#include <MultiSenseChannel.hh>

Inheritance diagram for crl::multisense::Channel:

Public Member Functions
virtual Status	addIsolatedCallback (image::Callback callback, DataSource imageSourceMask, void *userDataP=NULL)=0
virtual Status	addIsolatedCallback (lidar::Callback callback, void *userDataP=NULL)=0
virtual Status	addIsolatedCallback (pps::Callback callback, void *userDataP=NULL)=0
virtual Status	addIsolatedCallback (imu::Callback callback, void *userDataP=NULL)=0
virtual Status	flashBitstream (const std::string &file)=0
virtual Status	flashFirmware (const std::string &file)=0
virtual Status	getApiVersion (VersionType &version)=0
virtual Status	getDeviceInfo (system::DeviceInfo &info)=0
virtual Status	getDeviceModes (std::vector< system::DeviceMode > &m)=0
virtual Status	getDirectedStreams (std::vector< DirectedStream > &streams)=0
virtual Status	getEnabledStreams (DataSource &mask)=0
virtual Status	getImageCalibration (image::Calibration &c)=0
virtual Status	getImageConfig (image::Config &c)=0
virtual Status	getImageHistogram (int64_t frameId, image::Histogram &histogram)=0
virtual Status	getImuConfig (uint32_t &samplesPerMessage, std::vector< imu::Config > &c)=0
virtual Status	getImuInfo (uint32_t &maxSamplesPerMesage, std::vector< imu::Info > &info)=0
virtual Status	getLargeBufferDetails (uint32_t &bufferCount, uint32_t &bufferSize)=0
virtual Status	getLidarCalibration (lidar::Calibration &c)=0
virtual Status	getLightingConfig (lighting::Config &c)=0
virtual Status	getLocalUdpPort (uint16_t &port)=0
virtual Status	getMtu (int32_t &mtu)=0
virtual Status	getNetworkConfig (system::NetworkConfig &c)=0
virtual Status	getSensorVersion (VersionType &version)=0
virtual Status	getVersionInfo (system::VersionInfo &v)=0
virtual Status	maxDirectedStreams (uint32_t &maximum)=0
virtual Status	networkTimeSynchronization (bool enabled)=0
virtual Status	releaseCallbackBuffer (void *referenceP)=0
virtual Status	removeIsolatedCallback (image::Callback callback)=0
virtual Status	removeIsolatedCallback (lidar::Callback callback)=0
virtual Status	removeIsolatedCallback (pps::Callback callback)=0
virtual Status	removeIsolatedCallback (imu::Callback callback)=0
virtual void *	reserveCallbackBuffer ()=0
virtual Status	setDeviceInfo (const std::string &key, const system::DeviceInfo &i)=0
virtual Status	setImageCalibration (const image::Calibration &c)=0
virtual Status	setImageConfig (const image::Config &c)=0
virtual Status	setImuConfig (bool storeSettingsInFlash, uint32_t samplesPerMessage, const std::vector< imu::Config > &c)=0
virtual Status	setLargeBuffers (const std::vector< uint8_t * > &buffers, uint32_t bufferSize)=0
virtual Status	setLidarCalibration (const lidar::Calibration &c)=0
virtual Status	setLightingConfig (const lighting::Config &c)=0
virtual Status	setMotorSpeed (float rpm)=0
virtual Status	setMtu (int32_t mtu)=0
virtual Status	setNetworkConfig (const system::NetworkConfig &c)=0
virtual Status	setTriggerSource (TriggerSource s)=0
virtual Status	startDirectedStream (const DirectedStream &stream)=0
virtual Status	startDirectedStreams (const std::vector< DirectedStream > &streams)=0
virtual Status	startStreams (DataSource mask)=0
virtual Status	stopDirectedStream (const DirectedStream &stream)=0
virtual Status	stopStreams (DataSource mask)=0
virtual Status	verifyBitstream (const std::string &file)=0
virtual Status	verifyFirmware (const std::string &file)=0
virtual	~Channel ()
Static Public Member Functions
static Channel *	Create (const std::string &sensorAddress)
static void	Destroy (Channel *instanceP)
static const char *	statusString (Status status)

Detailed Description

Class which manages all communications with a MultiSense device.

Example code to instantiate and destroy a Channel

 {.cpp}
     //
     // Instantiate a channel connecting to a sensor at the factory default
     // IP address
     crl::multisense::Channel* channel;
     channel = crl::multisense::Channel::Create("10.66.171.21");

     //
     // Query and send data to the sensor...

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Definition at line 69 of file MultiSenseChannel.hh.

Constructor & Destructor Documentation

virtual crl::multisense::Channel::~Channel ( ) [inline, virtual]

Destructor.

Definition at line 98 of file MultiSenseChannel.hh.

Member Function Documentation

virtual Status crl::multisense::Channel::addIsolatedCallback	(	image::Callback	callback,
		DataSource	imageSourceMask,
		void *	userDataP = `NULL`
	)		`[pure virtual]`

Add a user defined callback attached to the image streams specified by imageSourceMask. Each callback will create a unique internal thread dedicated to servicing the callback.

The image data passed to the callback are valid only until the callback returns. To reserve image data so that it persists longer than that, see member function reserveCallbackBuffer() below.

Image data is queued per-callback. For each image callback the internal queue depth is 5 images, but see member functions getLargeBufferDetails() and setLargeBuffers().

Adding multiple callbacks subscribing to the same image data is allowed. The same instance of image data will be presented to each callback with no copying done.

Multiple image types may be subscribed to simultaneously in a single callback by using an imageSourceMask argument that is the bitwise or of the appropriate DataSource values.

Multiple callbacks of differing types may be added in order to isolate image processing by thread.

Parameters:

callback	A user defined image::Callback to which image data will be sent.
imageSourceMask	The specific image types to stream to the user defined callback. Multiple image sources may be combined using the bitwise OR operator.
userDataP	A pointer to arbitrary user data. This typically is a pointer to the instance of the object where the callback is defined. See image::Header for a example of this usage

Returns:: A crl::multisense::Status indicating if the callback registration succeeded or failed

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::addIsolatedCallback	(	lidar::Callback	callback,
		void *	userDataP = `NULL`
	)		`[pure virtual]`

Add a user defined callback attached to a lidar stream. Each callback will create a unique internal thread dedicated to servicing the callback.

The lidar data passed to the callback are valid only until the callback returns. To reserve image data so that it persists longer than that, see member function reserveCallbackBuffer() below.

Lidar data is queued per-callback. For each lidar callback the maximum queue depth is 20 lidar scans.

Adding multiple callbacks subscribing to the same lidar data is allowed. The same instance of lidar data will be presented to each callback with no copying done.

Parameters:

callback	A user defined lidar::Callback to send lidar data to
userDataP	A pointer to arbitrary user data.

Returns:: A crl::multisense::Status indicating if the callback registration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual Status crl::multisense::Channel::addIsolatedCallback	(	pps::Callback	callback,
		void *	userDataP = `NULL`
	)		`[pure virtual]`

Add a user defined callback attached to a pulse per-second (PPS) stream. This PPS stream corresponds to the pulse on the OPTO-TX line.

Each callback will create a unique internal thread dedicated to servicing the callback.

PPS data is queued per-callback. For each PPS callback the maximum queue depth is 2 pps events.

Adding multiple callbacks subscribing to the same PPS data is allowed.

PPS data is stored on the heap and released after returning from the callback

Parameters:

callback	A user defined pps::Callback to send PPS data to
userDataP	A pointer to arbitrary user data.

Returns:: A crl::multisense::Status indicating if the callback registration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual Status crl::multisense::Channel::addIsolatedCallback	(	imu::Callback	callback,
		void *	userDataP = `NULL`
	)		`[pure virtual]`

Add a user defined callback attached to the IMU stream.

Each callback will create a unique internal thread dedicated to servicing the callback.

IMU data is queued per-callback. For each IMU callback the maximum queue depth is 50 IMU messages.

Adding multiple callbacks subscribing to the same IMU data is allowed.

IMU data is stored on the heap and released after returning from the callback

Each imu::Header contains multiple IMU samples to reduce the number of UDP packets sent from the sensor.

Parameters:

callback	A user defined imu::Callback to send PPS data to
userDataP	A pointer to arbitrary user data.

Returns:: A crl::multisense::Status indicating if the callback registration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

Channel * crl::multisense::Channel::Create ( const std::string & sensorAddress ) [static]

Create a Channel instance, used to manage all communications with a sensor. The resulting pointer must be explicitly destroyed using the static member function Channel::Destroy().

Parameters:

sensorAddress The device IPv4 address which can be a dotted-quad, or any hostname resolvable by gethostbyname().

return A pointer to a new Channel instance

Definition at line 575 of file channel.cc.

void crl::multisense::Channel::Destroy ( Channel * instanceP ) [static]

Destroy a channel instance that was created using the static member function Channel::Create(). This operation should be done before exiting

Parameters:

instanceP A pointer to a Channel instance to be destroyed

Definition at line 588 of file channel.cc.

virtual Status crl::multisense::Channel::flashBitstream ( const std::string & file ) [pure virtual]

Flash a new FPGA bitstream file to the sensor.

WARNING: This member should not be used directly. Inproper usage can result in the sensor being inoperable. Use the MultiSenseUpdater script to update the sensor's firmware/bitstream

Parameters:

file	The path to the file containing the new sensor bitstream

Returns:: A crl::multisense::Status indicating if the new bitstream was successfully flashed

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::flashFirmware ( const std::string & file ) [pure virtual]

Flash a new firmware file to the sensor.

WARNING: This member should not be used directly. Inproper usage can result in the sensor being inoperable. Use the MultiSenseUpdater script to update the sensor's firmware/bitstream

Parameters:

file	The path to the file containing the new sensor firmware

Returns:: A crl::multisense::Status indicating if the new firmware was successfully flashed

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getApiVersion ( VersionType & version ) [pure virtual]

Get the API version of LibMultiSense.

Parameters:

version The API version of LibMultiSense, returned by reference

Returns:: A crl::multisense::Status indicating if the LibMultiSense API version query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getDeviceInfo ( system::DeviceInfo & info ) [pure virtual]

Query the current sensor's device information.

See system::DeviceInfo for a usage example

Parameters:

info	A DeviceInfo returned by reference containing the device information for the current sensor

Returns:: A crl::multisense::Status indicating if the device information query was successful

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getDeviceModes ( std::vector< system::DeviceMode > & m ) [pure virtual]

Query the available sensor device modes.

See system::DeviceMode for a usage example

Parameters:

m	A vector of possible device modes returned by reference from the sensor

Returns:: A crl::multisense::Status indicating if the device mode query was successful

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getDirectedStreams ( std::vector< DirectedStream > & streams ) [pure virtual]

Get the current list of active streams.

NOTE: Directed streams are currently only supported by CRL's Monocular IP Camera. MultiSense S* hardware variations are not supported (the following functions will return the 'Status_Unknown' error code.)

Parameters:

streams A vector of DirectedStreams which is populated by getDirectedStreams()

Returns:: A crl::multisense::Status indicating if the DirectedStream query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getEnabledStreams ( DataSource & mask ) [pure virtual]

Get the current data streams which are enabled on the sensor.

Parameters:

mask	The current data streams which are enabled. These are returned by reference in mask

Returns:: A crl::multisense::Status indicating if the getEnabledStreams query succeeded.

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getImageCalibration ( image::Calibration & c ) [pure virtual]

Query the current camera calibration.

See image::Calibration for a usage example

Parameters:

c	A image calibration returned by reference from getImageCalibration()

Returns:: A crl::multisense::Status indicating if the image calibration was successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getImageConfig ( image::Config & c ) [pure virtual]

Query the image configuration.

See image::Config for a usage example

Parameters:

c	The image configuration returned by reference from the query

Returns:: A crl::multisense::Status indicating if the image configuration query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getImageHistogram	(	int64_t	frameId,
		image::Histogram &	histogram
	)		`[pure virtual]`

Get the image histogram for the image corresponding to a specified frameId.

See image::Histogram for a usage example

Parameters:

frameId	The frameId of the corresponding left image to query a histogram for. Histograms can only be queried for images with frameIds fewer than 20 frameIds from the most recent image's frameId.
histogram	A histogram returned by reference

Returns:: A crl::multisense::Status indicating if the histogram query was successful

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getImuConfig	(	uint32_t &	samplesPerMessage,
		std::vector< imu::Config > &	c
	)		`[pure virtual]`

Query the current IMU configuration.

See imu::Config for a usage example

Parameters:

samplesPerMessage	The number of samples (aggregate from all IMU types) that the sensor will queue internally before putting on the wire. Note that low settings combined with high IMU sensor rates may interfere with the acquisition and transmission of image and lidar data.
c	The current imu configuration returned by reference

Returns:: A crl::multisense::Status indicating if the IMU configuration was successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getImuInfo	(	uint32_t &	maxSamplesPerMesage,
		std::vector< imu::Info > &	info
	)		`[pure virtual]`

Query detailed information about the current sensor's IMU.

See imu::Info for a usage example

Parameters:

maxSamplesPerMesage	The maximum number of IMU samples which can be aggregated in a single IMU message
info	A vector of imu::Info returned by reference. This contains all the possible configurations for each IMU sensor

Returns:: A crl::multisense::Status indicating if the IMU info was successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getLargeBufferDetails	(	uint32_t &	bufferCount,
		uint32_t &	bufferSize
	)		`[pure virtual]`

Query the suggested number and size of the image buffers.

NOTe: Other number/size can be used but it is not recommended

The channel maintains and recycles a set of large buffers used for image storage and dispatching.

Parameters:

bufferCount	The number of buffers returned by reference
bufferSize	The size of a single buffer returned by reference

Returns:: A crl::multisense::Status indicating if the buffer details were successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getLidarCalibration ( lidar::Calibration & c ) [pure virtual]

Query the current laser calibration.

See lidar::Calibration for a usage example

Parameters:

c	A laser calibration returned by reference from getLidarCalibration()

Returns:: A crl::multisense::Status indicating if the laser calibration was successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getLightingConfig ( lighting::Config & c ) [pure virtual]

Query the on-board lighting configuration.

See lighting::Config for a usage example

Parameters:

c	A lighting configuration returned by reference

Returns:: A crl::multisense::Status indicating if the lighting configuration query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getLocalUdpPort ( uint16_t & port ) [pure virtual]

Query the system-assigned local UDP port.

Parameters:

port	The local system UDP port returned by reference

Returns:: A crl::multisense::Status indicating if the local UDP port was successfully queried

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getMtu ( int32_t & mtu ) [pure virtual]

Query the current sensor's MTU configuration. The MTU setting controls the maximum size of the UDP packets that will be transmitted from the sensor via Ethernet. In general, larger MTU settings are preferred, but the MTU value must not exceed the MTU setting of the network interface to which the MultiSense unit is sending data.

Parameters:

mtu	An int32_t returned by reference containing the current MTU setting

Returns:: A crl::multisense::Status indicating if the mtu query was successful

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getNetworkConfig ( system::NetworkConfig & c ) [pure virtual]

Query the current sensor's network configuration.

See system::NetworkConfig for a usage example

Parameters:

c	A NetworkConfig returned by reference containing the current sensor's network configuration

Returns:: A crl::multisense::Status indicating if the network configuration query was successful

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getSensorVersion ( VersionType & version ) [pure virtual]

Get the API version of the sensor firmware.

Parameters:

version The API version of the sensor firmware, returned by reference

Returns:: A crl::multisense::Status indicating if the sensor API version query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::getVersionInfo ( system::VersionInfo & v ) [pure virtual]

Get the version info for the sensor and LibMultiSense.

See system::VersionInfo for a usage example.

Parameters:

v	The version information returned by reference

Returns:: A crl::multisense::Status indicating if the version information query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::maxDirectedStreams ( uint32_t & maximum ) [pure virtual]

Query the number of simultaneous parties which can be supported.

NOTE: Directed streams are currently only supported by CRL's Monocular IP Camera. MultiSense S* hardware variations are not supported (the following functions will return the 'Status_Unknown' error code.)

If the number of maximum directed streams has already been achieved, startDirectedStream() will return an error code.

Parameters:

maximum The maximum number of DirectedStreams returned by reference

Returns:: A crl::multisense::Status indicating if the query succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::networkTimeSynchronization ( bool enabled ) [pure virtual]

Enable or disable local network-based time synchronization.

Each Channel will keep a continuously updating and filtered offset between the sensor's internal clock and the local system clock.

If enabled, all sensor timestamps will be reported in the local system clock frame, after the offset has been applied.

If disabled, all sensor timestamps will be reported in the frame of the sensor's clock, which is free-running from 0 seconds on power up.

The network-based time synchronization is enabled by default.

Parameters:

enabled A boolean flag which enables or disables network time synchronization

Returns:: A crl::multisense::Status indicating if the network-based time synchronization was successfully enabled or disabled

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::releaseCallbackBuffer ( void * referenceP ) [pure virtual]

Release image or lidar data reserved within a isolated callback.

releaseCallbackBuffer() may be called from any thread context.

Parameters:

referenceP A pointer to the reserved data returned by reserveCallbackBuffer()

Returns:: A crl::multisense::Status indicating if the callback data buffer was successfully released

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::removeIsolatedCallback ( image::Callback callback ) [pure virtual]

Unregister a user defined image::Callback. This stops the callback from receiving image data.

Parameters:

callback The user defined imu::Callback to unregister

Returns:: A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual Status crl::multisense::Channel::removeIsolatedCallback ( lidar::Callback callback ) [pure virtual]

Unregister a user defined lidar::Callback. This stops the callback from receiving lidar data

Parameters:

callback The user defined image::Callback to unregister

Returns:: A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual Status crl::multisense::Channel::removeIsolatedCallback ( pps::Callback callback ) [pure virtual]

Unregister a user defined pps::Callback. This stops the callback from receiving pps data

Parameters:

callback The user defined lidar::Callback to unregister

Returns:: A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual Status crl::multisense::Channel::removeIsolatedCallback ( imu::Callback callback ) [pure virtual]

Unregister a user defined imu::Callback. This stops the callback from receiving imu data

Parameters:

callback The user defined pps::Callback to unregister

Returns:: A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implemented in crl::multisense::details::impl, crl::multisense::details::impl, crl::multisense::details::impl, and crl::multisense::details::impl.

virtual void* crl::multisense::Channel::reserveCallbackBuffer ( ) [pure virtual]

Reserve image or lidar data within a isolated callback so it is available after the callback returns.

The memory buffer behind an image or lidar datum within an isolated callback may be reserved by the user. This is useful for performing data processing outside of the channel callback, without having to perform a memory copy of the sensor data.

The channel is guaranteed not to reuse the memory buffer until the user releases it back. Note that there are a limited amount of memory buffers, and care should be taken not to reserve them for too long.

Returns:: A valid (non NULL) reference only when called within the context of an image or lidar callback.

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setDeviceInfo	(	const std::string &	key,
		const system::DeviceInfo &	i
	)		`[pure virtual]`

Set the current sensor's device information.

NOTE: This function is intended for use at the factory, and is not publicly supported.

Parameters:

key	The secret key required to write new device information
i	The new DeviceInfo to write to the sensor

Returns:: A crl::multisense::Status indicating if the device information was successfully received

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setImageCalibration ( const image::Calibration & c ) [pure virtual]

Set the current camera calibration.

See image::Calibration for a usage example

Parameters:

c	A new image calibration to send to the sensor

Returns:: A crl::multisense::Status indicating if the image calibration was successfully received by the sensor

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setImageConfig ( const image::Config & c ) [pure virtual]

Set the image configuration.

See image::Config for a usage example

Parameters:

c	The new image configuration to send to the sensor

Returns:: A crl::multisense::Status indicating if the image configuration was successfully received by the sensor

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setImuConfig	(	bool	storeSettingsInFlash,
		uint32_t	samplesPerMessage,
		const std::vector< imu::Config > &	c
	)		`[pure virtual]`

Set a new IMU configuration.

See imu::Config for a usage example

IMU streams must be restarted for any configuration changes to be reflected.

Parameters:

storeSettingsInFlash	A boolean flag which indicated if the configuration saved in non-volatile flash on the sensor head
samplesPerMessage	The new number of IMU samples to aggregate before sending a new IMU message. If the value is zero the sensor will keep its current samplesPerMessage setting
c	The imu configuration that will be sent to the sensor.

Returns:: A crl::multisense::Status indicating if the IMU configuration was successfully received

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setLargeBuffers	(	const std::vector< uint8_t * > &	buffers,
		uint32_t	bufferSize
	)		`[pure virtual]`

Set user allocated large buffer.

This tells the channel to use the supplied buffers in lieu of its automatically allocated internal buffers. The channel's internal buffers will be freed.

All supplied buffers must be of the same size.

Responsibility for freeing the supplied buffers after channel closure is left to the user

Parameters:

buffers	A vector of new buffers to use for image storage. All buffers in the vector must be of the same size
bufferSize	The size of one buffer in the buffers vector

Returns:: A crl::multisense::Status indicating if the new buffers were successfully received

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setLidarCalibration ( const lidar::Calibration & c ) [pure virtual]

Set the current laser calibration.

See lidar::Calibration for a usage example

Parameters:

c	A new laser calibration to send to the sensor

Returns:: A crl::multisense::Status indicating if the laser calibration was successfully received by the sensor

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setLightingConfig ( const lighting::Config & c ) [pure virtual]

Set the on-board lighting configuration.

See lighting::Config for a usage example

Parameters:

c	A lighting configuration to send to the sensor

Returns:: A crl::multisense::Status indicating if the lighting reconfiguration succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setMotorSpeed ( float rpm ) [pure virtual]

Set the laser spindle rotation speed. A positive value rotates the laser in the counter-clockwise direction. A negative value rotates the laser in the clockwise direction.

NOTE: Only positive rotations are recommended. Full life-cycle testing has only been done using a positive rotation.

Parameters:

rpm	The number of rotations per minute [-50.0, 50.0]

Returns:: A crl::multisense::Status indicating if the motor speed change succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setMtu ( int32_t mtu ) [pure virtual]

Set the current sensor's MTU.

Parameters:

mtu	The new MTU to configure the sensor with

Returns:: A crl::multisense::Status indicating if the mtu configuration was successfully received

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setNetworkConfig ( const system::NetworkConfig & c ) [pure virtual]

Set the current sensor's network configuration.

See system::NetworkConfig for a usage example

Parameters:

c	A new network configuration to send to the sensor

Returns:: A crl::multisense::Status indicating if the network configuration was successfully received

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::setTriggerSource ( TriggerSource s ) [pure virtual]

Set a new image trigger source. This is used to specify which source is used to trigger a image capture.

By default Trigger_Internal is used

Parameters:

s	The new desired trigger source

Returns:: A crl::multisense::Status indicating if the trigger source change succeeded

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::startDirectedStream ( const DirectedStream & stream ) [pure virtual]

Start a directed stream used to stream data to multiple 3rd parties.

NOTE: Directed streams are currently only supported by CRL's Monocular IP Camera. MultiSense S* hardware variations are not supported (the following functions will return the 'Status_Unknown' error code.)

Secondary stream control. In addition to the primary stream control above, a set of streams may be directed to a 3rd party (or multiple 3rd parties), where a 3rd party is uniquely defined as an IP address / UDP port pair.

The number of simulataneous parties supported can be queried via maxDirectedStreams(). If the number of maximum directed streams has already been achieved, startDirectedStream() will return an error code.

If the stream address/port combination already exists as a streaming destination, then startDirectedStream() will update the data source mask and FPS decimation.

Parameters:

stream A DrirectedStream to either add or update setting of

Returns:: A crl::multisense::Status indicating if the DirectedStream was successfully started

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::startDirectedStreams ( const std::vector< DirectedStream > & streams ) [pure virtual]

Start several directed streams used to stream data to multiple 3rd parties.

NOTE: Directed streams are currently only supported by CRL's Monocular IP Camera. MultiSense S* hardware variations are not supported (the following functions will return the 'Status_Unknown' error code.)

Secondary stream control. In addition to the primary stream control above, a set of streams may be directed to a 3rd party (or multiple 3rd parties), where a 3rd party is uniquely defined as an IP address / UDP port pair.

The number of simulataneous parties supported can be queried via maxDirectedStreams(). If the number of maximum directed streams has already been achieved, startDirectedStream() will return an error code.

If the stream address/port combination already exists as a streaming destination, then startDirectedStream() will update the data source mask and FPS decimation.

Parameters:

streams A vector of DrirectedStream to either add or update setting of

Returns:: A crl::multisense::Status indicating if the DirectedStream was successfully started

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::startStreams ( DataSource mask ) [pure virtual]

Start streaming various DataSources from the sensor.

This is the primary means of stream control. All streams will come to the requestor (i.e., the machine making the request with this API. The server peeks the source address and port from the request UDP packet.)

Multiple streams may be started at once by setting the individual source bits in the mask. Different streams may be started at differing times by calling startStreams() multiple times.

Parameters:

mask	The DataSources to start streaming. Multiple streams can be started by performing a bitwise OR operation with various crl::multisense::DataSource definitions

Returns:: A crl::multisense::Status indicating if the specified streams were successfully started

Implemented in crl::multisense::details::impl.

const char * crl::multisense::Channel::statusString ( Status status ) [static]

Helper method used to get a string describing a specific status code

Parameters:

status A status code to convert to a string

return A char* corresponding to the input status code

Definition at line 601 of file channel.cc.

virtual Status crl::multisense::Channel::stopDirectedStream ( const DirectedStream & stream ) [pure virtual]

Stop a specific directed stream.

NOTE: Directed streams are currently only supported by CRL's Monocular IP Camera. MultiSense S* hardware variations are not supported (the following functions will return the 'Status_Unknown' error code.)

Parameters:

stream A DirectedStream to stop

Returns:: A crl::multisense::Status indicating if the DirectedStream was successfully stopped

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::stopStreams ( DataSource mask ) [pure virtual]

Stop specific data streams from the sensor.

Stop streams may be called to selectively disable streams at any time. (use stopStreams(crl::multisense::Source_All) to disable all streaming.

Parameters:

mask	The DataSources to stop streaming. Multiple streams can be stopped by performing a bitwise OR operation with various crl::multisense::DataSource definitions

Returns:: A crl::multisense::Status indicating if the specified streams were successfully stopped

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::verifyBitstream ( const std::string & file ) [pure virtual]

Verify that the current bitstream in the sensor's flash is the same as the bitstream specified by file

Parameters:

file	The path to the file containing the bitstream to check

Returns:: A crl::multisense::Status indicating if the bitstream specified by file is loaded in the sensor's non-volatile flash memory

Implemented in crl::multisense::details::impl.

virtual Status crl::multisense::Channel::verifyFirmware ( const std::string & file ) [pure virtual]

Verify the current firmware in the sensor's flash is the same as the firmware specified by file

Parameters:

file	The path to the file containing the firmware to check

Returns:: A crl::multisense::Status indicating if the firmware specified by file is loaded in the sensor's non-volatile flash memory

Implemented in crl::multisense::details::impl.

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation