Mid-level serial communication class. More...

#include <cmt2.h>

Public Member Functions
	Cmt2s ()
	Default constructor, initialize all members to their default values. More...

	~Cmt2s ()
	Destructor, de-initialize, free memory allocated for buffers, etc. More...

XsensResultValue	close (void)
	Close the serial communication port. More...

uint32_t	getBaudrate (void)
	Return the baudrate that is currently being used by the port. More...

Cmt1s *	getCmt1s (void)
	Return a reference to the embedded Cmt1s object. More...

XsensResultValue	getLastResult (void) const
	Return the error code of the last operation. More...

XsensResultValue	getPortNr (uint16_t &port) const
	Retrieve the port that the object is connected to. More...

XsensResultValue	getPortNr (int32_t &port) const

XsensResultValue	getPortName (char *portname) const

uint32_t	getTimeout (void) const
	Return the current timeout value in ms. More...

bool	isOpen (void) const
	Return whether the communication port is open or not. More...

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. More...

XsensResultValue	readMessage (Message *rcv)
	Read a message from the COM port. More...

XsensResultValue	setCallbackFunction (CmtCallbackType tp, int32_t instance, CmtCallbackFunction func, void *param)
	Set the callback function for when a message has been received or sent. More...

XsensResultValue	setTimeout (const uint32_t ms=CMT2_DEFAULT_TIMEOUT)
	Set the default timeout value to use in blocking operations. More...

XsensResultValue	waitForMessage (Message *rcv, const uint8_t msgId, uint32_t timeoutOverride, bool acceptErrorMessage)
	Wait for a message to arrive. More...

XsensResultValue	writeMessage (Message *msg)
	Send a message over the COM port. More...

Protected Attributes
uint32_t	m_baudrate
	The baudrate that was last set to be used by the port. More...

Cmt1s	m_cmt1s
	The CMT level 1 object that this class operates on. More...

XsensResultValue	m_lastResult
	The last result of an operation. More...

uint8_t	m_readBuffer [CMT_DEFAULT_READ_BUFFER_SIZE]
	Buffer for reading data until a valid message is read. Should be rarely used. More...

uint16_t	m_readBufferCount
	The number of valid bytes in the readBuffer. More...

uint32_t	m_timeout
	Timeout in ms for blocking operations. More...

uint32_t	m_toEnd
	The timestamp at which to end an operation. More...

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.

Constructor & Destructor Documentation

◆ Cmt2s()

xsens::Cmt2s::Cmt2s ( )

Default constructor, initialize all members to their default values.

◆ ~Cmt2s()

xsens::Cmt2s::~Cmt2s ( )

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

Member Function Documentation

◆ close()

XsensResultValue xsens::Cmt2s::close ( void )

Close the serial communication port.

◆ getBaudrate()

uint32_t xsens::Cmt2s::getBaudrate ( void )

inline

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

◆ getCmt1s()

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.

◆ getLastResult()

XsensResultValue xsens::Cmt2s::getLastResult ( void ) const

inline

Return the error code of the last operation.

◆ getPortName()

XsensResultValue xsens::Cmt2s::getPortName ( char * portname ) const

◆ getPortNr() [1/2]

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

Retrieve the port that the object is connected to.

◆ getPortNr() [2/2]

XsensResultValue xsens::Cmt2s::getPortNr ( int32_t & port ) const

◆ getTimeout()

uint32_t xsens::Cmt2s::getTimeout ( void ) const

inline

Return the current timeout value in ms.

◆ isOpen()

bool xsens::Cmt2s::isOpen ( void ) const

inline

Return whether the communication port is open or not.

◆ open()

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.

◆ readMessage()

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().

◆ setCallbackFunction()

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.

◆ setTimeout()

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.

◆ waitForMessage()

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.

◆ writeMessage()

XsensResultValue xsens::Cmt2s::writeMessage ( Message * msg )

Send a message over the COM port.

The function attempts to write the message over the connected COM port.

Parameters

msg	The message to send.

Member Data Documentation

◆ m_baudrate

uint32_t xsens::Cmt2s::m_baudrate

protected

The baudrate that was last set to be used by the port.

◆ m_cmt1s

Cmt1s xsens::Cmt2s::m_cmt1s

protected

The CMT level 1 object that this class operates on.

◆ m_lastResult

XsensResultValue xsens::Cmt2s::m_lastResult

mutableprotected

The last result of an operation.

◆ m_readBuffer

uint8_t xsens::Cmt2s::m_readBuffer[CMT_DEFAULT_READ_BUFFER_SIZE]

protected

Buffer for reading data until a valid message is read. Should be rarely used.

◆ m_readBufferCount

uint16_t xsens::Cmt2s::m_readBufferCount

protected

The number of valid bytes in the readBuffer.

◆ m_timeout

uint32_t xsens::Cmt2s::m_timeout

protected

Timeout in ms for blocking operations.

◆ m_toEnd

uint32_t xsens::Cmt2s::m_toEnd

protected

The timestamp at which to end an operation.

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

/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmt2.h
/build/rock-master-18.09-drivers-xsens-imu-0.20180621/external/xsensVendorLib/cmt2.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Cmt2s()

◆ ~Cmt2s()

Member Function Documentation

◆ close()

◆ getBaudrate()

◆ getCmt1s()

◆ getLastResult()

◆ getPortName()

◆ getPortNr() [1/2]

◆ getPortNr() [2/2]

◆ getTimeout()

◆ isOpen()

◆ open()

◆ readMessage()

◆ setCallbackFunction()

◆ setTimeout()

◆ waitForMessage()

◆ writeMessage()

Member Data Documentation

◆ m_baudrate

◆ m_cmt1s

◆ m_lastResult

◆ m_readBuffer

◆ m_readBufferCount

◆ m_timeout

◆ m_toEnd