Namespaces
namespace	imu
Classes
class	Ack
class	CamConfig
class	CamControl
class	CameraCalData
class	CamGetConfig
class	CamGetHistory
class	CamHistory
class	CamSetResolution
class	CamSetTriggerSource
class	DeviceMode
class	DirectedStream
class	Disparity
class	DisparityHeader
class	Image
class	ImageHeader
class	ImageMeta
class	ImageMetaHeader
class	ImuConfig
class	ImuData
class	ImuGetConfig
class	ImuGetInfo
class	ImuInfo
class	ImuSample
class	JpegImage
class	JpegImageHeader
class	LedGetSensorStatus
class	LedGetStatus
class	LedSensorStatus
class	LedSet
class	LedStatus
class	LidarData
class	LidarDataHeader
class	LidarSetMotor
class	PcbInfo
class	StatusRequest
class	StatusResponse
class	StreamControl
class	SysCameraCalibration
class	SysDeviceInfo
class	SysDeviceModes
class	SysDirectedStreams
class	SysExternalCalibration
class	SysFlashOp
class	SysFlashResponse
class	SysGetCameraCalibration
class	SysGetDeviceInfo
class	SysGetDeviceModes
class	SysGetDirectedStreams
class	SysGetExternalCalibration
class	SysGetLidarCalibration
class	SysGetMtu
class	SysGetNetwork
class	SysGetSensorCalibration
class	SysGetTransmitDelay
class	SysLidarCalibration
class	SysMtu
class	SysNetwork
class	SysPps
class	SysSensorCalibration
class	SysTestMtu
class	SysTestMtuResponse
class	SysTransmitDelay
class	VersionRequest
class	VersionResponse
Typedefs
typedef uint16_t	IdType
typedef uint32_t	SourceType
typedef uint16_t	VersionType
Functions
struct	__attribute__ ((__packed__))
Variables
static CRL_CONSTEXPR uint8_t	COMBINED_HEADER_LENGTH = 60
	Header
static CRL_CONSTEXPR uint16_t	HEADER_GROUP = 0x0001
static CRL_CONSTEXPR uint16_t	HEADER_MAGIC = 0xadad
static CRL_CONSTEXPR uint16_t	HEADER_VERSION = 0x0100
static CRL_CONSTEXPR IdType	ID_ACK = 0x0001
static CRL_CONSTEXPR IdType	ID_CMD_CAM_CONTROL = 0x0007
static CRL_CONSTEXPR IdType	ID_CMD_CAM_GET_CONFIG = 0x0004
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_CAM_SET_TRIGGER_SOURCE = 0x001e
static CRL_CONSTEXPR IdType	ID_CMD_GET_STATUS = 0x0003
static CRL_CONSTEXPR IdType	ID_CMD_GET_VERSION = 0x0002
static CRL_CONSTEXPR IdType	ID_CMD_IMU_GET_CONFIG = 0x0020
static CRL_CONSTEXPR IdType	ID_CMD_IMU_GET_INFO = 0x001f
static CRL_CONSTEXPR IdType	ID_CMD_LED_GET_SENSOR_STATUS = 0x0025
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_LIDAR_GET_CONFIG = 0x000d
static CRL_CONSTEXPR IdType	ID_CMD_LIDAR_SET_MOTOR = 0x0010
static CRL_CONSTEXPR IdType	ID_CMD_STREAM_CONTROL = 0x001c
static CRL_CONSTEXPR IdType	ID_CMD_SYS_FLASH_OP = 0x0015
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_CAMERA_CAL = 0x0018
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_DEVICE_INFO = 0x0017
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_DEVICE_MODES = 0x001d
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_DIRECTED_STREAMS = 0x0022
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_EXTERNAL_CAL = 0x0024
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_SYS_GET_SENSOR_CAL = 0x0023
static CRL_CONSTEXPR IdType	ID_CMD_SYS_GET_TRANSMIT_DELAY = 0x0027
static CRL_CONSTEXPR IdType	ID_CMD_SYS_MTU = 0x0014
static CRL_CONSTEXPR IdType	ID_CMD_SYS_SET_NETWORK = 0x0016
static CRL_CONSTEXPR IdType	ID_CMD_SYS_SET_TRANSMIT_DELAY = 0x0026
static CRL_CONSTEXPR IdType	ID_CMD_SYS_TEST_MTU = 0x0021
static CRL_CONSTEXPR IdType	ID_DATA_CAM_CONFIG = 0x0104
static CRL_CONSTEXPR IdType	ID_DATA_CAM_HISTORY = 0x0105
static CRL_CONSTEXPR IdType	ID_DATA_DISPARITY = 0x0111
static CRL_CONSTEXPR IdType	ID_DATA_IMAGE = 0x0110
static CRL_CONSTEXPR IdType	ID_DATA_IMAGE_META = 0x010f
static CRL_CONSTEXPR IdType	ID_DATA_IMU = 0x0114
static CRL_CONSTEXPR IdType	ID_DATA_IMU_CONFIG = 0x0116
static CRL_CONSTEXPR IdType	ID_DATA_IMU_INFO = 0x0115
static CRL_CONSTEXPR IdType	ID_DATA_JPEG_IMAGE = 0x0118
static CRL_CONSTEXPR IdType	ID_DATA_LED_SENSOR_STATUS = 0x011c
static CRL_CONSTEXPR IdType	ID_DATA_LED_STATUS = 0x010a
static CRL_CONSTEXPR IdType	ID_DATA_LIDAR_CONFIG = 0x0108
static CRL_CONSTEXPR IdType	ID_DATA_LIDAR_SCAN = 0x0109
static CRL_CONSTEXPR IdType	ID_DATA_STATUS = 0x0103
static CRL_CONSTEXPR IdType	ID_DATA_SYS_CAMERA_CAL = 0x010d
static CRL_CONSTEXPR IdType	ID_DATA_SYS_DEVICE_INFO = 0x010c
static CRL_CONSTEXPR IdType	ID_DATA_SYS_DEVICE_MODES = 0x0112
static CRL_CONSTEXPR IdType	ID_DATA_SYS_DIRECTED_STREAMS = 0x0119
static CRL_CONSTEXPR IdType	ID_DATA_SYS_EXTERNAL_CAL = 0x011b
static CRL_CONSTEXPR IdType	ID_DATA_SYS_FLASH_RESPONSE = 0x010b
static CRL_CONSTEXPR IdType	ID_DATA_SYS_LIDAR_CAL = 0x010e
static CRL_CONSTEXPR IdType	ID_DATA_SYS_PPS = 0x0113
static CRL_CONSTEXPR IdType	ID_DATA_SYS_SENSOR_CAL = 0x011a
static CRL_CONSTEXPR IdType	ID_DATA_SYS_TEST_MTU_RESPONSE = 0x0117
static CRL_CONSTEXPR IdType	ID_DATA_VERSION = 0x0102
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_COST = (1<<12)
static CRL_CONSTEXPR SourceType	SOURCE_DISPARITY_LEFT = (1<<10)
static CRL_CONSTEXPR SourceType	SOURCE_DISPARITY_RIGHT = (1<<11)
static CRL_CONSTEXPR SourceType	SOURCE_IMAGES
static CRL_CONSTEXPR SourceType	SOURCE_IMU = (1<<25)
static CRL_CONSTEXPR SourceType	SOURCE_JPEG_LEFT = (1<<16)
static CRL_CONSTEXPR SourceType	SOURCE_LIDAR_SCAN = (1<<24)
static CRL_CONSTEXPR SourceType	SOURCE_LUMA_LEFT = (1<<2)
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_LUMA_RIGHT = (1<<3)
static CRL_CONSTEXPR SourceType	SOURCE_PPS = (1<<26)
static CRL_CONSTEXPR SourceType	SOURCE_RAW_LEFT = (1<<0)
static CRL_CONSTEXPR SourceType	SOURCE_RAW_RIGHT = (1<<1)
static CRL_CONSTEXPR SourceType	SOURCE_RGB_LEFT = (1<<17)
static CRL_CONSTEXPR SourceType	SOURCE_UNKNOWN = 0

Typedef Documentation

typedef uint16_t crl::multisense::details::wire::IdType

Definition at line 126 of file Protocol.h.

typedef uint32_t crl::multisense::details::wire::SourceType

Definition at line 211 of file Protocol.h.

typedef uint16_t crl::multisense::details::wire::VersionType

Definition at line 127 of file Protocol.h.

Function Documentation

struct crl::multisense::details::wire::__attribute__ ( (__packed__) ) [read]

Definition at line 81 of file Protocol.h.

Variable Documentation

CRL_CONSTEXPR uint8_t crl::multisense::details::wire::COMBINED_HEADER_LENGTH = 60 [static]

Definition at line 61 of file Protocol.h.

crl::multisense::details::wire::Header

Definition at line 118 of file Protocol.h.

CRL_CONSTEXPR uint16_t crl::multisense::details::wire::HEADER_GROUP = 0x0001 [static]

Definition at line 72 of file Protocol.h.

CRL_CONSTEXPR uint16_t crl::multisense::details::wire::HEADER_MAGIC = 0xadad [static]

Definition at line 66 of file Protocol.h.

CRL_CONSTEXPR uint16_t crl::multisense::details::wire::HEADER_VERSION = 0x0100 [static]

Definition at line 67 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_ACK = 0x0001 [static]

Definition at line 142 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_CONTROL = 0x0007 [static]

Definition at line 150 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_GET_CONFIG = 0x0004 [static]

Definition at line 149 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_GET_HISTORY = 0x0008 [static]

Definition at line 151 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_SET_HDR = 0x000b [static]

Definition at line 152 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_SET_RESOLUTION = 0x000c [static]

Definition at line 153 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_CAM_SET_TRIGGER_SOURCE = 0x001e [static]

Definition at line 168 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_GET_STATUS = 0x0003 [static]

Definition at line 148 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_GET_VERSION = 0x0002 [static]

Definition at line 147 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_IMU_GET_CONFIG = 0x0020 [static]

Definition at line 170 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_IMU_GET_INFO = 0x001f [static]

Definition at line 169 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_LED_GET_SENSOR_STATUS = 0x0025 [static]

Definition at line 175 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_LED_GET_STATUS = 0x0012 [static]

Definition at line 156 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_LED_SET = 0x0013 [static]

Definition at line 157 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_LIDAR_GET_CONFIG = 0x000d [static]

Definition at line 154 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_LIDAR_SET_MOTOR = 0x0010 [static]

Definition at line 155 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_STREAM_CONTROL = 0x001c [static]

Definition at line 166 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_FLASH_OP = 0x0015 [static]

Definition at line 159 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_CAMERA_CAL = 0x0018 [static]

Definition at line 162 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_INFO = 0x0017 [static]

Definition at line 161 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_MODES = 0x001d [static]

Definition at line 167 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_DIRECTED_STREAMS = 0x0022 [static]

Definition at line 172 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_EXTERNAL_CAL = 0x0024 [static]

Definition at line 174 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_LIDAR_CAL = 0x0019 [static]

Definition at line 163 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_MTU = 0x001a [static]

Definition at line 164 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_NETWORK = 0x001b [static]

Definition at line 165 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_SENSOR_CAL = 0x0023 [static]

Definition at line 173 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_GET_TRANSMIT_DELAY = 0x0027 [static]

Definition at line 177 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_MTU = 0x0014 [static]

Definition at line 158 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_SET_NETWORK = 0x0016 [static]

Definition at line 160 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_SET_TRANSMIT_DELAY = 0x0026 [static]

Definition at line 176 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_CMD_SYS_TEST_MTU = 0x0021 [static]

Definition at line 171 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_CAM_CONFIG = 0x0104 [static]

Definition at line 184 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_CAM_HISTORY = 0x0105 [static]

Definition at line 185 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_DISPARITY = 0x0111 [static]

Definition at line 195 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_IMAGE = 0x0110 [static]

Definition at line 194 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_IMAGE_META = 0x010f [static]

Definition at line 193 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_IMU = 0x0114 [static]

Definition at line 198 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_IMU_CONFIG = 0x0116 [static]

Definition at line 200 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_IMU_INFO = 0x0115 [static]

Definition at line 199 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_JPEG_IMAGE = 0x0118 [static]

Definition at line 202 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_LED_SENSOR_STATUS = 0x011c [static]

Definition at line 206 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_LED_STATUS = 0x010a [static]

Definition at line 188 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_LIDAR_CONFIG = 0x0108 [static]

Definition at line 186 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_LIDAR_SCAN = 0x0109 [static]

Definition at line 187 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_STATUS = 0x0103 [static]

Definition at line 183 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_CAMERA_CAL = 0x010d [static]

Definition at line 191 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_DEVICE_INFO = 0x010c [static]

Definition at line 190 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_DEVICE_MODES = 0x0112 [static]

Definition at line 196 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_DIRECTED_STREAMS = 0x0119 [static]

Definition at line 203 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_EXTERNAL_CAL = 0x011b [static]

Definition at line 205 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_FLASH_RESPONSE = 0x010b [static]

Definition at line 189 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_LIDAR_CAL = 0x010e [static]

Definition at line 192 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_PPS = 0x0113 [static]

Definition at line 197 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_SENSOR_CAL = 0x011a [static]

Definition at line 204 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_SYS_TEST_MTU_RESPONSE = 0x0117 [static]

Definition at line 201 of file Protocol.h.

CRL_CONSTEXPR IdType crl::multisense::details::wire::ID_DATA_VERSION = 0x0102 [static]

Definition at line 182 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_CHROMA_LEFT = (1<<6) [static]

Definition at line 220 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_CHROMA_RIGHT = (1<<7) [static]

Definition at line 221 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_DISPARITY = (1<<10) [static]

Definition at line 222 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_DISPARITY_COST = (1<<12) [static]

Definition at line 225 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_DISPARITY_LEFT = (1<<10) [static]

Definition at line 223 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_DISPARITY_RIGHT = (1<<11) [static]

Definition at line 224 of file Protocol.h.

CRL_CONSTEXPR SourceType crl::multisense::details::wire::SOURCE_IMAGES [static]

Initial value:

 (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)