Software integration guide

PDS’ commands are expected to be triggered from the vehicle’s main IPC, through the ifm3d library. This document explains the infrastructure expected to configure and trigger PDS.

States

A PDS application can be in three states:

• “CONF” state is used when first initializing the application and configuring it (defining which camera port should be used, etc.),

• “IDLE” state represents the application ready to receive a command. The application does not produce data when in “IDLE” state until a command is sent.

• “RUN” state trigggers the chosen command continously and outputs the data. If no command is chosen then the default command nop is triggered.

Commands

In “IDLE” state, the PDS application awaits for the software trigger of the camera port. The camera port can be software triggered by setting a command (getPallet, getRack, or volCheck), along with the command-specific parameters. Once data is processed, the result is published in a frame and can be retrieved using the ifm3d FrameGrabber (refer to the Python and C++ examples).

In “RUN” state, the command is set only once and the PDS application processes the received data for the executed command continously with command specific parameters.

The nop command (no operation) is the default command used when the application is in “IDLE” and no specific command was triggered or the triggered command has already completed.

State machine

The diagram below shows the state machine of PDS’ operation.