Class VisionaryControl

Class Documentation

class VisionaryControl

Public Types

enum ProtocolType

The numbers used for the protocols are the port numbers.

Values:

enumerator INVALID_PROTOCOL
enumerator COLA_A
enumerator COLA_B
enumerator COLA_2

Public Functions

VisionaryControl()
~VisionaryControl()
bool open(ProtocolType type, const std::string &hostname, uint8_t sessionTimeout_s = kSessionTimeout_s)

Opens a connection to a Visionary sensor

Parameters:

  • type – [in] protocol type the sensor understands (CoLa-A, CoLa-B or CoLa-2). This information is found in the sensor documentation.

  • hostname – [in] name or IP address of the Visionary sensor.

  • sessionTimeout_s – [in] timeout of session in seconds

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.

void 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.

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

Login to the device.

Parameters:

  • userLevel – [in] The user level to login as.

  • password – [in] Password for the selected user level.

Returns:

error code, 0 on success

bool logout()

Logout from the device.

Returns:

True if logout was successful, false otherwise.

std::string getDeviceIdent()

Get device information by calling the “DeviceIdent” method on the device.

Returns:

True if successful, false otherwise.

bool 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.

bool stepAcquisition()

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

Returns:

True if successful, false otherwise.

bool stopAcquisition()

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

bool getDataStreamConfig()

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

Returns:

True if successful, false otherwise.

CoLaCommand sendCommand(CoLaCommand &command)

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

Parameters:

command – Command to send

Returns:

The response.

Public Static Attributes

static const uint8_t kSessionTimeout_s = 5u

Default session timeout in seconds.