Protocol.hh File Reference

#include <stdint.h>
#include "../utility/Portability.hh"

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Namespaces
	crl
	crl::multisense
	crl::multisense::details
	crl::multisense::details::wire

Macros
#define	CPY_ARRAY_1(d_, s_, n_)
#define	CPY_ARRAY_2(d_, s_, n_, m_)
#define	MSG_ID(x)   ((wire::IdType)(x))
#define	MSG_VER(x)   ((wire::VersionType)(x))
#define	MULTISENSE_API_BITS_PER_PIXEL   (16)
#define	MULTISENSE_WIRE_BITS_PER_PIXEL   (12)
#define	SER_ARRAY_1(a_, n_)
#define	SER_ARRAY_2(a_, n_, m_)
#define	WIRE_HEADER_ATTRIBS_

Typedefs
typedef uint16_t	crl::multisense::details::wire::IdType
typedef uint32_t	crl::multisense::details::wire::SourceType
typedef uint16_t	crl::multisense::details::wire::VersionType

Functions
struct	crl::multisense::details::wire::__attribute__ ((__packed__))

Variables
static CRL_CONSTEXPR uint8_t	crl::multisense::details::wire::COMBINED_HEADER_LENGTH = 60
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::Default_Exposure_Source = SOURCE_LUMA_LEFT
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Gain = 1.0f
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Gamma = 2.0f
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Target_Intensity = 0.5f
	crl::multisense::details::wire::Header
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_GROUP = 0x0001
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_MAGIC = 0xadad
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_VERSION = 0x0100
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_ACK = 0x0001
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_AUX_CONTROL = 0x002a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_CONTROL = 0x0007
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_AUX_CONFIG = 0x002b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_CONFIG = 0x0004
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_HISTORY = 0x0008
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_HDR = 0x000b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_RESOLUTION = 0x000c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_TRIGGER_SOURCE = 0x001e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_GET_STATUS = 0x0003
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_GET_VERSION = 0x0002
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_IMU_GET_CONFIG = 0x0020
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_IMU_GET_INFO = 0x001f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_GET_SENSOR_STATUS = 0x0025
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_GET_STATUS = 0x0012
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_SET = 0x0013
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LIDAR_GET_CONFIG = 0x000d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LIDAR_SET_MOTOR = 0x0010
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_CONFIG = 0x0125
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_CONTROL = 0x002d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_GET_CONFIG = 0x002c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_STREAM_CONTROL = 0x001c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_FLASH_OP = 0x0015
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_CAMERA_CAL = 0x0018
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_INFO = 0x0017
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_MODES = 0x001d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DIRECTED_STREAMS = 0x0022
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_EXTERNAL_CAL = 0x0024
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_LIDAR_CAL = 0x0019
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_MTU = 0x001a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_NETWORK = 0x001b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_SENSOR_CAL = 0x0023
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_TRANSMIT_DELAY = 0x0027
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_MOTOR_POLL = 0x0028
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_MTU = 0x0014
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_NETWORK = 0x0016
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_PTP = 0x0029
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_TRANSMIT_DELAY = 0x0026
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_TEST_MTU = 0x0021
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_APRILTAG_DETECTIONS_MESSAGE = 0x0122
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_AUX_CONFIG = 0x0124
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_CONFIG = 0x0104
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_HISTORY = 0x0105
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_COMPRESSED_IMAGE = 0x0120
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_DISPARITY = 0x0111
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_EXPOSURE_CONFIG = 0x011e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_GROUND_SURFACE_SPLINE_DATA_MESSAGE = 0x011f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMAGE = 0x0110
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMAGE_META = 0x010f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU = 0x0114
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU_CONFIG = 0x0116
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU_INFO = 0x0115
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_JPEG_IMAGE = 0x0118
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LED_SENSOR_STATUS = 0x011c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LED_STATUS = 0x010a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LIDAR_CONFIG = 0x0108
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LIDAR_SCAN = 0x0109
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_STATUS = 0x0103
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_APRILTAG_PARAM = 0x0123
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_CAMERA_CAL = 0x010d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DEVICE_INFO = 0x010c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DEVICE_MODES = 0x0112
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DIRECTED_STREAMS = 0x0119
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_EXTERNAL_CAL = 0x011b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_FLASH_RESPONSE = 0x010b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_GROUND_SURFACE_PARAM = 0x0121
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_LIDAR_CAL = 0x010e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_MOTOR_POLL = 0x011d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_PPS = 0x0113
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_SENSOR_CAL = 0x011a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_TEST_MTU_RESPONSE = 0x0117
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_VERSION = 0x0102
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_APRILTAG_DETECTIONS = (1U<<21)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_AUX = (1U<<30)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_LEFT = (1U<<6)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_RECT_AUX = (1U<<8)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_RIGHT = (1U<<7)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_AUX = (1U<<14)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_LEFT = (1U<<9)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_AUX = (1U<<17)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_LEFT = (1U<<15)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_RIGHT = (1U<<16)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RIGHT = (1U<<13)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY = (1U<<10)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_AUX = (1U<<31)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_COST = (1U<<12)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_LEFT = (1U<<10)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_RIGHT = (1U<<11)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_GROUND_SURFACE_CLASS_IMAGE = (1U<<22)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_GROUND_SURFACE_SPLINE_DATA = (1U<<20)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_IMAGES
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_IMU = (1U<<25)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_JPEG_LEFT = (1U<<16)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LIDAR_SCAN = (1U<<24)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_AUX = (1U<<28)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_LEFT = (1U<<2)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_AUX = (1U<<29)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_LEFT = (1U<<4)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_RIGHT = (1U<<5)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RIGHT = (1U<<3)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_PPS = (1U<<26)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_AUX = (1U<<27)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_LEFT = (1U<<0)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_RIGHT = (1U<<1)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RGB_LEFT = (1U<<17)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SLB_MOTOR = (1U<<23)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_UNKNOWN = 0

Macro Definition Documentation

CPY_ARRAY_1

#define CPY_ARRAY_1	(		d_,
			s_,
			n_
	)

Value:

for(uint32_t i_=0; i_<(n_); i_++)           \
        (d_)[i_] = (s_)[i_];                    \

Definition at line 323 of file Protocol.hh.

CPY_ARRAY_2

#define CPY_ARRAY_2	(		d_,
			s_,
			n_,
			m_
	)

Value:

for(uint32_t i_=0; i_<(n_); i_++)           \
        for(uint32_t j_=0; j_<(m_); j_++)       \
            (d_)[i_][j_] = (s_)[i_][j_];        \

Definition at line 327 of file Protocol.hh.

MSG_ID

#define MSG_ID

(

x

)

((wire::IdType)(x))

Definition at line 311 of file Protocol.hh.

MSG_VER

#define MSG_VER

(

x

)

((wire::VersionType)(x))

Definition at line 312 of file Protocol.hh.

MULTISENSE_API_BITS_PER_PIXEL

#define MULTISENSE_API_BITS_PER_PIXEL   (16)

Definition at line 50 of file Protocol.hh.

MULTISENSE_WIRE_BITS_PER_PIXEL

#define MULTISENSE_WIRE_BITS_PER_PIXEL   (12)

Definition at line 46 of file Protocol.hh.

SER_ARRAY_1

#define SER_ARRAY_1	(		a_,
			n_
	)

Value:

for(uint32_t i_=0; i_<(n_); i_++)         \
        message & (a_)[i_];                   \

Definition at line 314 of file Protocol.hh.

SER_ARRAY_2

#define SER_ARRAY_2	(		a_,
			n_,
			m_
	)

Value:

for(uint32_t i_=0; i_<(n_); i_++)         \
        for(uint32_t j_=0; j_<(m_); j_++)     \
            message & (a_)[(i_)][(j_)];       \

Definition at line 318 of file Protocol.hh.

WIRE_HEADER_ATTRIBS_

#define WIRE_HEADER_ATTRIBS_

Definition at line 64 of file Protocol.hh.