Classes | Public Types | Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | Static Private Attributes | List of all members
crl::multisense::details::impl Class Reference

#include <channel.hh>

Inheritance diagram for crl::multisense::details::impl:
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Classes

class  UdpTracker
 

Public Types

typedef int32_t socket_t
 

Public Member Functions

virtual Status addIsolatedCallback (image::Callback callback, DataSource imageSourceMask, void *userDataP)
 
virtual Status addIsolatedCallback (lidar::Callback callback, void *userDataP)
 
virtual Status addIsolatedCallback (pps::Callback callback, void *userDataP)
 
virtual Status addIsolatedCallback (imu::Callback callback, void *userDataP)
 
virtual Status flashBitstream (const std::string &file)
 
virtual Status flashFirmware (const std::string &file)
 
virtual Status getApiVersion (VersionType &version)
 
virtual Status getDeviceInfo (system::DeviceInfo &info)
 
virtual Status getDeviceModes (std::vector< system::DeviceMode > &modes)
 
virtual Status getDeviceStatus (system::StatusMessage &status)
 
virtual Status getDirectedStreams (std::vector< DirectedStream > &streams)
 
virtual Status getEnabledStreams (DataSource &mask)
 
virtual Status getExternalCalibration (system::ExternalCalibration &calibration)
 
virtual Status getImageCalibration (image::Calibration &c)
 
virtual Status getImageConfig (image::Config &c)
 
virtual Status getImageHistogram (int64_t frameId, image::Histogram &histogram)
 
virtual Status getImuConfig (uint32_t &samplesPerMessage, std::vector< imu::Config > &c)
 
virtual Status getImuInfo (uint32_t &maxSamplesPerMessage, std::vector< imu::Info > &info)
 
virtual Status getLargeBufferDetails (uint32_t &bufferCount, uint32_t &bufferSize)
 
virtual Status getLidarCalibration (lidar::Calibration &c)
 
virtual Status getLightingConfig (lighting::Config &c)
 
virtual Status getLightingSensorStatus (lighting::SensorStatus &status)
 
virtual Status getLocalUdpPort (uint16_t &port)
 
virtual Status getMotorPos (int32_t &mtu)
 
virtual Status getMtu (int32_t &mtu)
 
virtual Status getNetworkConfig (system::NetworkConfig &c)
 
virtual Status getPtpStatus (int64_t frameId, system::PtpStatus &ptpStatus)
 
virtual Status getSensorCalibration (image::SensorCalibration &c)
 
virtual Status getSensorVersion (VersionType &version)
 
virtual Status getTransmitDelay (image::TransmitDelay &c)
 
virtual Status getVersionInfo (system::VersionInfo &v)
 
 impl (const std::string &address)
 
virtual Status maxDirectedStreams (uint32_t &maximum)
 
virtual Status networkTimeSynchronization (bool enabled)
 
virtual Status ptpTimeSynchronization (bool enabled)
 
virtual Status releaseCallbackBuffer (void *referenceP)
 
virtual Status removeIsolatedCallback (image::Callback callback)
 
virtual Status removeIsolatedCallback (lidar::Callback callback)
 
virtual Status removeIsolatedCallback (pps::Callback callback)
 
virtual Status removeIsolatedCallback (imu::Callback callback)
 
virtual void * reserveCallbackBuffer ()
 
virtual Status setDeviceInfo (const std::string &key, const system::DeviceInfo &i)
 
virtual Status setExternalCalibration (const system::ExternalCalibration &calibration)
 
virtual Status setImageCalibration (const image::Calibration &c)
 
virtual Status setImageConfig (const image::Config &c)
 
virtual Status setImuConfig (bool storeSettingsInFlash, uint32_t samplesPerMessage, const std::vector< imu::Config > &c)
 
virtual Status setLargeBuffers (const std::vector< uint8_t * > &buffers, uint32_t bufferSize)
 
virtual Status setLidarCalibration (const lidar::Calibration &c)
 
virtual Status setLightingConfig (const lighting::Config &c)
 
virtual Status setMotorSpeed (float rpm)
 
virtual Status setMtu (int32_t mtu)
 
virtual Status setNetworkConfig (const system::NetworkConfig &c)
 
virtual Status setSensorCalibration (const image::SensorCalibration &c)
 
virtual Status setTransmitDelay (const image::TransmitDelay &c)
 
virtual Status setTriggerSource (TriggerSource s)
 
virtual Status startDirectedStream (const DirectedStream &stream)
 
virtual Status startDirectedStreams (const std::vector< DirectedStream > &streams)
 
virtual Status startStreams (DataSource mask)
 
virtual Status stopDirectedStream (const DirectedStream &stream)
 
virtual Status stopStreams (DataSource mask)
 
virtual Status verifyBitstream (const std::string &file)
 
virtual Status verifyFirmware (const std::string &file)
 
 ~impl ()
 
- Public Member Functions inherited from crl::multisense::Channel
virtual ~Channel ()
 

Private Types

typedef std::vector< utility::BufferStreamWriter * > BufferPool
 
typedef void(* UdpAssembler) (utility::BufferStreamWriter &stream, const uint8_t *dataP, uint32_t offset, uint32_t length)
 
typedef std::map< wire::IdType, UdpAssembler > UdpAssemblerMap
 

Private Member Functions

void applySensorTimeOffset (const double &offset)
 
void bind ()
 
void cleanup ()
 
void dispatch (utility::BufferStreamWriter &buffer)
 
void dispatchImage (utility::BufferStream &buffer, image::Header &header)
 
void dispatchImu (imu::Header &header)
 
void dispatchLidar (utility::BufferStream &buffer, lidar::Header &header)
 
void dispatchPps (pps::Header &header)
 
Status doFlashOp (const std::string &filename, uint32_t operation, uint32_t region)
 
void eraseFlashRegion (uint32_t region)
 
utility::BufferStreamWriter & findFreeBuffer (uint32_t messageLength)
 
template<class WireT >
void getImageTime (const WireT *wire, uint32_t &seconds, uint32_t &microSeconds)
 
UdpAssembler getUdpAssembler (const uint8_t *udpDatagramP, uint32_t length)
 
void handle ()
 
void programOrVerifyFlashRegion (std::ifstream &file, uint32_t operation, uint32_t region)
 
template<class T >
void publish (const T &message)
 
void publish (const utility::BufferStreamWriter &stream)
 
double sensorToLocalTime (const double &sensorTime)
 
void sensorToLocalTime (const double &sensorTime, uint32_t &seconds, uint32_t &microseconds)
 
template<typename T >
void toHeaderTime (T nanoSeconds, uint32_t &seconds, uint32_t &microSeconds) const
 
const int64_t & unwrapSequenceId (uint16_t id)
 
template<class T >
Status waitAck (const T &msg, wire::IdType id=MSG_ID(T::ID), const double &timeout=DEFAULT_ACK_TIMEOUT(), int32_t attempts=DEFAULT_ACK_ATTEMPTS)
 
template<class T , class U >
Status waitData (const T &command, U &data, const double &timeout=DEFAULT_ACK_TIMEOUT(), int32_t attempts=DEFAULT_ACK_ATTEMPTS)
 

Static Private Member Functions

static double DEFAULT_ACK_TIMEOUT ()
 
static uint32_t hardwareApiToWire (uint32_t h)
 
static uint32_t hardwareWireToApi (uint32_t h)
 
static uint32_t imagerApiToWire (uint32_t h)
 
static uint32_t imagerWireToApi (uint32_t h)
 
static void * rxThread (void *userDataP)
 
static wire::SourceType sourceApiToWire (DataSource mask)
 
static DataSource sourceWireToApi (wire::SourceType mask)
 
static void * statusThread (void *userDataP)
 

Private Attributes

utility::Mutex m_dispatchLock
 
std::list< ImageListener * > m_imageListeners
 
DepthCache< int64_t, wire::ImageMeta > m_imageMetaCache
 
std::list< ImuListener * > m_imuListeners
 
std::vector< uint8_t > m_incomingBuffer
 
int32_t m_lastRxSeqId
 
std::list< LidarListener * > m_lidarListeners
 
MessageMap m_messages
 
bool m_networkTimeSyncEnabled
 
std::list< PpsListener * > m_ppsListeners
 
bool m_ptpTimeSyncEnabled
 
BufferPool m_rxLargeBufferPool
 
utility::Mutex m_rxLock
 
BufferPool m_rxSmallBufferPool
 
utility::Thread * m_rxThreadP
 
struct sockaddr_in m_sensorAddress
 
int32_t m_sensorMtu
 
wire::VersionResponse m_sensorVersion
 
socket_t m_serverSocket
 
uint16_t m_serverSocketPort
 
wire::StatusResponse m_statusResponseMessage
 
utility::Thread * m_statusThreadP
 
utility::Mutex m_streamLock
 
DataSource m_streamsEnabled
 
bool m_threadsRunning
 
utility::Mutex m_timeLock
 
double m_timeOffset
 
bool m_timeOffsetInit
 
uint16_t m_txSeqId
 
UdpAssemblerMap m_udpAssemblerMap
 
DepthCache< int64_t, UdpTracker > m_udpTrackerCache
 
int64_t m_unWrappedRxSeqId
 
MessageWatch m_watch
 

Static Private Attributes

static CRL_CONSTEXPR VersionType API_VERSION = 0x0308
 
static CRL_CONSTEXPR uint32_t DEFAULT_ACK_ATTEMPTS = 5
 
static CRL_CONSTEXPR uint16_t DEFAULT_SENSOR_TX_PORT = 9001
 
static CRL_CONSTEXPR uint32_t IMAGE_META_CACHE_DEPTH = 20
 
static CRL_CONSTEXPR uint32_t MAX_DIRECTED_STREAMS = 8
 
static CRL_CONSTEXPR uint32_t MAX_MTU_SIZE = 9000
 
static CRL_CONSTEXPR uint32_t MAX_USER_IMAGE_QUEUE_SIZE = 5
 
static CRL_CONSTEXPR uint32_t MAX_USER_IMU_QUEUE_SIZE = 50
 
static CRL_CONSTEXPR uint32_t MAX_USER_LASER_QUEUE_SIZE = 20
 
static CRL_CONSTEXPR uint32_t MAX_USER_PPS_QUEUE_SIZE = 2
 
static CRL_CONSTEXPR uint32_t RX_POOL_LARGE_BUFFER_COUNT = 50
 
static CRL_CONSTEXPR uint32_t RX_POOL_LARGE_BUFFER_SIZE = (10 * (1024 * 1024))
 
static CRL_CONSTEXPR uint32_t RX_POOL_SMALL_BUFFER_COUNT = 100
 
static CRL_CONSTEXPR uint32_t RX_POOL_SMALL_BUFFER_SIZE = (10 * (1024))
 
static CRL_CONSTEXPR uint32_t TIME_SYNC_OFFSET_DECAY = 8
 
static CRL_CONSTEXPR uint32_t UDP_TRACKER_CACHE_DEPTH = 10
 

Additional Inherited Members

- Static Public Member Functions inherited from crl::multisense::Channel
static Channel * Create (const std::string &sensorAddress)
 
static void Destroy (Channel *instanceP)
 
static const char * statusString (Status status)
 

Detailed Description

Definition at line 84 of file channel.hh.

Member Typedef Documentation

typedef std::vector<utility::BufferStreamWriter*> crl::multisense::details::impl::BufferPool
private

Definition at line 381 of file channel.hh.

typedef int32_t crl::multisense::details::impl::socket_t

Definition at line 90 of file channel.hh.

typedef void(* crl::multisense::details::impl::UdpAssembler) (utility::BufferStreamWriter &stream, const uint8_t *dataP, uint32_t offset, uint32_t length)
private

Definition at line 209 of file channel.hh.

typedef std::map<wire::IdType, UdpAssembler> crl::multisense::details::impl::UdpAssemblerMap
private

Definition at line 394 of file channel.hh.

Constructor & Destructor Documentation

crl::multisense::details::impl::impl ( const std::string &  address)

Definition at line 63 of file channel.cc.

crl::multisense::details::impl::~impl ( )

Definition at line 236 of file channel.cc.

Member Function Documentation

Status crl::multisense::details::impl::addIsolatedCallback ( image::Callback  callback,
DataSource  imageSourceMask,
void *  userDataP 
)
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
callbackA user defined image::Callback to which image data will be sent.
imageSourceMaskThe specific image types to stream to the user defined callback. Multiple image sources may be combined using the bitwise OR operator.
userDataPA 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

Implements crl::multisense::Channel.

Definition at line 120 of file public.cc.

Status crl::multisense::details::impl::addIsolatedCallback ( lidar::Callback  callback,
void *  userDataP 
)
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
callbackA user defined lidar::Callback to send lidar data to
userDataPA pointer to arbitrary user data.
Returns
A crl::multisense::Status indicating if the callback registration succeeded or failed

Implements crl::multisense::Channel.

Definition at line 142 of file public.cc.

virtual Status crl::multisense::details::impl::addIsolatedCallback ( pps::Callback  callback,
void *  userDataP 
)
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
callbackA user defined lidar::Callback to send lidar data to
userDataPA pointer to arbitrary user data.
Returns
A crl::multisense::Status indicating if the callback registration succeeded or failed

Implements crl::multisense::Channel.

virtual Status crl::multisense::details::impl::addIsolatedCallback ( imu::Callback  callback,
void *  userDataP 
)
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
callbackA user defined lidar::Callback to send lidar data to
userDataPA pointer to arbitrary user data.
Returns
A crl::multisense::Status indicating if the callback registration succeeded or failed

Implements crl::multisense::Channel.

void crl::multisense::details::impl::applySensorTimeOffset ( const double &  offset)
private

Definition at line 503 of file channel.cc.

void crl::multisense::details::impl::bind ( )
private

Definition at line 245 of file channel.cc.

void crl::multisense::details::impl::cleanup ( )
private

Definition at line 185 of file channel.cc.

static double crl::multisense::details::impl::DEFAULT_ACK_TIMEOUT ( )
inlinestaticprivate

Definition at line 270 of file channel.hh.

void crl::multisense::details::impl::dispatch ( utility::BufferStreamWriter &  buffer)
private

Definition at line 165 of file dispatch.cc.

void crl::multisense::details::impl::dispatchImage ( utility::BufferStream &  buffer,
image::Header &  header 
)
private

Definition at line 104 of file dispatch.cc.

void crl::multisense::details::impl::dispatchImu ( imu::Header &  header)
private

Definition at line 150 of file dispatch.cc.

void crl::multisense::details::impl::dispatchLidar ( utility::BufferStream &  buffer,
lidar::Header &  header 
)
private

Definition at line 120 of file dispatch.cc.

void crl::multisense::details::impl::dispatchPps ( pps::Header &  header)
private

Definition at line 135 of file dispatch.cc.

Status crl::multisense::details::impl::doFlashOp ( const std::string &  filename,
uint32_t  operation,
uint32_t  region 
)
private

Definition at line 185 of file flash.cc.

void crl::multisense::details::impl::eraseFlashRegion ( uint32_t  region)
private

Definition at line 51 of file flash.cc.

utility::BufferStreamWriter & crl::multisense::details::impl::findFreeBuffer ( uint32_t  messageLength)
private

Definition at line 500 of file dispatch.cc.

Status crl::multisense::details::impl::flashBitstream ( const std::string &  file)
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
fileThe path to the file containing the new sensor bitstream
Returns
A crl::multisense::Status indicating if the new bitstream was successfully flashed

Implements crl::multisense::Channel.

Definition at line 1211 of file public.cc.

Status crl::multisense::details::impl::flashFirmware ( const std::string &  file)
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
fileThe path to the file containing the new sensor firmware
Returns
A crl::multisense::Status indicating if the new firmware was successfully flashed

Implements crl::multisense::Channel.

Definition at line 1221 of file public.cc.

Status crl::multisense::details::impl::getApiVersion ( VersionType &  version)
virtual

Get the API version of LibMultiSense.

Parameters
versionThe API version of LibMultiSense, returned by reference
Returns
A crl::multisense::Status indicating if the LibMultiSense API version query succeeded

Implements crl::multisense::Channel.

Definition at line 678 of file public.cc.

Status crl::multisense::details::impl::getDeviceInfo ( system::DeviceInfo &  info)
virtual

Query the current sensor's device information.

See system::DeviceInfo for a usage example

Parameters
infoA 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

Implements crl::multisense::Channel.

Definition at line 1059 of file public.cc.

Status crl::multisense::details::impl::getDeviceModes ( std::vector< system::DeviceMode > &  m)
virtual

Query the available sensor device modes.

See system::DeviceMode for a usage example

Parameters
mA vector of possible device modes returned by reference from the sensor
Returns
A crl::multisense::Status indicating if the device mode query was successful

Implements crl::multisense::Channel.

Definition at line 956 of file public.cc.

Status crl::multisense::details::impl::getDeviceStatus ( system::StatusMessage &  status)
virtual

Get the current status of the device. Status is updated at 1Hz and should not be queried at a higher frequency.

Parameters
statusThe status of the attached device returned by reference
Returns
A crl::multisense::Status indicating if the status was successfully queried

Implements crl::multisense::Channel.

Definition at line 1103 of file public.cc.

Status crl::multisense::details::impl::getDirectedStreams ( std::vector< DirectedStream > &  streams)
virtual

Get the current list of active streams.

Parameters
streamsA vector of DirectedStreams which is populated by getDirectedStreams()
Returns
A crl::multisense::Status indicating if the DirectedStream query succeeded

Implements crl::multisense::Channel.

Definition at line 541 of file public.cc.

Status crl::multisense::details::impl::getEnabledStreams ( DataSource &  mask)
virtual

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

Parameters
maskThe current data streams which are enabled. These are returned by reference in mask
Returns
A crl::multisense::Status indicating if the getEnabledStreams query succeeded.

Implements crl::multisense::Channel.

Definition at line 492 of file public.cc.

Status crl::multisense::details::impl::getExternalCalibration ( system::ExternalCalibration &  calibration)
virtual

Get the external calibration associated with the MultiSense device

Parameters
calibrationThe external calibration object to query from non-volatile flash
Returns
A crl::multisense::Status indicating if the calibration was successfully queried

Implements crl::multisense::Channel.

Definition at line 1136 of file public.cc.

Status crl::multisense::details::impl::getImageCalibration ( image::Calibration &  c)
virtual

Query the current camera calibration.

See image::Calibration for a usage example

Parameters
cA image calibration returned by reference from getImageCalibration()
Returns
A crl::multisense::Status indicating if the image calibration was successfully queried

Implements crl::multisense::Channel.

Definition at line 814 of file public.cc.

Status crl::multisense::details::impl::getImageConfig ( image::Config &  c)
virtual

Query the image configuration.

See image::Config for a usage example

Parameters
cThe image configuration returned by reference from the query
Returns
A crl::multisense::Status indicating if the image configuration query succeeded

Implements crl::multisense::Channel.

Definition at line 703 of file public.cc.

Status crl::multisense::details::impl::getImageHistogram ( int64_t  frameId,
image::Histogram &  histogram 
)
virtual

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

See image::Histogram for a usage example

Parameters
frameIdThe 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.
histogramA histogram returned by reference
Returns
A crl::multisense::Status indicating if the histogram query was successful

Implements crl::multisense::Channel.

Definition at line 367 of file public.cc.

template<class WireT >
void crl::multisense::details::impl::getImageTime ( const WireT *  wire,
uint32_t &  seconds,
uint32_t &  microSeconds 
)
inlineprivate

Definition at line 227 of file channel.hh.

Status crl::multisense::details::impl::getImuConfig ( uint32_t &  samplesPerMessage,
std::vector< imu::Config > &  c 
)
virtual

Query the current IMU configuration.

See imu::Config for a usage example

Parameters
samplesPerMessageThe 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.
cThe current imu configuration returned by reference
Returns
A crl::multisense::Status indicating if the IMU configuration was successfully queried

Implements crl::multisense::Channel.

Definition at line 1291 of file public.cc.

Status crl::multisense::details::impl::getImuInfo ( uint32_t &  maxSamplesPerMesage,
std::vector< imu::Info > &  info 
)
virtual

Query detailed information about the current sensor's IMU.

See imu::Info for a usage example

Parameters
maxSamplesPerMesageThe maximum number of IMU samples which can be aggregated in a single IMU message
infoA 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

Implements crl::multisense::Channel.

Definition at line 1251 of file public.cc.

Status crl::multisense::details::impl::getLargeBufferDetails ( uint32_t &  bufferCount,
uint32_t &  bufferSize 
)
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
bufferCountThe number of buffers returned by reference
bufferSizeThe size of a single buffer returned by reference
Returns
A crl::multisense::Status indicating if the buffer details were successfully queried

Implements crl::multisense::Channel.

Definition at line 1343 of file public.cc.

Status crl::multisense::details::impl::getLidarCalibration ( lidar::Calibration &  c)
virtual

Query the current laser calibration.

See lidar::Calibration for a usage example

Parameters
cA laser calibration returned by reference from getLidarCalibration()
Returns
A crl::multisense::Status indicating if the laser calibration was successfully queried

Implements crl::multisense::Channel.

Definition at line 926 of file public.cc.

Status crl::multisense::details::impl::getLightingConfig ( lighting::Config &  c)
virtual

Query the on-board lighting configuration.

See lighting::Config for a usage example

Parameters
cA lighting configuration returned by reference
Returns
A crl::multisense::Status indicating if the lighting configuration query succeeded

Implements crl::multisense::Channel.

Definition at line 614 of file public.cc.

Status crl::multisense::details::impl::getLightingSensorStatus ( lighting::SensorStatus &  status)
virtual

Get the status of the sensors attached to the external lighting platform

Parameters
statusThe status of the external lighting sensors returned by reference

Implements crl::multisense::Channel.

Definition at line 652 of file public.cc.

Status crl::multisense::details::impl::getLocalUdpPort ( uint16_t &  port)
virtual

Query the system-assigned local UDP port.

Parameters
portThe local system UDP port returned by reference
Returns
A crl::multisense::Status indicating if the local UDP port was successfully queried

Implements crl::multisense::Channel.

Definition at line 1397 of file public.cc.

Status crl::multisense::details::impl::getMotorPos ( int32_t &  mtu)
virtual

Query the maxon or SLB motor for its current encoder position in microradians.

Parameters
mtuAn int32_t returned by reference containing the current motor encoder position in microradians
Returns
A crl::multisense::Status indicating success if a motor was found and could report its encoder position, or fail if no motor is present.

Implements crl::multisense::Channel.

Definition at line 1021 of file public.cc.

Status crl::multisense::details::impl::getMtu ( int32_t &  mtu)
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
mtuAn int32_t returned by reference containing the current MTU setting
Returns
A crl::multisense::Status indicating if the mtu query was successful

Implements crl::multisense::Channel.

Definition at line 1010 of file public.cc.

Status crl::multisense::details::impl::getNetworkConfig ( system::NetworkConfig &  c)
virtual

Query the current sensor's network configuration.

See system::NetworkConfig for a usage example

Parameters
cA NetworkConfig returned by reference containing the current sensor's network configuration
Returns
A crl::multisense::Status indicating if the network configuration query was successful

Implements crl::multisense::Channel.

Definition at line 1042 of file public.cc.

Status crl::multisense::details::impl::getPtpStatus ( int64_t  frameId,
system::PtpStatus &  ptpStatus 
)
virtual

Get PTP status information for a specific image

Parameters
frameIdThe frameId of the corresponding left image to query a PTP status info for. Status can only be queried for images with frameIds fewer than 20 frameIds from the most recent image's frameId.
ptpStatusThe PTP status information associated with a image
Returns
A crl::multisense::Status indicating if the PTP status query was successful

Implements crl::multisense::Channel.

Definition at line 404 of file public.cc.

Status crl::multisense::details::impl::getSensorCalibration ( image::SensorCalibration &  c)
virtual

Query the current device imager calibration. This is the DC imager gain and black level offset used to match the left and right imagers to improve stereo matching performance.

Parameters
cThe sensor calibration instance which will be returned by reference
Returns
A crl::multisense::Status indicating if the imager calibration was successfully queried

Implements crl::multisense::Channel.

Definition at line 868 of file public.cc.

Status crl::multisense::details::impl::getSensorVersion ( VersionType &  version)
virtual

Get the API version of the sensor firmware.

Parameters
versionThe API version of the sensor firmware, returned by reference
Returns
A crl::multisense::Status indicating if the sensor API version query succeeded

Implements crl::multisense::Channel.

Definition at line 669 of file public.cc.

Status crl::multisense::details::impl::getTransmitDelay ( image::TransmitDelay &  c)
virtual

Query the current device network delay.

Parameters
cThe network delay instance which will be returned by reference
Returns
A crl::multisense::Status indicating if the network delay was successfully queried

Implements crl::multisense::Channel.

Definition at line 899 of file public.cc.

impl::UdpAssembler crl::multisense::details::impl::getUdpAssembler ( const uint8_t *  udpDatagramP,
uint32_t  length 
)
private

Definition at line 474 of file dispatch.cc.

Status crl::multisense::details::impl::getVersionInfo ( system::VersionInfo &  v)
virtual

Get the version info for the sensor and LibMultiSense.

See system::VersionInfo for a usage example.

Parameters
vThe version information returned by reference
Returns
A crl::multisense::Status indicating if the version information query succeeded

Implements crl::multisense::Channel.

Definition at line 687 of file public.cc.

void crl::multisense::details::impl::handle ( )
private

Definition at line 568 of file dispatch.cc.

uint32_t crl::multisense::details::impl::hardwareApiToWire ( uint32_t  h)
staticprivate

Definition at line 429 of file channel.cc.

uint32_t crl::multisense::details::impl::hardwareWireToApi ( uint32_t  h)
staticprivate

Definition at line 449 of file channel.cc.

uint32_t crl::multisense::details::impl::imagerApiToWire ( uint32_t  h)
staticprivate

Definition at line 469 of file channel.cc.

uint32_t crl::multisense::details::impl::imagerWireToApi ( uint32_t  h)
staticprivate

Definition at line 484 of file channel.cc.

Status crl::multisense::details::impl::maxDirectedStreams ( uint32_t &  maximum)
virtual

Query the number of simultaneous parties which can be supported.

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

Parameters
maximumThe maximum number of DirectedStreams returned by reference
Returns
A crl::multisense::Status indicating if the query succeeded

Implements crl::multisense::Channel.

Definition at line 561 of file public.cc.

Status crl::multisense::details::impl::networkTimeSynchronization ( bool  enabled)
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
enabledA 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

Implements crl::multisense::Channel.

Definition at line 437 of file public.cc.

void crl::multisense::details::impl::programOrVerifyFlashRegion ( std::ifstream &  file,
uint32_t  operation,
uint32_t  region 
)
private

Definition at line 115 of file flash.cc.

Status crl::multisense::details::impl::ptpTimeSynchronization ( bool  enabled)
virtual

Enable or disable PTP synchronization to an external PTP master. This subsumes the networkTimeSynchronization

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 with the synchronized PTP time

If disabled, all sensor timestamps will be reported in the timebase determined by the current networkTimeSynchronization setting

The PTP-based time synchronization is disabled by default

Parameters
enabledA boolean flag which enables or disables PTP time synchronization
Returns
A crl::multisense::Status indicating if the PTP time synchronization was successfully enabled or disabled

Implements crl::multisense::Channel.

Definition at line 446 of file public.cc.

template<class T >
void crl::multisense::details::impl::publish ( const T &  message)
private

Definition at line 50 of file query.hh.

void crl::multisense::details::impl::publish ( const utility::BufferStreamWriter &  stream)
private

Definition at line 324 of file channel.cc.

Status crl::multisense::details::impl::releaseCallbackBuffer ( void *  referenceP)
virtual

Release image or lidar data reserved within a isolated callback.

releaseCallbackBuffer() may be called from any thread context.

Parameters
referencePA pointer to the reserved data returned by reserveCallbackBuffer()
Returns
A crl::multisense::Status indicating if the callback data buffer was successfully released

Implements crl::multisense::Channel.

Definition at line 341 of file public.cc.

Status crl::multisense::details::impl::removeIsolatedCallback ( image::Callback  callback)
virtual

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

Parameters
callbackThe user defined imu::Callback to unregister
Returns
A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implements crl::multisense::Channel.

Definition at line 205 of file public.cc.

virtual Status crl::multisense::details::impl::removeIsolatedCallback ( lidar::Callback  callback)
virtual

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

Parameters
callbackThe user defined imu::Callback to unregister
Returns
A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implements crl::multisense::Channel.

virtual Status crl::multisense::details::impl::removeIsolatedCallback ( pps::Callback  callback)
virtual

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

Parameters
callbackThe user defined imu::Callback to unregister
Returns
A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implements crl::multisense::Channel.

virtual Status crl::multisense::details::impl::removeIsolatedCallback ( imu::Callback  callback)
virtual

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

Parameters
callbackThe user defined imu::Callback to unregister
Returns
A crl::multisense::Status indicating if the callback deregistration succeeded or failed

Implements crl::multisense::Channel.

void * crl::multisense::details::impl::reserveCallbackBuffer ( )
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.

Implements crl::multisense::Channel.

Definition at line 317 of file public.cc.

void * crl::multisense::details::impl::rxThread ( void *  userDataP)
staticprivate

Definition at line 690 of file dispatch.cc.

double crl::multisense::details::impl::sensorToLocalTime ( const double &  sensorTime)
private

Definition at line 521 of file channel.cc.

void crl::multisense::details::impl::sensorToLocalTime ( const double &  sensorTime,
uint32_t &  seconds,
uint32_t &  microseconds 
)
private

Definition at line 530 of file channel.cc.

Status crl::multisense::details::impl::setDeviceInfo ( const std::string &  key,
const system::DeviceInfo &  i 
)
virtual

Set the current sensor's device information.

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

Parameters
keyThe secret key required to write new device information
iThe new DeviceInfo to write to the sensor
Returns
A crl::multisense::Status indicating if the device information was successfully received

Implements crl::multisense::Channel.

Definition at line 1171 of file public.cc.

Status crl::multisense::details::impl::setExternalCalibration ( const system::ExternalCalibration &  calibration)
virtual

Set the external calibration associated with the MultiSense device

Parameters
calibrationThe external calibration object to write to non-volatile flash
Returns
A crl::multisense::Status indicating if the calibration was successfully set

Implements crl::multisense::Channel.

Definition at line 1154 of file public.cc.

Status crl::multisense::details::impl::setImageCalibration ( const image::Calibration &  c)
virtual

Set the current camera calibration.

See image::Calibration for a usage example

Parameters
cA new image calibration to send to the sensor
Returns
A crl::multisense::Status indicating if the image calibration was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 843 of file public.cc.

Status crl::multisense::details::impl::setImageConfig ( const image::Config &  c)
virtual

Set the image configuration.

See image::Config for a usage example

Parameters
cThe new image configuration to send to the sensor
Returns
A crl::multisense::Status indicating if the image configuration was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 769 of file public.cc.

Status crl::multisense::details::impl::setImuConfig ( bool  storeSettingsInFlash,
uint32_t  samplesPerMessage,
const std::vector< imu::Config > &  c 
)
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
storeSettingsInFlashA boolean flag which indicated if the configuration saved in non-volatile flash on the sensor head
samplesPerMessageThe 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
cThe imu configuration that will be sent to the sensor.
Returns
A crl::multisense::Status indicating if the IMU configuration was successfully received

Implements crl::multisense::Channel.

Definition at line 1318 of file public.cc.

Status crl::multisense::details::impl::setLargeBuffers ( const std::vector< uint8_t * > &  buffers,
uint32_t  bufferSize 
)
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
buffersA vector of new buffers to use for image storage. All buffers in the vector must be of the same size
bufferSizeThe size of one buffer in the buffers vector
Returns
A crl::multisense::Status indicating if the new buffers were successfully received

Implements crl::multisense::Channel.

Definition at line 1355 of file public.cc.

Status crl::multisense::details::impl::setLidarCalibration ( const lidar::Calibration &  c)
virtual

Set the current laser calibration.

See lidar::Calibration for a usage example

Parameters
cA new laser calibration to send to the sensor
Returns
A crl::multisense::Status indicating if the laser calibration was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 943 of file public.cc.

Status crl::multisense::details::impl::setLightingConfig ( const lighting::Config &  c)
virtual

Set the on-board lighting configuration.

See lighting::Config for a usage example

Parameters
cA lighting configuration to send to the sensor
Returns
A crl::multisense::Status indicating if the lighting reconfiguration succeeded

Implements crl::multisense::Channel.

Definition at line 635 of file public.cc.

Status crl::multisense::details::impl::setMotorSpeed ( float  rpm)
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
rpmThe number of rotations per minute [-50.0, 50.0]
Returns
A crl::multisense::Status indicating if the motor speed change succeeded

Implements crl::multisense::Channel.

Definition at line 606 of file public.cc.

Status crl::multisense::details::impl::setMtu ( int32_t  mtu)
virtual

Set the current sensor's MTU.

Parameters
mtuThe new MTU to configure the sensor with
Returns
A crl::multisense::Status indicating if the mtu configuration was successfully received

Implements crl::multisense::Channel.

Definition at line 985 of file public.cc.

Status crl::multisense::details::impl::setNetworkConfig ( const system::NetworkConfig &  c)
virtual

Set the current sensor's network configuration.

See system::NetworkConfig for a usage example

Parameters
cA new network configuration to send to the sensor
Returns
A crl::multisense::Status indicating if the network configuration was successfully received

Implements crl::multisense::Channel.

Definition at line 1035 of file public.cc.

Status crl::multisense::details::impl::setSensorCalibration ( const image::SensorCalibration &  c)
virtual

Set the devices imager calibration. This is used to adjust the DC imager gains and the black level offsets so that both imagers match one another. This calibration is stored in flash and only needs to be set once

Parameters
cThe sensor calibration instance to write to flash memory
Returns
A crl::multisense::Status indicating if the imager calibration was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 885 of file public.cc.

Status crl::multisense::details::impl::setTransmitDelay ( const image::TransmitDelay &  c)
virtual

Set the devices network delay (in ms). Default 0ms delay Delay scales down based on a max delay setting driven by the current FPS dynamically

Parameters
cThe desired network delay in ms which will be returned by reference
Returns
A crl::multisense::Status indicating if the transmit delay was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 914 of file public.cc.

Status crl::multisense::details::impl::setTriggerSource ( TriggerSource  s)
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
sThe new desired trigger source
Returns
A crl::multisense::Status indicating if the trigger source change succeeded

Implements crl::multisense::Channel.

Definition at line 570 of file public.cc.

wire::SourceType crl::multisense::details::impl::sourceApiToWire ( DataSource  mask)
staticprivate

Definition at line 369 of file channel.cc.

DataSource crl::multisense::details::impl::sourceWireToApi ( wire::SourceType  mask)
staticprivate

Definition at line 399 of file channel.cc.

Status crl::multisense::details::impl::startDirectedStream ( const DirectedStream &  stream)
virtual

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

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
streamA DrirectedStream to either add or update setting of
Returns
A crl::multisense::Status indicating if the DirectedStream was successfully started

Implements crl::multisense::Channel.

Definition at line 504 of file public.cc.

Status crl::multisense::details::impl::startDirectedStreams ( const std::vector< DirectedStream > &  streams)
virtual

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

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
streamsA vector of DrirectedStream to either add or update setting of
Returns
A crl::multisense::Status indicating if the DirectedStream was successfully started

Implements crl::multisense::Channel.

Definition at line 515 of file public.cc.

Status crl::multisense::details::impl::startStreams ( DataSource  mask)
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
maskThe 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

Implements crl::multisense::Channel.

Definition at line 464 of file public.cc.

void * crl::multisense::details::impl::statusThread ( void *  userDataP)
staticprivate

Definition at line 545 of file channel.cc.

Status crl::multisense::details::impl::stopDirectedStream ( const DirectedStream &  stream)
virtual

Stop a specific directed stream.

Parameters
streamA DirectedStream to stop
Returns
A crl::multisense::Status indicating if the DirectedStream was successfully stopped

Implements crl::multisense::Channel.

Definition at line 530 of file public.cc.

Status crl::multisense::details::impl::stopStreams ( DataSource  mask)
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
maskThe 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

Implements crl::multisense::Channel.

Definition at line 478 of file public.cc.

template<typename T >
void crl::multisense::details::impl::toHeaderTime ( T  nanoSeconds,
uint32_t &  seconds,
uint32_t &  microSeconds 
) const
inlineprivate

Definition at line 215 of file channel.hh.

const int64_t & crl::multisense::details::impl::unwrapSequenceId ( uint16_t  id)
private

Definition at line 526 of file dispatch.cc.

Status crl::multisense::details::impl::verifyBitstream ( const std::string &  file)
virtual

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

Parameters
fileThe 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

Implements crl::multisense::Channel.

Definition at line 1231 of file public.cc.

Status crl::multisense::details::impl::verifyFirmware ( const std::string &  file)
virtual

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

Parameters
fileThe 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

Implements crl::multisense::Channel.

Definition at line 1241 of file public.cc.

template<class T >
Status crl::multisense::details::impl::waitAck ( const T &  msg,
wire::IdType  id = MSG_ID(T::ID),
const double &  timeout = DEFAULT_ACK_TIMEOUT(),
int32_t  attempts = DEFAULT_ACK_ATTEMPTS 
)
private

Definition at line 89 of file query.hh.

template<class T , class U >
Status crl::multisense::details::impl::waitData ( const T &  command,
U &  data,
const double &  timeout = DEFAULT_ACK_TIMEOUT(),
int32_t  attempts = DEFAULT_ACK_ATTEMPTS 
)
private

Definition at line 120 of file query.hh.

Member Data Documentation

CRL_CONSTEXPR VersionType crl::multisense::details::impl::API_VERSION = 0x0308
staticprivate

Definition at line 258 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::DEFAULT_ACK_ATTEMPTS = 5
staticprivate

Definition at line 271 of file channel.hh.

CRL_CONSTEXPR uint16_t crl::multisense::details::impl::DEFAULT_SENSOR_TX_PORT = 9001
staticprivate

Definition at line 264 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::IMAGE_META_CACHE_DEPTH = 20
staticprivate

Definition at line 272 of file channel.hh.

utility::Mutex crl::multisense::details::impl::m_dispatchLock
private

Definition at line 401 of file channel.hh.

std::list<ImageListener*> crl::multisense::details::impl::m_imageListeners
private

Definition at line 427 of file channel.hh.

DepthCache<int64_t, wire::ImageMeta> crl::multisense::details::impl::m_imageMetaCache
private

Definition at line 389 of file channel.hh.

std::list<ImuListener*> crl::multisense::details::impl::m_imuListeners
private

Definition at line 430 of file channel.hh.

std::vector<uint8_t> crl::multisense::details::impl::m_incomingBuffer
private

Definition at line 364 of file channel.hh.

int32_t crl::multisense::details::impl::m_lastRxSeqId
private

Definition at line 370 of file channel.hh.

std::list<LidarListener*> crl::multisense::details::impl::m_lidarListeners
private

Definition at line 428 of file channel.hh.

MessageMap crl::multisense::details::impl::m_messages
private

Definition at line 440 of file channel.hh.

bool crl::multisense::details::impl::m_networkTimeSyncEnabled
private

Definition at line 453 of file channel.hh.

std::list<PpsListener*> crl::multisense::details::impl::m_ppsListeners
private

Definition at line 429 of file channel.hh.

bool crl::multisense::details::impl::m_ptpTimeSyncEnabled
private

Definition at line 454 of file channel.hh.

BufferPool crl::multisense::details::impl::m_rxLargeBufferPool
private

Definition at line 383 of file channel.hh.

utility::Mutex crl::multisense::details::impl::m_rxLock
private

Definition at line 417 of file channel.hh.

BufferPool crl::multisense::details::impl::m_rxSmallBufferPool
private

Definition at line 384 of file channel.hh.

utility::Thread* crl::multisense::details::impl::m_rxThreadP
private

Definition at line 416 of file channel.hh.

struct sockaddr_in crl::multisense::details::impl::m_sensorAddress
private

Definition at line 354 of file channel.hh.

int32_t crl::multisense::details::impl::m_sensorMtu
private

Definition at line 359 of file channel.hh.

wire::VersionResponse crl::multisense::details::impl::m_sensorVersion
private

Definition at line 459 of file channel.hh.

socket_t crl::multisense::details::impl::m_serverSocket
private

Definition at line 348 of file channel.hh.

uint16_t crl::multisense::details::impl::m_serverSocketPort
private

Definition at line 349 of file channel.hh.

wire::StatusResponse crl::multisense::details::impl::m_statusResponseMessage
private

Definition at line 464 of file channel.hh.

utility::Thread* crl::multisense::details::impl::m_statusThreadP
private

Definition at line 422 of file channel.hh.

utility::Mutex crl::multisense::details::impl::m_streamLock
private

Definition at line 406 of file channel.hh.

DataSource crl::multisense::details::impl::m_streamsEnabled
private

Definition at line 445 of file channel.hh.

bool crl::multisense::details::impl::m_threadsRunning
private

Definition at line 411 of file channel.hh.

utility::Mutex crl::multisense::details::impl::m_timeLock
private

Definition at line 450 of file channel.hh.

double crl::multisense::details::impl::m_timeOffset
private

Definition at line 452 of file channel.hh.

bool crl::multisense::details::impl::m_timeOffsetInit
private

Definition at line 451 of file channel.hh.

uint16_t crl::multisense::details::impl::m_txSeqId
private

Definition at line 369 of file channel.hh.

UdpAssemblerMap crl::multisense::details::impl::m_udpAssemblerMap
private

Definition at line 396 of file channel.hh.

DepthCache<int64_t, UdpTracker> crl::multisense::details::impl::m_udpTrackerCache
private

Definition at line 376 of file channel.hh.

int64_t crl::multisense::details::impl::m_unWrappedRxSeqId
private

Definition at line 371 of file channel.hh.

MessageWatch crl::multisense::details::impl::m_watch
private

Definition at line 435 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_DIRECTED_STREAMS = 8
staticprivate

Definition at line 296 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_MTU_SIZE = 9000
staticprivate

Definition at line 263 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_USER_IMAGE_QUEUE_SIZE = 5
staticprivate

Definition at line 283 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_USER_IMU_QUEUE_SIZE = 50
staticprivate

Definition at line 291 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_USER_LASER_QUEUE_SIZE = 20
staticprivate

Definition at line 284 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::MAX_USER_PPS_QUEUE_SIZE = 2
staticprivate

Definition at line 290 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::RX_POOL_LARGE_BUFFER_COUNT = 50
staticprivate

Definition at line 266 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::RX_POOL_LARGE_BUFFER_SIZE = (10 * (1024 * 1024))
staticprivate

Definition at line 265 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::RX_POOL_SMALL_BUFFER_COUNT = 100
staticprivate

Definition at line 268 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::RX_POOL_SMALL_BUFFER_SIZE = (10 * (1024))
staticprivate

Definition at line 267 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::TIME_SYNC_OFFSET_DECAY = 8
staticprivate

Definition at line 274 of file channel.hh.

CRL_CONSTEXPR uint32_t crl::multisense::details::impl::UDP_TRACKER_CACHE_DEPTH = 10
staticprivate

Definition at line 273 of file channel.hh.

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

multisense_lib
Author(s):
autogenerated on Sun Mar 14 2021 02:34:50