Software interface to an ifm 3D device. More...

#include <ifm3d/device/device.h>

Public Types
enum class	BootMode : int { PRODUCTIVE = 0 , RECOVERY = 1 }
	Device boot up modes: More...

enum class	OperatingMode : int { RUN = 0 , EDIT = 1 }
	Device operating modes: run (streaming pixel data), edit (configuring the device/applications).

enum class	TriggerMode : int { FREE_RUN = 1 , SW = 2 }
	Image acquisition trigger modes.

enum class	ImportFlags : int { GLOBAL = 0x1 , NET = 0x2 , APPS = 0x10 }
	Import flags used when importing a Vision Assistant configuration.

enum class	SpatialFilter : int { OFF = 0x0 , MEDIAN = 0x1 , MEAN = 0x2 , BILATERAL = 0x3 }
	Convenience constants for spatial filter types.

enum class	TemporalFilter : int { OFF = 0x0 , MEAN = 0x1 , ADAPTIVE_EXP = 0x2 }
	Convenience constants for temporal filter types.

enum class	MedianfilterMaskSize : int { _3x3 = 0 , _5x5 = 1 }
	Convenient constants for median filter mask sizes.

enum class	DeviceFamily : int { UNKNOWN = 0 , O3D = 1 , O3X = 2 , O3R = 3 }

enum class	SWUVersion : int { SWU_NOT_SUPPORTED = 0 , SWU_V1 = 1 , SWU_V2 = 2 }

using	Ptr = std::shared_ptr< Device >

Public Member Functions
	Device (const std::string &ip=ifm3d::DEFAULT_IP, std::uint16_t xmlrpc_port=ifm3d::DEFAULT_XMLRPC_PORT)
	Initializes the device interface utilizing library defaults for password, ip, and xmlrpc port unless explicitly passed in. More...

virtual	~Device ()
	The dtor will cancel any open edit sessions with the device.

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

	Device (Device &)=delete

Device &	operator= (Device &)=delete

virtual std::string	IP ()
	The IP address associated with this Device instance.

virtual std::uint16_t	XMLRPCPort ()
	The XMLRPC Port associated with this Device instance.

virtual void	Reboot (const BootMode &mode=ifm3d::Device::BootMode::PRODUCTIVE)
	Reboot the device. More...

virtual void	ForceTrigger ()
	Sends a S/W trigger to the device over XMLRPC. More...

virtual std::string	DeviceType (bool use_cached=true)
	This is a convenience function for extracting out the device type of the connected device. More...

virtual DeviceFamily	WhoAmI ()
	This function can be used to retrieve the family of the connected device. More...

virtual bool	AmI (DeviceFamily family)
	This is a convenience function for checking whether a device is one of the specified device family. More...

virtual std::string	DeviceParameter (const std::string &key)
	Convenience accessor for extracting a device parameters (i.e., no edit session created on the device)

virtual std::vector< std::string >	TraceLogs (int count)
	Delivers the trace log from the device A session is not required to call this function. More...

virtual json	ToJSON ()
	Serializes the state of the device to JSON. More...

virtual std::string	ToJSONStr ()
	A stringified version of the JSON object returned by `ToJSON()`. More...

virtual void	FromJSON (const json &j)
	Configures the device based on the parameter values of the passed in JSON. More...

virtual void	FromJSONStr (const std::string &jstr)
	Accepts a string with properly formatted/escaped JSON text, converts it to a `json` object, and call `FromJSON()` on it. More...

bool	CheckMinimumFirmwareVersion (unsigned int major, unsigned int minor, unsigned int patch)
	Checks for a minimum ifm device software version. More...

ifm3d::SemVer	FirmwareVersion ()
	get the firmware version of the device

virtual ifm3d::Device::SWUVersion	SwUpdateVersion ()
	Checks the swupdater version supported by device. More...

json	GetSWVersion ()

Static Public Member Functions
static std::vector< ifm3d::IFMNetworkDevice >	DeviceDiscovery ()
	This function Provides a convinent way to find all ifm devices on the network. More...

static void	SetTempIPAddress (const std::string &mac, const std::string &temp_ip)
	This function Provides a way to set temporary IP. More...

static Ptr	MakeShared (const std::string &ip=ifm3d::DEFAULT_IP, std::uint16_t xmlrpc_port=ifm3d::DEFAULT_XMLRPC_PORT, const std::string &password=ifm3d::DEFAULT_PASSWORD, bool throw_if_unavailable=true)
	Factory function for instantiating the proper subclass based on h/w probing. More...

Protected Member Functions
int	device_id ()
	Implements the serialization of the device state to JSON. More...

bool	check_device_id (int device_id, int min_id, int max_id)

std::shared_ptr< XMLRPC >	x_wrapper ()

Protected Attributes
std::unique_ptr< Impl >	_impl

std::string	_device_type
	The cached device type of the connected device.

Detailed Description

Software interface to an ifm 3D device.

The Device class implements the underlying network protocol for communicating with the ifm hardware. Via this communication layer, this class exposes objects that can be used to mutate and tune the device parameters including those of the underlying pmd imager.

Member Enumeration Documentation

◆ BootMode

enum ifm3d::Device::BootMode : int

strong

Device boot up modes:

Productive: the normal runtime firmware comes up Recovery: allows you to flash new firmware

Constructor & Destructor Documentation

◆ Device()

ifm3d::Device::Device	(	const std::string &	ip = `ifm3d::DEFAULT_IP`,
		std::uint16_t	xmlrpc_port = `ifm3d::DEFAULT_XMLRPC_PORT`
	)

Initializes the device interface utilizing library defaults for password, ip, and xmlrpc port unless explicitly passed in.

Parameters

[in]	ip	The ip address of the device
[in]	xmlrpc_port	The tcp port the sensor's XMLRPC server is listening on
[in]	password	Password required for establishing an "edit session" with the sensor. Edit sessions allow for mutating device parameters and persisting those changes.

Member Function Documentation

◆ AmI()

virtual bool ifm3d::Device::AmI ( DeviceFamily family )

virtual

This is a convenience function for checking whether a device is one of the specified device family.

Parameters

[in] family The family to check for

Returns: true if the device is part of the family

◆ CheckMinimumFirmwareVersion()

bool ifm3d::Device::CheckMinimumFirmwareVersion	(	unsigned int	major,
		unsigned int	minor,
		unsigned int	patch
	)

Checks for a minimum ifm device software version.

Parameters

[in]	major	Major version of software
[in]	minor	Minor Version of software
[in]	patch	Patch Number of software

return True if current software version is greater or equal to the value passed

◆ device_id()

int ifm3d::Device::device_id ( )

protected

Implements the serialization of the device state to JSON.

Parameters

[in] open_session if false function will work on already opened session

Returns: A JSON object representation of the current device state.

◆ DeviceDiscovery()

static std::vector<ifm3d::IFMNetworkDevice> ifm3d::Device::DeviceDiscovery ( )

static

This function Provides a convinent way to find all ifm devices on the network.

Returns: : vector of ip-address all the discovered devices on network.

◆ DeviceType()

virtual std::string ifm3d::Device::DeviceType ( bool use_cached = true )

virtual

This is a convenience function for extracting out the device type of the connected device.

The primary intention of this function is for internal usage (i.e., to trigger conditional logic based on the model hardware we are talking to) however, it will likely be useful in application-level logic as well, so, it is available in the public interface.

Parameters

[in] use_cached If set to true, a cached lookup of the device type will be used as the return value. If false, it will make a network call to the device to get the "real" device type. The only reason for setting this to false would be if you expect over the lifetime of your camera instance that you will swap out (for example) an O3D for an O3X (or vice versa) – literally, swapping out the network cables while an object instance is still alive. If that is not something you are worried about, leaving this set to true should result in a signficant performance increase.

◆ ForceTrigger()

virtual void ifm3d::Device::ForceTrigger ( )

virtual

Sends a S/W trigger to the device over XMLRPC.

The O3X does not S/W trigger over PCIC, so, this function has been developed specficially for it. For other sensors, this is a NOOP.

Reimplemented in ifm3d::LegacyDevice.

◆ FromJSON()

virtual void ifm3d::Device::FromJSON ( const json & j )

virtual

Configures the device based on the parameter values of the passed in JSON.

This function is the way to tune the device/application/imager/etc. parameters.

Parameters

[in] json A json object encoding a camera configuration to apply to the hardware.

Device parameters are processed and saved persistently

Exceptions

ifm3d::Error upon error - if this throws an exception, you are encouraged to check the log file as a best effort is made to be as descriptive as possible as to the specific error that has occured.

Reimplemented in ifm3d::O3R, and ifm3d::LegacyDevice.

◆ FromJSONStr()

virtual void ifm3d::Device::FromJSONStr ( const std::string & jstr )

virtual

Accepts a string with properly formatted/escaped JSON text, converts it to a json object, and call FromJSON() on it.

See also: FromJSON

◆ MakeShared()

static Ptr ifm3d::Device::MakeShared	(	const std::string &	ip = `ifm3d::DEFAULT_IP`,
		std::uint16_t	xmlrpc_port = `ifm3d::DEFAULT_XMLRPC_PORT`,
		const std::string &	password = `ifm3d::DEFAULT_PASSWORD`,
		bool	throw_if_unavailable = `true`
	)

static

Factory function for instantiating the proper subclass based on h/w probing.

This function provides a convenient way for users of the library to write hardware independent code. This function probes the connected hardware and returns a proper subclass based upon the returned DeviceType. In the event that the hardware is not connected, the error is trapped and an instance of the base class is returned. The net result of not having an instance of a subclass is: 1) worse performance, 2) errors will come back from the sensor rather than the library – some of which may be hard to debug.

Parameters

[in]	ip	The ip address of the device
[in]	xmlrpc_port	The tcp port the sensor's XMLRPC server is listening on
[in]	password	Password required for establishing an "edit session" with the sensor. Edit sessions allow for mutating device parameters and persisting those changes.

◆ Reboot()

virtual void ifm3d::Device::Reboot ( const BootMode & mode = ifm3d::Device::BootMode::PRODUCTIVE )

virtual

Reboot the device.

Parameters

[in] mode The system mode to boot into upon restart of the device

Exceptions

ifm3d::Error upon error

Reimplemented in ifm3d::O3R.

◆ SetTempIPAddress()

static void ifm3d::Device::SetTempIPAddress	(	const std::string &	mac,
		const std::string &	temp_ip
	)

static

This function Provides a way to set temporary IP.

Parameters

[in]	mac	The MAC address of the device
[in]	temp_ip	The temporary IP to be set to device

◆ SwUpdateVersion()

virtual ifm3d::Device::SWUVersion ifm3d::Device::SwUpdateVersion ( )

virtual

Checks the swupdater version supported by device.

Returns: sw_version supported by device

Reimplemented in ifm3d::O3R.

◆ ToJSON()

virtual json ifm3d::Device::ToJSON ( )

virtual

Serializes the state of the device to JSON.

The JSON interface returned here is the excellent JSON for Modern C++.

This function (along with its std::string equivalent ToJSONStr()) provides the primary gateway into obtaining the current parameter settings for the device and PMD imager. Data returned from this function can be manipulated as a json object, then fed into FromJSON(...) to mutate parameter settings on the device.

Returns: A JSON object representation of the current state of the hardware.

Exceptions

ifm3d::Error upon error

Reimplemented in ifm3d::O3R, and ifm3d::LegacyDevice.

◆ ToJSONStr()

virtual std::string ifm3d::Device::ToJSONStr ( )

virtual

A stringified version of the JSON object returned by ToJSON().

Returns: A string version of the Camera's JSON representation.

See also: ToJSON

◆ TraceLogs()

virtual std::vector<std::string> ifm3d::Device::TraceLogs ( int count )

virtual

Delivers the trace log from the device A session is not required to call this function.

Returns: A ‘vector’ of ‘std::string’ for each entry in the tracelog

Exceptions

ifm3d::Error upon error

◆ WhoAmI()

virtual DeviceFamily ifm3d::Device::WhoAmI ( )

virtual

This function can be used to retrieve the family of the connected device.

Returns: the device family of the connected device.

Reimplemented in ifm3d::O3X, ifm3d::O3R, and ifm3d::O3D.

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

ifm3d/device/device.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ BootMode

Constructor & Destructor Documentation

◆ Device()

Member Function Documentation

◆ AmI()

◆ CheckMinimumFirmwareVersion()

◆ device_id()

◆ DeviceDiscovery()

◆ DeviceType()

◆ ForceTrigger()

◆ FromJSON()

◆ FromJSONStr()

◆ MakeShared()

◆ Reboot()

◆ SetTempIPAddress()

◆ SwUpdateVersion()

◆ ToJSON()

◆ ToJSONStr()

◆ TraceLogs()

◆ WhoAmI()