LedStatusMessage.hh

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#ifndef LibMultiSense_LedStatusMessage
#define LibMultiSense_LedStatusMessage

#include "MultiSense/details/utility/Portability.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class LedStatus {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_LED_STATUS;
    static CRL_CONSTEXPR VersionType VERSION = 4;

    //
    // Bit mask indicating which LEDs are implemented

    uint8_t available;

    //
    // Current LED duty cycles; 0 = off; 255 = 100%

    uint8_t intensity[lighting::MAX_LIGHTS];

    //
    // If non-zero, LEDs are only on while sensors are exposing

    uint8_t flash;

    //
    // The delay of the LED from turning on to visible light seen in microseconds.
    // Should be measured and specific to the LED in question.

    uint32_t led_delay_us;

    //
    // For LED synchronized to shutter the number of pulses is how many pulses
    // per exposure of an image.

    uint32_t number_of_pulses;

    //
    // Invert the output signal that drives lighting. 1 means the output
    // will be low during the exposure. 0 means the output will be high
    // during the exposure.

    uint8_t invert_pulse;

    //
    // The status of the rolling shutter led enable flag, can be used confirm that
    // the LED synchronization technique, can be used with a rolling shutter imager.

    uint8_t rolling_shutter_led;

    //
    // Constructors

    LedStatus(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    LedStatus() : available(0), flash(0), led_delay_us(0), number_of_pulses(1),
    invert_pulse(0), rolling_shutter_led(0) {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & available;
        for(uint32_t i=0; i<lighting::MAX_LIGHTS; i++)
            message & intensity[i];
        message & flash;

        if (version >= 2)
        {
          message & led_delay_us;
          message & number_of_pulses;
        }
        else
        {
          led_delay_us = 0;
          number_of_pulses = 1;
        }

        if (version >= 3)
        {
          message & invert_pulse;
        }
        else
        {
          invert_pulse = 0;
        }

        if (version >= 4)
        {
          message & rolling_shutter_led;
        }
        else
        {
          rolling_shutter_led = 0;
        }
    }
};

}}}} // namespaces

#endif