#include <MultiSenseChannel.hh>

Inheritance diagram for multisense::Channel:

Classes
struct	Config

struct	ReceiveBufferConfig
	Certain implementations may use a fixed set of internal buffers to manage incoming camera data. For those implementations specify configurations for both small and large buffers. More...

Public Types
enum	ChannelImplementation { ChannelImplementation::LEGACY }
	Identifiers for the different Channel implementations. Used for selecting a implementation at runtime. More...

Public Member Functions
virtual void	add_image_frame_callback (std::function< void(const ImageFrame &)> callback)=0
	Setup user callback that will be invoked whenever a new image frame is received. More...

virtual void	add_imu_frame_callback (std::function< void(const ImuFrame &)> callback)=0
	Setup user callback that will be invoked whenever a new imu frame is received. More...

	Channel ()=default

	Channel (Channel &&) noexcept=default

	Channel (const Channel &)=delete

virtual Status	connect (const Config &config)=0
	Initialize the connection to the camera. More...

virtual void	disconnect ()=0
	Disconnect from the camera. More...

virtual StereoCalibration	get_calibration ()=0
	Get the current stereo calibration. The output calibration will correspond to the full-resolution operating mode of the camera. More...

virtual MultiSenseConfig	get_config ()=0
	Get the current MultiSense configuration. More...

virtual MultiSenseInfo	get_info ()=0
	Get the static information associated with the camera. More...

virtual std::optional< ImageFrame >	get_next_image_frame ()=0
	A blocking call that waits for one image frame from the camera. More...

virtual std::optional< ImuFrame >	get_next_imu_frame ()=0
	A blocking call that waits for one imu frame from the camera. More...

virtual std::optional< MultiSenseStatus >	get_system_status ()=0
	Query the current system status. More...

Channel &	operator= (Channel &&) noexcept=default

Channel &	operator= (const Channel &)=delete

virtual Status	set_calibration (const StereoCalibration &calibration)=0
	Set the current stereo calibration. The calibration is expected to be or the full-resolution operating mode of the camera. More...

virtual Status	set_config (const MultiSenseConfig &config)=0
	Get set the current MultiSense configuration. More...

virtual Status	set_device_info (const MultiSenseInfo::DeviceInfo &device_info, const std::string &key)=0
	Set the camera's device info. This setting is protected via a key since invalid values in the device info can result in internal camera failures. More...

virtual Status	set_network_config (const MultiSenseInfo::NetworkInfo &config, const std::optional< std::string > &broadcast_interface)=0
	Update the network configuration of the MultiSense. This will require a hardware reboot of the MultiSense after it's been successfully applied. More...

virtual Status	start_streams (const std::vector< DataSource > &sources)=0
	Start a collection of data sources streaming from the camera. More...

virtual Status	stop_streams (const std::vector< DataSource > &sources)=0
	Stop specific data sources from streaming from the camera. An empty collection of sources will stop all sources. More...

virtual	~Channel ()=default

Static Public Member Functions
static std::unique_ptr< Channel >	create (const Config &config, const ChannelImplementation &impl=ChannelImplementation::LEGACY)
	Factory create function which allows for switching between different channel implementations. More...

Detailed Description

Definition at line 46 of file LibMultiSense/include/MultiSense/MultiSenseChannel.hh.

Member Enumeration Documentation

◆ ChannelImplementation

enum multisense::Channel::ChannelImplementation

strong

Identifiers for the different Channel implementations. Used for selecting a implementation at runtime.

Enumerator
LEGACY	Use the Legacy MultiSense wire protocol implemented as part of LibMultiSense.

Definition at line 52 of file LibMultiSense/include/MultiSense/MultiSenseChannel.hh.

Constructor & Destructor Documentation

◆ Channel() [1/3]

multisense::Channel::Channel ( )

default

◆ Channel() [2/3]

multisense::Channel::Channel ( const Channel & )

delete

Non-copyable

◆ Channel() [3/3]

multisense::Channel::Channel ( Channel && )

defaultnoexcept

Movable

◆ ~Channel()

virtual multisense::Channel::~Channel ( )

virtualdefault

Member Function Documentation

◆ add_image_frame_callback()

virtual void multisense::Channel::add_image_frame_callback ( std::function< void(const ImageFrame &)> callback )

pure virtual

Setup user callback that will be invoked whenever a new image frame is received.

Implemented in multisense::legacy::LegacyChannel.

◆ add_imu_frame_callback()

virtual void multisense::Channel::add_imu_frame_callback ( std::function< void(const ImuFrame &)> callback )

pure virtual

Setup user callback that will be invoked whenever a new imu frame is received.

Implemented in multisense::legacy::LegacyChannel.

◆ connect()

virtual Status multisense::Channel::connect ( const Config & config )

pure virtual

Initialize the connection to the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ create()

std::unique_ptr< Channel > multisense::Channel::create	(	const Config &	config,
		const ChannelImplementation &	impl = `ChannelImplementation::LEGACY`
	)

static

Factory create function which allows for switching between different channel implementations.

Definition at line 42 of file factory.cc.

◆ disconnect()

virtual void multisense::Channel::disconnect ( )

pure virtual

Disconnect from the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ get_calibration()

virtual StereoCalibration multisense::Channel::get_calibration ( )

pure virtual

Get the current stereo calibration. The output calibration will correspond to the full-resolution operating mode of the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ get_config()

virtual MultiSenseConfig multisense::Channel::get_config ( )

pure virtual

Get the current MultiSense configuration.

Implemented in multisense::legacy::LegacyChannel.

◆ get_info()

virtual MultiSenseInfo multisense::Channel::get_info ( )

pure virtual

Get the static information associated with the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ get_next_image_frame()

virtual std::optional<ImageFrame> multisense::Channel::get_next_image_frame ( )

pure virtual

A blocking call that waits for one image frame from the camera.

If you’ve set a receive timeout (via Config), it will block until that timeout expires; otherwise, it blocks indefinitely until data arrives.

Returns: The newly received ImageFrame, or std::nullopt if timed out (and you used a timeout).

Implemented in multisense::legacy::LegacyChannel.

◆ get_next_imu_frame()

virtual std::optional<ImuFrame> multisense::Channel::get_next_imu_frame ( )

pure virtual

A blocking call that waits for one imu frame from the camera.

If you’ve set a receive timeout (via Config), it will block until that timeout expires; otherwise, it blocks indefinitely until data arrives.

Returns: The newly received ImuFrame, or std::nullopt if timed out (and you used a timeout).

Implemented in multisense::legacy::LegacyChannel.

◆ get_system_status()

virtual std::optional<MultiSenseStatus> multisense::Channel::get_system_status ( )

pure virtual

Query the current system status.

Implemented in multisense::legacy::LegacyChannel.

◆ operator=() [1/2]

Channel& multisense::Channel::operator= ( Channel && )

defaultnoexcept

◆ operator=() [2/2]

Channel& multisense::Channel::operator= ( const Channel & )

delete

◆ set_calibration()

virtual Status multisense::Channel::set_calibration ( const StereoCalibration & calibration )

pure virtual

Set the current stereo calibration. The calibration is expected to be or the full-resolution operating mode of the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ set_config()

virtual Status multisense::Channel::set_config ( const MultiSenseConfig & config )

pure virtual

Get set the current MultiSense configuration.

Implemented in multisense::legacy::LegacyChannel.

◆ set_device_info()

virtual Status multisense::Channel::set_device_info	(	const MultiSenseInfo::DeviceInfo &	device_info,
		const std::string &	key
	)

pure virtual

Set the camera's device info. This setting is protected via a key since invalid values in the device info can result in internal camera failures.

Implemented in multisense::legacy::LegacyChannel.

◆ set_network_config()

virtual Status multisense::Channel::set_network_config	(	const MultiSenseInfo::NetworkInfo &	config,
		const std::optional< std::string > &	broadcast_interface
	)

pure virtual

Update the network configuration of the MultiSense. This will require a hardware reboot of the MultiSense after it's been successfully applied.

Parameters

broadcast_interface If specified a broadcast packet will be sent over the specified interface changing the IP address of all the camera connected to that interface

Implemented in multisense::legacy::LegacyChannel.

◆ start_streams()

virtual Status multisense::Channel::start_streams ( const std::vector< DataSource > & sources )

pure virtual

Start a collection of data sources streaming from the camera.

Implemented in multisense::legacy::LegacyChannel.

◆ stop_streams()

virtual Status multisense::Channel::stop_streams ( const std::vector< DataSource > & sources )

pure virtual

Stop specific data sources from streaming from the camera. An empty collection of sources will stop all sources.

Implemented in multisense::legacy::LegacyChannel.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ ChannelImplementation

Constructor & Destructor Documentation

◆ Channel() [1/3]

◆ Channel() [2/3]

◆ Channel() [3/3]

◆ ~Channel()

Member Function Documentation

◆ add_image_frame_callback()

◆ add_imu_frame_callback()

◆ connect()

◆ create()

◆ disconnect()

◆ get_calibration()

◆ get_config()

◆ get_info()

◆ get_next_image_frame()

◆ get_next_imu_frame()

◆ get_system_status()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_calibration()

◆ set_config()

◆ set_device_info()

◆ set_network_config()

◆ start_streams()

◆ stop_streams()