mtigdevice.cpp

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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.
//  
 
#include "mtigdevice.h"
#include <xstypes/xsstringoutputtypearray.h>
#include <xstypes/xsstatusflag.h>
 
#define MTMK4_700_LEGACY_FW_VERSION_MAJOR               1
#define MTMK4_700_LEGACY_FW_VERSION_MINOR               3
#define MTMK4_700_LEGACY_FW_VERSION_REVISION    7
 
using namespace xsens;
 
MtigDevice::MtigDevice(Communicator* comm)
        : MtiBaseDeviceEx(comm)
{
}
 
MtigDevice::MtigDevice(XsDevice* master)
        : MtiBaseDeviceEx(master)
{
}
 
MtigDevice::~MtigDevice()
{
}
 
XsStringOutputTypeArray MtigDevice::supportedStringOutputTypes() const
{
        XsStringOutputTypeArray outputs;
        outputs.push_back(XSOT_HCHDM);
        outputs.push_back(XSOT_HCHDG);
        outputs.push_back(XSOT_TSS2);
        outputs.push_back(XSOT_PHTRO);
        outputs.push_back(XSOT_PRDID);
        outputs.push_back(XSOT_EM1000);
        outputs.push_back(XSOT_PSONCMS);
        outputs.push_back(XSOT_HCMTW);
        outputs.push_back(XSOT_HEHDT);
        outputs.push_back(XSOT_HEROT);
        outputs.push_back(XSOT_GPGGA);
        outputs.push_back(XSOT_PTCF);
        outputs.push_back(XSOT_XSVEL);
        outputs.push_back(XSOT_GPZDA);
        outputs.push_back(XSOT_GPRMC);
 
        return outputs;
}
 
MtiBaseDevice::BaseFrequencyResult MtigDevice::getBaseFrequencyInternal(XsDataIdentifier dataType) const
{
        MtiBaseDevice::BaseFrequencyResult result;
        result.m_frequency = 0;
        result.m_divedable = true;
 
        if ((dataType & XDI_FullTypeMask) == XDI_AccelerationHR || (dataType & XDI_FullTypeMask) == XDI_RateOfTurnHR)
        {
                result.m_frequency = 1000;
                result.m_divedable = false;
 
                return result;
        }
 
        auto baseFreq = [this](XsDataIdentifier dataType)
        {
                static const XsVersion legacyFwVersion(MTMK4_700_LEGACY_FW_VERSION_MAJOR, MTMK4_700_LEGACY_FW_VERSION_MINOR, MTMK4_700_LEGACY_FW_VERSION_REVISION);
                bool const isLegacyFirmware = (firmwareVersion() <= legacyFwVersion);
 
                switch (dataType & XDI_TypeMask)
                {
                        case XDI_None:
                                return 2000;
                        case XDI_TimestampGroup:
                                return XDI_MAX_FREQUENCY_VAL;
 
                        case XDI_RawSensorGroup:
                                return 2000;
                        case XDI_AnalogInGroup:
                                return 2000;
                        case XDI_StatusGroup:
                                return 2000;
 
                        case XDI_TemperatureGroup:
                                return 400;
                        case XDI_PositionGroup:
                                return 400;
                        case XDI_VelocityGroup:
                                return 400;
                        case XDI_OrientationGroup:
                                return 400;
                        case XDI_AccelerationGroup:
                                return 400;
                        case XDI_AngularVelocityGroup:
                                return 400;
                        case XDI_MagneticGroup:
                                return 100;
                        case XDI_PressureGroup:
                                return 50;
 
                        case XDI_GnssGroup:
                                return isLegacyFirmware ? 0 : 4;
                        default:
                                return 0;
                }
        };
 
        result.m_frequency = baseFreq(dataType);
 
        if (((dataType & XDI_TypeMask) == XDI_TimestampGroup) || ((dataType & XDI_TypeMask) == XDI_GnssGroup))
                result.m_divedable = false;
 
        return result;
}
 
uint32_t MtigDevice::supportedStatusFlags() const
{
        return (uint32_t)(
                        //|XSF_SelfTestOk
                        XSF_OrientationValid
                        | XSF_GpsValid
                        | XSF_NoRotationMask
                        | XSF_RepresentativeMotion
                        | XSF_ExternalClockSynced
                        | XSF_ClipAccX
                        | XSF_ClipAccY
                        | XSF_ClipAccZ
                        | XSF_ClipGyrX
                        | XSF_ClipGyrY
                        | XSF_ClipGyrZ
                        | XSF_ClipMagX
                        | XSF_ClipMagY
                        | XSF_ClipMagZ
                        //|XSF_Retransmitted
                        | XSF_ClippingDetected
                        //|XSF_Interpolated
                        | XSF_SyncIn
                        | XSF_SyncOut
                        | XSF_FilterMode
                        | XSF_HaveGnssTimePulse
                );
}