#include <usb_depth_sensor.h>

Inheritance diagram for UsbDepthSensor:

Classes
struct	ImplData

Public Member Functions
virtual aditof::Status	adsd3500_get_status (int &chipStatus, int &imagerStatus) override
	Returns the chip status. More...

virtual aditof::Status	adsd3500_read_cmd (uint16_t cmd, uint16_t *data, unsigned int usDelay=0) override
	Send a read command to adsd3500. More...

virtual aditof::Status	adsd3500_read_payload (uint8_t *payload, uint16_t payload_len) override
	Reads a chunk of data from adsd3500. This will perform a burst read making it useful for reading chunks of data. More...

virtual aditof::Status	adsd3500_read_payload_cmd (uint32_t cmd, uint8_t *readback_data, uint16_t payload_len) override
	Send a read command to adsd3500. This will perform a burst read making it useful for reading chunks of data. More...

virtual aditof::Status	adsd3500_register_interrupt_callback (aditof::SensorInterruptCallback &cb) override
	Register a function to be called when a ADSD3500 interrupt occurs. More...

virtual aditof::Status	adsd3500_reset () override
	Reset adsd3500 chip. More...

virtual aditof::Status	adsd3500_unregister_interrupt_callback (aditof::SensorInterruptCallback &cb) override
	Unregister a function registered with adsd3500_register_interrupt_callback. More...

virtual aditof::Status	adsd3500_write_cmd (uint16_t cmd, uint16_t data, unsigned int usDelay=0) override
	Send a write command to adsd3500. More...

virtual aditof::Status	adsd3500_write_payload (uint8_t *payload, uint16_t payload_len) override
	Send a chunk of data (payload) to adsd3500. This will perform a burst write making it useful for writing chunks of data. More...

virtual aditof::Status	adsd3500_write_payload_cmd (uint32_t cmd, uint8_t *payload, uint16_t payload_len) override
	Send a write command to adsd3500. This will perform a burst write making it useful for writing chunks of data. More...

virtual aditof::Status	getAvailableControls (std::vector< std::string > &controls) const override
	Gets the sensors's list of controls. More...

virtual aditof::Status	getAvailableModes (std::vector< uint8_t > &modes) override
	Return all modes that are supported by the sensor. More...

virtual aditof::Status	getControl (const std::string &control, std::string &value) const override
	Gets the value of a specific sensor control. More...

virtual aditof::Status	getDepthComputeParams (std::map< std::string, std::string > &params) override
	Get ini parameters for Depth Compute library. More...

virtual aditof::Status	getDetails (aditof::SensorDetails &details) const override
	Get a structure that contains information about the instance of the sensor. More...

virtual aditof::Status	getFrame (uint16_t *buffer) override
	Request a frame from the sensor. More...

virtual aditof::Status	getHandle (void **handle) override
	Gets a handle to be used by other devices such as Storage, Temperature, etc. This handle will allow the other devices to communicate remotely with the embedded target. More...

aditof::Status	getIniParamsArrayForMode (int mode, std::string &iniStr) override
	Get ini parameters for Depth Compute library as string. More...

virtual aditof::Status	getModeDetails (const uint8_t &mode, aditof::DepthSensorModeDetails &details) override
	Returns details of specified mode. More...

virtual aditof::Status	getName (std::string &name) const override
	Get the name of the sensor. More...

virtual aditof::Status	initTargetDepthCompute (uint8_t iniFile, uint16_t iniFileLength, uint8_t calData, uint16_t calDataLength) override
	Get the name of the sensor. More...

virtual aditof::Status	open () override
	Open the communication channels with the hardware. More...

virtual aditof::Status	setControl (const std::string &control, const std::string &value) override
	Sets a specific sensor control. More...

virtual aditof::Status	setDepthComputeParams (const std::map< std::string, std::string > &params) override
	Set ini parameters for Depth Compute library. More...

virtual aditof::Status	setHostConnectionType (std::string &connectionType) override
	Set the host connection type for target sdk. More...

virtual aditof::Status	setMode (const aditof::DepthSensorModeDetails &type) override
	Set the sensor frame mode to the given type. More...

virtual aditof::Status	setMode (const uint8_t &mode) override
	Set the sensor frame mode to the given type. More...

virtual aditof::Status	setSensorConfiguration (const std::string &sensorConf) override
	Set sensor configutation table. More...

virtual aditof::Status	start () override
	Start the streaming of data from the sensor. More...

virtual aditof::Status	stop () override
	Stop the sensor data stream. More...

	UsbDepthSensor (const std::string &name, const std::string &driverPath)

	~UsbDepthSensor ()

Public Member Functions inherited from aditof::DepthSensorInterface
virtual	~DepthSensorInterface ()=default
	Destructor. More...

Private Attributes
std::vector< aditof::DepthSensorModeDetails >	m_depthSensorModes

std::string	m_driverPath

int	m_fps

std::unique_ptr< ImplData >	m_implData

aditof::SensorDetails	m_sensorDetails

std::string	m_sensorName

Detailed Description

Definition at line 44 of file usb_depth_sensor.h.

Constructor & Destructor Documentation

◆ UsbDepthSensor()

UsbDepthSensor::UsbDepthSensor	(	const std::string &	name,
		const std::string &	driverPath
	)

Definition at line 74 of file usb_depth_sensor_linux.cpp.

◆ ~UsbDepthSensor()

UsbDepthSensor::~UsbDepthSensor ( )

default

Definition at line 86 of file usb_depth_sensor_linux.cpp.

Member Function Documentation

◆ adsd3500_get_status()

aditof::Status UsbDepthSensor::adsd3500_get_status	(	int &	chipStatus,
		int &	imagerStatus
	)

overridevirtual

Returns the chip status.

Parameters

[out]	chipStatus	- chip status (error) value
[out]	imagerStatus	- imager status (error) value

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1010 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_read_cmd()

aditof::Status UsbDepthSensor::adsd3500_read_cmd	(	uint16_t	cmd,
		uint16_t *	data,
		unsigned int	usDelay = `0`
	)

overridevirtual

Send a read command to adsd3500.

Parameters

	cmd	- the command to be sent
[out]	data	- the variable where the read data will be stored
	usDelay	- the number of microseconds to wait between the host command and the actual read

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 674 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_read_payload()

aditof::Status UsbDepthSensor::adsd3500_read_payload	(	uint8_t *	payload,
		uint16_t	payload_len
	)

overridevirtual

Reads a chunk of data from adsd3500. This will perform a burst read making it useful for reading chunks of data.

Parameters

payload	- the location from where to take the data chunk and read it
payload_len	- the number of bytes to read

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 817 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_read_payload_cmd()

aditof::Status UsbDepthSensor::adsd3500_read_payload_cmd	(	uint32_t	cmd,
		uint8_t *	readback_data,
		uint16_t	payload_len
	)

overridevirtual

Send a read command to adsd3500. This will perform a burst read making it useful for reading chunks of data.

Parameters

	cmd	- the command to be sent
[out]	readback_data	- the location where the read data chunk will be stored
	payload_len	- the number of bytes to read

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 765 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_register_interrupt_callback()

aditof::Status UsbDepthSensor::adsd3500_register_interrupt_callback ( aditof::SensorInterruptCallback & cb )

overridevirtual

Register a function to be called when a ADSD3500 interrupt occurs.

Parameters

cb	- the function to be called whenever the interrupt occurs

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 996 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_reset()

aditof::Status UsbDepthSensor::adsd3500_reset ( )

overridevirtual

Reset adsd3500 chip.

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 955 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_unregister_interrupt_callback()

aditof::Status UsbDepthSensor::adsd3500_unregister_interrupt_callback ( aditof::SensorInterruptCallback & cb )

overridevirtual

Unregister a function registered with adsd3500_register_interrupt_callback.

Parameters

cb	- the function to be unregistred

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1003 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_write_cmd()

aditof::Status UsbDepthSensor::adsd3500_write_cmd	(	uint16_t	cmd,
		uint16_t	data,
		unsigned int	usDelay = `0`
	)

overridevirtual

Send a write command to adsd3500.

Parameters

cmd	- the command to be sent
data	- the data to be written
usDelay	- the number of microseconds to wait between the host command and the actual write

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 721 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_write_payload()

aditof::Status UsbDepthSensor::adsd3500_write_payload	(	uint8_t *	payload,
		uint16_t	payload_len
	)

overridevirtual

Send a chunk of data (payload) to adsd3500. This will perform a burst write making it useful for writing chunks of data.

Parameters

payload	- the location from where to take the data chunk and write it
payload_len	- the number of bytes to write

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 911 of file usb_depth_sensor_linux.cpp.

◆ adsd3500_write_payload_cmd()

aditof::Status UsbDepthSensor::adsd3500_write_payload_cmd	(	uint32_t	cmd,
		uint8_t *	payload,
		uint16_t	payload_len
	)

overridevirtual

Send a write command to adsd3500. This will perform a burst write making it useful for writing chunks of data.

Parameters

cmd	- the command to be sent
payload	- the location from where to take the data chunk and write it
payload_len	- the number of bytes to write

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 863 of file usb_depth_sensor_linux.cpp.

◆ getAvailableControls()

aditof::Status UsbDepthSensor::getAvailableControls ( std::vector< std::string > & controls ) const

overridevirtual

Gets the sensors's list of controls.

Parameters

[out] controls

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 503 of file usb_depth_sensor_linux.cpp.

◆ getAvailableModes()

aditof::Status UsbDepthSensor::getAvailableModes ( std::vector< uint8_t > & modes )

overridevirtual

Return all modes that are supported by the sensor.

Parameters

[out] modes

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 241 of file usb_depth_sensor_linux.cpp.

◆ getControl()

aditof::Status UsbDepthSensor::getControl	(	const std::string &	control,
		std::string &	value
	)		const

overridevirtual

Gets the value of a specific sensor control.

Parameters

[in]	control	- Control name
[out]	value	- Control value

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 600 of file usb_depth_sensor_linux.cpp.

◆ getDepthComputeParams()

aditof::Status UsbDepthSensor::getDepthComputeParams ( std::map< std::string, std::string > & params )

overridevirtual

Get ini parameters for Depth Compute library.

Parameters

[in] params - a dictionary of parameters

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1024 of file usb_depth_sensor_linux.cpp.

◆ getDetails()

aditof::Status UsbDepthSensor::getDetails ( aditof::SensorDetails & details ) const

overridevirtual

Get a structure that contains information about the instance of the sensor.

Parameters

[out] details - the variable where the sensor details should be stored

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 647 of file usb_depth_sensor_linux.cpp.

◆ getFrame()

aditof::Status UsbDepthSensor::getFrame ( uint16_t * buffer )

overridevirtual

Request a frame from the sensor.

Parameters

buffer - a valid location where the new frame should be stored. The size of the frame is known (cached) internally and gets updated each time setMode() is called.

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 422 of file usb_depth_sensor_linux.cpp.

◆ getHandle()

aditof::Status UsbDepthSensor::getHandle ( void ** handle )

overridevirtual

Gets a handle to be used by other devices such as Storage, Temperature, etc. This handle will allow the other devices to communicate remotely with the embedded target.

Parameters

[out] handle - the handle which is owned by this instance

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 652 of file usb_depth_sensor_linux.cpp.

◆ getIniParamsArrayForMode()

aditof::Status UsbDepthSensor::getIniParamsArrayForMode	(	int	mode,
		std::string &	iniStr
	)

overridevirtual

Get ini parameters for Depth Compute library as string.

Parameters

[in]	mode	- desired mode
[out]	iniStr	- a string that contain ini params

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1044 of file usb_depth_sensor_linux.cpp.

◆ getModeDetails()

aditof::Status UsbDepthSensor::getModeDetails	(	const uint8_t &	mode,
		aditof::DepthSensorModeDetails &	details
	)

overridevirtual

Returns details of specified mode.

Parameters

	mode
[out]	details

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 251 of file usb_depth_sensor_linux.cpp.

◆ getName()

aditof::Status UsbDepthSensor::getName ( std::string & name ) const

overridevirtual

Get the name of the sensor.

Parameters

[out] name - the string in which the name is stored

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 663 of file usb_depth_sensor_linux.cpp.

◆ initTargetDepthCompute()

aditof::Status UsbDepthSensor::initTargetDepthCompute	(	uint8_t *	iniFile,
		uint16_t	iniFileLength,
		uint8_t *	calData,
		uint16_t	calDataLength
	)

overridevirtual

Get the name of the sensor.

Parameters

[in]	iniFile	- iniFile content parsed as uint8_t*
[in]	iniFileLength	- iniFile content length
[in]	calData	- calibration data parsed as uint8_t*
[in]	calDataLength	- calibration data content length

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1017 of file usb_depth_sensor_linux.cpp.

◆ open()

aditof::Status UsbDepthSensor::open ( )

overridevirtual

Open the communication channels with the hardware.

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 115 of file usb_depth_sensor_linux.cpp.

◆ setControl()

aditof::Status UsbDepthSensor::setControl	(	const std::string &	control,
		const std::string &	value
	)

overridevirtual

Sets a specific sensor control.

Parameters

[in]	control	- Control name
[in]	value	- Control value

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 550 of file usb_depth_sensor_linux.cpp.

◆ setDepthComputeParams()

aditof::Status UsbDepthSensor::setDepthComputeParams ( const std::map< std::string, std::string > & params )

overridevirtual

Set ini parameters for Depth Compute library.

Parameters

[in] params - a dictionary of parameters

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1031 of file usb_depth_sensor_linux.cpp.

◆ setHostConnectionType()

aditof::Status UsbDepthSensor::setHostConnectionType ( std::string & connectionType )

overridevirtual

Set the host connection type for target sdk.

Parameters

[in] connectionType - the string that sets the host type on the target

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 669 of file usb_depth_sensor_linux.cpp.

◆ setMode() [1/2]

aditof::Status UsbDepthSensor::setMode ( const aditof::DepthSensorModeDetails & type )

overridevirtual

Set the sensor frame mode to the given type.

Parameters

type	- frame details structure containing the frame type

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 269 of file usb_depth_sensor_linux.cpp.

◆ setMode() [2/2]

aditof::Status UsbDepthSensor::setMode ( const uint8_t & mode )

overridevirtual

Set the sensor frame mode to the given type.

Parameters

mode	- desired mode

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 264 of file usb_depth_sensor_linux.cpp.

◆ setSensorConfiguration()

aditof::Status UsbDepthSensor::setSensorConfiguration ( const std::string & sensorConf )

overridevirtual

Set sensor configutation table.

Parameters

sensorConf - Configuration table name string like e.g. standard, standardraw, custom and customraw

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 1039 of file usb_depth_sensor_linux.cpp.

◆ start()

aditof::Status UsbDepthSensor::start ( )

overridevirtual

Start the streaming of data from the sensor.

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 183 of file usb_depth_sensor_linux.cpp.

◆ stop()

aditof::Status UsbDepthSensor::stop ( )

overridevirtual

Stop the sensor data stream.

Returns: Status

Implements aditof::DepthSensorInterface.

Definition at line 219 of file usb_depth_sensor_linux.cpp.

Member Data Documentation

◆ m_depthSensorModes

std::vector<aditof::DepthSensorModeDetails> UsbDepthSensor::m_depthSensorModes

private

Definition at line 115 of file usb_depth_sensor.h.

◆ m_driverPath

std::string UsbDepthSensor::m_driverPath

private

Definition at line 113 of file usb_depth_sensor.h.

◆ m_fps

int UsbDepthSensor::m_fps

private

Definition at line 116 of file usb_depth_sensor.h.

◆ m_implData

std::unique_ptr<ImplData> UsbDepthSensor::m_implData

private

Definition at line 114 of file usb_depth_sensor.h.

◆ m_sensorDetails

aditof::SensorDetails UsbDepthSensor::m_sensorDetails

private

Definition at line 112 of file usb_depth_sensor.h.

◆ m_sensorName

std::string UsbDepthSensor::m_sensorName

private

Definition at line 110 of file usb_depth_sensor.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UsbDepthSensor()

◆ ~UsbDepthSensor()

Member Function Documentation

◆ adsd3500_get_status()

◆ adsd3500_read_cmd()

◆ adsd3500_read_payload()

◆ adsd3500_read_payload_cmd()

◆ adsd3500_register_interrupt_callback()

◆ adsd3500_reset()

◆ adsd3500_unregister_interrupt_callback()

◆ adsd3500_write_cmd()

◆ adsd3500_write_payload()

◆ adsd3500_write_payload_cmd()

◆ getAvailableControls()

◆ getAvailableModes()

◆ getControl()

◆ getDepthComputeParams()

◆ getDetails()

◆ getFrame()

◆ getHandle()

◆ getIniParamsArrayForMode()

◆ getModeDetails()

◆ getName()

◆ initTargetDepthCompute()

◆ open()

◆ setControl()

◆ setDepthComputeParams()

◆ setHostConnectionType()

◆ setMode() [1/2]

◆ setMode() [2/2]

◆ setSensorConfiguration()

◆ start()

◆ stop()

Member Data Documentation

◆ m_depthSensorModes

◆ m_driverPath

◆ m_fps

◆ m_implData

◆ m_sensorDetails

◆ m_sensorName