SysDeviceInfoMessage.hh

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#ifndef LibMultiSense_SysDeviceInfoMessage
#define LibMultiSense_SysDeviceInfoMessage

#include <algorithm>
#include <string>
#include "Protocol.hh"
#include "MultiSense/details/utility/BufferStream.hh"

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

class PcbInfo {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;

    std::string name;
    uint32_t    revision;

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & name;
        message & revision;
    }
};

class SysDeviceInfo {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_DEVICE_INFO;
    static CRL_CONSTEXPR VersionType VERSION = 1;

    //
    // These constants are stored in flash on the device, do
    // not change these, only add.
    //
    // crl::multisense::DeviceInfo:: has similar constants
    // that can be changed at will (just remember to
    // map any differences when translating between
    // WIRE and API.)

    static CRL_CONSTEXPR uint8_t  MAX_PCBS = 8;

    static uint8_t maxPcbs()
    {
        return MAX_PCBS;
    }

    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_SL                  = 1;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S7                  = 2;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_M                   = 3;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S7S                 = 4;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S21                 = 5;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_ST21                = 6;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_C6S2_S27            = 7;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S30                 = 8;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S7AR                = 9;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_KS21                = 10;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_MONOCAM             = 11;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_REMOTE_HEAD_VPB     = 12;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_REMOTE_HEAD_STEREO  = 13;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_REMOTE_HEAD_MONOCAM = 14;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_BCAM                           = 100;
    static CRL_CONSTEXPR uint32_t HARDWARE_REV_MONO                           = 101;

    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_CMV2000_GREY   = 1;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_CMV2000_COLOR  = 2;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_CMV4000_GREY   = 3;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_CMV4000_COLOR  = 4;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_FLIR_TAU2      = 7;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_IMX104_COLOR   = 100;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_AR0234_GREY    = 200;
    static CRL_CONSTEXPR uint32_t IMAGER_TYPE_AR0239_COLOR   = 202;

    static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_NONE = 0;
    static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_SL_INTERNAL = 1;
    static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_S21_EXTERNAL = 2;
    static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_S21_PATTERN_PROJECTOR = 3;

    std::string key;
    std::string name;
    std::string buildDate;
    std::string serialNumber;
    uint32_t    hardwareRevision;

    uint8_t     numberOfPcbs;
    PcbInfo     pcbs[MAX_PCBS];

    std::string imagerName;
    uint32_t    imagerType;
    uint32_t    imagerWidth;
    uint32_t    imagerHeight;

    std::string lensName;
    uint32_t    lensType;
    float       nominalBaseline;          // meters
    float       nominalFocalLength;       // meters
    float       nominalRelativeAperture;  // f-stop

    uint32_t    lightingType;
    uint32_t    numberOfLights;

    std::string laserName;
    uint32_t    laserType;

    std::string motorName;
    uint32_t    motorType;
    float       motorGearReduction;

    //
    // Constructors

    SysDeviceInfo(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysDeviceInfo() :
        hardwareRevision(0),
        imagerType(0),
        imagerWidth(0),
        imagerHeight(0),
        lensType(0),
        nominalBaseline(0),
        nominalFocalLength(0),
        nominalRelativeAperture(0.0),
        lightingType(0),
        numberOfLights(0),
        laserType(0),
        motorType(0),
        motorGearReduction(0.0) {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & key;
        message & name;
        message & buildDate;
        message & serialNumber;
        message & hardwareRevision;

        message & numberOfPcbs;

        uint8_t num = std::min(numberOfPcbs, (uint8_t) MAX_PCBS);
        for(uint8_t i=0; i<num; i++)
            pcbs[i].serialize(message, version);

        message & imagerName;
        message & imagerType;
        message & imagerWidth;
        message & imagerHeight;
        message & lensName;
        message & lensType;
        message & nominalBaseline;
        message & nominalFocalLength;
        message & nominalRelativeAperture;
        message & lightingType;
        message & numberOfLights;
        message & laserName;
        message & laserType;
        message & motorName;
        message & motorType;
        message & motorGearReduction;
    }
};

}}}} // namespaces

#endif