diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md index 4b3f29b..f1b6aae 100644 --- a/doc/CHANGELOG.md +++ b/doc/CHANGELOG.md @@ -13,6 +13,15 @@ influence the resulting point cloud. ### Removed +## [2.14.0] - 2020.10.19 + +### Added +* [Introduced in firmware v1.14] API request to fetch constraints for allowed scan pattern configurations. This improves the Web GUI and results in improved validation error messages. + +### Changed +* Python: Fixed point cloud stream close to first call stop and unsubscribe +* Python: Fixed bug when stopping a raw stream and deleting it afterwards, it would call stop again + ## [2.13.0] - 2020.09.25 ### Added diff --git a/doc/protobuf-frame-visualisation.png b/doc/protobuf-frame-visualisation.png index fa6264f..c506fcb 100644 Binary files a/doc/protobuf-frame-visualisation.png and b/doc/protobuf-frame-visualisation.png differ diff --git a/doc/protobuf_protocol.md b/doc/protobuf_protocol.md index 414b7ee..a5ae11b 100644 --- a/doc/protobuf_protocol.md +++ b/doc/protobuf_protocol.md @@ -12,6 +12,11 @@ The data, such as a point cloud, are also packed in protobuf messages. ## Table of Contents - [blickfeld/common.proto](#blickfeld/common.proto) + - [Constraint](#blickfeld.protocol.Constraint) + - [Constraint.Constant](#blickfeld.protocol.Constraint.Constant) + - [Constraint.Polynomial](#blickfeld.protocol.Constraint.Polynomial) + - [Field](#blickfeld.protocol.Field) + - [Field.Identifier](#blickfeld.protocol.Field.Identifier) - [OptionalValueRange](#blickfeld.protocol.OptionalValueRange) - [ValueRange](#blickfeld.protocol.ValueRange) @@ -26,6 +31,7 @@ The data, such as a point cloud, are also packed in protobuf messages. - [Request.FillScanPattern](#blickfeld.protocol.Request.FillScanPattern) - [Request.GetAdvancedConfig](#blickfeld.protocol.Request.GetAdvancedConfig) - [Request.GetScanPattern](#blickfeld.protocol.Request.GetScanPattern) + - [Request.GetScanPatternConstraints](#blickfeld.protocol.Request.GetScanPatternConstraints) - [Request.Hello](#blickfeld.protocol.Request.Hello) - [Request.RunSelfTest](#blickfeld.protocol.Request.RunSelfTest) - [Request.SetAdvancedConfig](#blickfeld.protocol.Request.SetAdvancedConfig) @@ -37,6 +43,7 @@ The data, such as a point cloud, are also packed in protobuf messages. - [Response.FillScanPattern](#blickfeld.protocol.Response.FillScanPattern) - [Response.GetAdvancedConfig](#blickfeld.protocol.Response.GetAdvancedConfig) - [Response.GetScanPattern](#blickfeld.protocol.Response.GetScanPattern) + - [Response.GetScanPatternConstraints](#blickfeld.protocol.Response.GetScanPatternConstraints) - [Response.Hello](#blickfeld.protocol.Response.Hello) - [Response.RunSelfTest](#blickfeld.protocol.Response.RunSelfTest) - [Response.SetAdvancedConfig](#blickfeld.protocol.Response.SetAdvancedConfig) @@ -91,6 +98,10 @@ The data, such as a point cloud, are also packed in protobuf messages. - [File-level Extensions](#blickfeld/options.proto-extensions) - [File-level Extensions](#blickfeld/options.proto-extensions) - [File-level Extensions](#blickfeld/options.proto-extensions) + - [File-level Extensions](#blickfeld/options.proto-extensions) + - [File-level Extensions](#blickfeld/options.proto-extensions) + - [File-level Extensions](#blickfeld/options.proto-extensions) + - [File-level Extensions](#blickfeld/options.proto-extensions) @@ -272,6 +283,96 @@ The data, such as a point cloud, are also packed in protobuf messages. + + +### Constraint +> Introduced in BSL v2.14 and firmware v1.14 + +Describes a constraint for a single target field + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| target | [Field](#blickfeld.protocol.Field) | optional | Link to target field on which the contraint is applied | +| reason | [string](#string) | optional | Human-readable reason for the constraint and its failure | +| constant | [Constraint.Constant](#blickfeld.protocol.Constraint.Constant) | optional | | +| polynomial | [Constraint.Polynomial](#blickfeld.protocol.Constraint.Polynomial) | optional | | + + + + + + + + +### Constraint.Constant +Constant constraint which is used to apply min and/or max ranges + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| minimum | [float](#float) | optional | Target value must be equals or higher than the specified minimum | +| maximum | [float](#float) | optional | Target value must be equals or smaller than the specified maximum | + + + + + + + + +### Constraint.Polynomial +Polynomial constraint which describe a value relationship to another field + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| reference | [Field](#blickfeld.protocol.Field) | optional | Link to reference field. The value of the reference field is used as x input for the polynomial. | +| minimum | [float](#float) | repeated | Target value must be equals or higher than the specified minimum, which is described by the specified repeated coefficients: c0 + x * c1 + x^2 * c2 .. | +| maximum | [float](#float) | repeated | Target value must be equals or smaller than the specified maximum, which is described by the specified repeated coefficients: c0 + x * c1 + x^2 * c2 .. | + + + + + + + + +### Field +> Introduced in BSL v2.14 and firmware v1.14 + +Describes a protobuf field inside a (nested) message to efficiently use reflection on all supported platforms + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| identifiers | [Field.Identifier](#blickfeld.protocol.Field.Identifier) | repeated | Path to field in relation to given top level message. | +| scale | [float](#float) | optional | Numerical scale which is applied on a field value before using it for validation. This is required to prevent floating point precision issues due to rounding, which could fail a validation. + +Validation example: Field value is stored as radian but is shown to the user as degree. Without scaling and rounding, a possible degree format could be rejected as it exceeded the maximum value of the radian respresentation after down-scaling. | + + + + + + + + +### Field.Identifier +Describes unique identifier of (sub) field + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| id | [uint32](#uint32) | optional | Protobuf number of field | +| key | [string](#string) | optional | Protobuf key of field | +| camelcase_key | [string](#string) | optional | Protobuf camelcase key of field | + + + + + + ### OptionalValueRange @@ -341,6 +442,7 @@ A request is always answered with a response. For every response, there is a req | get_advanced_config | [Request.GetAdvancedConfig](#blickfeld.protocol.Request.GetAdvancedConfig) | optional |
Introduced in BSL v2.11 and firmware v1.11
Refer to [Request.GetAdvancedConfig](#blickfeld.protocol.Request.GetAdvancedConfig) | | unsubscribe | [stream.Subscribe](#blickfeld.protocol.stream.Subscribe) | optional |
Introduced in BSL v2.13 and firmware v1.13
Unsubscribe a stream started with a [Subscribe](#blickfeld.protocol.stream.Subscribe) request. | | attempt_error_recovery | [Request.AttemptErrorRecovery](#blickfeld.protocol.Request.AttemptErrorRecovery) | optional |
Introduced in BSL v2.13 and firmware v1.13
Refer to [Request.AttemptErrorRecovery](#blickfeld.protocol.Request.AttemptErrorRecovery) | +| get_scan_pattern_constraints | [Request.GetScanPatternConstraints](#blickfeld.protocol.Request.GetScanPatternConstraints) | optional |
Introduced in BSL v2.14 and firmware v1.14
Refer to [Request.GetScanPatternConstraints](#blickfeld.protocol.Request.GetScanPatternConstraints) | | _asJSON | [string](#string) | optional | Internal use only | | accept_format | [Format](#blickfeld.protocol.Format) | optional | Internal use only Default: PROTOBUF | @@ -411,6 +513,21 @@ This request is used to retrieve the currently set [ScanPattern](#blickfeld.prot + + +### Request.GetScanPatternConstraints +> Introduced in BSL v2.14 and firmware v1.14 + +This request returns a list of constraints which are applied on scan patterns. +The constraints define the constant and dynamic relationships between field values. +The constraints are equal for a device type and firmware, but might vary for firmware releases and device variants. +It is mainly used to visualize the constraints in the scan pattern configuration of the web gui. + + + + + + ### Request.Hello @@ -507,6 +624,7 @@ Each response has the same name as the request. | set_advanced_config | [Response.SetAdvancedConfig](#blickfeld.protocol.Response.SetAdvancedConfig) | optional |
Introduced in BSL v2.11 and firmware v1.11
Refer to [Response.SetAdvanced](#blickfeld.protocol.Response.SetAdvancedConfig) | | get_advanced_config | [Response.GetAdvancedConfig](#blickfeld.protocol.Response.GetAdvancedConfig) | optional |
Introduced in BSL v2.11 and firmware v1.11
Refer to [Response.GetAdvanced](#blickfeld.protocol.Response.GetAdvancedConfig) | | attempt_error_recovery | [Response.AttemptErrorRecovery](#blickfeld.protocol.Response.AttemptErrorRecovery) | optional |
Introduced in BSL v2.13 and firmware v1.13
Refer to [Response.AttemptErrorRecovery](#blickfeld.protocol.Response.AttemptErrorRecovery) | +| get_scan_pattern_constraints | [Response.GetScanPatternConstraints](#blickfeld.protocol.Response.GetScanPatternConstraints) | optional |
Introduced in BSL v2.14 and firmware v1.14
Refer to [Response.GetScanPatternConstraints](#blickfeld.protocol.Response.GetScanPatternConstraints) | | _asJSON | [string](#string) | optional | Internal use only | @@ -584,6 +702,23 @@ This response is returned after a request to get the current [ScanPattern](#blic + + +### Response.GetScanPatternConstraints +> Introduced in BSL v2.14 and firmware v1.14 + +This response is sent out after sending GetScanPatternConstraints. + + +| Field | Type | Label | Description | +| ----- | ---- | ----- | ----------- | +| constraints | [Constraint](#blickfeld.protocol.Constraint) | repeated | List of constraints which apply for scan patterns. | + + + + + + ### Response.Hello @@ -739,6 +874,7 @@ Validation of the sent request failed, please send a request with-in a valid ran | Field | Type | Label | Description | | ----- | ---- | ----- | ----------- | | validation_error | [string](#string) | optional | Validation error string | +| constraints | [Constraint](#blickfeld.protocol.Constraint) | repeated |
Introduced in BSL v2.14 and firmware v1.14
Contains list of failed constraints. The `validation_error` field contains a human-readable output of the constraint validation. | @@ -956,6 +1092,10 @@ Change the operation mode and try again if no one else is using it. | min_length | sint32 | .google.protobuf.FieldOptions | 50008 | Default: `0` | | optional | bool | .google.protobuf.FieldOptions | 50006 | Default: `false` | | regex | string | .google.protobuf.FieldOptions | 50005 | Default: `.*` | +| ui_decimal_places | uint32 | .google.protobuf.FieldOptions | 50014 | Default: `0` | +| ui_scale | double | .google.protobuf.FieldOptions | 50013 | Scaling of field value in user interfaces (UIs). Example: rad-to-degree conversions. Default: `1` | +| ui_unit | string | .google.protobuf.FieldOptions | 50012 | Unit of field value in user interfaces (UIs). | +| unit | string | .google.protobuf.FieldOptions | 50011 | Unit of field value | | e_desc | string | .google.protobuf.MessageOptions | 60000 | Error description Default: `No additional error description available.` | | generate | config.Generate | .google.protobuf.MessageOptions | 60003 | | | help | string | .google.protobuf.MessageOptions | 60001 | Help description | @@ -1088,6 +1228,7 @@ Internal use only | DEFAULT | 0 | | | PROTO_HASH | 1 | | | MATLAB_BUS | 2 | | +| CSTRUCT | 3 | | @@ -1122,6 +1263,7 @@ For a more detailed explanation, see: [Scan Pattern documentation](Scan_Pattern) | pulse | [ScanPattern.Pulse](#blickfeld.protocol.config.ScanPattern.Pulse) | optional | Refer to [ScanPattern.Pulse](#blickfeld.protocol.config.ScanPattern.Pulse) | | frame_rate | [ScanPattern.FrameRate](#blickfeld.protocol.config.ScanPattern.FrameRate) | optional | Refer to [ScanPattern.FrameRate](#blickfeld.protocol.config.ScanPattern.FrameRate) | | filter | [ScanPattern.Filter](#blickfeld.protocol.config.ScanPattern.Filter) | optional |
Introduced in BSL v2.11 and firmware v1.11
Refer to [Filter](#blickfeld.protocol.config.ScanPattern.Filter) | +| constraints | [blickfeld.protocol.Constraint](#blickfeld.protocol.Constraint) | repeated | | @@ -2075,7 +2217,7 @@ This section describes the events of streams. | Field | Type | Label | Description | | ----- | ---- | ----- | ----------- | | point_cloud | [blickfeld.protocol.data.PointCloud](#blickfeld.protocol.data.PointCloud) | optional | Refer to [PointCloud](#blickfeld.protocol.data.PointCloud) | -| status | [blickfeld.protocol.Status](#blickfeld.protocol.Status) | optional | Refer to [Status](#blickfeld.protocol.status.Status) | +| status | [blickfeld.protocol.Status](#blickfeld.protocol.Status) | optional | Refer to [Status](#blickfeld.protocol.Status) | | developer | [Event.Developer](#blickfeld.protocol.stream.Event.Developer) | optional | Refer to [Event.Developer](#blickfeld.protocol.stream.Event.Developer) | | raw_file | [bytes](#bytes) | optional |
Introduced in BSL v2.13 and firmware v1.13
Raw bytes, which should be written sequentially in a file. Refer to [RawFile](#blickfeld.protocol.stream.Subscribe.RawFile). | | end_of_stream | [Event.EndOfStream](#blickfeld.protocol.stream.Event.EndOfStream) | optional |
Introduced in BSL v2.13 and firmware v1.13
Refer to [EndOfStream](#blickfeld.protocol.stream.Event.EndOfStream) | diff --git a/include/blickfeld/scanner.h b/include/blickfeld/scanner.h index aabfffc..88715fb 100644 --- a/include/blickfeld/scanner.h +++ b/include/blickfeld/scanner.h @@ -267,7 +267,7 @@ class scanner : public logged_object { #endif /** - * > Introduced in BSL v2.13 and firmware v1.3 + * > Introduced in BSL v2.13 and firmware v1.13 * * Can be used to attempt a re-initialization of the device if it is errored. * A self test is automatically triggered after a successful re-initialization. diff --git a/protocol/blickfeld/common.proto b/protocol/blickfeld/common.proto index 21316ac..353a54d 100644 --- a/protocol/blickfeld/common.proto +++ b/protocol/blickfeld/common.proto @@ -12,4 +12,60 @@ message ValueRange { message OptionalValueRange { optional float minimum = 1 [(optional)=true]; optional float maximum = 2 [(optional)=true]; +} + +/** + * > Introduced in BSL v2.14 and firmware v1.14 + * + * Describes a protobuf field inside a (nested) message to efficiently use reflection on all supported platforms + */ +message Field { + // Describes unique identifier of (sub) field + message Identifier { + optional uint32 id = 1; // Protobuf number of field + optional string key = 2; // Protobuf key of field + optional string camelcase_key = 3; // Protobuf camelcase key of field + } + + // Path to field in relation to given top level message. + repeated Identifier identifiers = 1; + + // Numerical scale which is applied on a field value before using it for validation. + // This is required to prevent floating point precision issues due to rounding, which could fail a validation. + // + // Validation example: + // Field value is stored as radian but is shown to the user as degree. + // Without scaling and rounding, a possible degree format could be rejected as it exceeded the maximum value of the radian respresentation after down-scaling. + optional float scale = 2; +} + +/** + * > Introduced in BSL v2.14 and firmware v1.14 + * + * Describes a constraint for a single target field + */ +message Constraint { + // Constant constraint which is used to apply min and/or max ranges + message Constant { + optional float minimum = 1 [ (optional)=true ]; // Target value must be equals or higher than the specified minimum + optional float maximum = 2 [ (optional)=true ]; // Target value must be equals or smaller than the specified maximum + } + + // Polynomial constraint which describe a value relationship to another field + message Polynomial { + optional Field reference = 1; // Link to reference field. The value of the reference field is used as x input for the polynomial. + repeated float minimum = 2; // Target value must be equals or higher than the specified minimum, which is described by the specified repeated coefficients: c0 + x * c1 + x^2 * c2 .. + repeated float maximum = 3; // Target value must be equals or smaller than the specified maximum, which is described by the specified repeated coefficients: c0 + x * c1 + x^2 * c2 .. + } + + // Link to target field on which the contraint is applied + optional Field target = 1; + + // Human-readable reason for the constraint and its failure + optional string reason = 2; + + oneof type { + Constant constant = 10; + Polynomial polynomial = 11; + } } \ No newline at end of file diff --git a/protocol/blickfeld/config/generate.proto b/protocol/blickfeld/config/generate.proto index 48cbe30..031dc01 100644 --- a/protocol/blickfeld/config/generate.proto +++ b/protocol/blickfeld/config/generate.proto @@ -12,6 +12,7 @@ message Generate DEFAULT = 0; PROTO_HASH = 1; MATLAB_BUS = 2; + CSTRUCT = 3; } repeated Targets targets = 1; // Internal generate targets diff --git a/protocol/blickfeld/config/scan_pattern.proto b/protocol/blickfeld/config/scan_pattern.proto index 2eace20..df67cc5 100644 --- a/protocol/blickfeld/config/scan_pattern.proto +++ b/protocol/blickfeld/config/scan_pattern.proto @@ -26,7 +26,7 @@ message ScanPattern { * optical field of view of the horizontal mirror. * Note: In v2.2* and below, this was defined as a mechanical FoV. */ - optional float fov = 1; + optional float fov = 1 [(unit) = "rad", (ui_unit) = "deg", (ui_scale) = 57.295779513, (ui_decimal_places) = 2]; } /** @@ -49,7 +49,7 @@ message ScanPattern { * FoV in the center of the frame. * Due to the eye shape of the scan pattern, the vertical FoV decreases the outer boundaries of the horizontal mirror. */ - optional float fov = 1; + optional float fov = 1 [(unit) = "rad", (ui_unit) = "deg", (ui_scale) = 57.295779513, (ui_decimal_places) = 2]; /** * Configures the number of scan lines required for the up-ramping phase. @@ -125,7 +125,7 @@ message ScanPattern { * this defines the angle within which the horizontal mirror moves between two laser pulses. * This parameter therefore defines the horizontal sampling resolution. */ - optional float angle_spacing = 2; + optional float angle_spacing = 2 [(unit) = "rad", (ui_unit) = "deg", (ui_scale) = 57.295779513, (ui_decimal_places) = 2]; optional Type type = 3 [default = INTERLEAVE]; // Refer to [ScanPattern.Pulse.Type](#blickfeld.protocol.config.ScanPattern.Pulse.Type) optional FrameMode frame_mode = 4 [default = COMBINE_UP_DOWN]; // Refer to [ScanPattern.Pulse.FrameMode](#blickfeld.protocol.config.ScanPattern.Pulse.FrameMode) @@ -141,14 +141,14 @@ message ScanPattern { * The feature is described in the [Time synchronization documentation](Sync). */ message FrameRate { - optional double target = 1 [(optional) = true]; // Target frame rate during synchronization between several LiDAR devices - optional double maximum = 2 [(optional) = true]; // Read-only parameter for maximum achievable frame rate. + optional double target = 1 [(unit) = "Hz", (ui_decimal_places) = 2, (optional) = true]; // Target frame rate during synchronization between several LiDAR devices + optional double maximum = 2 [(unit) = "Hz", (ui_decimal_places) = 2, (optional) = true]; // Read-only parameter for maximum achievable frame rate. /** * In [s]. Adds a constant value to the Unix reference time, starting from 00:00:00 UTC on January 1, 1970. * It can be used to compensate delays or to interleave LiDAR devices. Default: 0 */ - optional double reference_time_offset = 3 [default = 0]; + optional double reference_time_offset = 3 [(unit) = "s", (ui_unit) = "ms", (ui_decimal_places) = 1, (ui_scale) = 1e-3, default = 0]; } /** @@ -185,4 +185,5 @@ message ScanPattern { extensions 5; // Developer extensions 6; // Developer optional Filter filter = 7; //
Introduced in BSL v2.11 and firmware v1.11
Refer to [Filter](#blickfeld.protocol.config.ScanPattern.Filter) + repeated Constraint constraints = 8; } diff --git a/protocol/blickfeld/connection.proto b/protocol/blickfeld/connection.proto index b2e6999..074fe08 100644 --- a/protocol/blickfeld/connection.proto +++ b/protocol/blickfeld/connection.proto @@ -3,6 +3,7 @@ option cc_enable_arenas = true; import "blickfeld/options.proto"; import "blickfeld/error.proto"; +import "blickfeld/common.proto"; import "blickfeld/config/advanced.proto"; import "blickfeld/config/scan_pattern.proto"; import "blickfeld/config/secure.proto"; @@ -106,6 +107,17 @@ message Request { message AttemptErrorRecovery { } + /** + * > Introduced in BSL v2.14 and firmware v1.14 + * + * This request returns a list of constraints which are applied on scan patterns. + * The constraints define the constant and dynamic relationships between field values. + * The constraints are equal for a device type and firmware, but might vary for firmware releases and device variants. + * It is mainly used to visualize the constraints in the scan pattern configuration of the web gui. + */ + message GetScanPatternConstraints { + } + oneof data { Hello hello = 11; // Refer to [Request.Hello](#blickfeld.protocol.Request.Hello) Developer developer = 13; // Refer to [Request.Developer](#blickfeld.protocol.Request.Developer) @@ -119,6 +131,7 @@ message Request { GetAdvancedConfig get_advanced_config = 22; //
Introduced in BSL v2.11 and firmware v1.11
Refer to [Request.GetAdvancedConfig](#blickfeld.protocol.Request.GetAdvancedConfig) stream.Subscribe unsubscribe = 23; //
Introduced in BSL v2.13 and firmware v1.13
Unsubscribe a stream started with a [Subscribe](#blickfeld.protocol.stream.Subscribe) request. AttemptErrorRecovery attempt_error_recovery = 24; //
Introduced in BSL v2.13 and firmware v1.13
Refer to [Request.AttemptErrorRecovery](#blickfeld.protocol.Request.AttemptErrorRecovery) + GetScanPatternConstraints get_scan_pattern_constraints = 25; //
Introduced in BSL v2.14 and firmware v1.14
Refer to [Request.GetScanPatternConstraints](#blickfeld.protocol.Request.GetScanPatternConstraints) string _asJSON = 100; // Internal use only } @@ -213,6 +226,15 @@ message Response { message AttemptErrorRecovery { } + /** + * > Introduced in BSL v2.14 and firmware v1.14 + * + * This response is sent out after sending GetScanPatternConstraints. + */ + message GetScanPatternConstraints { + repeated Constraint constraints = 1; // List of constraints which apply for scan patterns. + } + oneof data { Error error = 10; // Refer to [Error](#blickfeld.protocol.Error) Hello hello = 11; // Refer to [Response.Hello](#blickfeld.protocol.Response.Hello) @@ -226,6 +248,7 @@ message Response { SetAdvancedConfig set_advanced_config = 21; //
Introduced in BSL v2.11 and firmware v1.11
Refer to [Response.SetAdvanced](#blickfeld.protocol.Response.SetAdvancedConfig) GetAdvancedConfig get_advanced_config = 22; //
Introduced in BSL v2.11 and firmware v1.11
Refer to [Response.GetAdvanced](#blickfeld.protocol.Response.GetAdvancedConfig) AttemptErrorRecovery attempt_error_recovery = 24; //
Introduced in BSL v2.13 and firmware v1.13
Refer to [Response.AttemptErrorRecovery](#blickfeld.protocol.Response.AttemptErrorRecovery) + GetScanPatternConstraints get_scan_pattern_constraints = 25; //
Introduced in BSL v2.14 and firmware v1.14
Refer to [Response.GetScanPatternConstraints](#blickfeld.protocol.Response.GetScanPatternConstraints) string _asJSON = 100; // Internal use only } diff --git a/protocol/blickfeld/error.proto b/protocol/blickfeld/error.proto index 25931e5..42a0dee 100644 --- a/protocol/blickfeld/error.proto +++ b/protocol/blickfeld/error.proto @@ -1,6 +1,7 @@ syntax = "proto2"; import "blickfeld/options.proto"; +import "blickfeld/common.proto"; package blickfeld.protocol; @@ -42,7 +43,8 @@ message Error { message InvalidRequest { option (e_desc) = "The sent request did not pass the validation: {validation_error:%s}"; - optional string validation_error = 1; // Validation error string + optional string validation_error = 1; // Validation error string + repeated Constraint constraints = 2; //
Introduced in BSL v2.14 and firmware v1.14
Contains list of failed constraints. The `validation_error` field contains a human-readable output of the constraint validation. } /** diff --git a/protocol/blickfeld/options.proto b/protocol/blickfeld/options.proto index 64e0261..f42e204 100644 --- a/protocol/blickfeld/options.proto +++ b/protocol/blickfeld/options.proto @@ -23,6 +23,10 @@ extend google.protobuf.FieldOptions { optional sint32 min_length = 50008 [default = 0]; optional sint32 max_length = 50009 [default = 2147483647]; optional uint64 legacy_field_id = 50010; + optional string unit = 50011; // Unit of field value + optional string ui_unit = 50012; // Unit of field value in user interfaces (UIs). + optional double ui_scale = 50013 [default = 1]; // Scaling of field value in user interfaces (UIs). Example: rad-to-degree conversions. + optional uint32 ui_decimal_places = 50014 [default = 0]; } extend google.protobuf.MessageOptions { diff --git a/protocol/blickfeld/stream/event.proto b/protocol/blickfeld/stream/event.proto index 0b2cce3..74d91d8 100644 --- a/protocol/blickfeld/stream/event.proto +++ b/protocol/blickfeld/stream/event.proto @@ -34,7 +34,7 @@ message Event { oneof data { option (optional_one_of) = true; data.PointCloud point_cloud = 11; // Refer to [PointCloud](#blickfeld.protocol.data.PointCloud) - Status status = 12; // Refer to [Status](#blickfeld.protocol.status.Status) + blickfeld.protocol.Status status = 12; // Refer to [Status](#blickfeld.protocol.Status) Developer developer = 13; // Refer to [Event.Developer](#blickfeld.protocol.stream.Event.Developer) bytes raw_file = 14; //
Introduced in BSL v2.13 and firmware v1.13
Raw bytes, which should be written sequentially in a file. Refer to [RawFile](#blickfeld.protocol.stream.Subscribe.RawFile). EndOfStream end_of_stream = 15; //
Introduced in BSL v2.13 and firmware v1.13
Refer to [EndOfStream](#blickfeld.protocol.stream.Event.EndOfStream) diff --git a/python/blickfeld_scanner/scanner.py b/python/blickfeld_scanner/scanner.py index 9e9eed6..a2d4831 100644 --- a/python/blickfeld_scanner/scanner.py +++ b/python/blickfeld_scanner/scanner.py @@ -212,6 +212,21 @@ def get_scan_pattern(self): req.get_scan_pattern.SetInParent() return self._connection.send_request(req).get_scan_pattern.config + def get_scan_pattern_constraints(self): + """This request returns a list of constraints which are applied on scan patterns. + + > Introduced in BSL v2.14 and firmware v1.14 + + The constraints define the constant and dynamic relationships between field values. + The constraints are equal for a device type and firmware, but might vary for firmware releases and device variants. + It is mainly used to visualize the constraints in the scan pattern configuration of the web gui. + + :return: List of active constraints, see :any:`protobuf_protocol` common + """ + req = connection_pb2.Request() + req.get_scan_pattern_constraints.SetInParent() + return self._connection.send_request(req).get_scan_pattern_constraints.constraints + def set_advanced_config(self, config, persist = False): """ Function to set advanced config, see: :any:`protobuf_protocol`. Expert parameters: It is not recommended to adapt this calibrated configuration without understanding the influences on the resulting point cloud quality. diff --git a/python/blickfeld_scanner/stream/point_cloud.py b/python/blickfeld_scanner/stream/point_cloud.py index 2582f03..4e8caa5 100644 --- a/python/blickfeld_scanner/stream/point_cloud.py +++ b/python/blickfeld_scanner/stream/point_cloud.py @@ -200,7 +200,7 @@ def __str__(self): def close(self): """ Close point cloud stream and connection. Always call this function before deleting a point_cloud_stream object. """ - self.stop_recording() + self.stop() if self._connection: self._connection.close() @@ -335,7 +335,7 @@ def stop_recording(self): self._ofile = None def stop(self): - """ Stop and unsubscribe of the stream + """ Stop and unsubscribe of the stream, this isn't needed for a file stream. """ self.stop_recording() @@ -343,5 +343,3 @@ def stop(self): req = connection_pb2.Request() req.unsubscribe.point_cloud.SetInParent() self._connection.send(req) - else: - raise NotImplementedError("File stream not supported.") diff --git a/python/blickfeld_scanner/stream/raw.py b/python/blickfeld_scanner/stream/raw.py index 5b37c41..57c2883 100644 --- a/python/blickfeld_scanner/stream/raw.py +++ b/python/blickfeld_scanner/stream/raw.py @@ -89,6 +89,9 @@ def stop(self): :return: all remaining bytes accumalated """ + if self._connection.socket._closed: + return b"" + req = connection_pb2.Request() req.unsubscribe.raw_file.CopyFrom(self._req) self._connection.send(req) @@ -105,4 +108,6 @@ def stop(self): self._ofile.close() self._ofile = None + self._connection.close() + return raw_file