mtdevice.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 MTDEVICE_H
#define MTDEVICE_H
 
#include "xsdevice_def.h"
#include <xstypes/xsstringarray.h>
#include <xstypes/xsfilterprofilearray.h>
#include <xstypes/xsintarray.h>
 
struct XsFilterProfile;
 
namespace xsens
{
class Emts5Public;
}
 
class MtDevice : public XsDeviceEx
{
public:
        virtual ~MtDevice();
 
        bool initialize() override;
 
        bool isMotionTracker() const override;
        int updateRateForDataIdentifier(XsDataIdentifier dataType) const override;
        virtual int getBaseFrequency(XsDataIdentifier dataType = XDI_None) const;
 
        uint16_t stringOutputType() const override;
        uint16_t stringSamplePeriod() const override;
        uint16_t stringSkipFactor() const override;
 
        XsDeviceOptionFlag deviceOptionFlags() const override;
 
        XsUbloxGnssPlatform ubloxGnssPlatform() const override;
        bool setUbloxGnssPlatform(XsUbloxGnssPlatform ubloxGnssPlatform) override;
 
        XsIntArray gnssReceiverSettings() const override;
        bool setGnssReceiverSettings(const XsIntArray& gnssReceiverSettings) override;
 
        XsOutputConfigurationArray outputConfiguration() const override;
 
        double headingOffset() const;
 
        virtual bool canDoOrientationResetInFirmware(XsResetMethod method);
        virtual bool scheduleOrientationReset(XsResetMethod method);
        virtual bool storeAlignmentMatrix();
 
        virtual bool setLocationId(int id);
        int locationId() const;
 
        XsString productCode() const;
 
        XsBaudRate serialBaudRate() const override;
 
        bool reinitialize();
 
        XsFilterProfile onboardFilterProfile() const override;
        bool setOnboardFilterProfile(int profileType) override;
        bool setOnboardFilterProfile(XsString const& profileType) override;
 
        XsVersion hardwareVersion() const;
 
        XsFilterProfileArray availableOnboardFilterProfiles() const override;
 
        bool resetLogFileReadPosition() override;
 
        bool restoreFactoryDefaults();
 
        double accelerometerRange() const;
        double gyroscopeRange() const;
 
        void writeDeviceSettingsToFile() override;
 
        bool setNoRotation(uint16_t duration);
 
        XsVector initialPositionLLA() const override;
        bool setInitialPositionLLA(const XsVector& lla) override;
 
        XsErrorMode errorMode() const;
        bool setErrorMode(XsErrorMode errorMode);
 
        uint16_t rs485TransmissionDelay() const;
        bool setRs485TransmissionDelay(uint16_t delay);
 
        XsSelfTestResult runSelfTest();
 
        bool requestData();
        bool storeFilterState() override;
 
        static int calcFrequency(int baseFrequency, uint16_t skipFactor);
 
        bool messageLooksSane(const XsMessage& msg) const override;
        uint32_t supportedStatusFlags() const override;
 
protected:
        explicit MtDevice(XsDeviceId const& id);
        explicit MtDevice(Communicator* comm);
        explicit MtDevice(XsDevice*, const XsDeviceId&);
 
        virtual void updateFilterProfiles();
 
        XsFilterProfileArray readFilterProfilesFromDevice() const;
        virtual void fetchAvailableHardwareScenarios();
 
        static XsString stripProductCode(const XsString& code);
 
        uint32_t syncTicksToUs(uint32_t ticks) const;
        uint32_t usToSyncTicks(uint32_t us) const;
 
        XsFilterProfileArray m_hardwareFilterProfiles;
 
        XsFilterProfile m_hardwareFilterProfile;
};
 
#ifndef XDA_PRIVATE_BUILD
 
struct MtDeviceEx : public MtDevice
{
protected:
 
        explicit MtDeviceEx(Communicator* comm) : MtDevice(comm) {}
 
        explicit MtDeviceEx(XsDevice* master, const XsDeviceId& childDeviceId) : MtDevice(master, childDeviceId) {}
};
#else
#include "mtdeviceex.h"
#endif
 
#endif