Protocol.hh File Reference

#include <stdint.h>
#include "../utility/Portability.hh"

Include dependency graph for Protocol.hh:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
	crl
	crl::multisense
	crl::multisense::details
	crl::multisense::details::wire

Macros
#define	MULTISENSE_WIRE_BITS_PER_PIXEL   (12)
#define	MULTISENSE_API_BITS_PER_PIXEL   (16)
#define	WIRE_HEADER_ATTRIBS_
#define	MSG_ID(x)   ((wire::IdType)(x))
#define	MSG_VER(x)   ((wire::VersionType)(x))
#define	SER_ARRAY_1(a_, n_)
#define	SER_ARRAY_2(a_, n_, m_)
#define	CPY_ARRAY_1(d_, s_, n_)
#define	CPY_ARRAY_2(d_, s_, n_, m_)

Typedefs
typedef uint16_t	crl::multisense::details::wire::IdType
typedef uint16_t	crl::multisense::details::wire::VersionType
typedef uint64_t	crl::multisense::details::wire::SourceType

Functions
struct	crl::multisense::details::wire::__attribute__ ((__packed__))

Variables
static CRL_CONSTEXPR uint8_t	crl::multisense::details::wire::COMBINED_HEADER_LENGTH = 60
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_MAGIC = 0xadad
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_VERSION = 0x0100
static CRL_CONSTEXPR uint16_t	crl::multisense::details::wire::HEADER_GROUP = 0x0001
	crl::multisense::details::wire::Header
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_ACK = 0x0001
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_GET_VERSION = 0x0002
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_GET_STATUS = 0x0003
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_CONFIG = 0x0004
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_CONTROL = 0x0007
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_HISTORY = 0x0008
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_HDR = 0x000b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_RESOLUTION = 0x000c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LIDAR_GET_CONFIG = 0x000d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LIDAR_SET_MOTOR = 0x0010
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_GET_STATUS = 0x0012
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_SET = 0x0013
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_MTU = 0x0014
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_FLASH_OP = 0x0015
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_NETWORK = 0x0016
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_INFO = 0x0017
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_CAMERA_CAL = 0x0018
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_LIDAR_CAL = 0x0019
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_MTU = 0x001a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_NETWORK = 0x001b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_STREAM_CONTROL = 0x001c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DEVICE_MODES = 0x001d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_SET_TRIGGER_SOURCE = 0x001e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_IMU_GET_INFO = 0x001f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_IMU_GET_CONFIG = 0x0020
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_TEST_MTU = 0x0021
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_DIRECTED_STREAMS = 0x0022
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_SENSOR_CAL = 0x0023
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_EXTERNAL_CAL = 0x0024
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_LED_GET_SENSOR_STATUS = 0x0025
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_TRANSMIT_DELAY = 0x0026
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_TRANSMIT_DELAY = 0x0027
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_MOTOR_POLL = 0x0028
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_PTP = 0x0029
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_AUX_CONTROL = 0x002a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_CAM_GET_AUX_CONFIG = 0x002b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_GET_CONFIG = 0x002c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_CONTROL = 0x002d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_GET_PTP_STATUS = 0x002e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_SET_PACKET_DELAY = 0x002f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SYS_GET_PACKET_DELAY = 0x0030
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SECONDARY_APP_GET_CONFIG = 0x0031
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SECONDARY_APP_CONTROL = 0x0032
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SECONDARY_APP_GET_REGISTERED_APPS = 0x0033
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_SECONDARY_APP_ACTIVATE = 0x0034
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_VERSION = 0x0102
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_STATUS = 0x0103
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_CONFIG = 0x0104
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_HISTORY = 0x0105
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LIDAR_CONFIG = 0x0108
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LIDAR_SCAN = 0x0109
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LED_STATUS = 0x010a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_FLASH_RESPONSE = 0x010b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DEVICE_INFO = 0x010c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_CAMERA_CAL = 0x010d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_LIDAR_CAL = 0x010e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMAGE_META = 0x010f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMAGE = 0x0110
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_DISPARITY = 0x0111
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DEVICE_MODES = 0x0112
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_PPS = 0x0113
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU = 0x0114
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU_INFO = 0x0115
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_IMU_CONFIG = 0x0116
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_TEST_MTU_RESPONSE = 0x0117
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_JPEG_IMAGE = 0x0118
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_DIRECTED_STREAMS = 0x0119
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_SENSOR_CAL = 0x011a
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_EXTERNAL_CAL = 0x011b
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_LED_SENSOR_STATUS = 0x011c
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_MOTOR_POLL = 0x011d
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_EXPOSURE_CONFIG = 0x011e
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_GROUND_SURFACE_SPLINE_DATA_MESSAGE = 0x011f
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_COMPRESSED_IMAGE = 0x0120
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_GROUND_SURFACE_PARAM = 0x0121
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_APRILTAG_DETECTIONS_MESSAGE = 0x0122
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_APRILTAG_PARAM = 0x0123
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_CAM_AUX_CONFIG = 0x0124
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_CMD_REMOTE_HEAD_CONFIG = 0x0125
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_PTP_STATUS = 0x0126
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SYS_PACKET_DELAY = 0x0127
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SECONDARY_APP_META = 0x0128
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SECONDARY_APP = 0x0129
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SECONDARY_APP_CONFIG = 0x012A
static CRL_CONSTEXPR IdType	crl::multisense::details::wire::ID_DATA_SECONDARY_APP_REGISTERED_APPS = 0x012B
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_UNKNOWN = 0
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_LEFT = (1ull<<0)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_RIGHT = (1ull<<1)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_LEFT = (1ull<<2)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RIGHT = (1ull<<3)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_LEFT = (1ull<<4)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_RIGHT = (1ull<<5)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_LEFT = (1ull<<6)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_RIGHT = (1ull<<7)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_RECT_AUX = (1ull<<8)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY = (1ull<<10)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_LEFT = (1ull<<10)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_RIGHT = (1ull<<11)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_COST = (1ull<<12)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_JPEG_LEFT = (1ull<<16)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RGB_LEFT = (1ull<<17)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_GROUND_SURFACE_SPLINE_DATA = (1ull<<20)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_GROUND_SURFACE_CLASS_IMAGE = (1ull<<22)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_APRILTAG_DETECTIONS = (1ull<<21)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SLB_MOTOR = (1ull<<23)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LIDAR_SCAN = (1ull<<24)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_IMU = (1ull<<25)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_PPS = (1ull<<26)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_RAW_AUX = (1ull<<27)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_AUX = (1ull<<28)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_LUMA_RECT_AUX = (1ull<<29)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_CHROMA_AUX = (1ull<<30)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_DISPARITY_AUX = (1ull<<31)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_LEFT = (1ull<<9)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RIGHT = (1ull<<13)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_AUX = (1ull<<14)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_LEFT = (1ull<<15)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_RIGHT = (1ull<<16)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_AUX = (1ull<<17)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_0 = (1ull<<18)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_1 = (1ull<<19)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_2 = (1ull<<32)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_3 = (1ull<<33)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_4 = (1ull<<34)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA_5 = (1ull<<35)
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_SECONDARY_APP_DATA
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::SOURCE_IMAGES
static CRL_CONSTEXPR SourceType	crl::multisense::details::wire::Default_Exposure_Source = SOURCE_LUMA_LEFT
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Target_Intensity = 0.5f
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Gamma = 2.0f
static CRL_CONSTEXPR float	crl::multisense::details::wire::Default_Gain = 1.0f
static CRL_CONSTEXPR uint32_t	crl::multisense::details::wire::MAX_LIGHTS = 8
static CRL_CONSTEXPR float	crl::multisense::details::wire::WIRE_IMAGER_GAIN_MAX = 1000.0f

Detailed Description

Copyright 2013-2025 Carnegie Robotics, LLC 4501 Hatfield Street, Pittsburgh, PA 15201 http://www.carnegierobotics.com

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of the Carnegie Robotics, LLC nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Significant history (date, user, job code, action): 2013-05-07, ekrat.nosp@m.zer@.nosp@m.carne.nosp@m.gier.nosp@m.oboti.nosp@m.cs.c.nosp@m.om, PR1044, Created file. 2024-04-12, hshib.nosp@m.ata@.nosp@m.carne.nosp@m.gier.nosp@m.oboti.nosp@m.cs.c.nosp@m.om, IRAD.2033.1, support mingw64

Definition in file Protocol.hh.

Macro Definition Documentation

CPY_ARRAY_1

#define CPY_ARRAY_1	(		d_,
			s_,
			n_
	)

Value:

    for(uint32_t i_=0; i_<(n_); i_++)           \
        (d_)[i_] = (s_)[i_];                    \

Definition at line 356 of file Protocol.hh.

CPY_ARRAY_2

#define CPY_ARRAY_2	(		d_,
			s_,
			n_,
			m_
	)

Value:

    for(uint32_t i_=0; i_<(n_); i_++)           \
        for(uint32_t j_=0; j_<(m_); j_++)       \
            (d_)[i_][j_] = (s_)[i_][j_];        \

Definition at line 360 of file Protocol.hh.

MSG_ID

#define MSG_ID

(

x

)

((wire::IdType)(x))

Definition at line 344 of file Protocol.hh.

MSG_VER

#define MSG_VER

(

x

)

((wire::VersionType)(x))

Definition at line 345 of file Protocol.hh.

MULTISENSE_API_BITS_PER_PIXEL

#define MULTISENSE_API_BITS_PER_PIXEL   (16)

Definition at line 51 of file Protocol.hh.

MULTISENSE_WIRE_BITS_PER_PIXEL

#define MULTISENSE_WIRE_BITS_PER_PIXEL   (12)

Definition at line 47 of file Protocol.hh.

SER_ARRAY_1

#define SER_ARRAY_1	(		a_,
			n_
	)

Value:

    for(uint32_t i_=0; i_<(n_); i_++)         \
        message & (a_)[i_];                   \

Definition at line 347 of file Protocol.hh.

SER_ARRAY_2

#define SER_ARRAY_2	(		a_,
			n_,
			m_
	)

Value:

    for(uint32_t i_=0; i_<(n_); i_++)         \
        for(uint32_t j_=0; j_<(m_); j_++)     \
            message & (a_)[(i_)][(j_)];       \

Definition at line 351 of file Protocol.hh.

WIRE_HEADER_ATTRIBS_

#define WIRE_HEADER_ATTRIBS_

Definition at line 65 of file Protocol.hh.