Provides access to the low level functionality of the camera sensor. This includes sensor configuration as well as analog front end(AFE) configuration. More...

#include <depth_sensor_interface.h>

Public Member Functions
virtual	~DepthSensorInterface ()=default
	Destructor.

virtual aditof::Status	open ()=0
	Open the communication channels with the hardware. More...

virtual aditof::Status	start ()=0
	Start the streaming of data from the sensor. More...

virtual aditof::Status	stop ()=0
	Stop the sensor data stream. More...

virtual aditof::Status	getAvailableFrameTypes (std::vector< aditof::DepthSensorFrameType > &types)=0
	Return all frame types that are supported by the sensor. More...

virtual aditof::Status	setFrameType (const aditof::DepthSensorFrameType &type)=0
	Set the sensor frame type to the given type. More...

virtual aditof::Status	program (const uint8_t *firmware, size_t size)=0
	Program the sensor with the given firmware. More...

virtual aditof::Status	getFrame (uint16_t *buffer)=0
	Request a frame from the sensor. More...

virtual aditof::Status	readRegisters (const uint16_t address, uint16_t data, size_t length, bool burst=true)=0
	Read multiple registers from AFE. More...

virtual aditof::Status	writeRegisters (const uint16_t address, const uint16_t data, size_t length, bool burst=true)=0
	Write to multiple AFE registers. More...

virtual aditof::Status	adsd3500_read_cmd (uint16_t cmd, uint16_t *data, unsigned int usDelay=0)=0
	Send a read command to adsd3500. More...

virtual aditof::Status	adsd3500_write_cmd (uint16_t cmd, uint16_t data)=0
	Send a write command to adsd3500. More...

virtual aditof::Status	adsd3500_read_payload_cmd (uint32_t cmd, uint8_t *readback_data, uint16_t payload_len)=0
	Send a read command to adsd3500. This will perform a burst read making it useful for reading chunks of data. More...

virtual aditof::Status	adsd3500_read_payload (uint8_t *payload, uint16_t payload_len)=0
	Reads a chunk of data from adsd3500. This will perform a burst read making it useful for reading chunks of data. More...

virtual aditof::Status	adsd3500_write_payload_cmd (uint32_t cmd, uint8_t *payload, uint16_t payload_len)=0
	Send a write command to adsd3500. This will perform a burst write making it useful for writing chunks of data. More...

virtual aditof::Status	adsd3500_write_payload (uint8_t *payload, uint16_t payload_len)=0
	Send a chunk of data (payload) to adsd3500. This will perform a burst write making it useful for writing chunks of data. More...

virtual aditof::Status	adsd3500_reset ()=0
	Reset adsd3500 chip. More...

virtual aditof::Status	adsd3500_register_interrupt_callback (SensorInterruptCallback &cb)=0
	Register a function to be called when a ADSD3500 interrupt occurs. More...

virtual aditof::Status	adsd3500_unregister_interrupt_callback (SensorInterruptCallback &cb)=0
	Unregister a function registered with adsd3500_register_interrupt_callback. More...

virtual aditof::Status	adsd3500_get_status (int &chipStatus, int &imagerStatus)=0
	Returns the chip status. More...

virtual Status	getAvailableControls (std::vector< std::string > &controls) const =0
	Gets the sensors's list of controls. More...

virtual Status	setControl (const std::string &control, const std::string &value)=0
	Sets a specific sensor control. More...

virtual Status	getControl (const std::string &control, std::string &value) const =0
	Gets the value of a specific sensor control. More...

virtual aditof::Status	getDetails (aditof::SensorDetails &details) const =0
	Get a structure that contains information about the instance of the sensor. More...

virtual aditof::Status	getHandle (void **handle)=0
	Gets a handle to be used by other devices such as Storage, Temperature, etc. This handle will allow the other devices to communicate remotely with the embedded target. More...

virtual aditof::Status	getName (std::string &name) const =0
	Get the name of the sensor. More...

virtual aditof::Status	setHostConnectionType (std::string &connectionType)=0
	Set the host connection type for target sdk. More...

virtual aditof::Status	initTargetDepthCompute (uint8_t iniFile, uint16_t iniFileLength, uint8_t calData, uint16_t calDataLength)=0
	Get the name of the sensor. More...

virtual aditof::Status	getIniParams (std::map< std::string, float > &params)=0
	Get ini parameters for Depth Compute library. More...

virtual aditof::Status	setIniParams (const std::map< std::string, float > &params)=0
	Set ini parameters for Depth Compute library. More...

Detailed Description

Provides access to the low level functionality of the camera sensor. This includes sensor configuration as well as analog front end(AFE) configuration.

Definition at line 57 of file depth_sensor_interface.h.

Member Function Documentation

◆ adsd3500_get_status()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_get_status	(	int &	chipStatus,
		int &	imagerStatus
	)

pure virtual

Returns the chip status.

Parameters

[out]	chipStatus	- chip status (error) value
[out]	imagerStatus	- imager status (error) value

Returns: Status

◆ adsd3500_read_cmd()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_read_cmd	(	uint16_t	cmd,
		uint16_t *	data,
		unsigned int	usDelay = `0`
	)

pure virtual

Send a read command to adsd3500.

Parameters

	cmd	- the command to be sent
[out]	data	- the variable where the read data will be stored
	usDelay	- the number of microseconds to wait between the host command and the actual read

Returns: Status

◆ adsd3500_read_payload()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_read_payload	(	uint8_t *	payload,
		uint16_t	payload_len
	)

pure virtual

Reads a chunk of data from adsd3500. This will perform a burst read making it useful for reading chunks of data.

Parameters

payload	- the location from where to take the data chunk and read it
payload_len	- the number of bytes to read

Returns: Status

◆ adsd3500_read_payload_cmd()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_read_payload_cmd	(	uint32_t	cmd,
		uint8_t *	readback_data,
		uint16_t	payload_len
	)

pure virtual

Send a read command to adsd3500. This will perform a burst read making it useful for reading chunks of data.

Parameters

	cmd	- the command to be sent
[out]	readback_data	- the location where the read data chunk will be stored
	payload_len	- the number of bytes to read

Returns: Status

◆ adsd3500_register_interrupt_callback()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_register_interrupt_callback ( SensorInterruptCallback & cb )

pure virtual

Register a function to be called when a ADSD3500 interrupt occurs.

Parameters

cb	- the function to be called whenever the interrupt occurs

Returns: Status

◆ adsd3500_reset()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_reset ( )

pure virtual

Reset adsd3500 chip.

Returns: Status

◆ adsd3500_unregister_interrupt_callback()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_unregister_interrupt_callback ( SensorInterruptCallback & cb )

pure virtual

Unregister a function registered with adsd3500_register_interrupt_callback.

Parameters

cb	- the function to be unregistred

Returns: Status

◆ adsd3500_write_cmd()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_write_cmd	(	uint16_t	cmd,
		uint16_t	data
	)

pure virtual

Send a write command to adsd3500.

Parameters

cmd	- the command to be sent
data	- the data to be written

Returns: Status

◆ adsd3500_write_payload()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_write_payload	(	uint8_t *	payload,
		uint16_t	payload_len
	)

pure virtual

Send a chunk of data (payload) to adsd3500. This will perform a burst write making it useful for writing chunks of data.

Parameters

payload	- the location from where to take the data chunk and write it
payload_len	- the number of bytes to write

Returns: Status

◆ adsd3500_write_payload_cmd()

virtual aditof::Status aditof::DepthSensorInterface::adsd3500_write_payload_cmd	(	uint32_t	cmd,
		uint8_t *	payload,
		uint16_t	payload_len
	)

pure virtual

Send a write command to adsd3500. This will perform a burst write making it useful for writing chunks of data.

Parameters

cmd	- the command to be sent
payload	- the location from where to take the data chunk and write it
payload_len	- the number of bytes to write

Returns: Status

◆ getAvailableControls()

virtual Status aditof::DepthSensorInterface::getAvailableControls ( std::vector< std::string > & controls ) const

pure virtual

Gets the sensors's list of controls.

Parameters

[out] controls

Returns: Status

◆ getAvailableFrameTypes()

virtual aditof::Status aditof::DepthSensorInterface::getAvailableFrameTypes ( std::vector< aditof::DepthSensorFrameType > & types )

pure virtual

Return all frame types that are supported by the sensor.

Parameters

[out] types

Returns: Status

◆ getControl()

virtual Status aditof::DepthSensorInterface::getControl	(	const std::string &	control,
		std::string &	value
	)		const

pure virtual

Gets the value of a specific sensor control.

Parameters

[in]	control	- Control name
[out]	value	- Control value

Returns: Status

◆ getDetails()

virtual aditof::Status aditof::DepthSensorInterface::getDetails ( aditof::SensorDetails & details ) const

pure virtual

Get a structure that contains information about the instance of the sensor.

Parameters

[out] details - the variable where the sensor details should be stored

Returns: Status

◆ getFrame()

virtual aditof::Status aditof::DepthSensorInterface::getFrame ( uint16_t * buffer )

pure virtual

Request a frame from the sensor.

Parameters

buffer - a valid location where the new frame should be stored. The size of the frame is known (cached) internally and gets updated each time setFrameType() is called.

Returns: Status

◆ getHandle()

virtual aditof::Status aditof::DepthSensorInterface::getHandle ( void ** handle )

pure virtual

Gets a handle to be used by other devices such as Storage, Temperature, etc. This handle will allow the other devices to communicate remotely with the embedded target.

Parameters

[out] handle - the handle which is owned by this instance

Returns: Status

◆ getIniParams()

virtual aditof::Status aditof::DepthSensorInterface::getIniParams ( std::map< std::string, float > & params )

pure virtual

Get ini parameters for Depth Compute library.

Parameters

[in] params - a dictionary of parameters

Returns: Status

◆ getName()

virtual aditof::Status aditof::DepthSensorInterface::getName ( std::string & name ) const

pure virtual

Get the name of the sensor.

Parameters

[out] name - the string in which the name is stored

Returns: Status

◆ initTargetDepthCompute()

virtual aditof::Status aditof::DepthSensorInterface::initTargetDepthCompute	(	uint8_t *	iniFile,
		uint16_t	iniFileLength,
		uint8_t *	calData,
		uint16_t	calDataLength
	)

pure virtual

Get the name of the sensor.

Parameters

[in]	iniFile	- iniFile content parsed as uint8_t*
[in]	iniFileLength	- iniFile content length
[in]	calData	- calibration data parsed as uint8_t*
[in]	calDataLength	- calibration data content length

Returns: Status

◆ open()

virtual aditof::Status aditof::DepthSensorInterface::open ( )

pure virtual

Open the communication channels with the hardware.

Returns: Status

◆ program()

virtual aditof::Status aditof::DepthSensorInterface::program	(	const uint8_t *	firmware,
		size_t	size
	)

pure virtual

Program the sensor with the given firmware.

Parameters

firmware	- chunk of data representin the firmware
size	- the size of the firmware data in bytes

Returns: Status

◆ readRegisters()

virtual aditof::Status aditof::DepthSensorInterface::readRegisters	(	const uint16_t *	address,
		uint16_t *	data,
		size_t	length,
		bool	burst = `true`
	)

pure virtual

Read multiple registers from AFE.

Parameters

address	- memory location pointing to addresses of registers to be read
data	- a valid location to store the content read from AFE registers
length	- the number of registers to read
burst	- if enabled the function will read data starting from the provided address; if disabled it will read data from the provided address list .

Returns: Status

◆ setControl()

virtual Status aditof::DepthSensorInterface::setControl	(	const std::string &	control,
		const std::string &	value
	)

pure virtual

Sets a specific sensor control.

Parameters

[in]	control	- Control name
[in]	value	- Control value

Returns: Status

◆ setFrameType()

virtual aditof::Status aditof::DepthSensorInterface::setFrameType ( const aditof::DepthSensorFrameType & type )

pure virtual

Set the sensor frame type to the given type.

Parameters

type	- frame details structure containing the frame type

Returns: Status

◆ setHostConnectionType()

virtual aditof::Status aditof::DepthSensorInterface::setHostConnectionType ( std::string & connectionType )

pure virtual

Set the host connection type for target sdk.

Parameters

[in] connectionType - the string that sets the host type on the target

Returns: Status

◆ setIniParams()

virtual aditof::Status aditof::DepthSensorInterface::setIniParams ( const std::map< std::string, float > & params )

pure virtual

Set ini parameters for Depth Compute library.

Parameters

[in] params - a dictionary of parameters

Returns: Status

◆ start()

virtual aditof::Status aditof::DepthSensorInterface::start ( )

pure virtual

Start the streaming of data from the sensor.

Returns: Status

◆ stop()

virtual aditof::Status aditof::DepthSensorInterface::stop ( )

pure virtual

Stop the sensor data stream.

Returns: Status

◆ writeRegisters()

virtual aditof::Status aditof::DepthSensorInterface::writeRegisters	(	const uint16_t *	address,
		const uint16_t *	data,
		size_t	length,
		bool	burst = `true`
	)

pure virtual

Write to multiple AFE registers.

Parameters

address	- memory location pointing to addresses of registers to be written
data	- the location of the content to be written to AFE registers
length	- the number of registers to write
burst	- if enabled the function will write data starting from the provided address; if disabled it will write data at the provided address list .

Returns: Status

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

/home/vsts/work/1/s/sdk/include/aditof/depth_sensor_interface.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ adsd3500_get_status()

◆ adsd3500_read_cmd()

◆ adsd3500_read_payload()

◆ adsd3500_read_payload_cmd()

◆ adsd3500_register_interrupt_callback()

◆ adsd3500_reset()

◆ adsd3500_unregister_interrupt_callback()

◆ adsd3500_write_cmd()

◆ adsd3500_write_payload()

◆ adsd3500_write_payload_cmd()

◆ getAvailableControls()

◆ getAvailableFrameTypes()

◆ getControl()

◆ getDetails()

◆ getFrame()

◆ getHandle()

◆ getIniParams()

◆ getName()

◆ initTargetDepthCompute()

◆ open()

◆ program()

◆ readRegisters()

◆ setControl()

◆ setFrameType()

◆ setHostConnectionType()

◆ setIniParams()

◆ start()

◆ stop()

◆ writeRegisters()