFilePos	getWritePosition (void) const
	Return the current write position. More...

virtual XsResultValue	insertData (XsFilePos start, const XsByteArray &data)
	Insert the given data into the file. More...

virtual bool	isReadOnly (void) const
	Return whether the file is read-only or not. More...

virtual XsResultValue	open (const XsString &filename, bool createNew, bool readOnly)
	Open a file. More...

virtual XsResultValue	setReadPosition (XsFilePos pos)
	Set the new absolute read position. More...

virtual XsResultValue	setWritePosition (XsFilePos pos=-1)
	Set the new absolute write position. More...

virtual XsResultValue	waitForData (XsFilePos maxLength, XsByteArray &data)
	Wait for data to arrive or a timeout to occur. More...

virtual	~IoInterface ()
	Destructor. More...

Private Attributes
UsbInterfacePrivate *	d

Additional Inherited Members
Public Types inherited from IoInterface
enum	PortOptions { PO_NoFlowControl = 0, PO_RtsCtsFlowControl = (1 << 0), PO_DtrDsrFlowControl = (1 << 1), PO_XonXoffFlowControl = (1 << 2), PO_OneStopBit = 0, PO_TwoStopBits = (1 << 3), PO_XsensDefaults = (PO_NoFlowControl \| PO_TwoStopBits) }
	Options for flow control and stopbits which must be used when opening a port. More...

Protected Member Functions inherited from StreamInterface
	StreamInterface ()
	Create a stream interface. More...

Protected Member Functions inherited from IoInterface
	IoInterface ()
	Constructor. More...

	XSENS_DISABLE_COPY (IoInterface)

Detailed Description

An IoInterface for dealing specifically with Xsens USB devices.

Definition at line 89 of file usbinterface.h.

Constructor & Destructor Documentation

◆ UsbInterface()

UsbInterface::UsbInterface ( )

Default constructor, initializes all members to their default values.

Definition at line 400 of file usbinterface.cpp.

◆ ~UsbInterface()

UsbInterface::~UsbInterface ( )

Destructor, de-initializes, frees memory allocated for buffers, etc.

Definition at line 429 of file usbinterface.cpp.

Member Function Documentation

◆ close()

XsResultValue UsbInterface::close ( void )

virtual

Close the USB communication port.

Implements IoInterface.

Definition at line 449 of file usbinterface.cpp.

◆ closeUsb()

XsResultValue UsbInterface::closeUsb ( void )

Close the USB communication port.

Returns: XRV_OK if the port was closed successfully

Note: Linux:
If a kernel driver was detached when communication with the device started, attach it again. No guarantee is given that udev will pick up on it though.

Definition at line 460 of file usbinterface.cpp.

◆ flushData()

XsResultValue UsbInterface::flushData ( void )

virtual

Flush all data in the buffers to and from the device.

Returns: XRV_OK if the data was flushed successfully

Implements IoInterface.

Definition at line 529 of file usbinterface.cpp.

◆ getLastResult()

XsResultValue UsbInterface::getLastResult ( void ) const

virtual

Return the error code of the last operation.

Implements IoInterface.

Definition at line 566 of file usbinterface.cpp.

◆ getPortName()

void UsbInterface::getPortName ( XsString & portname ) const

Retrieve the port name that was last successfully opened.

Definition at line 1112 of file usbinterface.cpp.

◆ getRawIo()

bool UsbInterface::getRawIo ( void )

Retrieves the state of the RAWIO mode of the USB interface.

Returns: true if raw IO mode is enabled

Note: Only applies to WinUSB implementations

Definition at line 955 of file usbinterface.cpp.

◆ getTimeout()

uint32_t UsbInterface::getTimeout ( void ) const

virtual

Return the current timeout value.

Implements StreamInterface.

Definition at line 572 of file usbinterface.cpp.

◆ isOpen()

bool UsbInterface::isOpen ( void ) const

virtual

Return whether the USB communication port is open or not.

Implements IoInterface.

Definition at line 578 of file usbinterface.cpp.

◆ open()

XsResultValue UsbInterface::open	(	const XsPortInfo &	portInfo,
		XsFilePos	readBufSize = `0`,
		XsFilePos	writeBufSize = `0`,
		PortOptions	= `PO_XsensDefaults`
	)

overridevirtual

Open a communication channel to the given USB port name.

Reimplemented from IoInterface.

Definition at line 584 of file usbinterface.cpp.

◆ readData() [1/2]

XsResultValue UsbInterface::readData	(	XsFilePos	maxLength,
		void *	data,
		XsFilePos *	length = `NULL`
	)

Read data from the serial port and put it into the data buffer.

This function reads up to maxLength bytes from the USB port (non-blocking) and puts it into the data buffer.

Parameters

maxLength	The maximum number of bytes to read.
data	Pointer to a buffer that will store the received data.
length	The number of bytes placed into `data`.

Returns: XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be returned. Check *length for the number of bytes that were read.

Definition at line 842 of file usbinterface.cpp.

◆ readData() [2/2]

XsResultValue UsbInterface::readData	(	XsFilePos	maxLength,
		XsByteArray &	data
	)

overridevirtual

Read data from the USB port and put it into the data buffer.

This function reads up to maxLength bytes from the port (non-blocking) and puts it into the data buffer.

Parameters

maxLength	The maximum amount of data read.
data	The buffer that will store the received data.

Returns: XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be returned. Check data.size() for the number of bytes that were read.

Implements IoInterface.

Definition at line 824 of file usbinterface.cpp.

◆ setRawIo()

void UsbInterface::setRawIo ( bool enable )

Sets the RAWIO mode of the USB interface.

Note: Only applies to WinUSB implementations

Parameters

enable : If true will enable RAW IO mode

Definition at line 937 of file usbinterface.cpp.

◆ setTimeout()

XsResultValue UsbInterface::setTimeout ( uint32_t ms )

virtual

Set the default timeout value to use in blocking operations.

This function sets the value of m_timeout. There is no infinity value. The value 0 means that the default value is used.

Parameters

ms	The desired timeout in milliseconds

Returns: XRV_OK if the timeout value was successfully updated

Implements StreamInterface.

Definition at line 912 of file usbinterface.cpp.

◆ usbAddress()

uint8_t UsbInterface::usbAddress ( ) const

The address of the device (libusb/linux only)

Definition at line 1098 of file usbinterface.cpp.

◆ usbBus()

uint8_t UsbInterface::usbBus ( ) const

The USB bus number this device is on (libusb/linux only)

Definition at line 1084 of file usbinterface.cpp.

◆ waitForData() [1/2]

XsResultValue UsbInterface::waitForData	(	XsFilePos	maxLength,
		void *	data,
		XsFilePos *	length = `NULL`
	)

Wait for data to arrive or a timeout to occur.

The function waits until maxLength data is available or until a timeout occurs. The function returns success if data is available or XsResultValue::TIMEOUT if a timeout occurred. A timeout value of 0 indicates that the default timeout stored in the class should be used.

Parameters

maxLength	The maximum number of bytes to wait for
data	A buffer that will be filled with the read data. It must be able to contain at least maxLength bytes.
length	An optional pointer to storage for the actual number of bytes read.

Returns: XRV_OK if the requested data was read

Definition at line 978 of file usbinterface.cpp.

◆ waitForData() [2/2]

XsResultValue IoInterface::waitForData

Wait for data to arrive or a timeout to occur.

The function waits until maxLength data is available or until a timeout occurs. The function returns success if data is available or XsResultValue::TIMEOUT if a timeout occurred. A timeout value of 0 indicates that the default timeout stored in the class should be used.

Parameters

maxLength	The maximum number of bytes to read before returning
data	The buffer to put the read data in.

Returns: XRV_OK if maxLength bytes were read, XRV_TIMEOUT if less was read, XRV_TIMEOUTNODATA if nothing was read

Definition at line 107 of file iointerface.cpp.

◆ writeData() [1/2]

XsResultValue UsbInterface::writeData	(	const XsByteArray &	data,
		XsFilePos *	written = `NULL`
	)

overridevirtual

Write the data to the USB port.

The function writes the given data to the connected USB port. The default timeout is respected in this operation.

Parameters

data	The data to be written
written	An optional pointer to storage for the actual number of bytes that were written

Returns: XRV_OK if the data was successfully written

See also: writeData(XsFilePos, const void *, XsFilePos*)

Implements IoInterface.

Definition at line 1014 of file usbinterface.cpp.

◆ writeData() [2/2]

XsResultValue UsbInterface::writeData	(	XsFilePos	length,
		const void *	data,
		XsFilePos *	written = `NULL`
	)

Write the data to the USB port.

The function writes the given data to the connected USB port. The default timeout is respected in this operation.

Parameters

length	The number of bytes to write.
data	A pointer to a memory buffer that contains the bytes to send
written	An optional pointer to storage for the actual number of bytes that were written

Returns: XRV_OK if the data was successfully written

See also: writeData(const XsByteArray&, XsFilePos*)

Definition at line 1028 of file usbinterface.cpp.

◆ XSENS_DISABLE_COPY()

UsbInterface::XSENS_DISABLE_COPY ( UsbInterface )

Member Data Documentation

◆ d

UsbInterfacePrivate* UsbInterface::d

private

Definition at line 91 of file usbinterface.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UsbInterface()

◆ ~UsbInterface()

Member Function Documentation

◆ close()

◆ closeUsb()

◆ flushData()

◆ getLastResult()

◆ getPortName()

◆ getRawIo()

◆ getTimeout()

◆ isOpen()

◆ open()

◆ readData() [1/2]

◆ readData() [2/2]

◆ setRawIo()

◆ setTimeout()

◆ usbAddress()

◆ usbBus()

◆ waitForData() [1/2]

◆ waitForData() [2/2]

◆ writeData() [1/2]

◆ writeData() [2/2]

◆ XSENS_DISABLE_COPY()

Member Data Documentation

◆ d