xsens::Cmt2s Class Reference

Mid-level serial communication class. More...

#include <Robots/SeaBeeIII/IMUDataServer/cmt2.h>

Collaboration diagram for xsens::Cmt2s:

Public Member Functions
	Cmt2s ()
	Default constructor, initialize all members to their default values.
	~Cmt2s ()
	Destructor, de-initialize, free memory allocated for buffers, etc.
XsensResultValue	close (void)
	Close the serial communication port.
uint32_t	getBaudrate (void)
	Return the baudrate that is currently being used by the port.
Cmt1s *	getCmt1s (void)
	Return a reference to the embedded Cmt1s object.
XsensResultValue	getLastResult (void) const
	Return the error code of the last operation.
XsensResultValue	getPortNr (uint16_t &port) const
	Retrieve the port that the object is connected to.
XsensResultValue	getPortNr (int32_t &port) const
XsensResultValue	getPortName (char *portname) const
uint32_t	getTimeout (void) const
	Return the current timeout value in ms.
bool	isOpen (void) const
	Return whether the communication port is open or not.
XsensResultValue	open (const char *portName, const uint32_t baudRate=CMT_DEFAULT_BAUD_RATE, uint32_t readBufSize=CMT_DEFAULT_READ_BUFFER_SIZE, uint32_t writeBufSize=CMT_DEFAULT_WRITE_BUFFER_SIZE)
	Open a communication channel to the given serial port name.
XsensResultValue	readMessage (Message *rcv)
	Read a message from the COM port.
XsensResultValue	setCallbackFunction (CmtCallbackType tp, int32_t instance, CmtCallbackFunction func, void *param)
	Set the callback function for when a message has been received or sent.
XsensResultValue	setTimeout (const uint32_t ms=CMT2_DEFAULT_TIMEOUT)
	Set the default timeout value to use in blocking operations.
XsensResultValue	waitForMessage (Message *rcv, const uint8_t msgId, uint32_t timeoutOverride, bool acceptErrorMessage)
	Wait for a message to arrive.
XsensResultValue	writeMessage (Message *msg)
	Send a message over the COM port.
Protected Attributes
uint32_t	m_baudrate
	The baudrate that was last set to be used by the port.
Cmt1s	m_cmt1s
	The CMT level 1 object that this class operates on.
XsensResultValue	m_lastResult
	The last result of an operation.
uint8_t	m_readBuffer [CMT_DEFAULT_READ_BUFFER_SIZE]
	Buffer for reading data until a valid message is read. Should be rarely used.
uint16_t	m_readBufferCount
	The number of valid bytes in the readBuffer.
uint32_t	m_timeout
	Timeout in ms for blocking operations.
uint32_t	m_toEnd
	The timestamp at which to end an operation.

Detailed Description

Mid-level serial communication class.

The class uses CMT level 1, but does not inherit from it. If software needs to access the level 1 component, it needs to be done through the getCmt1s() function.

Definition at line 48 of file cmt2.h.

Constructor & Destructor Documentation

xsens::Cmt2s::Cmt2s ( )

Default constructor, initialize all members to their default values.

Definition at line 102 of file cmt2.cpp.

References CMT2_DEFAULT_TIMEOUT, CMT_DEFAULT_BAUD_RATE, m_baudrate, m_lastResult, m_readBufferCount, m_timeout, and m_toEnd.

xsens::Cmt2s::~Cmt2s ( )

Destructor, de-initialize, free memory allocated for buffers, etc.

Definition at line 115 of file cmt2.cpp.

Member Function Documentation

XsensResultValue xsens::Cmt2s::close ( void )

Close the serial communication port.

Definition at line 120 of file cmt2.cpp.

References xsens::Cmt1s::close(), xsens::Cmt1s::getPortNr(), m_cmt1s, m_lastResult, and m_toEnd.

Referenced by xsens::Cmt3::closePort(), and xsens::Cmt3::~Cmt3().

uint32_t xsens::Cmt2s::getBaudrate ( void ) [inline]

Return the baudrate that is currently being used by the port.

Definition at line 101 of file cmt2.h.

References xsens::Cmt1s::getBaudrate(), m_baudrate, and m_cmt1s.

Cmt1s* xsens::Cmt2s::getCmt1s ( void ) [inline]

Return a reference to the embedded Cmt1s object.

Any manipulation of the object should be done through Cmt2s. Cmt2s integrity is not guaranteed if the Cmt1s object is manipulated directly.

Definition at line 107 of file cmt2.h.

References m_cmt1s.

Referenced by xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), and xsens::Cmt3::initBus().

XsensResultValue xsens::Cmt2s::getLastResult ( void ) const [inline]

Return the error code of the last operation.

Definition at line 109 of file cmt2.h.

References m_lastResult.

Referenced by xsens::Cmt3::gotoConfig().

XsensResultValue xsens::Cmt2s::getPortNr ( uint16_t & port ) const

Retrieve the port that the object is connected to.

Definition at line 145 of file cmt2.cpp.

References xsens::Cmt1s::getPortNr(), m_cmt1s, and m_lastResult.

Referenced by xsens::Cmt3::getPortNr(), and xsens::Cmt3::setBaudrate().

uint32_t xsens::Cmt2s::getTimeout ( void ) const [inline]

Return the current timeout value in ms.

Definition at line 115 of file cmt2.h.

References m_timeout.

bool xsens::Cmt2s::isOpen ( void ) const [inline]

Return whether the communication port is open or not.

Definition at line 117 of file cmt2.h.

References xsens::Cmt1s::isOpen(), and m_cmt1s.

Referenced by xsens::Cmt3::createLogFile(), xsens::Cmt3::getBaudrate(), xsens::Cmt3::getConfiguration(), xsens::Cmt3::getDeviceCount(), xsens::Cmt3::getEMtsData(), xsens::Cmt3::getMtCount(), xsens::Cmt3::isPortOpen(), xsens::Cmt3::openLogFile(), xsens::Cmt3::refreshCache(), and xsens::Cmt3::setDataSource().

XsensResultValue xsens::Cmt2s::open	(	const char *	portName,
		const uint32_t	baudRate = `CMT_DEFAULT_BAUD_RATE`,
		uint32_t	readBufSize = `CMT_DEFAULT_READ_BUFFER_SIZE`,
		uint32_t	writeBufSize = `CMT_DEFAULT_WRITE_BUFFER_SIZE`
	)

Open a communication channel to the given serial port name.

Definition at line 165 of file cmt2.cpp.

References m_baudrate, m_cmt1s, m_lastResult, m_toEnd, and xsens::Cmt1s::open().

XsensResultValue xsens::Cmt2s::readMessage ( Message * rcv )

Read a message from the COM port.

The function reads data from the embedded Cmt1s object. The data is then converted into a Message object. If an error occurred, a NULL pointer is returned and the error code can be retrieved with getLastError().

Definition at line 191 of file cmt2.cpp.

References CMT_CALLBACK_ONMESSAGERECEIVED, xsens::Message::getMessageStart(), xsens::Cmt1s::getPortNr(), xsens::Message::loadFromString(), m_cmt1s, m_lastResult, m_readBuffer, m_readBufferCount, and xsens::Cmt1s::readData().

Referenced by xsens::Cmt3::readDataPacket().

XsensResultValue xsens::Cmt2s::setCallbackFunction	(	CmtCallbackType	tp,
		int32_t	instance,
		CmtCallbackFunction	func,
		void *	param
	)

Set the callback function for when a message has been received or sent.

Definition at line 318 of file cmt2.cpp.

References CMT_CALLBACK_ONMESSAGERECEIVED, CMT_CALLBACK_ONMESSAGESENT, and m_lastResult.

XsensResultValue xsens::Cmt2s::setTimeout ( const uint32_t ms = CMT2_DEFAULT_TIMEOUT )

Set the default timeout value to use in blocking operations.

This function sets the level 2 timeout value. The L1 value is set to half the given timeout value.

Definition at line 340 of file cmt2.cpp.

References m_cmt1s, m_lastResult, m_timeout, m_toEnd, and xsens::Cmt1s::setTimeout().

Referenced by xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::setTimeoutConfig(), and xsens::Cmt3::setTimeoutMeasurement().

XsensResultValue xsens::Cmt2s::waitForMessage	(	Message *	rcv,
		const uint8_t	msgId,
		uint32_t	timeoutOverride,
		bool	acceptErrorMessage
	)

Wait for a message to arrive.

The function waits for a message to arrive or until a timeout occurs. If the msgId parameter is set to a value other than 0, the function will wait until a message has arrived with that particular msgId.

Note:: msgId 0 is the ReqDeviceID MID, but that is an outgoing only message. It is illogical to wait for a message that will never be sent to the host. So 0 is a safe value for the 'all' messages option.; If an error message is received, the contents are stored in the m_lastResult field and a NULL value is returned immediately.

Definition at line 352 of file cmt2.cpp.

References xsens::Message::clear(), CMT_CALLBACK_ONMESSAGERECEIVED, xsens::findValidMessage(), xsens::Message::getMessageId(), xsens::Cmt1s::getPortNr(), xsens::getTimeOfDay(), xsens::Message::loadFromString(), m_cmt1s, m_lastResult, m_readBuffer, m_readBufferCount, m_timeout, m_toEnd, and xsens::Cmt1s::readData().