refactor(device): add channels adapter to device

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

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_

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();

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;
 };