Protocol.hh

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#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 responds 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)  ((crl::multisense::details::wire::IdType)(x))
#define MSG_VER(x) ((crl::multisense::details::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