carbon_client.hpp File Reference

#include <carbon_client_ffi.hpp>
#include <carbon_config.hpp>
#include <csignal>
#include <cstdint>
#include <memory>
#include <sdl_types_generated.hpp>
#include <voyant_frame_wrapper.hpp>
#include <voyant_types_ffi.hpp>

Go to the source code of this file.

Classes
class	CarbonClient
	Client for receiving frames from a Carbon LiDAR sensor. More...

Functions
SdlCommandParams	toSdlCommand (const SensorState &state)
	Convert a heartbeat-confirmed SensorState into a sendable SdlCommandParams.
SdlCommandParams	makeLinescanCommand (SdlState reqState, float rampBandwidthGhz, float hfovCenterDeg=0.0f)
	Build a static-line (linescan) SdlCommandParams.

Function Documentation

makeLinescanCommand()

SdlCommandParams makeLinescanCommand	(	SdlState	reqState,
		float	rampBandwidthGhz,
		float	hfovCenterDeg = 0.0f )

Build a static-line (linescan) SdlCommandParams.

HFOV is pinned to 0° (the mirror parks). There is no frame-rate parameter: the firmware fixes the line rate at 900 fps. Pass the result to sendSdl()/sendSdlBlocking().

Note

Beam steering is temporarily unsupported (MCU firmware v2.5.0 / FPGA v1.3.3) — the sensor centers the mirror regardless — so hfovCenterDeg must be 0; a non-zero value is rejected by sendSdl()/sendSdlBlocking().

Parameters

reqState	Requested sensor state.
rampBandwidthGhz	Ramp bandwidth in GHz.
hfovCenterDeg	Beam steer center in degrees (must be 0 — steering temporarily unsupported).

Returns

SdlCommandParams describing a static line.

toSdlCommand()

SdlCommandParams toSdlCommand

(

const SensorState &

state

)

Convert a heartbeat-confirmed SensorState into a sendable SdlCommandParams.

Initializes all fields of the returned SdlCommandParams from SDL readback in the given state. Change only the fields you need, then pass to sendSdlBlocking().

Parameters

state

Snapshot from CarbonClient::getSensorState().

Returns

SdlCommandParams ready for sendSdlBlocking().

Exceptions

std::runtime_error

if the state contains Unknown device_state or ramp_length, or invalid/out-of-range field values (such as numeric SDL parameters).