 |
LibMultiSense
LibMultiSense Documentation
|
Go to the documentation of this file.
37 #ifndef LibMultiSense_MultiSenseChannel_hh
38 #define LibMultiSense_MultiSenseChannel_hh
47 namespace multisense {
83 static Channel* Create(
const std::string& sensorAddress);
93 static void Destroy(
Channel *instanceP);
108 static const char *statusString(
Status status);
152 void *userDataP=NULL) = 0;
179 void *userDataP=NULL) = 0;
205 void *userDataP=NULL) = 0;
232 void *userDataP=NULL) = 0;
255 void *userDataP=NULL) = 0;
281 void *userDataP=NULL) = 0;
373 virtual void *reserveCallbackBuffer() = 0;
387 virtual Status releaseCallbackBuffer(
void *referenceP) = 0;
410 virtual Status networkTimeSynchronization(
bool enabled) = 0;
432 virtual Status ptpTimeSynchronization(
bool enabled) = 0;
530 virtual Status startDirectedStreams(
const std::vector<DirectedStream>& streams) = 0;
553 virtual Status getDirectedStreams (std::vector<DirectedStream>& streams) = 0;
567 virtual Status maxDirectedStreams (uint32_t& maximum) = 0;
597 virtual Status setMotorSpeed (
float rpm) = 0;
812 virtual Status getImageHistogram (int64_t frameId,
827 virtual Status getPtpStatus(int64_t frameId,
843 virtual Status getDeviceModes (std::vector<system::DeviceMode>& m) = 0;
860 virtual Status getMtu (int32_t& mtu) = 0;
874 virtual Status getMotorPos (int32_t& mtu) = 0;
885 virtual Status setMtu (int32_t mtu) = 0;
941 virtual Status setDeviceInfo (
const std::string& key,
988 virtual Status flashBitstream (
const std::string& file) = 0;
1003 virtual Status flashFirmware (
const std::string& file) = 0;
1015 virtual Status verifyBitstream (
const std::string& file) = 0;
1027 virtual Status verifyFirmware (
const std::string& file) = 0;
1067 virtual Status getImuInfo (uint32_t& maxSamplesPerMesage,
1068 std::vector<imu::Info>& info) = 0;
1086 virtual Status getImuConfig (uint32_t& samplesPerMessage,
1087 std::vector<imu::Config>& c) = 0;
1109 virtual Status setImuConfig (
bool storeSettingsInFlash,
1110 uint32_t samplesPerMessage,
1111 const std::vector<imu::Config>& c) = 0;
1130 virtual Status getLargeBufferDetails(uint32_t& bufferCount,
1131 uint32_t& bufferSize) = 0;
1152 virtual Status setLargeBuffers (
const std::vector<uint8_t*>& buffers,
1153 uint32_t bufferSize) = 0;
1164 virtual Status getLocalUdpPort(uint16_t& port) = 0;
1171 #endif // LibMultiSense_MultiSenseChannel_hh
Class which manages all communications with a MultiSense device.
PTP status data associated with a specific stamped MultiSense message.
Class used For querying/setting camera calibration.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks of image data.
uint32_t VersionType
Sensor version typedef used to store a given version number.
uint32_t DataSource
Data sources typedef representing the various data sources available from sensors in the MultiSense-S...
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks of lidar data.
Class used to store device information specific to a sensor.
Class which stores a image histogram from a camera image.
Class used to store a laser calibration.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for IMU data.
Class containing status information for a particular device.
Class used to store a specific lighting configuration.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for Ground Surface Spline data.
A external calibration associated with the MultiSense.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for compressed image data.
int32_t Status
General status typdef used as a return value for get/set crl::multisense::Channel methods.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for PPS events.
virtual ~Channel()
Destructor.
Class containing the network configuration for a specific sensor.
Class to store sensor gains used to perform a DC level adjustment to calibrate the left imager to the...
Class containing version info for a specific sensor.
A external sensor status.
Class used to store a specific camera configuration.
Class used to request that MultiSense data be sent to a 3rd-party stream destination (UDP port),...