myxda.cpp

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/* Copyright (c) Xsens Technologies B.V., 2006-2012. All rights reserved.

        This source code is provided under the MT SDK Software License Agreement
        and is intended for use only by Xsens Technologies BV and
        those that have explicit written permission to use it from
        Xsens Technologies BV.

        THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
        KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
        IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
        PARTICULAR PURPOSE.
 */

#include "myxda.h"
#include <stdio.h>
#include "console.h"
#include <xsens/xscontrol.h>
#include <xsens/xsscanner.h>
#include <xsens/xseuler.h>
#include <xsens/xsmatrix3x3.h>
#include <xsens/xssdidata.h>
#include <xsens/xsportinfoarray.h>
#include <xsens/xsdeviceidarray.h>

MyXda::MyXda()
        : m_xsControl(XsControl::construct())
        , m_connectCount(0)
        , m_previousDisplayMode(DM_None)
{
        m_xsControl->addCallbackHandler(this);
}

MyXda::~MyXda()
{
        m_xsControl->removeCallbackHandler(this);
        m_xsControl->destruct();
}

void MyXda::openPorts()
{
        XsPortInfoArray portinfo = XsScanner::scanPorts(XBR_Invalid, 0, true);
        for(XsPortInfoArray::const_iterator i = portinfo.begin(); i != portinfo.end(); ++i)
        {
                printf("Opening port %s @ %d baud, device Id = %s\n", i->portName().toStdString().c_str(), i->baudrate(), i->deviceId().toString().toStdString().c_str());
                xsControl()->openPort(i->portName(), i->baudrate());
        }
}

void MyXda::clearMeasurementScreen()
{
        clearScreen();
        printf("The system is in measurement mode (press 'q' to exit)\n");
        printf("Use keys '1' to '4' to switch between display modes\n");
}

void MyXda::setDisplayMode(MyXda::DisplayMode displayMode)
{
        m_displayMode = displayMode;
}

void MyXda::printDisplayMode()
{
        gotoXY(0, 3);
        printf("Display mode = ");
        switch(m_displayMode)
        {
                case DM_OrientationEuler:
                        printf("Orientation (euler)");
                        break;

                case DM_OrientationQuaternion:
                        printf("Orientation (quaternion)");
                        break;

                case DM_Sdi:
                        printf("SDI");
                        break;

                case DM_OrientationMatrix:
                        printf("Orientation (matrix)");
                        break;

                default:
                        printf("unknown");
                        break;
        }
}

void MyXda::onDataAvailable(XsDevice*, const XsDataPacket* packet)
{
        //Get the list of devices for which packet has data
        XsDeviceIdArray ids = xsControl()->deviceIds();

        if(m_previousDisplayMode != m_displayMode)
        {
                clearMeasurementScreen();
                printDisplayMode();
                m_previousDisplayMode = m_displayMode;
        }

        int row = 0;
        for(XsDeviceIdArray::const_iterator i = ids.begin(); i != ids.end(); ++i, row++)
        {
                if (packet->deviceId() == *i)
                {
                        if (packet->containsSdiData())
                        {
                                switch(m_displayMode)
                                {
                                        case DM_OrientationEuler:
                                        {
                                                gotoXY(0, 4 + m_connectedDevices[i->toInt()]);
                                                printf("MTw %s : ", i->toString().toStdString().c_str());

                                                //Getting Euler angles
                                                XsEuler oriEuler = packet->orientationEuler();
                                                printf("roll: % 4.3f\t pitch: % 4.3f\t yaw: % 4.3f              ", oriEuler.m_roll, oriEuler.m_pitch, oriEuler.m_yaw);
                                        } break;

                                        case DM_OrientationQuaternion:
                                        {
                                                gotoXY(0, 4 + m_connectedDevices[i->toInt()]);
                                                printf("MTw %s : ", i->toString().toStdString().c_str());

                                                //Getting quaternions
                                                XsQuaternion oriQuat = packet->orientationQuaternion();
                                                printf("w: % 3.3f x: % 3.3f y: % 3.3f z: % 3.3f", oriQuat.m_w, oriQuat.m_x, oriQuat.m_y, oriQuat.m_z);
                                        } break;

                                        case DM_Sdi:
                                        {
                                                gotoXY(0, 4 + m_connectedDevices[i->toInt()] * 3);
                                                printf("MTw %s : ", i->toString().toStdString().c_str());

                                                //Getting SDI data
                                                XsSdiData sdiData = packet->sdiData();
                                                gotoXY(0, 5 + m_connectedDevices[i->toInt()] * 3);
                                                printf("\tOrientation incr. :\t (% 3.3f, % 3.3f, % 3.3f, % 3.3f)\n\tVelocity incr. :\t (% 3.3f, % 3.3f, % 3.3f)",
                                                                sdiData.orientationIncrement()[0], sdiData.orientationIncrement()[1], sdiData.orientationIncrement()[2], sdiData.orientationIncrement()[3],
                                                                sdiData.velocityIncrement()[0], sdiData.velocityIncrement()[1], sdiData.velocityIncrement()[2]);
                                        } break;

                                        case DM_OrientationMatrix:
                                        {
                                                gotoXY(0, 4 + m_connectedDevices[i->toInt()] * 4);
                                                printf("MTw %s : ", i->toString().toStdString().c_str());

                                                gotoXY(0, 5 + m_connectedDevices[i->toInt()] * 4);
                                                //Getting orientation matrix
                                                XsMatrix3x3 oriMatrix = packet->orientationMatrix();
                                                printf("\t| % 3.3f   % 3.3f   % 3.3f |\n", oriMatrix.value(0, 0), oriMatrix.value(0, 1), oriMatrix.value(0, 2));
                                                printf("\t| % 3.3f   % 3.3f   % 3.3f |\n", oriMatrix.value(1, 0), oriMatrix.value(1, 1), oriMatrix.value(1, 2));
                                                printf("\t| % 3.3f   % 3.3f   % 3.3f |\n", oriMatrix.value(2, 0), oriMatrix.value(2, 1), oriMatrix.value(2, 2));
                                        } break;

                                        default:
                                        {
                                        } break;
                                }
                        }
                        break;
                }
        }
}