#include <MTComm.h>

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

Static Public Member Functions
static void	swapEndian (const unsigned char input[], unsigned char output[], const short length)

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

Detailed Description

Definition at line 898 of file MTComm.h.

Constructor & Destructor Documentation

◆ CMTComm()

CMTComm::CMTComm ( )

Definition at line 96 of file MTComm.cpp.

◆ ~CMTComm()

CMTComm::~CMTComm ( )

virtual

Definition at line 112 of file MTComm.cpp.

Member Function Documentation

◆ calcChecksum()

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

Definition at line 2633 of file MTComm.cpp.

◆ checkChecksum()

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

Definition at line 2651 of file MTComm.cpp.

◆ clockms()

clock_t CMTComm::clockms ( )

Definition at line 128 of file MTComm.cpp.

◆ close()

short CMTComm::close ( )

Definition at line 702 of file MTComm.cpp.

◆ escape()

void CMTComm::escape ( unsigned long function )

Definition at line 610 of file MTComm.cpp.

◆ flush()

void CMTComm::flush ( )

Definition at line 588 of file MTComm.cpp.

◆ getDeviceMode()

short CMTComm::getDeviceMode ( unsigned short * numDevices = NULL )

Definition at line 2021 of file MTComm.cpp.

◆ getFileSize()

short CMTComm::getFileSize ( unsigned long & fileSize )

Definition at line 677 of file MTComm.cpp.

◆ getLastDeviceError()

short CMTComm::getLastDeviceError ( )

Definition at line 2556 of file MTComm.cpp.

◆ getLastRetVal()

short CMTComm::getLastRetVal ( )

Definition at line 2568 of file MTComm.cpp.

◆ getMode()

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

Definition at line 2187 of file MTComm.cpp.

◆ getValue() [1/3]

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

Definition at line 2439 of file MTComm.cpp.

◆ getValue() [2/3]

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

Definition at line 2300 of file MTComm.cpp.

◆ getValue() [3/3]

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

Definition at line 2371 of file MTComm.cpp.

◆ isFileOpen()

bool CMTComm::isFileOpen ( )

Definition at line 481 of file MTComm.cpp.

◆ isPortOpen()

bool CMTComm::isPortOpen ( )

Definition at line 471 of file MTComm.cpp.

◆ openFile()

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

Definition at line 434 of file MTComm.cpp.

◆ openPort() [1/2]

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

Definition at line 300 of file MTComm.cpp.

◆ openPort() [2/2]

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

Definition at line 160 of file MTComm.cpp.

◆ readData()

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

Definition at line 498 of file MTComm.cpp.

◆ readDataMessage()

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

Definition at line 786 of file MTComm.cpp.

◆ readMessage()

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

Definition at line 745 of file MTComm.cpp.

◆ readMessageRaw()

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

Definition at line 829 of file MTComm.cpp.

◆ reqSetting() [1/7]

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

Definition at line 1429 of file MTComm.cpp.

◆ reqSetting() [2/7]

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

Definition at line 1647 of file MTComm.cpp.

◆ reqSetting() [3/7]

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

Definition at line 1302 of file MTComm.cpp.

◆ reqSetting() [4/7]

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

Definition at line 1371 of file MTComm.cpp.

◆ reqSetting() [5/7]

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

Definition at line 1499 of file MTComm.cpp.

◆ reqSetting() [6/7]

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

Definition at line 1567 of file MTComm.cpp.

◆ reqSetting() [7/7]

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

Definition at line 1243 of file MTComm.cpp.

◆ setDeviceMode()

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

Definition at line 2130 of file MTComm.cpp.

◆ setFilePos()

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

Definition at line 648 of file MTComm.cpp.

◆ setMode()

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

Definition at line 2211 of file MTComm.cpp.

◆ setPortQueueSize()

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

Definition at line 623 of file MTComm.cpp.

◆ setSetting() [1/5]

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

Definition at line 1839 of file MTComm.cpp.

◆ setSetting() [2/5]

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

Definition at line 1956 of file MTComm.cpp.

◆ setSetting() [3/5]

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

Definition at line 1893 of file MTComm.cpp.

◆ setSetting() [4/5]

short CMTComm::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 1778 of file MTComm.cpp.

◆ setSetting() [5/5]

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

Definition at line 1720 of file MTComm.cpp.

◆ setTimeOut()

short CMTComm::setTimeOut ( short timeOutMs )

Definition at line 2581 of file MTComm.cpp.

◆ swapEndian()

void CMTComm::swapEndian	(	const unsigned char	input[],
		unsigned char	output[],
		const short	length )

static

Definition at line 2603 of file MTComm.cpp.

◆ waitForMessage()

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

Definition at line 1177 of file MTComm.cpp.

◆ writeData()

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

Definition at line 565 of file MTComm.cpp.

◆ writeMessage() [1/2]

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

Definition at line 1089 of file MTComm.cpp.

◆ writeMessage() [2/2]

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

Definition at line 1012 of file MTComm.cpp.

Member Data Documentation

◆ m_clkEnd

clock_t CMTComm::m_clkEnd

protected

Definition at line 990 of file MTComm.h.

◆ m_deviceError

short CMTComm::m_deviceError

protected

Definition at line 987 of file MTComm.h.

◆ m_fileOpen

bool CMTComm::m_fileOpen

protected

Definition at line 986 of file MTComm.h.

◆ m_handle

int CMTComm::m_handle

protected

Definition at line 983 of file MTComm.h.

◆ m_nTempBufferLen

int CMTComm::m_nTempBufferLen

protected

Definition at line 999 of file MTComm.h.

◆ m_portOpen

bool CMTComm::m_portOpen

protected

Definition at line 985 of file MTComm.h.

◆ m_retVal

short CMTComm::m_retVal

protected

Definition at line 988 of file MTComm.h.

◆ m_storedDataLength

unsigned long CMTComm::m_storedDataLength[MAXDEVICES+1]

protected

Definition at line 995 of file MTComm.h.

◆ m_storedOutputMode

unsigned long CMTComm::m_storedOutputMode[MAXDEVICES+1]

protected

Definition at line 993 of file MTComm.h.

◆ m_storedOutputSettings

unsigned long CMTComm::m_storedOutputSettings[MAXDEVICES+1]

protected

Definition at line 994 of file MTComm.h.

◆ m_tempBuffer

unsigned char CMTComm::m_tempBuffer[MAXMSGLEN]

protected

Definition at line 998 of file MTComm.h.

◆ m_timeOut

short CMTComm::m_timeOut

protected

Definition at line 989 of file MTComm.h.

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

icub-main/src/libraries/icubmod/xsensmtx/MTComm.h
icub-main/src/libraries/icubmod/xsensmtx/MTComm.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CMTComm()

◆ ~CMTComm()

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