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feat(src):device info change

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This commit is contained in:
kalman 2019-10-11 15:56:11 +08:00
parent 968bbcb392
commit 035f51c3b3
1 changed files with 142 additions and 67 deletions
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209
src/mynteye/device/channel/file_channel.cc
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@ -85,36 +85,29 @@ std::size_t DeviceInfoParser::GetFromData(
// name, 16 // name, 16
info->name = bytes::_from_data(data + i, 16); info->name = bytes::_from_data(data + i, 16);
i += 16; i += 16;
// serial_number, 16 // skip 21 bits
info->serial_number = bytes::_from_data(data + i, 16);
i += 16;
// firmware_version, 2
info->firmware_version.set_major(data[i]);
info->firmware_version.set_minor(data[i + 1]);
i += 2;
// hardware_version, 3
info->hardware_version.set_major(data[i]);
info->hardware_version.set_minor(data[i + 1]);
info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
i += 3;
// spec_version, 2 // spec_version, 2
info->spec_version.set_major(data[i]); info->spec_version.set_major(data[i + 21]);
info->spec_version.set_minor(data[i + 1]); info->spec_version.set_minor(data[i + 22]);
i += 2;
// lens_type, 4
info->lens_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->lens_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// imu_type, 4
info->imu_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->imu_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// nominal_baseline, 2
info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
i += 2;
if (info->spec_version >= Version(1, 2)) { if (info->spec_version >= Version(1, 3)) {
// auxiliary_chip_version, 2 // serial_number, 20
info->serial_number = bytes::_from_data(data + i, 20);
i += 20;
// reserve, 1 + spec_version, 2
i += 3;
// lens_type, 4
info->lens_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->lens_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// imu_type, 4
info->imu_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->imu_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// nominal_baseline, 2
info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
i += 2;
// auxiliary_chip_version, 2
info->auxiliary_chip_version.set_major(data[i]); info->auxiliary_chip_version.set_major(data[i]);
info->auxiliary_chip_version.set_minor(data[i + 1]); info->auxiliary_chip_version.set_minor(data[i + 1]);
i += 2; i += 2;
@ -122,15 +115,59 @@ std::size_t DeviceInfoParser::GetFromData(
info->isp_version.set_major(data[i]); info->isp_version.set_major(data[i]);
info->isp_version.set_minor(data[i + 1]); info->isp_version.set_minor(data[i + 1]);
i += 2; i += 2;
// firmware_version, 2
info->firmware_version.set_major(data[i]);
info->firmware_version.set_minor(data[i + 1]);
i += 2;
// hardware_version, 3
info->hardware_version.set_major(data[i]);
info->hardware_version.set_minor(data[i + 1]);
info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
i += 3;
// get other infos according to spec_version
} else { } else {
info->auxiliary_chip_version.set_major(0); // serial_number, 16
info->auxiliary_chip_version.set_minor(0); info->serial_number = bytes::_from_data(data + i, 16);
info->isp_version.set_major(0); i += 16;
info->isp_version.set_minor(0); // firmware_version, 2
info->firmware_version.set_major(data[i]);
info->firmware_version.set_minor(data[i + 1]);
i += 2;
// hardware_version, 3
info->hardware_version.set_major(data[i]);
info->hardware_version.set_minor(data[i + 1]);
info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
i += 3;
// skip spec_version, 2
i += 2;
// lens_type, 4
info->lens_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->lens_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// imu_type, 4
info->imu_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->imu_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// nominal_baseline, 2
info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
i += 2;
if (info->spec_version >= Version(1, 2)) {
// auxiliary_chip_version, 2
info->auxiliary_chip_version.set_major(data[i]);
info->auxiliary_chip_version.set_minor(data[i + 1]);
i += 2;
// isp_version, 2
info->isp_version.set_major(data[i]);
info->isp_version.set_minor(data[i + 1]);
i += 2;
} else {
info->auxiliary_chip_version.set_major(0);
info->auxiliary_chip_version.set_minor(0);
info->isp_version.set_major(0);
info->isp_version.set_minor(0);
}
} }
// get other infos according to spec_version
MYNTEYE_UNUSED(data_size) MYNTEYE_UNUSED(data_size)
return i; return i;
} }
@ -142,36 +179,25 @@ std::size_t DeviceInfoParser::SetToData(
// name, 16 // name, 16
bytes::_to_data(info->name, data + i, 16); bytes::_to_data(info->name, data + i, 16);
i += 16; i += 16;
// serial_number, 16 if(info->spec_version >= Version(1, 3)) {
bytes::_to_data(info->serial_number, data + i, 16); // serial_number, 20
i += 16; bytes::_to_data(info->serial_number, data + i, 20);
// firmware_version, 2 i += 20;
data[i] = info->firmware_version.major(); // spec_version, 2
data[i + 1] = info->firmware_version.minor(); data[i] = info->spec_version.major();
i += 2; data[i + 1] = info->spec_version.minor();
// hardware_version, 3 i += 2;
data[i] = info->hardware_version.major(); // lens_type, 4
data[i + 1] = info->hardware_version.minor(); bytes::_to_data(info->lens_type.vendor(), data + i);
data[i + 2] = bytes::_to_data(info->lens_type.product(), data + i + 2);
static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong()); i += 4;
i += 3; // imu_type, 4
// spec_version, 2 bytes::_to_data(info->imu_type.vendor(), data + i);
data[i] = info->spec_version.major(); bytes::_to_data(info->imu_type.product(), data + i + 2);
data[i + 1] = info->spec_version.minor(); i += 4;
i += 2; // nominal_baseline, 2
// lens_type, 4 bytes::_to_data(info->nominal_baseline, data + i);
bytes::_to_data(info->lens_type.vendor(), data + i); i += 2;
bytes::_to_data(info->lens_type.product(), data + i + 2);
i += 4;
// imu_type, 4
bytes::_to_data(info->imu_type.vendor(), data + i);
bytes::_to_data(info->imu_type.product(), data + i + 2);
i += 4;
// nominal_baseline, 2
bytes::_to_data(info->nominal_baseline, data + i);
i += 2;
if (info->spec_version >= Version(1, 2)) {
// auxiliary_chip_version, 2 // auxiliary_chip_version, 2
data[i] = info->auxiliary_chip_version.major(); data[i] = info->auxiliary_chip_version.major();
data[i + 1] = info->auxiliary_chip_version.minor(); data[i + 1] = info->auxiliary_chip_version.minor();
@ -180,9 +206,58 @@ std::size_t DeviceInfoParser::SetToData(
data[i] = info->isp_version.major(); data[i] = info->isp_version.major();
data[i + 1] = info->isp_version.minor(); data[i + 1] = info->isp_version.minor();
i += 2; i += 2;
} // firmware_version, 2
data[i] = info->firmware_version.major();
data[i + 1] = info->firmware_version.minor();
i += 2;
// hardware_version, 3
data[i] = info->hardware_version.major();
data[i + 1] = info->hardware_version.minor();
data[i + 2] =
static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
i += 3;
// set other infos according to spec_version
} else {
// serial_number, 16
bytes::_to_data(info->serial_number, data + i, 16);
i += 16;
// firmware_version, 2
data[i] = info->firmware_version.major();
data[i + 1] = info->firmware_version.minor();
i += 2;
// hardware_version, 3
data[i] = info->hardware_version.major();
data[i + 1] = info->hardware_version.minor();
data[i + 2] =
static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
i += 3;
// spec_version, 2
data[i] = info->spec_version.major();
data[i + 1] = info->spec_version.minor();
i += 2;
// lens_type, 4
bytes::_to_data(info->lens_type.vendor(), data + i);
bytes::_to_data(info->lens_type.product(), data + i + 2);
i += 4;
// imu_type, 4
bytes::_to_data(info->imu_type.vendor(), data + i);
bytes::_to_data(info->imu_type.product(), data + i + 2);
i += 4;
// nominal_baseline, 2
bytes::_to_data(info->nominal_baseline, data + i);
i += 2;
// set other infos according to spec_version if (info->spec_version >= Version(1, 2)) {
// auxiliary_chip_version, 2
data[i] = info->auxiliary_chip_version.major();
data[i + 1] = info->auxiliary_chip_version.minor();
i += 2;
// isp_version, 2
data[i] = info->isp_version.major();
data[i + 1] = info->isp_version.minor();
i += 2;
}
}
// others // others
std::size_t size = i - 3; std::size_t size = i - 3;