Sensor Synchronizer APIs

The sensor synchronizer APIs are implemented by the following classes. You can find the corresponding header file in the c++/include/sensor directory to access the complete set of APIs.

Header File	Class Name	Description
sensor_synchronizer.h	SyncDataPackage	Encapsulates sensor data from multiple sensors with similar timestamps.
	SensorSynchronizer	Implements software-based synchronization for data from multiple sensors.

Synchronized Data Package

Get Package Timestamp

• Method:

  std::chrono::system_clock::time_point get_timestamp() const

• Return Value:

  Timestamp.

Add Sensor Data

• Method:

  void add_sensor_data(const std::string& sensor_name, std::shared_ptr<SensorData> data)

• Parameters:

  Parameter	Type	Description
  sensor_name	Input	Sensor name.
  data	Input	Sensor data, a shared pointer to a SensorData object.

• Return Value:

  None (void).

Add Robotic Arm Real-time State Data

• Method:

  void add_arm_state(const std::string& arm_name, std::shared_ptr<AbcArmRealtimeState> data)

• Parameters:

  Parameter	Type	Description
  arm_name	Input	Robotic arm name.
  data	Input	Robotic arm real-time state data, a shared pointer to an AbcArmRealtimeState object.

• Return Value:

  None (void).

Get Sensor Data

• Method:

  std::shared_ptr<SensorData> get_sensor_data(const std::string& sensor_name) const

• Parameter:

  Parameter	Type	Description
  sensor_name	Input	Sensor name.

• Return Value:

  A shared pointer to a SensorData object.

Get Robotic Arm Real-time State Data

• Method:

  std::shared_ptr<AbcArmRealtimeState> get_arm_data(const std::string& arm_name) const

• Parameter:

  Parameter	Type	Description
  arm_name	Input	Robotic arm name.

• Return Value:

  A shared pointer to an AbcArmRealtimeState object.

Get All Sensor Data

• Method:

  const std::map<std::string, std::shared_ptr<SensorData>>& get_all_sensor_data() const

• Return Value:

  Map of sensor names to their data.

Get All Robotic Arm Real-time State Data

• Method:

  const std::map<std::string, std::shared_ptr<AbcArmRealtimeState>>& get_all_arm_data() const

• Return Value:

  Map of arm names to their real-time state data.

Check If Contains Data for Specified Sensor

• Method:

  bool has_sensor_data(const std::string& sensor_name) const

• Parameter:

  Parameter	Type	Description
  sensor_name	Input	Sensor name.

• Return Value:

  true if data exists, false otherwise.

Get Sensor Count in Data Package

• Method:

  size_t get_sensor_count() const

• Return Value:

  Number of sensors.

Get Arm Count in Data Package

• Method:

  size_t get_arm_count() const

• Return Value:

  Number of arms.

Sensor Synchronizer

Parameterized Constructor

• Method:

  SensorSynchronizer(SyncPolicy sync_policy = SyncPolicy::NEAREST, int time_tolerance_ms = 10)

• Parameters:

  Parameter	Type	Description
  sync_policy	Input (optional)	Synchronization policy. For details, please refer to SyncPolicy.
  time_tolerance_ms	Input (optional)	Time tolerance, in milliseconds.

Add Sensor

• Method:

  AbcErrorCode add_sensor(const std::string& name, std::shared_ptr<SensorInterface> sensor)

• Parameters:

  Parameter	Type	Description
  name	Input	Sensor name.
  sensor	Input	A shared pointer to a SensorInterface object.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Add Robotic Arm

• Method:

  AbcErrorCode add_arm(const std::string& name, std::shared_ptr<ArmInterface> arm)

• Parameters:

  Parameter	Type	Description
  name	Input	Robotic arm name.
  arm	Input	A shared pointer to an ArmInterface object.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Remove Sensor

• Method:

  AbcErrorCode remove_sensor(const std::string& name)

• Parameter:

  Parameter	Type	Description
  name	Input	Sensor name.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Remove Robotic Arm

• Method:

  AbcErrorCode remove_arm(const std::string& name)

• Parameter:

  Parameter	Type	Description
  name	Input	Robotic arm name.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Sensor

• Method:

  std::shared_ptr<SensorInterface> get_sensor(const std::string& name) const

• Parameter:

  Parameter	Type	Description
  name	Input	Sensor name.

• Return Value:

  A shared pointer to a SensorInterface object.

Start Synchronization

• Method:

  AbcErrorCode start()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Stop Synchronization

• Method:

  AbcErrorCode stop()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Register Data Synchronization Callback Function

• Method:

  void set_sync_data_callback(const SyncDataCallback& callback)

• Parameter:

  Parameter	Type	Description
  callback	Input	SyncDataCallback is a function pointer type. For details, please refer to SyncDataCallback. The callback function is called whenever sensor data or robotic arm state data is updated.

• Return Value:

  None (void).

Set Synchronization Policy

• Method:

  void set_sync_policy(SyncPolicy policy)

• Parameter:

  Parameter	Type	Description
  policy	Input	Synchronization policy. For details, please refer to SyncPolicy.

• Return Value:

  None (void).

Get Synchronization Policy

• Method:

  SyncPolicy get_sync_policy() const

• Return Value:

  The current synchronization policy. For details, please refer to SyncPolicy.

Set Time Tolerance

• Method:

  void set_time_tolerance(int tolerance_ms)

• Parameter:

  Parameter	Type	Description
  tolerance_ms	Input	Time tolerance, in milliseconds.

• Return Value:

  None (void).

Get Time Tolerance

• Method:

  int get_time_tolerance() const

• Return Value:

  Time tolerance, in milliseconds.

Set Synchronization Mode

• Method:

  void set_sync_mode(SyncMode mode)

• Parameter:

  Parameter	Type	Description
  mode	Input	Synchronization mode. For details, please refer to SyncMode.

• Return Value:

  None (void).

Get Synchronization Mode

• Method:

  SyncMode get_sync_mode() const

• Return Value:

  The current synchronization mode. For details, please refer to SyncMode.

Set Reference Sensor

• Method:

  void set_reference_sensor(const std::string& sensor_name)

• Parameter:

  Parameter	Type	Description
  sensor_name	Input	Sensor name.

• Return Value:

  None (void).

Get Reference Sensor

• Method:

  std::string get_reference_sensor() const

• Return Value:

  The name of the reference sensor.

Check If Data Is Synchronizing

• Method:

  bool is_syncing() const

• Return Value:

  true if data is synchronizing, false otherwise.