MYNT-EYE-S-SDK/src/internal/channels.h

#ifndef MYNTEYE_INTERNAL_CHANNELS_H_  // NOLINT
#define MYNTEYE_INTERNAL_CHANNELS_H_
#pragma once

#include <map>
#include <memory>

#include "mynteye/mynteye.h"

#include "internal/types.h"
#include "uvc/uvc.h"

MYNTEYE_BEGIN_NAMESPACE

namespace uvc {

struct device;
struct xu;

}  // namespace uvc

class Channels {
 public:
  typedef enum Channel {
    CHANNEL_CAM_CTRL = 0x0100,
    CHANNEL_HALF_DUPLEX = 0x0200,
    CHANNEL_IMU_WRITE = 0x0300,
    CHANNEL_IMU_READ = 0x0400,
    CHANNEL_FILE = 0x0500,
    CHANNEL_LAST
  } channel_t;

  typedef struct ControlInfo {
    std::int32_t min;
    std::int32_t max;
    std::int32_t def;
  } control_info_t;

  typedef enum XuCmd {
    XU_CMD_ZDC = 0xE6,    // zero drift calibration
    XU_CMD_ERASE = 0xDE,  // erase chip
    XU_CMD_LAST
  } xu_cmd_t;

  explicit Channels(std::shared_ptr<uvc::device> device);
  ~Channels();

  void LogControlInfos() const;
  void UpdateControlInfos();
  control_info_t GetControlInfo(const Option &option) const;

  std::int32_t GetControlValue(const Option &option) const;
  void SetControlValue(const Option &option, std::int32_t value);

  bool RunControlAction(const Option &option) const;

 private:
  bool PuControlRange(
      Option option, int32_t *min, int32_t *max, int32_t *def) const;
  bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;

  bool XuControlQuery(
      channel_t channel, uvc::xu_query query, uint16_t size,
      uint8_t *data) const;
  bool XuControlQuery(
      const uvc::xu &xu, uint8_t selector, uvc::xu_query query, uint16_t size,
      uint8_t *data) const;

  bool XuCamCtrlQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
  std::int32_t XuCamCtrlGet(Option option) const;
  void XuCamCtrlSet(Option option, std::int32_t value) const;

  bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;

  bool XuImuWrite(const ImuReqPacket &req) const;
  bool XuImuRead(ImuResPacket *res) const;

  control_info_t PuControlInfo(Option option) const;
  control_info_t XuControlInfo(Option option) const;

  std::shared_ptr<uvc::device> device_;

  std::map<Option, control_info_t> control_infos_;
};

MYNTEYE_END_NAMESPACE

#endif  // MYNTEYE_INTERNAL_CHANNELS_H_ NOLINT