libmultisense/_protocol_8hh_source.html

#ifndef LibMultiSense_details_wire_protocol

#define LibMultiSense_details_wire_protocol


#include <stdint.h>


#include "../utility/Portability.hh"


// Expose some configuration constants to the preprocessor (at least until C++17)

#ifndef MULTISENSE_WIRE_BITS_PER_PIXEL

#define MULTISENSE_WIRE_BITS_PER_PIXEL (12)

#endif


#ifndef MULTISENSE_API_BITS_PER_PIXEL

#define MULTISENSE_API_BITS_PER_PIXEL (16)

#endif


namespace crl {

namespace multisense {

namespace details {

namespace wire {


//

// Some message headers are directly used by sensor firmware


#ifdef SENSORPOD_FIRMWARE

#define WIRE_HEADER_ATTRIBS_ __attribute__ ((__packed__))

#else

#define WIRE_HEADER_ATTRIBS_

#endif // SENSORPOD_FIRMWARE


//

// The size of the combined headers


static CRL_CONSTEXPR uint8_t COMBINED_HEADER_LENGTH = 60;


//

// The magic number and version


static CRL_CONSTEXPR uint16_t HEADER_MAGIC   = 0xadad;

static CRL_CONSTEXPR uint16_t HEADER_VERSION = 0x0100;


//

// The protocol group (TODO: define CRL-wide)


static CRL_CONSTEXPR uint16_t HEADER_GROUP   = 0x0001;


//

// The packet header structure


#if defined (_MSC_VER) || defined(__MINGW64__)

#pragma pack(push, 1)

typedef struct {

#else

typedef struct __attribute__ ((__packed__)) {

#endif

    //

    // The magic number


    uint16_t magic;


    //

    // The protocol version


    uint16_t version;


    //

    // The protocol group


    uint16_t group;


    //

    // Protocol flags


    uint16_t flags;


    //

    // The message sequence identifier


    uint16_t sequenceIdentifier;


    //

    // The total size of the message


    uint32_t messageLength;


    //

    // Offset of this packet's payload


    uint32_t byteOffset;


} Header;

#if defined (_MSC_VER) || defined(__MINGW64__)

#pragma pack(pop)

#endif


//

// Types for message IDs and versions


typedef uint16_t IdType;

typedef uint16_t VersionType;


//

// Every command responsds with an ID_ACK message,

// regardless if a data message is also following.


//

// TODO: this message set is still awkward in places:

//       - Missing 1:1 get/set

//       - Some "Data" messages are also commands

//       - Duplicated information (CAM_GET_CONFIG, SYS_GET_CAMERA_CAL, etc.)


//

// [N]acks


static CRL_CONSTEXPR IdType ID_ACK = 0x0001;


//

// Commands


static CRL_CONSTEXPR IdType ID_CMD_GET_VERSION                        = 0x0002;

static CRL_CONSTEXPR IdType ID_CMD_GET_STATUS                         = 0x0003;

static CRL_CONSTEXPR IdType ID_CMD_CAM_GET_CONFIG                     = 0x0004;

static CRL_CONSTEXPR IdType ID_CMD_CAM_CONTROL                        = 0x0007;

static CRL_CONSTEXPR IdType ID_CMD_CAM_GET_HISTORY                    = 0x0008;

static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_HDR                        = 0x000b;

static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_RESOLUTION                 = 0x000c;

static CRL_CONSTEXPR IdType ID_CMD_LIDAR_GET_CONFIG                   = 0x000d;

static CRL_CONSTEXPR IdType ID_CMD_LIDAR_SET_MOTOR                    = 0x0010;

static CRL_CONSTEXPR IdType ID_CMD_LED_GET_STATUS                     = 0x0012;

static CRL_CONSTEXPR IdType ID_CMD_LED_SET                            = 0x0013;

static CRL_CONSTEXPR IdType ID_CMD_SYS_MTU                            = 0x0014;

static CRL_CONSTEXPR IdType ID_CMD_SYS_FLASH_OP                       = 0x0015;

static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_NETWORK                    = 0x0016;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DEVICE_INFO                = 0x0017;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_CAMERA_CAL                 = 0x0018;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_LIDAR_CAL                  = 0x0019;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_MTU                        = 0x001a;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_NETWORK                    = 0x001b;

static CRL_CONSTEXPR IdType ID_CMD_STREAM_CONTROL                     = 0x001c;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DEVICE_MODES               = 0x001d;

static CRL_CONSTEXPR IdType ID_CMD_CAM_SET_TRIGGER_SOURCE             = 0x001e;

static CRL_CONSTEXPR IdType ID_CMD_IMU_GET_INFO                       = 0x001f;

static CRL_CONSTEXPR IdType ID_CMD_IMU_GET_CONFIG                     = 0x0020;

static CRL_CONSTEXPR IdType ID_CMD_SYS_TEST_MTU                       = 0x0021;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_DIRECTED_STREAMS           = 0x0022;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_SENSOR_CAL                 = 0x0023;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_EXTERNAL_CAL               = 0x0024;

static CRL_CONSTEXPR IdType ID_CMD_LED_GET_SENSOR_STATUS              = 0x0025;

static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_TRANSMIT_DELAY             = 0x0026;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_TRANSMIT_DELAY             = 0x0027;

static CRL_CONSTEXPR IdType ID_CMD_SYS_MOTOR_POLL                     = 0x0028;

static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_PTP                        = 0x0029;

static CRL_CONSTEXPR IdType ID_CMD_CAM_AUX_CONTROL                    = 0x002a;

static CRL_CONSTEXPR IdType ID_CMD_CAM_GET_AUX_CONFIG                 = 0x002b;

static CRL_CONSTEXPR IdType ID_CMD_REMOTE_HEAD_GET_CONFIG             = 0x002c;

static CRL_CONSTEXPR IdType ID_CMD_REMOTE_HEAD_CONTROL                = 0x002d;

static CRL_CONSTEXPR IdType ID_CMD_GET_PTP_STATUS                     = 0x002e;

static CRL_CONSTEXPR IdType ID_CMD_SYS_SET_PACKET_DELAY               = 0x002f;

static CRL_CONSTEXPR IdType ID_CMD_SYS_GET_PACKET_DELAY               = 0x0030;

static CRL_CONSTEXPR IdType ID_CMD_SECONDARY_APP_GET_CONFIG           = 0x0031;

static CRL_CONSTEXPR IdType ID_CMD_SECONDARY_APP_CONTROL              = 0x0032;

static CRL_CONSTEXPR IdType ID_CMD_SECONDARY_APP_GET_REGISTERED_APPS  = 0x0033;

static CRL_CONSTEXPR IdType ID_CMD_SECONDARY_APP_ACTIVATE             = 0x0034;


//

// Data


static CRL_CONSTEXPR IdType ID_DATA_VERSION                            = 0x0102;

static CRL_CONSTEXPR IdType ID_DATA_STATUS                             = 0x0103;

static CRL_CONSTEXPR IdType ID_DATA_CAM_CONFIG                         = 0x0104;

static CRL_CONSTEXPR IdType ID_DATA_CAM_HISTORY                        = 0x0105;

static CRL_CONSTEXPR IdType ID_DATA_LIDAR_CONFIG                       = 0x0108;

static CRL_CONSTEXPR IdType ID_DATA_LIDAR_SCAN                         = 0x0109;

static CRL_CONSTEXPR IdType ID_DATA_LED_STATUS                         = 0x010a;

static CRL_CONSTEXPR IdType ID_DATA_SYS_FLASH_RESPONSE                 = 0x010b;

static CRL_CONSTEXPR IdType ID_DATA_SYS_DEVICE_INFO                    = 0x010c;

static CRL_CONSTEXPR IdType ID_DATA_SYS_CAMERA_CAL                     = 0x010d;

static CRL_CONSTEXPR IdType ID_DATA_SYS_LIDAR_CAL                      = 0x010e;

static CRL_CONSTEXPR IdType ID_DATA_IMAGE_META                         = 0x010f;

static CRL_CONSTEXPR IdType ID_DATA_IMAGE                              = 0x0110;

static CRL_CONSTEXPR IdType ID_DATA_DISPARITY                          = 0x0111;

static CRL_CONSTEXPR IdType ID_DATA_SYS_DEVICE_MODES                   = 0x0112;

static CRL_CONSTEXPR IdType ID_DATA_SYS_PPS                            = 0x0113;

static CRL_CONSTEXPR IdType ID_DATA_IMU                                = 0x0114;

static CRL_CONSTEXPR IdType ID_DATA_IMU_INFO                           = 0x0115;

static CRL_CONSTEXPR IdType ID_DATA_IMU_CONFIG                         = 0x0116;

static CRL_CONSTEXPR IdType ID_DATA_SYS_TEST_MTU_RESPONSE              = 0x0117;

static CRL_CONSTEXPR IdType ID_DATA_JPEG_IMAGE                         = 0x0118;

static CRL_CONSTEXPR IdType ID_DATA_SYS_DIRECTED_STREAMS               = 0x0119;

static CRL_CONSTEXPR IdType ID_DATA_SYS_SENSOR_CAL                     = 0x011a;

static CRL_CONSTEXPR IdType ID_DATA_SYS_EXTERNAL_CAL                   = 0x011b;

static CRL_CONSTEXPR IdType ID_DATA_LED_SENSOR_STATUS                  = 0x011c;

static CRL_CONSTEXPR IdType ID_DATA_SYS_MOTOR_POLL                     = 0x011d;

static CRL_CONSTEXPR IdType ID_DATA_EXPOSURE_CONFIG                    = 0x011e;

static CRL_CONSTEXPR IdType ID_DATA_GROUND_SURFACE_SPLINE_DATA_MESSAGE = 0x011f;

static CRL_CONSTEXPR IdType ID_DATA_COMPRESSED_IMAGE                   = 0x0120;

static CRL_CONSTEXPR IdType ID_DATA_SYS_GROUND_SURFACE_PARAM           = 0x0121;

static CRL_CONSTEXPR IdType ID_DATA_APRILTAG_DETECTIONS_MESSAGE        = 0x0122;

static CRL_CONSTEXPR IdType ID_DATA_SYS_APRILTAG_PARAM                 = 0x0123;

static CRL_CONSTEXPR IdType ID_DATA_CAM_AUX_CONFIG                     = 0x0124;

static CRL_CONSTEXPR IdType ID_CMD_REMOTE_HEAD_CONFIG                  = 0x0125;

static CRL_CONSTEXPR IdType ID_DATA_PTP_STATUS                         = 0x0126;

static CRL_CONSTEXPR IdType ID_DATA_SYS_PACKET_DELAY                   = 0x0127;

static CRL_CONSTEXPR IdType ID_DATA_SECONDARY_APP_META                 = 0x0128;

static CRL_CONSTEXPR IdType ID_DATA_SECONDARY_APP                      = 0x0129;

static CRL_CONSTEXPR IdType ID_DATA_SECONDARY_APP_CONFIG               = 0x012A;

static CRL_CONSTEXPR IdType ID_DATA_SECONDARY_APP_REGISTERED_APPS      = 0x012B;


//

// Data sources


typedef uint64_t SourceType;


static CRL_CONSTEXPR SourceType SOURCE_UNKNOWN                     = 0;

static CRL_CONSTEXPR SourceType SOURCE_RAW_LEFT                    = (1ull<<0);

static CRL_CONSTEXPR SourceType SOURCE_RAW_RIGHT                   = (1ull<<1);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_LEFT                   = (1ull<<2);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_RIGHT                  = (1ull<<3);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_RECT_LEFT              = (1ull<<4);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_RECT_RIGHT             = (1ull<<5);

static CRL_CONSTEXPR SourceType SOURCE_CHROMA_LEFT                 = (1ull<<6);

static CRL_CONSTEXPR SourceType SOURCE_CHROMA_RIGHT                = (1ull<<7);

static CRL_CONSTEXPR SourceType SOURCE_CHROMA_RECT_AUX             = (1ull<<8);

static CRL_CONSTEXPR SourceType SOURCE_DISPARITY                   = (1ull<<10);

static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_LEFT              = (1ull<<10); // same as SOURCE_DISPARITY

static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_RIGHT             = (1ull<<11);

static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_COST              = (1ull<<12);

static CRL_CONSTEXPR SourceType SOURCE_JPEG_LEFT                   = (1ull<<16);

static CRL_CONSTEXPR SourceType SOURCE_RGB_LEFT                    = (1ull<<17);

static CRL_CONSTEXPR SourceType SOURCE_GROUND_SURFACE_SPLINE_DATA  = (1ull<<20);

static CRL_CONSTEXPR SourceType SOURCE_GROUND_SURFACE_CLASS_IMAGE  = (1ull<<22);

static CRL_CONSTEXPR SourceType SOURCE_APRILTAG_DETECTIONS         = (1ull<<21);

static CRL_CONSTEXPR SourceType SOURCE_SLB_MOTOR                   = (1ull<<23);

static CRL_CONSTEXPR SourceType SOURCE_LIDAR_SCAN                  = (1ull<<24);

static CRL_CONSTEXPR SourceType SOURCE_IMU                         = (1ull<<25);

static CRL_CONSTEXPR SourceType SOURCE_PPS                         = (1ull<<26);

static CRL_CONSTEXPR SourceType SOURCE_RAW_AUX                     = (1ull<<27);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_AUX                    = (1ull<<28);

static CRL_CONSTEXPR SourceType SOURCE_LUMA_RECT_AUX               = (1ull<<29);

static CRL_CONSTEXPR SourceType SOURCE_CHROMA_AUX                  = (1ull<<30);

static CRL_CONSTEXPR SourceType SOURCE_DISPARITY_AUX               = (1ull<<31);

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_LEFT             = (1ull<<9);

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_RIGHT            = (1ull<<13);

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_AUX              = (1ull<<14);

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_RECTIFIED_LEFT   = (1ull<<15);

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_RECTIFIED_RIGHT  = (1ull<<16); // same as SOURCE_JPEG_LEFT

static CRL_CONSTEXPR SourceType SOURCE_COMPRESSED_RECTIFIED_AUX    = (1ull<<17); // same as SOURCE_RGB_LEFT

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_0        = (1ull<<18);

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_1        = (1ull<<19);

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_2        = (1ull<<32);

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_3        = (1ull<<33);

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_4        = (1ull<<34);

static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA_5        = (1ull<<35);


static CRL_CONSTEXPR SourceType SOURCE_SECONDARY_APP_DATA = (SOURCE_SECONDARY_APP_DATA_0 |

                                                             SOURCE_SECONDARY_APP_DATA_1 |

                                                             SOURCE_SECONDARY_APP_DATA_2 |

                                                             SOURCE_SECONDARY_APP_DATA_3 |

                                                             SOURCE_SECONDARY_APP_DATA_4 |

                                                             SOURCE_SECONDARY_APP_DATA_5);


static CRL_CONSTEXPR SourceType SOURCE_IMAGES            = (SOURCE_RAW_LEFT        |

                                                            SOURCE_RAW_RIGHT       |

                                                            SOURCE_RAW_AUX         |

                                                            SOURCE_LUMA_LEFT       |

                                                            SOURCE_LUMA_RIGHT      |

                                                            SOURCE_LUMA_AUX        |

                                                            SOURCE_LUMA_RECT_LEFT  |

                                                            SOURCE_LUMA_RECT_RIGHT |

                                                            SOURCE_LUMA_RECT_AUX   |

                                                            SOURCE_CHROMA_LEFT     |

                                                            SOURCE_CHROMA_RIGHT    |

                                                            SOURCE_CHROMA_AUX      |

                                                            SOURCE_CHROMA_RECT_AUX |

                                                            SOURCE_DISPARITY_LEFT  |

                                                            SOURCE_DISPARITY_RIGHT |

                                                            SOURCE_DISPARITY_COST  |

                                                            SOURCE_DISPARITY_AUX   |

                                                            SOURCE_JPEG_LEFT       |

                                                            SOURCE_RGB_LEFT        |

                                                            SOURCE_GROUND_SURFACE_CLASS_IMAGE|

                                                            SOURCE_APRILTAG_DETECTIONS       |

                                                            SOURCE_COMPRESSED_LEFT           |

                                                            SOURCE_COMPRESSED_RIGHT          |

                                                            SOURCE_COMPRESSED_AUX            |

                                                            SOURCE_COMPRESSED_RECTIFIED_LEFT |

                                                            SOURCE_COMPRESSED_RECTIFIED_RIGHT|

                                                            SOURCE_COMPRESSED_RECTIFIED_AUX

                                                          );


//

// Exposure config


static CRL_CONSTEXPR SourceType Default_Exposure_Source = SOURCE_LUMA_LEFT;

static CRL_CONSTEXPR float Default_Target_Intensity = 0.5f;

static CRL_CONSTEXPR float Default_Gamma = 2.0f;

static CRL_CONSTEXPR float Default_Gain = 1.0f;


static CRL_CONSTEXPR uint32_t MAX_LIGHTS = 8;


static CRL_CONSTEXPR float WIRE_IMAGER_GAIN_MAX = 1000.0f;


//

// Some helper macros


#define MSG_ID(x)  ((wire::IdType)(x))

#define MSG_VER(x) ((wire::VersionType)(x))


#define SER_ARRAY_1(a_,n_)                    \

    for(uint32_t i_=0; i_<(n_); i_++)         \

        message & (a_)[i_];                   \


#define SER_ARRAY_2(a_,n_,m_)                 \

    for(uint32_t i_=0; i_<(n_); i_++)         \

        for(uint32_t j_=0; j_<(m_); j_++)     \

            message & (a_)[(i_)][(j_)];       \


#define CPY_ARRAY_1(d_,s_,n_)                   \

    for(uint32_t i_=0; i_<(n_); i_++)           \

        (d_)[i_] = (s_)[i_];                    \


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

    for(uint32_t i_=0; i_<(n_); i_++)           \

        for(uint32_t j_=0; j_<(m_); j_++)       \

            (d_)[i_][j_] = (s_)[i_][j_];        \


}}}} // namespaces


#endif