Functions for controlling and interacting with Aurora servers. More...

Functions
int AURORA_SDK_API	slamtec_aurora_sdk_controller_get_discovered_servers (slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_server_connection_info_t *servers, size_t max_server_count)
	Get the discovered servers list. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_connect (slamtec_aurora_sdk_session_handle_t handle, const slamtec_aurora_sdk_server_connection_info_t *server_conn_info)
	Connect to a server. More...

void AURORA_SDK_API	slamtec_aurora_sdk_controller_disconnect (slamtec_aurora_sdk_session_handle_t handle)
	Disconnect from a server. More...

int AURORA_SDK_API	slamtec_aurora_sdk_controller_is_connected (slamtec_aurora_sdk_session_handle_t handle)
	Check if the session is connected to a server. More...

void AURORA_SDK_API	slamtec_aurora_sdk_controller_set_low_rate_mode (slamtec_aurora_sdk_session_handle_t handle, int enable)
	Set the low rate mode. More...

void AURORA_SDK_API	slamtec_aurora_sdk_controller_set_map_data_syncing (slamtec_aurora_sdk_session_handle_t handle, int enable)
	Set the map data syncing. More...

void AURORA_SDK_API	slamtec_aurora_sdk_controller_resync_map_data (slamtec_aurora_sdk_session_handle_t handle, int invalidate_cache)
	Resync the map data. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_set_raw_data_subscription (slamtec_aurora_sdk_session_handle_t handle, int enable)
	Set the raw data subscription. More...

int AURORA_SDK_API	slamtec_aurora_sdk_controller_is_raw_data_subscribed (slamtec_aurora_sdk_session_handle_t handle)
	Check if the raw data is subscribed. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_require_map_reset (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms)
	Require the remote Device to reset the map, a.k.a. clear all the map data and restart the mapping process. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_require_pure_localization_mode (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms)
	Require the remote Device to enter the pure localization mode, the map data will not be updated. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_require_mapping_mode (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms)
	Require the remote Device to enter the mapping mode. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_require_relocalization (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms)
	Require the remote Device to enter the relocalization mode. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_cancel_relocalization (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms)
	Require the remote Device to cancel the relocalization process. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_set_loop_closure (slamtec_aurora_sdk_session_handle_t handle, int enable, uint64_t timeout_ms)
	Require the remote Device to enable/disable the loop closure. More...

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API	slamtec_aurora_sdk_controller_send_custom_command (slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms, uint64_t cmd, const void data, size_t data_size, void response, size_t response_buffer_size, size_t *response_retrieved_size)
	Send a custom command to the remote Device. More...

Detailed Description

Functions for controlling and interacting with Aurora servers.

Function Documentation

◆ slamtec_aurora_sdk_controller_cancel_relocalization()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_cancel_relocalization	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms
	)

Require the remote Device to cancel the relocalization process.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_connect()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_connect	(	slamtec_aurora_sdk_session_handle_t	handle,
		const slamtec_aurora_sdk_server_connection_info_t *	server_conn_info
	)

Connect to a server.

Parameters

handle	- the session handle
server_conn_info	- the server connection information, refer to slamtec_aurora_sdk_server_connection_info_t for more details A server connection info may contains multiple server addresses/protocols/ports, and the SDK will try to connect to the servers in the list in sequence

Returns: the error code

◆ slamtec_aurora_sdk_controller_disconnect()

void AURORA_SDK_API slamtec_aurora_sdk_controller_disconnect ( slamtec_aurora_sdk_session_handle_t handle )

Disconnect from a server.

Parameters

handle - the session handle

◆ slamtec_aurora_sdk_controller_get_discovered_servers()

int AURORA_SDK_API slamtec_aurora_sdk_controller_get_discovered_servers	(	slamtec_aurora_sdk_session_handle_t	handle,
		slamtec_aurora_sdk_server_connection_info_t *	servers,
		size_t	max_server_count
	)

Get the discovered servers list.

Once the session is created, the SDK will start to discover the servers in the local network in a periodical way using a background thread.

This function is used to get the discovered servers list.

Parameters

handle	- the session handle
servers	- the array to store the discovered servers, caller should provide a valid pointer to a buffer
max_server_count	- the maximum number of servers to be stored in the buffer

Returns: the number of discovered servers, <0 means error

◆ slamtec_aurora_sdk_controller_is_connected()

int AURORA_SDK_API slamtec_aurora_sdk_controller_is_connected ( slamtec_aurora_sdk_session_handle_t handle )

Check if the session is connected to a server.

Parameters

handle - the session handle

Returns: non-zero means connected

◆ slamtec_aurora_sdk_controller_is_raw_data_subscribed()

int AURORA_SDK_API slamtec_aurora_sdk_controller_is_raw_data_subscribed ( slamtec_aurora_sdk_session_handle_t handle )

Check if the raw data is subscribed.

Parameters

handle - the session handle

Returns: non-zero means subscribed

◆ slamtec_aurora_sdk_controller_require_map_reset()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_map_reset	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms
	)

Require the remote Device to reset the map, a.k.a. clear all the map data and restart the mapping process.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_require_mapping_mode()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_mapping_mode	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms
	)

Require the remote Device to enter the mapping mode.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_require_pure_localization_mode()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_pure_localization_mode	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms
	)

Require the remote Device to enter the pure localization mode, the map data will not be updated.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_require_relocalization()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_relocalization	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms
	)

Require the remote Device to enter the relocalization mode.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_resync_map_data()

void AURORA_SDK_API slamtec_aurora_sdk_controller_resync_map_data	(	slamtec_aurora_sdk_session_handle_t	handle,
		int	invalidate_cache
	)

Resync the map data.

Ask the controller to resync the map data from the server.

If the invalidate_cache is non-zero, the local map data cache will be invalidated.

Parameters

handle	- the session handle
invalidate_cache	- non-zero to invalidate the local map data cache, zero to keep the local map data

◆ slamtec_aurora_sdk_controller_send_custom_command()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_send_custom_command	(	slamtec_aurora_sdk_session_handle_t	handle,
		uint64_t	timeout_ms,
		uint64_t	cmd,
		const void *	data,
		size_t	data_size,
		void *	response,
		size_t	response_buffer_size,
		size_t *	response_retrieved_size
	)

Send a custom command to the remote Device.

Parameters

handle	- the session handle
timeout_ms	- the timeout in milliseconds
cmd	- the command to be sent
data	- the data buffer contains the command payload to be sent
data_size	- the size of the data buffer
response	- the response buffer to store the response data
response_buffer_size	- the size of the response buffer
response_retrieved_size	- the size of the response data retrieved

Returns: the error code

◆ slamtec_aurora_sdk_controller_set_loop_closure()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_set_loop_closure	(	slamtec_aurora_sdk_session_handle_t	handle,
		int	enable,
		uint64_t	timeout_ms
	)

Require the remote Device to enable/disable the loop closure.

Parameters

enable	- 1 to enable the loop closure, 0 to disable
handle	- the session handle
timeout_ms	- the timeout in milliseconds

Returns: the error code

◆ slamtec_aurora_sdk_controller_set_low_rate_mode()

void AURORA_SDK_API slamtec_aurora_sdk_controller_set_low_rate_mode	(	slamtec_aurora_sdk_session_handle_t	handle,
		int	enable
	)

Set the low rate mode.

Ask the controller to subscribe less data from the server, this can reduce the network bandwidth and improve the performance.

Some SDK operations will set low rate mode during its operation automatically. For example, downloading or uploading maps will set low rate mode.

Once the low rate mode is set, Raw camera image data and IMU data receiving will be disabled.

Parameters

handle	- the session handle
enable	- non-zero to enable, zero to disable

◆ slamtec_aurora_sdk_controller_set_map_data_syncing()

void AURORA_SDK_API slamtec_aurora_sdk_controller_set_map_data_syncing	(	slamtec_aurora_sdk_session_handle_t	handle,
		int	enable
	)

Set the map data syncing.

Ask the controller to sync the map data from the server using a background thread.

If the caller application wishes to access the map data, it should set this to enabled.

Not all the map data will be synced at once. The SDK applies a QoS policy to the map data syncing operation to reduce network traffic.

Parameters

handle	- the session handle
enable	- non-zero to enable, zero to disable

◆ slamtec_aurora_sdk_controller_set_raw_data_subscription()

slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_set_raw_data_subscription	(	slamtec_aurora_sdk_session_handle_t	handle,
		int	enable
	)

Set the raw data subscription.

Ask the controller to subscribe the raw camera image data from the server.

As the raw image data is not compressed, it may cost a lot of network bandwidth.

Parameters

handle	- the session handle
enable	- non-zero to enable, zero to disable