refactor(device): add channels adapter to device

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

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_

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();

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;