/*! \relates XsFile
\brief Retrieves the full path for a filename
\param[in] filename The filename to expand
\param[out] fullPath The filename with a fully expanded path is returned in this parameter. This parameter must be allocated by the caller.
\returns XRV_OK if the fullpath could be retrieved, XRV_NULLPTR if fullPath is NULL, XRV_ERROR otherwise
*/
XsResultValue XsFile_fullPath(const struct XsString* filename, struct XsString* fullPath)
{
XsResultValue result = XRV_OK;
if (fullPath == NULL)
{
result = XRV_NULLPTR;
}
else
{
#ifdef _WIN32
wchar_t filenamew[XS_MAX_FILENAME_LENGTH];
wchar_t fullpath[XS_MAX_FILENAME_LENGTH];
(void)XsString_copyToWCharArray(filename, filenamew, XS_MAX_FILENAME_LENGTH);
if (_wfullpath(fullpath, filenamew, XS_MAX_FILENAME_LENGTH) == NULL)
result = XRV_ERROR;
else
XsString_assignWCharArray(fullPath, fullpath);
#else
// based on the assumption that this doesn't concern the serial port, handle
// it the same way using realpath(). Apparently realpath() doesn't require a
// maximum length. One would possibly want to write a wrapper for it.
char fullpath[XS_MAX_FILENAME_LENGTH*2];
if (realpath(filename->m_data, fullpath) == NULL)
result = XRV_ERROR;
else
XsString_assignCharArray(fullPath, fullpath);
#endif
}
return result;
}
/*! \brief Get an error string after a failure occurred
\param[in,out] error the string to fill with the result error
*/
void XsLibraryLoader_getErrorString(XsString* error)
{
#ifdef __GNUC__
XsString_assignCharArray(error, dlerror());
#elif defined(_MSC_VER)
LPTSTR errorText = NULL;
(void)FormatMessageW(FORMAT_MESSAGE_FROM_SYSTEM
|FORMAT_MESSAGE_ALLOCATE_BUFFER
|FORMAT_MESSAGE_IGNORE_INSERTS,
NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
(LPTSTR)&errorText,
0,
NULL);
XsString_assignWCharArray(error, errorText);
LocalFree(errorText);
#endif
}
//--------------------------------------------------------------------------------
int main(void)
{
// Declare used variables
XsDevice* foundDevice;
XsControl* control;
XsPortInfo* portInfo;
XsPortInfo* foundPort;
XsDeviceId* foundDeviceId;
// Make sure to call the proper xxx_INIT macros to properly initialize structs
XsPortInfoArray portInfoArray = XSPORTINFOARRAY_INITIALIZER;
XsCallbackPlainC callbackHandler = XSCALLBACK_INITIALIZER;
XsString deviceIdString = XSSTRING_INITIALIZER;
XsString portNameString = XSSTRING_INITIALIZER;
XsQuaternion quaternion = XSQUATERNION_INITIALIZER;
XsEuler euler = XSEULER_INITIALIZER;
XsOutputConfigurationArray mtmk4_configArray = XSOUTPUTCONFIGURATIONARRAY_INITIALIZER;
XsDeviceMode mtix_deviceMode = XSDEVICEMODE_INITIALIZER;
XsOutputConfiguration mtmk4_config = XSOUTPUTCONFIGURATION_INITIALIZER;
XsSize portInfoIdx;
int deviceFound;
int configSucceeded;
if (!setSerialKey())
{
printf("Invalid serial key\n");
printf("Press a key to continue.\n");
(void)_getch();
return 1;
}
// Initialize global packet queue
PacketQueue_init(&packetQueue);
// Create XsControl object
printf("Creating XsControl object...\n");
control = XsControl_construct();
assert(control != 0);
// Scan for connected devices
printf("Scanning for devices...\n");
(void)XsScanner_scanPorts(&portInfoArray, XBR_Invalid, 100, TRUE, TRUE);
// Find an MTi / MTx / MTmk4 device
foundPort = 0;
foundDeviceId = 0;
portInfo = portInfoArray.m_data;
deviceFound = FALSE;
for (portInfoIdx = 0; portInfoIdx < portInfoArray.m_size; ++portInfoIdx)
{
foundPort = &portInfo[portInfoIdx];
foundDeviceId = &foundPort->m_deviceId;
if (XsDeviceId_isMtix(foundDeviceId) || XsDeviceId_isMtMk4(foundDeviceId))
{
deviceFound = TRUE;
break;
}
}
if (deviceFound)
{
XsDeviceId_toString(foundDeviceId, &deviceIdString);
printf("Found a device with id: %s @ port: %s, baudrate: %d\n", deviceIdString.m_data, foundPort->m_portName, foundPort->m_baudrate);
// Open the port with the detected device
printf("Opening port...\n");
XsString_assignCharArray(&portNameString, foundPort->m_portName);
if (XsControl_openPort(control, &portNameString, foundPort->m_baudrate, 0, TRUE))
{
// Get the device object
foundDevice = XsControl_device(control, foundDeviceId);
assert(foundDevice != 0);
// Print information about detected MTi / MTx / MTmk4 device
printf("Device: %s openend.\n", XsDevice_productCode(foundDevice, &deviceIdString)->m_data);
// Attach callback handler to device
callbackHandler.m_onDataAvailable = onDataAvailable;
XsDevice_addCallbackHandler(foundDevice, &callbackHandler, TRUE);
// Put the device in configuration mode
printf("Putting device into configuration mode...\n");
configSucceeded = FALSE;
if (XsDevice_gotoConfig(foundDevice)) // Put the device into configuration mode before configuring the device
{
// Configure the device. Note the differences between MTix and MTmk4
printf("Configuring the device...\n");
if (XsDeviceId_isMtix(foundDeviceId))
{
memset(&mtix_deviceMode, 0, sizeof(XsDeviceMode));
mtix_deviceMode.m_outputMode = XOM_Orientation; // output orientation data
mtix_deviceMode.m_outputSettings = XOS_OrientationMode_Quaternion; // output orientation data as quaternion
XsDeviceMode_setUpdateRate(&mtix_deviceMode, 100);// make a device mode with update rate: 100 Hz
// set the device configuration
if (XsDevice_setDeviceMode(foundDevice, &mtix_deviceMode))
{
configSucceeded = TRUE;
}
}
else if (XsDeviceId_isMtMk4(foundDeviceId))
{
mtmk4_config.m_dataIdentifier = XDI_Quaternion;
mtmk4_config.m_frequency = XDI_MAX_FREQUENCY;
XsOutputConfigurationArray_construct(&mtmk4_configArray, 1, &mtmk4_config);
if (XsDevice_setOutputConfiguration(foundDevice, &mtmk4_configArray))
{
configSucceeded = TRUE;
}
}
else
{
printf("Unknown device while configuring. Aborting.");
}
}
else
{
printf("Could not put device into configuration mode. Aborting.\n");
}
if (configSucceeded)
{
// Put the device in measurement mode
printf("Putting device into measurement mode...\n");
if (XsDevice_gotoMeasurement(foundDevice))
{
printf("\nMain loop (press any key to quit)\n");
printf("-------------------------------------------------------------------------------\n");
while (!_kbhit())
{
// Retrieve a packet from queue
XsDataPacket packet = XSDATAPACKET_INITIALIZER;
if (PacketQueue_remove(&packetQueue, &packet))
{
// Get the quaternion data
XsDataPacket_orientationQuaternion(&packet, &quaternion, XDI_CoordSysEnu);
// Convert packet to euler
XsDataPacket_orientationEuler(&packet, &euler, XDI_CoordSysEnu);
printf("\rq0:%5.2f,q1:%5.2f,q2:%5.2f,q3:%5.2f,roll:%7.2f,pitch:%7.2f,yaw:%7.2f",
quaternion.m_w, quaternion.m_x, quaternion.m_y, quaternion.m_z,
euler.m_roll, euler.m_pitch, euler.m_yaw
);
fflush(stdout);
}
XsTime_msleep(0);
}
_getch();
printf("\n-------------------------------------------------------------------------------\n");
}
else
{
printf("Could not put device into measurement mode. Aborting.\n");
}
}
else
{
printf("Could not configure device. Aborting.\n");
}
// Close port
printf("Closing port...\n");
XsControl_closePort(control, &portNameString);
}
else
{
printf("Could not open port. Aborting.\n");
}
}
else
{
printf("No MTi / MTx device found. Aborting.\n");
}
// Free XsControl object
printf("Freeing XsControl object...\n");
XsControl_destruct(control);
// free global packet queue
PacketQueue_destruct(&packetQueue);
printf("Successful exit.\n");
printf("Press a key to continue.\n");
(void)_getch();
return 0;
}
