modify default mtu from 7200 to 1500 for all tools and examples (#165)

carnegierobotics · Oct 16, 2024 · 5a200ec · 5a200ec
1 parent 49b344c
commit 5a200ec
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Showing 8 changed files with 39 additions and 39 deletions.
diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh b/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh
@@ -436,7 +436,7 @@ namespace image {
  *      crl::multisense::Channel* channel;
  *      channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *      channel->setMtu(7200);
+ *      channel->setMtu(1500);
  *
  *      try
  *      {
@@ -722,7 +722,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a imageConfig instance to store the queried configuration
@@ -754,7 +754,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a imageConfig instance to store the queried configuration
@@ -1840,7 +1840,7 @@ protected:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a image::Calibration instance to store the queried calibration
@@ -1872,7 +1872,7 @@ protected:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a image::Calibration instance to store the queried calibration
@@ -1964,7 +1964,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a histogram instance to store histogram data
@@ -2124,7 +2124,7 @@ typedef void (*Callback)(const Header& header,
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a lidarCalibration instance to store the queried laser calibration
@@ -2156,7 +2156,7 @@ typedef void (*Callback)(const Header& header,
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a lidarCalibration instance to store the new laser calibration
@@ -2225,7 +2225,7 @@ static CRL_CONSTEXPR float    MAX_DUTY_CYCLE = 100.0;
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a lightingConfig instance to store our queried lighting configuration
@@ -2257,7 +2257,7 @@ static CRL_CONSTEXPR float    MAX_DUTY_CYCLE = 100.0;
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a lightingConfig instance to store our queried lighting configuration
@@ -2507,7 +2507,7 @@ private:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a lightingConfig instance to store our queried lighting configuration
@@ -2677,7 +2677,7 @@ typedef void (*Callback)(const Header& header,
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a vector of IMU info instances to store information for
@@ -2754,7 +2754,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create local variables to store the information returned by
@@ -2788,7 +2788,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a vector of IMU configurations to store the queried IMU configuration
@@ -3080,7 +3080,7 @@ namespace system {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     std::vector<crl::multisense::system::DeviceMode> deviceModeVect;
  *
@@ -3140,7 +3140,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a VersionInfo instance to store the sensors version info
@@ -3225,7 +3225,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of Device info to store the sensors device information
@@ -3374,7 +3374,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of NetworkConfig to store the sensor's network configuration
@@ -3406,7 +3406,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a new instance of a Network configuration with the new desired
@@ -3477,7 +3477,7 @@ public:
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of StatusMessage to store the sensor's status
@@ -3600,7 +3600,7 @@ class MULTISENSE_API StatusMessage {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of ExternalCalibration to store the device's imager
@@ -3633,7 +3633,7 @@ class MULTISENSE_API StatusMessage {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of ExternalCalibration to store the device's imager
@@ -3707,7 +3707,7 @@ class MULTISENSE_API ExternalCalibration {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of GroundSurfaceParams to store the device's params
@@ -3854,7 +3854,7 @@ class MULTISENSE_API GroundSurfaceParams {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     //
  *     // Create a instance of ApriltagParams to store the device's params
@@ -3953,7 +3953,7 @@ class MULTISENSE_API ApriltagParams {
  *     crl::multisense::Channel* channel;
  *     channel = crl::multisense::Channel::Create("10.66.171.21");
  *
- *     channel->setMtu(7200);
+ *     channel->setMtu(1500);
  *
  *     FeatureDetectorConfig fcfg;
  *

diff --git a/source/Utilities/AprilTagTestUtility/AprilTagTestUtility.cc b/source/Utilities/AprilTagTestUtility/AprilTagTestUtility.cc
@@ -70,7 +70,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <ip_address>    : IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>           : default=7200" << std::endl;
+    std::cerr << "\t-m <mtu>           : default=1500" << std::endl;
     std::cerr << "\t-f <log_file>      : FILE to log IMU data (stdout by default)" << std::endl;
 
     exit(1);
@@ -136,7 +136,7 @@ int main(int    argc,
          char **argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    uint32_t    mtu            = 7200;
+    uint32_t    mtu            = 1500;
 
     crl::multisense::CameraProfile  profile = crl::multisense::User_Control;
     crl::multisense::system::ApriltagParams params;

diff --git a/source/Utilities/ColorImageUtility/ColorImage.cc b/source/Utilities/ColorImageUtility/ColorImage.cc
@@ -76,7 +76,7 @@ void usage(const char* programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=7200)" << std::endl;
+    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=1500)" << std::endl;
     std::cerr << "\t-s <color_source>       : LEFT,RIGHT,AUX (default=aux)" << std::endl;
 
     exit(1);
@@ -187,7 +187,7 @@ int main(int    argc,
         char** argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    int32_t mtu = 7200;
+    int32_t mtu = 1500;
     std::pair<DataSource, DataSource> userSource{ Source_Chroma_Rectified_Aux, Source_Luma_Rectified_Aux };
 
 #if WIN32

diff --git a/source/Utilities/DepthImageUtility/DepthImageUtility.cc b/source/Utilities/DepthImageUtility/DepthImageUtility.cc
@@ -76,7 +76,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=7200)" << std::endl;
+    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=1500)" << std::endl;
     std::cerr << "\t-c                      : Save color images and depth in the color image frame" << std::endl;
 
     exit(1);
@@ -313,7 +313,7 @@ int main(int    argc,
          char **argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    int32_t mtu = 7200;
+    int32_t mtu = 1500;
     bool useColor = false;
 
 #if WIN32

diff --git a/source/Utilities/FeatureDetectorUtility/FeatureDetectorUtility.cc b/source/Utilities/FeatureDetectorUtility/FeatureDetectorUtility.cc
@@ -91,7 +91,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>                : MTU to set the camera to (default=7200)" << std::endl;
+    std::cerr << "\t-m <mtu>                : MTU to set the camera to (default=1500)" << std::endl;
     std::cerr << "\t-r <head_id>    : remote head ID (default=0)" << std::endl;
 
     exit(1);
@@ -390,7 +390,7 @@ int main(int    argc,
          char **argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    int32_t mtu = 7200;
+    int32_t mtu = 1500;
     RemoteHeadChannel head_id = Remote_Head_VPB;
 
 #if WIN32

diff --git a/source/Utilities/ImuTestUtility/ImuTestUtility.cc b/source/Utilities/ImuTestUtility/ImuTestUtility.cc
@@ -76,7 +76,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <ip_address>    : IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>           : default=7200" << std::endl;
+    std::cerr << "\t-m <mtu>           : default=1500" << std::endl;
     std::cerr << "\t-f <log_file>      : FILE to log IMU data (stdout by default)" << std::endl;
 
     exit(1);
@@ -139,7 +139,7 @@ int main(int    argc,
 {
     std::string currentAddress = "10.66.171.21";
     const char *logFileNameP   = NULL;
-    uint32_t    mtu            = 7200;
+    uint32_t    mtu            = 1500;
 
 #if WIN32
     SetConsoleCtrlHandler (signalHandler, TRUE);

diff --git a/source/Utilities/PointCloudUtility/PointCloudUtility.cc b/source/Utilities/PointCloudUtility/PointCloudUtility.cc
@@ -74,7 +74,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=7200)" << std::endl;
+    std::cerr << "\t-m <mtu>                : CURRENT MTU (default=1500)" << std::endl;
     std::cerr << "\t-d <min_disparity>      : CURRENT MINIMUM DISPARITY (default=5.0)" << std::endl;
 
     exit(1);
@@ -282,7 +282,7 @@ int main(int    argc,
          char **argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    int32_t mtu = 7200;
+    int32_t mtu = 1500;
     double minDisparity = 5.0;
 
 #if WIN32

diff --git a/source/Utilities/SaveImageUtility/SaveImageUtility.cc b/source/Utilities/SaveImageUtility/SaveImageUtility.cc
@@ -83,7 +83,7 @@ void usage(const char *programNameP)
     std::cerr << "USAGE: " << programNameP << " [<options>]" << std::endl;
     std::cerr << "Where <options> are:" << std::endl;
     std::cerr << "\t-a <current_address>    : CURRENT IPV4 address (default=10.66.171.21)" << std::endl;
-    std::cerr << "\t-m <mtu>                : MTU to set the camera to (default=7200)" << std::endl;
+    std::cerr << "\t-m <mtu>                : MTU to set the camera to (default=1500)" << std::endl;
     std::cerr << "\t-r <head_id>    : remote head ID (default=0)" << std::endl;
 
     exit(1);
@@ -287,7 +287,7 @@ int main(int    argc,
          char **argvPP)
 {
     std::string currentAddress = "10.66.171.21";
-    int32_t mtu = 7200;
+    int32_t mtu = 1500;
     RemoteHeadChannel head_id = Remote_Head_VPB;
 
 #if WIN32