297 lines
16 KiB
C
297 lines
16 KiB
C
/**
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* @file GoHealth.h
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* @brief Declares the GoHealthMsg class and related types.
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*
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* @internal
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* Copyright (C) 2016-2021 by LMI Technologies Inc.
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* Licensed under the MIT License.
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* Redistributed files must retain the above copyright notice.
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*/
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#ifndef GO_SDK_HEALTH_H
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#define GO_SDK_HEALTH_H
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#include <GoSdk/GoSdkDef.h>
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#include <kApi/Io/kSerializer.h>
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/**
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* @struct GoHealthIndicatorId
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* @ingroup GoSdk-HealthChannel
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* @brief Represents a health indicator ID.
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*
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* The following enumerators are defined:
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* - #GO_HEALTH_ENCODER_VALUE
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* - #GO_HEALTH_ENCODER_FREQUENCY
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* - #GO_HEALTH_LASER_SAFETY
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* - #GO_HEALTH_FIRMWARE_VERSION
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* - #GO_HEALTH_FIRESYNC_VERSION
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* - #GO_HEALTH_UPTIME
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* - #GO_HEALTH_TEMPERATURE
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* - #GO_HEALTH_TEMPERATURE_EXTENDED
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* - #GO_HEALTH_PROJECTOR_TEMPERATURE
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* - #GO_HEALTH_LASER_TEMPERATURE
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* - #GO_HEALTH_LASER_OVERHEAT
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* - #GO_HEALTH_LASER_OVERHEAT_DURATION
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* - #GO_HEALTH_OVERHEAT
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* - #GO_HEALTH_OVERHEAT_DURATION
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* - #GO_HEALTH_CPU_TEMPERATURE
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* - #GO_HEALTH_CAMERA_0_TEMPERATURE
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* - #GO_HEALTH_CAMERA_1_TEMPERATURE
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* - #GO_HEALTH_LASER_DRIVER_TEMPERATURE
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* - #GO_HEALTH_MEMORY_USED
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* - #GO_HEALTH_MEMORY_CAPACITY
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* - #GO_HEALTH_STORAGE_USED
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* - #GO_HEALTH_STORAGE_CAPACITY
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* - #GO_HEALTH_CPU_USED
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* - #GO_HEALTH_SYNC_SOURCE
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* - #GO_HEALTH_NET_OUT_USED
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* - #GO_HEALTH_NET_OUT_RATE
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* - #GO_HEALTH_NET_OUT_CAPACITY
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* - #GO_HEALTH_NET_OUT_LINK_STATUS
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* - #GO_HEALTH_DIGITAL_INPUTS
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* - #GO_HEALTH_EVENT_COUNTS
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* - #GO_HEALTH_CAMERA_SEARCH_COUNT
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* - #GO_HEALTH_CAMERA_TRIGGER_DROPS
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* - #GO_HEALTH_CUDA_STATUS
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* - #GO_HEALTH_STATE
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* - #GO_HEALTH_SPEED
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* - #GO_HEALTH_MAXSPEED
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* - #GO_HEALTH_SPOT_COUNT
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* - #GO_HEALTH_MAX_SPOT_COUNT
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* - #GO_HEALTH_SCAN_COUNT
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* - #GO_HEALTH_VALID_POINT_COUNT
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* - #GO_HEALTH_MAX_POINT_COUNT
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* - #GO_HEALTH_MASTER_STATUS
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* - #GO_HEALTH_CAST_START_STATE
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* - #GO_HEALTH_ALIGNMENT_STATE
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* - #GO_HEALTH_PLAYBACK_POSITION
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* - #GO_HEALTH_PLAYBACK_COUNT
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* - #GO_HEALTH_DIGITAL_OUTPUT_HIGH_COUNT
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* - #GO_HEALTH_DIGITAL_OUTPUT_LOW_COUNT
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* - #GO_HEALTH_PROCESSING_LATENCY_LAST
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* - #GO_HEALTH_PROCESSING_LATENCY_MAX
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* - #GO_HEALTH_PROCESSING_DROPS
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* - #GO_HEALTH_TRIGGER_DROPS
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* - #GO_HEALTH_OUTPUT_DROPS
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* - #GO_HEALTH_ANALOG_DROPS
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* - #GO_HEALTH_DIGITAL_DROPS
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* - #GO_HEALTH_SERIAL_DROPS
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* - #GO_HEALTH_CONTROLLED_TRIGGER_DROPS
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* - #GO_HEALTH_SURFACE_PROCESSING_TIME
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* - #GO_HEALTH_MAX_FRAME_RATE
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* - #GO_HEALTH_ETHERNET_DROPS
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* - #GO_HEALTH_RANGE_VALID_COUNT
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* - #GO_HEALTH_RANGE_INVALID_COUNT
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* - #GO_HEALTH_ANCHOR_INVALID_COUNT
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* - #GO_HEALTH_LIGHT_OPERATIONAL_TIME_TOTAL
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* - #GO_HEALTH_FIRST_LOG_ID
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* - #GO_HEALTH_LAST_LOG_ID
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* - #GO_HEALTH_ENCODER_Z_INDEX_PULSE_DROPS
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* - #GO_HEALTH_TOOL_RUN_TIME
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* - #GO_HEALTH_PART_TOTAL_EMITTED
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* - #GO_HEALTH_PART_LENGTH_LIMIT
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* - #GO_HEALTH_PART_MIN_AREA_DROPS
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* - #GO_HEALTH_PART_BACKTRACK_DROPS
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* - #GO_HEALTH_PART_CURRENTLY_ACTIVE
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* - #GO_HEALTH_PART_LENGTH
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* - #GO_HEALTH_PART_START_Y
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* - #GO_HEALTH_PART_TRACKING_STATE
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* - #GO_HEALTH_PART_CAPACITY_EXCEEDED
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* - #GO_HEALTH_PART_X_POSITION
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* - #GO_HEALTH_TOOL_RUN_TIME_MIN
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* - #GO_HEALTH_TOOL_RUN_TIME_MAX
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* - #GO_HEALTH_TOOL_RUN_TIME_AVERAGE
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* - #GO_HEALTH_TOOL_RUN_TIME_PERCENT
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* - #GO_HEALTH_MEASUREMENT
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* - #GO_HEALTH_MEASUREMENT_PASS
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* - #GO_HEALTH_MEASUREMENT_FAIL
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* - #GO_HEALTH_MEASUREMENT_MIN
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* - #GO_HEALTH_MEASUREMENT_MAX
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* - #GO_HEALTH_MEASUREMENT_AVERAGE
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* - #GO_HEALTH_MEASUREMENT_STDEV
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* - #GO_HEALTH_MEASUREMENT_INVALID_COUNT
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* - #GO_HEALTH_MEASUREMENT_OVERFLOW_COUNT
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*/
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typedef k32s GoHealthIndicatorId;
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/** @name GoHealthIndicatorId
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*@{*/
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#define GO_HEALTH_ENCODER_VALUE (1003) ///< Current system encoder tick.
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#define GO_HEALTH_ENCODER_FREQUENCY (1005) ///< Current system encoder frequency (ticks/s).
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#define GO_HEALTH_LASER_SAFETY (1010) ///< Laser safety status.
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#define GO_HEALTH_FIRMWARE_VERSION (2000) ///< Firmware application version.
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#define GO_HEALTH_FIRESYNC_VERSION (20600) ///< FireSync version
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#define GO_HEALTH_UPTIME (2017) ///< Time elapsed since boot-up or reset (seconds).
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#define GO_HEALTH_TEMPERATURE (2002) ///< Internal temperature (degrees Celsius).
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#define GO_HEALTH_TEMPERATURE_EXTENDED (20009) ///< Internal temperature extended (supports multiple devices, degrees Celsius).
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#define GO_HEALTH_PROJECTOR_TEMPERATURE (2404) ///< Projector temperature (degrees Celsius).
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#define GO_HEALTH_LASER_TEMPERATURE (2028) ///< Laser temperature (degrees Celsius). Available only on 3B-class devices.
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#define GO_HEALTH_LASER_OVERHEAT (20020) ///< Indicates whether the laser is overheating. (DEPRECATED)
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#define GO_HEALTH_LASER_OVERHEAT_DURATION (20021) ///< Indicates how long the laser has been overheating if it is overheating. (DEPRECATED)
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#define GO_HEALTH_OVERHEAT (20020) ///< Indicates whether the sensor is overheating.
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#define GO_HEALTH_OVERHEAT_DURATION (20021) ///< Indicates how long the sensor has been overheating if it is overheating.
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#define GO_HEALTH_CPU_TEMPERATURE (20011) ///< CPU temperature (degrees Celsius).
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#define GO_HEALTH_CAMERA_0_TEMPERATURE (20012) ///< Camera 0 temperature (degrees Celsius).
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#define GO_HEALTH_CAMERA_1_TEMPERATURE (20013) ///< Camera 1 temperature (degrees Celsius).
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#define GO_HEALTH_LASER_DRIVER_TEMPERATURE (20014) ///< Laser driver temperature (degrees Celsius).
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#define GO_HEALTH_MEMORY_USED (2003) ///< Amount of memory currently used (bytes).
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#define GO_HEALTH_MEMORY_CAPACITY (2004) ///< Total amount of memory available (bytes).
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#define GO_HEALTH_STORAGE_USED (2005) ///< Amount of non-volatile storage used (bytes).
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#define GO_HEALTH_STORAGE_CAPACITY (2006) ///< Total amount of non-volatile storage available (bytes).
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#define GO_HEALTH_CPU_USED (2007) ///< CPU usage (percentage of maximum).
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#define GO_HEALTH_SYNC_SOURCE (2043) ///< Sensor synchronization source. (1 - Master, 2 - Device/Gocator)
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#define GO_HEALTH_NET_OUT_USED (21003) ///< Current outbound network count (bytes).
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#define GO_HEALTH_NET_OUT_RATE (21004) ///< Current outbound network throughput (bytes/second).
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#define GO_HEALTH_NET_OUT_CAPACITY (2009) ///< Total available outbound network throughput (bytes/s).
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#define GO_HEALTH_NET_OUT_LINK_STATUS (2034) ///< The ethernet output's current network link status
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#define GO_HEALTH_DIGITAL_INPUTS (2024) ///< Current digital input status (one bit per input).
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#define GO_HEALTH_EVENT_COUNTS (2102) ///< Total number of events triggered.
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#define GO_HEALTH_CAMERA_SEARCH_COUNT (2217) ///< Number of search states.
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#define GO_HEALTH_CAMERA_TRIGGER_DROPS (2201) ///< Number of dropped triggers.
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#define GO_HEALTH_CUDA_STATUS (3007) ///< Status of CUDA/GPU support on the sensor (accelerated and non-accelerated) platform.
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#define GO_HEALTH_STATE (20000) ///< Current system state.
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#define GO_HEALTH_SPEED (20001) ///< Current speed (Hz).
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#define GO_HEALTH_MAXSPEED (20002) ///< Maximum speed (Hz).
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#define GO_HEALTH_SPOT_COUNT (20003) ///< Number of found spots in the last raw/unresampled profile/surface
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#define GO_HEALTH_MAX_SPOT_COUNT (20004) ///< Maximum number of spots that can be found
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#define GO_HEALTH_SCAN_COUNT (20005) ///< The number of scanned profiles or surfaces.
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#define GO_HEALTH_VALID_POINT_COUNT (20015) ///< The number of found points in the last resampled profile/surface
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#define GO_HEALTH_MAX_POINT_COUNT (20016) ///< Maximum number of points that can be found
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#define GO_HEALTH_MASTER_STATUS (20006) ///< Master connection status: 0=not connected, 1=connected
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#define GO_HEALTH_CAST_START_STATE (20007) ///< The state of the second digital input.
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#define GO_HEALTH_ALIGNMENT_STATE (20008) ///< The state of the sensor alignment.
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#define GO_HEALTH_PLAYBACK_POSITION (20023) ///< Indicates the current replay playback index.
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#define GO_HEALTH_PLAYBACK_COUNT (20024) ///< Indicates the number of frames present in the current replay.
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#define GO_HEALTH_DIGITAL_OUTPUT_HIGH_COUNT (21006) ///< The number scans with high digital output pulses.
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#define GO_HEALTH_DIGITAL_OUTPUT_LOW_COUNT (21007) ///< The number scans with no digital output pulse.
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#define GO_HEALTH_PROCESSING_LATENCY_LAST (21001) ///< Last reported processing latency value (in uS).
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#define GO_HEALTH_PROCESSING_LATENCY_MAX (21002) ///< Maximum reported processing latency.
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#define GO_HEALTH_PROCESSING_DROPS (21000) ///< Current number of processing drops.
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#define GO_HEALTH_TRIGGER_DROPS (21010) ///< Current number of trigger drops.
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#define GO_HEALTH_OUTPUT_DROPS (21011) ///< Current number of output drops. Sum of all output drops.
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#define GO_HEALTH_ANALOG_DROPS (21014) ///< Current number of analog output drops. Replaces GO_HEALTH_ANALOG_DROPS.
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#define GO_HEALTH_DIGITAL_DROPS (21015) ///< Current number of digital output drops. Replaces GO_HEALTH_DIGITAL_DROPS.
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#define GO_HEALTH_SERIAL_DROPS (21016) ///< Current number of serial output drops. Replaces GO_HEALTH_SERIAL_DROPS.
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#define GO_HEALTH_CONTROLLED_TRIGGER_DROPS (21017) ///< Trigger drops from the Controlled Triggering System.
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#define GO_HEALTH_SURFACE_PROCESSING_TIME (21018) ///< Processing time of frame on 35XX/32XX (microseconds).
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#define GO_HEALTH_MAX_FRAME_RATE (21019) ///< Max configurable frame rate (scaled by 0.000001).
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#define GO_HEALTH_ETHERNET_DROPS (21005) ///< Current number of ethernet output drops.
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#define GO_HEALTH_RANGE_VALID_COUNT (21100) ///< Current number of frames with valid range data.
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#define GO_HEALTH_RANGE_INVALID_COUNT (21101) ///< Current number of frames with invalid range data.
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#define GO_HEALTH_ANCHOR_INVALID_COUNT (21200) ///< Number of frames with anchor invalid.
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#define GO_HEALTH_LIGHT_OPERATIONAL_TIME_TOTAL (21201) ///< For G2 laser on time or G3 projector on time.
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#define GO_HEALTH_FIRST_LOG_ID (21301) ///< ID of first available log entry
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#define GO_HEALTH_LAST_LOG_ID (21300) ///< ID of last available log entry
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#define GO_HEALTH_ENCODER_Z_INDEX_PULSE_DROPS (22000) ///< Encoder z-index pulse drops
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#define GO_HEALTH_TOOL_RUN_TIME (22004) ///< Most recent time taken to execute the tool
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#define GO_HEALTH_PART_TOTAL_EMITTED (22006) ///< Total number of parts emitted
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#define GO_HEALTH_PART_LENGTH_LIMIT (22007) ///< Number of parts emitted based on length limit
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#define GO_HEALTH_PART_MIN_AREA_DROPS (22008) ///< Number of parts dropped
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#define GO_HEALTH_PART_BACKTRACK_DROPS (22009) ///< Number of parts dropped due to backtracking
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#define GO_HEALTH_PART_CURRENTLY_ACTIVE (22010) ///< Number of parts currently being tracked
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#define GO_HEALTH_PART_LENGTH (22011) ///< Length of largest active part
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#define GO_HEALTH_PART_START_Y (22012) ///< Start Y position of largest active part
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#define GO_HEALTH_PART_TRACKING_STATE (22013) ///< Tracking state of largest active part
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#define GO_HEALTH_PART_CAPACITY_EXCEEDED (22014) ///< Part detection capacity exceeded
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#define GO_HEALTH_PART_X_POSITION (22015) ///< Center X position of largets active part
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#define GO_HEALTH_TOOL_RUN_TIME_MIN (22016) ///< Minimum time for tool to process a sample
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#define GO_HEALTH_TOOL_RUN_TIME_MAX (22017) ///< Maximum time for tool to process a sample
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#define GO_HEALTH_TOOL_RUN_TIME_AVERAGE (22018) ///< Average time for tool to process a sample
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#define GO_HEALTH_TOOL_RUN_TIME_PERCENT (22019) ///< Average percentage of total time running the tool
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#define GO_HEALTH_MEASUREMENT (30000) ///< Measurement value.
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#define GO_HEALTH_MEASUREMENT_PASS (30001) ///< Number of pass decisions.
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#define GO_HEALTH_MEASUREMENT_FAIL (30002) ///< Number of fail decisions.
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#define GO_HEALTH_MEASUREMENT_MIN (30003) ///< Minimum measurement value.
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#define GO_HEALTH_MEASUREMENT_MAX (30004) ///< Maximum measurement value.
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#define GO_HEALTH_MEASUREMENT_AVERAGE (30005) ///< Average measurement value.
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#define GO_HEALTH_MEASUREMENT_STDEV (30006) ///< Measurement value standard deviation.
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#define GO_HEALTH_MEASUREMENT_INVALID_COUNT (30007) ///< Number of invalid values.
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#define GO_HEALTH_MEASUREMENT_OVERFLOW_COUNT (30008) ///< Number of values which exceed the numerical limit of an output protocol's measurement value field.
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/**@}*/
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/**
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* @struct GoIndicator
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* @extends kValue
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* @ingroup GoSdk-HealthChannel
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* @brief Represents health indicator.
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*/
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typedef struct GoIndicator
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{
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k32u id; ///< Indicator ID (e.g. GO_HEALTH_CPU_USED)
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k32u instance; ///< Indicator instance number.
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k64s value; ///< Indicator value.
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} GoIndicator;
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/**
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* @class GoHealthMsg
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* @extends kObject
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* @ingroup GoSdk-HealthChannel
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* @brief Represents health information from a single sensor.
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*/
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typedef kObject GoHealthMsg;
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/**
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* Gets the health source.
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*
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* @public @memberof GoHealthMsg
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* @version Introduced in firmware 4.0.10.27
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* @param msg Message object.
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* @return Health source.
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*/
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GoFx(GoDataSource) GoHealthMsg_Source(GoHealthMsg msg);
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/**
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* Count of health indicators in this message.
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*
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* @public @memberof GoHealthMsg
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* @version Introduced in firmware 4.0.10.27
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* @param msg Message object.
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* @return Count of indicators.
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*/
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GoFx(kSize) GoHealthMsg_Count(GoHealthMsg msg);
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/**
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* Gets the health indicator at the specified index.
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*
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* @public @memberof GoHealthMsg
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* @version Introduced in firmware 4.0.10.27
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* @param msg Message object.
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* @param index Indicator index.
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* @return Indicator pointer.
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*/
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GoFx(GoIndicator*) GoHealthMsg_At(GoHealthMsg msg, kSize index);
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/**
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* Finds the health indicator with the matching ID. Returns kNULL if not found.
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*
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* @public @memberof GoHealthMsg
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* @version Introduced in firmware 4.0.10.27
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* @param msg Message object.
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* @param id Indicator index.
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* @param instance Indicator instance.
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* @return Indicator pointer.
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*/
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GoFx(GoIndicator*) GoHealthMsg_Find(GoHealthMsg msg, k32u id, k32u instance);
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#include <GoSdk/Messages/GoHealth.x.h>
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#endif
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