GoHealth.h

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/**
 * @file    GoHealth.h
 * @brief   Declares the GoHealthMsg class and related types.
 *
 * @internal
 * Copyright (C) 2016-2025 by LMI Technologies Inc.
 * Licensed under the MIT License.
 * Redistributed files must retain the above copyright notice.
 */
#ifndef GO_SDK_HEALTH_H
#define GO_SDK_HEALTH_H

#include <GoSdk/GoSdkDef.h>
#include <kApi/Io/kSerializer.h>

/**
 * @struct  GoHealthIndicatorId
 * @ingroup GoSdk-HealthChannel
 * @brief   Represents a health indicator ID.
 *
 * The following enumerators are defined:
 * - #GO_HEALTH_ENCODER_VALUE
 * - #GO_HEALTH_ENCODER_FREQUENCY
 * - #GO_HEALTH_LASER_SAFETY
 * - #GO_HEALTH_FIRMWARE_VERSION
 * - #GO_HEALTH_FIRESYNC_VERSION
 * - #GO_HEALTH_UPTIME
 * - #GO_HEALTH_TEMPERATURE
 * - #GO_HEALTH_TEMPERATURE_EXTENDED
 * - #GO_HEALTH_PROJECTOR_TEMPERATURE
 * - #GO_HEALTH_LASER_TEMPERATURE
 * - #GO_HEALTH_LASER_OVERHEAT
 * - #GO_HEALTH_LASER_OVERHEAT_DURATION
 * - #GO_HEALTH_OVERHEAT
 * - #GO_HEALTH_OVERHEAT_DURATION
 * - #GO_HEALTH_CPU_TEMPERATURE
 * - #GO_HEALTH_CAMERA_0_TEMPERATURE
 * - #GO_HEALTH_CAMERA_1_TEMPERATURE
 * - #GO_HEALTH_LASER_DRIVER_TEMPERATURE
 * - #GO_HEALTH_LASER_DRIVER_ERROR
 * - #GO_HEALTH_MEMORY_USED
 * - #GO_HEALTH_MEMORY_CAPACITY
 * - #GO_HEALTH_STORAGE_USED
 * - #GO_HEALTH_STORAGE_CAPACITY
 * - #GO_HEALTH_CPU_USED
 * - #GO_HEALTH_SYNC_SOURCE
 * - #GO_HEALTH_NET_OUT_USED
 * - #GO_HEALTH_NET_OUT_RATE
 * - #GO_HEALTH_NET_OUT_CAPACITY
 * - #GO_HEALTH_NET_OUT_LINK_STATUS
 * - #GO_HEALTH_DIGITAL_INPUTS
 * - #GO_HEALTH_EVENT_COUNTS
 * - #GO_HEALTH_CAMERA_SEARCH_COUNT
 * - #GO_HEALTH_CAMERA_TRIGGER_DROPS
 * - #GO_HEALTH_CUDA_STATUS
 * - #GO_HEALTH_STATE
 * - #GO_HEALTH_SPEED
 * - #GO_HEALTH_MAXSPEED
 * - #GO_HEALTH_SPOT_COUNT
 * - #GO_HEALTH_MAX_SPOT_COUNT
 * - #GO_HEALTH_SCAN_COUNT
 * - #GO_HEALTH_VALID_POINT_COUNT
 * - #GO_HEALTH_MAX_POINT_COUNT
 * - #GO_HEALTH_MASTER_STATUS
 * - #GO_HEALTH_CAST_START_STATE
 * - #GO_HEALTH_ALIGNMENT_STATE
 * - #GO_HEALTH_PLAYBACK_POSITION
 * - #GO_HEALTH_PLAYBACK_COUNT
 * - #GO_HEALTH_DIGITAL_OUTPUT_HIGH_COUNT
 * - #GO_HEALTH_DIGITAL_OUTPUT_LOW_COUNT
 * - #GO_HEALTH_PROCESSING_LATENCY_LAST
 * - #GO_HEALTH_PROCESSING_LATENCY_MAX
 * - #GO_HEALTH_PROCESSING_DROPS
 * - #GO_HEALTH_TRIGGER_DROPS
 * - #GO_HEALTH_OUTPUT_DROPS
 * - #GO_HEALTH_ANALOG_DROPS
 * - #GO_HEALTH_DIGITAL_DROPS
 * - #GO_HEALTH_SERIAL_DROPS
 * - #GO_HEALTH_CONTROLLED_TRIGGER_DROPS
 * - #GO_HEALTH_SURFACE_PROCESSING_TIME
 * - #GO_HEALTH_MAX_FRAME_RATE
 * - #GO_HEALTH_ETHERNET_DROPS
 * - #GO_HEALTH_RANGE_VALID_COUNT
 * - #GO_HEALTH_RANGE_INVALID_COUNT
 * - #GO_HEALTH_ANCHOR_INVALID_COUNT
 * - #GO_HEALTH_LIGHT_OPERATIONAL_TIME_TOTAL
 * - #GO_HEALTH_FIRST_LOG_ID
 * - #GO_HEALTH_LAST_LOG_ID
 * - #GO_HEALTH_ENCODER_Z_INDEX_PULSE_DROPS
 * - #GO_HEALTH_TOOL_RUN_TIME
 * - #GO_HEALTH_PART_TOTAL_EMITTED
 * - #GO_HEALTH_PART_LENGTH_LIMIT
 * - #GO_HEALTH_PART_MIN_AREA_DROPS
 * - #GO_HEALTH_PART_BACKTRACK_DROPS
 * - #GO_HEALTH_PART_CURRENTLY_ACTIVE
 * - #GO_HEALTH_PART_LENGTH
 * - #GO_HEALTH_PART_START_Y
 * - #GO_HEALTH_PART_TRACKING_STATE
 * - #GO_HEALTH_PART_CAPACITY_EXCEEDED
 * - #GO_HEALTH_PART_X_POSITION
 * - #GO_HEALTH_TOOL_RUN_TIME_MIN
 * - #GO_HEALTH_TOOL_RUN_TIME_MAX
 * - #GO_HEALTH_TOOL_RUN_TIME_AVERAGE
 * - #GO_HEALTH_TOOL_RUN_TIME_PERCENT
 * - #GO_HEALTH_MEASUREMENT
 * - #GO_HEALTH_MEASUREMENT_PASS
 * - #GO_HEALTH_MEASUREMENT_FAIL
 * - #GO_HEALTH_MEASUREMENT_MIN
 * - #GO_HEALTH_MEASUREMENT_MAX
 * - #GO_HEALTH_MEASUREMENT_AVERAGE
 * - #GO_HEALTH_MEASUREMENT_STDEV
 * - #GO_HEALTH_MEASUREMENT_INVALID_COUNT
 * - #GO_HEALTH_MEASUREMENT_OVERFLOW_COUNT
 */
typedef k32s GoHealthIndicatorId;
/** @name    GoHealthIndicatorId
 *@{*/
#define GO_HEALTH_ENCODER_VALUE                        (1003)      ///< Current system encoder tick.
#define GO_HEALTH_ENCODER_FREQUENCY                    (1005)      ///< Current system encoder frequency (ticks/s).
#define GO_HEALTH_LASER_SAFETY                         (1010)      ///< Laser safety status.

#define GO_HEALTH_FIRMWARE_VERSION                     (2000)      ///< Firmware application version.
#define GO_HEALTH_FIRESYNC_VERSION                     (20600)     ///< FireSync version

#define GO_HEALTH_UPTIME                               (2017)      ///< Time elapsed since boot-up or reset (seconds).

#define GO_HEALTH_TEMPERATURE                          (2002)      ///< Internal temperature (degrees Celsius).
#define GO_HEALTH_TEMPERATURE_EXTENDED                 (20009)     ///< Internal temperature extended (supports multiple devices, degrees Celsius).
#define GO_HEALTH_PROJECTOR_TEMPERATURE                (2404)      ///< Projector temperature (degrees Celsius).
#define GO_HEALTH_LASER_TEMPERATURE                    (2028)      ///< Laser temperature (degrees Celsius).  Available only on 3B-class devices.
#define GO_HEALTH_LASER_OVERHEAT                       (20020)     ///< Indicates whether the laser is overheating. (DEPRECATED)
#define GO_HEALTH_LASER_OVERHEAT_DURATION              (20021)     ///< Indicates how long the laser has been overheating if it is overheating. (DEPRECATED)
#define GO_HEALTH_OVERHEAT                             (20020)     ///< Indicates whether the sensor is overheating.
#define GO_HEALTH_OVERHEAT_DURATION                    (20021)     ///< Indicates how long the sensor has been overheating if it is overheating.

#define GO_HEALTH_CPU_TEMPERATURE                      (20011)     ///< CPU temperature (degrees Celsius).
#define GO_HEALTH_CAMERA_0_TEMPERATURE                 (20012)     ///< Camera 0 temperature (degrees Celsius).
#define GO_HEALTH_CAMERA_1_TEMPERATURE                 (20013)     ///< Camera 1 temperature (degrees Celsius).
#define GO_HEALTH_LASER_DRIVER_TEMPERATURE             (20014)     ///< Laser driver temperature (degrees Celsius).
#define GO_HEALTH_LASER_DRIVER_ERROR                   (20018)     ///< Laser driver error indicating whether there are errors with laser driver. Only applicable to LD16/18

#define GO_HEALTH_MEMORY_USED                          (2003)      ///< Amount of memory currently used (bytes).
#define GO_HEALTH_MEMORY_CAPACITY                      (2004)      ///< Total amount of memory available (bytes).
#define GO_HEALTH_STORAGE_USED                         (2005)      ///< Amount of non-volatile storage used (bytes).
#define GO_HEALTH_STORAGE_CAPACITY                     (2006)      ///< Total amount of non-volatile storage available (bytes).
#define GO_HEALTH_CPU_USED                             (2007)      ///< CPU usage (percentage of maximum).

#define GO_HEALTH_SYNC_SOURCE                          (2043)      ///< Sensor synchronization source. (1 - Master, 2 - Device/Gocator)
#define GO_HEALTH_NET_OUT_USED                         (21003)     ///< Current outbound network count (bytes).
#define GO_HEALTH_NET_OUT_RATE                         (21004)     ///< Current outbound network throughput (bytes/second).
#define GO_HEALTH_NET_OUT_CAPACITY                     (2009)      ///< Total available outbound network throughput (bytes/s).
#define GO_HEALTH_NET_OUT_LINK_STATUS                  (2034)      ///< The ethernet output's current network link status

#define GO_HEALTH_DIGITAL_INPUTS                       (2024)      ///< Current digital input status (one bit per input).
#define GO_HEALTH_EVENT_COUNTS                         (2102)      ///< Total number of events triggered.
#define GO_HEALTH_CAMERA_SEARCH_COUNT                  (2217)      ///< Number of search states.
#define GO_HEALTH_CAMERA_TRIGGER_DROPS                 (2201)      ///< Number of dropped triggers.

#define GO_HEALTH_CUDA_STATUS                          (3007)      ///< Status of CUDA/GPU support on the sensor (accelerated and non-accelerated) platform.

#define GO_HEALTH_BATTERY_REMAINING_CHARGE             (3104)      ///< Percentage charge remaining for the battery.
#define GO_HEALTH_BATTERY_OPERATING_TIME               (3105)      ///< Remaining operating time for battery in hours.
#define GO_HEALTH_BATTERY_STATE_OF_HEALTH              (3106)      ///< How much charge can the battery hold relative to when it was brand new, as a percentage.
#define GO_HEALTH_BATTERY_ALARM_STATUS                 (3107)      ///< Represents battery-related alarm status.

#define GO_HEALTH_STATE                                (20000)     ///< Current system state.
#define GO_HEALTH_SPEED                                (20001)     ///< Current speed (Hz).
#define GO_HEALTH_MAXSPEED                             (20002)     ///< Maximum speed (Hz).
#define GO_HEALTH_SPOT_COUNT                           (20003)     ///< Number of found spots in the last raw/unresampled profile/surface
#define GO_HEALTH_MAX_SPOT_COUNT                       (20004)     ///< Maximum number of spots that can be found
#define GO_HEALTH_SCAN_COUNT                           (20005)     ///< The number of scanned profiles or surfaces.
#define GO_HEALTH_VALID_POINT_COUNT                    (20015)     ///< The number of found points in the last resampled profile/surface
#define GO_HEALTH_MAX_POINT_COUNT                      (20016)     ///< Maximum number of points that can be found

#define GO_HEALTH_MASTER_STATUS                        (20006)     ///< Master connection status: 0=not connected, 1=connected
#define GO_HEALTH_CAST_START_STATE                     (20007)     ///< The state of the second digital input.
#define GO_HEALTH_ALIGNMENT_STATE                      (20008)     ///< The state of the sensor alignment.

#define GO_HEALTH_PLAYBACK_POSITION                    (20023)     ///< Indicates the current replay playback index.
#define GO_HEALTH_PLAYBACK_COUNT                       (20024)     ///< Indicates the number of frames present in the current replay.

#define GO_HEALTH_DIGITAL_OUTPUT_HIGH_COUNT            (21006)     ///< The number scans with high digital output pulses.
#define GO_HEALTH_DIGITAL_OUTPUT_LOW_COUNT             (21007)     ///< The number scans with no digital output pulse.

#define GO_HEALTH_PROCESSING_LATENCY_LAST              (21001)     ///< Last reported processing latency value (in uS).
#define GO_HEALTH_PROCESSING_LATENCY_MAX               (21002)     ///< Maximum reported processing latency.
#define GO_HEALTH_PROCESSING_DROPS                     (21000)     ///< Current number of processing drops.
#define GO_HEALTH_TRIGGER_DROPS                        (21010)     ///< Current number of trigger drops.
#define GO_HEALTH_OUTPUT_DROPS                         (21011)     ///< Current number of output drops. Sum of all output drops.

#define GO_HEALTH_ANALOG_DROPS                         (21014)     ///< Current number of analog output drops. Replaces GO_HEALTH_ANALOG_DROPS.
#define GO_HEALTH_DIGITAL_DROPS                        (21015)     ///< Current number of digital output drops. Replaces GO_HEALTH_DIGITAL_DROPS.
#define GO_HEALTH_SERIAL_DROPS                         (21016)     ///< Current number of serial output drops. Replaces GO_HEALTH_SERIAL_DROPS.
#define GO_HEALTH_CONTROLLED_TRIGGER_DROPS             (21017)     ///< Trigger drops from the Controlled Triggering System.
#define GO_HEALTH_SURFACE_PROCESSING_TIME              (21018)     ///< Processing time of frame on 35XX/32XX (microseconds).
#define GO_HEALTH_MAX_FRAME_RATE                       (21019)     ///< Max configurable frame rate (scaled by 0.000001).
#define GO_HEALTH_ETHERNET_DROPS                       (21005)     ///< Current number of ethernet output drops.

#define GO_HEALTH_RANGE_VALID_COUNT                    (21100)     ///< Current number of frames with valid range data.
#define GO_HEALTH_RANGE_INVALID_COUNT                  (21101)     ///< Current number of frames with invalid range data.
#define GO_HEALTH_ANCHOR_INVALID_COUNT                 (21200)     ///< Number of frames with anchor invalid.
#define GO_HEALTH_LIGHT_OPERATIONAL_TIME_TOTAL         (21201)     ///< For G2 laser on time or G3 projector on time.

#define GO_HEALTH_FIRST_LOG_ID                         (21301)     ///< ID of first available log entry
#define GO_HEALTH_LAST_LOG_ID                          (21300)     ///< ID of last available log entry

#define GO_HEALTH_ENCODER_Z_INDEX_PULSE_DROPS          (22000)     ///< Encoder z-index pulse drops

#define GO_HEALTH_TOOL_RUN_TIME                        (22004)     ///< Most recent time taken to execute the tool
#define GO_HEALTH_PART_TOTAL_EMITTED                   (22006)     ///< Total number of parts emitted
#define GO_HEALTH_PART_LENGTH_LIMIT                    (22007)     ///< Number of parts emitted based on length limit
#define GO_HEALTH_PART_MIN_AREA_DROPS                  (22008)     ///< Number of parts dropped
#define GO_HEALTH_PART_BACKTRACK_DROPS                 (22009)     ///< Number of parts dropped due to backtracking
#define GO_HEALTH_PART_CURRENTLY_ACTIVE                (22010)     ///< Number of parts currently being tracked
#define GO_HEALTH_PART_LENGTH                          (22011)     ///< Length of largest active part
#define GO_HEALTH_PART_START_Y                         (22012)     ///< Start Y position of largest active part
#define GO_HEALTH_PART_TRACKING_STATE                  (22013)     ///< Tracking state of largest active part
#define GO_HEALTH_PART_CAPACITY_EXCEEDED               (22014)     ///< Part detection capacity exceeded
#define GO_HEALTH_PART_X_POSITION                      (22015)     ///< Center X position of largets active part
#define GO_HEALTH_TOOL_RUN_TIME_MIN                    (22016)     ///< Minimum time for tool to process a sample
#define GO_HEALTH_TOOL_RUN_TIME_MAX                    (22017)     ///< Maximum time for tool to process a sample
#define GO_HEALTH_TOOL_RUN_TIME_AVERAGE                (22018)     ///< Average time for tool to process a sample
#define GO_HEALTH_TOOL_RUN_TIME_PERCENT                (22019)     ///< Average percentage of total time running the tool

#define GO_HEALTH_MEASUREMENT                          (30000)     ///< Measurement value.
#define GO_HEALTH_MEASUREMENT_PASS                     (30001)     ///< Number of pass decisions.
#define GO_HEALTH_MEASUREMENT_FAIL                     (30002)     ///< Number of fail decisions.
#define GO_HEALTH_MEASUREMENT_MIN                      (30003)     ///< Minimum measurement value.
#define GO_HEALTH_MEASUREMENT_MAX                      (30004)     ///< Maximum measurement value.
#define GO_HEALTH_MEASUREMENT_AVERAGE                  (30005)     ///< Average measurement value.
#define GO_HEALTH_MEASUREMENT_STDEV                    (30006)     ///< Measurement value standard deviation.
#define GO_HEALTH_MEASUREMENT_INVALID_COUNT            (30007)     ///< Number of invalid values.
#define GO_HEALTH_MEASUREMENT_OVERFLOW_COUNT           (30008)     ///< Number of values which exceed the numerical limit of an output protocol's measurement value field.

#define GO_PROFILE_SURFACE_MESSAGE_START                         (22021)     ///< Surface generation started.
#define GO_PROFILE_SURFACE_MESSAGE_START_COUNT                   (22022)     ///< Number of surface message start count.
#define GO_PROFILE_SURFACE_MESSAGE_COMPLETED_COUNT               (22023)     ///< Number of surface message completed count.
#define GO_PROFILE_SURFACE_NUMBER_OF_PROFILE_PER_ACTIVE_SURFACE  (22024)     ///< Number of profile per surface.
#define GO_PROFILE_SURFACE_NUMBER_OF_DISCARDED_SURFACE           (22025)     ///< Number of surface disacarded count.
#define GO_PROFILE_SURFACE_DIGITAL_INPUT_TRANSITIONS             (22026)     ///< Number of digital input received for surface generation.
/**@}*/


/**
 * @struct  GoIndicator
 * @extends kValue
 * @ingroup GoSdk-HealthChannel
 * @brief   Represents health indicator.
 */
typedef struct GoIndicator
{
    k32u id;                ///< Indicator ID (e.g. GO_HEALTH_CPU_USED)
    k32u instance;          ///< Indicator instance number.
    k64s value;             ///< Indicator value.
} GoIndicator;

/**
 * @class   GoHealthMsg
 * @extends kObject
 * @ingroup GoSdk-HealthChannel
 * @brief   Represents health information from a single sensor.
 */
typedef kObject GoHealthMsg;

/**
 * Gets the health source.
 *
 * @public             @memberof GoHealthMsg
 * @version            Introduced in firmware 4.0.10.27
 * @param   msg        Message object.
 * @return             Health source.
 */
GoFx(GoDataSource) GoHealthMsg_Source(GoHealthMsg msg);

/**
 * Count of health indicators in this message.
 *
 * @public             @memberof GoHealthMsg
 * @version            Introduced in firmware 4.0.10.27
 * @param   msg        Message object.
 * @return             Count of indicators.
 */
GoFx(kSize) GoHealthMsg_Count(GoHealthMsg msg);

/**
 * Gets the health indicator at the specified index.
 *
 * @public             @memberof GoHealthMsg
 * @version            Introduced in firmware 4.0.10.27
 * @param   msg        Message object.
 * @param   index      Indicator index.
 * @return             Indicator pointer.
 */
GoFx(GoIndicator*) GoHealthMsg_At(GoHealthMsg msg, kSize index);

/**
 * Finds the health indicator with the matching ID. Returns kNULL if not found.
 *
 * @public             @memberof GoHealthMsg
 * @version            Introduced in firmware 4.0.10.27
 * @param   msg        Message object.
 * @param   id         Indicator index.
 * @param   instance   Indicator instance.
 * @return             Indicator pointer.
 */
GoFx(GoIndicator*) GoHealthMsg_Find(GoHealthMsg msg, k32u id, k32u instance);

#include <GoSdk/Messages/GoHealth.x.h>

#endif