The controller class for communicating with the remote device. More...

#include <slamtec_remote_public.hxx>

Inheritance diagram for rp::standalone::aurora::RemoteController:

Public Member Functions
size_t	getDiscoveredServers (std::vector< SDKServerConnectionDesc > &serverList, size_t maxFetchCount=32)
	Get the discovered server list. More...

bool	connect (const SDKServerConnectionDesc &serverDesc, slamtec_aurora_sdk_errorcode_t *errCode=nullptr)
	Connect to the remote device. More...

void	disconnect ()
	Disconnect from the remote device.

bool	isConnected ()
	Check if the controller is connected to the remote device. More...

void	setLowRateMode (bool enable)
	Set the low rate mode. More...

void	setMapDataSyncing (bool enable)
	Set the map data syncing mode. More...

void	resyncMapData (bool invalidateCache=false)
	Resync the map data. More...

void	setRawDataSubscription (bool enable)
	Set the raw data subscription mode. More...

bool	isRawDataSubscribed ()
	Check if the raw data subscription is enabled. More...

bool	requireMapReset (uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Require the remote device to perform the map reset. More...

bool	requirePureLocalizationMode (uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Require the remote device to enter the pure localization mode. More...

bool	requireMappingMode (uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Require the remote device to enter the mapping mode. More...

bool	requireRelocalization (uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Require the remote device to perform the relocalization. More...

bool	cancelRelocalization (uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Cancel the relocalization. More...

bool	setLoopClosure (bool enable, uint64_t timeout_ms=SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)
	Set the loop closure flag. More...

bool	sendCustomCommand (uint64_t timeout_ms, uint64_t cmd, const void data=nullptr, size_t data_size=0, void response=nullptr, size_t response_buffer_size=0, size_t response_retrieved_size=nullptr, slamtec_aurora_sdk_errorcode_t errcode=nullptr)
	Send a custom command to the remote device. More...

Protected Member Functions
	RemoteController (slamtec_aurora_sdk_session_handle_t &sdk)

Protected Member Functions inherited from rp::standalone::aurora::Noncopyable
	Noncopyable (const Noncopyable &)=delete

Noncopyable &	operator= (const Noncopyable &)=delete

	Noncopyable (Noncopyable &&)=default

Noncopyable &	operator= (Noncopyable &&)=default

Protected Attributes
slamtec_aurora_sdk_session_handle_t	_sdk

Friends
class	RemoteSDK

Detailed Description

The controller class for communicating with the remote device.

Member Function Documentation

◆ cancelRelocalization()

bool rp::standalone::aurora::RemoteController::cancelRelocalization	(	uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Cancel the relocalization.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the relocalization is canceled successfully, false otherwise

◆ connect()

bool rp::standalone::aurora::RemoteController::connect	(	const SDKServerConnectionDesc &	serverDesc,
		slamtec_aurora_sdk_errorcode_t *	errCode = `nullptr`
	)

inline

Connect to the remote device.

Parameters

[in]	serverDesc	The server description to connect to
[out]	errCode	The error code, set to nullptr if not interested

Returns: True if the connection is successful, false otherwise

◆ getDiscoveredServers()

size_t rp::standalone::aurora::RemoteController::getDiscoveredServers	(	std::vector< SDKServerConnectionDesc > &	serverList,
		size_t	maxFetchCount = `32`
	)

inline

Get the discovered server list.

Get the discovered remote devices, the SDK continuously performs the discovery process to update the server list in the background

Parameters

[out]	serverList	The output server list to store the discovered servers
[in]	maxFetchCount	The maximum number of servers to fetch, default is 32

Returns: The number of servers fetched

◆ isConnected()

bool rp::standalone::aurora::RemoteController::isConnected ( )

inline

Check if the controller is connected to the remote device.

Returns: True if the controller is connected, false otherwise

◆ isRawDataSubscribed()

bool rp::standalone::aurora::RemoteController::isRawDataSubscribed ( )

inline

Check if the raw data subscription is enabled.

Returns: True if the raw data subscription is enabled, false otherwise

◆ requireMappingMode()

bool rp::standalone::aurora::RemoteController::requireMappingMode	(	uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Require the remote device to enter the mapping mode.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the mapping request is sent and performed successfully, false otherwise

◆ requireMapReset()

bool rp::standalone::aurora::RemoteController::requireMapReset	(	uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Require the remote device to perform the map reset.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the map reset request is sent and performed successfully, false otherwise

◆ requirePureLocalizationMode()

bool rp::standalone::aurora::RemoteController::requirePureLocalizationMode	(	uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Require the remote device to enter the pure localization mode.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the pure localization request is sent and performed successfully, false otherwise

◆ requireRelocalization()

bool rp::standalone::aurora::RemoteController::requireRelocalization	(	uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Require the remote device to perform the relocalization.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the relocalization request is sent and performed successfully, false otherwise

◆ resyncMapData()

void rp::standalone::aurora::RemoteController::resyncMapData ( bool invalidateCache = false )

inline

Resync the map data.

Ask the SDK to refetch all the map data from the remote device

Parameters

[in] invalidateCache True to invalidate the cached map data, false to keep the cached map data

◆ sendCustomCommand()

bool rp::standalone::aurora::RemoteController::sendCustomCommand	(	uint64_t	timeout_ms,
		uint64_t	cmd,
		const void *	data = `nullptr`,
		size_t	data_size = `0`,
		void *	response = `nullptr`,
		size_t	response_buffer_size = `0`,
		size_t *	response_retrieved_size = `nullptr`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Send a custom command to the remote device.

Parameters

[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[in]	cmd	The command to send
[in]	data	The data to send, set to nullptr if not interested
[in]	data_size	The size of the data to send, default is 0
[out]	response	The response from the remote device, set to nullptr if not interested
[in]	response_buffer_size	The size of the response buffer, default is 0
[out]	response_retrieved_size	The size of the response retrieved, set to nullptr if not interested
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the custom command is sent and performed successfully, false otherwise

◆ setLoopClosure()

bool rp::standalone::aurora::RemoteController::setLoopClosure	(	bool	enable,
		uint64_t	timeout_ms = `SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_TIMEOUT`,
		slamtec_aurora_sdk_errorcode_t *	errcode = `nullptr`
	)

inline

Set the loop closure flag.

Parameters

[in]	enable	True to enable the loop closure, false to disable
[in]	timeout_ms	The timeout in milliseconds, default is 5000ms
[out]	errcode	The error code, set to nullptr if not interested

Returns: True if the loop closure is set successfully, false otherwise

◆ setLowRateMode()

void rp::standalone::aurora::RemoteController::setLowRateMode ( bool enable )

inline

Set the low rate mode.

Once the low rate mode is enabled, the SDK will disable the IMU data and Raw image data subscription to reduce the data traffic

Some SDK operations like map streaming will automatically set the low rate mode to true, and the mode will be automatically disabled after the map streaming operation is done

Parameters

[in] enable True to enable the low rate mode, false to disable

◆ setMapDataSyncing()

void rp::standalone::aurora::RemoteController::setMapDataSyncing ( bool enable )

inline

Set the map data syncing mode.

Once the map data syncing is enabled, the SDK will start a background thread to sync the map data from the remote device

The synced map data will be cached in the local device.

The map data can be accessed via the map data access function

NOTICE: the synced map data is only for visualization, it should not be used for localization or other high-precision requirements

Parameters

[in] enable True to enable the map data syncing, false to disable

◆ setRawDataSubscription()

void rp::standalone::aurora::RemoteController::setRawDataSubscription ( bool enable )

inline

Set the raw data subscription mode.

Once the raw data subscription is enabled, the SDK will subscribe the raw image data

Parameters

[in] enable True to enable the raw data subscription, false to disable

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

inc/cxx/slamtec_remote_public.hxx

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ cancelRelocalization()

◆ connect()

◆ getDiscoveredServers()

◆ isConnected()

◆ isRawDataSubscribed()

◆ requireMappingMode()

◆ requireMapReset()

◆ requirePureLocalizationMode()

◆ requireRelocalization()

◆ resyncMapData()

◆ sendCustomCommand()

◆ setLoopClosure()

◆ setLowRateMode()

◆ setMapDataSyncing()

◆ setRawDataSubscription()