feat(api): version check

CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.3.0 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.1 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
@@ -220,6 +220,7 @@ if(WITH_API)
     src/mynteye/api/processor/rectify_processor_ocv.cc
     src/mynteye/api/config.cc
     src/mynteye/api/correspondence.cc
+    src/mynteye/api/version_checker.cc
   )
   if(WITH_CAM_MODELS)
     list(APPEND MYNTEYE_SRCS

include/mynteye/types.h

@@ -122,6 +122,8 @@ enum class Info : std::uint8_t {
   IMU_TYPE,
   /** Nominal baseline */
   NOMINAL_BASELINE,
+  /** SDK version*/
+  SDK_VERSION,
   /** Last guard */
   LAST
 };

src/mynteye/api/api.cc

@@ -26,6 +26,7 @@
 #include "mynteye/api/dl.h"
 #include "mynteye/api/plugin.h"
 #include "mynteye/api/synthetic.h"
+#include "mynteye/api/version_checker.h"
 #include "mynteye/device/device.h"
 #include "mynteye/device/utils.h"
 
@@ -222,7 +223,10 @@ API::~API() {
 std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device) return nullptr;
-  return Create(argc, argv, device);
+  auto api = Create(argc, argv, device);
+  if (api && checkFirmwareVersion(api))
+    return api;
+  return nullptr;
 }
 
 std::shared_ptr<API> API::Create(
@@ -261,7 +265,7 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
     }
   } else {
     LOG(ERROR) <<"no device!";
-    api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
+    return nullptr;
   }
   return api;
 }
@@ -324,6 +328,22 @@ std::shared_ptr<DeviceInfo> API::GetInfo() const {
 }
 
 std::string API::GetInfo(const Info &info) const {
+  if (info == Info::SDK_VERSION) {
+    std::string info_path =
+        utils::get_sdk_install_dir();
+    info_path.append(MYNTEYE_OS_SEP "share" \
+        MYNTEYE_OS_SEP "mynteye" MYNTEYE_OS_SEP "build.info");
+
+    cv::FileStorage fs(info_path, cv::FileStorage::READ);
+    if (!fs.isOpened()) {
+      LOG(WARNING) << "build.info not found: " << info_path;
+      return "null";
+    }
+    std::string vs_main = fs["MYNTEYE_VERSION"];
+    int vs_tweak =  fs["MYNTEYE_VERSION_TWEAK"];
+    return vs_main + std::string(".") + std::to_string(vs_tweak);
+  }
+
   return device_->GetInfo(info);
 }
 

src/mynteye/api/version_checker.cc

@@ -0,0 +1,48 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/api/version_checker.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/logger.h"
+#include "mynteye/types.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+typedef struct {
+    const std::string device_type;
+    const std::string sdk_version;
+    const std::string firmware_version;
+}firmware_version_match_table_unit;
+
+/** firmware/sdk version matched table */
+static const firmware_version_match_table_unit FSVM_TABLE[] ={
+    {"MYNT-EYE-S1030",    "2.3.1.0",    "2.0.0"},
+    {"MYNT-EYE-S1030",    "2.3.1.0",    "2.0.0"},
+    {}
+};
+
+bool checkFirmwareVersion(const std::shared_ptr<API> api) {
+  LOG(INFO) << "SDK version: " << api->GetInfo(Info::SDK_VERSION);
+  LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
+  LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);
+  LOG(INFO) << "Firmware version: " << api->GetInfo(Info::FIRMWARE_VERSION);
+  LOG(INFO) << "Hardware version: " << api->GetInfo(Info::HARDWARE_VERSION);
+  LOG(INFO) << "Spec version: " << api->GetInfo(Info::SPEC_VERSION);
+  LOG(INFO) << "Lens type: " << api->GetInfo(Info::LENS_TYPE);
+  LOG(INFO) << "IMU type: " << api->GetInfo(Info::IMU_TYPE);
+  LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::NOMINAL_BASELINE);
+  return true;
+}
+
+MYNTEYE_END_NAMESPACE
+

src/mynteye/api/version_checker.h

@@ -0,0 +1,25 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_API_VERSION_CHECKER_H_
+#define MYNTEYE_API_VERSION_CHECKER_H_
+#pragma once
+
+#include <string>
+#include "mynteye/api/api.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+bool checkFirmwareVersion(const std::shared_ptr<API> api);
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_API_VERSION_CHECKER_H_

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -644,7 +644,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           is_published_[stream] = false;
         }
         api_->Start(Source::VIDEO_STREAMING);
-      } else if (sum_c > sum) {
+      } else {
         if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
             mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
             !is_published_[Stream::LEFT]) {