From 30363e18c6082912ad1b78e8b024d5e2aca97734 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Sun, 30 Sep 2018 13:57:21 +0800
Subject: [PATCH] Add constraints to imu's parameter settings

---
 src/api/api.cc           |  3 +++
 src/internal/channels.cc | 29 ++++++++++++++++++++++++-----
 src/internal/config.cc   |  1 +
 3 files changed, 28 insertions(+), 5 deletions(-)

diff --git a/src/api/api.cc b/src/api/api.cc
index fb8d958..a7b8a8d 100644
--- a/src/api/api.cc
+++ b/src/api/api.cc
@@ -236,6 +236,7 @@ std::shared_ptr<API> API::Create(
   return std::make_shared<API>(device);
 }
 
+// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
   return Create(device, Resolution::RES_2560x800);
 }
@@ -245,6 +246,7 @@ std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   return Create(argc, argv, device);
 }
 
+// TODO(Kalman): Compatible with two generation
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], std::shared_ptr<Device> device) {
   static glog_init _(argc, argv);
@@ -458,6 +460,7 @@ std::shared_ptr<Device> API::device() {
   return device_;
 }
 
+// TODO(Kalman): Call this function in the appropriate place
 void API::CheckImageParams() {
   if (device_ != nullptr) {
     bool in_l_ok, in_r_ok, ex_l2r_ok;
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index bf65f1e..05dfc80 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -142,6 +142,7 @@ void Channels::LogControlInfos() const {
   }
 }
 
+// TODO(Kalman): Compatible with two generation
 void Channels::UpdateControlInfos() {
   for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
     control_infos_[option] = PuControlInfo(option);
@@ -255,17 +256,33 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
         break;
       XuCamCtrlSet(option, value);
     } break;
+    case Option::ACCELEROMETER_RANGE: {
+      if (!in_range() || !in_values({6, 12, 24, 48}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_RANGE: {
+      if (!in_range() || !in_values({6, 12, 24, 48}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::ACCELEROMETER_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({0, 1, 2}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+      if (!in_range() || !in_values({23, 64}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
     case Option::EXPOSURE_MODE:
     case Option::MAX_GAIN:
     case Option::MAX_EXPOSURE_TIME:
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
     case Option::HDR_MODE:
-    case Option::MIN_EXPOSURE_TIME:
-    case Option::ACCELEROMETER_RANGE:
-    case Option::GYROSCOPE_RANGE:
-    case Option::ACCELEROMETER_LOW_PASS_FILTER:
-    case Option::GYROSCOPE_LOW_PASS_FILTER: {
+    case Option::MIN_EXPOSURE_TIME: {
       if (!in_range())
         break;
       XuCamCtrlSet(option, value);
@@ -545,6 +562,7 @@ std::size_t from_data(
   return i;
 }
 
+// TODO(Kalman): Is there a more elegant way?
 std::size_t from_data(
     Channels::img_params_t *img_params, const std::uint8_t *data,
     const Version *spec_version) {
@@ -659,6 +677,7 @@ bool Channels::GetFiles(
           if (img_params->ok) {
             CheckSpecVersion(spec_ver);
             from_data(img_params, data + i, spec_ver);
+            // Considering the upgrade, comment this
             // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
           }
         } break;
diff --git a/src/internal/config.cc b/src/internal/config.cc
index f956b69..68a893f 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -21,6 +21,7 @@ const std::map<Model, StreamSupports> stream_supports_map = {
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
     {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
+// TODO(Kalman): Compatible with two generation
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
      {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,