ChangeTransmitDelay.cc

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#ifdef WIN32
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN 1
#endif
 
#include <windows.h>
#include <winsock2.h>
#else
#include <unistd.h>
#include <netdb.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#endif
 
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <fstream>
#include <iostream>
#include <iomanip>
 
#include <errno.h>
#include <string.h>
 
#include <MultiSense/details/utility/Portability.hh>
#include <MultiSense/MultiSenseChannel.hh>
 
#include <utility/BufferStream.hh>
#include <wire/Protocol.hh>
#include <wire/SysNetworkMessage.hh>
 
#include <getopt/getopt.h>
 
namespace {  // anonymous
 
void usage(const char *programNameP)
{
    fprintf(stderr, "USAGE: %s [<options>]\n", programNameP);
    fprintf(stderr, "Where <options> are:\n");
    fprintf(stderr, "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)\n");
    fprintf(stderr, "\t-d transmit delay in ms\n");
 
    exit(-1);
}
 
} // anonymous
 
using namespace crl::multisense;
 
int main(int    argc,
         char **argvPP)
{
    std::string currentAddress = "10.66.171.21";
    int delay = 0;
 
    //
    // Parse args
 
    int c;
 
    while(-1 != (c = getopt(argc, argvPP, "a:d:")))
        switch(c) {
        case 'a': currentAddress = std::string(optarg);    break;
        case 'd': delay         = atoi(optarg);            break;
        default: usage(*argvPP);                           break;
        }
 
    //
    // Initialize communications.
 
    Channel *channelP = Channel::Create(currentAddress);
    if (NULL == channelP) {
                std::cerr << "Failed to establish communications with \"" << currentAddress << "\"" << std::endl;
        return -1;
    }
 
    //
    // Query version
 
    Status status;
    system::VersionInfo v;
 
    status = channelP->getVersionInfo(v);
    if (Status_Ok != status) {
                std::cerr << "Failed to query sensor version: " << Channel::statusString(status) << std::endl;
        goto clean_out;
    }
 
        std::cout << "API build date      :  " << v.apiBuildDate << "\n";
        std::cout << "API version         :  0x" << std::hex << std::setw(4) << std::setfill('0') << v.apiVersion << "\n";
        std::cout << "Firmware build date :  " << v.sensorFirmwareBuildDate << "\n";
        std::cout << "Firmware version    :  0x" << std::hex << std::setw(4) << std::setfill('0') << v.sensorFirmwareVersion << "\n";
        std::cout << "Hardware version    :  0x" << std::hex << v.sensorHardwareVersion << "\n";
        std::cout << "Hardware magic      :  0x" << std::hex << v.sensorHardwareMagic << "\n";
        std::cout << "FPGA DNA            :  0x" << std::hex << v.sensorFpgaDna << "\n";
        std::cout << std::dec;
 
    //
    // Change framerate
 
    {
        image::TransmitDelay TransmitDelay;
 
    status = channelP->getTransmitDelay(TransmitDelay);
        if (Status_Ok != status) {
                        std::cerr << "Failed to get transmit delay: " << Channel::statusString(status) << std::endl;
            goto clean_out;
        } else {
 
            TransmitDelay.delay = delay;
 
            status = channelP->setTransmitDelay(TransmitDelay);
            if (Status_Ok != status) {
                                std::cerr << "Failed to configure transmit delay: " << Channel::statusString(status) << std::endl;
                goto clean_out;
            }
        }
    }
 
clean_out:
 
    Channel::Destroy(channelP);
    return 0;
}