#include <channel.hh>

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

Classes
class	UdpTracker

Public Types
typedef int32_t	socket_t

Public Member Functions
virtual Status	addIsolatedCallback (apriltag::Callback callback, void *userDataP)

virtual Status	addIsolatedCallback (compressed_image::Callback callback, DataSource imageSourceMask, void *userDataP)

virtual Status	addIsolatedCallback (ground_surface::Callback callback, void *userDataP)

virtual Status	addIsolatedCallback (image::Callback callback, DataSource imageSourceMask, void *userDataP)

virtual Status	addIsolatedCallback (imu::Callback callback, void *userDataP)

virtual Status	addIsolatedCallback (lidar::Callback callback, void *userDataP)

virtual Status	addIsolatedCallback (pps::Callback callback, void *userDataP)

virtual Status	addIsolatedCallback (secondary_app::Callback callback, void *userDataP)

virtual Status	getApiVersion (VersionType &version)

virtual Status	getAuxImageConfig (image::AuxConfig &c)

virtual Status	getDeviceInfo (system::DeviceInfo &info)

virtual Status	getDeviceModes (std::vector< system::DeviceMode > &modes)

virtual Status	getDeviceStatus (system::StatusMessage &status)

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	getPacketDelay (image::PacketDelay &p)

virtual Status	getPtpStatus (system::PtpStatus &ptpStatus)

virtual Status	getRegisteredApps (system::SecondaryAppRegisteredApps &c)

virtual Status	getRemoteHeadConfig (image::RemoteHeadConfig &c)

virtual Status	getSecondaryAppConfig (system::SecondaryAppConfig &c)

virtual Status	getSensorVersion (VersionType &version)

virtual system::ChannelStatistics	getStats ()

virtual Status	getTransmitDelay (image::TransmitDelay &c)

virtual Status	getVersionInfo (system::VersionInfo &v)

	impl (const std::string &address, const RemoteHeadChannel &cameraId, const std::string &ifName)

virtual Status	networkTimeSynchronization (bool enabled)

virtual Status	ptpTimeSynchronization (bool enabled)

virtual Status	releaseCallbackBuffer (void *referenceP)

virtual Status	removeIsolatedCallback (apriltag::Callback callback)

virtual Status	removeIsolatedCallback (compressed_image::Callback callback)

virtual Status	removeIsolatedCallback (ground_surface::Callback callback)

virtual Status	removeIsolatedCallback (image::Callback callback)

virtual Status	removeIsolatedCallback (imu::Callback callback)

virtual Status	removeIsolatedCallback (lidar::Callback callback)

virtual Status	removeIsolatedCallback (pps::Callback callback)

virtual Status	removeIsolatedCallback (secondary_app::Callback callback)

virtual void *	reserveCallbackBuffer ()

virtual Status	secondaryAppActivate (const std::string &s)

virtual Status	secondaryAppDeactivate (const std::string &s)

virtual Status	setApriltagParams (const system::ApriltagParams &params)

virtual Status	setAuxImageConfig (const image::AuxConfig &c)

virtual Status	setBestMtu ()

virtual Status	setDeviceInfo (const std::string &key, const system::DeviceInfo &i)

virtual Status	setExternalCalibration (const system::ExternalCalibration &calibration)

virtual Status	setGroundSurfaceParams (const system::GroundSurfaceParams &params)

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	setPacketDelay (const image::PacketDelay &p)

virtual Status	setRemoteHeadConfig (const image::RemoteHeadConfig &c)

virtual Status	setSecondaryAppConfig (system::SecondaryAppConfig &c)

virtual Status	setTransmitDelay (const image::TransmitDelay &c)

virtual Status	setTriggerSource (TriggerSource s)

virtual Status	startStreams (DataSource mask)

virtual Status	stopStreams (DataSource mask)

	~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 utility::TimeStamp &offset)

void	bind (const std::string &ifName)

void	cleanup ()

void	dispatch (utility::BufferStreamWriter &buffer)

void	dispatchAprilTagDetections (apriltag::Header &header)

void	dispatchCompressedImage (utility::BufferStream &buffer, compressed_image::Header &header)

void	dispatchGroundSurfaceSpline (ground_surface::Header &header)

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)

void	dispatchSecondaryApplication (utility::BufferStream &buffer, secondary_app::Header &header)

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 ()

template<class T >
void	publish (const T &message)

void	publish (const utility::BufferStreamWriter &stream)

utility::TimeStamp	sensorToLocalTime (const utility::TimeStamp &sensorTime)

void	sensorToLocalTime (const utility::TimeStamp &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
std::list< AprilTagDetectionListener * >	m_aprilTagDetectionListeners

system::ChannelStatistics	m_channelStatistics

std::list< CompressedImageListener * >	m_compressedImageListeners

utility::Mutex	m_dispatchLock

Status	m_getPtpStatusReturnStatus

Status	m_getStatusReturnStatus

std::list< GroundSurfaceSplineListener * >	m_groundSurfaceSplineListeners

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

int64_t	m_lastUnexpectedSequenceId

std::list< LidarListener * >	m_lidarListeners

MessageMap	m_messages

bool	m_networkTimeSyncEnabled

std::list< PpsListener * >	m_ppsListeners

wire::PtpStatusResponse	m_ptpStatusResponseMessage

bool	m_ptpTimeSyncEnabled

BufferPool	m_rxLargeBufferPool

utility::Mutex	m_rxLock

BufferPool	m_rxSmallBufferPool

utility::Thread *	m_rxThreadP

std::list< SecondaryAppListener * >	m_secondaryAppListeners

DepthCache< int64_t, wire::SecondaryAppMetadata >	m_secondaryAppMetaCache

struct sockaddr_in	m_sensorAddress

int32_t	m_sensorMtu

wire::VersionResponse	m_sensorVersion

socket_t	m_serverSocket

uint16_t	m_serverSocketPort

utility::Mutex	m_statisticsLock

wire::StatusResponse	m_statusResponseMessage

utility::Thread *	m_statusThreadP

utility::Mutex	m_streamLock

DataSource	m_streamsEnabled

bool	m_threadsRunning

utility::Mutex	m_timeLock

utility::TimeStamp	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 = 0x0701

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 = 4

static CRL_CONSTEXPR uint32_t	MAX_BUFFER_ALLOCATION_RETRIES = 5

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_APRILTAG_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MAX_USER_COMPRESSED_IMAGE_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MAX_USER_GROUND_SURFACE_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MAX_USER_IMAGE_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MAX_USER_IMU_QUEUE_SIZE = 64

static CRL_CONSTEXPR uint32_t	MAX_USER_LASER_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MAX_USER_PPS_QUEUE_SIZE = 2

static CRL_CONSTEXPR uint32_t	MAX_USER_SECONDARY_APP_QUEUE_SIZE = 8

static CRL_CONSTEXPR uint32_t	MIN_MTU_SIZE = 1500

static CRL_CONSTEXPR uint32_t	RX_POOL_LARGE_BUFFER_COUNT = 16

static CRL_CONSTEXPR uint32_t	RX_POOL_LARGE_BUFFER_SIZE = (10 * (1024 * 1024))

static CRL_CONSTEXPR uint32_t	RX_POOL_SMALL_BUFFER_COUNT = 256

static CRL_CONSTEXPR uint32_t	RX_POOL_SMALL_BUFFER_SIZE = (8 * (1024))

static CRL_CONSTEXPR uint32_t	SECONDARY_APP_META_CACHE_DEPTH = 4

static CRL_CONSTEXPR uint32_t	TIME_SYNC_OFFSET_DECAY = 8

static CRL_CONSTEXPR uint32_t	UDP_TRACKER_CACHE_DEPTH = 4

Additional Inherited Members
Static Public Member Functions inherited from crl::multisense::Channel
static Channel *	Create (const std::string &sensorAddress)

static Channel *	Create (const std::string &sensorAddress, const RemoteHeadChannel &cameraId)

static Channel *	Create (const std::string &sensorAddress, const RemoteHeadChannel &cameraId, const std::string &interfaceName)

static Channel *	Create (const std::string &sensorAddress, const std::string &interfaceName)

static void	Destroy (Channel *instanceP)

static const char *	statusString (Status status)

Detailed Description

Definition at line 88 of file Legacy/include/MultiSense/details/channel.hh.

Member Typedef Documentation

◆ BufferPool

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

private

Definition at line 442 of file Legacy/include/MultiSense/details/channel.hh.

◆ socket_t

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

Definition at line 94 of file Legacy/include/MultiSense/details/channel.hh.

◆ UdpAssembler

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

private

Definition at line 236 of file Legacy/include/MultiSense/details/channel.hh.

◆ UdpAssemblerMap

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

private

Definition at line 460 of file Legacy/include/MultiSense/details/channel.hh.

Constructor & Destructor Documentation

◆ impl()

crl::multisense::details::impl::impl	(	const std::string &	address,
		const RemoteHeadChannel &	cameraId,
		const std::string &	ifName
	)

Definition at line 68 of file Legacy/details/channel.cc.

◆ ~impl()

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

Definition at line 302 of file Legacy/details/channel.cc.

Member Function Documentation

◆ addIsolatedCallback() [1/8]

virtual Status crl::multisense::details::impl::addIsolatedCallback	(	apriltag::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

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

Implements crl::multisense::Channel.

◆ addIsolatedCallback() [2/8]

virtual Status crl::multisense::details::impl::addIsolatedCallback	(	compressed_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

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

Implements crl::multisense::Channel.

◆ addIsolatedCallback() [3/8]

virtual Status crl::multisense::details::impl::addIsolatedCallback	(	ground_surface::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

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

Implements crl::multisense::Channel.

◆ addIsolatedCallback() [4/8]

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

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

Implements crl::multisense::Channel.

Definition at line 141 of file public.cc.

◆ addIsolatedCallback() [5/8]

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

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

Implements crl::multisense::Channel.

◆ addIsolatedCallback() [6/8]

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

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

Implements crl::multisense::Channel.

Definition at line 163 of file public.cc.

◆ addIsolatedCallback() [7/8]

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

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

Implements crl::multisense::Channel.

◆ addIsolatedCallback() [8/8]

virtual Status crl::multisense::details::impl::addIsolatedCallback	(	secondary_app::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

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

Implements crl::multisense::Channel.

◆ applySensorTimeOffset()

void crl::multisense::details::impl::applySensorTimeOffset ( const utility::TimeStamp & offset )

private

Definition at line 633 of file Legacy/details/channel.cc.

◆ bind()

void crl::multisense::details::impl::bind ( const std::string & ifName )

private

Definition at line 311 of file Legacy/details/channel.cc.

◆ cleanup()

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

private

Definition at line 233 of file Legacy/details/channel.cc.

◆ DEFAULT_ACK_TIMEOUT()

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

inlinestaticprivate

Definition at line 304 of file Legacy/include/MultiSense/details/channel.hh.

◆ dispatch()

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

private

Definition at line 270 of file dispatch.cc.

◆ dispatchAprilTagDetections()

void crl::multisense::details::impl::dispatchAprilTagDetections ( apriltag::Header & header )

private

Definition at line 232 of file dispatch.cc.

◆ dispatchCompressedImage()

void crl::multisense::details::impl::dispatchCompressedImage	(	utility::BufferStream &	buffer,
		compressed_image::Header &	header
	)

private

Definition at line 195 of file dispatch.cc.

◆ dispatchGroundSurfaceSpline()

void crl::multisense::details::impl::dispatchGroundSurfaceSpline ( ground_surface::Header & header )

private

Definition at line 214 of file dispatch.cc.

◆ dispatchImage()

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

private

Definition at line 122 of file dispatch.cc.

◆ dispatchImu()

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

private

Definition at line 177 of file dispatch.cc.

◆ dispatchLidar()

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

private

Definition at line 141 of file dispatch.cc.

◆ dispatchPps()

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

private

Definition at line 159 of file dispatch.cc.

◆ dispatchSecondaryApplication()

void crl::multisense::details::impl::dispatchSecondaryApplication	(	utility::BufferStream &	buffer,
		secondary_app::Header &	header
	)

private

Definition at line 250 of file dispatch.cc.

◆ findFreeBuffer()

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

private

Definition at line 770 of file dispatch.cc.

◆ getApiVersion()

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

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

Implements crl::multisense::Channel.

Definition at line 833 of file public.cc.

◆ getAuxImageConfig()

Status crl::multisense::details::impl::getAuxImageConfig ( image::AuxConfig & c )

virtual

Query the aux image configuration.

See image::AuxConfig for a usage example

Parameters

c	The aux 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 928 of file public.cc.

◆ getDeviceInfo()

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

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

Implements crl::multisense::Channel.

Definition at line 1594 of file public.cc.

◆ getDeviceModes()

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

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

Implements crl::multisense::Channel.

Definition at line 1442 of file public.cc.

◆ getDeviceStatus()

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

status The 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 1638 of file public.cc.

◆ getEnabledStreams()

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

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.

Implements crl::multisense::Channel.

Definition at line 697 of file public.cc.

◆ getExternalCalibration()

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

virtual

Get the external calibration associated with the MultiSense device

Parameters

calibration The 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 1675 of file public.cc.

◆ getImageCalibration()

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

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

Implements crl::multisense::Channel.

Definition at line 1304 of file public.cc.

◆ getImageConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 863 of file public.cc.

◆ getImageHistogram()

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

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

Implements crl::multisense::Channel.

Definition at line 584 of file public.cc.

◆ getImageTime()

template<class WireT >

void crl::multisense::details::impl::getImageTime	(	const WireT *	wire,
		uint32_t &	seconds,
		uint32_t &	microSeconds
	)

inlineprivate

Definition at line 254 of file Legacy/include/MultiSense/details/channel.hh.

◆ getImuConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 1926 of file public.cc.

◆ getImuInfo()

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

virtual

Query detailed information about the current sensor's IMU.

See imu::Info for a usage example

Parameters

maxSamplesPerMessage	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

Implements crl::multisense::Channel.

Definition at line 1886 of file public.cc.

◆ getLargeBufferDetails()

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

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

Implements crl::multisense::Channel.

Definition at line 1978 of file public.cc.

◆ getLidarCalibration()

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

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

Implements crl::multisense::Channel.

Definition at line 1412 of file public.cc.

◆ getLightingConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 753 of file public.cc.

◆ getLightingSensorStatus()

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

virtual

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

Parameters

status The status of the external lighting sensors returned by reference

Implements crl::multisense::Channel.

Definition at line 807 of file public.cc.

◆ getLocalUdpPort()

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

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

Implements crl::multisense::Channel.

Definition at line 2032 of file public.cc.

◆ getMotorPos()

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

virtual

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

Parameters

mtu	An 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 1551 of file public.cc.

◆ getMtu()

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

mtu	An 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 1495 of file public.cc.

◆ getNetworkConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 1577 of file public.cc.

◆ getPacketDelay()

Status crl::multisense::details::impl::getPacketDelay ( image::PacketDelay & c )

virtual

Query the current device udp packet delay.

Parameters

c	The udp packet delay instance which will be returned by reference

Returns: A crl::multisense::Status indicating if the udp packet delay was successfully queried

Implements crl::multisense::Channel.

Definition at line 1385 of file public.cc.

◆ getPtpStatus()

Status crl::multisense::details::impl::getPtpStatus ( system::PtpStatus & ptpStatus )

virtual

Get PTP status information (updates at 1Hz)

Parameters

ptpStatus A ptpStatus obj returned by reference from the sensor

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

Implements crl::multisense::Channel.

Definition at line 621 of file public.cc.

◆ getRegisteredApps()

Status crl::multisense::details::impl::getRegisteredApps ( system::SecondaryAppRegisteredApps & c )

virtual

Query the secondary application(s) registered with the MultiSense device

Parameters

params The secondary application(s) supported by this firmware version

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

Implements crl::multisense::Channel.

Definition at line 1804 of file public.cc.

◆ getRemoteHeadConfig()

Status crl::multisense::details::impl::getRemoteHeadConfig ( image::RemoteHeadConfig & c )

virtual

Set the current Remote Head Config

Parameters

c	A remoteHeadConfig returned by reference from getRemoteHeadConfig()

Returns: A crl::multisense::Status indicating if the Remote Head Config was successfully queried

Implements crl::multisense::Channel.

Definition at line 1226 of file public.cc.

◆ getSecondaryAppConfig()

Status crl::multisense::details::impl::getSecondaryAppConfig ( system::SecondaryAppConfig & c )

virtual

Get the secondary application config parameters associated with the MultiSense device

Parameters

params The secondary application parameters to send to the secondary application

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

Implements crl::multisense::Channel.

Definition at line 1750 of file public.cc.

◆ getSensorVersion()

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

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

Implements crl::multisense::Channel.

Definition at line 824 of file public.cc.

◆ getStats()

system::ChannelStatistics crl::multisense::details::impl::getStats ( )

virtual

Query the statistics of the channel object.

Returns: A crl::multisense::system::ChannelStatistics object that contains various metrics of this channel object

Implements crl::multisense::Channel.

Definition at line 2038 of file public.cc.

◆ getTransmitDelay()

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

virtual

Query the current device network delay.

Parameters

c	The 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 1358 of file public.cc.

◆ getUdpAssembler()

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

private

Definition at line 744 of file dispatch.cc.

◆ getVersionInfo()

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

v	The version information returned by reference

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

Implements crl::multisense::Channel.

Definition at line 842 of file public.cc.

◆ handle()

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

private

Definition at line 840 of file dispatch.cc.

◆ hardwareApiToWire()

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

staticprivate

Definition at line 543 of file Legacy/details/channel.cc.

◆ hardwareWireToApi()

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

staticprivate

Definition at line 570 of file Legacy/details/channel.cc.

◆ imagerApiToWire()

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

staticprivate

Definition at line 597 of file Legacy/details/channel.cc.

◆ imagerWireToApi()

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

staticprivate

Definition at line 613 of file Legacy/details/channel.cc.

◆ networkTimeSynchronization()

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

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

Implements crl::multisense::Channel.

Definition at line 642 of file public.cc.

◆ ptpTimeSynchronization()

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

enabled A 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 651 of file public.cc.

◆ publish() [1/2]

template<class T >

void crl::multisense::details::impl::publish ( const T & message )

private

Definition at line 50 of file query.hh.

◆ publish() [2/2]

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

private

Definition at line 408 of file Legacy/details/channel.cc.

◆ releaseCallbackBuffer()

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

referenceP A 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 558 of file public.cc.

◆ removeIsolatedCallback() [1/8]

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

virtual

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

Parameters

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [2/8]

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

virtual

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

Parameters

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [3/8]

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

virtual

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

Parameters

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [4/8]

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

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

Definition at line 290 of file public.cc.

◆ removeIsolatedCallback() [5/8]

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

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [6/8]

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

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [7/8]

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

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ removeIsolatedCallback() [8/8]

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

virtual

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

Parameters

callback The user defined image::Callback to unregister

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

Implements crl::multisense::Channel.

◆ reserveCallbackBuffer()

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 534 of file public.cc.

◆ rxThread()

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

staticprivate

Definition at line 981 of file dispatch.cc.

◆ secondaryAppActivate()

Status crl::multisense::details::impl::secondaryAppActivate ( const std::string & name )

virtual

Activate the secondary application for use with the MultiSense device

Parameters

name	the name of the secondary application to activate

Returns: A crl::multisense::Status indicating if the params were successfully set

Implements crl::multisense::Channel.

Definition at line 1829 of file public.cc.

◆ secondaryAppDeactivate()

Status crl::multisense::details::impl::secondaryAppDeactivate ( const std::string & s )

virtual

Deactivate the secondary application for use with the MultiSense device

Parameters

name	the name of the secondary application to deactivate

Returns: A crl::multisense::Status indicating if the params were successfully set

Implements crl::multisense::Channel.

Definition at line 1836 of file public.cc.

◆ sensorToLocalTime() [1/2]

utility::TimeStamp crl::multisense::details::impl::sensorToLocalTime ( const utility::TimeStamp & sensorTime )

private

Definition at line 667 of file Legacy/details/channel.cc.

◆ sensorToLocalTime() [2/2]

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

private

Definition at line 676 of file Legacy/details/channel.cc.

◆ setApriltagParams()

Status crl::multisense::details::impl::setApriltagParams ( const system::ApriltagParams & params )

virtual

Set the apriltag parameters associated with the MultiSense device

Parameters

params The apriltag parameters to send to the on-camera apriltag application

Returns: A crl::multisense::Status indicating if the params were successfully set

Implements crl::multisense::Channel.

Definition at line 1731 of file public.cc.

◆ setAuxImageConfig()

Status crl::multisense::details::impl::setAuxImageConfig ( const image::AuxConfig & c )

virtual

Set the aux image configuration.

See image::AuxConfig for a usage example

Parameters

c	The new aux 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 1121 of file public.cc.

◆ setBestMtu()

Status crl::multisense::details::impl::setBestMtu ( )

virtual

Binary search for best path MTU (within ~118B).

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

Implements crl::multisense::Channel.

Definition at line 1506 of file public.cc.

◆ setDeviceInfo()

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

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

Implements crl::multisense::Channel.

Definition at line 1846 of file public.cc.

◆ setExternalCalibration()

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

virtual

Set the external calibration associated with the MultiSense device

Parameters

calibration The 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 1693 of file public.cc.

◆ setGroundSurfaceParams()

Status crl::multisense::details::impl::setGroundSurfaceParams ( const system::GroundSurfaceParams & params )

virtual

Set the ground surface parameters associated with the MultiSense device

Parameters

params The ground surface parameters to send to the on-camera ground surface application

Returns: A crl::multisense::Status indicating if the params were successfully set

Implements crl::multisense::Channel.

Definition at line 1707 of file public.cc.

◆ setImageCalibration()

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

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

Implements crl::multisense::Channel.

Definition at line 1333 of file public.cc.

◆ setImageConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 1066 of file public.cc.

◆ setImuConfig()

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

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

Implements crl::multisense::Channel.

Definition at line 1953 of file public.cc.

◆ setLargeBuffers()

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

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

Implements crl::multisense::Channel.

Definition at line 1990 of file public.cc.

◆ setLidarCalibration()

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

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

Implements crl::multisense::Channel.

Definition at line 1429 of file public.cc.

◆ setLightingConfig()

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

c	A 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 782 of file public.cc.

◆ setMotorSpeed()

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

rpm	The 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 745 of file public.cc.

◆ setMtu()

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

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

Implements crl::multisense::Channel.

Definition at line 1471 of file public.cc.

◆ setNetworkConfig()

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

c	A 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 1565 of file public.cc.

◆ setPacketDelay()

Status crl::multisense::details::impl::setPacketDelay ( const image::PacketDelay & c )

virtual

Enable the camera udp packet delay. Enables a small delay approx 65us between udp packets for a large stream object. Recommended for clients with poor network bandwidth. If in doubt set to false (disable)

Parameters

c	The packet delay enable field which will be returned by reference

Returns: A crl::multisense::Status indicating if the packet delay was successfully received by the sensor

Implements crl::multisense::Channel.

Definition at line 1400 of file public.cc.

◆ setRemoteHeadConfig()

Status crl::multisense::details::impl::setRemoteHeadConfig ( const image::RemoteHeadConfig & c )

virtual

Set the current Remote Head Config

Parameters

c	The new image remote head config to send to the sensor

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

Implements crl::multisense::Channel.

Definition at line 1264 of file public.cc.

◆ setSecondaryAppConfig()

Status crl::multisense::details::impl::setSecondaryAppConfig ( system::SecondaryAppConfig & c )

virtual

Set the secondary application config associated with the MultiSense device

Parameters

params The secondary application parameters to send to the on camera secondary application

Returns: A crl::multisense::Status indicating if the params were successfully set

Implements crl::multisense::Channel.

Definition at line 1783 of file public.cc.

◆ setTransmitDelay()

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

c	The 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 1373 of file public.cc.

◆ setTriggerSource()

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

s	The new desired trigger source

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

Implements crl::multisense::Channel.

Definition at line 709 of file public.cc.

◆ sourceApiToWire()

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

staticprivate

Definition at line 453 of file Legacy/details/channel.cc.

◆ sourceWireToApi()

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

staticprivate

Definition at line 498 of file Legacy/details/channel.cc.

◆ startStreams()

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

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

Implements crl::multisense::Channel.

Definition at line 669 of file public.cc.

◆ statusThread()

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

staticprivate

Definition at line 691 of file Legacy/details/channel.cc.

◆ stopStreams()

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

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

Implements crl::multisense::Channel.

Definition at line 683 of file public.cc.

◆ toHeaderTime()

template<typename T >

void crl::multisense::details::impl::toHeaderTime	(	T	nanoSeconds,
		uint32_t &	seconds,
		uint32_t &	microSeconds
	)		const

inlineprivate

Definition at line 242 of file Legacy/include/MultiSense/details/channel.hh.

◆ unwrapSequenceId()

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

private

Definition at line 796 of file dispatch.cc.

◆ waitAck()

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.

◆ waitData()

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`
	)