status.cc

Go to the documentation of this file.

 
#include "details/legacy/status.hh"
 
namespace multisense {
namespace legacy {
 
bool system_ok(const crl::multisense::details::wire::StatusResponse &status)
{
    using namespace crl::multisense::details;
 
    return (status.status & wire::StatusResponse::STATUS_GENERAL_OK) == wire::StatusResponse::STATUS_GENERAL_OK;
}
 
template <>
MultiSenseStatus::TemperatureStatus convert(const crl::multisense::details::wire::StatusResponse &status)
{
    return MultiSenseStatus::TemperatureStatus{status.temperature1,
                                               status.temperature2,
                                               status.temperature3,
                                               status.temperature0};
}
 
template <>
MultiSenseStatus::PowerStatus convert(const crl::multisense::details::wire::StatusResponse &status)
{
    return MultiSenseStatus::PowerStatus{status.inputVolts,
                                         status.inputCurrent,
                                         status.fpgaPower};
}
 
template <>
MultiSenseStatus::CameraStatus convert(const crl::multisense::details::wire::StatusResponse &status)
{
    using namespace crl::multisense::details;
 
    return MultiSenseStatus::CameraStatus{
        (status.status & wire::StatusResponse::STATUS_CAMERAS_OK) == wire::StatusResponse::STATUS_CAMERAS_OK,
        (status.status & wire::StatusResponse::STATUS_PIPELINE_OK) == wire::StatusResponse::STATUS_PIPELINE_OK};
}
 
MultiSenseStatus::PtpStatus convert(const crl::multisense::details::wire::PtpStatusResponse &status)
{
    std::array<uint8_t, 8> grandmaster_id = {0, 0, 0, 0, 0, 0, 0, 0};
    memcpy(grandmaster_id.data(), status.gm_id, sizeof(uint8_t) * grandmaster_id.size());
    return MultiSenseStatus::PtpStatus{status.gm_present != 0,
                                       std::move(grandmaster_id),
                                       std::chrono::nanoseconds{status.gm_offset},
                                       std::chrono::nanoseconds{status.path_delay},
                                       status.steps_removed};
}
 
}
}