ShimmerResearch · jyong15 · Feb 5, 2026 · Jan 12, 2026 · Jan 13, 2026 · Jan 16, 2026
diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driver/BasicProcessWithCallBack.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driver/BasicProcessWithCallBack.java
@@ -235,10 +235,7 @@ public void removeSetWaitForDataAll(){
 		}
 
 		mWaitForData = null;
-    	Iterator<WaitForData> entries = mListWaitForData.iterator();
-		while (entries.hasNext()) {
-			entries.remove();
-		}
+	    mListWaitForData.clear();
 	}
 
 	public void setWaitForDataWithSingleInstanceCheck(BasicProcessWithCallBack b){

diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driver/ShimmerDevice.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driver/ShimmerDevice.java
@@ -20,12 +20,11 @@
 
 import org.apache.commons.lang3.ArrayUtils;
 
-import com.shimmerresearch.driver.Configuration;
-import com.shimmerresearch.driver.ObjectCluster;
 import com.shimmerresearch.algorithms.AbstractAlgorithm;
 import com.shimmerresearch.algorithms.AlgorithmResultObject;
 import com.shimmerresearch.algorithms.gyroOnTheFlyCal.GyroOnTheFlyCalLoader;
 import com.shimmerresearch.algorithms.AlgorithmDetails;
+import com.shimmerresearch.algorithms.AlgorithmDetails.SENSOR_CHECK_METHOD;
 import com.shimmerresearch.algorithms.AlgorithmLoaderInterface;
 import com.shimmerresearch.algorithms.orientation.OrientationModule6DOFLoader;
 import com.shimmerresearch.algorithms.orientation.OrientationModule9DOFLoader;
@@ -36,7 +35,6 @@
 import com.shimmerresearch.comms.serialPortInterface.AbstractSerialPortHal;
 import com.shimmerresearch.comms.wiredProtocol.UartComponentPropertyDetails;
 import com.shimmerresearch.driver.Configuration.COMMUNICATION_TYPE;
-import com.shimmerresearch.driver.Configuration.Shimmer3;
 import com.shimmerresearch.driver.calibration.CalibDetails;
 import com.shimmerresearch.driver.calibration.CalibDetailsKinematic;
 import com.shimmerresearch.driver.calibration.CalibDetails.CALIB_READ_SOURCE;
@@ -67,7 +65,6 @@
 import com.shimmerresearch.sensors.SensorShimmerClock;
 import com.shimmerresearch.shimmerConfig.FixedShimmerConfigs;
 import com.shimmerresearch.shimmerConfig.FixedShimmerConfigs.FIXED_SHIMMER_CONFIG_MODE;
-import com.shimmerresearch.verisense.communication.VerisenseProtocolByteCommunication;
 import com.shimmerresearch.verisense.sensors.ISensorConfig;
 
 public abstract class ShimmerDevice extends BasicProcessWithCallBack implements Serializable{
@@ -142,13 +139,17 @@ public abstract class ShimmerDevice extends BasicProcessWithCallBack implements
 	private boolean mConfigurationReadSuccess = false;
 	public boolean mReadDaughterIDSuccess = false;
 	public boolean writeRealWorldClockFromPcTimeSuccess = false;
+	public boolean mReadBtVerSuccess = false;
+	public boolean mReadBtModeSuccess = false;
 
 	protected boolean mIsConnected = false;
 	protected boolean mIsSensing = false;
 	protected boolean mIsStreaming = false;											// This is used to monitor whether the device is in streaming mode
 	protected boolean mIsInitialised = false;
 	private boolean mIsDocked = false;
-	private boolean mIsUsbPluggedIn= false;
+	private boolean mIsUsbPluggedIn = false;
+	private boolean mIsDockCommsSuccessful = false;
+	public boolean mIsUsbDfuMode= false;
 	protected boolean mHaveAttemptedToReadConfig = false;
 
 	//BSL related start
@@ -754,7 +755,11 @@ public void addCommunicationRoute(COMMUNICATION_TYPE communicationType) {
 //		Collections.sort(mListOfAvailableCommunicationTypes);
 
 		if(communicationType==COMMUNICATION_TYPE.DOCK){
-			setIsDocked(true);
+			if(mDockID.contains(DEVICE_TYPE.SHIMMER3R.toString())) {
+				setIsUsbPluggedIn(true);
+			}else {
+				setIsDocked(true);
+			}
 		}
 
 		//TODO temp here -> check if the best place for it
@@ -780,7 +785,8 @@ public void removeCommunicationRoute(COMMUNICATION_TYPE communicationType) {
 		}
 //		Collections.sort(mListOfAvailableCommunicationTypes);
 
-		if(communicationType==COMMUNICATION_TYPE.DOCK){
+		if(communicationType==COMMUNICATION_TYPE.DOCK){			
+			setIsUsbPluggedIn(false);
 			setIsDocked(false);
 			setFirstDockRead();
 			clearDockInfo(mDockID, mSlotNumber);
@@ -1102,6 +1108,14 @@ public boolean isDocked() {
 	public boolean isUsbPluggedIn() {
 		return mIsUsbPluggedIn;
 	}
+
+	public boolean isUsbDfuMode(){
+		return mIsUsbDfuMode;
+	}
+
+	public void setUsbDfuMode(boolean state) {
+		mIsUsbDfuMode = state;
+	}
 
 	public void setIsConnected(boolean state) {
 		mIsConnected = state;
@@ -1691,6 +1705,8 @@ public void setFirstDockRead() {
 		mReadHwFwSuccess = false;
 		mReadDaughterIDSuccess = false;
 		writeRealWorldClockFromPcTimeSuccess = false;
+		mReadBtVerSuccess = false;
+		mReadBtModeSuccess = false;
 	}
 
 	// ----------------- Overrides from ShimmerDevice end -------------
@@ -3076,9 +3092,22 @@ public void setIsAlgorithmEnabled(String algorithmName, boolean state){
 		if(abstractAlgorithm!=null && abstractAlgorithm.mAlgorithmDetails!=null){
 			if(state){ 
 				//switch on the required sensors
-				//TODO add support for ANY/ALL sensors
 				for (Integer sensorId:abstractAlgorithm.mAlgorithmDetails.mListOfRequiredSensors) {
-					setSensorEnabledState(sensorId, true);
+					if (abstractAlgorithm.mAlgorithmDetails.mSensorCheckMethod==SENSOR_CHECK_METHOD.ANY) {
+
+						int tempSensorId = handleSpecCasesBeforeSetSensorState(sensorId,state);
+						SensorDetails sensorDetails = getSensorDetails(tempSensorId);
+						if(sensorDetails!=null){
+							setSensorEnabledState(sensorId, true);
+						}
+					}
+					else if (abstractAlgorithm.mAlgorithmDetails.mSensorCheckMethod==SENSOR_CHECK_METHOD.ALL) {
+						boolean success = setSensorEnabledState(sensorId, true);
+						if(!success){
+							consolePrintErrLn("Failed to enable required sensor ID " + sensorId + " for algorithm:\t" + abstractAlgorithm.getAlgorithmName());
+							return;
+						}
+					}
 				}
 			}
 			abstractAlgorithm.setIsEnabled(state);
@@ -4768,4 +4797,12 @@ public String getRadioModel() {
 		return "";
 	}
 
+	public boolean isDockCommsSuccessful() {
+		return mIsDockCommsSuccessful;
+	}
+
+	public void setDockCommsSuccessful(boolean isDockCommsSuccessful) {
+		mIsDockCommsSuccessful = isDockCommsSuccessful;
+	}
+
 }
diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driver/ShimmerShell.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driver/ShimmerShell.java
@@ -26,6 +26,8 @@ public class ShimmerShell extends ShimmerDevice {
 	/** * */
 	private static final long serialVersionUID = 3505947289367382624L;
 
+	public String macIDParsed = "";
+
 	public ShimmerShell() {
 		setFirstDockRead();
 	}
@@ -147,5 +149,23 @@ protected void dataHandler(ObjectCluster ojc) {
 		// TODO Auto-generated method stub
 
 	}
+
+	@Override
+	public String getMacIdFromUartParsed() {
+		if(!macIDParsed.isEmpty()) {
+			return macIDParsed;
+		} else {
+			return super.getMacIdFromUartParsed();
+		}
+	}
+
+	@Override
+	public String getMacIdParsed() {
+		if(!macIDParsed.isEmpty()) {
+			return macIDParsed;
+		} else {
+			return super.getMacIdParsed();
+		}
+	}
 
 }
diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/AssembleShimmerConfig.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/AssembleShimmerConfig.java
@@ -141,7 +141,7 @@ public static void generateMultipleShimmerConfig(List<ShimmerDevice> listOfShimm
 		        for(ShimmerDevice shimmerDevice:listOfShimmersToConfigureClone) {
 					// Configure for docks.
 					if(commType==COMMUNICATION_TYPE.DOCK 
-							&& shimmerDevice.isDocked()  
+							&& (shimmerDevice.isDocked() || shimmerDevice.isUsbPluggedIn())
 							&& !shimmerDevice.isStreaming()){
 						listForConfiguringDocked.add(shimmerDevice.deepClone());
 					}

diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/DockJobDetails.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/DockJobDetails.java
@@ -99,17 +99,16 @@ public enum DOCK_JOB_TYPE {
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.SET_INDICATOR_LEDS_STATE), "INDICATOR_LEDS_SET");        
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.GET_INDICATOR_LEDS_STATE), "INDICATOR_LEDS_GET"); 
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.ACCESS_SD_CARD), "ACCESS_SD_CARD"); 
-
-        aMap.put(getJobErrorCode(DOCK_JOB_TYPE.FW_DOCK), "FW_DOCK");
-
-
-        aMap.put(getJobErrorCode(DOCK_JOB_TYPE.SHIMMER_WRITE_EXP_BRD_MEMORY), "SHIMMER_WRITE_EXP"); 
 
-
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.DOCK_BOOT), "Fail to detect bootup");
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.DOCK_RESET_VIA_FW), "Failed to reset Base");
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.DOCK_RESET_VIA_BSL), "Failed to reset Base");
 
+        aMap.put(getJobErrorCode(DOCK_JOB_TYPE.FW_DOCK), "FW_DOCK");
+
+        aMap.put(getJobErrorCode(DOCK_JOB_TYPE.SHIMMER_WRITE_EXP_BRD_MEMORY), "SHIMMER_WRITE_EXP"); 
+        aMap.put(getJobErrorCode(DOCK_JOB_TYPE.SHIMMER_WRITE_DAUGHTER_CARD_ID), "SHIMMER_WRITE_DAUGHTER_CARD_ID"); 
+
 		//Experimental
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.DOCK_MANAGER_RELOAD), "DOCK_MANAGER_RELOAD");
         aMap.put(getJobErrorCode(DOCK_JOB_TYPE.DOCK_MANAGER_LOAD), "DOCK_MANAGER_LOAD");

diff --git a/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/HwDriverDeviceDetails.java b/ShimmerDriver/src/main/java/com/shimmerresearch/driverUtilities/HwDriverDeviceDetails.java
@@ -40,5 +40,6 @@ public class HwDriverDeviceDetails {
 	public String deviceDriverVersion = "";
 
 	public String devInterfaceGuid = "";
-
+
+    public String deviceInstanceId = "";
 }
diff --git a/...river/src/main/java/com/shimmerresearch/driverUtilities/HwDriverShimmerDeviceDetails.java b/...river/src/main/java/com/shimmerresearch/driverUtilities/HwDriverShimmerDeviceDetails.java
@@ -145,15 +145,10 @@ public static final class MASS_STORAGE_DEVICE {
     		"VID_0424&PID_2640",
         };
 
-        public static final String[] SHIMMER_3R = new String[] {
-    		"VID_0483&PID_52A4",
-        };
-
         public static final String[] SHIMMER_3R_USB_DFU = new String[] {
         	"VID_0483&PID_DF11",
         };
 
-
 		public static final String[] SHIMMER = new String[] {
     		"shimmer",
         };
@@ -170,6 +165,8 @@ public static final class MASS_STORAGE_DEVICE {
 
 		public static final String[] SHIMMER3R_MSC_DEVICE = new String[] { "SHIMMER MSC","STM32 MSC DEVICE" };
 
+		public static final String[] SHIMMER3R_DFU_DEVICE_BUS_DESCRITION = new String[] { "DFU in HS Mode" };
+
 		public static final class SERVICE_DESCRIPTION {
 			public static final String[] COMPOSITE_DEVICE = new String[]{"USB Composite Device"};
 
@@ -203,6 +200,10 @@ public static final class SERIAL_PORT {
 	        public static final String FTDI_FT4232H_PROD_ID = "6011";
 
 	        public static final String VIRTUAL_PORT = "COM0COM";
+
+	        public static final String[] SHIMMER_3R = new String[] {
+	        		"VID_0483&PID_52A4"
+	        };
         }
 
         public static final class BT {
@@ -272,6 +273,8 @@ public static final class BASE_HARDWARE_IDS{
 	public HwDriverDeviceDetails portableDevice = null;
 	public HwDriverDeviceDetails storageVolume = null;
 
+	public HwDriverDeviceDetails dfuDevice = null;
+
 	public String mDockID= "";
 	public String mSmartDockFwComPort= "";
 	public String mSmartDockUartComPort= "";
@@ -282,8 +285,8 @@ public static final class BASE_HARDWARE_IDS{
 
 	public HIDDeviceInfo mHidDeviceInfo = null;
 
-	/** Normally used to store the FTDI serial ID. */
-    public String mFtdiSerialID = "";
+	/** Unique HW ID (e.g., FTDI serial ID or location path). */
+    public String mUniqueHwID = "";
 	public SPAN_VERSION mSpanVersion = SPAN_VERSION.UNKNOWN;
 
 	public HwDriverShimmerDeviceDetails() {