Operates the laser profiler. Use Profiler::connect to connect an available laser profiler, retrieve profile data, configure parameters and so on. More...

#include <Profiler.h>

Public Types
using	AcquisitionCallback = std::function< void(const ProfileBatch &batch, void *pUser)>
	The type of callback function.

Public Member Functions
	Profiler ()
	Constructor.

	~Profiler ()
	Destructor.

	Profiler (const Profiler &other) noexcept
	Copy constructor.

Profiler &	operator= (const Profiler &other) noexcept
	Copy assignment.

ErrorStatus	connect (const ProfilerInfo &info, unsigned int timeoutMs=5000)
	Connects to a laser profiler via ProfilerInfo.

ErrorStatus	connect (const std::string &ipAddress, unsigned int timeoutMs=5000)
	Connects to a laser profiler via IP address.

ErrorStatus	disconnect ()
	Disconnects from the current laser profiler and releases the associated resources.

ErrorStatus	setHeartbeatInterval (unsigned int intervalMs)
	Sets the time interval at which the client sends periodic heartbeat messages to the profiler side. The default time interval is 10s.

ErrorStatus	getProfilerInfo (ProfilerInfo &info) const
	Gets the basic information of the laser profiler, such as model, serial number, firmware version, and IP setting, etc.

UserSetManager &	userSetManager ()
	Gets the UserSetManager of the laser profiler. UserSetManager provides various operations to manage all user set saved in the laser profiler, including adding and deleting the user set and selecting the user set currently in effect. It is also available to save all user set details to a json file and read a json file to load user set details.

UserSet &	currentUserSet ()
	Gets the UserSet currently in effect of the laser profiler. UserSet can access all available parameters of the laser profiler related to profile data acquisition. UserSet can also directly set and get parameters instead of using Parameter interface.

ErrorStatus	retrieveBatchData (ProfileBatch &batch, int timeoutMs=4000) const
	Retrieves a batch of the profiles in scan mode. There are two ways to retrieve profile data, by polling or callback. This function is only used for polling. The profile count in batch is not fixed, it is related to the scan rate and the rate of this function is called.

ErrorStatus	triggerSoftware ()
	Sends a software signal to trigger data acquisition. This method is used when no external signals are input to trigger data acquisition and must be called after startAcquisition.

ErrorStatus	registerAcquisitionCallback (const Profiler::AcquisitionCallback &func, void *pUser)
	Registers the callback function for data acquisition. The function only needs to be called when profile data needs to be retrieved through callback. This function must be called after connect but not after startAcquisition. If the laser profiler is in data acquisition status, stopAcquisition should be called before registering a different callback function.

ErrorStatus	startAcquisition ()
	Enters the laser profiler into the data acquisition status, where it can accept trigger signals. This method must be called before triggerSoftware.

ErrorStatus	stopAcquisition ()
	Exits the laser profiler from the data acquisition status, and then it can not accept trigger signals. If callback function is being executed when this function is called, this function will block until callback function is finished.

ErrorStatus	setOutputForGPIO (OutputLineGPIO outputLine, OutputLevel value)
	Sets controller GPIO output value.

ErrorStatus	getAcquisitionStatus (AcquisitionStatus &status)
	Gets the acquisition status.

Static Public Member Functions
static std::vector< ProfilerInfo >	discoverProfilers ()
	Discovers all available laser profilers, and returns the laser profiler information list. If a laser profiler is not successfully discovered, check the running status and network connection of the laser profiler.

Friends
class	ProfilerEvent

Detailed Description

Operates the laser profiler. Use Profiler::connect to connect an available laser profiler, retrieve profile data, configure parameters and so on.

Definition at line 50 of file Profiler.h.

Member Typedef Documentation

◆ AcquisitionCallback

using mmind::eye::Profiler::AcquisitionCallback = std::function<void(const ProfileBatch& batch, void* pUser)>

The type of callback function.

Parameters

[out]	batch	The retrieving result that contains information such as profile index, encoder value intensity image, and depth data. See ProfileBatch for details.
[out]	pUser	The user data pointer.

Definition at line 59 of file Profiler.h.

Member Function Documentation

◆ connect() [1/2]

ErrorStatus mmind::eye::Profiler::connect	(	const ProfilerInfo &	info,
		unsigned int	timeoutMs = `5000`
	)

Connects to a laser profiler via ProfilerInfo.

Parameters

[in]	info	Laser profiler information. Use Profiler::discoverProfilers to find all available laser profilers.
[in]	timeoutMs	The timeout for connecting a laser profiler(ms). If the execution time of the connecting process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Laser profiler model or firmware version not supported.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ connect() [2/2]

ErrorStatus mmind::eye::Profiler::connect	(	const std::string &	ipAddress,
		unsigned int	timeoutMs = `5000`
	)

Connects to a laser profiler via IP address.

Parameters

[in]	ipAddress	Valid IP address of the laser profiler, e.g. in "100.100.1.1" format.
[in]	timeoutMs	The timeout for connecting a laser profiler (ms). If the execution time of the connecting process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Laser profiler model or firmware version not supported.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ currentUserSet()

UserSet & mmind::eye::Profiler::currentUserSet ( )

Gets the UserSet currently in effect of the laser profiler. UserSet can access all available parameters of the laser profiler related to profile data acquisition. UserSet can also directly set and get parameters instead of using Parameter interface.

Returns: See UserSet for details.

◆ disconnect()

ErrorStatus mmind::eye::Profiler::disconnect ( )

Disconnects from the current laser profiler and releases the associated resources.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse Response error.
ErrorStatus::MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ discoverProfilers()

static std::vector< ProfilerInfo > mmind::eye::Profiler::discoverProfilers ( )

static

Discovers all available laser profilers, and returns the laser profiler information list. If a laser profiler is not successfully discovered, check the running status and network connection of the laser profiler.

Returns: The available laser profiler information list.

◆ getAcquisitionStatus()

ErrorStatus mmind::eye::Profiler::getAcquisitionStatus ( AcquisitionStatus & status )

Gets the acquisition status.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.
ErrorStatus.MMIND_STATUS_REPLY_WITH_ERROR: There are errors in reply.

◆ getProfilerInfo()

ErrorStatus mmind::eye::Profiler::getProfilerInfo ( ProfilerInfo & info ) const

Gets the basic information of the laser profiler, such as model, serial number, firmware version, and IP setting, etc.

Parameters

[out] See ProfilerInfo for details.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ registerAcquisitionCallback()

ErrorStatus mmind::eye::Profiler::registerAcquisitionCallback	(	const Profiler::AcquisitionCallback &	func,
		void *	pUser
	)

Registers the callback function for data acquisition. The function only needs to be called when profile data needs to be retrieved through callback. This function must be called after connect but not after startAcquisition. If the laser profiler is in data acquisition status, stopAcquisition should be called before registering a different callback function.

Parameters

[in]	func	The function to be registered. When the count of the profile data that has been retrieved is equal to the scan line count set, the func will be executed. See AcquisitionCallback for details.
[out]	pUser	The user data pointer.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_INVALID_CALLBACKFUNC Invalid callback function.
ErrorStatus::MMIND_STATUS_DEVICE_BUSY The callback function registration is executed again before data acquisition is stopped.

◆ retrieveBatchData()

ErrorStatus mmind::eye::Profiler::retrieveBatchData	(	ProfileBatch &	batch,
		int	timeoutMs = `4000`
	)		const

Retrieves a batch of the profiles in scan mode. There are two ways to retrieve profile data, by polling or callback. This function is only used for polling. The profile count in batch is not fixed, it is related to the scan rate and the rate of this function is called.

Parameters

[out]	batch	The retrieving result, it contains information including profile index, encoder value intensity image, and depth data. See ProfileBatch for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No profile data obtained. Some error may have occurred on the laser profiler.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_ACQUISITION_TRIGGER_WAIT Acquisition not started or stopped.

◆ setHeartbeatInterval()

ErrorStatus mmind::eye::Profiler::setHeartbeatInterval ( unsigned int intervalMs )

Sets the time interval at which the client sends periodic heartbeat messages to the profiler side. The default time interval is 10s.

Parameters

[in] timeIntervalMs The time interval for periodic sending heartbeat messages in milliseconds. The valid setting range is from 1s to 3600s.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Profiler disconnected.
ErrorStatus::MMIND_STATUS_OUT_OF_RANGE_ERROR Invalid parameter input.

◆ setOutputForGPIO()

ErrorStatus mmind::eye::Profiler::setOutputForGPIO	(	OutputLineGPIO	outputLine,
		OutputLevel	value
	)

Sets controller GPIO output value.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.
ErrorStatus::MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.

◆ startAcquisition()

ErrorStatus mmind::eye::Profiler::startAcquisition ( )

Enters the laser profiler into the data acquisition status, where it can accept trigger signals. This method must be called before triggerSoftware.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.
ErrorStatus::MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.

◆ stopAcquisition()

ErrorStatus mmind::eye::Profiler::stopAcquisition ( )

Exits the laser profiler from the data acquisition status, and then it can not accept trigger signals. If callback function is being executed when this function is called, this function will block until callback function is finished.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.
ErrorStatus::MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.

◆ triggerSoftware()

ErrorStatus mmind::eye::Profiler::triggerSoftware ( )

Sends a software signal to trigger data acquisition. This method is used when no external signals are input to trigger data acquisition and must be called after startAcquisition.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid laser profiler handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Laser profiler disconnected.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.
ErrorStatus::MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.
ErrorStatus::MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.

◆ userSetManager()

UserSetManager & mmind::eye::Profiler::userSetManager ( )

Gets the UserSetManager of the laser profiler. UserSetManager provides various operations to manage all user set saved in the laser profiler, including adding and deleting the user set and selecting the user set currently in effect. It is also available to save all user set details to a json file and read a json file to load user set details.

Returns: See UserSetManager for details.

Friends And Related Symbol Documentation

◆ ProfilerEvent

friend class ProfilerEvent

friend

Definition at line 284 of file Profiler.h.

The documentation for this class was generated from the following file:

include/profiler/profiler/Profiler.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ AcquisitionCallback

Member Function Documentation

◆ connect() [1/2]

◆ connect() [2/2]

◆ currentUserSet()

◆ disconnect()

◆ discoverProfilers()

◆ getAcquisitionStatus()

◆ getProfilerInfo()

◆ registerAcquisitionCallback()

◆ retrieveBatchData()

◆ setHeartbeatInterval()

◆ setOutputForGPIO()

◆ startAcquisition()

◆ stopAcquisition()

◆ triggerSoftware()

◆ userSetManager()

Friends And Related Symbol Documentation

◆ ProfilerEvent