#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

Detailed Description

Definition at line 927 of file XsensMTiModule.h.

Constructor & Destructor Documentation

◆ CXsensMTiModule()

CXsensMTiModule ( )

Definition at line 130 of file XsensMTiModule.cpp.

◆ ~CXsensMTiModule()

~CXsensMTiModule ( )

virtual

Definition at line 149 of file XsensMTiModule.cpp.

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Member Function Documentation

◆ calcChecksum()

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

Definition at line 3311 of file XsensMTiModule.cpp.

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◆ checkChecksum()

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

Definition at line 3332 of file XsensMTiModule.cpp.

◆ clockms()

clock_t clockms ( )

Definition at line 166 of file XsensMTiModule.cpp.

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◆ close()

short close ( )

Definition at line 840 of file XsensMTiModule.cpp.

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◆ escape()

void escape ( unsigned long function )

Definition at line 724 of file XsensMTiModule.cpp.

◆ flush()

void flush ( )

Definition at line 699 of file XsensMTiModule.cpp.

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◆ getDeviceMode()

short getDeviceMode ( unsigned short * numDevices = NULL )

Definition at line 2486 of file XsensMTiModule.cpp.

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◆ getFileSize()

short getFileSize ( unsigned long & fileSize )

Definition at line 805 of file XsensMTiModule.cpp.

◆ getLastDeviceError()

short getLastDeviceError ( )

Definition at line 3219 of file XsensMTiModule.cpp.

◆ getLastRetVal()

short getLastRetVal ( )

Definition at line 3232 of file XsensMTiModule.cpp.

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◆ getMode()

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

Definition at line 2712 of file XsensMTiModule.cpp.

◆ getValue() [1/3]

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

Definition at line 3042 of file XsensMTiModule.cpp.

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◆ getValue() [2/3]

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

Definition at line 2859 of file XsensMTiModule.cpp.

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◆ getValue() [3/3]

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

Definition at line 2952 of file XsensMTiModule.cpp.

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◆ isFileOpen()

bool isFileOpen ( )

Definition at line 565 of file XsensMTiModule.cpp.

◆ isPortOpen()

bool isPortOpen ( )

Definition at line 554 of file XsensMTiModule.cpp.

◆ openFile()

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

Definition at line 502 of file XsensMTiModule.cpp.

◆ openPort() [1/2]

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

Definition at line 353 of file XsensMTiModule.cpp.

◆ openPort() [2/2]

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

Definition at line 199 of file XsensMTiModule.cpp.

◆ readData()

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

Definition at line 583 of file XsensMTiModule.cpp.

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◆ readDataMessage()

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

Definition at line 946 of file XsensMTiModule.cpp.

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◆ readMessage()

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

Definition at line 893 of file XsensMTiModule.cpp.

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◆ readMessageRaw()

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

Definition at line 999 of file XsensMTiModule.cpp.

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◆ reqSetting() [1/7]

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

Definition at line 1752 of file XsensMTiModule.cpp.

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◆ reqSetting() [2/7]

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

Definition at line 2026 of file XsensMTiModule.cpp.

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◆ reqSetting() [3/7]

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

Definition at line 1595 of file XsensMTiModule.cpp.

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◆ reqSetting() [4/7]

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

Definition at line 1684 of file XsensMTiModule.cpp.

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◆ reqSetting() [5/7]

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

Definition at line 1842 of file XsensMTiModule.cpp.

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◆ 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`
	)

Definition at line 1926 of file XsensMTiModule.cpp.

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◆ reqSetting() [7/7]

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

Definition at line 1524 of file XsensMTiModule.cpp.

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◆ setDeviceMode()

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

Definition at line 2630 of file XsensMTiModule.cpp.

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◆ setFilePos()

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

Definition at line 767 of file XsensMTiModule.cpp.

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◆ setMode()

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

Definition at line 2739 of file XsensMTiModule.cpp.

◆ setPortQueueSize()

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

Definition at line 738 of file XsensMTiModule.cpp.

◆ setSetting() [1/5]

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

Definition at line 2264 of file XsensMTiModule.cpp.

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◆ 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`
	)

Definition at line 2405 of file XsensMTiModule.cpp.

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◆ setSetting() [3/5]

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

Definition at line 2327 of file XsensMTiModule.cpp.

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◆ 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`
	)

Definition at line 2188 of file XsensMTiModule.cpp.

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◆ setSetting() [5/5]

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

Definition at line 2120 of file XsensMTiModule.cpp.

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◆ setTimeOut()

short setTimeOut ( short timeOutMs )

Definition at line 3246 of file XsensMTiModule.cpp.

◆ swapEndian()

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

static

Definition at line 3273 of file XsensMTiModule.cpp.

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◆ waitForMessage()

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

Definition at line 1438 of file XsensMTiModule.cpp.

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◆ writeData()

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

Definition at line 674 of file XsensMTiModule.cpp.

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◆ writeMessage() [1/2]

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

Definition at line 1329 of file XsensMTiModule.cpp.

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◆ 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`
	)

Definition at line 1229 of file XsensMTiModule.cpp.

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Member Data Documentation

◆ m_clkEnd

clock_t m_clkEnd

protected

Definition at line 1074 of file XsensMTiModule.h.

◆ m_deviceError

short m_deviceError

protected

Definition at line 1071 of file XsensMTiModule.h.

◆ m_fileOpen

bool m_fileOpen

protected

Definition at line 1070 of file XsensMTiModule.h.

◆ m_handle

int m_handle

protected

Definition at line 1067 of file XsensMTiModule.h.

◆ m_nTempBufferLen

int m_nTempBufferLen

protected

Definition at line 1083 of file XsensMTiModule.h.

◆ m_portOpen

bool m_portOpen

protected

Definition at line 1069 of file XsensMTiModule.h.

◆ m_retVal

short m_retVal

protected

Definition at line 1072 of file XsensMTiModule.h.

◆ m_storedDataLength

unsigned long m_storedDataLength[MAXDEVICES+1]

protected

Definition at line 1079 of file XsensMTiModule.h.

◆ m_storedOutputMode

unsigned long m_storedOutputMode[MAXDEVICES+1]

protected

Definition at line 1077 of file XsensMTiModule.h.

◆ m_storedOutputSettings

unsigned long m_storedOutputSettings[MAXDEVICES+1]

protected

Definition at line 1078 of file XsensMTiModule.h.

◆ m_tempBuffer

unsigned char m_tempBuffer[MAXMSGLEN]

protected

Definition at line 1082 of file XsensMTiModule.h.

◆ m_timeOut

short m_timeOut

protected

Definition at line 1073 of file XsensMTiModule.h.

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

RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.h
RobotAPI/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CXsensMTiModule()

◆ ~CXsensMTiModule()

Member Function Documentation

◆ calcChecksum()

◆ checkChecksum()

◆ clockms()

◆ close()

◆ escape()

◆ flush()

◆ getDeviceMode()

◆ getFileSize()

◆ getLastDeviceError()

◆ getLastRetVal()

◆ getMode()

◆ getValue() [1/3]

◆ getValue() [2/3]

◆ getValue() [3/3]

◆ isFileOpen()

◆ isPortOpen()

◆ openFile()

◆ openPort() [1/2]

◆ openPort() [2/2]

◆ readData()

◆ readDataMessage()

◆ readMessage()

◆ readMessageRaw()

◆ reqSetting() [1/7]

◆ reqSetting() [2/7]

◆ reqSetting() [3/7]

◆ reqSetting() [4/7]

◆ reqSetting() [5/7]

◆ reqSetting() [6/7]

◆ reqSetting() [7/7]

◆ setDeviceMode()

◆ setFilePos()

◆ setMode()

◆ setPortQueueSize()

◆ setSetting() [1/5]

◆ setSetting() [2/5]

◆ setSetting() [3/5]

◆ setSetting() [4/5]

◆ setSetting() [5/5]

◆ setTimeOut()

◆ swapEndian()

◆ waitForMessage()

◆ writeData()

◆ writeMessage() [1/2]

◆ writeMessage() [2/2]

Member Data Documentation

◆ m_clkEnd

◆ m_deviceError

◆ m_fileOpen

◆ m_handle

◆ m_nTempBufferLen

◆ m_portOpen

◆ m_retVal

◆ m_storedDataLength

◆ m_storedOutputMode

◆ m_storedOutputSettings

◆ m_tempBuffer

◆ m_timeOut