7-Series Threading Example [CPP]

Example multithreading program for 7-series devices using C++. More...

Macros
#define	USE_THREADS   true
	Use this to test the behaviors of threading. More...

Functions
static void	logCallback (void *_user, const microstrain_log_level _level, const char *_format, va_list _args)
	Custom logging callback for MIP SDK message formatting and output. More...
static mip::Timestamp	getCurrentTimestamp ()
	Gets the current system timestamp in milliseconds. More...
static void	initializeDevice (mip::Interface &_device)
	Initializes and configures a MIP device interface. More...
static void	configureSensorMessageFormat (mip::Interface &_device)
	Configures message format for sensor data streaming. More...
static void	packetCallback (void *_user, const mip::PacketView &_packetView, mip::Timestamp _timestamp)
	Callback function that processes received MIP packets. More...
static void	terminate (microstrain::Connection *_connection, const char *_message, const bool _successful)
	Handles graceful program termination and cleanup. More...
static void	terminate (mip::Interface &_device, const mip::CmdResult _cmdResult, const char *_format,...)
	Handles graceful program termination and command failure cleanup. More...

Variables
static constexpr const char *	PORT_NAME = "/dev/ttyACM0"
	Set the port name for the connection (Serial/USB) More...
static constexpr uint32_t	BAUDRATE = 115200
	Set the baudrate for the connection (Serial/USB) More...
static constexpr uint16_t	SAMPLE_RATE_HZ = 1
	Streaming rate in Hz. More...
static constexpr uint32_t	RUN_TIME_SECONDS = 30
	Example run time. More...

Detailed Description

This example shows a basic setup for 7-series devices to demonstrate multithreading for data collection and command updates using C++. This is not an exhaustive example of all settings for those devices. If this example does not meet your specific setup needs, please consult the MIP SDK API documentation for the proper commands.

License

Copyright

Copyright (c) 2025 MicroStrain by HBK Licensed under MIT License

Macro Definition Documentation

USE_THREADS

#define USE_THREADS   true

Function Documentation

logCallback()

static void logCallback ( void *  _user, const microstrain_log_level  _level, const char *  _format, va_list  _args  )

static

Processes and formats log messages from the MIP SDK based on severity level. Routes messages to appropriate output streams - errors and fatal messages go to stderr while other levels go to stdout. Each message is prefixed with its severity level name.

Parameters

_user	Pointer to the threading mutex (if threading is enabled)
_level	Log message severity level from microstrain_log_level enum
_format	Printf-style format string for the message
_args	Variable argument list containing message parameters

getCurrentTimestamp()

static mip::Timestamp getCurrentTimestamp ( )

static

Provides system time measurement using std::chrono for milliseconds since epoch. Uses system_clock to get wall-clock time that corresponds to calendar time and can be synchronized with external time sources.

Note

Update this function to use a different time source if needed for your specific application requirements

Returns

Current timestamp in milliseconds since epoch

initializeDevice()

static void initializeDevice ( mip::Interface &  _device )

static

Performs a complete device initialization sequence:

1. Verifies device communication with a ping command
2. Sets the device to idle mode to ensure reliable configuration
3. Queries and displays detailed device information
4. Loads default device settings for a known state

Parameters

_device

Reference to a MIP device interface to initialize

configureSensorMessageFormat()

static void configureSensorMessageFormat ( mip::Interface &  _device )

static

Sets up sensor data output by:

1. Querying device base rate
2. Validating desired sample rate against base rate
3. Calculating proper decimation
4. Configuring message format with:
   • Scaled accelerometer

Parameters

_device

Reference to the initialized MIP device interface

packetCallback()

static void packetCallback ( void *  _user, const mip::PacketView &  _packetView, mip::Timestamp  _timestamp  )

static

This function is called whenever a MIP packet is received from the device. It processes the packet by:

1. Extracting all fields from the packet
2. Building a formatted string of field descriptors
3. Logging packet information including timestamp, descriptor set, and field descriptors

Parameters

_user	Pointer to user data (unused in this implementation)
_packetView	Reference to the received MIP packet
_timestamp	Timestamp when the packet was received

terminate() [1/2]

static void terminate ( microstrain::Connection *  _connection, const char *  _message, const bool  _successful  )

static

Handles graceful shutdown when errors occur:

• Outputs provided error message
• Closes device connection if open
• Exits with appropriate status code

Parameters

_connection	Pointer to the device connection to close
_message	Error message to display
_successful	Whether termination is due to success or failure

terminate() [2/2]

static void terminate ( mip::Interface &  _device, const mip::CmdResult  _cmdResult, const char *  _format,   ...  )

static

Handles command failure scenarios:

• Formats and displays an error message with command result
• Closes device connection
• Exits with failure status

Parameters

_device	MIP device interface for the command that failed
_cmdResult	Result code from a failed command
_format	Printf-style format string for error message
...	Variable arguments for format string

Variable Documentation

PORT_NAME

constexpr const char* PORT_NAME = "/dev/ttyACM0"

staticconstexpr

BAUDRATE

constexpr uint32_t BAUDRATE = 115200

staticconstexpr

Note

For native serial connections this needs to be 115200 due to the device default settings command Use mip::commands_base::*CommSpeed() to write and save the baudrate on the device

SAMPLE_RATE_HZ

constexpr uint16_t SAMPLE_RATE_HZ = 1

staticconstexpr

RUN_TIME_SECONDS

constexpr uint32_t RUN_TIME_SECONDS = 30

staticconstexpr