LibToFCore

Libraries to interface with the PreAct TOF sensors.

Environment Setup

Requirements:

• CMake v3.16
• Requires Boost v1.70 or newer
• Python v3.8 or greater (if using python bindings)
• Python setuptools
• libudev-dev (prequisite for libusbp)
• libusbp v1.3 or newer

Python setuptools installation (might need Python venv setup)

sudo pip install setuptools

Libudev installation

sudo apt-get update -y
sudo apt-get install cmake libudev-dev pkg-config g++

USB Udev Rules

Create new udev rules file for usb. Example: etc/udev/rules.d/99-usb-rules.rules

SUBSYSTEMS=="usb", ATTRS{idVendor}=="35FA", ATTRS{idProduct}=="0D0F", MODE:="0666"

Build and Install

Build

cmake -B build
cmake --build build

Install to local system

cmake --build build -- install  # Installs to /usr/local on UNIX systems

Python Bindings Installation

To install the python package into your personal python site-packages directory:

make pytofcore

Testing

Unit Tests

To run unit tests verifying behavior when no camera is connected, use the following commnad from

project's root directory:

python3 -m pytest -m "not functional and not sdram_selftest" -v .

Functional Tests

Functional tests with a camera connected to PC can be executed with the following commands:

For variants without ethernet capabilities

python3 -m pytest -m "functional" -k "not test_ip_measurement_endpoint" -v .

For variants with ethernet

python3 -m pytest -m "functional" -v .

SDRAM self-test

NOTE: connection with the device will be lost, as the device will reset:

python3 -m pytest -m "sdram_selftest" -v .

Optional: Specific URI

For connecting to a specific connected device.

Examples

Linux serial type device

python3 -m pytest -m "functional" -v . --sensor-uri=tofserial:/dev/ttyACM12?baudrate=115200

Windows COM port

python3 -m pytest -m "functional" -v . --sensor-uri=tofserial:COM1

IP network device

python3 -m pytest -m "functional" -v . --sensor-uri=tofnet:10.10.31.180