hololink::emulation::sensors::Vb1940Emulator | Holoscan Sensor Bridge Documentation

#include <hololink/emulation/sensors/vb1940_emulator.hpp>

Inherits from: hololink::emulation::I2CPeripheral (public)

Constructors

Vb1940Emulator

hololink::emulation::sensors::Vb1940Emulator::Vb1940Emulator()

Destructor

~Vb1940Emulator

hololink::emulation::sensors::Vb1940Emulator::~Vb1940Emulator()

Methods

reset

void hololink::emulation::sensors::Vb1940Emulator::reset()

Reset the Vb1940Emulator internal state machines to their initial states.

attach_to_i2c

void hololink::emulation::sensors::Vb1940Emulator::attach_to_i2c(
    I2CController &i2c_controller,
    uint8_t bus_address
) override

python:

def attach_to_i2c(self: hemu.sensors.Vb1940Emulator, i2c_controller: hemu.I2CController, bus_address: int)

Attach the Vb1940Emulator to an I2C controller at a specified bus

Parameters

i2c_controller

I2CController &

The I2C controller to attach to. Retrieved from HSBEmulator with get_i2c(controller_address)

bus_address

uint8_t

The bus address of the I2C controller

i2c_transaction

I2CStatus hololink::emulation::sensors::Vb1940Emulator::i2c_transaction(
    uint16_t peripheral_address,
    const uint8_t *write_bytes,
    uint16_t write_size,
    uint8_t *read_bytes,
    uint16_t read_size
) override

python:

def i2c_transaction(self: hemu.sensors.Vb1940Emulator, peripheral_address: int, write_bytes: bytes, write_size: int, read_bytes: bytes, read_size: int) -> hemu.I2CStatus

Receive and act on I2C transaction from HSBEmulator’s I2C controller(s)

Returns: The status of the I2C transaction

Parameters

peripheral_address

uint16_t

The address of the peripheral to transaction with

write_bytes

const uint8_t *

The bytes to write to the peripheral

write_size

uint16_t

The size of the write bytes

read_bytes

uint8_t *

The bytes to read from the peripheral

read_size

uint16_t

The size of the read bytes

is_streaming

bool hololink::emulation::sensors::Vb1940Emulator::is_streaming() const

Check if the Host application has set the sensor to streaming mode.

It is expected that the host application does not send any commands that set the sensor to streaming mode if the sensor is not yet configured.

Returns: True if the Vb1940Emulator is streaming, false otherwise

get_pixel_width

uint16_t hololink::emulation::sensors::Vb1940Emulator::get_pixel_width() const

Get the width of the configured image in pixels.

Returns: The width of the image in pixels or 0 if the sensor has not been configured; see is_streaming().

get_pixel_height

uint16_t hololink::emulation::sensors::Vb1940Emulator::get_pixel_height() const

Get the height of the configured image in pixels.

Returns: The height of the image in pixels or 0 if the sensor has not been configured; see is_streaming().

get_bytes_per_line

uint16_t hololink::emulation::sensors::Vb1940Emulator::get_bytes_per_line() const

Get the number of bytes per line of the sensor CSI image frame - not the packetized CSI image frame.

Returns: The number of bytes per line of the CSI image frame or 0 if the sensor has not been configured; see is_streaming().

get_image_start_byte

uint32_t hololink::emulation::sensors::Vb1940Emulator::get_image_start_byte() const

Get the start byte offset for the CSI image frame.

Returns: The byte offset of the CSI image frame where the image starts or 0 if the sensor has not been configured; see is_streaming().

get_csi_length

uint32_t hololink::emulation::sensors::Vb1940Emulator::get_csi_length() const

Get the length of the CSI data in bytes for the CSI image frame - not the packetized CSI image frame.

Returns: The length of the CSI data in bytes or 0 if the sensor has not been configured; see is_streaming().

get_pixel_bits

uint8_t hololink::emulation::sensors::Vb1940Emulator::get_pixel_bits() const

Get the number of bits per pixel.

Returns: The number of bits per pixel or 0 if the sensor has not been configured; see is_streaming().

set_eeprom_data

void hololink::emulation::sensors::Vb1940Emulator::set_eeprom_data(
    const uint8_t *data,
    size_t size
)

Populate the rig calibration EEPROM region served at I²C peripheral 0x51.

The 256-byte region holds 30 big-endian doubles in the layout consumed by NativeVb1940Sensor::read_calibration_from_eeprom(). Without this, the emulator no-ops EEPROM reads and downstream cuVSLAM rejects with “Focal length must be > 0” because intrinsics come back zero. Used by Isaac Sim’s HSBSender to wire USDA Camera prim values through to the live receiver via the standard I²C calibration channel.

Parameters

data

const uint8_t *

Source bytes; nullptr is accepted and treated as a 0-byte payload (the region is zero-filled).

size

size_t

Number of bytes available at data; clamped to EEPROM_REGION_BYTES. Any remainder beyond size is zero-filled so a short payload does not leave stale bytes from a prior call.

start

virtual void hololink::emulation::sensors::Vb1940Emulator::start()

start the peripheral.

This will be called when I2CController itself starts and should not be done by the client code

stop

virtual void hololink::emulation::sensors::Vb1940Emulator::stop()

stop the peripheral.

This will be called when the I2CController is stopped and should not be done by the client code

Peripheral should release all resources in case a subsequent start() is called.

build_state_machine

void hololink::emulation::sensors::Vb1940Emulator::build_state_machine()

Build the internal state machine for the Vb1940Emulator.

system_up_reg

I2CStatus hololink::emulation::sensors::Vb1940Emulator::system_up_reg(
    const uint8_t *write_bytes,
    uint16_t write_size,
    uint8_t *read_bytes,
    uint16_t read_size
)

state machine callback for writes to the system up register

boot_reg

I2CStatus hololink::emulation::sensors::Vb1940Emulator::boot_reg(
    const uint8_t *write_bytes,
    uint16_t write_size,
    uint8_t *read_bytes,
    uint16_t read_size
)

state machine callback for writes to the boot register

sw_stby_reg

I2CStatus hololink::emulation::sensors::Vb1940Emulator::sw_stby_reg(
    const uint8_t *write_bytes,
    uint16_t write_size,
    uint8_t *read_bytes,
    uint16_t read_size
)

state machine callback for writes to the software standby register

streaming_reg

I2CStatus hololink::emulation::sensors::Vb1940Emulator::streaming_reg(
    const uint8_t *write_bytes,
    uint16_t write_size,
    uint8_t *read_bytes,
    uint16_t read_size
)

state machine callback for writes to the streaming register

get_callback

Vb1940Emulator::i2c_callback_type hololink::emulation::sensors::Vb1940Emulator::get_callback(
    uint16_t reg_addr
)

Types

Typedefs

Name	Definition	Description
`i2c_callback_type`	`I2CStatus(Vb1940Emulator::*`	The map of register addresses to their corresponding state machine callback.

Member variables

Name	Type	Description
`EEPROM_REGION_BYTES` static constexpr	`size_t`	Size (bytes) of the rig calibration EEPROM region that NativeVb1940Sensor reads over I²C at EEPROM_I2C_ADDRESS.
`VB1940_CALLBACK_MAP` static constexpr	`i2c_callback_type`
`memory_`	`uint8_t`	The memory map of the `Vb1940Emulator`.
`eeprom_memory_`	`uint8_t`	Backing store for the rig calibration EEPROM at I²C peripheral 0x51.