From 2f4ffded7c1da38b1e636f63100c2a65de1f46ed Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Mon, 24 Dec 2018 00:39:43 +0800
Subject: [PATCH] refactor(device): add channels adapter to device

---
 CMakeLists.txt                                |   2 +
 include/mynteye/device/device.h               |  10 +-
 include/mynteye/types.h                       |  12 +-
 src/mynteye/device/channels.cc                | 109 ++++++-------
 src/mynteye/device/channels.h                 |  33 +++-
 src/mynteye/device/device.cc                  |  21 +--
 src/mynteye/device/motions.cc                 |   4 +-
 .../device/standard/channels_adapter_s.cc     | 129 +++++++++++++++
 .../device/standard/channels_adapter_s.h      |  44 +++++
 src/mynteye/device/standard/device_s.cc       |   9 +-
 src/mynteye/device/standard/device_s.h        |   1 -
 .../device/standard2/channels_adapter_s2.cc   | 125 ++++++++++++++
 .../device/standard2/channels_adapter_s2.h    |  44 +++++
 src/mynteye/device/standard2/device_s2.cc     |   9 +-
 src/mynteye/device/standard2/device_s2.h      |   1 -
 src/mynteye/device/types.h                    | 153 ------------------
 16 files changed, 455 insertions(+), 251 deletions(-)
 create mode 100644 src/mynteye/device/standard/channels_adapter_s.cc
 create mode 100644 src/mynteye/device/standard/channels_adapter_s.h
 create mode 100644 src/mynteye/device/standard2/channels_adapter_s2.cc
 create mode 100644 src/mynteye/device/standard2/channels_adapter_s2.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c6e956..d0dbc40 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -172,8 +172,10 @@ set(MYNTEYE_SRCS
   src/mynteye/device/context.cc
   src/mynteye/device/device.cc
   src/mynteye/device/motions.cc
+  src/mynteye/device/standard/channels_adapter_s.cc
   src/mynteye/device/standard/device_s.cc
   src/mynteye/device/standard/streams_adapter_s.cc
+  src/mynteye/device/standard2/channels_adapter_s2.cc
   src/mynteye/device/standard2/device_s2.cc
   src/mynteye/device/standard2/streams_adapter_s2.cc
   src/mynteye/device/streams.cc
diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h
index e03ff5b..617aaf1 100644
--- a/include/mynteye/device/device.h
+++ b/include/mynteye/device/device.h
@@ -43,6 +43,7 @@ struct DeviceInfo;
 
 class API;
 class Channels;
+class ChannelsAdapter;
 class Motions;
 class Streams;
 class StreamsAdapter;
@@ -70,7 +71,13 @@ class MYNTEYE_API Device {
   using img_params_t = device::img_params_t;
   using imu_params_t = device::imu_params_t;
 
-  Device(const Model &model, std::shared_ptr<uvc::device> device);
+ protected:
+  Device(const Model &model,
+      const std::shared_ptr<uvc::device> &device,
+      const std::shared_ptr<StreamsAdapter> &streams_adapter,
+      const std::shared_ptr<ChannelsAdapter> &channels_adapter);
+
+ public:
   virtual ~Device();
 
   /**
@@ -301,7 +308,6 @@ class MYNTEYE_API Device {
   virtual void OnStereoStreamUpdate();
 
   virtual Capabilities GetKeyStreamCapability() const = 0;
-  virtual std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const = 0;
 
   std::map<Resolution, device::img_params_t> GetImgParams() const {
     return all_img_params_;
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index facadeb..3c8b2f9 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -212,7 +212,7 @@ enum class Option : std::uint8_t {
    * The range of accelerometer
    *
    *   value of standard 1: {4,8,16,32}, default: 8
-   *   value of standard 2: {6,12,24,48}, default: 6
+   *   value of standard 2: {6,12,24,48}, default: 12
    */
   ACCELEROMETER_RANGE,
   /**
@@ -357,7 +357,7 @@ struct MYNTEYE_API StreamRequest {
   std::uint16_t height;
   /** Stream pixel format */
   Format format;
-  /** Stream frames per second (unused) */
+  /** Stream frames per second */
   std::uint16_t fps;
 
   StreamRequest() {}
@@ -522,7 +522,13 @@ struct MYNTEYE_API ImgData {
 struct MYNTEYE_API ImuData {
   /** IMU frame id */
   std::uint32_t frame_id;
-  /** IMU accel or gyro flag: 1 for accel, 2 for gyro, 3 for both */
+  /**
+   * IMU accel or gyro flag
+   *
+   *   0: accel and gyro are both valid
+   *   1: accel is valid
+   *   2: gyro is valid
+   */
   std::uint8_t flag;
   /** IMU timestamp in 1us */
   std::uint64_t timestamp;
diff --git a/src/mynteye/device/channels.cc b/src/mynteye/device/channels.cc
index 47cf224..ffbaede 100644
--- a/src/mynteye/device/channels.cc
+++ b/src/mynteye/device/channels.cc
@@ -21,25 +21,22 @@
 #include <stdexcept>
 #include <vector>
 
-#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 #include "mynteye/util/strings.h"
 #include "mynteye/util/times.h"
 
-#include "mynteye/logger.h"
-
 #define IMU_TRACK_PERIOD 25  // ms
 
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace {
 
-const uvc::xu mynteye_xu = {3,
-                            2,
-                            {0x947a6d9f,
-                             0x8a2f,
-                             0x418d,
-                             {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
+const uvc::xu mynteye_xu = {3, 2,
+  {
+    0x947a6d9f, 0x8a2f, 0x418d,
+    {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}
+  }
+};
 
 int XuCamCtrlId(Option option) {
   switch (option) {
@@ -122,15 +119,15 @@ void CheckSpecVersion(const Version *spec_version) {
 
 }  // namespace
 
-Channels::Channels(const Model &model, std::shared_ptr<uvc::device> device)
-    : device_(device),
-      model_(model),
-      is_imu_tracking_(false),
-      imu_track_stop_(false),
-      imu_sn_(0),
-      imu_callback_(nullptr) {
+Channels::Channels(const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<ChannelsAdapter> &adapter)
+  : device_(device),
+    adapter_(adapter),
+    is_imu_tracking_(false),
+    imu_track_stop_(false),
+    imu_sn_(0),
+    imu_callback_(nullptr) {
   VLOG(2) << __func__;
-  imu_res_version_ = (model == Model::STANDARD) ? 1 : 2;
   UpdateControlInfos();
 }
 
@@ -139,6 +136,14 @@ Channels::~Channels() {
   StopImuTracking();
 }
 
+std::int32_t Channels::GetAccelRangeDefault() {
+  return adapter_->GetAccelRangeDefault();
+}
+
+std::int32_t Channels::GetGyroRangeDefault() {
+  return adapter_->GetGyroRangeDefault();
+}
+
 void Channels::LogControlInfos() const {
   for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
     LOG(INFO) << it->first << ": min=" << it->second.min
@@ -148,34 +153,32 @@ void Channels::LogControlInfos() const {
 }
 
 void Channels::UpdateControlInfos() {
-  auto &&supports = option_supports_map.at(model_);
+  auto &&supports = adapter_->GetOptionSupports();
   for (auto &&option : std::vector<Option>{
-    Option::GAIN, Option::BRIGHTNESS,
-    Option::CONTRAST}) {
+      Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST}) {
     if (supports.find(option) != supports.end())
       control_infos_[option] = PuControlInfo(option);
-    }
+  }
 
-    for (auto &&option : std::vector<Option>{
-             Option::FRAME_RATE, Option::IMU_FREQUENCY,
-             Option::EXPOSURE_MODE, Option::MAX_GAIN,
-             Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
-             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
-             Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
-             Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-             Option::GYROSCOPE_LOW_PASS_FILTER}) {
-      if (supports.find(option) != supports.end())
-        control_infos_[option] = XuControlInfo(option);
-    }
+  for (auto &&option : std::vector<Option>{
+      Option::FRAME_RATE, Option::IMU_FREQUENCY,
+      Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::MIN_EXPOSURE_TIME,
+      Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
+      Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
+      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+      Option::GYROSCOPE_LOW_PASS_FILTER}) {
+    if (supports.find(option) != supports.end())
+      control_infos_[option] = XuControlInfo(option);
+  }
 
-    if (VLOG_IS_ON(2)) {
-      for (auto &&it = control_infos_.begin(); it != control_infos_.end();
-           it++) {
-        VLOG(2) << it->first << ": min=" << it->second.min
-                << ", max=" << it->second.max << ", def=" << it->second.def
-                << ", cur=" << GetControlValue(it->first);
-      }
+  if (VLOG_IS_ON(2)) {
+    for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
+      VLOG(2) << it->first << ": min=" << it->second.min
+              << ", max=" << it->second.max << ", def=" << it->second.def
+              << ", cur=" << GetControlValue(it->first);
     }
+  }
 }
 
 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
@@ -268,25 +271,13 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_RANGE: {
-      if (model_ == Model::STANDARD) {
-        if (!in_range() || !in_values({4, 8, 16, 32}))
-          break;
-      }
-      if (model_ == Model::STANDARD2) {
-        if (!in_range() || !in_values({6, 12, 24, 48}))
-          break;
-      }
+      if (!in_range() || !in_values(adapter_->GetAccelRangeValues()))
+        break;
       XuCamCtrlSet(option, value);
     } break;
     case Option::GYROSCOPE_RANGE: {
-      if (model_ == Model::STANDARD) {
-        if (!in_range() || !in_values({500, 1000, 2000, 4000}))
-          break;
-      }
-      if (model_ == Model::STANDARD2) {
-        if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
-          break;
-      }
+      if (!in_range() || !in_values(adapter_->GetGyroRangeValues()))
+        break;
       XuCamCtrlSet(option, value);
     } break;
     case Option::ACCELEROMETER_LOW_PASS_FILTER: {
@@ -349,17 +340,13 @@ bool Channels::RunControlAction(const Option &option) const {
   }
 }
 
-std::uint8_t Channels::GetImuResVersion() {
-  return imu_res_version_;
-}
-
 void Channels::SetImuCallback(imu_callback_t callback) {
   imu_callback_ = callback;
 }
 
 void Channels::DoImuTrack() {
   static ImuReqPacket req_packet{0};
-  static ImuResPacket res_packet(imu_res_version_);
+  static ImuResPacket res_packet;
 
   req_packet.serial_number = imu_sn_;
   if (!XuImuWrite(req_packet)) {
@@ -1094,7 +1081,7 @@ bool Channels::XuImuRead(ImuResPacket *res) const {
   static std::uint8_t data[2000]{};
   // std::fill(data, data + 2000, 0);  // reset
   if (XuControlQuery(CHANNEL_IMU_READ, uvc::XU_QUERY_GET, 2000, data)) {
-    res->from_data(data);
+    adapter_->GetImuResPacket(data, res);
 
     if (res->header != 0x5B) {
       LOG(WARNING) << "Imu response packet header must be 0x5B, but 0x"
diff --git a/src/mynteye/device/channels.h b/src/mynteye/device/channels.h
index 29ec704..0fb4472 100644
--- a/src/mynteye/device/channels.h
+++ b/src/mynteye/device/channels.h
@@ -17,7 +17,9 @@
 
 #include <map>
 #include <memory>
+#include <set>
 #include <thread>
+#include <vector>
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -34,6 +36,8 @@ struct xu;
 
 }  // namespace uvc
 
+class ChannelsAdapter;
+
 class MYNTEYE_API Channels {
  public:
   typedef enum Channel {
@@ -71,10 +75,13 @@ class MYNTEYE_API Channels {
   using img_params_t = std::map<Resolution, device::img_params_t>;
   using imu_params_t = device::imu_params_t;
 
-  explicit Channels(
-      const Model &model, std::shared_ptr<uvc::device> device);
+  Channels(const std::shared_ptr<uvc::device> &device,
+           const std::shared_ptr<ChannelsAdapter> &adapter);
   ~Channels();
 
+  std::int32_t GetAccelRangeDefault();
+  std::int32_t GetGyroRangeDefault();
+
   void LogControlInfos() const;
   void UpdateControlInfos();
   control_info_t GetControlInfo(const Option &option) const;
@@ -84,8 +91,6 @@ class MYNTEYE_API Channels {
 
   bool RunControlAction(const Option &option) const;
 
-  std::uint8_t GetImuResVersion();
-
   void SetImuCallback(imu_callback_t callback);
   void DoImuTrack();
 
@@ -132,11 +137,8 @@ class MYNTEYE_API Channels {
   control_info_t PuControlInfo(Option option) const;
   control_info_t XuControlInfo(Option option) const;
 
-  std::uint8_t imu_res_version_;
-
-  Model model_;
-
   std::shared_ptr<uvc::device> device_;
+  std::shared_ptr<ChannelsAdapter> adapter_;
 
   std::map<Option, control_info_t> control_infos_;
 
@@ -148,6 +150,21 @@ class MYNTEYE_API Channels {
   imu_callback_t imu_callback_;
 };
 
+class ChannelsAdapter {
+ public:
+  virtual ~ChannelsAdapter() {}
+
+  virtual std::set<Option> GetOptionSupports() = 0;
+
+  virtual std::int32_t GetAccelRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetAccelRangeValues() = 0;
+
+  virtual std::int32_t GetGyroRangeDefault() = 0;
+  virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
+
+  virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
+};
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_CHANNELS_H_
diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc
index 356565e..484a52f 100644
--- a/src/mynteye/device/device.cc
+++ b/src/mynteye/device/device.cc
@@ -79,14 +79,17 @@ bool CheckSupports(
 
 }  // namespace
 
-Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
-    : video_streaming_(false),
-      motion_tracking_(false),
-      model_(model),
-      device_(device),
-      streams_(nullptr),
-      channels_(std::make_shared<Channels>(model_, device)),
-      motions_(std::make_shared<Motions>(channels_)) {
+Device::Device(const Model &model,
+    const std::shared_ptr<uvc::device> &device,
+    const std::shared_ptr<StreamsAdapter> &streams_adapter,
+    const std::shared_ptr<ChannelsAdapter> &channels_adapter)
+  : video_streaming_(false),
+    motion_tracking_(false),
+    model_(model),
+    device_(device),
+    streams_(std::make_shared<Streams>(streams_adapter)),
+    channels_(std::make_shared<Channels>(device_, channels_adapter)),
+    motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
   ReadAllInfos();
 }
@@ -471,8 +474,6 @@ void Device::StartVideoStreaming() {
     return;
   }
 
-  streams_ = std::make_shared<Streams>(CreateStreamsAdapter());
-
   // if stream capabilities are supported with subdevices of device_
   /*
   Capabilities stream_capabilities[] = {
diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index bd39b8b..3acb3ee 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -36,11 +36,11 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
   if (motion_callback_) {
     accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
     if (accel_range == -1)
-      accel_range = (channels_->GetImuResVersion() == 1) ? 8 : 12;
+      accel_range = channels_->GetAccelRangeDefault();
 
     gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     if (gyro_range == -1)
-      gyro_range = 1000;
+      gyro_range = channels_->GetGyroRangeDefault();
 
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
diff --git a/src/mynteye/device/standard/channels_adapter_s.cc b/src/mynteye/device/standard/channels_adapter_s.cc
new file mode 100644
index 0000000..a2fc0ee
--- /dev/null
+++ b/src/mynteye/device/standard/channels_adapter_s.cc
@@ -0,0 +1,129 @@
+// 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/device/standard/channels_adapter_s.h"
+
+#include "mynteye/device/config.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+#pragma pack(push, 1)
+struct ImuData {
+  std::int16_t offset;
+  std::uint16_t frame_id;
+  std::int16_t accel[3];
+  std::int16_t temperature;
+  std::int16_t gyro[3];
+
+  ImuData() = default;
+  explicit ImuData(const std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(const std::uint8_t *data) {
+    offset = (*(data) << 8) | *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    accel[0] = (*(data + 4) << 8) | *(data + 5);
+    accel[1] = (*(data + 6) << 8) | *(data + 7);
+    accel[2] = (*(data + 8) << 8) | *(data + 9);
+    temperature = (*(data + 10) << 8) | *(data + 11);
+    gyro[0] = (*(data + 12) << 8) | *(data + 13);
+    gyro[1] = (*(data + 14) << 8) | *(data + 15);
+    gyro[2] = (*(data + 16) << 8) | *(data + 17);
+  }
+};
+#pragma pack(pop)
+
+void unpack_imu_segment(const ImuData &imu, const std::uint32_t &timestamp,
+    ImuSegment *seg) {
+  seg->frame_id = static_cast<uint32_t>(imu.frame_id);
+  seg->timestamp = static_cast<uint64_t>(timestamp + imu.offset) * 10;
+  seg->flag = 0;
+  seg->temperature = imu.temperature;
+  seg->accel[0] = imu.accel[0];
+  seg->accel[1] = imu.accel[1];
+  seg->accel[2] = imu.accel[2];
+  seg->gyro[0] = imu.gyro[0];
+  seg->gyro[1] = imu.gyro[1];
+  seg->gyro[2] = imu.gyro[2];
+}
+
+void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
+  pkg->serial_number =
+      (*(data) << 24) | (*(data + 1) << 16) |
+      (*(data + 2) << 8) | *(data + 3);
+  std::uint32_t timestamp =
+      (*(data + 4) << 24) | (*(data + 5) << 16)|
+      (*(data + 6) << 8) | *(data + 7);
+  pkg->count = *(data + 8);
+
+  std::size_t data_n = sizeof(ImuData);  // 18
+  for (std::size_t i = 0; i < pkg->count; i++) {
+    ImuSegment seg;
+    unpack_imu_segment(ImuData(data + 9 + (data_n * i)), timestamp, &seg);
+    pkg->segments.push_back(seg);
+  }
+}
+
+void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
+  res->header = *data;
+  res->state = *(data + 1);
+  res->size = (*(data + 2) << 8) | *(data + 3);
+
+  std::size_t data_n = sizeof(ImuData);  // 18
+  for (std::size_t i = 4; i < res->size;) {
+    ImuPacket packet;
+    unpack_imu_packet(data + i, &packet);
+    res->packets.push_back(packet);
+    i += 9 + (packet.count * data_n);
+  }
+  res->checksum = *(data + 4 + res->size);
+}
+
+}  // namespace
+
+StandardChannelsAdapter::StandardChannelsAdapter() {
+}
+
+StandardChannelsAdapter::~StandardChannelsAdapter() {
+}
+
+std::set<Option> StandardChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD);
+}
+
+std::int32_t StandardChannelsAdapter::GetAccelRangeDefault() {
+  return 8;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetAccelRangeValues() {
+  return {4, 8, 16, 32};
+}
+
+std::int32_t StandardChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> StandardChannelsAdapter::GetGyroRangeValues() {
+  return {500, 1000, 2000, 4000};
+}
+
+void StandardChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/channels_adapter_s.h b/src/mynteye/device/standard/channels_adapter_s.h
new file mode 100644
index 0000000..20404e8
--- /dev/null
+++ b/src/mynteye/device/standard/channels_adapter_s.h
@@ -0,0 +1,44 @@
+// 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_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
+#define MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class StandardChannelsAdapter : public ChannelsAdapter {
+ public:
+  StandardChannelsAdapter();
+  virtual ~StandardChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  std::int32_t GetAccelRangeDefault() override;
+  std::vector<std::int32_t> GetAccelRangeValues() override;
+
+  std::int32_t GetGyroRangeDefault() override;
+  std::vector<std::int32_t> GetGyroRangeValues() override;
+
+  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD_CHANNELS_ADAPTER_S_H_
diff --git a/src/mynteye/device/standard/device_s.cc b/src/mynteye/device/standard/device_s.cc
index 36719ba..411315e 100644
--- a/src/mynteye/device/standard/device_s.cc
+++ b/src/mynteye/device/standard/device_s.cc
@@ -15,12 +15,15 @@
 
 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard/channels_adapter_s.h"
 #include "mynteye/device/standard/streams_adapter_s.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
 StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD, device) {
+  : Device(Model::STANDARD, device,
+           std::make_shared<StandardStreamsAdapter>(),
+           std::make_shared<StandardChannelsAdapter>()) {
   VLOG(2) << __func__;
 }
 
@@ -32,10 +35,6 @@ Capabilities StandardDevice::GetKeyStreamCapability() const {
   return Capabilities::STEREO;
 }
 
-std::shared_ptr<StreamsAdapter> StandardDevice::CreateStreamsAdapter() const {
-  return std::make_shared<StandardStreamsAdapter>();
-}
-
 void StandardDevice::StartVideoStreaming() {
   // TODO(John) Set img framerate, imu frequency according to stream request
   Device::StartVideoStreaming();
diff --git a/src/mynteye/device/standard/device_s.h b/src/mynteye/device/standard/device_s.h
index 855e611..40ad33b 100644
--- a/src/mynteye/device/standard/device_s.h
+++ b/src/mynteye/device/standard/device_s.h
@@ -28,7 +28,6 @@ class StandardDevice : public Device {
   virtual ~StandardDevice();
 
   Capabilities GetKeyStreamCapability() const override;
-  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
   void StartVideoStreaming() override;
 
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.cc b/src/mynteye/device/standard2/channels_adapter_s2.cc
new file mode 100644
index 0000000..3257039
--- /dev/null
+++ b/src/mynteye/device/standard2/channels_adapter_s2.cc
@@ -0,0 +1,125 @@
+// 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/device/standard2/channels_adapter_s2.h"
+
+#include "mynteye/device/config.h"
+#include "mynteye/logger.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace {
+
+#pragma pack(push, 1)
+struct ImuData {
+  std::uint32_t frame_id;
+  std::uint64_t timestamp;
+  std::uint8_t flag;
+  std::int16_t temperature;
+  std::int16_t accel_or_gyro[3];
+
+  ImuData() = default;
+  explicit ImuData(const std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(const std::uint8_t *data) {
+    std::uint32_t timestamp_l;
+    std::uint32_t timestamp_h;
+
+    frame_id = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
+                    *(data + 3);
+    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
+                  (*(data + 6) << 8) | *(data + 7);
+    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
+                  (*(data + 10) << 8) | *(data + 11);
+    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
+    flag = *(data + 12);
+    temperature = (*(data + 13) << 8) | *(data + 14);
+    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
+    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
+    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
+  }
+};
+#pragma pack(pop)
+
+void unpack_imu_segment(const ImuData &imu, ImuSegment *seg) {
+  seg->frame_id = imu.frame_id;
+  seg->timestamp = imu.timestamp;
+  seg->flag = imu.flag;
+  seg->temperature = imu.temperature;
+  seg->accel[0] = (seg->flag == 1) ? imu.accel_or_gyro[0] : 0;
+  seg->accel[1] = (seg->flag == 1) ? imu.accel_or_gyro[1] : 0;
+  seg->accel[2] = (seg->flag == 1) ? imu.accel_or_gyro[2] : 0;
+  seg->gyro[0] = (seg->flag == 2) ? imu.accel_or_gyro[0] : 0;
+  seg->gyro[1] = (seg->flag == 2) ? imu.accel_or_gyro[1] : 0;
+  seg->gyro[2] = (seg->flag == 2) ? imu.accel_or_gyro[2] : 0;
+}
+
+void unpack_imu_packet(const std::uint8_t *data, ImuPacket *pkg) {
+  std::size_t data_n = sizeof(ImuData);  // 21
+  for (std::size_t i = 0; i < pkg->count; i++) {
+    ImuSegment seg;
+    unpack_imu_segment(ImuData(data + data_n * i), &seg);
+    pkg->segments.push_back(seg);
+  }
+  pkg->serial_number = pkg->segments.back().frame_id;
+}
+
+void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
+  res->header = *data;
+  res->state = *(data + 1);
+  res->size = (*(data + 2) << 8) | *(data + 3);
+
+  std::size_t data_n = sizeof(ImuData);  // 21
+  ImuPacket packet;
+  packet.count = res->size / data_n;
+  unpack_imu_packet(data + 4, &packet);
+  res->packets.push_back(packet);
+  res->checksum = *(data + 4 + res->size);
+}
+
+}  // namespace
+
+Standard2ChannelsAdapter::Standard2ChannelsAdapter() {
+}
+
+Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {
+}
+
+std::set<Option> Standard2ChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(Model::STANDARD2);
+}
+
+std::int32_t Standard2ChannelsAdapter::GetAccelRangeDefault() {
+  return 12;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetAccelRangeValues() {
+  return {6, 12, 24, 48};
+}
+
+std::int32_t Standard2ChannelsAdapter::GetGyroRangeDefault() {
+  return 1000;
+}
+
+std::vector<std::int32_t> Standard2ChannelsAdapter::GetGyroRangeValues() {
+  return {250, 500, 1000, 2000, 4000};
+}
+
+void Standard2ChannelsAdapter::GetImuResPacket(
+    const std::uint8_t *data, ImuResPacket *res) {
+  unpack_imu_res_packet(data, res);
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.h b/src/mynteye/device/standard2/channels_adapter_s2.h
new file mode 100644
index 0000000..b4cde16
--- /dev/null
+++ b/src/mynteye/device/standard2/channels_adapter_s2.h
@@ -0,0 +1,44 @@
+// 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_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
+#define MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
+#pragma once
+
+#include <cstdint>
+#include <set>
+#include <vector>
+
+#include "mynteye/device/channels.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Standard2ChannelsAdapter : public ChannelsAdapter {
+ public:
+  Standard2ChannelsAdapter();
+  virtual ~Standard2ChannelsAdapter();
+
+  std::set<Option> GetOptionSupports() override;
+
+  std::int32_t GetAccelRangeDefault() override;
+  std::vector<std::int32_t> GetAccelRangeValues() override;
+
+  std::int32_t GetGyroRangeDefault() override;
+  std::vector<std::int32_t> GetGyroRangeValues() override;
+
+  void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) override;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_DEVICE_STANDARD2_CHANNELS_ADAPTER_S2_H_
diff --git a/src/mynteye/device/standard2/device_s2.cc b/src/mynteye/device/standard2/device_s2.cc
index 4b5fc44..5428dcd 100644
--- a/src/mynteye/device/standard2/device_s2.cc
+++ b/src/mynteye/device/standard2/device_s2.cc
@@ -15,12 +15,15 @@
 
 #include "mynteye/logger.h"
 #include "mynteye/device/motions.h"
+#include "mynteye/device/standard2/channels_adapter_s2.h"
 #include "mynteye/device/standard2/streams_adapter_s2.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
 Standard2Device::Standard2Device(std::shared_ptr<uvc::device> device)
-    : Device(Model::STANDARD2, device) {
+  : Device(Model::STANDARD2, device,
+           std::make_shared<Standard2StreamsAdapter>(),
+           std::make_shared<Standard2ChannelsAdapter>()) {
   VLOG(2) << __func__;
 }
 
@@ -32,10 +35,6 @@ Capabilities Standard2Device::GetKeyStreamCapability() const {
   return Capabilities::STEREO_COLOR;
 }
 
-std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
-  return std::make_shared<Standard2StreamsAdapter>();
-}
-
 void Standard2Device::OnStereoStreamUpdate() {
   if (motion_tracking_) {
     auto &&motions = this->motions();
diff --git a/src/mynteye/device/standard2/device_s2.h b/src/mynteye/device/standard2/device_s2.h
index 7f3ef7e..badf6ac 100644
--- a/src/mynteye/device/standard2/device_s2.h
+++ b/src/mynteye/device/standard2/device_s2.h
@@ -28,7 +28,6 @@ class Standard2Device : public Device {
   virtual ~Standard2Device();
 
   Capabilities GetKeyStreamCapability() const override;
-  std::shared_ptr<StreamsAdapter> CreateStreamsAdapter() const override;
 
   void OnStereoStreamUpdate() override;
 };
diff --git a/src/mynteye/device/types.h b/src/mynteye/device/types.h
index 77ec08d..44efaf5 100644
--- a/src/mynteye/device/types.h
+++ b/src/mynteye/device/types.h
@@ -162,74 +162,6 @@ struct ImuReqPacket {
 };
 #pragma pack(pop)
 
-/**
- * @ingroup datatypes
- * Imu group for standard 1.
- */
-#pragma pack(push, 1)
-struct ImuGroupS1 {
-  std::int16_t offset;
-  std::uint16_t frame_id;
-  std::int16_t accel[3];
-  std::int16_t temperature;
-  std::int16_t gyro[3];
-
-  ImuGroupS1() = default;
-  explicit ImuGroupS1(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    offset = (*(data) << 8) | *(data + 1);
-    frame_id = (*(data + 2) << 8) | *(data + 3);
-    accel[0] = (*(data + 4) << 8) | *(data + 5);
-    accel[1] = (*(data + 6) << 8) | *(data + 7);
-    accel[2] = (*(data + 8) << 8) | *(data + 9);
-    temperature = (*(data + 10) << 8) | *(data + 11);
-    gyro[0] = (*(data + 12) << 8) | *(data + 13);
-    gyro[1] = (*(data + 14) << 8) | *(data + 15);
-    gyro[2] = (*(data + 16) << 8) | *(data + 17);
-  }
-};
-#pragma pack(pop)
-
-/**
- * @ingroup datatypes
- * Imu group for standard 2.
- */
-#pragma pack(push, 1)
-struct ImuGroupS2 {
-  std::uint32_t frame_id;
-  std::uint64_t timestamp;
-  std::uint8_t flag;
-  std::int16_t temperature;
-  std::int16_t accel_or_gyro[3];
-
-  ImuGroupS2() = default;
-  explicit ImuGroupS2(std::uint8_t *data) {
-    from_data(data);
-  }
-
-  void from_data(std::uint8_t *data) {
-    std::uint32_t timestamp_l;
-    std::uint32_t timestamp_h;
-
-    frame_id = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
-                    *(data + 3);
-    timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
-                  (*(data + 6) << 8) | *(data + 7);
-    timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
-                  (*(data + 10) << 8) | *(data + 11);
-    timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
-    flag = *(data + 12);
-    temperature = (*(data + 13) << 8) | *(data + 14);
-    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
-  }
-};
-#pragma pack(pop)
-
 /**
  * @ingroup datatypes
  * Imu segment.
@@ -242,32 +174,6 @@ struct ImuSegment {
   std::int16_t temperature;
   std::int16_t accel[3];
   std::int16_t gyro[3];
-
-  ImuSegment() = default;
-
-  explicit ImuSegment(ImuGroupS2 group)
-    : frame_id(group.frame_id), timestamp(group.timestamp),
-      flag(group.flag), temperature(group.temperature) {
-    accel[0] = (flag == 1) ? group.accel_or_gyro[0] : 0;
-    accel[1] = (flag == 1) ? group.accel_or_gyro[1] : 0;
-    accel[2] = (flag == 1) ? group.accel_or_gyro[2] : 0;
-    gyro[0] = (flag == 2) ? group.accel_or_gyro[0] : 0;
-    gyro[1] = (flag == 2) ? group.accel_or_gyro[1] : 0;
-    gyro[2] = (flag == 2) ? group.accel_or_gyro[2] : 0;
-  }
-
-  ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
-    frame_id = static_cast<uint32_t> (group.frame_id);
-    this->timestamp = static_cast<uint64_t> (timestamp + group.offset) * 10;
-    flag = 3;
-    temperature = group.temperature;
-    accel[0] = group.accel[0];
-    accel[1] = group.accel[1];
-    accel[2] = group.accel[2];
-    gyro[0] = group.gyro[0];
-    gyro[1] = group.gyro[1];
-    gyro[2] = group.gyro[2];
-  }
 };
 #pragma pack(pop)
 
@@ -281,37 +187,6 @@ struct ImuPacket {
   std::uint8_t count;
   std::uint32_t serial_number;
   std::vector<ImuSegment> segments;
-
-  ImuPacket() = default;
-  explicit ImuPacket(
-      std::uint8_t version, std::uint8_t seg_count, std::uint8_t *data)
-        : version(version), count(seg_count) {
-          from_data(data);
-        }
-  void from_data(std::uint8_t *data) {
-        if (version == 1) {
-          serial_number =
-              (*(data) << 24) | (*(data + 1) << 16) |
-              (*(data + 2) << 8) | *(data + 3);
-          int timestamp =
-              (*(data + 4) << 24) | (*(data + 5) << 16)|
-              (*(data + 6) << 8) | *(data + 7);
-          count = *(data + 8);
-
-          std::size_t seg_n = sizeof(ImuGroupS1);  // 18
-          for (std::size_t i = 0; i < count; i++) {
-            ImuGroupS1 group(data + 9 + (seg_n * i));
-            segments.push_back(ImuSegment(timestamp, group));
-          }
-        } else if (version == 2) {
-          std::size_t seg_n = sizeof(ImuGroupS2);  // 21
-          for (std::size_t i = 0; i < count; i++) {
-            ImuGroupS2 group(data + seg_n * i);
-            segments.push_back(ImuSegment(group));
-          }
-          serial_number = segments.back().frame_id;
-        }
-  }
 };
 #pragma pack(pop)
 
@@ -327,34 +202,6 @@ struct ImuResPacket {
   std::uint16_t size;
   std::vector<ImuPacket> packets;
   std::uint8_t checksum;
-
-  ImuResPacket() = default;
-  explicit ImuResPacket(std::uint8_t version) : version(version) {}
-
-  void from_data(std::uint8_t *data) {
-    header = *data;
-    state = *(data + 1);
-    size = (*(data + 2) << 8) | *(data + 3);
-
-    if (version == 1) {
-      std::size_t seg_n = sizeof(ImuGroupS1);  // 18
-      for (std::size_t i = 4; i < size;) {
-        ImuPacket packet(version, 0, data + i);
-        packets.push_back(packet);
-        i += 9 + (packet.count * seg_n);
-      }
-      checksum = *(data + 4 + size);
-    }
-
-    if (version == 2) {
-      std::size_t seg_n = sizeof(ImuGroupS2);  // 21
-      std::uint8_t seg_count = size / seg_n;
-      ImuPacket packet(version, seg_count, data + 4);
-      packets.push_back(packet);
-      // packet(2);
-      checksum = *(data + 4 + size);
-    }
-  }
 };
 #pragma pack(pop)