#include <xsdevice_def.h>

Inheritance diagram for XsDevice:

[legend]

Public Member Functions
virtual bool	abortFlushing ()
	Abort the wireless flushing operation and finalize the recording. More...

virtual bool	abortLoadLogFile ()
	Aborts loading a logfile. More...

virtual double	accelerometerRange () const
	Returns the maximum official value of the accelerometers in the device. More...

virtual bool	acceptConnection ()
	Accept connections from the device on the parent/master device. More...

virtual XsAccessControlMode	accessControlMode () const
	Request the access control mode of the master device. More...

virtual void	addRef ()
	Increase reference count of XsDevice pointer XsDevice pointers stay alive while reference counter is not zero Also increases the reference count of each child device with 1. More...

virtual std::shared_ptr< ReplyObject >	addReplyObject (XsXbusMessageId messageId, uint8_t data)

virtual XsMatrix	alignmentRotationMatrix (XsAlignmentFrame frame) const
	Retrieve the alignment rotation matrix to rotate S to the chosen frame S'. More...

virtual XsQuaternion	alignmentRotationQuaternion (XsAlignmentFrame frame) const
	Retrieve the alignment rotation quaternion. More...

virtual XsResultValue	applyConfigFile (const XsString &filename)
	Loads a config file(.xsa) and configures the device accordingly. More...

virtual bool	areOptionsEnabled (XsOption options) const
	Returns true when all the specified processing options are enabled. More...

virtual XsFilterProfileArray	availableOnboardFilterProfiles () const
	Return the list of filter profiles available on the device. More...

virtual XsFilterProfileArray	availableXdaFilterProfiles () const
	Return the list of filter profiles available on the host PC. More...

virtual int	batteryLevel () const
	Get the batterylevel of this device The battery level is a value between 0 and 100 that indicates the remaining capacity as a percentage. Due to battery characteristics, this is not directly the remaining time, but just a rough indication. More...

virtual XsTimeStamp	batteryLevelTime ()
	Requests the time the battery level was last updated. More...

virtual XsBaudRate	baudRate () const
	Get the baud rate (communication speed) of the serial port on which the given deviceId is connected. More...

virtual int	busId () const
	The bus ID for this device. More...

int	cacheSize () const
	Get the number of items currently in the slow data cache for the device. More...

virtual uint32_t	canConfiguration () const
	Returns the currently configured CAN configuration of the device. More...

virtual XsCanOutputConfigurationArray	canOutputConfiguration () const
	Returns the currently configured CAN output of the device. More...

virtual void XSNOEXPORT	checkDataCache ()

virtual int	childCount () const
	Return the number of child-devices this device has. For standalone devices this is always 0. More...

virtual std::vector< XsDevice * >	children () const
	Return a managed array containing the child-devices this device has. For standalone devices this is always an empty array. More...

virtual bool	closeLogFile ()
	Close the log file. More...

Communicator XSNOEXPORT *	communicator () const

virtual XsConnectivityState	connectivityState () const
	Returns the connectivity state of the device. More...

virtual XsResultValue	createConfigFile (const XsString &filename)
	Stores the current device configuration in a config file(.xsa) More...

XsResultValue	createLogFile (const XsString &filename)
	Create a log file for logging. More...

virtual XsDeviceIdArray	currentAccessControlList () const
	Request the access control list of the master device. More...

virtual int	dataLength () const
	Returns the length of the data in the legacy MTData packets that the device will send in measurement mode. More...

virtual void XSNOEXPORT	deinitializeSoftwareCalibration ()

virtual XsDevice *	deviceAtBusId (int busid)
	Return the device with bus ID busid. More...

const XsDevice *	deviceAtBusIdConst (int busid) const
	Return the device with bus ID busid. More...

virtual uint32_t	deviceBufferSize ()
	Request the size of the interal buffer. More...

XsDeviceConfiguration	deviceConfiguration () const
	Returns the device configuration. More...

virtual XsDeviceConfiguration const &XSNOEXPORT	deviceConfigurationConst () const

XsDeviceConfiguration &XSNOEXPORT	deviceConfigurationRef ()

XsDeviceId const &	deviceId () const
	Return the device ID of the device. More...

virtual bool	deviceIsDocked (XsDevice *dev) const
	Check if the device is docked. More...

virtual XsDeviceOptionFlag	deviceOptionFlags () const
	Returns the device option flags. More...

virtual XsResultValue	deviceParameter (XsDeviceParameter &parameter) const
	Retrieves the requested parameter's current value. More...

virtual XsDeviceState	deviceState () const
	Return the state of this device. More...

virtual bool	disableProtocol (XsProtocolType protocol)
	Disable a communication protocol previously added by XsDevice::enableProtocol. More...

virtual bool	disableRadio ()
	Disables the radio for this station, resetting all children to disconnected state. More...

virtual void	discardRetransmissions (int64_t firstNewPacketId)
	Tell XDA and the device that any data from before firstNewPacketId may be lossy. More...

virtual bool	enableProtocol (XsProtocolType protocol)
	Enable an additional communication protocol when reading messages. More...

virtual bool	enableRadio (int channel)
	Set the radio channel to use for wireless communication. More...

virtual XsErrorMode	errorMode () const
	Returns the error mode of the device. More...

virtual XsDevice *	findDevice (XsDeviceId const &deviceid) const
	Find the child device with deviceid. More...

XsDevice const *	findDeviceConst (XsDeviceId const &deviceid) const
	Find the child device with deviceid. More...

virtual XsVersion	firmwareVersion () const
	Return the firmware version. More...

virtual void	flushInputBuffers ()
	Clear the inbound data buffers of the device. More...

virtual XsDataPacket	getDataPacketByIndex (XsSize index) const
	Return the cached data packet with index. More...

XsSize	getDataPacketCount () const
	Return the current size of the retained data packet cache. More...

virtual XsDevice *	getDeviceFromLocationId (uint16_t locId)
	Get the device given locId. More...

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

int64_t	getStartRecordingPacketId () const
	Return the ID of the first packet that should be recorded. More...

int64_t	getStopRecordingPacketId () const
	Return the ID of the last packet that should be recorded. More...

virtual XsVector	gnssLeverArm () const

XSNOEXPORT XSDEPRECATED XsGnssPlatform	gnssPlatform () const

virtual XsIntArray	gnssReceiverSettings () const
	Gets some GNSS receiver settings. More...

virtual bool	gotoConfig ()
	Put the device in config mode. More...

virtual bool	gotoMeasurement ()
	Put this device in measurement mode. More...

virtual double	gravityMagnitude () const
	Returns the 'Gravity Magnitude' of the device. More...

virtual double	gyroscopeRange () const
	Returns the maximum official value of the gyroscopes in the device. More...

virtual XSNOEXPORT void	handleDataPacket (const XsDataPacket &packet)

virtual XSNOEXPORT void	handleErrorMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleMasterIndication (const XsMessage &message)

virtual XSNOEXPORT void	handleMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleNonDataMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleUnavailableData (int64_t frameNumber)

virtual XSNOEXPORT void	handleWakeupMessage (const XsMessage &msg)

virtual XSNOEXPORT void	handleWarningMessage (const XsMessage &msg)

virtual XsVersion	hardwareVersion () const
	Return the hardware version of the device. More...

virtual bool	hasDataEnabled (XsDataIdentifier dataType) const
	Returns if the currently configured output contains dataType. More...

virtual bool	hasProcessedDataEnabled (XsDataIdentifier dataType) const
	Returns if the currently configured output contains dataType after processing on the host. More...

virtual double	headingOffset () const
	Return the 'heading offset' setting of the device. More...

virtual bool XSNOEXPORT	initialize ()

virtual bool XSNOEXPORT	initializeSoftwareCalibration ()

virtual XsVector	initialPositionLLA () const
	Gets the 'Latitude Longitude Altitude' setting of the device. More...

virtual bool	isBlueToothEnabled () const
	Returns true if the device has its BlueTooth radio enabled. More...

virtual bool	isBusPowerEnabled () const
	Returns if the Xbus is powering its child devices or not. More...

virtual bool	isContainerDevice () const
	Returns true if this device can have child devices. More...

virtual bool	isFixedGravityEnabled () const
	Returns if the fixed gravity value should be used or if it should be computed from the initialPositionLLA value. More...

virtual bool	isInitialBiasUpdateEnabled () const
	Returns if the device does gyroscope bias estimation when switching to measurement mode. More...

bool	isInitialized () const
	Returns true when the device is initialized. More...

virtual bool	isInStringOutputMode () const
	Returns if the device is outputting data in string mode. More...

virtual bool	isInSyncStationMode ()

bool	isLoadLogFileInProgress () const
	Returns true if the file operation started by loadLogFile is still in progress. More...

bool	isMasterDevice () const
	Returns true if this is the master device (not a child of another device) More...

virtual bool	isMeasuring () const
	Returns true if the device is currently in a measuring state. More...

virtual bool	isMotionTracker () const
	Returns true if this is a motion tracker. More...

virtual bool	isOperational () const

virtual bool	isProtocolEnabled (XsProtocolType protocol) const

virtual bool	isRadioEnabled () const
	Returns if the radio is enabled. More...

virtual bool	isReadingFromFile () const
	Returns true if the device is reading from a file. More...

virtual bool	isRecording () const
	Returns true if the device is currently in a recording state. More...

bool	isStandaloneDevice () const
	Returns true if this is a standalone device (not a child of another device and not a container device) More...

virtual bool	isSyncMaster () const
	returns whether this device is in a master role regarding the device synchronization More...

virtual bool	isSyncSlave () const
	returns whether this device is in a slave role regarding the device synchronization More...

XsDataPacket	lastAvailableLiveData () const
	Return the last available live data. More...

virtual int16_t	lastKnownRssi () const
	Returns the last known RSSI value of the device. More...

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() It may provide situation-specific information instead. More...

virtual bool	loadLogFile ()
	Load a complete logfile. More...

virtual int	locationId () const
	Get the location ID of the device. More...

virtual DataLogger XSNOEXPORT *	logFileInterface (std::unique_ptr< xsens::Lock > &myLock) const

virtual XsString	logFileName () const
	Get the name of the log file the device is reading from. More...

XsFilePos	logFileReadPosition () const
	Get the current read position of the open log file. More...

XsFilePos	logFileSize () const
	Get the size of the log file the device is reading from. More...

virtual bool	makeOperational ()
	Sets the Awinda station to operational state. More...

virtual XsDevice *	master () const
	Return the master device of this device. More...

virtual int	maximumUpdateRate () const
	Get the maximum update rate for the device. More...

virtual XSNOEXPORT bool	messageLooksSane (const XsMessage &msg) const

xsens::GuardedMutex *	mutex () const

virtual XsMatrix	objectAlignment () const
	Returns the object alignment matrix of the device. More...

virtual XsFilterProfile	onboardFilterProfile () const
	Gets the filter profile in use by the device for computing orientations. More...

virtual XsOperationalMode	operationalMode () const
	Returns the operational mode. More...

bool	operator< (const XsDevice &dev) const
	Compare device ID with that of dev. More...

bool	operator< (XsDeviceId const &devId) const
	Compare device ID with devId. More...

bool	operator== (const XsDevice &dev) const
	Compare device ID with that of dev. More...

bool	operator== (XsDeviceId const &devId) const
	Compare device ID with devId. More...

virtual XsOutputConfigurationArray	outputConfiguration () const
	Returns the currently configured output of the device. More...

virtual int	packetErrorRate () const
	Returns the packet error rate for the for the device. More...

virtual XsIntArray	portConfiguration () const
	Get the current port configuration of a device. More...

virtual XsPortInfo	portInfo () const
	The port information of the connection. More...

virtual XsString	portName () const
	The port name of the connection. More...

virtual bool	powerDown ()
	Tell the device to power down completely. More...

virtual XSNOEXPORT void	prepareForTermination ()

virtual XsOutputConfigurationArray	processedOutputConfiguration () const
	Return the full output configuration including post processing outputs. More...

virtual XsString	productCode () const
	Return the product code of the device. More...

virtual int	radioChannel () const
	Returns the radio channel used for wireless communication. More...

virtual XSNOEXPORT bool	readEmtsAndDeviceConfiguration ()

virtual XsByteArray	readMetaDataFromLogFile ()
	Returns internal meta-data about the recording that some devices store in the mtb logfile. More...

int	recordingQueueLength () const
	Get the number of packets currently waiting in the slow data cache for the device based. More...

XsSize	refCounter () const
	The current reference counter. More...

virtual bool	reinitialize ()
	Reinitialize the XsDevice. More...

virtual bool	rejectConnection ()
	Reject connections from the device on the parent/master device. More...

virtual XsRejectReason	rejectReason () const
	Returns the reason why a device's connection was rejected. More...

virtual void	removeRef ()
	Decrease this XsDevices reference counter with 1. More...

virtual bool	reopenPort (bool gotoConfig, bool skipDeviceIdCheck=false)
	Reopens a port Uses rescan method to redetect a device. Also if USB descriptor has changed. More...

virtual bool	replaceFilterProfile (XsFilterProfile const &profileCurrent, XsFilterProfile const &profileNew)
	Replaces profileCurrent by profileNew in the device. More...

virtual bool	representativeMotionState ()
	Retrieves the active representative motion state for the In-Run Compass Calibration. More...

virtual bool	requestBatteryLevel ()
	Request the battery level from the device. More...

virtual bool	requestData ()
	Request data when configured in legacy mode with infinite skip factor. More...

virtual XSNOEXPORT bool	requestUtcTime ()

virtual bool	reset ()
	Reset the device. More...

virtual XSNOEXPORT bool	reset (bool skipDeviceIdCheck)

virtual bool	resetLogFileReadPosition ()
	Set the read position of the open log file to the start of the file. More...

virtual bool	resetOrientation (XsResetMethod resetmethod)
	Perform an orientation reset on the device using the given resetMethod. More...

virtual void	restartFilter ()
	Restart the software filter used by this device. More...

virtual bool	restoreFactoryDefaults ()
	Restore the device to its factory default settings. More...

virtual uint16_t	rs485TransmissionDelay () const
	Returns the transmission delay used for RS485 transmissions. More...

virtual XsSelfTestResult	runSelfTest ()
	Run the self test for the device. More...

virtual bool	sendCustomMessage (const XsMessage &messageSend, bool waitForResult, XsMessage &messageReceive, int timeout=0)
	Send a custom message messageSend to the device and possibly wait for a result. More...

virtual XSNOEXPORT bool	sendCustomMessage (const XsMessage &messageSend, bool waitForResult, XsXbusMessageId messageId, XsMessage &messageReceive, int timeout=0)

virtual bool	sendRawMessage (const XsMessage &message)
	Send a message directly to the communicator. More...

virtual XsBaudRate	serialBaudRate () const
	The baud rate configured for cabled connection. More...

virtual bool	setAccessControlMode (XsAccessControlMode mode, const XsDeviceIdArray &initialList)
	Set the access control mode of the master device. More...

virtual bool	setAlignmentRotationMatrix (XsAlignmentFrame frame, const XsMatrix &matrix)
	Set an arbitrary alignment rotation matrix Use to rotate either L to the chosen frame L' or S to the chosen frame S'. More...

virtual bool	setAlignmentRotationQuaternion (XsAlignmentFrame frame, const XsQuaternion &quat)
	Set an arbitrary alignment rotation quaternion. Use to rotate either L to the chosen frame L' or S to the chosen frame S'. More...

virtual bool	setBlueToothEnabled (bool enabled)
	Enable or disable the BlueTooth radio of the device. More...

virtual bool	setBusPowerEnabled (bool enabled)
	Tell the Xbus to provide power to its child devices or not. More...

virtual bool	setCanConfiguration (uint32_t config)
	Set the CAN configuration for this device. More...

virtual bool	setCanOutputConfiguration (XsCanOutputConfigurationArray &config)
	Set the CAN output configuration for this device. More...

virtual bool	setDeviceAccepted (const XsDeviceId &deviceId)
	Accepts a device. More...

virtual bool	setDeviceBufferSize (uint32_t frames)
	Request the device to set it's internal buffer to the specified size. More...

virtual bool	setDeviceOptionFlags (XsDeviceOptionFlag setFlags, XsDeviceOptionFlag clearFlags)
	Set the device option flags. More...

virtual XsResultValue	setDeviceParameter (XsDeviceParameter const &parameter)
	Sets the given parameter for the device. More...

virtual bool	setDeviceRejected (const XsDeviceId &deviceId)
	Rejects a device. More...

virtual bool	setErrorMode (XsErrorMode errormode)
	Sets the error mode of the device. More...

virtual bool	setFixedGravityEnabled (bool enable)
	Sets whether the fixed gravity value should be used or if it should be computed from the initialPositionLLA value. More...

virtual bool	setGnssLeverArm (const XsVector &arm)
	Sets the GNSS Lever Arm vector. More...

XSNOEXPORT virtual XSDEPRECATED bool	setGnssPlatform (XsGnssPlatform gnssPlatform)

virtual bool	setGnssReceiverSettings (const XsIntArray &gnssReceiverSettings)
	Sets some GNSS receiver settings. More...

void	setGotoConfigOnClose (bool gotoConfigOnClose)
	On closePort the device will go to config by default, with this function it is possible to prevent that. More...

virtual bool	setGravityMagnitude (double mag)
	Sets the 'Gravity Magnitude' of the device to the given value mag. More...

virtual bool	setHeadingOffset (double offset)
	Set the 'heading offset' setting of the device. More...

virtual bool	setInitialBiasUpdateEnabled (bool enable)
	Set if the device does gyroscope bias estimation when switching to measurement mode. More...

virtual bool	setInitialPositionLLA (const XsVector &lla)
	Sets the 'Latitude Longitude Altitude' setting of the device to the given vector. More...

virtual bool	setLocationId (int id)
	Set the location ID of the device. More...

virtual bool	setNoRotation (uint16_t duration)
	Set the no rotation period to duration. More...

virtual bool	setObjectAlignment (const XsMatrix &matrix)
	Sets the object alignment of the device to the given matrix. More...

virtual bool	setOnboardFilterProfile (int profileType)
	Sets the filter profile to use for computing orientations on the device. More...

virtual bool	setOnboardFilterProfile (XsString const &profileType)
	Sets the filter profile to use for computing orientations on the device. More...

virtual bool	setOperationalMode (XsOperationalMode mode)
	Set the device in the given operational mode. More...

virtual void	setOptions (XsOption enable, XsOption disable)
	Enable and disable processing options. More...

bool	setOutputConfiguration (XsOutputConfigurationArray &config)
	Set the output configuration for this device. More...

virtual XSNOEXPORT void	setPacketErrorRate (int per)

virtual bool	setPortConfiguration (XsIntArray &config)
	Change the port configuration of a device. More...

virtual bool	setRs485TransmissionDelay (uint16_t delay)
	Set the transmission delay used for RS485 transmissions. More...

virtual bool	setSerialBaudRate (XsBaudRate baudrate)
	Change the serial baudrate to baudrate. More...

XSNOEXPORT void	setSkipEmtsReadOnInit (bool skip)

virtual bool	setStealthMode (bool enabled)
	Enable or disable stealth mode. More...

virtual bool	setStringOutputMode (uint16_t type, uint16_t period, uint16_t skipFactor)
	Sets the string output mode for this device. More...

virtual bool	setSyncSettings (const XsSyncSettingArray &settingList)
	Set the synchronization settings of the device. More...

virtual bool	setSyncStationMode (bool enabled)
	Set the Sync Station mode of the Awinda Station device. More...

virtual bool	setTransportMode (bool transportModeEnabled)
	Enable or disable the transport mode for the device. More...

virtual bool	setUbloxGnssPlatform (XsUbloxGnssPlatform ubloxGnssPlatform)
	Set the device GNSS platform for u-blox GNSS receivers. More...

virtual bool	setUpdateRate (int rate)
	Set the legacy update rate of the device. More...

virtual bool	setUtcTime (const XsTimeInfo &time)
	Sets the 'UTC Time' setting of the device to the given time. More...

virtual bool	setWirelessPriority (int priority)
	Sets the wireless priority of the device. More...

virtual bool	setXdaFilterProfile (int profileType)
	Sets the filter profile to use for computing orientations on the host PC. More...

virtual bool	setXdaFilterProfile (XsString const &profileType)
	Sets the filter profile to use for computing orientations on the host PC. More...

virtual XsString	shortProductCode () const
	Return the shortened product code of the device suitable for display. More...

virtual bool	startRecording ()
	Start recording incoming data. More...

virtual bool	startRepresentativeMotion ()
	Let the user indicate that he is starting the representative motion for the In-Run Compass Calibration. More...

virtual bool	stealthMode () const
	Return the state of the stealth mode setting. More...

virtual bool	stopRecording ()
	Stop recording incoming data. More...

virtual XsIccRepMotionResult	stopRepresentativeMotion ()
	Let the user indicate that he stopped the representative motion. More...

virtual bool	storeFilterState ()
	Store orientation filter state in the device. More...

virtual bool	storeIccResults ()
	Store the onboard ICC results for use by the device. More...

virtual uint16_t	stringOutputType () const
	Returns the string output type. More...

virtual uint16_t	stringSamplePeriod () const
	Returns the sample period for string output. More...

virtual uint16_t	stringSkipFactor () const
	Returns the skipfactor for string output. More...

virtual XsDevice *	subDevice (int subDeviceId) const
	Returns the sub-device at index index. More...

virtual int	subDeviceCount () const
	Returns the number of sub-devices of this device. More...

virtual uint32_t	supportedStatusFlags () const
	Returns a bitmask with all the status flags supported by this device. More...

virtual XsStringOutputTypeArray	supportedStringOutputTypes () const
	Ask the device for its supported string output types. More...

virtual XsSyncSettingArray	supportedSyncSettings () const
	Get all supported synchronization settings available on the device. More...

virtual std::vector< int >	supportedUpdateRates (XsDataIdentifier dataType=XDI_None) const
	Ask the device for its supported update rates for the given dataType. More...

virtual XsSyncRole	syncRole () const
	Returns the synchronization role of the device. More...

virtual XsSyncSettingArray	syncSettings () const
	Get all the current synchronization settings of the device. More...

XsDataPacket	takeFirstDataPacketInQueue ()
	Return the first packet in the packet queue or an empty packet if the queue is empty. More...

template<typename T >
XSNOEXPORT T *	toType ()

virtual bool	transportMode ()
	Returns the current state of the transport mode feature. More...

virtual bool	triggerStartRecording ()
	Start recording incoming data through generating a virtual input trigger. More...

virtual XsUbloxGnssPlatform	ubloxGnssPlatform () const
	Returns the device GNSS platform for u-blox GNSS receivers. More...

virtual bool	updateCachedDeviceInformation ()
	Updates the cached device information for all devices connected to this port. More...

virtual XsResultValue	updatePortInfo (XsPortInfo const &newInfo)
	Update the connection information, this is only useful for devices communicating over a dynamic link such as a TCP/IP connection. More...

virtual int	updateRate () const
	Get the legacy update rate of the device. More...

virtual int	updateRateForDataIdentifier (XsDataIdentifier dataType) const
	Returns the currently configured update rate for the supplied dataType. More...

virtual int	updateRateForProcessedDataIdentifier (XsDataIdentifier dataType) const
	Returns the currently configured update rate for the supplied dataType. More...

virtual bool	usesLegacyDeviceMode () const
	Returns whether the device uses legacy device mode. More...

virtual XsTimeInfo	utcTime () const
	Gets the 'UTC Time' setting of the device. More...

virtual void	waitForAllDevicesInitialized ()
	Wait until are known devices are initialized. More...

virtual XSNOEXPORT bool	waitForCustomMessage (std::shared_ptr< ReplyObject > reply, XsMessage &messageReceive, int timeout)

virtual XSNOEXPORT bool	waitForCustomMessage (XsXbusMessageId messageId, XsMessage &messageReceive, int timeout=0)

void	waitForLoadLogFileDone () const
	Wait for the file operation started by loadLogFile to complete. More...

virtual int	wirelessPriority () const
	Returns the wireless priority of the device. More...

virtual void	writeDeviceSettingsToFile ()
	Write the emts/wms/xms of the device and all its children to the open logfile. More...

virtual XSNOEXPORT bool	writeEmtsPage (uint8_t const *data, int pageNr, int bankNr)

virtual XsFilterProfile	xdaFilterProfile () const
	Gets the filter profile in use for computing orientations on the host PC. More...

virtual XSNOEXPORT	~XsDevice ()
	Destroy the device. 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 bool	isCompatibleSyncSetting (XsDeviceId const &deviceId, XsSyncSetting const &setting1, XsSyncSetting const &setting2)
	Determines whether setting1 is compatible with setting2 for deviceId deviceId. More...

static XsSyncSettingArray	supportedSyncSettings (XsDeviceId const &deviceId)
	Return the supported synchronization settings for a specified deviceId or deviceId mask. More...

static bool	supportsSyncSettings (XsDeviceId const &deviceId)
	Determines whether the device specified by deviceId supports sync settings. More...

static unsigned int	syncSettingsTimeResolutionInMicroSeconds (XsDeviceId const &deviceId)

Protected Member Functions
virtual void	clearExternalPacketCaches ()

virtual XsDevice const *	firstChild () const

virtual bool	interpolateMissingData (XsDataPacket const &pack, XsDataPacket const &prev, std::function< void(XsDataPacket *)> packetHandler)

void	retainPacket (XsDataPacket const &pack)

void	setCommunicator (Communicator *comm)

virtual void	setRecordingStartFrame (uint16_t startFrame)

virtual void	setRecordingStopFrame (uint16_t stopFrame)

virtual bool	shouldDataMsgBeRecorded (const XsMessage &msg) const

virtual bool	shouldDoRecordedCallback (XsDataPacket const &packet) const

bool	skipEmtsReadOnInit () const

void	updateLastAvailableLiveDataCache (XsDataPacket const &pack)

void	useLogInterface (DataLogger *logger)
	Uses log interface for a given data logger. More...

	XSENS_DISABLE_COPY (XsDevice)

Static Protected Member Functions
static bool	checkDataEnabled (XsDataIdentifier dataType, XsOutputConfigurationArray const &configurations)

static bool	packetContainsRetransmission (XsDataPacket const &pack)

Protected Attributes
Communicator *	m_communicator
	A communicator. More...

XsDeviceConfiguration	m_config
	A device configuration. More...

XsConnectivityState	m_connectivity
	A current device connectivity state. More...

DataPacketCache	m_dataCache
	A data cache. More...

XsDeviceId	m_deviceId
	An ID of the device. More...

xsens::GuardedMutex	m_deviceMutex
	The mutex for guarding state changes of the device. More...

XsMessage	m_emtsBlob
	An EMTS blob from device. More...

XsVersion	m_firmwareVersion
	A firmware version. More...

bool	m_gotoConfigOnClose
	Go to confing on close boolean variable. More...

bool	m_isInitialized
	Is intialized boolean variable. More...

bool	m_justWriteSetting
	Just write setting boolean variable. More...

XsDataPacket *	m_lastAvailableLiveDataCache
	A last available live data cache. More...

XsTimeStamp	m_lastDataOkStamp
	A time stamp for an OK last data. More...

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

XsDataPacket *	m_latestBufferedPacket
	A copy of the latest ready recording packet. This is the last packet that was popped off the front of m_dataCache. Use latestBufferedPacket() to access. More...

XsDataPacket *	m_latestLivePacket
	A copy of the latest ready live packet. This is the packet with the highest 64-bit sample counter so far. Use latestLivePacket() to access. More...

std::deque< XsDataPacket * >	m_linearPacketCache
	A linear data packet cache. More...

DataLogger *	m_logFileInterface
	A data logger for a file interface. More...

xsens::Mutex	m_logFileMutex
	The mutex for guarding access to the log file. More...

XsDevice *	m_master
	A device object. More...

XsOption	m_options
	The options. More...

XsOutputConfigurationArray	m_outputConfiguration
	A devices output configuration. More...

PacketStamper	m_packetStamper
	A packet stamper. More...

volatile std::atomic_int	m_refCounter
	A reference counter. More...

bool	m_skipEmtsReadOnInit
	Skip EMTS read on init boolean variable. More...

int64_t	m_startRecordingPacketId
	The ID of the first packet that should be / was recorded. More...

XsDeviceState	m_state
	A current device state. More...

int64_t	m_stoppedRecordingPacketId
	The ID of the last packet that was recorded. Remains valid after Flushing has ended, until a new recording is started. More...

int64_t	m_stopRecordingPacketId
	The ID of the last packet that should be / was recorded. Only valid in Recording/Flushing states. More...

bool	m_terminationPrepared
	Termination prepared boolean variable. More...

DebugFileType *	m_toaDumpFile
	To a dump file. More...

int64_t	m_unavailableDataBoundary
	A packet ID of the last sample we know to be unavailable. More...

bool	m_writeToFile
	Write to file boolean variable. More...

Friends
struct	XsDeviceEx

class	MtContainer

virtual XSNOEXPORT void	onMessageSent (const XsMessage &message)

virtual XSNOEXPORT void	onMessageReceived (const XsMessage &message)

virtual XSNOEXPORT void	onMessageDetected2 (XsProtocolType type, const XsByteArray &rawMessage)

virtual XSNOEXPORT void	onSessionRestarted ()

virtual XSNOEXPORT void	onConnectionLost ()

virtual XSNOEXPORT void	onEofReached ()

virtual XSNOEXPORT void	onWirelessConnectionLost ()

virtual XSNOEXPORT int64_t	deviceRecordingBufferItemCount (int64_t &lastCompletePacketId) const

void	extractFirmwareVersion (XsMessage const &message)

virtual void	setDeviceState (XsDeviceState state)

virtual void	updateDeviceState (XsDeviceState state)

void	removeIfNoRefs ()

virtual bool	scheduleOrientationReset (XsResetMethod method)

	XsDevice (XsDeviceId const &id)
	Construct an empty device with device id id. More...

	XsDevice (Communicator *comm)
	Construct a device using inf for communication. More...

	XsDevice (XsDevice *master, const XsDeviceId &childDeviceId)
	Construct a device with device id childDeviceId for master masterDevice. More...

const XsDeviceConfiguration &	deviceConfig () const

void	setDeviceId (const XsDeviceId &deviceId)

XsOutputConfiguration	findConfiguration (XsDataIdentifier dataType) const

virtual void	writeMessageToLogFile (const XsMessage &message)

virtual void	writeFilterStateToFile ()

virtual void	processLivePacket (XsDataPacket &pack)

virtual void	processBufferedPacket (XsDataPacket &pack)

virtual bool	readDeviceConfiguration ()

XsDataPacket &	latestLivePacket ()

XsDataPacket &	latestBufferedPacket ()

XsDataPacket const &	latestLivePacketConst () const

XsDataPacket const &	latestBufferedPacketConst () const

virtual int64_t	latestLivePacketId () const

virtual int64_t	latestBufferedPacketId () const

virtual void	resetPacketStamping ()

void	updateConnectivityState (XsConnectivityState newState)

virtual XsConnectivityState	defaultChildConnectivityState () const

void	setInitialized (bool initialized)
	Set the initialized state to initialized. More...

void	setTerminationPrepared (bool prepared) NOEXCEPT
	Set the "termination prepared" state to prepared. More...

virtual bool	shouldWriteMessageToLogFile (const XsMessage &msg) const

virtual bool	shouldWriteMessageToLogFile (const XsDevice *dev, const XsMessage &message) const

virtual XsResultValue	setOutputConfigurationInternal (XsOutputConfigurationArray &config)

bool	doTransaction (const XsMessage &snd) const

bool	doTransaction (const XsMessage &snd, XsMessage &rcv) const

bool	doTransaction (const XsMessage &snd, XsMessage &rcv, uint32_t timeout) const

bool	doTransaction (const XsMessage &snd, uint32_t timeout) const

bool	justWriteSetting () const

virtual void	clearProcessors ()

virtual void	clearDataCache ()

virtual void	insertIntoDataCache (int64_t pid, XsDataPacket *pack)

virtual void	reinitializeProcessors ()

virtual bool	expectingRetransmissionForPacket (int64_t packetId) const

virtual bool	resetRemovesPort () const

virtual bool	isSoftwareFilteringEnabled () const

virtual bool	isSoftwareCalibrationEnabled () const

virtual void	setStartRecordingPacketId (int64_t startFrame)

virtual void	setStopRecordingPacketId (int64_t stopFrame)

virtual void	endRecordingStream ()

virtual void	clearCacheToRecordingStart ()

void	setFirmwareVersion (const XsVersion &version)

Detailed Description

Definition at line 164 of file xsdevice_def.h.

Constructor & Destructor Documentation

◆ ~XsDevice()

XsDevice::~XsDevice ( )

virtual

Destroy the device.

Definition at line 274 of file xsdevice_def.cpp.

◆ XsDevice() [1/3]

XsDevice::XsDevice ( XsDeviceId const & id )

explicitprotected

Construct an empty device with device id id.

Parameters

id	The device ID to construct with

Definition at line 165 of file xsdevice_def.cpp.

◆ XsDevice() [2/3]

XsDevice::XsDevice ( Communicator * comm )

explicitprotected

Construct a device using inf for communication.

Using this constructor implies that this device is a master device (master() returns this).

Parameters

comm	The Communicator to use for this device

Definition at line 197 of file xsdevice_def.cpp.

◆ XsDevice() [3/3]

XsDevice::XsDevice	(	XsDevice *	masterDevice,
		const XsDeviceId &	childDeviceId
	)

explicitprotected

Construct a device with device id childDeviceId for master masterDevice.

Parameters

masterDevice	The master device ID to construct for
childDeviceId	The child device ID to construct with

Communication uses masterDevice's channel

Definition at line 245 of file xsdevice_def.cpp.

Member Function Documentation

◆ abortFlushing()

bool XsDevice::abortFlushing ( )

virtual

Abort the wireless flushing operation and finalize the recording.

Returns: true if no flushing is in progress when the function exits

Note: Awinda Station only

Reimplemented in BroadcastDevice.

Definition at line 3537 of file xsdevice_def.cpp.

◆ abortLoadLogFile()

bool XsDevice::abortLoadLogFile ( )

virtual

Aborts loading a logfile.

Returns: true if loading is aborted successfully

Note: if no file was currently loading returns false

Definition at line 3062 of file xsdevice_def.cpp.

◆ accelerometerRange()

double XsDevice::accelerometerRange ( ) const

virtual

Returns the maximum official value of the accelerometers in the device.

The actual official range is -accelerometerRange() .. accelerometerRange(). The device may send out higher values than this for extreme movements, but then the data quality can not be guaranteed.

Returns: The maximum value of the accelerometers in m/s^2

Reimplemented in MtDevice.

Definition at line 2716 of file xsdevice_def.cpp.

◆ acceptConnection()

bool XsDevice::acceptConnection ( )

virtual

Accept connections from the device on the parent/master device.

This function can be used to accept connections from a device that has been rejected. Call this function from within the onConnectivityChanged callback.

Returns: true if the device will be accepted next time it tries to connect

Note: MTw rejected to Awinda Station only

Definition at line 3548 of file xsdevice_def.cpp.

◆ accessControlMode()

XsAccessControlMode XsDevice::accessControlMode ( ) const

virtual

Request the access control mode of the master device.

Returns: The currently configured access control mode

See also: setAccessControlMode; currentAccessControlList

Definition at line 3760 of file xsdevice_def.cpp.

◆ addRef()

void XsDevice::addRef ( )

virtual

Increase reference count of XsDevice pointer XsDevice pointers stay alive while reference counter is not zero Also increases the reference count of each child device with 1.

Definition at line 3810 of file xsdevice_def.cpp.

◆ addReplyObject()

virtual std::shared_ptr<ReplyObject> XsDevice::addReplyObject	(	XsXbusMessageId	messageId,
		uint8_t	data
	)

virtual

◆ alignmentRotationMatrix()

XsMatrix XsDevice::alignmentRotationMatrix ( XsAlignmentFrame frame ) const

virtual

Retrieve the alignment rotation matrix to rotate S to the chosen frame S'.

Parameters

frame The frame of which to return the alignment rotation

Returns: The alignment rotation

See also: setAlignmentRotationQuaternion, alignmentRotationQuaternion, setAlignmentRotationMatrix

Reimplemented in MtiBaseDevice.

Definition at line 2132 of file xsdevice_def.cpp.

◆ alignmentRotationQuaternion()

XsQuaternion XsDevice::alignmentRotationQuaternion ( XsAlignmentFrame frame ) const

virtual

Retrieve the alignment rotation quaternion.

Parameters

frame The frame of which to return the alignment rotation

Returns: The alignment rotation

See also: setAlignmentRotationQuaternion, setAlignmentRotationMatrix, alignmentRotationMatrix

Reimplemented in MtiBaseDevice.

Definition at line 2106 of file xsdevice_def.cpp.

◆ applyConfigFile()

XsResultValue XsDevice::applyConfigFile ( const XsString & filename )

virtual

Loads a config file(.xsa) and configures the device accordingly.

Parameters

[in] filename The desired path and filename of the config file

Returns: Result value indicating success (XRV_OK) or failure

Definition at line 2142 of file xsdevice_def.cpp.

◆ areOptionsEnabled()

bool XsDevice::areOptionsEnabled ( XsOption options ) const

virtual

Returns true when all the specified processing options are enabled.

Parameters

options The options to check

Returns: true if the options are enabled

See also: setOptions

Definition at line 3434 of file xsdevice_def.cpp.

◆ availableOnboardFilterProfiles()

XsFilterProfileArray XsDevice::availableOnboardFilterProfiles ( ) const

virtual

Return the list of filter profiles available on the device.

Returns: The list of filter profiles available for computing orientations on the device

See also: availableXdaFilterProfiles; onboardFilterProfile; setOnboardFilterProfile

Reimplemented in MtDevice.

Definition at line 2696 of file xsdevice_def.cpp.

◆ availableXdaFilterProfiles()

XsFilterProfileArray XsDevice::availableXdaFilterProfiles ( ) const

virtual

Return the list of filter profiles available on the host PC.

Returns: The list of filter profiles available for computing orientations on the host PC

See also: availableOnboardFilterProfiles; xdaFilterProfile; setXdaFilterProfile

Definition at line 2705 of file xsdevice_def.cpp.

◆ batteryLevel()

int XsDevice::batteryLevel ( ) const

virtual

Get the batterylevel of this device The battery level is a value between 0 and 100 that indicates the remaining capacity as a percentage. Due to battery characteristics, this is not directly the remaining time, but just a rough indication.

Bodypack: The amount of time remaining for measurement given any battery level greatly depends on the type of batteries used, the number of sensors attached to the Bodypack and the used output options. Mtw: The last known battery level for this motion tracker. First call

See also: requestBatteryLevel to have a battery level available. The callback; onInfoResponse with ID XIR_BatteryLevel will indicate when the requested battery level is available. This function is available in both config and measurement mode. For devices in wired mode this function can be called without calling; requestBatteryLevel first

Returns: The battery level in the range 0-100

Definition at line 535 of file xsdevice_def.cpp.

◆ batteryLevelTime()

XsTimeStamp XsDevice::batteryLevelTime ( )

virtual

Requests the time the battery level was last updated.

Returns: the XsTimeStamp the battery level was last set

Reimplemented in BroadcastDevice.

Definition at line 2981 of file xsdevice_def.cpp.

◆ baudRate()

XsBaudRate XsDevice::baudRate ( ) const

virtual

Get the baud rate (communication speed) of the serial port on which the given deviceId is connected.

This differs from the serialBaudRate() function in that it will only return the baud rate of the current connection, whereas the serialBaudRate() function will return the configured value for a serial connection even if the device is currently not configured for serial communication (ie when it is connected with a direct USB cable or wirelessly).

Returns: The baud rate of the serial connection or XBR_Invalid

Definition at line 849 of file xsdevice_def.cpp.

◆ busId()

int XsDevice::busId ( ) const

virtual

The bus ID for this device.

Returns: The bus ID of the device

Definition at line 860 of file xsdevice_def.cpp.

◆ cacheSize()

int XsDevice::cacheSize ( ) const

Get the number of items currently in the slow data cache for the device.

Returns: The actual number of items in the cache, which may contain huge gaps in packet ids

Definition at line 3131 of file xsdevice_def.cpp.

◆ canConfiguration()

uint32_t XsDevice::canConfiguration ( ) const

virtual

Returns the currently configured CAN configuration of the device.

Returns: The can configuration of the device

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 3396 of file xsdevice_def.cpp.

◆ canOutputConfiguration()

XsCanOutputConfigurationArray XsDevice::canOutputConfiguration ( ) const

virtual

Returns the currently configured CAN output of the device.

Returns: The can output configuration of the device

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 3388 of file xsdevice_def.cpp.

◆ checkDataCache()

virtual void XSNOEXPORT XsDevice::checkDataCache ( )

virtual

◆ checkDataEnabled()

static bool XsDevice::checkDataEnabled	(	XsDataIdentifier	dataType,
		XsOutputConfigurationArray const &	configurations
	)

staticprotected

◆ childCount()

int XsDevice::childCount ( ) const

virtual

Return the number of child-devices this device has. For standalone devices this is always 0.

Returns: The number of child devices of the device

Definition at line 4085 of file xsdevice_def.cpp.

◆ children()

std::vector< XsDevice * > XsDevice::children ( ) const

virtual

Return a managed array containing the child-devices this device has. For standalone devices this is always an empty array.

Returns: An array of pointers to the child devices of the device

Reimplemented in BroadcastDevice.

Definition at line 4093 of file xsdevice_def.cpp.

◆ clearCacheToRecordingStart()

virtual void XsDevice::clearCacheToRecordingStart ( )

protectedvirtual

◆ clearDataCache()

virtual void XsDevice::clearDataCache ( )

protectedvirtual

◆ clearExternalPacketCaches()

virtual void XsDevice::clearExternalPacketCaches ( )

protectedvirtual

◆ clearProcessors()

virtual void XsDevice::clearProcessors ( )

protectedvirtual

◆ closeLogFile()

bool XsDevice::closeLogFile ( )

virtual

Close the log file.

Returns: true if the log file was successfully closed or never open

Reimplemented in BroadcastDevice.

Definition at line 2150 of file xsdevice_def.cpp.

◆ communicator()

Communicator XSNOEXPORT* XsDevice::communicator ( ) const

◆ connectivityState()

XsConnectivityState XsDevice::connectivityState ( ) const

virtual

Returns the connectivity state of the device.

The connectivity describes how and if the device is connected to XDA.

Returns: The current connectivity of the device

See also: XsConnectivityState

Definition at line 3663 of file xsdevice_def.cpp.

◆ createConfigFile()

XsResultValue XsDevice::createConfigFile ( const XsString & filename )

virtual

Stores the current device configuration in a config file(.xsa)

Parameters

[in] filename The desired path and filename of the config file

Returns: Result value indicating success (XRV_OK) or failure

Definition at line 2082 of file xsdevice_def.cpp.

◆ createLogFile()

XsResultValue XsDevice::createLogFile ( const XsString & filename )

Create a log file for logging.

Parameters

filename The desired path and filename of the log file

Returns: Result value indicating success (XRV_OK) or failure

Definition at line 2038 of file xsdevice_def.cpp.

◆ currentAccessControlList()

XsDeviceIdArray XsDevice::currentAccessControlList ( ) const

virtual

Request the access control list of the master device.

Returns: The currently configured access control list. This can be either a blacklist or a whitelist.

See also: setAccessControlMode; accessControlMode

Definition at line 3769 of file xsdevice_def.cpp.

◆ dataLength()

int XsDevice::dataLength ( ) const

virtual

Returns the length of the data in the legacy MTData packets that the device will send in measurement mode.

This function will only return a value when the device is configured for legacy output, otherwise it will return 0.

Returns: The data size of the MTData packets that will be sent by the device

See also: setDeviceMode; deviceMode

Definition at line 825 of file xsdevice_def.cpp.

◆ defaultChildConnectivityState()

virtual XsConnectivityState XsDevice::defaultChildConnectivityState ( ) const

protectedvirtual

◆ deinitializeSoftwareCalibration()

virtual void XSNOEXPORT XsDevice::deinitializeSoftwareCalibration ( )

virtual

◆ deviceAtBusId()

XsDevice * XsDevice::deviceAtBusId ( int busid )

virtual

Return the device with bus ID busid.

Parameters

busid The busid to serach for

Returns: The XsDevice corresponding to the supplied busid

Definition at line 767 of file xsdevice_def.cpp.

◆ deviceAtBusIdConst()

const XsDevice * XsDevice::deviceAtBusIdConst ( int busid ) const

Return the device with bus ID busid.

Parameters

busid The busid to serach for

Returns: The const XsDevice corresponding to the supplied busid

Definition at line 778 of file xsdevice_def.cpp.

◆ deviceBufferSize()

uint32_t XsDevice::deviceBufferSize ( )

virtual

Request the size of the interal buffer.

Returns: Buffer size in number of frames

Definition at line 4319 of file xsdevice_def.cpp.

◆ deviceConfig()

const XsDeviceConfiguration& XsDevice::deviceConfig ( ) const

inlineprotected

Returns: A const reference to the cached device configuration

Definition at line 556 of file xsdevice_def.h.

◆ deviceConfiguration()

XsDeviceConfiguration XsDevice::deviceConfiguration ( ) const

Returns the device configuration.

The device configuration contains a summary of the devices connected to the same port. The function will always return the configuration for the port's main device.

Returns: A copy of the device configuration of the port

Definition at line 1945 of file xsdevice_def.cpp.

◆ deviceConfigurationConst()

virtual XsDeviceConfiguration const& XSNOEXPORT XsDevice::deviceConfigurationConst ( ) const

virtual

◆ deviceConfigurationRef()

XsDeviceConfiguration& XSNOEXPORT XsDevice::deviceConfigurationRef ( )

◆ deviceId()

XsDeviceId const & XsDevice::deviceId ( ) const

Return the device ID of the device.

Each Xsens device has a unique ID. The ID identifies the device as well as the product family it belongs to.

Returns: The device ID

Definition at line 742 of file xsdevice_def.cpp.

◆ deviceIsDocked()

bool XsDevice::deviceIsDocked ( XsDevice * dev ) const

virtual

Check if the device is docked.

Checks if device dev is docked in this device

Parameters

dev	The device to check

Returns: true if the device is docked in this device

Definition at line 3673 of file xsdevice_def.cpp.

◆ deviceOptionFlags()

XsDeviceOptionFlag XsDevice::deviceOptionFlags ( ) const

virtual

Returns the device option flags.

Returns: The current configured device option flags

Reimplemented in MtDevice.

Definition at line 562 of file xsdevice_def.cpp.

◆ deviceParameter()

XsResultValue XsDevice::deviceParameter ( XsDeviceParameter & parameter ) const

virtual

Retrieves the requested parameter's current value.

Retrieving device parameters is only valid after initialization

Parameters

parameter a parameter object, corresponding to a row in the table listed under XsDevice::setParameter

Returns: Result value indicating success (XRV_OK) or unsupported with current or current firmware version (XRV_UNSUPPORTED)

See also: XsDevice::setParameter

Definition at line 4468 of file xsdevice_def.cpp.

◆ deviceRecordingBufferItemCount()

virtual XSNOEXPORT int64_t XsDevice::deviceRecordingBufferItemCount ( int64_t & lastCompletePacketId ) const

virtual

◆ deviceState()

XsDeviceState XsDevice::deviceState ( ) const

virtual

Return the state of this device.

The device state indiciates whether the device is in config mode, measuring, recording, etc

Returns: The state of the device

Definition at line 1064 of file xsdevice_def.cpp.

◆ disableProtocol()

bool XsDevice::disableProtocol ( XsProtocolType protocol )

virtual

Disable a communication protocol previously added by XsDevice::enableProtocol.

Parameters

protocol The type of protocol-support to remove.

Returns: true if the removal was successful

Note: This is a per port or per file setting

Definition at line 3304 of file xsdevice_def.cpp.

◆ disableRadio()

bool XsDevice::disableRadio ( )

virtual

Disables the radio for this station, resetting all children to disconnected state.

Returns: true if the radio was successfully disabled

Note: Awinda Station only

Definition at line 3488 of file xsdevice_def.cpp.

◆ discardRetransmissions()

void XsDevice::discardRetransmissions ( int64_t firstNewPacketId )

virtual

Tell XDA and the device that any data from before firstNewPacketId may be lossy.

Tell the device to not request retransmissions of missed data older than the supplied firstNewPacketId. If firstNewPacketId is beyond the end of the recording or beyond the highest received packet ID, the lower value is used instead. This means that you can't set this for future packets.

Parameters

firstNewPacketId The first packet that (if missing) should be retransmitted.

Note: This applies to master devices that support retransmissions only: Awinda and Bodypack.

Definition at line 4598 of file xsdevice_def.cpp.

◆ doTransaction() [1/4]

bool XsDevice::doTransaction ( const XsMessage & snd ) const

protected

◆ doTransaction() [2/4]

bool XsDevice::doTransaction	(	const XsMessage &	snd,
		uint32_t	timeout
	)		const

protected

◆ doTransaction() [3/4]

bool XsDevice::doTransaction	(	const XsMessage &	snd,
		XsMessage &	rcv
	)		const

protected

◆ doTransaction() [4/4]

bool XsDevice::doTransaction	(	const XsMessage &	snd,
		XsMessage &	rcv,
		uint32_t	timeout
	)		const

protected

◆ enableProtocol()

bool XsDevice::enableProtocol ( XsProtocolType protocol )

virtual

Enable an additional communication protocol when reading messages.

Parameters

protocol The type of protocol-support to add.

Returns: true if the addition was successful

Note: This is a per port or per file setting

Definition at line 3280 of file xsdevice_def.cpp.

◆ enableRadio()

bool XsDevice::enableRadio ( int channel )

virtual

Set the radio channel to use for wireless communication.

This function can be used to enable or disable the radio of an Awinda Station.

Parameters

channel A valid channel number in the range [11..25] or -1 to disable the radio

Returns: true if the radio was successfully reconfigured

Note: Awinda Station only

Definition at line 3478 of file xsdevice_def.cpp.

◆ endRecordingStream()

virtual void XsDevice::endRecordingStream ( )

protectedvirtual

◆ errorMode()

XsErrorMode XsDevice::errorMode ( ) const

virtual

Returns the error mode of the device.

The error mode tells the device what to do if a problem occurs.

Returns: The currently configured error mode of the device

See also: setErrorMode

Reimplemented in MtiBaseDevice, and MtDevice.

Definition at line 2463 of file xsdevice_def.cpp.

◆ expectingRetransmissionForPacket()

virtual bool XsDevice::expectingRetransmissionForPacket ( int64_t packetId ) const

protectedvirtual

◆ extractFirmwareVersion()

void XsDevice::extractFirmwareVersion ( XsMessage const & message )

protected

◆ findConfiguration()

XsOutputConfiguration XsDevice::findConfiguration ( XsDataIdentifier dataType ) const

protected

◆ findDevice()

XsDevice * XsDevice::findDevice ( XsDeviceId const & deviceid ) const

virtual

Find the child device with deviceid.

This function returns the child device of the current device that matches the given ID.

Parameters

deviceid The device ID to search for

Returns: A pointer to the found XsDevice or 0 if the device could not be found

Definition at line 500 of file xsdevice_def.cpp.

◆ findDeviceConst()

XsDevice const * XsDevice::findDeviceConst ( XsDeviceId const & deviceid ) const

Find the child device with deviceid.

This function returns the child device of the current device that matches the given ID.

Parameters

deviceid The device ID to search for

Returns: A pointer to the found XsDevice or 0 if the device could not be found

Definition at line 512 of file xsdevice_def.cpp.

◆ firmwareVersion()

XsVersion XsDevice::firmwareVersion ( ) const

virtual

Return the firmware version.

Returns: The firmware version of the live device

Note: The firmware version is not stored in mtb files, so when reading from file this function will return an empty XsVersion object

Definition at line 675 of file xsdevice_def.cpp.

◆ firstChild()

virtual XsDevice const* XsDevice::firstChild ( ) const

protectedvirtual

◆ flushInputBuffers()

void XsDevice::flushInputBuffers ( )

virtual

Clear the inbound data buffers of the device.

Reimplemented in BroadcastDevice.

Definition at line 1807 of file xsdevice_def.cpp.

◆ getDataPacketByIndex()

XsDataPacket XsDevice::getDataPacketByIndex ( XsSize index ) const

virtual

Return the cached data packet with index.

Parameters

index The requested index, this does not have to be the same as the packet counter

Returns: The requested packet or an empty packet if index is out of range

Note: This only works if XSO_RetainLiveData or XSO_RetainBufferedData was set before the data was read

See also: getDataPacketCount; setOptions

Definition at line 4193 of file xsdevice_def.cpp.

◆ getDataPacketCount()

XsSize XsDevice::getDataPacketCount ( ) const

Return the current size of the retained data packet cache.

Returns: The current size of the cache

See also: getDataPacketCount; setOptions

Definition at line 4206 of file xsdevice_def.cpp.

◆ getDeviceFromLocationId()

XsDevice * XsDevice::getDeviceFromLocationId ( uint16_t locId )

virtual

Get the device given locId.

\param locId the location ID of the device we're looking for
\returns a pointer to the device if found, nullptr otherwise.

Definition at line 2527 of file xsdevice_def.cpp.

◆ getOptions()

XsOption XsDevice::getOptions ( ) const

Return the currently enabled options.

Returns: The options that are enabled for this device and its child devices (if any)

See also: setOptions; areOptionsEnabled

Definition at line 3443 of file xsdevice_def.cpp.

◆ getStartRecordingPacketId()

int64_t XsDevice::getStartRecordingPacketId ( ) const

Return the ID of the first packet that should be recorded.

This is only valid in Recording or Flushing states

Returns: The ID of the first packet that should be recorded

Definition at line 4374 of file xsdevice_def.cpp.

◆ getStopRecordingPacketId()

int64_t XsDevice::getStopRecordingPacketId ( ) const

Return the ID of the last packet that should be recorded.

This is only valid in Recording or Flushing states or in Measurement after a recording has finished

Returns: The ID of the last packet that should be / was recorded

Definition at line 4383 of file xsdevice_def.cpp.

◆ gnssLeverArm()

XsVector XsDevice::gnssLeverArm ( ) const

virtual

Returns: The GNSS Lever Arm vector.

Reimplemented in Mti6X0Device, and MTi7_MTi8Device.

Definition at line 2953 of file xsdevice_def.cpp.

◆ gnssPlatform()

XSNOEXPORT XSDEPRECATED XsGnssPlatform XsDevice::gnssPlatform ( ) const

◆ gnssReceiverSettings()

XsIntArray XsDevice::gnssReceiverSettings ( ) const

virtual

Gets some GNSS receiver settings.

Returns: XsIntArray containing the receiver settings

Reimplemented in MtDevice.

Definition at line 4520 of file xsdevice_def.cpp.

◆ gotoConfig()

bool XsDevice::gotoConfig ( )

virtual

Put the device in config mode.

Device settings can only be changed in config mode, since changing anything during measurement would mess up the sample timing.

Returns: true if the device was successfully put in config mode or was already in config mode

See also: gotoMeasurement

Reimplemented in BroadcastDevice.

Definition at line 1014 of file xsdevice_def.cpp.

◆ gotoMeasurement()

bool XsDevice::gotoMeasurement ( )

virtual

Put this device in measurement mode.

Measurement mode is where the device is sampling data and producing inertial and orientation output.

Returns: true if the device was successfully put in measurement mode or was already in measurement mode

See also: gotoConfig

Reimplemented in BroadcastDevice.

Definition at line 960 of file xsdevice_def.cpp.

◆ gravityMagnitude()

double XsDevice::gravityMagnitude ( ) const

virtual

Returns the 'Gravity Magnitude' of the device.

The Gravity Magnitude is the strength of the gravity where the measurements are done. Setting this value precisely allows for more accurate measurements.

Returns: The current 'Gravity Magnitude' setting of the device.

See also: setGravityMagnitude; setInitialPositionLLA; initialPositionLLA

Definition at line 2566 of file xsdevice_def.cpp.

◆ gyroscopeRange()

double XsDevice::gyroscopeRange ( ) const

virtual

Returns the maximum official value of the gyroscopes in the device.

The actual official range is -gyroscopeRange() .. gyroscopeRange(). The device may send out higher values than this for extreme movements, but then the data quality can not be guaranteed.

Returns: The maximum value of the gyroscopes in degrees/s

Reimplemented in MtDevice.

Definition at line 2727 of file xsdevice_def.cpp.

◆ handleDataPacket()

virtual XSNOEXPORT void XsDevice::handleDataPacket ( const XsDataPacket & packet )

virtual

◆ handleErrorMessage()

virtual XSNOEXPORT void XsDevice::handleErrorMessage ( const XsMessage & msg )

virtual

◆ handleMasterIndication()

virtual XSNOEXPORT void XsDevice::handleMasterIndication ( const XsMessage & message )

virtual

◆ handleMessage()

virtual XSNOEXPORT void XsDevice::handleMessage ( const XsMessage & msg )

virtual

◆ handleNonDataMessage()

virtual XSNOEXPORT void XsDevice::handleNonDataMessage ( const XsMessage & msg )

virtual

◆ handleUnavailableData()

virtual XSNOEXPORT void XsDevice::handleUnavailableData ( int64_t frameNumber )

virtual

◆ handleWakeupMessage()

virtual XSNOEXPORT void XsDevice::handleWakeupMessage ( const XsMessage & msg )

virtual

◆ handleWarningMessage()

virtual XSNOEXPORT void XsDevice::handleWarningMessage ( const XsMessage & msg )

virtual

◆ hardwareVersion()

XsVersion XsDevice::hardwareVersion ( ) const

virtual

Return the hardware version of the device.

Returns: The hardware version of the device

Reimplemented in BroadcastDevice, and MtDevice.

Definition at line 3467 of file xsdevice_def.cpp.

◆ hasDataEnabled()

bool XsDevice::hasDataEnabled ( XsDataIdentifier dataType ) const

virtual

Returns if the currently configured output contains dataType.

Parameters

dataType The type of data to check the output for.

Returns: true if dataType is configured for output

See also: outputConfiguration; hasProcessedDataEnabled; updateRateForDataIdentifier

Definition at line 632 of file xsdevice_def.cpp.

◆ hasProcessedDataEnabled()

bool XsDevice::hasProcessedDataEnabled ( XsDataIdentifier dataType ) const

virtual

Returns if the currently configured output contains dataType after processing on the host.

Where hasDataEnabled() only checks the outputs configured in the device, this function also checks what can and will be computed from the data.

Parameters

dataType The type of data to check the output for.

Returns: true if dataType is configured for output

See also: hasDataEnabled; processedOutputConfiguration; updateRateForDataIdentifier

Definition at line 665 of file xsdevice_def.cpp.

◆ headingOffset()

double XsDevice::headingOffset ( ) const

virtual

Return the 'heading offset' setting of the device.

Returns: The currently configured heading offset in degrees

Reimplemented in MtDevice.

Definition at line 2495 of file xsdevice_def.cpp.

◆ initialize()

virtual bool XSNOEXPORT XsDevice::initialize ( )

virtual

Reimplemented in MtDevice, and BroadcastDevice.

◆ initializeSoftwareCalibration()

virtual bool XSNOEXPORT XsDevice::initializeSoftwareCalibration ( )

virtual

◆ initialPositionLLA()

XsVector XsDevice::initialPositionLLA ( ) const

virtual

Gets the 'Latitude Longitude Altitude' setting of the device.

The Latitude Longitude Altitude contains the location on earth where the measurements are done. Setting this value allows for more accurate measurements. 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.

Returns: lla The desired 'Latitude Longitude Altitude' setting for the device.

See also: setInitialPositionLLA; gravityMagnitude

Reimplemented in MtDevice.

Definition at line 2793 of file xsdevice_def.cpp.

◆ insertIntoDataCache()

virtual void XsDevice::insertIntoDataCache	(	int64_t	pid,
		XsDataPacket *	pack
	)

protectedvirtual

◆ interpolateMissingData()

virtual bool XsDevice::interpolateMissingData	(	XsDataPacket const &	pack,
		XsDataPacket const &	prev,
		std::function< void(XsDataPacket *)>	packetHandler
	)

protectedvirtual

◆ isBlueToothEnabled()

bool XsDevice::isBlueToothEnabled ( ) const

virtual

Returns true if the device has its BlueTooth radio enabled.

Returns: true if the device has its BlueTooth radio enabled

See also: setBlueToothEnabled

Definition at line 2413 of file xsdevice_def.cpp.

◆ isBusPowerEnabled()

bool XsDevice::isBusPowerEnabled ( ) const

virtual

Returns if the Xbus is powering its child devices or not.

When the bus power is off, the child devices are disabled

Returns: true If the Xbus is currently providing power to its child devices

Definition at line 2432 of file xsdevice_def.cpp.

◆ isCompatibleSyncSetting()

bool XsDevice::isCompatibleSyncSetting	(	XsDeviceId const &	deviceId,
		XsSyncSetting const &	setting1,
		XsSyncSetting const &	setting2
	)

static

Determines whether setting1 is compatible with setting2 for deviceId deviceId.

Parameters

[in]	deviceId	The device id
[in]	setting1	Setting 1
[in]	setting2	Setting 2

Returns: true when setting1 is compatible with setting2 for deviceId deviceId

Definition at line 4068 of file xsdevice_def.cpp.

◆ isContainerDevice()

bool XsDevice::isContainerDevice ( ) const

virtual

Returns true if this device can have child devices.

Returns: true if this is a container device

Definition at line 1094 of file xsdevice_def.cpp.

◆ isFixedGravityEnabled()

bool XsDevice::isFixedGravityEnabled ( ) const

virtual

Returns if the fixed gravity value should be used or if it should be computed from the initialPositionLLA value.

Returns: true if the option is enabled

See also: setFixedGravityEnabled; gravityMagnitude; initialPositionLLA

Definition at line 2923 of file xsdevice_def.cpp.

◆ isInitialBiasUpdateEnabled()

bool XsDevice::isInitialBiasUpdateEnabled ( ) const

virtual

Returns if the device does gyroscope bias estimation when switching to measurement mode.

When this option is enabled, the device will automatically run the 'no rotation' algorithm every time it switches to measurement mode.

Returns: true if the option is enabled

See also: setNoRotation; setInitialBiasUpdateEnabled

Definition at line 2900 of file xsdevice_def.cpp.

◆ isInitialized()

bool XsDevice::isInitialized ( ) const

Returns true when the device is initialized.

Returns: true when the device has been initialized

Definition at line 3721 of file xsdevice_def.cpp.

◆ isInStringOutputMode()

bool XsDevice::isInStringOutputMode ( ) const

virtual

Returns if the device is outputting data in string mode.

In string mode only NMEA packets are transmitted at the legacy update rate

Returns: true if the device is configured for string mode output.

Definition at line 3014 of file xsdevice_def.cpp.

◆ isInSyncStationMode()

bool XsDevice::isInSyncStationMode ( )

virtual

Returns: true when the device is in Sync Station mode (Awinda Station and Sync Station only)

Definition at line 3792 of file xsdevice_def.cpp.

◆ isLoadLogFileInProgress()

bool XsDevice::isLoadLogFileInProgress ( ) const

Returns true if the file operation started by loadLogFile is still in progress.

Returns: true if the file operation started by loadLogFile is still in progress

See also: loadLogFile; waitForLoadLogFileDone

Definition at line 4349 of file xsdevice_def.cpp.

◆ isMasterDevice()

bool XsDevice::isMasterDevice ( ) const

Returns true if this is the master device (not a child of another device)

Returns: true if this is the master device

Definition at line 1086 of file xsdevice_def.cpp.

◆ isMeasuring()

bool XsDevice::isMeasuring ( ) const

virtual

Returns true if the device is currently in a measuring state.

Returns: true if the device is currently in a measuring state

Reimplemented in BroadcastDevice.

Definition at line 1741 of file xsdevice_def.cpp.

◆ isMotionTracker()

bool XsDevice::isMotionTracker ( ) const

virtual

Returns true if this is a motion tracker.

Returns: true if this is a motion tracker or false if it is a master device such as an Awinda Station or a Bodypack

Reimplemented in MtDevice.

Definition at line 813 of file xsdevice_def.cpp.

◆ isOperational()

bool XsDevice::isOperational ( ) const

virtual

Returns: true when the device is operational

See also: AwindaStationDevice::makeOperational()

Definition at line 3786 of file xsdevice_def.cpp.

◆ isProtocolEnabled()

bool XsDevice::isProtocolEnabled ( XsProtocolType protocol ) const

virtual

Returns: true when a protocol with type type has been added

Parameters

[in] protocol The protocol type to check

Definition at line 3326 of file xsdevice_def.cpp.

◆ isRadioEnabled()

bool XsDevice::isRadioEnabled ( ) const

virtual

Returns if the radio is enabled.

Returns: true if the radio is enabled

Note: Awinda Sation only

Definition at line 3497 of file xsdevice_def.cpp.

◆ isReadingFromFile()

bool XsDevice::isReadingFromFile ( ) const

virtual

Returns true if the device is reading from a file.

Returns: true if the device is reading from a file

Reimplemented in BroadcastDevice.

Definition at line 1783 of file xsdevice_def.cpp.

◆ isRecording()

bool XsDevice::isRecording ( ) const

virtual

Returns true if the device is currently in a recording state.

Returns: true if the device is currently in a recording state

Reimplemented in BroadcastDevice.

Definition at line 1762 of file xsdevice_def.cpp.

◆ isSoftwareCalibrationEnabled()

virtual bool XsDevice::isSoftwareCalibrationEnabled ( ) const

protectedvirtual

◆ isSoftwareFilteringEnabled()

virtual bool XsDevice::isSoftwareFilteringEnabled ( ) const

protectedvirtual

◆ isStandaloneDevice()

bool XsDevice::isStandaloneDevice ( ) const

Returns true if this is a standalone device (not a child of another device and not a container device)

Returns: true if this is a standalone device, equivalent to !isContainerDevice() && isMasterDevice()

Definition at line 1102 of file xsdevice_def.cpp.

◆ isSyncMaster()

bool XsDevice::isSyncMaster ( ) const

virtual

returns whether this device is in a master role regarding the device synchronization

Returns: true if the device has a synchronization master role

Definition at line 750 of file xsdevice_def.cpp.

◆ isSyncSlave()

bool XsDevice::isSyncSlave ( ) const

virtual

returns whether this device is in a slave role regarding the device synchronization

Returns: true if the device has a synchronization slave role

Definition at line 758 of file xsdevice_def.cpp.

◆ justWriteSetting()

bool XsDevice::justWriteSetting ( ) const

inlineprotected

Returns: The value of the m_justWriteSetting flag, which is used in file-based processing

Definition at line 642 of file xsdevice_def.h.

◆ lastAvailableLiveData()

XsDataPacket XsDevice::lastAvailableLiveData ( ) const

Return the last available live data.

Returns: A packet containing the latest available live data. This packet will contain the latest data of each appropriate type, so it may contain old data mixed with new data if different data comes in at different speeds.

Note: This only works if XSO_KeepLastLiveData is set

See also: setOptions

Definition at line 4218 of file xsdevice_def.cpp.

◆ lastKnownRssi()

int16_t XsDevice::lastKnownRssi ( ) const

virtual

Returns the last known RSSI value of the device.

RSSI values are only relevant for wireless devices. Since the value is measured passively, any time an RSSI value is received by XDA, the last known value is updated.

Returns: The last known biased RSSI value or XS_RSSI_UNKNOWN if no RSSI value is available (yet)

Definition at line 3624 of file xsdevice_def.cpp.

◆ lastResult()

XsResultValue XsDevice::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 794 of file xsdevice_def.cpp.

◆ lastResultText()

XsString XsDevice::lastResultText ( ) const

Get the accompanying error text for the value returned by lastResult() It may provide situation-specific information instead.

Returns: a human readable error description

See also: resultText(XsResultValue), lastResult()

Definition at line 804 of file xsdevice_def.cpp.

◆ latestBufferedPacket()

XsDataPacket& XsDevice::latestBufferedPacket ( )

inlineprotected

Returns: A reference to the cached latest buffered packet

Definition at line 582 of file xsdevice_def.h.

◆ latestBufferedPacketConst()

XsDataPacket const& XsDevice::latestBufferedPacketConst ( ) const

inlineprotected

Returns: A const reference to the cached latest buffered packet

Definition at line 596 of file xsdevice_def.h.

◆ latestBufferedPacketId()

virtual int64_t XsDevice::latestBufferedPacketId ( ) const

protectedvirtual

◆ latestLivePacket()

XsDataPacket& XsDevice::latestLivePacket ( )

inlineprotected

Returns: A reference to the cached latest received packet

Definition at line 575 of file xsdevice_def.h.

◆ latestLivePacketConst()

XsDataPacket const& XsDevice::latestLivePacketConst ( ) const

inlineprotected

Returns: A const reference to the cached latest received packet

Definition at line 589 of file xsdevice_def.h.

◆ latestLivePacketId()

virtual int64_t XsDevice::latestLivePacketId ( ) const

protectedvirtual

◆ loadLogFile()

bool XsDevice::loadLogFile ( )

virtual

Load a complete logfile.

Load the opened log file completely. This function loads all data from the open logfile in a separate thread, generating onProgressUpdated callbacks. This function will return true if the reading was scheduled.

Returns: true if the threaded loading was successfully started

See also: onProgressUpdated

Reimplemented in BroadcastDevice.

Definition at line 3045 of file xsdevice_def.cpp.

◆ locationId()

int XsDevice::locationId ( ) const

virtual

Get the location ID of the device.

The location ID is a custom 16-bit ID that can be assigned to a device.

Returns: The current location ID stord in the device

See also: setLocationId

Reimplemented in MtDevice.

Definition at line 2517 of file xsdevice_def.cpp.

◆ logFileInterface()

virtual DataLogger XSNOEXPORT* XsDevice::logFileInterface ( std::unique_ptr< xsens::Lock > & myLock ) const

virtual

◆ logFileName()

XsString XsDevice::logFileName ( ) const

virtual

Get the name of the log file the device is reading from.

Returns an empty string when not in file mode.

Returns: The name of the logfile

Definition at line 3078 of file xsdevice_def.cpp.

◆ logFileReadPosition()

XsFilePos XsDevice::logFileReadPosition ( ) const

Get the current read position of the open log file.

If the function encounters an error the function returns -1.

Returns: The current read position (in bytes) from the start of the file or -1

Note: This is a low-level file operation.

See also: logFileSize

Definition at line 3236 of file xsdevice_def.cpp.

◆ logFileSize()

XsFilePos XsDevice::logFileSize ( ) const

Get the size of the log file the device is reading from.

If the function encounters an error the function returns 0.

Returns: The size of the log file or 0

Note: This is a low-level file operation.

See also: logFileReadPosition

Definition at line 3219 of file xsdevice_def.cpp.

◆ makeOperational()

bool XsDevice::makeOperational ( )

virtual

Sets the Awinda station to operational state.

Note: this is considered an extension to the config state, not a new state.

Returns: true when the awindastation is put in operational mode.

Definition at line 3778 of file xsdevice_def.cpp.

◆ master()

XsDevice * XsDevice::master ( ) const

virtual

Return the master device of this device.

This function returns the master device of the current device. This may be the device itself

Returns: The master device of this device

Definition at line 332 of file xsdevice_def.cpp.

◆ maximumUpdateRate()

int XsDevice::maximumUpdateRate ( ) const

virtual

Get the maximum update rate for the device.

Returns: The maximum update rate of the device

See also: supportedUpdateRates

Definition at line 3102 of file xsdevice_def.cpp.

◆ messageLooksSane()

virtual XSNOEXPORT bool XsDevice::messageLooksSane ( const XsMessage & msg ) const

virtual

Reimplemented in MtDevice.

◆ mutex()

xsens::GuardedMutex* XsDevice::mutex ( ) const

inline

Returns: The device mutex.

Definition at line 498 of file xsdevice_def.h.

◆ objectAlignment()

XsMatrix XsDevice::objectAlignment ( ) const

virtual

Returns the object alignment matrix of the device.

Returns: The current 'object alignment matrix' setting of the device.

Note: This is legacy functionality to support backwards compatibility with older devices. For MT Mk4 devices it is suggested to use alignmentRotationQuaternion or alignmentRotationMatrix instead.

See also: setObjectAlignmentMatrix(); headingOffset(); setHeadingOffset(); alignmentRotationQuaternion; alignmentRotationMatrix

Definition at line 2541 of file xsdevice_def.cpp.

◆ onboardFilterProfile()

XsFilterProfile XsDevice::onboardFilterProfile ( ) const

virtual

Gets the filter profile in use by the device for computing orientations.

Returns: The filter profile in use when computing orientations is done on the device

See also: setOnboardFilterProfile; xdaFilterProfile

Reimplemented in MtDevice.

Definition at line 2646 of file xsdevice_def.cpp.

◆ onConnectionLost()

virtual XSNOEXPORT void XsDevice::onConnectionLost ( )

virtual

◆ onEofReached()

virtual XSNOEXPORT void XsDevice::onEofReached ( )

virtual

◆ onMessageDetected2()

virtual XSNOEXPORT void XsDevice::onMessageDetected2	(	XsProtocolType	type,
		const XsByteArray &	rawMessage
	)

virtual

◆ onMessageReceived()

virtual XSNOEXPORT void XsDevice::onMessageReceived ( const XsMessage & message )

virtual

◆ onMessageSent()

virtual XSNOEXPORT void XsDevice::onMessageSent ( const XsMessage & message )

virtual

◆ onSessionRestarted()

virtual XSNOEXPORT void XsDevice::onSessionRestarted ( )

virtual

◆ onWirelessConnectionLost()

virtual XSNOEXPORT void XsDevice::onWirelessConnectionLost ( )

virtual

◆ operationalMode()

XsOperationalMode XsDevice::operationalMode ( ) const

virtual

Returns the operational mode.

Returns: The current operational mode of the device

Definition at line 3362 of file xsdevice_def.cpp.

◆ operator<() [1/2]

bool XsDevice::operator< ( const XsDevice & dev ) const

inline

Compare device ID with that of dev.

Parameters

dev	Device to compare against

Returns: true if dev has a higher device ID

See also: deviceId()

Definition at line 226 of file xsdevice_def.h.

◆ operator<() [2/2]

bool XsDevice::operator< ( XsDeviceId const & devId ) const

inline

Compare device ID with devId.

Parameters

devId DeviceId to compare against

Returns: true if devId is higher than the contained device ID

See also: deviceId()

Definition at line 236 of file xsdevice_def.h.

◆ operator==() [1/2]

bool XsDevice::operator== ( const XsDevice & dev ) const

inline

Compare device ID with that of dev.

Parameters

dev	Device to compare against

Returns: true if dev has the same device ID

See also: deviceId()

Definition at line 231 of file xsdevice_def.h.

◆ operator==() [2/2]

bool XsDevice::operator== ( XsDeviceId const & devId ) const

inline

Compare device ID with devId.

Parameters

devId DeviceId to compare against

Returns: true if devId is the same as the contained device ID

See also: deviceId()

Definition at line 241 of file xsdevice_def.h.

◆ outputConfiguration()

XsOutputConfigurationArray XsDevice::outputConfiguration ( ) const

virtual

Returns the currently configured output of the device.

Returns: The output configuration of the device

Reimplemented in MtDevice, and MtiBaseDevice.

Definition at line 3380 of file xsdevice_def.cpp.

◆ packetContainsRetransmission()

static bool XsDevice::packetContainsRetransmission ( XsDataPacket const & pack )

staticprotected

◆ packetErrorRate()

int XsDevice::packetErrorRate ( ) const

virtual

Returns the packet error rate for the for the device.

The packet error rate indicates the proportion of data packets from the device that are lost or corrupted in some manner over some time window. Depending on the device the packet error rate may be updated actively or passively, and the time window may vary, so packet error rates cannot be compared directly between different types of device.

Note: Not all devices support packet error rate estimation. Those that don't will always report a 0% packet error rate.

Returns: The packet error rate as a percentage.

Definition at line 3653 of file xsdevice_def.cpp.

◆ portConfiguration()

XsIntArray XsDevice::portConfiguration ( ) const

virtual

Get the current port configuration of a device.

Remarks: Only Mti6x0 devices supported

Returns: The current port configurations of the device

See also: setPortConfiguration, XsBaudCode

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 910 of file xsdevice_def.cpp.

◆ portInfo()

XsPortInfo XsDevice::portInfo ( ) const

virtual

The port information of the connection.

Returns: The port information object containing the information of the communication port or an empty structure if not connected to a communication port

Definition at line 3696 of file xsdevice_def.cpp.

◆ portName()

XsString XsDevice::portName ( ) const

virtual

The port name of the connection.

Returns: The name of the communication port or an empty string if not connected to a communication port

Definition at line 3683 of file xsdevice_def.cpp.

◆ powerDown()

bool XsDevice::powerDown ( )

virtual

Tell the device to power down completely.

This function can be used to tell the device to shut down completely, requiring a physical button press on the device to power up again.

Returns: true if the device was successfully powered down

Definition at line 2454 of file xsdevice_def.cpp.

◆ prepareForTermination()

virtual XSNOEXPORT void XsDevice::prepareForTermination ( )

virtual

◆ processBufferedPacket()

virtual void XsDevice::processBufferedPacket ( XsDataPacket & pack )

protectedvirtual

◆ processedOutputConfiguration()

XsOutputConfigurationArray XsDevice::processedOutputConfiguration ( ) const

virtual

Return the full output configuration including post processing outputs.

This function return the list returned by outputConfiguration() and adds outputs that become available during post-processing.

Returns: The requested output configuration list

Definition at line 1209 of file xsdevice_def.cpp.

◆ processLivePacket()

virtual void XsDevice::processLivePacket ( XsDataPacket & pack )

protectedvirtual

◆ productCode()

XsString XsDevice::productCode ( ) const

virtual

Return the product code of the device.

Returns: The product code of the device

Reimplemented in BroadcastDevice, and MtDevice.

Definition at line 3451 of file xsdevice_def.cpp.

◆ radioChannel()

int XsDevice::radioChannel ( ) const

virtual

Returns the radio channel used for wireless communication.

Returns: The radio channel used for wireless communication or -1 if the radio is disabled

Note: Awinda Sation only

Definition at line 3506 of file xsdevice_def.cpp.

◆ readDeviceConfiguration()

virtual bool XsDevice::readDeviceConfiguration ( )

protectedvirtual

◆ readEmtsAndDeviceConfiguration()

virtual XSNOEXPORT bool XsDevice::readEmtsAndDeviceConfiguration ( )

virtual

◆ readMetaDataFromLogFile()

XsByteArray XsDevice::readMetaDataFromLogFile ( )

virtual

Returns internal meta-data about the recording that some devices store in the mtb logfile.

Returns: Internal meta-data about the recording that some devices store in the mtb logfile

Definition at line 4652 of file xsdevice_def.cpp.

◆ recordingQueueLength()

int XsDevice::recordingQueueLength ( ) const

Get the number of packets currently waiting in the slow data cache for the device based.

Returns: The highest received packet ID minus the last reported packet id in the slow data callback

Definition at line 3118 of file xsdevice_def.cpp.

◆ refCounter()

XsSize XsDevice::refCounter ( ) const

The current reference counter.

Returns: The current reference count

Definition at line 3819 of file xsdevice_def.cpp.

◆ reinitialize()

bool XsDevice::reinitialize ( )

virtual

Reinitialize the XsDevice.

This function will read all configuration details freshly from the device and will reinitialize all filters. Especially when you have made changes to the device configuration outside XDA or through sendCustomMessage() it is advisable to call this function so XDA will show the correct state of the device.

Returns: true if the device was successfully reinitialized

Note: The device itself is not reset, but will be put in config mode while the settings are being updated.

Reimplemented in MtDevice.

Definition at line 2594 of file xsdevice_def.cpp.

◆ reinitializeProcessors()

virtual void XsDevice::reinitializeProcessors ( )

protectedvirtual

◆ rejectConnection()

bool XsDevice::rejectConnection ( )

virtual

Reject connections from the device on the parent/master device.

This function can be used to reject connections from a device that has connected. This function can be called from within the onConnectivityChanged callback or at other times when a device is connected.

Returns: true if the device will be rejected next time it tries to connect

Note: After the function returns, this XsDevice should no longer be used.; MTw connected to Awinda Station only

See also: rejectReason

Definition at line 3562 of file xsdevice_def.cpp.

◆ rejectReason()

XsRejectReason XsDevice::rejectReason ( ) const

virtual

Returns the reason why a device's connection was rejected.

This function is typically called from within the onConnectivityChanged callback when the connectivity has changed to XCS_Rejected.

Returns: The reason why the connection was rejected

Definition at line 3614 of file xsdevice_def.cpp.

◆ removeIfNoRefs()

void XsDevice::removeIfNoRefs ( )

protected

◆ removeRef()

void XsDevice::removeRef ( )

virtual

Decrease this XsDevices reference counter with 1.

Also decreases the reference count of each child with 1

If it is a child device, it will delete itself when the reference count reaches zero. It will also remove itself from its master's child list and ask the master if it can be deleted
If it is a master device, it will delete itself when the reference count reaches zero and the reference count of all children is zero.

Definition at line 3831 of file xsdevice_def.cpp.

◆ reopenPort()

bool XsDevice::reopenPort	(	bool	gotoConfig,
		bool	skipDeviceIdCheck = `false`
	)

virtual

Reopens a port Uses rescan method to redetect a device. Also if USB descriptor has changed.

Parameters

gotoConfig	Set to true if the device should be put to config before port closure
skipDeviceIdCheck	Set to true if the rescan should not verify the device id (not recommended)

Returns: true if successful

Definition at line 2017 of file xsdevice_def.cpp.

◆ replaceFilterProfile()

bool XsDevice::replaceFilterProfile	(	XsFilterProfile const &	profileCurrent,
		XsFilterProfile const &	profileNew
	)

virtual

Replaces profileCurrent by profileNew in the device.

Parameters

profileCurrent	The profile that should be replaced
profileNew	The new profile

Returns: true if successful, false otherwise

Note: The default implementation does nothing as this feature requires the full XDA

Definition at line 2685 of file xsdevice_def.cpp.

◆ representativeMotionState()

bool XsDevice::representativeMotionState ( )

virtual

Retrieves the active representative motion state for the In-Run Compass Calibration.

Returns: true if the reprensentation motion state is active, false otherwise

Reimplemented in MtiBaseDevice.

Definition at line 2762 of file xsdevice_def.cpp.

◆ requestBatteryLevel()

bool XsDevice::requestBatteryLevel ( )

virtual

Request the battery level from the device.

This is an asynchronous operation. The Awinda station or MTw sends the battery level when possible. For devices in wired mode the

See also: batteryLevel() function can be called without calling this function first.

Returns: true If the battery level request was successfully sent

Reimplemented in BroadcastDevice.

Definition at line 2973 of file xsdevice_def.cpp.

◆ requestData()

bool XsDevice::requestData ( )

virtual

Request data when configured in legacy mode with infinite skip factor.

When configured in legacy mode and an output skip factor of 0xFFFF, the device will not send data by itself, but will instead send the latest data after receiving an explicit request. This function is that request. After the request, the normal callback mechanism will take over.

Returns: true if the message was successfully sent.

Reimplemented in MtDevice.

Definition at line 2875 of file xsdevice_def.cpp.

◆ requestUtcTime()

virtual XSNOEXPORT bool XsDevice::requestUtcTime ( )

virtual

◆ reset() [1/2]

bool XsDevice::reset ( )

virtual

Reset the device.

This function tells the device to reboot itself.

Returns: true if the device was successfully reset

Definition at line 1971 of file xsdevice_def.cpp.

◆ reset() [2/2]

virtual XSNOEXPORT bool XsDevice::reset ( bool skipDeviceIdCheck )

virtual

Reimplemented in BroadcastDevice.

◆ resetLogFileReadPosition()

bool XsDevice::resetLogFileReadPosition ( )

virtual

Set the read position of the open log file to the start of the file.

If software filtering is enabled, the appropriate filters will be restarted as if the file was just opened.

Returns: true if the read position was successfully reset to the start of the file

Note: This is a low-level file operation.

Reimplemented in MtDevice, and BroadcastDevice.

Definition at line 3198 of file xsdevice_def.cpp.

◆ resetOrientation()

bool XsDevice::resetOrientation ( XsResetMethod resetmethod )

virtual

Perform an orientation reset on the device using the given resetMethod.

This function schedules an orientation reset command to be applied in the first available orientation filter update.

Parameters

resetmethod The requested orientation reset method.

Returns: true if the orientation reset was successfully scheduled

Note: XRM_StoreAlignmentMatrix can only be used in config mode, the others only in measurement mode

Reimplemented in BroadcastDevice.

Definition at line 3187 of file xsdevice_def.cpp.

◆ resetPacketStamping()

virtual void XsDevice::resetPacketStamping ( )

protectedvirtual

◆ resetRemovesPort()

virtual bool XsDevice::resetRemovesPort ( ) const

protectedvirtual

Reimplemented in MtiBaseDevice.

◆ restartFilter()

void XsDevice::restartFilter ( )

virtual

Restart the software filter used by this device.

Definition at line 785 of file xsdevice_def.cpp.

◆ restoreFactoryDefaults()

bool XsDevice::restoreFactoryDefaults ( )

virtual

Restore the device to its factory default settings.

Returns: true if the settings have been successfully restored

Reimplemented in BroadcastDevice, and MtDevice.

Definition at line 1953 of file xsdevice_def.cpp.

◆ retainPacket()

void XsDevice::retainPacket ( XsDataPacket const & pack )

protected

◆ rs485TransmissionDelay()

uint16_t XsDevice::rs485TransmissionDelay ( ) const

virtual

Returns the transmission delay used for RS485 transmissions.

See the low level documentation for more information on this function.

Returns: The currently configured RS485 transmission delay

Reimplemented in MtDevice, and MtiBaseDevice.

Definition at line 2841 of file xsdevice_def.cpp.

◆ runSelfTest()

XsSelfTestResult XsDevice::runSelfTest ( )

virtual

Run the self test for the device.

All Xsens devices have limited self-diagnostic functionality, which can be triggered by calling this function. The device automatically does some self tests during startup, but this function returns more information.

Returns: Results of the test

Note: This function is blocking and can take a few 100 ms

Reimplemented in MtDevice.

Definition at line 2864 of file xsdevice_def.cpp.

◆ scheduleOrientationReset()

virtual bool XsDevice::scheduleOrientationReset ( XsResetMethod method )

protectedvirtual

Reimplemented in MtDevice.

◆ sendCustomMessage() [1/2]

bool XsDevice::sendCustomMessage	(	const XsMessage &	messageSend,
		bool	waitForResult,
		XsMessage &	messageReceive,
		int	timeout = `0`
	)

virtual

Send a custom message messageSend to the device and possibly wait for a result.

If waitForResult is true, the function will wait for a result and put it in the given messageReceive. Otherwise the contents of messageReceive will not be altered. If an error message is received or the wait times out, messageReceive will contain an error message.

Parameters

messageSend	The message to send to the device
waitForResult	true if it is required that the function waits for the appropriate reply. A valid reply always has a message ID that is one higher than the sent message ID.
messageReceive	When waitForResult is true, the reply will be put in this object.
timeout	Optional timeout in ms. When 0 is supplied (the default), the default timeout is used.

Returns: true if the message was successfully sent and when waitForResult is true the correct reply has been received

Definition at line 1302 of file xsdevice_def.cpp.

◆ sendCustomMessage() [2/2]

virtual XSNOEXPORT bool XsDevice::sendCustomMessage	(	const XsMessage &	messageSend,
		bool	waitForResult,
		XsXbusMessageId	messageId,
		XsMessage &	messageReceive,
		int	timeout = `0`
	)

virtual

◆ sendRawMessage()

bool XsDevice::sendRawMessage ( const XsMessage & message )

virtual

Send a message directly to the communicator.

Parameters

[in] message The message that will be sent

Returns: true if the message was successfully sent

Definition at line 1311 of file xsdevice_def.cpp.

◆ serialBaudRate()

XsBaudRate XsDevice::serialBaudRate ( ) const

virtual

The baud rate configured for cabled connection.

This differs from the baudRate() function in that it will return the configured value for a serial connection even if the device is currently not configured for serial communication (ie when it is connected with a direct USB cable or wirelessly), whereas the baudRate() function will return the baud rate of the current connection.

Returns: The configured baud rate

Reimplemented in MtDevice.

Definition at line 837 of file xsdevice_def.cpp.

◆ setAccessControlMode()

bool XsDevice::setAccessControlMode	(	XsAccessControlMode	mode,
		const XsDeviceIdArray &	initialList
	)

virtual

Set the access control mode of the master device.

The access control mode determines which connections are allowed.

Parameters

mode	The access control mode to use, the choice is between blacklist or whitelist
initialList	The initial list to use for the selected access control mode

Returns: true if the access control mode was successfully changed

See also: accessControlMode(); currentAccessControlList

Definition at line 3751 of file xsdevice_def.cpp.

◆ setAlignmentRotationMatrix()

bool XsDevice::setAlignmentRotationMatrix	(	XsAlignmentFrame	frame,
		const XsMatrix &	matrix
	)

virtual

Set an arbitrary alignment rotation matrix Use to rotate either L to the chosen frame L' or S to the chosen frame S'.

Parameters

frame	The frame to rotate
matrix	The desired alignment rotation setting of the device. This should be an orthonormal 3x3 matrix.

Returns: true if the alignment rotation has been set successfully

See also: setAlignmentRotationQuaternion, alignmentRotationQuaternion, alignmentRotationMatrix

Reimplemented in MtiBaseDevice.

Definition at line 2120 of file xsdevice_def.cpp.

◆ setAlignmentRotationQuaternion()

bool XsDevice::setAlignmentRotationQuaternion	(	XsAlignmentFrame	frame,
		const XsQuaternion &	quat
	)

virtual

Set an arbitrary alignment rotation quaternion. Use to rotate either L to the chosen frame L' or S to the chosen frame S'.

Parameters

frame	The frame to rotate
quat	The desired alignment rotation setting of the device.

Returns: true if the alignment rotation has been set successfully

See also: alignmentRotationQuaternion, setAlignmentRotationMatrix, alignmentRotationMatrix

Reimplemented in MtiBaseDevice.

Definition at line 2094 of file xsdevice_def.cpp.

◆ setBlueToothEnabled()

bool XsDevice::setBlueToothEnabled ( bool enabled )

virtual

Enable or disable the BlueTooth radio of the device.

Parameters

enabled Set to true to enable the BlueTooth radio

Returns: true if the device was successfully updated

See also: isBlueToothEnabled

Definition at line 2422 of file xsdevice_def.cpp.

◆ setBusPowerEnabled()

bool XsDevice::setBusPowerEnabled ( bool enabled )

virtual

Tell the Xbus to provide power to its child devices or not.

This function can be used to tell the Xbus to stop and start powering its child devices. By default when the Xbus starts up it will provide power to its child devices. Switching the power off can save a lot of energy, but powering the system up again will take some time, depending on the number of connected devices.

Parameters

enabled true to enable bus power, false to disable the bus power

Returns: true If the Xbus' bus power state was successfully updated.

Definition at line 2444 of file xsdevice_def.cpp.

◆ setCanConfiguration()

bool XsDevice::setCanConfiguration ( uint32_t config )

virtual

Set the CAN configuration for this device.

Parameters

config Should consist of 8 bytes baudcode and 1 bit to enable CAN

Returns: true if the CAN output configuration was successfully updated

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 1198 of file xsdevice_def.cpp.

◆ setCanOutputConfiguration()

bool XsDevice::setCanOutputConfiguration ( XsCanOutputConfigurationArray & config )

virtual

Set the CAN output configuration for this device.

When the function exits with a true value config will contain the actual configuration in the device after configuration. When it exits with false the contents of config are undefined.

Note: The config is updated to reflect frequency mismatches in desired configuration and actually possible configuration. As input, a frequency of 65535 (0xFFFF) may be supplied to indicate 'maximum output rate', but after configuration XDA will have put the actual maximum value in config. Similarly, some data types may not have a real update rate (ie. packet counter) and will return an update rate of 65535 (0xFFFF) when configured at any rate other than 0.

Parameters

config The desired output configuration

Returns: true if the output configuration was successfully updated

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 1188 of file xsdevice_def.cpp.

◆ setCommunicator()

void XsDevice::setCommunicator ( Communicator * comm )

protected

◆ setDeviceAccepted()

bool XsDevice::setDeviceAccepted ( const XsDeviceId & deviceId )

virtual

Accepts a device.

Parameters

[in] deviceId The device to accept

Returns: true when the device has been successfully accepted

Definition at line 3730 of file xsdevice_def.cpp.

◆ setDeviceBufferSize()

bool XsDevice::setDeviceBufferSize ( uint32_t frames )

virtual

Request the device to set it's internal buffer to the specified size.

Parameters

frames buffer size in frames

Returns: True if the setting was successfully updated

Definition at line 4328 of file xsdevice_def.cpp.

◆ setDeviceId()

void XsDevice::setDeviceId ( const XsDeviceId & deviceId )

protected

◆ setDeviceOptionFlags()

bool XsDevice::setDeviceOptionFlags	(	XsDeviceOptionFlag	setFlags,
		XsDeviceOptionFlag	clearFlags
	)

virtual

Set the device option flags.

Parameters

setFlags	The option flags that must be set. Set to XDOF_None if no flags need to be set
clearFlags	The option flags that must be cleared. Set to XDOF_None if no flags need to be cleared

Returns: true if the device option flags were successfully altered

Definition at line 1112 of file xsdevice_def.cpp.

◆ setDeviceParameter()

XsResultValue XsDevice::setDeviceParameter ( XsDeviceParameter const & parameter )

virtual

Sets the given parameter for the device.

Settings device parameters is only valid after initialization and before switching the device to be operational.

Parameters

parameter a parameter object, corresponding to a row in the table below.

Returns: Result value indicating success (XRV_OK) or unsupported with current device or firmware version (XRV_UNSUPPORTED).

For Awinda stations this function needs to be called before enabling the radio (XsDevice::enableRadio).

XsDeviceParameterIdentifier	Value type/range	Description	Supported devices
XsDeviceParameterIdentifier	Value type/range	Description	Awinda 2 (Station, Dongle)	BodyPack	MTmk4	MTw2	MTx2	SyncStation
XDPI_PacketErrorRate	boolean	Report packet error rate for each child device.	Y	-	-	-	-	-
XDPI_SyncLossTimeout	uint16_t	Network timeout in seconds used by connected child devices. For Awinda2: this timeout is measured by connected MTw2 devices based on received data from the station.	Y	-	-	-	-	-
XDPI_UplinkTimeout	uint16_t	Network timeout in seconds used by the master devices. For Awinda2: this timeout is measured based on received data from each connected MTw2 individually.	Y	-	-	-	-	-
XDPI_ExtendedBuffer	bool	If set, enables the extended buffer on connected MTw2 devices.	Y	-	-	-	-	-

Definition at line 4456 of file xsdevice_def.cpp.

◆ setDeviceRejected()

bool XsDevice::setDeviceRejected ( const XsDeviceId & deviceId )

virtual

Rejects a device.

Parameters

[in] deviceId The device to reject

Returns: true when the device has been successfully rejected

Definition at line 3739 of file xsdevice_def.cpp.

◆ setDeviceState()

virtual void XsDevice::setDeviceState ( XsDeviceState state )

protectedvirtual

◆ setErrorMode()

bool XsDevice::setErrorMode ( XsErrorMode errormode )

virtual

Sets the error mode of the device.

The error mode tells the device what to do if a problem occurs.

Parameters

errormode The desired error mode of the device

Returns: true if the device was successfully updated

See also: errorMode

Reimplemented in MtiBaseDevice, and MtDevice.

Definition at line 2473 of file xsdevice_def.cpp.

◆ setFirmwareVersion()

void XsDevice::setFirmwareVersion ( const XsVersion & version )

private

◆ setFixedGravityEnabled()

bool XsDevice::setFixedGravityEnabled ( bool enable )

virtual

Sets whether the fixed gravity value should be used or if it should be computed from the initialPositionLLA value.

Parameters

enable true to use fixed gravity, false to compute from initialPositionLLA

Returns: true if the device was successfully update

See also: isFixedGravityEnabled; setGravityMagnitude; setInitialPositionLLA

Definition at line 2934 of file xsdevice_def.cpp.

◆ setGnssLeverArm()

bool XsDevice::setGnssLeverArm ( const XsVector & arm )

virtual

Sets the GNSS Lever Arm vector.

GNSS Lever arm is the length/pos of the antenna w.r.t. the center of the sensor It is a 3-vector: x,y,z

Parameters

arm	The lever arm vector

Returns: True if successful

Reimplemented in Mti6X0Device, and MTi7_MTi8Device.

Definition at line 2946 of file xsdevice_def.cpp.

◆ setGnssPlatform()

XSNOEXPORT virtual XSDEPRECATED bool XsDevice::setGnssPlatform ( XsGnssPlatform gnssPlatform )

virtual

◆ setGnssReceiverSettings()

bool XsDevice::setGnssReceiverSettings ( const XsIntArray & gnssReceiverSettings )

virtual

Sets some GNSS receiver settings.

Parameters

gnssReceiverSettings XsIntArray containing the receiver settings, that are to be set

Returns: true if the settings were successfully set; false otherwise

Reimplemented in MtDevice.

Definition at line 4529 of file xsdevice_def.cpp.

◆ setGotoConfigOnClose()

void XsDevice::setGotoConfigOnClose ( bool gotoConfigOnClose )

On closePort the device will go to config by default, with this function it is possible to prevent that.

Parameters

gotoConfigOnClose boolean

Definition at line 519 of file xsdevice_def.cpp.

◆ setGravityMagnitude()

bool XsDevice::setGravityMagnitude ( double mag )

virtual

Sets the 'Gravity Magnitude' of the device to the given value mag.

The Gravity Magnitude is the strength of the gravity where the measurements are done. Setting this value precisely allows for more accurate measurements.

Parameters

mag	The desired 'Gravity Magnitude' setting of the device.

Returns: true if the Gravity Magnitude was successfully written

Note: The default value is usually computed from the last known Lat Lon Alt value

See also: gravityMagnitude; setInitialPositionLLA; initialPositionLLA

Reimplemented in BroadcastDevice.

Definition at line 2579 of file xsdevice_def.cpp.

◆ setHeadingOffset()

bool XsDevice::setHeadingOffset ( double offset )

virtual

Set the 'heading offset' setting of the device.

Parameters

offset The desired heading offset of the device in degrees

Returns: true if the device was successfully updated

See also: headingOffset

Reimplemented in BroadcastDevice, and MtiBaseDevice.

Definition at line 2486 of file xsdevice_def.cpp.

◆ setInitialBiasUpdateEnabled()

bool XsDevice::setInitialBiasUpdateEnabled ( bool enable )

virtual

Set if the device does gyroscope bias estimation when switching to measurement mode.

When this option is enabled, the device will automatically run the 'no rotation' algorithm every time it switches to measurement mode.

Parameters

enable true to enable the option, false to disable it

Returns: true if the device was successfully update

See also: setNoRotation; isInitialBiasUpdateEnabled

Definition at line 2912 of file xsdevice_def.cpp.

◆ setInitialized()

void XsDevice::setInitialized ( bool initialized )

inlineprotected

Set the initialized state to initialized.

Definition at line 611 of file xsdevice_def.h.

◆ setInitialPositionLLA()

bool XsDevice::setInitialPositionLLA ( const XsVector & lla )

virtual

Sets the 'Latitude Longitude Altitude' setting of the device to the given vector.

The Latitude Longitude Altitude contains the location on earth where the measurements are done. Setting this value allows for more accurate measurements. The default gravity magnitude and earth magnetic field are computed form this value.

Parameters

lla	The desired 'Latitude Longitude Altitude' setting for the device. This should be a 3-element vector.

Returns: true if the Latitude Longitude Altitude was successfully written

Note: When GNSS is available, this value is automatically updated with the last known position when the device is put in config mode after measurement.

See also: initialPositionLLA; labMagneticField; gravityMagnitude

Reimplemented in MtDevice, BroadcastDevice, and MtiBaseDevice.

Definition at line 2809 of file xsdevice_def.cpp.

◆ setLocationId()

bool XsDevice::setLocationId ( int id )

virtual

Set the location ID of the device.

The location ID is a custom 16-bit ID that can be assigned to a device.

Parameters

id	The desired location ID for the device

Returns: true if the Location ID was successfully updated

See also: locationId

Reimplemented in BroadcastDevice, and MtDevice.

Definition at line 2506 of file xsdevice_def.cpp.

◆ setNoRotation()

bool XsDevice::setNoRotation ( uint16_t duration )

virtual

Set the no rotation period to duration.

This function can be called in both config and measurement modes. In config mode it specifies the duration that the device is considered to be stationary as soon as it enters measurement mode. In measurement mode, it specifies the duration that the device is considered to be stationary, starting immediately.

During the stationary period, the gyroscope biases are measured, giving better performance.

Parameters

duration The desired stationary duration in seconds

Returns: true if the no rotation command was accepted by the device

See also: isInitialBiasUpdateEnabled; setInitialBiasUpdateEnabled

Reimplemented in BroadcastDevice, MtDevice, and MtiBaseDevice.

Definition at line 2743 of file xsdevice_def.cpp.

◆ setObjectAlignment()

bool XsDevice::setObjectAlignment ( const XsMatrix & matrix )

virtual

Sets the object alignment of the device to the given matrix.

Parameters

matrix The desired 'object alignment matrix' setting of the device. This should be an orthonormal 3x3 matrix.

Returns: true if the object alignment matrix was successfully written

Note: This is legacy functionality to support backwards compatibility with older devices. For MT Mk4 devices it is suggested to use setAlignmentRotationQuaternion or setAlignmentRotationMatrix instead.

See also: objectAlignmentMatrix; headingOffset; setHeadingOffset; setAlignmentRotationQuaternion; setAlignmentRotationMatrix

Reimplemented in BroadcastDevice.

Definition at line 2554 of file xsdevice_def.cpp.

◆ setOnboardFilterProfile() [1/2]

bool XsDevice::setOnboardFilterProfile ( int profileType )

virtual

Sets the filter profile to use for computing orientations on the device.

When computing orientation data, there is a choice of filter profiles. This function can be used to select the appropriate one.

Parameters

profileType The filter profile type to use. This can be chosen from the list returned by availableOnboardFilterProfiles()

Returns: true if the filter profile was successfully changed

See also: availableOnboardFilterProfiles; onboardFilterProfile; setXdaFilterProfile

Reimplemented in MtDevice, and BroadcastDevice.

Definition at line 2659 of file xsdevice_def.cpp.

◆ setOnboardFilterProfile() [2/2]

bool XsDevice::setOnboardFilterProfile ( XsString const & profileType )

virtual

Sets the filter profile to use for computing orientations on the device.

When computing orientation data, there is a choice of filter profiles. This function can be used to select the appropriate one.

Parameters

profileType The filter profile type to use. This can be chosen from the list returned by availableOnboardFilterProfiles()

Returns: true if the filter profile was successfully changed

See also: availableOnboardFilterProfiles; onboardFilterProfile; setXdaFilterProfile

Reimplemented in MtDevice, and BroadcastDevice.

Definition at line 2673 of file xsdevice_def.cpp.

◆ setOperationalMode()

bool XsDevice::setOperationalMode ( XsOperationalMode mode )

virtual

Set the device in the given operational mode.

Parameters

mode	Desired operional mode.

Returns: True when successful, false otherwise.

Definition at line 3371 of file xsdevice_def.cpp.

◆ setOptions()

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

virtual

Enable and disable processing 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. 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

See also: areOptionsEnabled

Reimplemented in BroadcastDevice.

Definition at line 3411 of file xsdevice_def.cpp.

◆ setOutputConfiguration()

bool XsDevice::setOutputConfiguration ( XsOutputConfigurationArray & config )

Set the output configuration for this device.

When the function exits with a true value config will contain the actual configuration in the device after configuration. When it exits with false the contents of config are undefined.

Note: The config is updated to reflect frequency mismatches in desired configuration and actually possible configuration. As input, a frequency of 65535 (0xFFFF) may be supplied to indicate 'maximum output rate', but after configuration XDA will have put the actual maximum value in config. Similarly, some data types may not have a real update rate (ie. packet counter) and will return an update rate of 65535 (0xFFFF) when configured at any rate other than 0.

Parameters

config The desired output configuration

Returns: true if the output configuration was successfully updated

Definition at line 1138 of file xsdevice_def.cpp.

◆ setOutputConfigurationInternal()

virtual XsResultValue XsDevice::setOutputConfigurationInternal ( XsOutputConfigurationArray & config )

protectedvirtual

Reimplemented in MtiBaseDevice.

◆ setPacketErrorRate()

virtual XSNOEXPORT void XsDevice::setPacketErrorRate ( int per )

virtual

◆ setPortConfiguration()

bool XsDevice::setPortConfiguration ( XsIntArray & config )

virtual

Change the port configuration of a device.

Configures the 2 ports of the 6x0 device The integers consist of:

bits 0:7 XsBaudcode
bit 8 Enable flow control
bit 9 Use 2nd stop bit
bit 10 Use Parity bit
bit 11 Even/odd parity
bit 12:15 reserved
bits 16:19 bits XsProtocol
Parameters

config An array of elements containing a configuration for each port (UART and RS232)

Remarks
Only Mti6x0 devices supported

Returns
true if the port configuration was successfully updated

See also
portConfiguration, XsBaudCode

Reimplemented in Mti6X0Device, and Mti8X0Device.

Definition at line 930 of file xsdevice_def.cpp.

◆ setRecordingStartFrame()

virtual void XsDevice::setRecordingStartFrame ( uint16_t startFrame )

protectedvirtual

◆ setRecordingStopFrame()

virtual void XsDevice::setRecordingStopFrame ( uint16_t stopFrame )

protectedvirtual

◆ setRs485TransmissionDelay()

bool XsDevice::setRs485TransmissionDelay ( uint16_t delay )

virtual

Set the transmission delay used for RS485 transmissions.

See the low level documentation for more information on this function.

Parameters

delay The desired delay

Returns: true if the device was successfully updated

Reimplemented in MtDevice, and MtiBaseDevice.

Definition at line 2851 of file xsdevice_def.cpp.

◆ setSerialBaudRate()

bool XsDevice::setSerialBaudRate ( XsBaudRate baudrate )

virtual

Change the serial baudrate to baudrate.

This function is only useful when using a serial communication channel, such as a serial-USB converter or a direct COM port. It is advised to make the baud rate as high as your platform allows, to minimize latency and problems with bandwidth.

After setting the baudrate and communicating over the same communication channel, it is required to reset the device.

Parameters

baudrate The desired serial baudrate

Returns: true if the baud rate was successfully updated

Reimplemented in BroadcastDevice.

Definition at line 875 of file xsdevice_def.cpp.

◆ setSkipEmtsReadOnInit()

XSNOEXPORT void XsDevice::setSkipEmtsReadOnInit ( bool skip )

◆ setStartRecordingPacketId()

virtual void XsDevice::setStartRecordingPacketId ( int64_t startFrame )

protectedvirtual

◆ setStealthMode()

bool XsDevice::setStealthMode ( bool enabled )

virtual

Enable or disable stealth mode.

In stealth mode, the MVN hardware will be silent and all LEDs will be dimmed or disabled. Some minimal user feedback will remain enabled. The change will be applied immediately to all detected systems, resetting the mocap data stream.

Parameters

enabled Set to true if you wish to enable stealth mode, false to disable it.

Returns: true if the setting was successfully updated

Definition at line 4025 of file xsdevice_def.cpp.

◆ setStopRecordingPacketId()

virtual void XsDevice::setStopRecordingPacketId ( int64_t stopFrame )

protectedvirtual

◆ setStringOutputMode()

bool XsDevice::setStringOutputMode	(	uint16_t	type,
		uint16_t	period,
		uint16_t	skipFactor
	)

virtual

Sets the string output mode for this device.

Parameters

type	The type to set
period	The period to set
skipFactor	The skipFactor to set

Returns: True if the device was successfully updated

Reimplemented in MTi7_MTi8Device.

Definition at line 1220 of file xsdevice_def.cpp.

◆ setSyncSettings()

bool XsDevice::setSyncSettings ( const XsSyncSettingArray & settingList )

virtual

Set the synchronization settings of the device.

This function can be used to set all the synchronization options of the device at once. It is translated into device-specific commands by XDA, since not all devices support the same synchronization functionality.

Parameters

settingList The list of synchronization settings to set. An empty list will clear all synchronization settings.

Returns: true if the device was successfully updated

See also: syncSettings

Reimplemented in MtiBaseDevice, and BroadcastDevice.

Definition at line 3158 of file xsdevice_def.cpp.

◆ setSyncStationMode()

bool XsDevice::setSyncStationMode ( bool enabled )

virtual

Set the Sync Station mode of the Awinda Station device.

Parameters

enabled true to enable Sync Station mode, false to disable it

Returns: true if successful

Definition at line 3801 of file xsdevice_def.cpp.

◆ setTerminationPrepared()

void XsDevice::setTerminationPrepared ( bool prepared )

inlineprotected

Set the "termination prepared" state to prepared.

Definition at line 616 of file xsdevice_def.h.

◆ setTransportMode()

bool XsDevice::setTransportMode ( bool transportModeEnabled )

virtual

Enable or disable the transport mode for the device.

The MTw has a "wake up by motion" feature that requires some power and can cause unnecessary wakeups when transporting the device. This function can be used to put the device in "transport mode", which effectively disables the motion wake up feature until the device is plugged into something or the transport mode is explicitly disabled by this function again.

Parameters

transportModeEnabled true to enable transport mode (which disables the motion wakeup)

Returns: true if the device was successfully put in transport mode (or taken out of it)

Note: MTw only

Reimplemented in BroadcastDevice.

Definition at line 2995 of file xsdevice_def.cpp.

◆ setUbloxGnssPlatform()

bool XsDevice::setUbloxGnssPlatform ( XsUbloxGnssPlatform ubloxGnssPlatform )

virtual

Set the device GNSS platform for u-blox GNSS receivers.

Warning: This function produces undefined behaviour when used on non u-blox GNSS receivers.

Parameters

ubloxGnssPlatform The GNSS platform that must be set

Returns: true if the device GNSS platform was successfully set

Reimplemented in Mti6X0Device, and MtDevice.

Definition at line 4511 of file xsdevice_def.cpp.

◆ setUpdateRate()

bool XsDevice::setUpdateRate ( int rate )

virtual

Set the legacy update rate of the device.

Parameters

[in] rate The desired legacy update rate for the device

Returns: true if the update rate was successfully set

See also: deviceMode; setDeviceMode

Definition at line 554 of file xsdevice_def.cpp.

◆ setUtcTime()

bool XsDevice::setUtcTime ( const XsTimeInfo & time )

virtual

Sets the 'UTC Time' setting of the device to the given time.

Sets the UTC time in the device. Setting this value allows for more accurate measurements.

Parameters

time	The current time in UTC format

Returns: true if the UTC Time was successfully written

Note: When GNSS is available, this value is automatically updated with the last known UTC time when the device is put in config mode after measurement.

Reimplemented in MtiBaseDevice.

Definition at line 2831 of file xsdevice_def.cpp.

◆ setWirelessPriority()

bool XsDevice::setWirelessPriority ( int priority )

virtual

Sets the wireless priority of the device.

Parameters

priority The desired wireless priority of the device in the range 0-255.

Returns: true if the wireless priority has been successfully updated

Note: MTw connected to Awinda Station only

Definition at line 3581 of file xsdevice_def.cpp.

◆ setXdaFilterProfile() [1/2]

bool XsDevice::setXdaFilterProfile ( int profileType )

virtual

Sets the filter profile to use for computing orientations on the host PC.

When computing orientation data, there is a choice of filter profiles. This function can be used to select the appropriate one. By default XDA will attempt to match the software filter profile to the configured hardware filter profile when detecting a new device.

Parameters

profileType The filter profile type to use. This can be chosen from the list returned by availableXdaFilterProfiles()

Returns: true if the filter profile was successfully changed

Note: When reading from a file, make sure to call resetLogFileReadPosition() and possibly loadLogFile() after changing the filter profile to make sure all cached data is recomputed.

See also: availableXdaFilterProfiles; xdaFilterProfile; setOnboardFilterProfile

Reimplemented in BroadcastDevice.

Definition at line 2619 of file xsdevice_def.cpp.

◆ setXdaFilterProfile() [2/2]

bool XsDevice::setXdaFilterProfile ( XsString const & profileType )

virtual

Sets the filter profile to use for computing orientations on the host PC.

When computing orientation data, there is a choice of filter profiles. This function can be used to select the appropriate one. By default XDA will attempt to match the software filter profile to the configured hardware filter profile when detecting a new device.

Parameters

profileType The filter profile type to use. This can be chosen from the list returned by availableXdaFilterProfiles()

Returns: true if the filter profile was successfully changed

Note: When reading from a file, make sure to call resetLogFileReadPosition() and possibly loadLogFile() after changing the filter profile to make sure all cached data is recomputed.

See also: availableXdaFilterProfiles; xdaFilterProfile; setOnboardFilterProfile

Reimplemented in BroadcastDevice.

Definition at line 2636 of file xsdevice_def.cpp.

◆ shortProductCode()

XsString XsDevice::shortProductCode ( ) const

virtual

Return the shortened product code of the device suitable for display.

Returns: The short product code of the device

Reimplemented in Mti3X0Device, MtiXDevice, Mti6X0Device, Mti8X0Device, and MTi7_MTi8Device.

Definition at line 3459 of file xsdevice_def.cpp.

◆ shouldDataMsgBeRecorded()

virtual bool XsDevice::shouldDataMsgBeRecorded ( const XsMessage & msg ) const

protectedvirtual

◆ shouldDoRecordedCallback()

virtual bool XsDevice::shouldDoRecordedCallback ( XsDataPacket const & packet ) const

protectedvirtual

◆ shouldWriteMessageToLogFile() [1/2]

virtual bool XsDevice::shouldWriteMessageToLogFile	(	const XsDevice *	dev,
		const XsMessage &	message
	)		const

protectedvirtual

◆ shouldWriteMessageToLogFile() [2/2]

virtual bool XsDevice::shouldWriteMessageToLogFile ( const XsMessage & msg ) const

protectedvirtual

◆ skipEmtsReadOnInit()

bool XsDevice::skipEmtsReadOnInit ( ) const

inlineprotected

Returns: True if skip EMTS read on initialization is set to true

Definition at line 681 of file xsdevice_def.h.

◆ startRecording()

bool XsDevice::startRecording ( )

virtual

Start recording incoming data.

To record successfully, a log file should be created by calling createLogFile() before this function is called. startRecording(XsString, XsDeviceId) can be used to achieve the same result.

Returns: true if recording was successfully started

Note: Starting recording for a single non-main device will start a recording for the entire system.

See also: createLogFile(); stopRecording()

Reimplemented in BroadcastDevice.

Definition at line 2171 of file xsdevice_def.cpp.

◆ startRepresentativeMotion()

bool XsDevice::startRepresentativeMotion ( )

virtual

Let the user indicate that he is starting the representative motion for the In-Run Compass Calibration.

Returns: true if the start indication was successfully sent to the device

Reimplemented in MtiBaseDevice.

Definition at line 2753 of file xsdevice_def.cpp.

◆ stealthMode()

bool XsDevice::stealthMode ( ) const

virtual

Return the state of the stealth mode setting.

Returns: the state of the stealth mode setting.

See also: setStealthMode

Definition at line 4034 of file xsdevice_def.cpp.

◆ stopRecording()

bool XsDevice::stopRecording ( )

virtual

Stop recording incoming data.

Returns: true if recording was successfully stopped

Note: Stopping recording for a single non-main device will stop a recording for the entire system.

See also: createLogFile(); startRecording()

Reimplemented in BroadcastDevice.

Definition at line 2201 of file xsdevice_def.cpp.

◆ stopRepresentativeMotion()

XsIccRepMotionResult XsDevice::stopRepresentativeMotion ( )

virtual

Let the user indicate that he stopped the representative motion.

for the In-Run Compass Calibration
\returns A struct containing the results of the last In-Run Compass Calibration

Reimplemented in MtiBaseDevice.

Definition at line 2772 of file xsdevice_def.cpp.

◆ storeFilterState()

bool XsDevice::storeFilterState ( )

virtual

Store orientation filter state in the device.

Use this function when the filters for the device have stabilized to store the current biases in the device. The benefit is that on the next startup the filter will stabilize quicker. However, the stored biases depend on temperature and other external parameters, so the stored values will remain correct for only a short time.

Returns: true if the filter state was saved, false otherwise

Reimplemented in MtDevice, and BroadcastDevice.

Definition at line 2888 of file xsdevice_def.cpp.

◆ storeIccResults()

bool XsDevice::storeIccResults ( )

virtual

Store the onboard ICC results for use by the device.

Returns: true if the store was successful

Reimplemented in MtiBaseDevice.

Definition at line 2780 of file xsdevice_def.cpp.

◆ stringOutputType()

uint16_t XsDevice::stringOutputType ( ) const

virtual

Returns the string output type.

Returns: The 'string output type' setting of the device

See also: setStringOutputType

Reimplemented in MtDevice.

Definition at line 3354 of file xsdevice_def.cpp.

◆ stringSamplePeriod()

uint16_t XsDevice::stringSamplePeriod ( ) const

virtual

Returns the sample period for string output.

Returns: The 'sample period' setting of the device for string output

Reimplemented in MtDevice.

Definition at line 3337 of file xsdevice_def.cpp.

◆ stringSkipFactor()

uint16_t XsDevice::stringSkipFactor ( ) const

virtual

Returns the skipfactor for string output.

Returns: The 'output skip factor' setting of the device for string output

Reimplemented in MtDevice.

Definition at line 3345 of file xsdevice_def.cpp.

◆ subDevice()

XsDevice * XsDevice::subDevice ( int subDeviceId ) const

virtual

Returns the sub-device at index index.

This function returns a software-only sub device of a larger device. It could for example return an XsDevice representing a single finger segment of an Xsens Glove. These devices have only limited functionality and are typically only used for data extraction as all communication goes through the main device.

Parameters

subDeviceId The sub device id of the device to return. Which ids are valid depends on the type of device, 0 always indicates the main device.

Returns: A pointer to the found XsDevice or 0 if the device could not be found or the device does not have sub-devices.

Definition at line 4632 of file xsdevice_def.cpp.

◆ subDeviceCount()

int XsDevice::subDeviceCount ( ) const

virtual

Returns the number of sub-devices of this device.

This function returns the number of software-only sub devices of a larger device.

Returns: The number of available sub-devices or 0 if none are available

See also: subDevice

Definition at line 4644 of file xsdevice_def.cpp.

◆ supportedStatusFlags()

uint32_t XsDevice::supportedStatusFlags ( ) const

virtual

Returns a bitmask with all the status flags supported by this device.

Not all devices support all status flags. When receiving an XsDataPacket with a status in it, this can affect how to interpret the flags. Especially with a flag like the self-test it's important not to conclude that a device is defective because it is not set when the device doesn't actually support this feature.

Returns: The bitmask with all the status flags that this device supports

Reimplemented in MtDevice, Mti3X0Device, MtiXDevice, Mti6X0Device, Mti8X0Device, MTi7_MTi8Device, MtiX00Device, MtiX0Device, and MtigDevice.

Definition at line 4610 of file xsdevice_def.cpp.

◆ supportedStringOutputTypes()

XsStringOutputTypeArray XsDevice::supportedStringOutputTypes ( ) const

virtual

Ask the device for its supported string output types.

Returns: A list with the supported string output types.

Reimplemented in Mti6X0Device, Mti8X0Device, MtiX00Device, MtiX0Device, and MtigDevice.

Definition at line 1259 of file xsdevice_def.cpp.

◆ supportedSyncSettings() [1/2]

XsSyncSettingArray XsDevice::supportedSyncSettings ( ) const

virtual

Get all supported synchronization settings available on the device.

This function provides a list of the available synchronization settings of the device, since not all devices support the same synchronization functionality. Every XsSyncSetting element in the list defines one function and line setting, with supported parameters. If the same function support multiple settings (i.e. multiple lines), then the list will contains multiple items with the same function name, but with different line settings. For easier use, same functions must be listed next to eachother, so each function settings in the list will be grouped. Properties, others then m_function and m_line are set to 0 if not supported or 1 if supported by the device.

Returns: The list of synchronization settings supported by the device. Each settings grouped by functions.

Definition at line 3175 of file xsdevice_def.cpp.

◆ supportedSyncSettings() [2/2]

XsSyncSettingArray XsDevice::supportedSyncSettings ( XsDeviceId const & deviceId )

static

Return the supported synchronization settings for a specified deviceId or deviceId mask.

Parameters

[in] deviceId The device id to request the supported synchronization settings for

Returns: the supported synchronization settings for the specified deviceId

Definition at line 4043 of file xsdevice_def.cpp.

◆ supportedUpdateRates()

std::vector< int > XsDevice::supportedUpdateRates ( XsDataIdentifier dataType = XDI_None ) const

virtual

Ask the device for its supported update rates for the given dataType.

Parameters

dataType The type of data to get the supported update rates for

Returns: A list with the supported update rates or an empty list in case of an error

Reimplemented in MtiBaseDevice, and BroadcastDevice.

Definition at line 2403 of file xsdevice_def.cpp.

◆ supportsSyncSettings()

bool XsDevice::supportsSyncSettings ( XsDeviceId const & deviceId )

static

Determines whether the device specified by deviceId supports sync settings.

Parameters

[in] deviceId The device id to check

Returns: true when the device specified by deviceId supports sync settings

Definition at line 4057 of file xsdevice_def.cpp.

◆ syncRole()

XsSyncRole XsDevice::syncRole ( ) const

virtual

Returns the synchronization role of the device.

For synchronization purposes a device can be a master, a slave, both or neither. This function returns the way the device is currently configured.

Returns: The synchronization role of the device

Definition at line 1821 of file xsdevice_def.cpp.

◆ syncSettings()

XsSyncSettingArray XsDevice::syncSettings ( ) const

virtual

Get all the current synchronization settings of the device.

This function is a generic way of requesting the synchonization options of a device, since not all devices support the same synchronization functionality.

Returns: The list of synchronization settings configured for the device

See also: setSyncSettings

Reimplemented in MtiBaseDevice.

Definition at line 3144 of file xsdevice_def.cpp.

◆ syncSettingsTimeResolutionInMicroSeconds()

unsigned int XsDevice::syncSettingsTimeResolutionInMicroSeconds ( XsDeviceId const & deviceId )

static

Returns: the time resolution in microseconds for a device with device id deviceId For example if the precision is 1 millisecond, 1000 is returned

Parameters

[in] deviceId The deviceId

Definition at line 4077 of file xsdevice_def.cpp.

◆ takeFirstDataPacketInQueue()

XsDataPacket XsDevice::takeFirstDataPacketInQueue ( )

Return the first packet in the packet queue or an empty packet if the queue is empty.

This function will only return a packet when XSO_RetainLiveData or XSO_RetainBufferedData is specified for the device. It will return the first packet in the queue and remove the packet from the queue.

Returns: The first packet in the queue or an empty packet if the queue is empty

See also: setOptions

Definition at line 4230 of file xsdevice_def.cpp.

◆ toType()

template<typename T >

XSNOEXPORT T* XsDevice::toType ( )

inline

Definition at line 251 of file xsdevice_def.h.

◆ transportMode()

bool XsDevice::transportMode ( )

virtual

Returns the current state of the transport mode feature.

Returns: true if tranport mode is currently enabled

See also: setTransportMode

Definition at line 3005 of file xsdevice_def.cpp.

◆ triggerStartRecording()

bool XsDevice::triggerStartRecording ( )

virtual

Start recording incoming data through generating a virtual input trigger.

Note: On devices without support for a start recording input trigger this function will default to XsDevice::startRecording

Returns: true if recording was successfully started

See also: createLogFile(); stopRecording(); startRecording

Definition at line 2191 of file xsdevice_def.cpp.

◆ ubloxGnssPlatform()

XsUbloxGnssPlatform XsDevice::ubloxGnssPlatform ( ) const

virtual

Returns the device GNSS platform for u-blox GNSS receivers.

Warning: This function has an undefined meaning when used on non u-blox GNSS receivers.

Returns: The current device GNSS platform

Reimplemented in Mti6X0Device, and MtDevice.

Definition at line 4501 of file xsdevice_def.cpp.

◆ updateCachedDeviceInformation()

bool XsDevice::updateCachedDeviceInformation ( )

virtual

Updates the cached device information for all devices connected to this port.

This function can only be called in config mode. XDA caches all device information to prevent unnecessary communication with the device. When some configuration has changed without XDA knowing about it (through sendCustomMessage() for example), it may be necessary to tell XDA to refresh its cached information by calling this function.

Returns: true if the cached information was updated successfully

Reimplemented in BroadcastDevice.

Definition at line 3254 of file xsdevice_def.cpp.

◆ updateConnectivityState()

void XsDevice::updateConnectivityState ( XsConnectivityState newState )

protected

◆ updateDeviceState()

virtual void XsDevice::updateDeviceState ( XsDeviceState state )

protectedvirtual

◆ updateLastAvailableLiveDataCache()

void XsDevice::updateLastAvailableLiveDataCache ( XsDataPacket const & pack )

protected

◆ updatePortInfo()

XsResultValue XsDevice::updatePortInfo ( XsPortInfo const & newInfo )

virtual

Update the connection information, this is only useful for devices communicating over a dynamic link such as a TCP/IP connection.

Parameters

newInfo The new port information to use in the next (re)connect attempts

Returns: Whether the operation succeeded or not

Definition at line 4620 of file xsdevice_def.cpp.

◆ updateRate()

int XsDevice::updateRate ( ) const

virtual

Get the legacy update rate of the device.

This function is only valid for devices in legacy mode.

Returns: The legacy update rate of the device

Definition at line 544 of file xsdevice_def.cpp.

◆ updateRateForDataIdentifier()

int XsDevice::updateRateForDataIdentifier ( XsDataIdentifier dataType ) const

virtual

Returns the currently configured update rate for the supplied dataType.

This function checks if the configured output contains dataType and returns the associated update rate. In some cases 65535 (0xFFFF) will be returned, which means 'as fast as possible'. This applies to things like a packet counter, which is sent with every packet and can therefore have an unpredictable update rate. This function only checks the output configured in the device, not possible computed data

Parameters

dataType The type of data to get the update rate for.

Returns: The requested update rate or 0 if the type is not configured for output

Reimplemented in MtDevice.

Definition at line 601 of file xsdevice_def.cpp.

◆ updateRateForProcessedDataIdentifier()

int XsDevice::updateRateForProcessedDataIdentifier ( XsDataIdentifier dataType ) const

virtual

Returns the currently configured update rate for the supplied dataType.

This function checks if the configured output contains dataType and returns the associated update rate. In some cases 65535 (0xFFFF) will be returned, which means 'as fast as possible'. This applies to things like a packet counter, which is sent with every packet and can therefore have an unpredictable update rate. Where updateRateForDataIdentifier only checks the outputs configured in the device, this function also checks what can and will be computed from the data.

See also: updateRateForDataIdentifier

Parameters

dataType The type of data to get the update rate for.

Returns: The requested update rate or 0 if the type is not configured for output

Definition at line 622 of file xsdevice_def.cpp.

◆ useLogInterface()

void XsDevice::useLogInterface ( DataLogger * logger )

protected

Uses log interface for a given data logger.

Parameters

logger The data logger

For testing purposes

◆ usesLegacyDeviceMode()

bool XsDevice::usesLegacyDeviceMode ( ) const

virtual

Returns whether the device uses legacy device mode.

Returns: True if the legacy period, outputmode, outputsettings or string reports are used

Definition at line 3022 of file xsdevice_def.cpp.

◆ utcTime()

XsTimeInfo XsDevice::utcTime ( ) const

virtual

Gets the 'UTC Time' setting of the device.

Gets the UTC time in the device.

Returns: The current UTC time of the sensor

Reimplemented in MtiBaseDevice.

Definition at line 2819 of file xsdevice_def.cpp.

◆ waitForAllDevicesInitialized()

void XsDevice::waitForAllDevicesInitialized ( )

virtual

Wait until are known devices are initialized.

Container devices such as Awinda Master and Bodypack can have (slightly) delayed initialization of child devices after they have been detected. This function can be used to wait for all currently detected trackers to have been properly initialized.

Definition at line 4339 of file xsdevice_def.cpp.

◆ waitForCustomMessage() [1/2]

virtual XSNOEXPORT bool XsDevice::waitForCustomMessage	(	std::shared_ptr< ReplyObject >	reply,
		XsMessage &	messageReceive,
		int	timeout
	)

virtual

◆ waitForCustomMessage() [2/2]

virtual XSNOEXPORT bool XsDevice::waitForCustomMessage	(	XsXbusMessageId	messageId,
		XsMessage &	messageReceive,
		int	timeout = `0`
	)

virtual

◆ waitForLoadLogFileDone()

void XsDevice::waitForLoadLogFileDone ( ) const

Wait for the file operation started by loadLogFile to complete.

See also: loadLogFile; isLoadLogFileInProgress

Definition at line 4364 of file xsdevice_def.cpp.

◆ wirelessPriority()

int XsDevice::wirelessPriority ( ) const

virtual

Returns the wireless priority of the device.

Returns: The wireless priority of the device or 0 if it has none.

Note: MTw connected to Awinda Station only

Definition at line 3571 of file xsdevice_def.cpp.

◆ writeDeviceSettingsToFile()

void XsDevice::writeDeviceSettingsToFile ( )

virtual

Write the emts/wms/xms of the device and all its children to the open logfile.

Reimplemented in MtDevice.

Definition at line 2030 of file xsdevice_def.cpp.

◆ writeEmtsPage()

virtual XSNOEXPORT bool XsDevice::writeEmtsPage	(	uint8_t const *	data,
		int	pageNr,
		int	bankNr
	)

virtual

◆ writeFilterStateToFile()

virtual void XsDevice::writeFilterStateToFile ( )

protectedvirtual

◆ writeMessageToLogFile()

virtual void XsDevice::writeMessageToLogFile ( const XsMessage & message )

protectedvirtual

◆ xdaFilterProfile()

XsFilterProfile XsDevice::xdaFilterProfile ( ) const

virtual

Gets the filter profile in use for computing orientations on the host PC.

Returns: The filter profile in use when computing orientations is done on the PC

See also: setXdaFilterProfile; onboardFilterProfile

Definition at line 2603 of file xsdevice_def.cpp.

◆ XSENS_DISABLE_COPY()

XsDevice::XSENS_DISABLE_COPY ( XsDevice )

protected

Friends And Related Function Documentation

◆ MtContainer

friend class MtContainer

friend

Definition at line 543 of file xsdevice_def.h.

◆ XsDeviceEx

friend struct XsDeviceEx

friend

Definition at line 538 of file xsdevice_def.h.

Member Data Documentation

◆ m_communicator

Communicator* XsDevice::m_communicator

protected

A communicator.

Definition at line 721 of file xsdevice_def.h.

◆ m_config

XsDeviceConfiguration XsDevice::m_config

protected

A device configuration.

Definition at line 712 of file xsdevice_def.h.

◆ m_connectivity

XsConnectivityState XsDevice::m_connectivity

protected

A current device connectivity state.

Definition at line 706 of file xsdevice_def.h.

◆ m_dataCache

DataPacketCache XsDevice::m_dataCache

protected

A data cache.

Definition at line 691 of file xsdevice_def.h.

◆ m_deviceId

XsDeviceId XsDevice::m_deviceId

protected

An ID of the device.

Definition at line 697 of file xsdevice_def.h.

◆ m_deviceMutex

xsens::GuardedMutex XsDevice::m_deviceMutex

mutableprotected

The mutex for guarding state changes of the device.

Definition at line 667 of file xsdevice_def.h.

◆ m_emtsBlob

XsMessage XsDevice::m_emtsBlob

protected

An EMTS blob from device.

Note: Used in public source for storing EMTS for log file header.

Definition at line 761 of file xsdevice_def.h.

◆ m_firmwareVersion

XsVersion XsDevice::m_firmwareVersion

protected

A firmware version.

Definition at line 718 of file xsdevice_def.h.

◆ m_gotoConfigOnClose

bool XsDevice::m_gotoConfigOnClose

protected

Go to confing on close boolean variable.

Definition at line 742 of file xsdevice_def.h.

◆ m_isInitialized

bool XsDevice::m_isInitialized

protected

Is intialized boolean variable.

Definition at line 736 of file xsdevice_def.h.

◆ m_justWriteSetting

bool XsDevice::m_justWriteSetting

protected

Just write setting boolean variable.

Definition at line 745 of file xsdevice_def.h.

◆ m_lastAvailableLiveDataCache

XsDataPacket* XsDevice::m_lastAvailableLiveDataCache

protected

A last available live data cache.

Definition at line 783 of file xsdevice_def.h.

◆ m_lastDataOkStamp

XsTimeStamp XsDevice::m_lastDataOkStamp

protected

A time stamp for an OK last data.

Definition at line 709 of file xsdevice_def.h.

◆ m_lastResult

LastResultManager XsDevice::m_lastResult

mutableprotected

The last result of an operation.

Definition at line 700 of file xsdevice_def.h.

◆ m_latestBufferedPacket

XsDataPacket* XsDevice::m_latestBufferedPacket

protected

A copy of the latest ready recording packet. This is the last packet that was popped off the front of m_dataCache. Use latestBufferedPacket() to access.

Definition at line 676 of file xsdevice_def.h.

◆ m_latestLivePacket

XsDataPacket* XsDevice::m_latestLivePacket

protected

A copy of the latest ready live packet. This is the packet with the highest 64-bit sample counter so far. Use latestLivePacket() to access.

Definition at line 673 of file xsdevice_def.h.

◆ m_linearPacketCache

std::deque<XsDataPacket*> XsDevice::m_linearPacketCache

protected

A linear data packet cache.

Definition at line 780 of file xsdevice_def.h.

◆ m_logFileInterface

DataLogger* XsDevice::m_logFileInterface

protected

A data logger for a file interface.

Definition at line 724 of file xsdevice_def.h.

◆ m_logFileMutex

xsens::Mutex XsDevice::m_logFileMutex

mutableprotected

The mutex for guarding access to the log file.

Definition at line 670 of file xsdevice_def.h.

◆ m_master

XsDevice* XsDevice::m_master

protected

A device object.

Definition at line 727 of file xsdevice_def.h.

◆ m_options

XsOption XsDevice::m_options

protected

The options.

Definition at line 756 of file xsdevice_def.h.

◆ m_outputConfiguration

XsOutputConfigurationArray XsDevice::m_outputConfiguration

protected

A devices output configuration.

Definition at line 715 of file xsdevice_def.h.

◆ m_packetStamper

PacketStamper XsDevice::m_packetStamper

protected

A packet stamper.

Definition at line 753 of file xsdevice_def.h.

◆ m_refCounter

volatile std::atomic_int XsDevice::m_refCounter

protected

A reference counter.

Definition at line 730 of file xsdevice_def.h.

◆ m_skipEmtsReadOnInit

bool XsDevice::m_skipEmtsReadOnInit

protected

Skip EMTS read on init boolean variable.

Required for the firmware updater to retain EMTS while rebooting devices

Definition at line 750 of file xsdevice_def.h.

◆ m_startRecordingPacketId

int64_t XsDevice::m_startRecordingPacketId

protected

The ID of the first packet that should be / was recorded.

Definition at line 766 of file xsdevice_def.h.

◆ m_state

XsDeviceState XsDevice::m_state

protected

A current device state.

Definition at line 703 of file xsdevice_def.h.

◆ m_stoppedRecordingPacketId

int64_t XsDevice::m_stoppedRecordingPacketId

protected

The ID of the last packet that was recorded. Remains valid after Flushing has ended, until a new recording is started.

Definition at line 772 of file xsdevice_def.h.

◆ m_stopRecordingPacketId

int64_t XsDevice::m_stopRecordingPacketId

protected

The ID of the last packet that should be / was recorded. Only valid in Recording/Flushing states.

Definition at line 769 of file xsdevice_def.h.

◆ m_terminationPrepared

bool XsDevice::m_terminationPrepared

protected

Termination prepared boolean variable.

Definition at line 739 of file xsdevice_def.h.

◆ m_toaDumpFile

DebugFileType* XsDevice::m_toaDumpFile

protected

To a dump file.

For debugging purposes only, but doesn't do any harm to always be there.

Definition at line 788 of file xsdevice_def.h.

◆ m_unavailableDataBoundary

int64_t XsDevice::m_unavailableDataBoundary

protected

A packet ID of the last sample we know to be unavailable.

Definition at line 694 of file xsdevice_def.h.

◆ m_writeToFile

bool XsDevice::m_writeToFile

protected

Write to file boolean variable.

Definition at line 733 of file xsdevice_def.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~XsDevice()

◆ XsDevice() [1/3]

◆ XsDevice() [2/3]

◆ XsDevice() [3/3]

Member Function Documentation

◆ abortFlushing()

◆ abortLoadLogFile()

◆ accelerometerRange()

◆ acceptConnection()

◆ accessControlMode()

◆ addRef()

◆ addReplyObject()

◆ alignmentRotationMatrix()

◆ alignmentRotationQuaternion()

◆ applyConfigFile()

◆ areOptionsEnabled()

◆ availableOnboardFilterProfiles()

◆ availableXdaFilterProfiles()

◆ batteryLevel()

◆ batteryLevelTime()

◆ baudRate()

◆ busId()

◆ cacheSize()

◆ canConfiguration()

◆ canOutputConfiguration()

◆ checkDataCache()

◆ checkDataEnabled()

◆ childCount()

◆ children()

◆ clearCacheToRecordingStart()

◆ clearDataCache()

◆ clearExternalPacketCaches()

◆ clearProcessors()

◆ closeLogFile()

◆ communicator()

◆ connectivityState()

◆ createConfigFile()

◆ createLogFile()

◆ currentAccessControlList()

◆ dataLength()

◆ defaultChildConnectivityState()

◆ deinitializeSoftwareCalibration()

◆ deviceAtBusId()

◆ deviceAtBusIdConst()

◆ deviceBufferSize()

◆ deviceConfig()

◆ deviceConfiguration()

◆ deviceConfigurationConst()

◆ deviceConfigurationRef()

◆ deviceId()

◆ deviceIsDocked()

◆ deviceOptionFlags()

◆ deviceParameter()

◆ deviceRecordingBufferItemCount()

◆ deviceState()

◆ disableProtocol()

◆ disableRadio()

◆ discardRetransmissions()

◆ doTransaction() [1/4]

◆ doTransaction() [2/4]

◆ doTransaction() [3/4]

◆ doTransaction() [4/4]

◆ enableProtocol()

◆ enableRadio()

◆ endRecordingStream()

◆ errorMode()

◆ expectingRetransmissionForPacket()

◆ extractFirmwareVersion()

◆ findConfiguration()

◆ findDevice()

◆ findDeviceConst()

◆ firmwareVersion()