CarbonClient Class Reference

Client for receiving frames from a Carbon LiDAR sensor. More...

#include <carbon_client.hpp>

Public Member Functions
	CarbonClient (const CarbonConfig &config)
	Construct a CarbonClient from a CarbonConfig. The config is cloned internally — it remains valid after this call.
	~CarbonClient ()
	CarbonClient (const CarbonClient &)=delete
CarbonClient &	operator= (const CarbonClient &)=delete
	CarbonClient (CarbonClient &&)=delete
CarbonClient &	operator= (CarbonClient &&)=delete
bool	start ()
	Start receiving and processing data.
void	stop ()
	Stop receiving and processing data. Safe to call multiple times. Can restart with start().
bool	isRunning () const
	Returns true if the client is running and no shutdown has been requested.
bool	tryReceiveFrame ()
	Try to receive the latest frame if one is available.
VoyantFrameWrapper &	latestFrame ()
	Access the latest received frame.
const VoyantFrameWrapper &	latestFrame () const

Static Public Member Functions
static void	setupSignalHandling (int signal=SIGINT)
	Set up OS signal handling for graceful termination.
static bool	isTerminated ()
	Returns true if a termination signal has been received.
static void	resetTerminationFlag ()
	Resets the termination flag.

Static Private Member Functions
static void	signalHandler (int)

Private Attributes
CarbonClientHandleC *	handle_
std::unique_ptr< uint8_t[]>	buffer_
VoyantFrameWrapper	latestFrame_

Static Private Attributes
static constexpr size_t	kBufferSize_ = 8 * 1024 * 1024
static volatile std::sig_atomic_t	terminated_

Detailed Description

Client for receiving frames from a Carbon LiDAR sensor.

Example:

CarbonClient::setupSignalHandling();
 
CarbonConfig config;
config.setBindAddr("0.0.0.0:5678")
      .setGroupAddr("224.0.0.0")
      .setInterfaceAddr("0.0.0.0");
 
CarbonClient client(config);
client.start();
 
while (client.isRunning() && !CarbonClient::isTerminated()) {
    if (client.tryReceiveFrame()) {
        std::cout << client.latestFrame() << std::endl;
    }
}
client.stop();

Constructor & Destructor Documentation

CarbonClient() [1/3]

CarbonClient::CarbonClient ( const CarbonConfig &  config )

explicit

Construct a CarbonClient from a CarbonConfig. The config is cloned internally — it remains valid after this call.

Parameters

config

CarbonConfig with all desired settings.

Exceptions

std::runtime_error

if client creation fails.

~CarbonClient()

CarbonClient::~CarbonClient

(

)

CarbonClient() [2/3]

CarbonClient::CarbonClient ( const CarbonClient &  )

delete

CarbonClient() [3/3]

CarbonClient::CarbonClient ( CarbonClient &&  )

delete

Member Function Documentation

isRunning()

bool CarbonClient::isRunning

(

)

const

Returns true if the client is running and no shutdown has been requested.

isTerminated()

static bool CarbonClient::isTerminated ( )

static

Returns true if a termination signal has been received.

latestFrame() [1/2]

VoyantFrameWrapper & CarbonClient::latestFrame

(

)

Access the latest received frame.

latestFrame() [2/2]

const VoyantFrameWrapper & CarbonClient::latestFrame

(

)

const

operator=() [1/2]

CarbonClient & CarbonClient::operator= ( CarbonClient &&  )

delete

operator=() [2/2]

CarbonClient & CarbonClient::operator= ( const CarbonClient &  )

delete

resetTerminationFlag()

static void CarbonClient::resetTerminationFlag ( )

static

Resets the termination flag.

setupSignalHandling()

static void CarbonClient::setupSignalHandling ( int  signal = SIGINT )

static

Set up OS signal handling for graceful termination.

Parameters

signal

Signal to handle (default: SIGINT)

signalHandler()

static void CarbonClient::signalHandler ( int  )

staticprivate

start()

bool CarbonClient::start

(

)

Start receiving and processing data.

Returns

true on success, false on failure.

stop()

void CarbonClient::stop

(

)

Stop receiving and processing data. Safe to call multiple times. Can restart with start().

tryReceiveFrame()

bool CarbonClient::tryReceiveFrame

(

)

Try to receive the latest frame if one is available.

Returns

true if a new frame was received.

Member Data Documentation

buffer_

std::unique_ptr<uint8_t[]> CarbonClient::buffer_

private

handle_

CarbonClientHandleC* CarbonClient::handle_

private

kBufferSize_

constexpr size_t CarbonClient::kBufferSize_ = 8 * 1024 * 1024

staticconstexprprivate

latestFrame_

VoyantFrameWrapper CarbonClient::latestFrame_

private

terminated_

volatile std::sig_atomic_t CarbonClient::terminated_

staticprivate

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

• /usr/include/voyant_api/carbon_client.hpp