voyant_types_ffi.hpp File Reference

#include <cstdarg>
#include <cstdint>
#include <cstdlib>
#include <ostream>
#include <new>
#include <sdl_types_generated.hpp>

Go to the source code of this file.

Classes
struct	SdlDeviceState
struct	HealthState
struct	CounterState
struct	DeviceInfo
struct	CalibrationState
struct	DspHeaderState
struct	SensorState
struct	TimeSyncState

Enumerations
enum class	ProductId : uint8_t {   Unknown = 0 , Lark = 1 , Meadowlark = 2 , CarbonBenchtop = 3 ,   Carbon30 = 4 , VivadoSimulator = 250 , VerilatorSimulator = 251 , XceliumSimulator = 252 ,   IsaacSim = 253 , SoftwareSimulator = 254 }
enum class	SdlStatus : uint8_t {   Unknown = 0 , Idle = 1 , Pending = 2 , Applied = 3 ,   BadFovCenterCombo = 4 , InvalidParameter = 5 , InvalidStateTransition = 6 , MissingCalibration = 7 ,   UnableToCalibrate = 8 , ParseError = 9 , ApplicationError = 10 , FovFpsError = 11 ,   CommandBuildFailed = 12 , PreviousCommandPending = 13 , SendFailed = 14 , Timeout = 15 ,   MaxRetriesExceeded = 16 , StreamReset = 17 , MessageReadyForMcu = 18 , ValidMessageParsed = 19 ,   ObserverOnly = 20 }
enum class	SyncQuality : uint8_t {   Unsynced , Poor , Fair , Good ,   Excellent }

Enumeration Type Documentation

ProductId

enum class ProductId : uint8_t

strong

Hardware and simulation product identifiers.

Sent in the heartbeat product_id field. Values 250–253 are reserved for FPGA/RTL simulators; 254 is the basic software simulator; 255 is reserved.

Unknown or future variants are preserved as [ProductId::Unknown] so that the rest of the pipeline never panics on an unrecognised ID.

TODO: Define this in the interface contract and parse automatically from there

Enumerator
Unknown
Lark
Meadowlark
CarbonBenchtop
Carbon30
VivadoSimulator
VerilatorSimulator
XceliumSimulator
IsaacSim
SoftwareSimulator	Basic software simulator (lightweight, no physics/FPGA).

SdlStatus

enum class SdlStatus : uint8_t

strong

Outcome of an SDL command, either from the sensor heartbeat or detected client-side.

The raw msg_status wire values from the sensor are mapped here in from_msg_status — the discriminants in this enum are contiguous and have no relationship to the wire protocol values.

Enumerator
Unknown	Unrecognized or default wire status from the sensor heartbeat. Not returned by the send/poll API in normal operation.
Idle	No SDL command is currently in flight. Returned by poll_sdl() when called with nothing pending.
Pending	Command sent, awaiting sensor confirmation via heartbeat. Returned by send_sdl() on a successful UDP send, or by poll_sdl() while waiting for heartbeat confirmation.
Applied	Sensor confirmed the command was successfully applied.
BadFovCenterCombo	The FOV and center combination is not valid. May be rejected client-side before sending, or by the sensor.
InvalidParameter	A parameter value is out of range or otherwise invalid. May be rejected client-side before sending, or by the sensor.
InvalidStateTransition	The requested state transition is not permitted from the current state.
MissingCalibration	Sensor cannot apply the command due to missing calibration data.
UnableToCalibrate	Sensor attempted calibration but was unable to complete it.
ParseError	Sensor could not parse the SDL message.
ApplicationError	Sensor parsed the command but failed to apply it.
FovFpsError	The FOV/FPS combination exceeds hardware performance limits. Command was not sent.
CommandBuildFailed	The SDL command could not be constructed from the supplied parameters.
PreviousCommandPending	A previous command is still awaiting confirmation; wait for it to resolve before sending another.
SendFailed	The underlying UDP send failed. Check logs for detail.
Timeout	No heartbeat confirmation arrived within the configured timeout window.
MaxRetriesExceeded	Command was retransmitted the maximum number of times without confirmation.
StreamReset	Heartbeat frame counter jumped backwards — stream was reset.
MessageReadyForMcu	Sensor has received the message and it is ready for MCU processing.
ValidMessageParsed	Sensor parsed a valid SDL message but did not apply the requested change.
ObserverOnly	The client is in observer-only mode and cannot issue SDL commands; nothing was sent. A primary (non-observer) client owns the sensor. Appended out of group order to keep discriminants stable (the values are exposed to Python via eq_int).

SyncQuality

enum class SyncQuality : uint8_t

strong

Qualitative health of the host↔FPGA clock synchronization, judged by the absolute clock difference |host − FPGA|. Ordered worst-to-best (Unsynced … Excellent), so ordering comparisons (e.g. "at least `Good`") are meaningful.

Enumerator
Unsynced	No fresh measurement — link down, or never measured.
Poor	Off by more than 1 ms; timestamps are unreliable.
Fair	Within 1 ms but worse than 100 µs; usable, but watch for drift.
Good	Within 100 µs but worse than 1 µs of the host; trustworthy.
Excellent	Within 1 µs of the host — sub-microsecond alignment.