#include <VisionaryControl.h>

Public Types
enum	ProtocolType { INVALID_PROTOCOL = -1, COLA_A = 2111, COLA_B = 2112, COLA_2 = 2122 }
	The numbers used for the protocols are the port numbers. More...

Public Member Functions
bool	burstAcquisition (uint16_t burstLen)
	Start streaming a burst of data by calling the "PLAYBURST" method on the device. Works only when acquisition is stopped. More...

void	close ()

uint16_t	GetBlobPort ()
	Get blob port address. More...

bool	getDataStreamConfig ()
	Tells the device that there is a streaming channel by invoking a method named GetBlobClientConfig. More...

std::string	getDeviceIdent ()
	Get device information by calling the "DeviceIdent" method on the device. More...

bool	login (IAuthentication::UserLevel userLevel, const std::string &password)

bool	logout ()
	Logout from the device. More...

bool	open (ProtocolType type, const std::string &hostname, uint32_t sessionTimeout_ms=kSessionTimeout_ms, bool autoReconnect=true, uint32_t connectTimeout_ms=kSessionTimeout_ms)

CoLaCommand	sendCommand (const CoLaCommand &command)
	Send a CoLaBCommand to the device and waits for the result. More...

bool	startAcquisition ()
	Start streaming the data by calling the "PLAYSTART" method on the device. Works only when acquisition is stopped. More...

bool	stepAcquisition ()
	Trigger a single image on the device. Works only when acquisition is stopped. More...

bool	stopAcquisition ()
	Stops the data stream. Works always, also when acquisition is already stopped before. More...

	VisionaryControl ()

	~VisionaryControl ()

Static Public Attributes
static constexpr uint32_t	kSessionTimeout_ms = 5000
	Default session timeout. More...

Private Member Functions
CoLaCommand	receiveCoLaCommand ()

std::string	receiveCoLaResponse ()

Private Attributes
bool	m_autoReconnect

uint32_t	m_connectTimeout_ms

std::string	m_hostname

std::unique_ptr< IAuthentication >	m_pAuthentication

std::unique_ptr< ControlSession >	m_pControlSession

std::unique_ptr< IProtocolHandler >	m_pProtocolHandler

ProtocolType	m_protocolType

std::unique_ptr< TcpSocket >	m_pTransport

uint32_t	m_sessionTimeout_ms

Detailed Description

Definition at line 19 of file VisionaryControl.h.

Member Enumeration Documentation

◆ ProtocolType

enum visionary::VisionaryControl::ProtocolType

The numbers used for the protocols are the port numbers.

Enumerator
INVALID_PROTOCOL
COLA_A
COLA_B
COLA_2

Definition at line 23 of file VisionaryControl.h.

Constructor & Destructor Documentation

◆ VisionaryControl()

visionary::VisionaryControl::VisionaryControl ( )

Definition at line 22 of file VisionaryControl.cpp.

◆ ~VisionaryControl()

visionary::VisionaryControl::~VisionaryControl ( )

default

Member Function Documentation

◆ burstAcquisition()

bool visionary::VisionaryControl::burstAcquisition ( uint16_t burstLen )

Start streaming a burst of data by calling the "PLAYBURST" method on the device. Works only when acquisition is stopped.

Returns: True if successful, false otherwise.

Definition at line 158 of file VisionaryControl.cpp.

◆ close()

void visionary::VisionaryControl::close ( )

Close a connection

Closes the control connection. It is allowed to call close of a connection that is not open. In this case this call is a no-op.

Definition at line 110 of file VisionaryControl.cpp.

◆ GetBlobPort()

uint16_t visionary::VisionaryControl::GetBlobPort ( )

Get blob port address.

Returns: Blob port, typically 2114.

Definition at line 223 of file VisionaryControl.cpp.

◆ getDataStreamConfig()

bool visionary::VisionaryControl::getDataStreamConfig ( )

Tells the device that there is a streaming channel by invoking a method named GetBlobClientConfig.

Returns: True if successful, false otherwise.

Definition at line 193 of file VisionaryControl.cpp.

◆ getDeviceIdent()

std::string visionary::VisionaryControl::getDeviceIdent ( )

Get device information by calling the "DeviceIdent" method on the device.

Returns: True if successful, false otherwise.

Definition at line 143 of file VisionaryControl.cpp.

◆ login()

bool visionary::VisionaryControl::login	(	IAuthentication::UserLevel	userLevel,
		const std::string &	password
	)

Login to the device.

Parameters

[in]	userLevel	The user level to login as.
[in]	password	Password for the selected user level.

Returns: error code, 0 on success

Definition at line 133 of file VisionaryControl.cpp.

◆ logout()

bool visionary::VisionaryControl::logout ( )

Logout from the device.

Returns: True if logout was successful, false otherwise.

Definition at line 138 of file VisionaryControl.cpp.

◆ open()

bool visionary::VisionaryControl::open	(	ProtocolType	type,
		const std::string &	hostname,
		uint32_t	sessionTimeout_ms = `kSessionTimeout_ms`,
		bool	autoReconnect = `true`,
		uint32_t	connectTimeout_ms = `kSessionTimeout_ms`
	)

Opens a connection to a Visionary sensor

Parameters

[in]	type	protocol type the sensor understands (CoLa-A, CoLa-B or CoLa-2). This information is found in the sensor documentation.
[in]	hostname	name or IP address of the Visionary sensor.
[in]	sessionTimeout_ms	Timeout for Session (only used for Cola2)
[in]	autoReconnect	Auto reconnect when connection was lost
[in]	connectTimeout_ms	Timeout for Connection

Return values

true	The connection to the sensor successfully was established.
false	The connection attempt failed; the sensor is either switched off or has a different IP address or name not available using for PCs network settings (different subnet) the protocol type or the port did not match. Please check your sensor documentation.

Definition at line 29 of file VisionaryControl.cpp.

◆ receiveCoLaCommand()

CoLaCommand visionary::VisionaryControl::receiveCoLaCommand ( )

private

◆ receiveCoLaResponse()

std::string visionary::VisionaryControl::receiveCoLaResponse ( )

private

◆ sendCommand()

CoLaCommand visionary::VisionaryControl::sendCommand ( const CoLaCommand & command )

Send a CoLaBCommand to the device and waits for the result.

Parameters

command Command to send

Returns: The response.

Definition at line 201 of file VisionaryControl.cpp.

◆ startAcquisition()

bool visionary::VisionaryControl::startAcquisition ( )

Start streaming the data by calling the "PLAYSTART" method on the device. Works only when acquisition is stopped.

Returns: True if successful, false otherwise.

Definition at line 168 of file VisionaryControl.cpp.

◆ stepAcquisition()

bool visionary::VisionaryControl::stepAcquisition ( )

Trigger a single image on the device. Works only when acquisition is stopped.

Returns: True if successful, false otherwise.

Definition at line 177 of file VisionaryControl.cpp.

◆ stopAcquisition()

bool visionary::VisionaryControl::stopAcquisition ( )

Stops the data stream. Works always, also when acquisition is already stopped before.

Definition at line 185 of file VisionaryControl.cpp.

Member Data Documentation

◆ kSessionTimeout_ms

constexpr uint32_t visionary::VisionaryControl::kSessionTimeout_ms = 5000

staticconstexpr

Default session timeout.

Definition at line 32 of file VisionaryControl.h.

◆ m_autoReconnect

bool visionary::VisionaryControl::m_autoReconnect

private

Definition at line 134 of file VisionaryControl.h.

◆ m_connectTimeout_ms

uint32_t visionary::VisionaryControl::m_connectTimeout_ms

private

Definition at line 133 of file VisionaryControl.h.

◆ m_hostname

std::string visionary::VisionaryControl::m_hostname

private

Definition at line 131 of file VisionaryControl.h.

◆ m_pAuthentication

std::unique_ptr<IAuthentication> visionary::VisionaryControl::m_pAuthentication

private

Definition at line 127 of file VisionaryControl.h.

◆ m_pControlSession

std::unique_ptr<ControlSession> visionary::VisionaryControl::m_pControlSession

private

Definition at line 128 of file VisionaryControl.h.

◆ m_pProtocolHandler

std::unique_ptr<IProtocolHandler> visionary::VisionaryControl::m_pProtocolHandler

private

Definition at line 126 of file VisionaryControl.h.

◆ m_protocolType

ProtocolType visionary::VisionaryControl::m_protocolType

private

Definition at line 130 of file VisionaryControl.h.

◆ m_pTransport

std::unique_ptr<TcpSocket> visionary::VisionaryControl::m_pTransport

private

Definition at line 125 of file VisionaryControl.h.

◆ m_sessionTimeout_ms

uint32_t visionary::VisionaryControl::m_sessionTimeout_ms

private

Definition at line 132 of file VisionaryControl.h.

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

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ProtocolType

Constructor & Destructor Documentation

◆ VisionaryControl()

◆ ~VisionaryControl()

Member Function Documentation

◆ burstAcquisition()

◆ close()

◆ GetBlobPort()

◆ getDataStreamConfig()

◆ getDeviceIdent()

◆ login()

◆ logout()

◆ open()

◆ receiveCoLaCommand()

◆ receiveCoLaResponse()

◆ sendCommand()

◆ startAcquisition()

◆ stepAcquisition()

◆ stopAcquisition()

Member Data Documentation

◆ kSessionTimeout_ms

◆ m_autoReconnect

◆ m_connectTimeout_ms

◆ m_hostname

◆ m_pAuthentication

◆ m_pControlSession

◆ m_pProtocolHandler

◆ m_protocolType

◆ m_pTransport

◆ m_sessionTimeout_ms