00001 #ifndef _CMT_MONOLITHIC 00002 /*! \file 00003 \brief Contains the CMT Level 2 interface 00004 00005 This level contains the message- and log-file interfaces of Cmt. 00006 All code should be OS-independent. 00007 00008 \section FileCopyright Copyright Notice 00009 Copyright (C) Xsens Technologies B.V., 2006. All rights reserved. 00010 00011 This source code is intended for use only by Xsens Technologies BV and 00012 those that have explicit written permission to use it from 00013 Xsens Technologies BV. 00014 00015 THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY 00016 KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE 00017 IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A 00018 PARTICULAR PURPOSE. 00019 */ 00020 #endif 00021 #ifndef _CMT2_H_2006_04_13 00022 #define _CMT2_H_2006_04_13 00023 00024 #ifndef _CMT_MONOLITHIC 00025 # include "cmt1.h" 00026 # include "cmtmessage.h" 00027 # include "xsens_fifoqueue.h" 00028 #endif 00029 00030 namespace xsens { 00031 00032 ////////////////////////////////////////////////////////////////////////////////////////// 00033 /////////////////////////////////// Support functions /////////////////////////////////// 00034 ////////////////////////////////////////////////////////////////////////////////////////// 00035 00036 //! Find a valid message in the given buffer. If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned. 00037 int32_t findValidMessage(const uint8_t* buffer, const uint16_t bufferLength); 00038 00039 00040 ////////////////////////////////////////////////////////////////////////////////////////// 00041 ///////////////////////////////////////// Cmt2s ///////////////////////////////////////// 00042 ////////////////////////////////////////////////////////////////////////////////////////// 00043 /*! \brief Mid-level serial communication class. 00044 00045 The class uses CMT level 1, but does not inherit from it. If software needs to access 00046 the level 1 component, it needs to be done through the getCmt1s() function. 00047 */ 00048 class Cmt2s { 00049 private: 00050 //! This object cannot be copied, so this function is not implemented. 00051 Cmt2s(const Cmt2s& ref); 00052 00053 /*! \brief The message received function. 00054 00055 This function is automatically called every time a complete message was read from the 00056 connected COM port. 00057 */ 00058 CmtCallbackFunction m_onMessageReceived; 00059 //! Custom, user supplied parameter for the OnMessageReceived callback function, passed as the first argument 00060 int32_t m_onMessageReceivedInstance; 00061 //! Custom, user supplied parameter for the OnMessageReceived callback function, passed as the last argument 00062 void* m_onMessageReceivedParam; 00063 00064 /*! \brief The message sent function. 00065 00066 This function is automatically called every time a complete message was sent to the 00067 connected COM port. 00068 */ 00069 CmtCallbackFunction m_onMessageSent; 00070 //! Custom, user supplied parameter for the OnMessageSent callback function, passed as the first argument 00071 int32_t m_onMessageSentInstance; 00072 //! Custom, user supplied parameter for the OnMessageSent callback function, passed as the last argument 00073 void* m_onMessageSentParam; 00074 00075 protected: 00076 //! The baudrate that was last set to be used by the port 00077 uint32_t m_baudrate; 00078 //! The CMT level 1 object that this class operates on 00079 Cmt1s m_cmt1s; 00080 //! The last result of an operation 00081 mutable XsensResultValue m_lastResult; 00082 //! Buffer for reading data until a valid message is read. Should be rarely used. 00083 uint8_t m_readBuffer[CMT_DEFAULT_READ_BUFFER_SIZE]; 00084 //! The number of valid bytes in the readBuffer. 00085 uint16_t m_readBufferCount; 00086 //! Timeout in ms for blocking operations 00087 uint32_t m_timeout; 00088 //! The timestamp at which to end an operation 00089 uint32_t m_toEnd; 00090 public: 00091 //! Default constructor, initialize all members to their default values. 00092 Cmt2s(); 00093 00094 //! Destructor, de-initialize, free memory allocated for buffers, etc. 00095 ~Cmt2s(); 00096 00097 //! Close the serial communication port. 00098 XsensResultValue close(void); 00099 00100 //! Return the baudrate that is currently being used by the port 00101 uint32_t getBaudrate(void) { return (m_baudrate = m_cmt1s.getBaudrate()); } 00102 /*! \brief Return a reference to the embedded Cmt1s object. 00103 00104 Any manipulation of the object should be done through Cmt2s. Cmt2s integrity is 00105 not guaranteed if the Cmt1s object is manipulated directly. 00106 */ 00107 Cmt1s* getCmt1s(void) { return &m_cmt1s; } 00108 //! Return the error code of the last operation. 00109 XsensResultValue getLastResult(void) const { return m_lastResult; } 00110 //! Retrieve the port that the object is connected to. 00111 XsensResultValue getPortNr(uint16_t& port) const; 00112 XsensResultValue getPortNr(int32_t& port) const; 00113 XsensResultValue getPortName(char *portname) const; 00114 //! Return the current timeout value in ms. 00115 uint32_t getTimeout(void) const { return m_timeout; } 00116 //! Return whether the communication port is open or not. 00117 bool isOpen (void) const { return (m_cmt1s.isOpen()); } 00118 //! Open a communication channel to the given serial port name. 00119 XsensResultValue open(const char *portName, 00120 const uint32_t baudRate = CMT_DEFAULT_BAUD_RATE, 00121 uint32_t readBufSize = CMT_DEFAULT_READ_BUFFER_SIZE, 00122 uint32_t writeBufSize = CMT_DEFAULT_WRITE_BUFFER_SIZE); 00123 #ifdef _WIN32 00124 //! Open a communication channel to the given COM port number. 00125 XsensResultValue open(const uint32_t portNumber, 00126 const uint32_t baudRate = CMT_DEFAULT_BAUD_RATE, 00127 uint32_t readBufSize = CMT_DEFAULT_READ_BUFFER_SIZE, 00128 uint32_t writeBufSize = CMT_DEFAULT_WRITE_BUFFER_SIZE); 00129 #endif 00130 /*! \brief Read a message from the COM port. 00131 00132 The function reads data from the embedded Cmt1s object. The data is then converted 00133 into a Message object. 00134 If an error occurred, a NULL pointer is returned and the error code can be 00135 retrieved with getLastError(). 00136 */ 00137 XsensResultValue readMessage(Message* rcv); 00138 00139 //! Set the callback function for when a message has been received or sent 00140 XsensResultValue setCallbackFunction(CmtCallbackType tp, int32_t instance, CmtCallbackFunction func, void* param); 00141 00142 /*! \brief Set the default timeout value to use in blocking operations. 00143 00144 This function sets the level 2 timeout value. The L1 value is set to half the given 00145 timeout value. 00146 */ 00147 XsensResultValue setTimeout(const uint32_t ms = CMT2_DEFAULT_TIMEOUT); 00148 00149 /*! \brief Wait for a message to arrive. 00150 00151 The function waits for a message to arrive or until a timeout occurs. 00152 If the msgId parameter is set to a value other than 0, the function will wait 00153 until a message has arrived with that particular msgId. 00154 00155 \note msgId 0 is the ReqDeviceID MID, but that is an outgoing only message. It is 00156 illogical to wait for a message that will never be sent to the host. So 0 is a 00157 safe value for the 'all' messages option. 00158 00159 \note If an error message is received, the contents are stored in the m_lastResult 00160 field and a NULL value is returned immediately. 00161 */ 00162 XsensResultValue waitForMessage(Message* rcv, const uint8_t msgId, uint32_t timeoutOverride, bool acceptErrorMessage); 00163 /*! \brief Send a message over the COM port. 00164 00165 The function attempts to write the message over the connected COM port. 00166 \param msg The message to send. 00167 */ 00168 XsensResultValue writeMessage(Message* msg); 00169 }; 00170 00171 ////////////////////////////////////////////////////////////////////////////////////////// 00172 ///////////////////////////////////////// Cmt2f ///////////////////////////////////////// 00173 ////////////////////////////////////////////////////////////////////////////////////////// 00174 00175 /*! \brief The mid-level file communication class. 00176 00177 The class uses CMT level 1, but does not inherit from it. If software needs to access 00178 the level 1 component, it needs to be done through the getCmt1f() function. 00179 */ 00180 class Cmt2f { 00181 private: 00182 //! This object cannot be copied, so this function is not implemented. 00183 Cmt2f(const Cmt2f& ref); 00184 00185 protected: 00186 //! The Cmt1f object that is used for the low-level operations 00187 Cmt1f m_cmt1f; 00188 //! The last result of an operation 00189 mutable XsensResultValue m_lastResult; 00190 00191 bool m_readOnly; //!< When set to true, the file is read-only and attempts to write to it will fail 00192 00193 public: 00194 //! Default constructor 00195 Cmt2f(); 00196 //! Destructor. 00197 ~Cmt2f(); 00198 //! Close the file. 00199 XsensResultValue close(void); 00200 //! Close the file and delete it. 00201 XsensResultValue closeAndDelete(void); 00202 //! Create a new file with level 2 header 00203 XsensResultValue create(const char* filename); 00204 //! Create a new file with level 2 header 00205 XsensResultValue create(const wchar_t* filename); 00206 //! Get a reference to the embedded Cmt1f object 00207 Cmt1f* getCmt1f(void); 00208 00209 //! Return the error code of the last operation. 00210 XsensResultValue getLastResult(void) const; 00211 //! Retrieve the filename that was last successfully opened. 00212 XsensResultValue getName(char* filename) const; 00213 //! Retrieve the filename that was last successfully opened. 00214 XsensResultValue getName(wchar_t* filename) const; 00215 //! Return whether the file is open or not. 00216 bool isOpen(void) const; 00217 //! Open a file and read the header 00218 XsensResultValue open(const char* filename, const bool readOnly = false); 00219 //! Open a file and read the header 00220 XsensResultValue open(const wchar_t* filename, const bool readOnly = false); 00221 //! Read the next message from the file, when msgId is non-zero, the first matching message will be returned 00222 XsensResultValue readMessage(Message* msg, const uint8_t msgId = 0); 00223 //! Get the current file size 00224 CmtFilePos getFileSize(void); 00225 //! Get the current read position 00226 CmtFilePos getReadPosition(void); 00227 //! Set the read position to the given position 00228 XsensResultValue setReadPosition(CmtFilePos pos); 00229 //! Write a message to the end of the file 00230 XsensResultValue writeMessage(const Message* msg); 00231 }; 00232 00233 } // end of xsens namespace 00234 00235 #endif // _CMT2_H_2006_04_13
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