Protocol.h

Go to the documentation of this file.

#ifndef LibMultiSense_details_wire_protocol
#define LibMultiSense_details_wire_protocol

#include <stdint.h>

#include "../utility/Portability.hh"

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

//
// Some message headers are directly used by sensor firmware

#ifdef SENSORPOD_FIRMWARE
#define WIRE_HEADER_ATTRIBS_ __attribute__ ((__packed__))
#else
#define WIRE_HEADER_ATTRIBS_
#endif // SENSORPOD_FIRMWARE

//
// The size of the combined headers

static CRL_CONSTEXPR uint8_t COMBINED_HEADER_LENGTH = 60;

//
// The magic number and version

static CRL_CONSTEXPR uint16_t HEADER_MAGIC   = 0xadad;
static CRL_CONSTEXPR uint16_t HEADER_VERSION = 0x0100;

//
// The protocol group (TODO: define CRL-wide)

static CRL_CONSTEXPR uint16_t HEADER_GROUP   = 0x0001;

//
// The packet header structure

#if defined (_MSC_VER)
#pragma pack(push, 1)
typedef struct {
#else
typedef struct __attribute__ ((__packed__)) {
#endif
    //
    // The magic number

    uint16_t magic;

    //
    // The protocol version

    uint16_t version;

    //
    // The protocol group

    uint16_t group;

    //
    // Protocol flags

    uint16_t flags;

    //
    // The message sequence identifier

    uint16_t sequenceIdentifier;

    //
    // The total size of the message

    uint32_t messageLength;

    //
    // Offset of this packet's payload

    uint32_t byteOffset;

} Header;
#if defined (_MSC_VER)
#pragma pack(pop)
#endif

//
// Types for message IDs and versions

typedef uint16_t IdType;
typedef uint16_t VersionType;

//
// Every command responsds with an ID_ACK message,
// regardless if a data message is also following.

//
// TODO: this message set is still awkward in places:
//       - Missing 1:1 get/set
//       - Some "Data" messages are also commands
//       - Duplicated information (CAM_GET_CONFIG, SYS_GET_CAMERA_CAL, etc.)

//
// [N]acks

static CRL_CONSTEXPR IdType ID_ACK = 0x0001;

//
// Commands

static CRL_CONSTEXPR IdType ID_CMD_GET_VERSION              = 0x0002;
static CRL_CONSTEXPR IdType ID_CMD_GET_STATUS               = 0x0003;
static CRL_CONSTEXPR IdType ID_CMD_CAM_GET_CONFIG           = 0x0004;
static CRL_CONSTEXPR IdType ID_CMD_CAM_CONTROL              = 0x0007;
static CRL_CONSTEXPR IdType ID_CMD_CAM_GET_HISTORY          = 0x0008;
static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_HDR              = 0x000b;
static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_RESOLUTION       = 0x000c;
static CRL_CONSTEXPR IdType ID_CMD_LIDAR_GET_CONFIG         = 0x000d;
static CRL_CONSTEXPR IdType ID_CMD_LIDAR_SET_MOTOR          = 0x0010;
static CRL_CONSTEXPR IdType ID_CMD_LED_GET_STATUS           = 0x0012;
static CRL_CONSTEXPR IdType ID_CMD_LED_SET                  = 0x0013;
static CRL_CONSTEXPR IdType ID_CMD_SYS_MTU                  = 0x0014;
static CRL_CONSTEXPR IdType ID_CMD_SYS_FLASH_OP             = 0x0015;
static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_NETWORK          = 0x0016;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DEVICE_INFO      = 0x0017;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_CAMERA_CAL       = 0x0018;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_LIDAR_CAL        = 0x0019;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_MTU              = 0x001a;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_NETWORK          = 0x001b;
static CRL_CONSTEXPR IdType ID_CMD_STREAM_CONTROL           = 0x001c;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DEVICE_MODES     = 0x001d;
static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_TRIGGER_SOURCE   = 0x001e;
static CRL_CONSTEXPR IdType ID_CMD_IMU_GET_INFO             = 0x001f;
static CRL_CONSTEXPR IdType ID_CMD_IMU_GET_CONFIG           = 0x0020;
static CRL_CONSTEXPR IdType ID_CMD_SYS_TEST_MTU             = 0x0021;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DIRECTED_STREAMS = 0x0022;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_SENSOR_CAL       = 0x0023;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_EXTERNAL_CAL     = 0x0024;
static CRL_CONSTEXPR IdType ID_CMD_LED_GET_SENSOR_STATUS    = 0x0025;
static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_TRANSMIT_DELAY   = 0x0026;
static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_TRANSMIT_DELAY   = 0x0027;

//
// Data

static CRL_CONSTEXPR IdType ID_DATA_VERSION               = 0x0102;
static CRL_CONSTEXPR IdType ID_DATA_STATUS                = 0x0103;
static CRL_CONSTEXPR IdType ID_DATA_CAM_CONFIG            = 0x0104;
static CRL_CONSTEXPR IdType ID_DATA_CAM_HISTORY           = 0x0105;
static CRL_CONSTEXPR IdType ID_DATA_LIDAR_CONFIG          = 0x0108;
static CRL_CONSTEXPR IdType ID_DATA_LIDAR_SCAN            = 0x0109;
static CRL_CONSTEXPR IdType ID_DATA_LED_STATUS            = 0x010a;
static CRL_CONSTEXPR IdType ID_DATA_SYS_FLASH_RESPONSE    = 0x010b;
static CRL_CONSTEXPR IdType ID_DATA_SYS_DEVICE_INFO       = 0x010c;
static CRL_CONSTEXPR IdType ID_DATA_SYS_CAMERA_CAL        = 0x010d;
static CRL_CONSTEXPR IdType ID_DATA_SYS_LIDAR_CAL         = 0x010e;
static CRL_CONSTEXPR IdType ID_DATA_IMAGE_META            = 0x010f;
static CRL_CONSTEXPR IdType ID_DATA_IMAGE                 = 0x0110;
static CRL_CONSTEXPR IdType ID_DATA_DISPARITY             = 0x0111;
static CRL_CONSTEXPR IdType ID_DATA_SYS_DEVICE_MODES      = 0x0112;
static CRL_CONSTEXPR IdType ID_DATA_SYS_PPS               = 0x0113;
static CRL_CONSTEXPR IdType ID_DATA_IMU                   = 0x0114;
static CRL_CONSTEXPR IdType ID_DATA_IMU_INFO              = 0x0115;
static CRL_CONSTEXPR IdType ID_DATA_IMU_CONFIG            = 0x0116;
static CRL_CONSTEXPR IdType ID_DATA_SYS_TEST_MTU_RESPONSE = 0x0117;
static CRL_CONSTEXPR IdType ID_DATA_JPEG_IMAGE            = 0x0118;
static CRL_CONSTEXPR IdType ID_DATA_SYS_DIRECTED_STREAMS  = 0x0119;
static CRL_CONSTEXPR IdType ID_DATA_SYS_SENSOR_CAL        = 0x011a;
static CRL_CONSTEXPR IdType ID_DATA_SYS_EXTERNAL_CAL      = 0x011b;
static CRL_CONSTEXPR IdType ID_DATA_LED_SENSOR_STATUS     = 0x011c;

//
// Data sources

typedef uint32_t SourceType;

static CRL_CONSTEXPR SourceType SOURCE_UNKNOWN           = 0;
static CRL_CONSTEXPR SourceType SOURCE_RAW_LEFT          = (1<<0);
static CRL_CONSTEXPR SourceType SOURCE_RAW_RIGHT         = (1<<1);
static CRL_CONSTEXPR SourceType SOURCE_LUMA_LEFT         = (1<<2);
static CRL_CONSTEXPR SourceType SOURCE_LUMA_RIGHT        = (1<<3);
static CRL_CONSTEXPR SourceType SOURCE_LUMA_RECT_LEFT    = (1<<4);
static CRL_CONSTEXPR SourceType SOURCE_LUMA_RECT_RIGHT   = (1<<5);
static CRL_CONSTEXPR SourceType SOURCE_CHROMA_LEFT       = (1<<6);
static CRL_CONSTEXPR SourceType SOURCE_CHROMA_RIGHT      = (1<<7);
static CRL_CONSTEXPR SourceType SOURCE_DISPARITY         = (1<<10);
static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_LEFT    = (1<<10); // same as SOURCE_DISPARITY
static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_RIGHT   = (1<<11);
static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_COST    = (1<<12);
static CRL_CONSTEXPR SourceType SOURCE_JPEG_LEFT         = (1<<16);
static CRL_CONSTEXPR SourceType SOURCE_RGB_LEFT          = (1<<17);
static CRL_CONSTEXPR SourceType SOURCE_LIDAR_SCAN        = (1<<24);
static CRL_CONSTEXPR SourceType SOURCE_IMU               = (1<<25);
static CRL_CONSTEXPR SourceType SOURCE_PPS               = (1<<26);
static CRL_CONSTEXPR SourceType SOURCE_IMAGES            = (SOURCE_RAW_LEFT        |
                                                            SOURCE_RAW_RIGHT       |
                                                            SOURCE_LUMA_LEFT       |
                                                            SOURCE_LUMA_RIGHT      |
                                                            SOURCE_LUMA_RECT_LEFT  |
                                                            SOURCE_LUMA_RECT_RIGHT |
                                                            SOURCE_CHROMA_LEFT     |
                                                            SOURCE_CHROMA_RIGHT    |
                                                            SOURCE_DISPARITY_LEFT  |
                                                            SOURCE_DISPARITY_RIGHT |
                                                            SOURCE_DISPARITY_COST  |
                                                            SOURCE_JPEG_LEFT       |
                                                            SOURCE_RGB_LEFT);

//
// Some helper macros

#define MSG_ID(x)  ((wire::IdType)(x))
#define MSG_VER(x) ((wire::VersionType)(x))

#define SER_ARRAY_1(a_,n_)                    \
    for(uint32_t i_=0; i_<(n_); i_++)         \
        message & (a_)[i_];                   \

#define SER_ARRAY_2(a_,n_,m_)                 \
    for(uint32_t i_=0; i_<(n_); i_++)         \
        for(uint32_t j_=0; j_<(m_); j_++)     \
            message & (a_)[(i_)][(j_)];       \

#define CPY_ARRAY_1(d_,s_,n_)                   \
    for(uint32_t i_=0; i_<(n_); i_++)           \
        (d_)[i_] = (s_)[i_];                    \

#define CPY_ARRAY_2(d_,s_,n_,m_)                \
    for(uint32_t i_=0; i_<(n_); i_++)           \
        for(uint32_t j_=0; j_<(m_); j_++)       \
            (d_)[i_][j_] = (s_)[i_][j_];        \

}}}}; // namespaces

#endif