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GoSystem.h
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1 /**
2 * @file GoSystem.h
3 * @brief Declares the GoSystem class.
4 *
5 * @internal
6 * Copyright (C) 2015 by LMI Technologies Inc.
7 * Licensed under the MIT License.
8 * Redistributed files must retain the above copyright notice.
9 */
10 #ifndef GO_SDK_SYSTEM_H
11 #define GO_SDK_SYSTEM_H
12
13 #include <GoSdk/GoSdkDef.h>
14 #include <GoSdk/GoSensor.h>
15 #include <GoSdk/GoMultiplexBank.h>
16
17 kBeginHeader()
18
19 /**
20 * @class GoSystem
21 * @extends kObject
22 * @ingroup GoSdk
23 * @brief Represents a system of Gocator devices.
24 *
25 * During construction, a GoSystem object uses Gocator Discovery Protocol to locate devices.
26 * Subsequently, the list of detected devices can be accessed using GoSystem_SensorCount and
27 * GoSystem_SensorAt.
28 *
29 * Immediately after construction, all sensor objects are in the <em>online</em> state. This state
30 * indicates that a sensor has been detected, but that the client has not yet established a control
31 * connection to the sensor. The only sensor functions than can be used in this state are GoSensor_State,
32 * GoSensor_Address, and GoSensor_SetAddress.
33 *
34 * Because Gocator Discovery Protocol works <em>across</em> subnets, but Gocator Control Protocol
35 * does not, it is possible for a sensor to be successfully detected but for subsequent connection
36 * attempts to fail. In this case, the GoSensor_SetAddress function can be used to reconfigure the
37 * sensor to operate on the same subnet as the client.
38 *
39 * If the client and device are configured to operate on the same subnet, the GoSystem_Connect or
40 * GoSensor_Connect functions can be used to establish control connections.
41 *
42 * @see GoSystem_Construct, GoSystem_Connect, GoSensor_State, GoSensor_Address, GoSensor_SetAddress.
43 */
44 typedef kObject GoSystem;
45
46 /** Defines the signature for a GoSystem data/health handler.
47 *
48 * NOTE: The GoDataSet received by this function must be destroyed after use,
49 * otherwise a memory leak will result.
50 *
51 * @see GoDestroy
52 */
53 typedef kStatus (kCall* GoDataFx)(kPointer context, GoSensor system, GoDataSet data);
54
55 /**
56 * Constructs a GoSystem object.
57 *
58 * During construction, a GoSystem object uses Gocator Discovery Protocol to locate sensors.
59 * The list of detected sensors can be accessed using the GoSystem_SensorCount and GoSystem_SensorAt
60 * functions.
61 *
62 * @public @memberof GoSystem
63 * @version Introduced in firmware 4.0.10.27
64 * @param system Receives constructed system object.
65 * @param allocator Memory allocator (or kNULL for default)
66 * @return Operation status.
67 */
68 GoFx(kStatus) GoSystem_Construct(GoSystem* system, kAlloc allocator);
69
70 /**
71 * Establishes control connections to all sensors.
72 *
73 * A control connection is required before calling any sensor function except GoSensor_State,
74 * GoSensor_Address, or GoSensor_SetAddress.
75 *
76 * @public @memberof GoSystem
77 * @version Introduced in firmware 4.0.10.27
78 * @param system GoSystem object.
79 * @return Operation status.
80 */
81 GoFx(kStatus) GoSystem_Connect(GoSystem system);
82
83 /**
84 * Terminates control connections to all sensors.
85 *
86 * @public @memberof GoSystem
87 * @version Introduced in firmware 4.0.10.27
88 * @param system GoSystem object.
89 * @return Operation status.
90 */
91 GoFx(kStatus) GoSystem_Disconnect(GoSystem system);
92
93 /**
94 * Reports whether the system has changes that require a refresh.
95 *
96 * Sensors can undergo autonomous state changes that require client state to be refreshed
97 * (e.g. sensor goes offline). The GoSystem_HasChanges function can be used to determine
98 * if such changes have occurred.
99 *
100 * The GoSystem_HasChanges function does not perform communication, and consequently, will not
101 * require the caller to block for a long duration. If changes are detected, the GoSystem_Refresh
102 * function can be called to resolve the changes.
103 *
104 * This method is thread-safe.
105 *
106 * @public @memberof GoSystem
107 * @version Introduced in firmware 4.0.10.27
108 * @param system GoSystem object.
109 * @return kTRUE if the system has changes.
110 */
111 GoFx(kBool) GoSystem_HasChanges(GoSystem system);
112
113 /**
114 * Updates client state to reflect any changes that have occurred in the sensor network.
115 *
116 * Sensors can undergo autonomous state changes that require client state to be refreshed
117 * (e.g. sensor goes offline). The GoSystem_Refresh function resynchronizes client state
118 * with the current state of the sensor network.
119 *
120 * Calling this function may destroy or modify local sensor objects. The GoSystem_HasChanges
121 * function can be used prior to calling GoSystem_Refresh, to determine whether a refresh is
122 * needed.
123 *
124 * @public @memberof GoSystem
125 * @version Introduced in firmware 4.0.10.27
126 * @param system GoSystem object.
127 * @return Operation status.
128 */
129 GoFx(kStatus) GoSystem_Refresh(GoSystem system);
130
131 /**
132 * Reports the Gocator Protocol version implemented by this library.
133 *
134 * A Gocator Protocol version number has a major component and a minor component.
135 * If the major version implemented by this library is the same as the major
136 * version implemented by a sensor device, then communication can proceed. Otherwise,
137 * the sensor should be upgraded or a newer version of this library should be obtained.
138 * Sensors with incompatible major versions will be reported as being in the
139 * <em>incompatible</em> state upon connection.
140 *
141 * If major versions match, but the minor version implemented by this library
142 * is lower than the minor version implemented by the sensor, then some sensor features
143 * will not be accessible through this library.
144 *
145 * If major versions match, but the minor version implemented by this library
146 * is higher than the minor version implemented by the sensor, then some features
147 * exposed by this library may be unimplemented by the sensor.
148 *
149 * This method is thread-safe.
150 *
151 * @public @memberof GoSystem
152 * @version Introduced in firmware 4.0.10.27
153 * @return Protocol version implemented by this library.
154 * @see GoSensor_ProtocolVersion, GoSensor_State
155 */
156 GoFx(kVersion) GoSystem_ProtocolVersion();
157
158 /**
159 * Reports the Gocator firmware version that was built alongside this library.
160 *
161 * A Gocator SDK version number has a major component and a minor component.
162 * If the major version implemented by this library is the same as the major
163 * version implemented by a sensor device, then communication can proceed. Otherwise,
164 * the sensor should be upgraded or a version of this library matching the sensor
165 * should be obtained.
166 *
167 * When it comes to the matter of mismatched SDK and firmware versions, so long
168 * as the protocol versions match up, they should be compatible.
169 *
170 * @public @memberof GoSystem
171 * @version Introduced in firmware 4.0.10.27
172 * @return Firmware version that was built alongside this library.
173 * @see GoSensor_FirmwareVersion, GoSystem_ProtocolVersion
174 */
175 GoFx(kVersion) GoSystem_SdkVersion();
176
177 /**
178 * Sets a callback function that can be used to receive sensor data messages asynchronously.
179 *
180 * Sensor data messages can be received synchronously using the GoSystem_ReceiveData function
181 * or asynchronously by registering a callback function. If a callback function is registered,
182 * a background thread will be created to perform notifications.
183 *
184 * To unregister a previously-registered data handler, call this function using kNULL in place
185 * of the callback function argument.
186 *
187 * @public @memberof GoSystem
188 * @version Introduced in firmware 4.0.10.27
189 * @param system GoSystem object.
190 * @param function Data callback function (or kNULL to unregister).
191 * @param receiver Receiver argument for callback.
192 * @return Operation status.
193 * @see GoDataFx, GoSystem_ReceiveData, GoSystem_SetDataCapacity, GoSystem_EnableData
194 */
195 GoFx(kStatus) GoSystem_SetDataHandler(GoSystem system, GoDataFx function, kPointer receiver);
196
197 /**
198 * Sets the maximum amount of memory that can be used to buffer received data messages.
199 *
200 * Received data messages are enqueued until they are accepted by the caller. This function
201 * determines the maximum size, in bytes, of enqueued messages. The default maximum size is 50 MB.
202 *
203 * @public @memberof GoSystem
204 * @version Introduced in firmware 4.0.10.27
205 * @param system GoSystem object.
206 * @param capacity Data queue capacity, in bytes.
207 * @return Operation status.
208 * @see GoSystem_DataCapacity
209 */
210 GoFx(kStatus) GoSystem_SetDataCapacity(GoSystem system, kSize capacity);
211
212 /**
213 * Reports that maximum amount of memory that can be used to buffer received data messages.
214 *
215 * @public @memberof GoSystem
216 * @version Introduced in firmware 4.0.10.27
217 * @param system GoSystem object.
218 * @return Data queue capacity, in bytes.
219 * @see GoSystem_SetDataCapacity
220 */
221 GoFx(kSize) GoSystem_DataCapacity(GoSystem system);
222
223 /**
224 * Establishes data connections to all connected sensors currently in the <em>ready</em> or <em>running</em> states.
225 *
226 * Data connections are not automatically established when sensor control connection are established.
227 * Use this function (or GoSensor_EnableData) to enable/disable data connections.
228 *
229 * @public @memberof GoSystem
230 * @version Introduced in firmware 4.0.10.27
231 * @param system GoSystem object.
232 * @param enable kTRUE to enable data connections; kFALSE to disable.
233 * @return Operation status.
234 * @see GoSystem_ReceiveData, GoSensor_EnableData
235 */
236 GoFx(kStatus) GoSystem_EnableData(GoSystem system, kBool enable);
237
238 /**
239 * Clears any buffered data messages.
240 *
241 * When stopping and then restarting a system, it may be desirable to ensure that no messages from
242 * the previous session remain in any buffers. The GoSystem_ClearData function closes any open data
243 * channels, destroys any received messages, and then reopens data channels.
244 *
245 * @public @memberof GoSystem
246 * @version Introduced in firmware 4.0.10.27
247 * @param system GoSystem object.
248 * @return Operation status.
249 */
250 GoFx(kStatus) GoSystem_ClearData(GoSystem system);
251
252 /**
253 * Receives a set of sensor data messages.
254 *
255 * Sensor data messages can be received synchronously using this function or asynchronously by
256 * registering a callback with the GoSystem_SetDataHandler function.
257 *
258 * NOTE: Data received with this function must be destroyed after use,
259 * otherwise a memory leak will result.
260 *
261 * @public @memberof GoSystem
262 * @version Introduced in firmware 4.0.10.27
263 * @param system GoSystem object.
264 * @param data Set of sensor data messages.
265 * @param timeout Duration to wait for messages, in microseconds.
266 * @return Operation status.
267 * @see GoDestroy, GoSystem_SetDataHandler, GoSystem_SetDataCapacity, GoSystem_EnableData
268 */
269 GoFx(kStatus) GoSystem_ReceiveData(GoSystem system, GoDataSet* data, k64u timeout);
270
271 /**
272 * Sets a callback function that can be used to receive sensor health messages asynchronously.
273 *
274 * Sensor health messages can be received synchronously using the GoSystem_ReceiveHealth function
275 * or asynchronously by registering a callback function. If a callback function is registered,
276 * a background thread will be created to perform notifications.
277 *
278 * To unregister a previously-registered health handler, call this function using kNULL in place
279 * of the callback function argument.
280 *
281 * @public @memberof GoSystem
282 * @version Introduced in firmware 4.0.10.27
283 * @param system GoSystem object.
284 * @param function Health callback function (or kNULL to unregister).
285 * @param receiver Receiver argument, passed to callback.
286 * @return Operation status.
287 * @see GoDataFx, GoSystem_ReceiveHealth, GoSystem_SetDataCapacity, GoSystem_EnableData
288 */
289 GoFx(kStatus) GoSystem_SetHealthHandler(GoSystem system, GoDataFx function, kPointer receiver);
290
291 /**
292 * Receives a set of sensor health messages.
293 *
294 * Sensor health messages can be received synchronously using this function or asynchronously by
295 * registering a callback with the GoSystem_SetHealthHandler function.
296 *
297 * @public @memberof GoSystem
298 * @version Introduced in firmware 4.0.10.27
299 * @param system GoSystem object.
300 * @param data Set of sensor health messages.
301 * @param timeout Duration to wait for messages, in microseconds.
302 * @return Operation status.
303 * @see GoSystem_SetHealthHandler
304 */
305 GoFx(kStatus) GoSystem_ReceiveHealth(GoSystem system, GoDataSet* data, k64u timeout);
306
307 /**
308 * Clears any buffered health messages.
309 *
310 * @public @memberof GoSystem
311 * @version Introduced in firmware 4.0.10.27
312 * @param system GoSystem object.
313 * @return Operation status.
314 */
315 GoFx(kStatus) GoSystem_ClearHealth(GoSystem system);
316
317 /**
318 * Starts all sensors that are currently in the <em>ready</em> state.
319 *
320 * @public @memberof GoSystem
321 * @version Introduced in firmware 4.0.10.27
322 * @param system GoSystem object.
323 * @return Operation status.
324 * @see GoSystem_Stop, GoSensor_Start, GoSensor_Stop
325 */
326 GoFx(kStatus) GoSystem_Start(GoSystem system);
327
328 /**
329 * Starts all sensors that are currently in the <em>ready</em> state at a scheduled value.
330 *
331 * NOTE: The value specified is the target value to start at, not a relative
332 * offset from the current value. The typical usage is to obtain the current
333 * value first, add an offset to it, and start at that value.
334 *
335 * @public @memberof GoSystem
336 * @version Introduced in firmware 4.1.3.106
337 * @param system GoSystem object.
338 * @param value The value at which to start the sensor. It is in uS when time triggered and ticks when encoder triggered.
339 * @return Operation status.
340 * @see GoSystem_Stop, GoSensor_ScheduledStart, GoSensor_Stop, GoSetup_SetTriggerSource, GoSetup_TriggerSource
341 */
342 GoFx(kStatus) GoSystem_ScheduledStart(GoSystem system, k64s value);
343
344 /**
345 * Performs alignment for sensors in the <em>ready</em> state.
346 *
347 * NOTE: This operation will result in sensor starts for the duration of the
348 * alignment. It can be canceled via GoSystem_Stop. This function's operation
349 * status does not correspond to the actual alignment result. In order to
350 * retrieve the alignment result, you must enable the data channel before calling
351 * this function, receive an alignment data message and then check its status.
352 *
353 * @public @memberof GoSystem
354 * @version Introduced in firmware 4.0.10.27
355 * @param system GoSystem object.
356 * @return Operation status.
357 * @see GoSystem_EnableData, GoSystem_ReceiveData, GoSystem_Stop
358 * @remark Calling this function will result in writing operations to flash storage. Should the process be disrupted due to power loss or other factors, the sensor may enter Rescue mode.
359 */
360 GoFx(kStatus) GoSystem_StartAlignment(GoSystem system);
361
362 /**
363 * Performs exposure auto set for sensors in the <em>ready</em> state.
364 *
365 * NOTE: This operation will result in sensor starts for the duration of the
366 * exposure AutoSet. A successful operation status does NOT modify the configuration.
367 * You must retrieve the resulting exposure values and set it for the appropriate
368 * exposure setting. This involves enabling the data connection prior to running
369 * exposure auto set and then receiving an exposure auto set message, which
370 * you can then use to query the status and access the resulting value.
371 *
372 * @public @memberof GoSystem
373 * @version Introduced in firmware 4.0.10.27
374 * @param system GoSystem object.
375 * @return Operation status.
376 * @see GoSystem_EnableData, GoSystem_ReceiveData
377 */
378 GoFx(kStatus) GoSystem_StartExposureAutoSet(GoSystem system);
379
380 /**
381 * Stops all connected sensors.
382 *
383 * @public @memberof GoSystem
384 * @version Introduced in firmware 4.0.10.27
385 * @param system GoSystem object.
386 * @return Operation status.
387 * @see GoSystem_Start, GoSensor_Start, GoSensor_Stop
388 */
389 GoFx(kStatus) GoSystem_Stop(GoSystem system);
390
391
392 /**
393 * Reboots all connected sensors.
394 *
395 * @public @memberof GoSystem
396 * @version Introduced in firmware 4.0.10.27
397 * @param system GoSystem object.
398 * @param wait kTRUE to wait for reboot complete; kFALSE to return immediately.
399 * @return Operation status.
400 */
401 GoFx(kStatus) GoSystem_Reset(GoSystem system, kBool wait);
402
403 /**
404 * Aborts ongoing sensor communication.
405 *
406 * This method asynchronously aborts ongoing communication; the next time that any
407 * I/O operation blocks for an extended period of time, it will be terminated. This method
408 * is thread-safe.
409 *
410 * In order to resume communication, call GoSystem_Refresh or GoSystem_Connect.
411 *
412 * @public @memberof GoSystem
413 * @version Introduced in firmware 4.0.10.27
414 * @param system GoSystem object.
415 * @return Operation status.
416 */
417 GoFx(kStatus) GoSystem_Cancel(GoSystem system);
418
419 /**
420 * Gets the Discovery channel information for the given device ID (if the device is present and the command is supported)
421 *
422 * @public @memberof GoSensor
423 * @version Introduced in firmware 4.3.3.124
424 * @param system GoSystem object.
425 * @param deviceId The ID of the device with which to retrieve Discovery channel information.
426 * @param info A handled to the sensor's constructed discovery information.
427 * @param allocator Memory allocator (or kNULL for the default).
428 * @see GoDestroy
429 */
430 GoFx(kStatus) GoSystem_GetExtendedDiscoveryInfo(GoSystem system, k32u deviceId, GoDiscoveryExtInfo* info, kAlloc allocator);
431
432 /**
433 * Gets the number of sensors in the system.
434 *
435 * @public @memberof GoSystem
436 * @version Introduced in firmware 4.0.10.27
437 * @param system GoSystem object.
438 * @return Count of sensors in the system.
439 * @see GoSystem_SensorAt
440 */
441 GoFx(kSize) GoSystem_SensorCount(GoSystem system);
442
443 /**
444 * Gets the sensor object at the specified index.
445 *
446 * @public @memberof GoSystem
447 * @version Introduced in firmware 4.0.10.27
448 * @param system GoSystem object.
449 * @param index Sensor index.
450 * @return Sensor object.
451 * @see GoSystem_SensorCount
452 */
453 GoFx(GoSensor) GoSystem_SensorAt(GoSystem system, kSize index);
454
455 /**
456 * Gets the sensor object with the specified device id (serial number).
457 *
458 * @public @memberof GoSystem
459 * @version Introduced in firmware 4.0.10.27
460 * @param system GoSystem object.
461 * @param id Device identifier.
462 * @param sensor Receives sensor object.
463 * @return Operation status (kERROR_NOT_FOUND if sensor not found).
464 * @see GoSystem_SensorCount, GoSystem_SensorAt
465 */
466 GoFx(kStatus) GoSystem_FindSensorById(GoSystem system, k32u id, GoSensor* sensor);
467
468 /**
469 * Gets the sensor object with the specified IP address.
470 *
471 * @public @memberof GoSystem
472 * @version Introduced in firmware 4.0.10.27
473 * @param system GoSystem object.
474 * @param address Pointer to sensor IP address.
475 * @param sensor Receives sensor object.
476 * @return Operation status (kERROR_NOT_FOUND if sensor not found).
477 * @see GoSystem_SensorCount, GoSystem_SensorAt
478 */
479 GoFx(kStatus) GoSystem_FindSensorByIpAddress(GoSystem system, const kIpAddress* address, GoSensor* sensor);
480
481 /**
482 * Gets the current time stamp from the sensor network.
483 *
484 * @public @memberof GoSystem
485 * @version Introduced in firmware 4.0.10.27
486 * @param system GoSystem object.
487 * @param time Receives current time stamp(microseconds).
488 * @return Operation status (kERROR_NOT_FOUND if no sensors available).
489 * @see GoSystem_GetEncoder
490 */
491 GoFx(kStatus) GoSystem_Timestamp(GoSystem system, k64u* time);
492
493 /**
494 * Gets the current encoder value from the sensor network.
495 *
496 * @public @memberof GoSystem
497 * @version Introduced in firmware 4.0.10.27
498 * @param system GoSystem object.
499 * @param encoder Receives current encoder value (ticks).
500 * @return Operation status (kERROR_NOT_FOUND if no sensors available).
501 * @see GoSystem_GetTime
502 */
503 GoFx(kStatus) GoSystem_Encoder(GoSystem system, k64s* encoder);
504
505
506 /// @cond (Gocator_1x00 || Gocator_2x00)
507
508 /**
509 * Gets the current multiplex bank count.
510 *
511 * @public @memberof GoSystem
512 * @version Introduced in firmware 4.0.10.27
513 * @param system GoSystem object.
514 * @return The current number of defined multiplex banks.
515 */
516 GoFx(kSize) GoSystem_MultiplexBankCount(GoSystem system);
517
518 /**
519 * Gets a multiplex bank corresponding to the given index.
520 *
521 * @public @memberof GoSystem
522 * @version Introduced in firmware 4.0.10.27
523 * @param system GoSystem object.
524 * @param index The index of the multiplex bank to retrieve.
525 * @return The multiplex bank at the given index or kNULL if an invalid index is given.
526 */
527 GoFx(GoMultiplexBank) GoSystem_MultiplexBankAt(GoSystem system, kSize index);
528
529 /**
530 * Adds a multiplex bank with a unique ID to the system.
531 *
532 * @public @memberof GoSystem
533 * @version Introduced in firmware 4.0.10.27
534 * @param system GoSystem object.
535 * @param bank A pointer to the newly created GoMultiplexBank object.
536 * @return Operation status.
537 */
538 GoFx(kStatus) GoSystem_AddMultiplexBank(GoSystem system, GoMultiplexBank* bank);
539
540 /**
541 * Removes a multiplex bank at the given index.
542 *
543 * @public @memberof GoSystem
544 * @version Introduced in firmware 4.0.10.27
545 * @param system GoSystem object.
546 * @param index The index of the multiplex bank to remove.
547 * @return Operation status.
548 */
549 GoFx(kStatus) GoSystem_RemoveMultiplexBank(GoSystem system, kSize index);
550
551 /**
552 * Removes all multiplex banks.
553 *
554 * @public @memberof GoSystem
555 * @version Introduced in firmware 4.0.10.27
556 * @param system GoSystem object.
557 * @return Operation status.
558 */
559 GoFx(kStatus) GoSystem_ClearMultiplexBanks(GoSystem system);
560
561 /**
562 * Gets the maximum sensor exposure duration in the given multiplex bank.
563 *
564 * @public @memberof GoSystem
565 * @version Introduced in firmware 4.0.10.27
566 * @param system GoSystem object.
567 * @param bank The multiplex bank to check.
568 * @return The maximum sensor exposure duration contained in the multiplexing bank.
569 */
570 GoFx(k64f) GoSystem_MaxBankExposureDuration(GoSystem system, GoMultiplexBank bank);
571
572 /**
573 * Automatically update the single multiplexing delay and period configuration for all sensors contained in all defined multiplex banks.
574 *
575 * @public @memberof GoSystem
576 * @version Introduced in firmware 4.0.10.27
577 * @param system GoSystem object.
578 * @param period The exposure period to set among all multiplexed sensors. A value of 0.0 will result in automatic period determination.
579 * @return Operation status.
580 */
581 GoFx(kStatus) GoSystem_UpdateAllMultiplexParameters(GoSystem system, k64f period);
582
583 /**
584 * Automatically update the multiplexing single delay configuration for all sensors contained in all defined multiplex banks.
585 *
586 * @public @memberof GoSystem
587 * @version Introduced in firmware 4.0.10.27
588 * @param system GoSystem object.
589 * @return Operation status.
590 */
591 GoFx(kStatus) GoSystem_UpdateMultiplexDelay(GoSystem system);
592
593 /**
594 * Returns the maximum value of all multiplexed sensor's minimum multiplexing periods.
595 *
596 * @public @memberof GoSystem
597 * @version Introduced in firmware 4.0.10.27
598 * @param system GoSystem object.
599 * @return Operation status.
600 */
601 GoFx(k64f) GoSystem_MaxMinimumMultiplexPeriod(GoSystem system);
602
603 /**
604 * Automatically update the multiplexing single period configuration for all sensors contained in all defined multiplex banks.
605 *
606 * @public @memberof GoSystem
607 * @version Introduced in firmware 4.0.10.27
608 * @param system GoSystem object.
609 * @param period The exposure period to set among all multiplexed sensors. A value of 0.0 will result in automatic period determination.
610 * @return Operation status.
611 */
612 GoFx(kStatus) GoSystem_UpdateMultiplexPeriod(GoSystem system, k64f period);
613
614 /// @endcond
615
616 kEndHeader()
617 #include <GoSdk/GoSystem.x.h>
618
619 #endif
k32u
GoSystem::GoSystem_Disconnect
kStatus GoSystem_Disconnect(GoSystem system)
Terminates control connections to all sensors.
GoSystem
Represents a system of Gocator devices.
GoSystem::GoSystem_EnableData
kStatus GoSystem_EnableData(GoSystem system, kBool enable)
Establishes data connections to all connected sensors currently in the ready or running states...
GoSystem::GoSystem_Start
kStatus GoSystem_Start(GoSystem system)
Starts all sensors that are currently in the ready state.
GoSystem::GoSystem_StartExposureAutoSet
kStatus GoSystem_StartExposureAutoSet(GoSystem system)
Performs exposure auto set for sensors in the ready state.
k64u
GoSystem::GoSystem_Stop
kStatus GoSystem_Stop(GoSystem system)
Stops all connected sensors.
GoSystem::GoSystem_ClearData
kStatus GoSystem_ClearData(GoSystem system)
Clears any buffered data messages.
GoSystem::GoSystem_ReceiveHealth
kStatus GoSystem_ReceiveHealth(GoSystem system, GoDataSet *data, k64u timeout)
Receives a set of sensor health messages.
GoSystem::GoSystem_ReceiveData
kStatus GoSystem_ReceiveData(GoSystem system, GoDataSet *data, k64u timeout)
Receives a set of sensor data messages.
kPointer
GoSystem::GoSystem_Reset
kStatus GoSystem_Reset(GoSystem system, kBool wait)
Reboots all connected sensors.
GoSystem::GoSystem_ClearHealth
kStatus GoSystem_ClearHealth(GoSystem system)
Clears any buffered health messages.
GoSystem::GoSystem_StartAlignment
kStatus GoSystem_StartAlignment(GoSystem system)
Performs alignment for sensors in the ready state.
kSize
kAlloc
GoSystem::GoSystem_SensorAt
GoSensor GoSystem_SensorAt(GoSystem system, kSize index)
Gets the sensor object at the specified index.
GoSensor.h
Declares the GoSensor class.
kIpAddress
GoSystem::GoSystem_SdkVersion
kVersion GoSystem_SdkVersion()
Reports the Gocator firmware version that was built alongside this library.
GoSdkDef.h
Essential SDK declarations.
GoSystem::GoSystem_Cancel
kStatus GoSystem_Cancel(GoSystem system)
Aborts ongoing sensor communication.
GoSystem::GoSystem_HasChanges
kBool GoSystem_HasChanges(GoSystem system)
Reports whether the system has changes that require a refresh.
GoDataSet
Represents a collection of data channel or health channel messages.
GoSensor::GoSystem_GetExtendedDiscoveryInfo
kStatus GoSystem_GetExtendedDiscoveryInfo(GoSystem system, k32u deviceId, GoDiscoveryExtInfo *info, kAlloc allocator)
Gets the Discovery channel information for the given device ID (if the device is present and the comm...
GoSystem::GoSystem_ScheduledStart
kStatus GoSystem_ScheduledStart(GoSystem system, k64s value)
Starts all sensors that are currently in the ready state at a scheduled value.
GoSystem::GoSystem_SensorCount
kSize GoSystem_SensorCount(GoSystem system)
Gets the number of sensors in the system.
GoSystem::GoSystem_ProtocolVersion
kVersion GoSystem_ProtocolVersion()
Reports the Gocator Protocol version implemented by this library.
GoSystem::GoSystem_SetHealthHandler
kStatus GoSystem_SetHealthHandler(GoSystem system, GoDataFx function, kPointer receiver)
Sets a callback function that can be used to receive sensor health messages asynchronously.
k64s
GoDataFx
kStatus(kCall * GoDataFx)(kPointer context, GoSensor system, GoDataSet data)
Defines the signature for a GoSystem data/health handler.
Definition: GoSystem.h:53
GoSystem::GoSystem_SetDataCapacity
kStatus GoSystem_SetDataCapacity(GoSystem system, kSize capacity)
Sets the maximum amount of memory that can be used to buffer received data messages.
GoSystem::GoSystem_Construct
kStatus GoSystem_Construct(GoSystem *system, kAlloc allocator)
Constructs a GoSystem object.
GoSystem::GoSystem_FindSensorById
kStatus GoSystem_FindSensorById(GoSystem system, k32u id, GoSensor *sensor)
Gets the sensor object with the specified device id (serial number).
GoSystem::GoSystem_DataCapacity
kSize GoSystem_DataCapacity(GoSystem system)
Reports that maximum amount of memory that can be used to buffer received data messages.
kObject
kVersion
kStatus
GoSystem::GoSystem_FindSensorByIpAddress
kStatus GoSystem_FindSensorByIpAddress(GoSystem system, const kIpAddress *address, GoSensor *sensor)
Gets the sensor object with the specified IP address.
GoSystem::GoSystem_Encoder
kStatus GoSystem_Encoder(GoSystem system, k64s *encoder)
Gets the current encoder value from the sensor network.
GoDiscoveryExtInfo
Represents an extended Discovery Information object.
k64f
GoSystem::GoSystem_Timestamp
kStatus GoSystem_Timestamp(GoSystem system, k64u *time)
Gets the current time stamp from the sensor network.
kBool
GoSensor
Represents a Gocator sensor.
GoSystem::GoSystem_Refresh
kStatus GoSystem_Refresh(GoSystem system)
Updates client state to reflect any changes that have occurred in the sensor network.
GoSystem::GoSystem_SetDataHandler
kStatus GoSystem_SetDataHandler(GoSystem system, GoDataFx function, kPointer receiver)
Sets a callback function that can be used to receive sensor data messages asynchronously.
GoSystem::GoSystem_Connect
kStatus GoSystem_Connect(GoSystem system)
Establishes control connections to all sensors.