carnegierobotics · dougbalish1 · Dec 16, 2024 · Aug 28, 2024 · Aug 28, 2024 · Aug 28, 2024
diff --git a/LICENSE.TXT b/LICENSE.TXT
@@ -1,4 +1,4 @@
-Copyright 2013-2022
+Copyright 2013-2025
 Carnegie Robotics, LLC
 4501 Hatfield Street, Pittsburgh, PA 15201
 http://www.carnegierobotics.com

diff --git a/README.md b/README.md
@@ -1,18 +1,18 @@
 # LibMultiSense
 
 - [Hello World](#hello-world)
-    - [OpenCV Integration](#opencv-integration)
-    - [Copy-Free Buffer Reservations](#copy-free-operations-image-buffer-reservations)
-    - [Camera Configuration](#camera-configuration)
-    - [Depth Image Generation](#depth-image-generation)
+  - [OpenCV Integration](#opencv-integration)
+  - [Copy-Free Buffer Reservations](#copy-free-operations-image-buffer-reservations)
+  - [Camera Configuration](#camera-configuration)
+  - [Depth Image Generation](#depth-image-generation)
 - [Installation](#installation)
 - [Doccumentation](#doccumentation)
 - [Support](#support)
 
 LibMultiSense is a C++ library used to interface with the MultiSense S
 family of sensors from Carnegie Robotics. For more information on the
 various MultiSense products please visit
-http://carnegierobotics.com/products/
+https://carnegierobotics.com/products
 
 For more detailed documentation on general MultiSense operation
 please visit
@@ -103,8 +103,7 @@ To report an issue with this library or request a new feature,
 please use the [GitHub issues system](https://github.com/carnegierobotics/LibMultiSense/issues)
 
 For product support, please see the [support section of our website](https://carnegierobotics.com/support)
-Individual support requests can be created in our [support portal](https://support.carnegierobotics.com/hc/en-us)
-
+Individual support requests can be created in our [support portal](https://carnegierobotics.com/submitaticket)
 
 ### Hello World
 
@@ -118,6 +117,7 @@ The following example demonstrates how to connect, stream, and receive image
 for the MultiSense camera.
 
 #### test.cpp
+
 ```c++
 #include <iostream>
 #include <unistd.h>
@@ -217,8 +217,6 @@ install(TARGETS test
     > cmake -DCMAKE_PREFIX_PATH=<path-to-libmultisense-install> ..
     > make
 
-
-
 ### OpenCV Integration
 
 To display the images received from the camera in a OpenCV window, the image callback function

diff --git a/source/LibMultiSense/details/channel.cc b/source/LibMultiSense/details/channel.cc
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/channel.cc
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/constants.cc b/source/LibMultiSense/details/constants.cc
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/constants.cc
  *
- * Copyright 2021-2022
+ * Copyright 2021-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/dispatch.cc b/source/LibMultiSense/details/dispatch.cc
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/dispatch.cc
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/flash.cc b/source/LibMultiSense/details/flash.cc
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/flash.cc
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/public.cc b/source/LibMultiSense/details/public.cc
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/public.cc
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/utility/Constants.cc b/source/LibMultiSense/details/utility/Constants.cc
@@ -3,7 +3,7 @@
  *
  * Definitions of variables representing physical constants.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/utility/Exception.cc b/source/LibMultiSense/details/utility/Exception.cc
@@ -5,7 +5,7 @@
  * Tascione's?) StandardException.cc file, which was developed under
  * project RD1013.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/details/utility/TimeStamp.cc b/source/LibMultiSense/details/utility/TimeStamp.cc
@@ -6,7 +6,7 @@
  * Kratzer's TimeStamp class, which was developed under project
  * RD1034.
  *
- * Copyright 2011-2022
+ * Copyright 2011-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh b/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/MultiSenseChannel.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh b/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/MultiSenseTypes.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/channel.hh b/source/LibMultiSense/include/MultiSense/details/channel.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/channel.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/listeners.hh b/source/LibMultiSense/include/MultiSense/details/listeners.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/listeners.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/query.hh b/source/LibMultiSense/include/MultiSense/details/query.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/query.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/signal.hh b/source/LibMultiSense/include/MultiSense/details/signal.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/signal.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/storage.hh b/source/LibMultiSense/include/MultiSense/details/storage.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/storage.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/BufferStream.hh b/source/LibMultiSense/include/MultiSense/details/utility/BufferStream.hh
@@ -3,7 +3,7 @@
  *
  * A generic I/O stream buffer
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Constants.hh b/source/LibMultiSense/include/MultiSense/details/utility/Constants.hh
@@ -3,7 +3,7 @@
  *
  * Declarations of variables representing physical constants.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Exception.hh b/source/LibMultiSense/include/MultiSense/details/utility/Exception.hh
@@ -5,7 +5,7 @@
  * Tascione's?) StandardException.h file, which was developed under
  * project RD1013.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Functional.hh b/source/LibMultiSense/include/MultiSense/details/utility/Functional.hh
@@ -3,7 +3,7 @@
  *
  * Declarations of convenience functions and functors.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Portability.hh b/source/LibMultiSense/include/MultiSense/details/utility/Portability.hh
@@ -4,7 +4,7 @@
  * Macros and symbols to help portability between different compiler
  * versions.
  *
- * Copyright 2014-2022
+ * Copyright 2014-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com
@@ -59,7 +59,7 @@
     // MS Visual C++ uses __declspec(thread) to declare thread local variables.
     #define CRL_THREAD_LOCAL __declspec(thread)
 #else
-    #error "This compiler is not yet supported. Please contact Carnegie Robotics support at http://support.carnegierobotics.com for assistance."
+    #error "This compiler is not yet supported. Please contact Carnegie Robotics support at https://carnegierobotics.com/submitaticket for assistance."
 #endif
 
 #if defined (__GNUC__)
@@ -73,7 +73,7 @@
     // Use C99 standard macros to get the undecorated name of the current function
     #define CRL_PRETTY_FUNCTION __func__
 #else
-    #error "This compiler is not yet supported. Please contact Carnegie Robotics support at http://support.carnegierobotics.com for assistance."
+    #error "This compiler is not yet supported. Please contact Carnegie Robotics support at https://carnegierobotics.com/submitaticket for assistance."
 #endif
 
 #if !defined(MULTISENSE_API)
@@ -92,11 +92,14 @@
 #ifndef NOMINMAX
 #define NOMINMAX 1
 #endif
-
+#define SOCKET_ERRNO WSAGetLastError()
+#define SOCKET_STR_ERR strerror(SOCKET_ERRNO)
+#define CRL_EAGAIN WSAETIMEDOUT
 #define usleep(usec) Sleep((usec)/1000)
-#endif
-
-#ifndef WIN32
+#else
+#define SOCKET_ERRNO errno 
+#define SOCKET_STR_ERR strerror(SOCKET_ERRNO)
+#define CRL_EAGAIN EAGAIN
 #define closesocket close
 #endif
 

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/ReferenceCount.hh b/source/LibMultiSense/include/MultiSense/details/utility/ReferenceCount.hh
@@ -5,7 +5,7 @@
  * derived from Eric Kratzer's ReferenceCount class, which was
  * developed under project RD1034.
  *
- * Copyright 2011-2022
+ * Copyright 2011-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Thread.hh b/source/LibMultiSense/include/MultiSense/details/utility/Thread.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/utility/Thread.hh
  *
- * Copyright 2014-2022
+ * Copyright 2014-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/TimeStamp.hh b/source/LibMultiSense/include/MultiSense/details/utility/TimeStamp.hh
@@ -6,7 +6,7 @@
  * Kratzer's TimeStamp class, which was developed under project
  * RD1034.
  *
- * Copyright 2011-2022
+ * Copyright 2011-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/Units.hh b/source/LibMultiSense/include/MultiSense/details/utility/Units.hh
@@ -3,7 +3,7 @@
  *
  * Functions for converting between physical units.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/linux/Thread.hh b/source/LibMultiSense/include/MultiSense/details/utility/linux/Thread.hh
@@ -5,7 +5,7 @@
  * Tascione's?) Utility.h file, which was developed under project
  * RD1013.
  *
- * Copyright 2012-2022
+ * Copyright 2012-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com
@@ -48,7 +48,6 @@
 #include <errno.h>
 #include <string.h>
 #include <linux/futex.h>
-#include <unistd.h>
 #include <sys/syscall.h>
 
 #include <vector>

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/macos/Thread.hh b/source/LibMultiSense/include/MultiSense/details/utility/macos/Thread.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/details/utility/macos/Thread.hh
  *
- * Copyright 2017-2022
+ * Copyright 2017-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/mingw/Thread.hh b/source/LibMultiSense/include/MultiSense/details/utility/mingw/Thread.hh
@@ -5,7 +5,7 @@
  * Tascione's?) Utility.h file, which was developed under project
  * RD1013.
  *
- * Copyright 2014-2022
+ * Copyright 2014-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/utility/win32/Thread.hh b/source/LibMultiSense/include/MultiSense/details/utility/win32/Thread.hh
@@ -5,7 +5,7 @@
  * Tascione's?) Utility.h file, which was developed under project
  * RD1013.
  *
- * Copyright 2014-2022
+ * Copyright 2014-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/wire/AckMessage.hh b/source/LibMultiSense/include/MultiSense/details/wire/AckMessage.hh
@@ -1,7 +1,7 @@
 /**
  * @file LibMultiSense/AckMessage.hh
  *
- * Copyright 2013-2022
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/wire/ApriltagDetections.hh b/source/LibMultiSense/include/MultiSense/details/wire/ApriltagDetections.hh
@@ -3,7 +3,7 @@
  *
  * This message contains apriltag detection data.
  *
- * Copyright 2021-2022
+ * Copyright 2021-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/wire/AuxCamConfigMessage.hh b/source/LibMultiSense/include/MultiSense/details/wire/AuxCamConfigMessage.hh
@@ -3,7 +3,7 @@
  *
  * This message contains the current camera configuration.
  *
- * Copyright 2013-2023
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/wire/AuxCamControlMessage.hh b/source/LibMultiSense/include/MultiSense/details/wire/AuxCamControlMessage.hh
@@ -3,7 +3,7 @@
  *
  * This message contains the current camera configuration.
  *
- * Copyright 2013-2023
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com

diff --git a/source/LibMultiSense/include/MultiSense/details/wire/AuxCamGetConfigMessage.hh b/source/LibMultiSense/include/MultiSense/details/wire/AuxCamGetConfigMessage.hh
@@ -3,7 +3,7 @@
  *
  * This message contains a request for camera configuration.
  *
- * Copyright 2013-2023
+ * Copyright 2013-2025
  * Carnegie Robotics, LLC
  * 4501 Hatfield Street, Pittsburgh, PA 15201
  * http://www.carnegierobotics.com