source: pacpussensors/trunk/Vislab/lib3dv/detail/protocol.h@ 136

Last change on this file since 136 was 136, checked in by ldecherf, 7 years ago

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1#ifndef LIB3DV_DETAIL_PROTOCOL_H
2#define LIB3DV_DETAIL_PROTOCOL_H
3
4/* lib3dv/detail/protocol.h
5 *
6 * Copyright (C) 2013 VisLab
7 *
8 * This file is part of 3dv-client; you can redistribute it and/or modify
9 * it under the terms of the GNU Lesser General Public License as published by
10 * the Free Software Foundation; either version 3 of the License, or (at
11 * your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 * General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public License
19 * along with this program; if not, see <http://www.gnu.org/licenses/>.
20 */
21
22#include "declspecs.h"
23
24#include <stdint.h>
25
26namespace protocol
27{
28 /**
29 * @brief Possible payload types.
30 **/
31 struct payload
32 {
33 enum types
34 {
35 IMAGE_INFO_HEADER = 0, ///< image info header.
36 IMAGE_DATA, ///< image data.
37 TERRAIN_INFO_HEADER,
38 TERRAIN_DATA,
39 OBSTACLES_MAP_INFO_HEADER,
40 OBSTACLES_MAP_DATA,
41 COMMAND,
42 KEEP_ALIVE,
43 MOTION_INFO_HEADER,
44 MOTION_DATA,
45 CLASSIFICATION_INFO_HEADER,
46 CLASSIFICATION_DATA,
47 NUM
48 };
49 };
50
51 struct version
52 {
53 static const unsigned char MAX_SUPPORTED = 10;
54 };
55
56 /**
57 * @brief An image info packet.
58 **/
59 DECLSPEC_PACKED(
60 struct image_info_header
61 {
62 uint32_t m_size; ///< image data buffer size [bytes].
63 uint16_t m_width; ///< image width [px].
64 uint16_t m_height; ///< image height [px].
65 uint8_t m_channels; ///< image channels.
66 uint8_t m_bpp; ///< image bytes per pixel [Bpp].
67 uint8_t m_type; ///< image type. @see protocol::image_type
68 uint8_t m_format; ///< image format. @see protocol::image_format
69 int64_t m_timestamp; ///< image timestamp. Measures elapsed time from linux epoch (1970-1-1) to the beginning of processing [usec].
70 });
71
72 DECLSPEC_PACKED(
73 struct terrain_info_header
74 {
75 uint32_t m_size; ///< terrain data size [bytes].
76 int16_t m_x_min; ///< minimum x distance [cm].
77 uint8_t m_x_cell_num; ///< x cells number.
78 uint8_t m_x_cell_size; ///< size of a cell, x direction [cm].
79 int16_t m_y_min; ///< minimum y distance [cm].
80 uint8_t m_y_cell_num; ///< y cells number.
81 uint8_t m_y_cell_size; ///< the size of a cell, y direction [cm].
82 });
83
84 DECLSPEC_PACKED(
85 struct obstacles_map_info_header
86 {
87 uint32_t m_size; ///< obstacles data size [bytes].
88 uint16_t m_obstacles_num; ///< obstacles number.
89 });
90
91 DECLSPEC_PACKED(
92 struct obstacle_info_header
93 {
94 uint32_t m_guid; ///< obstacle guid.
95 uint16_t m_stixel_num; ///< stixels number.
96 });
97
98 DECLSPEC_PACKED(
99 struct classifier_info_header
100 {
101 uint32_t m_size;
102 uint16_t m_candidates_num;
103 int64_t m_timestamp;
104 });
105
106 DECLSPEC_PACKED(
107 struct classifier_data
108 {
109 uint32_t m_guid;
110 uint16_t m_x0; ///box coordinate in right image.
111 uint16_t m_y0;
112 uint16_t m_x1;
113 uint16_t m_y1;
114 uint32_t m_confidence; ///< confidence of the detection.
115 uint8_t m_category; ///< category.
116 //uint32_t m_wp_lb_x;
117 //uint32_t m_wp_lb_y;
118 //uint32_t m_wp_lb_z;
119
120
121 });
122
123 DECLSPEC_PACKED(
124 struct stixel
125 {
126 uint16_t m_dx; ///< stixel size (X axis) [cm].
127 uint16_t m_dy; ///< stixel size (Y axis) [cm].
128 int16_t m_x; ///< stixel X position [cm];
129 int16_t m_y; ///< stixel Y position [cm];
130 int16_t m_z; ///< stixel Z position [cm];
131 uint16_t m_height; ///< stixel height [cm];
132 });
133
134 DECLSPEC_PACKED(
135 struct motion_info_header
136 {
137 uint32_t m_size; ///< pose data size [bytes].
138 uint16_t m_poses_num; ///< poses number.
139 });
140
141
142 DECLSPEC_PACKED(
143 struct pose_info_header
144 {
145 uint32_t m_size; ///< pose data size [bytes].
146 uint8_t m_type; ///< pose type @see lib3dv::pose
147 uint16_t m_pose_num; ///< pose element number
148 int64_t m_timestamp; ///< pose timestamp. Measures elapsed time from linux epoch (1970-1-1) to the beginning of processing [usec].
149 });
150
151 /**
152 * @brief A data packet header.
153 **/
154 DECLSPEC_PACKED(
155 struct data_header
156 {
157 uint32_t m_offset; ///< data offset [bytes].
158 });
159
160 /**
161 * @brief A device info packet.
162 **/
163 DECLSPEC_PACKED(
164 struct device_info
165 {
166 uint8_t m_guid[16]; ///< device guid.
167 uint16_t m_capabilities; ///< device capabilities.
168 uint8_t m_application_version[3]; ///< application version (0 -> major, 1 -> minor, 2 -> step).
169 uint8_t m_framework_version[3]; ///< application version (0 -> major, 1 -> minor, 2 -> step).
170 });
171
172 /**
173 * @brief A command packet.
174 **/
175 DECLSPEC_PACKED(
176 struct command_header
177 {
178 uint32_t m_size;
179 uint8_t m_type;
180 });
181
182 /**
183 * @brief A propertys list info header.
184 **/
185 DECLSPEC_PACKED(
186 struct params_info_header
187 {
188 uint16_t m_params_num;
189 });
190
191 /**
192 * @brief A property info.
193 **/
194 DECLSPEC_PACKED(
195 struct param_info
196 {
197 uint8_t m_value_type;
198 uint16_t m_value_address;
199 uint8_t m_category;
200 uint8_t m_readonly;
201 uint8_t m_value_description_size;
202 });
203
204 /**
205 * @brief A generic packet header.
206 **/
207 DECLSPEC_PACKED(
208 struct packet_header
209 {
210 uint8_t m_magic[4];
211 uint8_t m_protocol_version;
212 uint32_t m_guid;
213 uint32_t m_fragment;
214 uint32_t m_total_fragments;
215 uint8_t m_error;
216 uint8_t m_payload_type;
217 });
218}
219
220#endif
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