List of all members | Public Member Functions | Static Public Member Functions | Protected Attributes
CXsensMTiModule Class Reference

#include <RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h>

Public Member Functions

void calcChecksum (unsigned char *msgBuffer, const int msgBufferLength)
 
bool checkChecksum (const unsigned char *msgBuffer, const int msgBufferLength)
 
clock_t clockms ()
 
short close ()
 
 CXsensMTiModule ()
 
void escape (unsigned long function)
 
void flush ()
 
short getDeviceMode (unsigned short *numDevices=NULL)
 
short getFileSize (unsigned long &fileSize)
 
short getLastDeviceError ()
 
short getLastRetVal ()
 
short getMode (unsigned long &OutputMode, unsigned long &OutputSettings, unsigned short &dataLength, const unsigned char bid=BID_MASTER)
 
short getValue (const unsigned long valueSpec, float value[], const unsigned char data[], const unsigned char bid=BID_MT)
 
short getValue (const unsigned long valueSpec, unsigned short &value, const unsigned char data[], const unsigned char bid=BID_MT)
 
short getValue (const unsigned long valueSpec, unsigned short value[], const unsigned char data[], const unsigned char bid=BID_MT)
 
bool isFileOpen ()
 
bool isPortOpen ()
 
short openFile (const char *fileName, bool createAlways=false)
 
short openPort (const char *portName, const unsigned long baudrate=PBR_115K2, const unsigned long inqueueSize=4096, const unsigned long outqueueSize=1024)
 
short openPort (const int portNumber, const unsigned long baudrate=PBR_115K2, const unsigned long inqueueSize=4096, const unsigned long outqueueSize=1024)
 
int readData (unsigned char *msgBuffer, const int nBytesToRead)
 
short readDataMessage (unsigned char data[], short &dataLen)
 
short readMessage (unsigned char &mid, unsigned char data[], short &dataLen, unsigned char *bid=NULL)
 
short readMessageRaw (unsigned char *msgBuffer, short *msgBufferLength)
 
short reqSetting (const unsigned char mid, const unsigned char param, float &value, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, const unsigned char param, unsigned char data[], short &dataLen, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, const unsigned char param, unsigned long &value, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, float &value, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, unsigned char data[], short &dataLen, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, unsigned char dataIn[], short dataInLen, unsigned char dataOut[], short &dataOutLen, const unsigned char bid=BID_MASTER)
 
short reqSetting (const unsigned char mid, unsigned long &value, const unsigned char bid=BID_MASTER)
 
short setDeviceMode (unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid=BID_MASTER)
 
short setFilePos (long relPos, unsigned long moveMethod=FILEPOS_BEGIN)
 
short setMode (unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid=BID_MASTER)
 
void setPortQueueSize (const unsigned long inqueueSize=4096, const unsigned long outqueueSize=1024)
 
short setSetting (const unsigned char mid, const float value, const unsigned char bid=BID_MASTER)
 
short setSetting (const unsigned char mid, const unsigned char param, const float value, const bool store, const unsigned char bid=BID_MASTER)
 
short setSetting (const unsigned char mid, const unsigned char param, const float value, const unsigned char bid=BID_MASTER)
 
short setSetting (const unsigned char mid, const unsigned char param, const unsigned long value, const unsigned short valuelen, const unsigned char bid=BID_MASTER)
 
short setSetting (const unsigned char mid, const unsigned long value, const unsigned short valuelen, const unsigned char bid=BID_MASTER)
 
short setTimeOut (short timeOutMs)
 
short waitForMessage (const unsigned char mid, unsigned char data[]=NULL, short *dataLen=NULL, unsigned char *bid=NULL)
 
int writeData (const unsigned char *msgBuffer, const int nBytesToWrite)
 
short writeMessage (const unsigned char mid, const unsigned char data[], const unsigned short &dataLen, const unsigned char bid=BID_MASTER)
 
short writeMessage (const unsigned char mid, const unsigned long dataValue=0, const unsigned char dataValueLen=0, const unsigned char bid=BID_MASTER)
 
virtual ~CXsensMTiModule ()
 

Static Public Member Functions

static void swapEndian (const unsigned char input[], unsigned char output[], const int length)
 

Protected Attributes

clock_t m_clkEnd
 
short m_deviceError
 
bool m_fileOpen
 
int m_handle
 
int m_nTempBufferLen
 
bool m_portOpen
 
short m_retVal
 
unsigned long m_storedDataLength [MAXDEVICES+1]
 
unsigned long m_storedOutputMode [MAXDEVICES+1]
 
unsigned long m_storedOutputSettings [MAXDEVICES+1]
 
unsigned char m_tempBuffer [MAXMSGLEN]
 
short m_timeOut
 

Constructor & Destructor Documentation

◆ CXsensMTiModule()

CXsensMTiModule ( )

◆ ~CXsensMTiModule()

~CXsensMTiModule ( )
virtual

Member Function Documentation

◆ calcChecksum()

void calcChecksum ( unsigned char * msgBuffer,
const int msgBufferLength )

◆ checkChecksum()

bool checkChecksum ( const unsigned char * msgBuffer,
const int msgBufferLength )

◆ clockms()

clock_t clockms ( )

◆ close()

short close ( )

◆ escape()

void escape ( unsigned long function)

◆ flush()

void flush ( )

◆ getDeviceMode()

short getDeviceMode ( unsigned short * numDevices = NULL)

◆ getFileSize()

short getFileSize ( unsigned long & fileSize)

◆ getLastDeviceError()

short getLastDeviceError ( )

◆ getLastRetVal()

short getLastRetVal ( )

◆ getMode()

short getMode ( unsigned long & OutputMode,
unsigned long & OutputSettings,
unsigned short & dataLength,
const unsigned char bid = BID_MASTER )

◆ getValue() [1/3]

short getValue ( const unsigned long valueSpec,
float value[],
const unsigned char data[],
const unsigned char bid = BID_MT )

◆ getValue() [2/3]

short getValue ( const unsigned long valueSpec,
unsigned short & value,
const unsigned char data[],
const unsigned char bid = BID_MT )

◆ getValue() [3/3]

short getValue ( const unsigned long valueSpec,
unsigned short value[],
const unsigned char data[],
const unsigned char bid = BID_MT )

◆ isFileOpen()

bool isFileOpen ( )

◆ isPortOpen()

bool isPortOpen ( )

◆ openFile()

short openFile ( const char * fileName,
bool createAlways = false )

◆ openPort() [1/2]

short openPort ( const char * portName,
const unsigned long baudrate = PBR_115K2,
const unsigned long inqueueSize = 4096,
const unsigned long outqueueSize = 1024 )

◆ openPort() [2/2]

short openPort ( const int portNumber,
const unsigned long baudrate = PBR_115K2,
const unsigned long inqueueSize = 4096,
const unsigned long outqueueSize = 1024 )

◆ readData()

int readData ( unsigned char * msgBuffer,
const int nBytesToRead )

◆ readDataMessage()

short readDataMessage ( unsigned char data[],
short & dataLen )

◆ readMessage()

short readMessage ( unsigned char & mid,
unsigned char data[],
short & dataLen,
unsigned char * bid = NULL )

◆ readMessageRaw()

short readMessageRaw ( unsigned char * msgBuffer,
short * msgBufferLength )

◆ reqSetting() [1/7]

short reqSetting ( const unsigned char mid,
const unsigned char param,
float & value,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [2/7]

short reqSetting ( const unsigned char mid,
const unsigned char param,
unsigned char data[],
short & dataLen,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [3/7]

short reqSetting ( const unsigned char mid,
const unsigned char param,
unsigned long & value,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [4/7]

short reqSetting ( const unsigned char mid,
float & value,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [5/7]

short reqSetting ( const unsigned char mid,
unsigned char data[],
short & dataLen,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [6/7]

short reqSetting ( const unsigned char mid,
unsigned char dataIn[],
short dataInLen,
unsigned char dataOut[],
short & dataOutLen,
const unsigned char bid = BID_MASTER )

◆ reqSetting() [7/7]

short reqSetting ( const unsigned char mid,
unsigned long & value,
const unsigned char bid = BID_MASTER )

◆ setDeviceMode()

short setDeviceMode ( unsigned long OutputMode,
unsigned long OutputSettings,
const unsigned char bid = BID_MASTER )

◆ setFilePos()

short setFilePos ( long relPos,
unsigned long moveMethod = FILEPOS_BEGIN )

◆ setMode()

short setMode ( unsigned long OutputMode,
unsigned long OutputSettings,
const unsigned char bid = BID_MASTER )

◆ setPortQueueSize()

void setPortQueueSize ( const unsigned long inqueueSize = 4096,
const unsigned long outqueueSize = 1024 )

◆ setSetting() [1/5]

short setSetting ( const unsigned char mid,
const float value,
const unsigned char bid = BID_MASTER )

◆ setSetting() [2/5]

short setSetting ( const unsigned char mid,
const unsigned char param,
const float value,
const bool store,
const unsigned char bid = BID_MASTER )

◆ setSetting() [3/5]

short setSetting ( const unsigned char mid,
const unsigned char param,
const float value,
const unsigned char bid = BID_MASTER )

◆ setSetting() [4/5]

short setSetting ( const unsigned char mid,
const unsigned char param,
const unsigned long value,
const unsigned short valuelen,
const unsigned char bid = BID_MASTER )

◆ setSetting() [5/5]

short setSetting ( const unsigned char mid,
const unsigned long value,
const unsigned short valuelen,
const unsigned char bid = BID_MASTER )

◆ setTimeOut()

short setTimeOut ( short timeOutMs)

◆ swapEndian()

void swapEndian ( const unsigned char input[],
unsigned char output[],
const int length )
static

◆ waitForMessage()

short waitForMessage ( const unsigned char mid,
unsigned char data[] = NULL,
short * dataLen = NULL,
unsigned char * bid = NULL )

◆ writeData()

int writeData ( const unsigned char * msgBuffer,
const int nBytesToWrite )

◆ writeMessage() [1/2]

short writeMessage ( const unsigned char mid,
const unsigned char data[],
const unsigned short & dataLen,
const unsigned char bid = BID_MASTER )

◆ writeMessage() [2/2]

short writeMessage ( const unsigned char mid,
const unsigned long dataValue = 0,
const unsigned char dataValueLen = 0,
const unsigned char bid = BID_MASTER )

Member Data Documentation

◆ m_clkEnd

clock_t m_clkEnd
protected

◆ m_deviceError

short m_deviceError
protected

◆ m_fileOpen

bool m_fileOpen
protected

◆ m_handle

int m_handle
protected

◆ m_nTempBufferLen

int m_nTempBufferLen
protected

◆ m_portOpen

bool m_portOpen
protected

◆ m_retVal

short m_retVal
protected

◆ m_storedDataLength

unsigned long m_storedDataLength[MAXDEVICES+1]
protected

◆ m_storedOutputMode

unsigned long m_storedOutputMode[MAXDEVICES+1]
protected

◆ m_storedOutputSettings

unsigned long m_storedOutputSettings[MAXDEVICES+1]
protected

◆ m_tempBuffer

unsigned char m_tempBuffer[MAXMSGLEN]
protected

◆ m_timeOut

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