mtixdevice.cpp

Go to the documentation of this file.

 
//  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 "mtixdevice.h"
 
#include <xstypes/xsdatapacket.h>
#include "replyobject.h"
#include "communicator.h"
#include "scenariomatchpred.h"
#include <xstypes/xsstatusflag.h>
 
#include <xstypes/xssensorranges.h>
#include "synclinegmt.h"
#include <xstypes/xssyncsetting.h>
 
using namespace xsens;
 
MtiXDevice::MtiXDevice(Communicator* comm)
        : MtiBaseDeviceEx(comm)
{
        if (comm)
                comm->setDefaultTimeout(2000); //Increase the default timeout for MTi-1 devices because a settings write can occasionally take ~900ms
}
 
MtiXDevice::~MtiXDevice()
{
}
 
MtiBaseDevice::BaseFrequencyResult MtiXDevice::getBaseFrequencyInternal(XsDataIdentifier dataType) const
{
        MtiBaseDevice::BaseFrequencyResult result;
        result.m_frequency = 0;
        result.m_divedable = true;
 
        if ((dataType == XDI_FreeAcceleration && deviceId().isImu()) ||
                ((dataType & XDI_FullTypeMask) == XDI_LocationId) ||
                ((dataType & XDI_FullTypeMask) == XDI_DeviceId))
                return result;
 
        if ((dataType & XDI_FullTypeMask) == XDI_AccelerationHR || (dataType & XDI_FullTypeMask) == XDI_RateOfTurnHR)
        {
                bool isMtMk4_1_v1 = hardwareVersion().major() == 1;
                bool isMtMk4_1_v2 = hardwareVersion().major() == 2;
                result.m_frequency = isMtMk4_1_v2 ? 800 : 1000;
                result.m_divedable = isMtMk4_1_v1 ? false : true;
 
                return result;
        }
 
        auto baseFreq = [this](XsDataIdentifier dataType)
        {
                switch (dataType & XDI_TypeMask)
                {
                        case XDI_None:
                                return 100;
                        case XDI_TimestampGroup:
                                return XDI_MAX_FREQUENCY_VAL;
                        case XDI_StatusGroup:
                                return 100;
                        case XDI_TemperatureGroup:
                                return 100;
                        case XDI_OrientationGroup:
                                return deviceId().isImu() ? 0 : 100;
                        case XDI_AccelerationGroup:
                                return 100;
                        case XDI_AngularVelocityGroup:
                                return 100;
                        case XDI_MagneticGroup:
                                return 100;
 
                        case XDI_GnssGroup:
                                return deviceId().isGnss() ? 4 : 0;
                        case XDI_PressureGroup:
                                return deviceId().isGnss() ? 50 : 0;
                        case XDI_PositionGroup:
                                return deviceId().isGnss() ? 100 : 0;
                        case XDI_VelocityGroup:
                                return deviceId().isGnss() ? 100 : 0;
                        default:
                                return 0;
                }
        };
        result.m_frequency = baseFreq(dataType);
 
        if ((dataType & XDI_TypeMask) == XDI_TimestampGroup)
                result.m_divedable = false;
 
        return result;
}
 
bool MtiXDevice::hasIccSupport() const
{
        return (firmwareVersion() >= XsVersion(1, 1, 0));
}
 
uint32_t MtiXDevice::supportedStatusFlags() const
{
        return (uint32_t)(XSF_ExternalClockSynced
                        | (deviceId().isImu() ? 0 : XSF_OrientationValid
                                | XSF_NoRotationMask
                                | XSF_RepresentativeMotion
                        )
                        | 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
                );
}
 
XsString MtiXDevice::shortProductCode() const
{
        XsString code = productCode();
 
        if (hardwareVersion() >= XsVersion(2, 0, 0))
                code = stripProductCode(code);
 
        return code;
}