High level Motion Tracker (MT) management class. More...

#include <xscontrol_def.h>

Inheritance diagram for XsControl:

[legend]

Public Member Functions
XsDevice *	broadcast () const
	Returns the broadcast device. More...

void	clearHardwareError ()
	Clear the last hardware error. More...

void	close ()
	Close all ports and files. More...

void	closeCustomPort (int channelId)
	Closes a custom communication channel. More...

void	closePort (const XsDeviceId &deviceId)
	Close the port that is used for communication with the given deviceId. More...

void	closePort (const XsPortInfo &portinfo)
	Close the serial port that matches portinfo. More...

void	closePort (const XsString &portname)
	Close the serial port with the given portname. More...

void	closePort (XsDevice *device)
	Close the device port with the given XsDevice. More...

XsPortInfo	customPortInfo (int channelId) const
	Returns the port information for a custom communication channel. More...

XSNOEXPORT void	destruct ()

XsDevice *	device (const XsDeviceId &deviceId) const
	Returns the XsDevice interface object associated with the supplied deviceId. More...

int	deviceCount () const
	Get the number of connected devices. More...

virtual std::vector< XsDeviceId >	deviceIds () const
	Get the device IDs of all the connected devices. More...

XsOption	disabledOptions () const
	Return the currently explicitly disabled options. More...

XsDeviceId	dockDeviceId (const XsDeviceId &deviceId) const
	Get the device ID of the dock device for the given deviceId. More...

XsOption	enabledOptions () const
	Return the currently enabled options. More...

virtual bool XSNOEXPORT	finalizeOpenPort (Communicator *communicator, XsPortInfo &portinfo, uint32_t timeout, bool detectRs485)

void	flushInputBuffers ()
	Clear the inbound data buffers of all devices. More...

XsDevice *	getDeviceFromLocationId (uint16_t locationId) const
	Get the device of the device on the given locationId. More...

void	gotoConfig ()
	Place all sensors connected through a serial port into Configuration Mode. More...

void	gotoMeasurement ()
	Place all sensors connected through a serial port into Measurement Mode. More...

virtual bool	isDeviceDocked (const XsDeviceId &deviceId) const
	Test if the given deviceId is docked. More...

virtual bool	isDeviceWireless (const XsDeviceId &deviceId) const
	Test if the given deviceId is an MTw and if it is wirelessly connected. More...

XsResultValue	lastHardwareError () const
	Get the last hardware error code. More...

XsDeviceId	lastHardwareErrorDeviceId () const

XsResultValue	lastResult () const
	Get the result value of the last operation. More...

XsString	lastResultText () const
	Get the accompanying error text for the value returned by lastResult() More...

virtual bool	loadFilterProfiles (const XsString &filename)
	Load filter profile definitions from a settings file with the given filename. More...

int	mainDeviceCount () const
	Get the number of main devices. More...

std::vector< XsDeviceId >	mainDeviceIds () const
	Get the device IDs of the available main devices. More...

XsDevicePtrArray	mainDevices () const
	Returns all main XsDevice interface objects. More...

virtual int	mtCount () const
	Get the number of connected MTs. More...

virtual std::vector< XsDeviceId >	mtDeviceIds () const
	Get the device IDs of the available MTs. More...

bool	openCustomPort (int channelId, uint32_t channelLatency, bool detectRs485=false)
	Open a custom communication channel. More...

virtual bool	openImarPort_internal (const XsString &portname, XsBaudRate baudrate, int imarType, uint32_t timeout=0)
	Open a communication channel on serial port with the given portname. More...

bool	openLogFile (const XsString &filename)
	Open the log file with the given filename. More...

bool	openPort (const XsString &portname, XsBaudRate baudrate, uint32_t timeout=0, bool detectRs485=false)
	Open a communication channel on serial port with the given portname. More...

bool	openPort (XsPortInfo &portinfo, uint32_t timeout=0, bool detectRs485=false)
	Open a communication channel using the details in the supplied XsPortInfo structure. More...

bool	openPortWithCredentials (XsPortInfo &portinfo, XsString const &id, XsString const &key, uint32_t timeout=0)
	Open a communication channel using the details in the supplied XsPortInfo structure using the supplied credentials. More...

bool	setInitialPositionLLA (const XsVector &lla)
	Sets the current GNSS position of the system. More...

void	setOptions (XsOption enable, XsOption disable)
	Peristently enable or disable options. More...

void	setOptionsForce (XsOption enabled)
	Peristently enable or disable options. More...

XsResultValue	startRestoreCommunication (const XsString &portName)
	Starts restore communication procedure. More...

void	stopRestoreCommunication ()
	Stops restore communication procedure. More...

void	transmissionReceived (int channelId, const XsByteArray &data)
	Feed data coming back from an Xsens device over a custom channel into XDA. More...

	XsControl ()
	Construct a new Xsens Device API control object. More...

	~XsControl ()
	Destroy this XsControl object. More...

Public Member Functions inherited from CallbackManagerXda
void	addCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Add a handler to the list. More...

void	addChainedManager (CallbackManagerXda *cm)
	Add a chained manager to the list. More...

	CallbackManagerXda ()
	Constructor, initializes the callback list. More...

void	clearCallbackHandlers (bool chain=true)
	Clear the callback list. More...

void	clearChainedManagers ()
	Clear the chained manager list. More...

void	copyCallbackHandlersFrom (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from cm into this manager. More...

void	copyCallbackHandlersTo (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from this manager into cm. More...

void	onAllBufferedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllBufferedDataAvailable() callback forwarding function. More...

void	onAllDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllDataAvailable() callback forwarding function. More...

void	onAllLiveDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllLiveDataAvailable() callback forwarding function. More...

void	onAllRecordedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllRecordedDataAvailable() callback forwarding function. More...

void	onBufferedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onBufferedDataAvailable() callback forwarding function. More...

void	onConnectivityChanged (XsDevice *dev, XsConnectivityState newState) override
	The XsCallback::onConnectivityChanged() callback forwarding function. More...

void	onDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onDataAvailable() callback forwarding function. More...

void	onDataUnavailable (XsDevice *dev, int64_t packetId) override
	The XsCallback::onDataUnavailable() callback forwarding function. More...

void	onDeviceStateChanged (XsDevice *dev, XsDeviceState newState, XsDeviceState oldState) override
	The XsCallback::onDeviceStateChanged() callback forwarding function. More...

void	onError (XsDevice *dev, XsResultValue error) override
	The Xscallback::onError() callback forwarding function. More...

void	onInfoResponse (XsDevice *dev, XsInfoRequest request) override
	The XsCallback::onInfoResponse() callback forwarding function. More...

void	onLiveDataAvailable (XsDevice dev, const XsDataPacket packet) override
	The XsCallback::onLiveDataAvailable() callback forwarding function. More...

void	onMessageDetected (XsDevice dev, XsProtocolType type, XsByteArray const rawMessage) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageReceivedFromDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageSentToDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageSentToDevice() callback forwarding function. More...

void	onMissedPackets (XsDevice *dev, int count, int first, int last) override
	The XsCallback::onMissedPackets() callback forwarding function. More...

void	onNonDataMessage (XsDevice dev, XsMessage const message) override
	The Xscallback::onNonDataMessage() callback forwarding function. More...

void	onProgressUpdated (XsDevice dev, int current, int total, const XsString identifier) override
	The XsCallback::onProgressUpdated() callback forwarding function. More...

void	onRecordedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onRecordedDataAvailable() callback forwarding function. More...

void	onRestoreCommunication (const XsString *portName, XsResultValue result) override
	The Xscallback::onRestoreCommunication callback forwarding function. More...

void	onTransmissionRequest (int channelId, const XsByteArray *data) override

void	onWakeupReceived (XsDevice *dev) override
	The XsCallback::onWakeupReceived() callback forwarding function. More...

int	onWriteMessageToLogFile (XsDevice dev, const XsMessage message) override
	The XsCallback::onWriteMessageToLogFile() callback forwarding function. More...

void	removeCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Remove a handler from the list. More...

void	removeChainedManager (CallbackManagerXda *cm)
	Remove achained manager from the list. More...

	~CallbackManagerXda ()
	Destructor, clears the callback list. More...

Static Public Member Functions
static XSNOEXPORT XsControl *	construct ()

static XsString	resultText (XsResultValue resultCode)
	Get a descriptive text for the given resultCode. More...

Protected Member Functions
virtual XsDevice *XSNOCOMEXPORT	addMasterDevice (Communicator *communicator)

void	closePortByIndex (uint32_t index)

XsDevice *	findDevice (const XsDeviceId &deviceId) const

Communicator *	findXbusInterface (const XsDeviceId &deviceId) const
	Find the xs3 info of the given id. More...

Communicator *	findXbusInterface (const XsPortInfo &portInfo) const

Communicator *	findXbusInterface (const XsString &portName) const

virtual void	removeExistingDevice (XsDeviceId const &deviceId)

void	setPersistentSettings (XsDevice *dev)

void	updateRecordingState ()

XSNOEXPORT	XsControl (const XsControl &)=delete

Protected Attributes
BroadcastDevice *	m_broadcaster
	The broadcast device object. More...

XdaCommunicatorFactory *	m_communicatorFactory
	The communicator factory object. More...

DeviceFactory *	m_deviceFactory
	The device factory object. More...

std::vector< XsDevice * >	m_deviceList
	This list contains device-information and cached data per device. More...

XsResultValue	m_lastHwError
	Contains the last serious error reported by CMT3. More...

XsDeviceId	m_lastHwErrorDeviceId
	Contains the XsDevice ID of the device that caused the last hardware error. More...

LastResultManager	m_lastResult
	The last result of an operation. More...

XsVector3	m_latLonAlt
	This vector contains the latitude, longitude and altitude. More...

XsOption	m_optionsDisable
	Contsins all disabled options. More...

XsOption	m_optionsEnable
	Contains all enable options. More...

xsens::MutexReadWrite	m_portMutex
	Controls access to the serial ports, also used to suspend the thread. More...

std::map< int, ProxyCommunicator * >	m_proxyChannels
	This map contains the proxy channels. More...

volatile std::atomic_bool	m_recording
	AwindaStationIndication of threads started or not. More...

RestoreCommunication *	m_restoreCommunication
	The restore communication object. More...

xsens::Mutex	m_runMutex
	Always held by the thread when it is running. More...

bool	m_useFakeMessages
	Boolean variable for enabling/disabling the use of fake messages. More...

Detailed Description

High level Motion Tracker (MT) management class.

CMT version 2 and higher do not use the explicit error codes that CMT version 1 used. Most functions return a boolean indicating success, a null-object, empty lists or nothing at all. In some cases more in-depth knowledge of the last error is required. For these occasions, use lastResult() or lastResultText() to find out what exactly went wrong.

Note: This object cannot be copied. The copy constructor has been disabled.

See also: C Interface For the C interface functions.

Definition at line 131 of file xscontrol_def.h.

Constructor & Destructor Documentation

◆ XsControl() [1/2]

XsControl::XsControl ( )

Construct a new Xsens Device API control object.

Construct a new Xsens Device API control object that can be used to open ports, files, etc.

Returns: The newly constructed XsControl object

Definition at line 140 of file xscontrol_def.cpp.

◆ ~XsControl()

XsControl::~XsControl ( )

Destroy this XsControl object.

All connected devices are put in config mode. All serial ports and files are subsequently closed.

See also: close()

Definition at line 165 of file xscontrol_def.cpp.

◆ XsControl() [2/2]

XSNOEXPORT XsControl::XsControl ( const XsControl & )

protecteddelete

Member Function Documentation

◆ addMasterDevice()

virtual XsDevice* XSNOCOMEXPORT XsControl::addMasterDevice ( Communicator * communicator )

protectedvirtual

◆ broadcast()

XsDevice * XsControl::broadcast ( ) const

Returns the broadcast device.

The broadcast device can be used to apply an operation to all connected devices at once (if they support it)

Returns: An XsDevice pointer representing the broadcast device

Definition at line 968 of file xscontrol_def.cpp.

◆ clearHardwareError()

void XsControl::clearHardwareError ( )

Clear the last hardware error.

See also: lastHardwareError();

Definition at line 381 of file xscontrol_def.cpp.

◆ close()

void XsControl::close ( )

Close all ports and files.

All devices are put in config mode before the serial port is closed.

Definition at line 194 of file xscontrol_def.cpp.

◆ closeCustomPort()

void XsControl::closeCustomPort ( int channelId )

Closes a custom communication channel.

Note: When closing a custom channel the device will not be switched to config mode. This must be done manually

See also: XsDevice::gotoConfig

Parameters

channelId The user-provided identifier of the channel to close. This identifier must match with the one used to open the port

See also: openCustomPort

Definition at line 833 of file xscontrol_def.cpp.

◆ closePort() [1/4]

void XsControl::closePort ( const XsDeviceId & deviceId )

Close the port that is used for communication with the given deviceId.

Parameters

deviceId The device ID to clos eth port for. When 0, the first available port is closed.

Note: When the port hosts multiple devices, this function will make all devices connected to the port invalid.

Definition at line 281 of file xscontrol_def.cpp.

◆ closePort() [2/4]

void XsControl::closePort ( const XsPortInfo & portinfo )

Close the serial port that matches portinfo.

All connected devices are put in config mode before the port is closed.

Parameters

portinfo A port information structure that contains the name of the port to close

See also: closePort(const XsString&)

Definition at line 293 of file xscontrol_def.cpp.

◆ closePort() [3/4]

void XsControl::closePort ( const XsString & portname )

Close the serial port with the given portname.

All connected devices are put in config mode before the port is closed.

Parameters

portname the name of the port to close (e.g. COM1 on Windows, /dev/ttyUSB0 on Linux)

Definition at line 260 of file xscontrol_def.cpp.

◆ closePort() [4/4]

void XsControl::closePort ( XsDevice * device )

Close the device port with the given XsDevice.

All connected devices are put in config mode before the port is closed.

Parameters

device the XsDevice obtained with the device() function

See also: device()

Definition at line 239 of file xscontrol_def.cpp.

◆ closePortByIndex()

void XsControl::closePortByIndex ( uint32_t index )

protected

◆ construct()

XsControl * XsControl::construct ( )

static

Definition at line 1183 of file xscontrol_def.cpp.

◆ customPortInfo()

XsPortInfo XsControl::customPortInfo ( int channelId ) const

Returns the port information for a custom communication channel.

Parameters

channelId The user-provided identifier of the channel

Returns: The port info for the given channel

See also: openCustomPort

Definition at line 820 of file xscontrol_def.cpp.

◆ destruct()

XSNOEXPORT void XsControl::destruct ( )

inline

Definition at line 205 of file xscontrol_def.h.

◆ device()

XsDevice * XsControl::device ( const XsDeviceId & deviceId ) const

Returns the XsDevice interface object associated with the supplied deviceId.

Parameters

deviceId The ID of the device to return, 0 to return the first available main device

Returns: The XsDevice attached to the deviceId or 0 if the device was not found

See also: broadcast()

Definition at line 947 of file xscontrol_def.cpp.

◆ deviceCount()

int XsControl::deviceCount ( ) const

Get the number of connected devices.

Returns: The number of connected devices

Definition at line 317 of file xscontrol_def.cpp.

◆ deviceIds()

std::vector< XsDeviceId > XsControl::deviceIds ( ) const

virtual

Get the device IDs of all the connected devices.

Returns: Vector containing the device IDs of all the connected devices.

Definition at line 333 of file xscontrol_def.cpp.

◆ disabledOptions()

XsOption XsControl::disabledOptions ( ) const

Return the currently explicitly disabled options.

Returns: The options that are set to be explicitly disabled

See also: setOptions; enabledOptions

Definition at line 1118 of file xscontrol_def.cpp.

◆ dockDeviceId()

XsDeviceId XsControl::dockDeviceId ( const XsDeviceId & deviceId ) const

Get the device ID of the dock device for the given deviceId.

This function returns the ID of the docking station that deviceId is plugged into. If the docking station itself is not an open port in this XsControl or the device is not plugged into a docking station, the function will return a 0 id.

Parameters

deviceId the ID of the device to find the dock parent for

Returns: the ID of the device that has deviceId docked

See also: isDeviceDocked

Definition at line 898 of file xscontrol_def.cpp.

◆ enabledOptions()

XsOption XsControl::enabledOptions ( ) const

Return the currently enabled options.

Returns: The options that are set to be enabled

See also: setOptions; disabledOptions

Definition at line 1109 of file xscontrol_def.cpp.

◆ finalizeOpenPort()

virtual bool XSNOEXPORT XsControl::finalizeOpenPort	(	Communicator *	communicator,
		XsPortInfo &	portinfo,
		uint32_t	timeout,
		bool	detectRs485
	)

virtual

◆ findDevice()

XsDevice* XsControl::findDevice ( const XsDeviceId & deviceId ) const

protected

◆ findXbusInterface() [1/3]

Communicator* XsControl::findXbusInterface ( const XsDeviceId & deviceId ) const

protected

Find the xs3 info of the given id.

◆ findXbusInterface() [2/3]

Communicator* XsControl::findXbusInterface ( const XsPortInfo & portInfo ) const

protected

◆ findXbusInterface() [3/3]

Communicator* XsControl::findXbusInterface ( const XsString & portName ) const

protected

◆ flushInputBuffers()

void XsControl::flushInputBuffers ( )

Clear the inbound data buffers of all devices.

Definition at line 302 of file xscontrol_def.cpp.

◆ getDeviceFromLocationId()

XsDevice * XsControl::getDeviceFromLocationId ( uint16_t locationId ) const

Get the device of the device on the given locationId.

If the location ID is not found, the lastResult value is set and the function returns a nullptr.

Parameters

locationId the location ID of the device we're looking for

Returns: a pointer to the device for locationId

See also: lastResult()

Definition at line 362 of file xscontrol_def.cpp.

◆ gotoConfig()

void XsControl::gotoConfig ( )

Place all sensors connected through a serial port into Configuration Mode.

This function is called before close() in the destructor of the class. /sa close()

Definition at line 510 of file xscontrol_def.cpp.

◆ gotoMeasurement()

void XsControl::gotoMeasurement ( )

Place all sensors connected through a serial port into Measurement Mode.

The function places the sensors in measurement mode in the appropriate order as they are sorted by sortBySync.

Definition at line 524 of file xscontrol_def.cpp.

◆ isDeviceDocked()

bool XsControl::isDeviceDocked ( const XsDeviceId & deviceId ) const

virtual

Test if the given deviceId is docked.

Only wireless devices can be regarded as docked.

\param deviceId the ID of the device to investigate

\returns true if the device is docked, false otherwise

Definition at line 558 of file xscontrol_def.cpp.

◆ isDeviceWireless()

bool XsControl::isDeviceWireless ( const XsDeviceId & deviceId ) const

virtual

Test if the given deviceId is an MTw and if it is wirelessly connected.

If the device ID is not found, the function returns false and the lastResult value is set.

Parameters

deviceId the ID of the device to investigate

Returns: true if the device is wirelessly connected, false otherwise

Definition at line 572 of file xscontrol_def.cpp.

◆ lastHardwareError()

XsResultValue XsControl::lastHardwareError ( ) const

Get the last hardware error code.

Returns: The last hardware error

See also: lastResult(); resultText()

Definition at line 392 of file xscontrol_def.cpp.

◆ lastHardwareErrorDeviceId()

XsDeviceId XsControl::lastHardwareErrorDeviceId ( ) const

Returns: The device ID that caused the last hardware error.

Definition at line 399 of file xscontrol_def.cpp.

◆ lastResult()

XsResultValue XsControl::lastResult ( ) const

Get the result value of the last operation.

The result values are codes that describe a failure in more detail.

Returns: the last known error code

See also: resultText(XsResultValue), lastResultText()

Definition at line 409 of file xscontrol_def.cpp.

◆ lastResultText()

XsString XsControl::lastResultText ( ) const

Get the accompanying error text for the value returned by lastResult()

This is more than a convenience function for

XsString lastResultText = XsControl::resultText(xscontrol->lastResult());

It may provide situation-specific information instead.

Returns: a human readable error description

See also: resultText(XsResultValue), lastResult()

Definition at line 423 of file xscontrol_def.cpp.

◆ loadFilterProfiles()

bool XsControl::loadFilterProfiles ( const XsString & filename )

virtual

Load filter profile definitions from a settings file with the given filename.

To use the filtering properly, XDA requires filter settings usually stored in a scenarios.xsb file. XSB is the Xsens Settings Binary format. This function allows you to specify the full path + filename to use instead of the default filter profiles embedded in the dll.

Parameters

filename The full path+filename to use for loading the parameters. When empty, the default filter profiles are loaded. On Linux this is "./scenarios.xsb", on Windows it is read from the dll resource.

Returns: true on success, false on failure

Definition at line 1086 of file xscontrol_def.cpp.

◆ mainDeviceCount()

int XsControl::mainDeviceCount ( ) const

Get the number of main devices.

Returns: the number of main devices

See also: mainDeviceIds(), mainDeviceId(const XsDeviceId&)

Definition at line 432 of file xscontrol_def.cpp.

◆ mainDeviceIds()

std::vector< XsDeviceId > XsControl::mainDeviceIds ( ) const

Get the device IDs of the available main devices.

Main devices are the devices communicating with the serial port, typically Bodypacks, Awinda Stations and stand-alone MTis or MTxs.

Returns: a std::vector with the device IDs.

Definition at line 466 of file xscontrol_def.cpp.

◆ mainDevices()

XsDevicePtrArray XsControl::mainDevices ( ) const

Returns all main XsDevice interface objects.

Returns: A list containing pointers to the main device XsDevice objects

Definition at line 955 of file xscontrol_def.cpp.

◆ mtCount()

int XsControl::mtCount ( ) const

virtual

Get the number of connected MTs.

Returns: the number of MTs, including both main and child devices.

See also: mtDeviceIds()

Definition at line 446 of file xscontrol_def.cpp.

◆ mtDeviceIds()

std::vector< XsDeviceId > XsControl::mtDeviceIds ( ) const

virtual

Get the device IDs of the available MTs.

Returns: A std::vector with the device IDs.

See also: mtCount

Definition at line 485 of file xscontrol_def.cpp.

◆ openCustomPort()

bool XsControl::openCustomPort	(	int	channelId,
		uint32_t	channelLatency,
		bool	detectRs485 = `false`
	)

Open a custom communication channel.

Parameters

channelId User-provided identifier for the custom channel. Supplying the same channel Id more than once gives a XV_ALREADYOPEN result (

See also: getLastResult)

Parameters

channelLatency	The worst-case round-trip delay in milliseconds induced by the custom channel. XDA will add this latency to its communication timeout values
detectRs485	Enable more extended scan to detect rs485 devices

Returns: true if the port was successfully opened.

See also: closeCustomPort; transmissionReceived

Definition at line 792 of file xscontrol_def.cpp.

◆ openImarPort_internal()

bool XsControl::openImarPort_internal	(	const XsString &	portname,
		XsBaudRate	baudrate,
		int	imarType,
		uint32_t	timeout = `0`
	)

virtual

Open a communication channel on serial port with the given portname.

If opening the port is successful, the connected devices are available through the XsControl interface.

The expected value for portname on Microsoft Windows platforms is "COMx" where x is the port number.

Parameters

baudrate	The baudrate used on the port.
portname	The name of the port.
imarType	The type of iMAR device that is used
timeout	The maximum number of ms to try to put the device in config mode before giving up, if 0 the default value is used

Returns: true on success, false otherwise

See also: openPort(int, XsBaudRate, bool)

Definition at line 880 of file xscontrol_def.cpp.

◆ openLogFile()

bool XsControl::openLogFile ( const XsString & filename )

Open the log file with the given filename.

Returns

True is the file was opened successfully. False if an error was encountered.

\param filename the name of the file to open

\returns true on success, false on failure

See also: lastResult(), loadLogFile(), logFileName()

Definition at line 609 of file xscontrol_def.cpp.

◆ openPort() [1/2]

bool XsControl::openPort	(	const XsString &	portname,
		XsBaudRate	baudrate,
		uint32_t	timeout = `0`,
		bool	detectRs485 = `false`
	)

Open a communication channel on serial port with the given portname.

If opening the port is successful, the connected devices are available through the XsControl interface.

The expected value for portname on Microsoft Windows platforms is "COMx" where x is the port number.

Parameters

	baudrate	The baudrate used on the port.
	portname	The name of the port.
	timeout	The maximum number of ms to try to put the device in config mode before giving up, if 0 the default value is used
[in]	detectRs485	Enable more extended scan to detect rs485 devices

Returns: true on success, false otherwise

See also: openPort(int, XsBaudRate, uint32_t, bool)

Definition at line 684 of file xscontrol_def.cpp.

◆ openPort() [2/2]

bool XsControl::openPort	(	XsPortInfo &	portinfo,
		uint32_t	timeout = `0`,
		bool	detectRs485 = `false`
	)

Open a communication channel using the details in the supplied XsPortInfo structure.

Parameters

	portinfo	Contains the details of the port to open. The portinfo may be updated with a detected deviceid
	timeout	The maximum number of ms to try to put the device in config mode before giving up, if 0 the default value is used
[in]	detectRs485	Enable more extended scan to detect rs485 devices. Only necessary if portInfo does not contain a device ID of an RS485 device

Returns: true on success, false otherwise

See also: openPort(const XsString &, XsBaudRate, uint32_t)

Definition at line 739 of file xscontrol_def.cpp.

◆ openPortWithCredentials()

bool XsControl::openPortWithCredentials	(	XsPortInfo &	portinfo,
		XsString const &	id,
		XsString const &	key,
		uint32_t	timeout = `0`
	)

Open a communication channel using the details in the supplied XsPortInfo structure using the supplied credentials.

Parameters

portinfo	Contains the details of the connection to open. The device ID in the structure may be updated by this function.
id	The user ID to be supplied for the authentication
key	The key to be supplied for the authentication
timeout	The maximum number of ms to try to put the device in config mode before giving up, if 0 the default value is used

Returns: true on success, false otherwise

See also: openPort(const XsPortInfo &, uint32_t, bool); openPort(const XsString &, XsBaudRate, uint32_t)

Definition at line 765 of file xscontrol_def.cpp.

◆ removeExistingDevice()

virtual void XsControl::removeExistingDevice ( XsDeviceId const & deviceId )

protectedvirtual

◆ resultText()

XsString XsControl::resultText ( XsResultValue resultCode )

static

Get a descriptive text for the given resultCode.

Parameters

resultCode The result code to translate

Returns: The resultCode translated into an XsString

Definition at line 186 of file xscontrol_def.cpp.

◆ setInitialPositionLLA()

bool XsControl::setInitialPositionLLA ( const XsVector & lla )

Sets the current GNSS position of the system.

This function will update the Latitude, Longitude and Altitude of the system and all connected devices. This differs from broadcast()->setInitialPositionLLA() in that the setting is persistent for the XsControl and will be applied to devices connected after the setting has been made. Note: this XDA data type is the setting initialPositionLLA, which is set by setInitialPositionLLA. It's value is therefore static. Use LatitudeLongitude to retrieve the live position data from the MTi.

Parameters

lla	A vector containing the desired Latitude, Longitude and Altitude

Returns: true since the function always succeeds, the boolean return value is for consistency in the interface.

Definition at line 935 of file xscontrol_def.cpp.

◆ setOptions()

void XsControl::setOptions	(	XsOption	enable,
		XsOption	disable
	)

Peristently enable or disable options.

These options are used to specify whether XDA should compute certain kinds of data from available other data and what data-retention policy to use. On a system with limited resources it may be useful to limit the processing and data retention done by XDA. By default XDA will do all processing it can do, but retain as little data as possible. This function remembers the setting and applies it to new devices when they are created as well as broadcasting it to existing devices. In case of conflict, enable supersedes disable.

Parameters

enable	A logically OR'ed combination of XsOptions to enable
disable	A logically OR'ed combination of XsOptions to disable

Note: While XsDevice uses these options in an additional manner, remembering whatever was enabled/disabled before, calling the XsControl version replaces all its remembered enable/disable values.

See also: setOptionsForce

Definition at line 1137 of file xscontrol_def.cpp.

◆ setOptionsForce()

void XsControl::setOptionsForce ( XsOption enabled )

Peristently enable or disable options.

These options are used to specify whether XDA should compute certain kinds of data from available other data and what data-retention policy to use. On a system with limited resources it may be useful to limit the processing and data retention done by XDA. By default XDA will do all processing it can do, but retain as little data as possible. This function remembers the setting and applies it to new devices when they are created as well as broadcasting it to existing devices. Any non-enabled options are explicitly disabled.

Parameters

enabled A logically OR'ed combination of the desired enabled XsOptions

Note: Contrary to setOptions this function will do a hard override of all options of the child devices as it will assume that any non-enabled option should be specifically disabled.

See also: setOptions

Definition at line 1157 of file xscontrol_def.cpp.

◆ setPersistentSettings()

void XsControl::setPersistentSettings ( XsDevice * dev )

protected

◆ startRestoreCommunication()

XsResultValue XsControl::startRestoreCommunication ( const XsString & portName )

Starts restore communication procedure.

Restores the communication settings to the default factory settings.

Note: Works with RS422 and legacy products only.

Parameters

portName the name of port to which device is connected.

Returns: XRV_OK if restore communication procedure was successful.

Definition at line 538 of file xscontrol_def.cpp.

◆ stopRestoreCommunication()

void XsControl::stopRestoreCommunication ( )

Stops restore communication procedure.

Definition at line 545 of file xscontrol_def.cpp.

◆ transmissionReceived()

void XsControl::transmissionReceived	(	int	channelId,
		const XsByteArray &	data
	)

Feed data coming back from an Xsens device over a custom channel into XDA.

Note: For correct operation of XDA it is key that the transmissionReceived function is called from a separate thread

Parameters

channelId	The user-provided identifier of the custom channel
data	The data to feed back into XDA

Definition at line 857 of file xscontrol_def.cpp.

◆ updateRecordingState()

void XsControl::updateRecordingState ( )

protected

Member Data Documentation

◆ m_broadcaster

BroadcastDevice* XsControl::m_broadcaster

protected

The broadcast device object.

Definition at line 268 of file xscontrol_def.h.

◆ m_communicatorFactory

XdaCommunicatorFactory* XsControl::m_communicatorFactory

protected

The communicator factory object.

Definition at line 285 of file xscontrol_def.h.

◆ m_deviceFactory

DeviceFactory* XsControl::m_deviceFactory

protected

The device factory object.

Definition at line 282 of file xscontrol_def.h.

◆ m_deviceList

std::vector<XsDevice*> XsControl::m_deviceList

protected

This list contains device-information and cached data per device.

Definition at line 230 of file xscontrol_def.h.

◆ m_lastHwError

XsResultValue XsControl::m_lastHwError

protected

Contains the last serious error reported by CMT3.

Definition at line 239 of file xscontrol_def.h.

◆ m_lastHwErrorDeviceId

XsDeviceId XsControl::m_lastHwErrorDeviceId

protected

Contains the XsDevice ID of the device that caused the last hardware error.

Definition at line 242 of file xscontrol_def.h.

◆ m_lastResult

LastResultManager XsControl::m_lastResult

mutableprotected

The last result of an operation.

Definition at line 236 of file xscontrol_def.h.

◆ m_latLonAlt

XsVector3 XsControl::m_latLonAlt

protected

This vector contains the latitude, longitude and altitude.

Definition at line 277 of file xscontrol_def.h.

◆ m_optionsDisable

XsOption XsControl::m_optionsDisable

protected

Contsins all disabled options.

Definition at line 274 of file xscontrol_def.h.

◆ m_optionsEnable

XsOption XsControl::m_optionsEnable

protected

Contains all enable options.

Definition at line 271 of file xscontrol_def.h.

◆ m_portMutex

xsens::MutexReadWrite XsControl::m_portMutex

mutableprotected

Controls access to the serial ports, also used to suspend the thread.

Definition at line 247 of file xscontrol_def.h.

◆ m_proxyChannels

std::map<int, ProxyCommunicator*> XsControl::m_proxyChannels

protected

This map contains the proxy channels.

Definition at line 233 of file xscontrol_def.h.

◆ m_recording

volatile std::atomic_bool XsControl::m_recording

protected

AwindaStationIndication of threads started or not.

Definition at line 252 of file xscontrol_def.h.

◆ m_restoreCommunication

RestoreCommunication* XsControl::m_restoreCommunication

protected

The restore communication object.

Definition at line 288 of file xscontrol_def.h.

◆ m_runMutex

xsens::Mutex XsControl::m_runMutex

mutableprotected

Always held by the thread when it is running.

Definition at line 249 of file xscontrol_def.h.

◆ m_useFakeMessages

bool XsControl::m_useFakeMessages

protected

Boolean variable for enabling/disabling the use of fake messages.

Definition at line 227 of file xscontrol_def.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ XsControl() [1/2]

◆ ~XsControl()

◆ XsControl() [2/2]

Member Function Documentation

◆ addMasterDevice()

◆ broadcast()

◆ clearHardwareError()

◆ close()

◆ closeCustomPort()

◆ closePort() [1/4]

◆ closePort() [2/4]

◆ closePort() [3/4]

◆ closePort() [4/4]

◆ closePortByIndex()

◆ construct()

◆ customPortInfo()

◆ destruct()

◆ device()

◆ deviceCount()

◆ deviceIds()

◆ disabledOptions()

◆ dockDeviceId()

◆ enabledOptions()

◆ finalizeOpenPort()

◆ findDevice()

◆ findXbusInterface() [1/3]

◆ findXbusInterface() [2/3]

◆ findXbusInterface() [3/3]

◆ flushInputBuffers()

◆ getDeviceFromLocationId()

◆ gotoConfig()

◆ gotoMeasurement()

◆ isDeviceDocked()

◆ isDeviceWireless()

◆ lastHardwareError()

◆ lastHardwareErrorDeviceId()

◆ lastResult()

◆ lastResultText()

◆ loadFilterProfiles()

◆ mainDeviceCount()

◆ mainDeviceIds()

◆ mainDevices()

◆ mtCount()

◆ mtDeviceIds()

◆ openCustomPort()

◆ openImarPort_internal()

◆ openLogFile()

◆ openPort() [1/2]

◆ openPort() [2/2]

◆ openPortWithCredentials()

◆ removeExistingDevice()

◆ resultText()

◆ setInitialPositionLLA()

◆ setOptions()

◆ setOptionsForce()

◆ setPersistentSettings()

◆ startRestoreCommunication()

◆ stopRestoreCommunication()

◆ transmissionReceived()

◆ updateRecordingState()

Member Data Documentation

◆ m_broadcaster

◆ m_communicatorFactory

◆ m_deviceFactory

◆ m_deviceList

◆ m_lastHwError

◆ m_lastHwErrorDeviceId

◆ m_lastResult

◆ m_latLonAlt

◆ m_optionsDisable

◆ m_optionsEnable

◆ m_portMutex

◆ m_proxyChannels

◆ m_recording