configuration.hh

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#pragma once
 
#include <utility/Exception.hh>
#include <wire/Protocol.hh>
#include <utility/BufferStream.hh>
 
#include <wire/AuxCamConfigMessage.hh>
#include <wire/AuxCamControlMessage.hh>
#include <wire/AuxCamGetConfigMessage.hh>
#include <wire/CamConfigMessage.hh>
#include <wire/CamControlMessage.hh>
#include <wire/CamGetConfigMessage.hh>
#include <wire/CamSetResolutionMessage.hh>
#include <wire/ImuConfigMessage.hh>
#include <wire/LedStatusMessage.hh>
#include <wire/LedSetMessage.hh>
#include <wire/SysPacketDelayMessage.hh>
#include <wire/SysSetPtpMessage.hh>
 
#include "MultiSense/MultiSenseTypes.hh"
 
namespace multisense {
namespace legacy {
 
MultiSenseConfig::AuxConfig convert(const crl::multisense::details::wire::AuxCamConfig &aux_config);
 
MultiSenseConfig convert(const crl::multisense::details::wire::CamConfig &config,
                         const std::optional<crl::multisense::details::wire::AuxCamConfig> &aux_config,
                         const std::optional<crl::multisense::details::wire::ImuConfig> &imu_config,
                         const std::optional<crl::multisense::details::wire::LedStatus> &led_config,
                         const crl::multisense::details::wire::SysPacketDelay &packet_delay,
                         bool ptp_enabled,
                         const MultiSenseInfo::DeviceInfo &info,
                         const std::optional<MultiSenseInfo::ImuInfo> &imu_info);
 
template <typename T>
T convert(const MultiSenseConfig &config);
 
crl::multisense::details::wire::AuxCamControl convert(const MultiSenseConfig::AuxConfig &config);
 
crl::multisense::details::wire::SysSetPtp convert(const MultiSenseConfig::TimeConfig &config);
 
MultiSenseConfig::ImuConfig convert(const crl::multisense::details::wire::ImuConfig &imu,
                                    const MultiSenseInfo::ImuInfo &imu_info);
 
crl::multisense::details::wire::ImuConfig convert(const MultiSenseConfig::ImuConfig &imu,
                                                  const MultiSenseInfo::ImuInfo &imu_info,
                                                  uint32_t max_samples_per_message);
 
MultiSenseConfig::LightingConfig convert(const crl::multisense::details::wire::LedStatus &led,
                                         const MultiSenseInfo::DeviceInfo::LightingType &type);
 
crl::multisense::details::wire::LedSet convert (const MultiSenseConfig::LightingConfig &led);
 
MultiSenseConfig::NetworkTransmissionConfig
    convert(const crl::multisense::details::wire::SysPacketDelay &packet);
 
template <typename T>
T convert(const MultiSenseConfig::NetworkTransmissionConfig &config);
 
}
}