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Add constraints to imu's parameter settings

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This commit is contained in:
Kalman 2018-09-30 13:57:21 +08:00
parent 33e38bba2f
commit 30363e18c6
3 changed files with 28 additions and 5 deletions
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3
src/api/api.cc
View File

@ -236,6 +236,7 @@ std::shared_ptr<API> API::Create(
return std::make_shared<API>(device); return std::make_shared<API>(device);
} }
// TODO(Kalman): Compatible with two generation
std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) { std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
return Create(device, Resolution::RES_2560x800); 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); return Create(argc, argv, device);
} }
// TODO(Kalman): Compatible with two generation
std::shared_ptr<API> API::Create( std::shared_ptr<API> API::Create(
int argc, char *argv[], std::shared_ptr<Device> device) { int argc, char *argv[], std::shared_ptr<Device> device) {
static glog_init _(argc, argv); static glog_init _(argc, argv);
@ -458,6 +460,7 @@ std::shared_ptr<Device> API::device() {
return device_; return device_;
} }
// TODO(Kalman): Call this function in the appropriate place
void API::CheckImageParams() { void API::CheckImageParams() {
if (device_ != nullptr) { if (device_ != nullptr) {
bool in_l_ok, in_r_ok, ex_l2r_ok; bool in_l_ok, in_r_ok, ex_l2r_ok;

29
src/internal/channels.cc
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@ -142,6 +142,7 @@ void Channels::LogControlInfos() const {
} }
} }
// TODO(Kalman): Compatible with two generation
void Channels::UpdateControlInfos() { void Channels::UpdateControlInfos() {
for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) { for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
control_infos_[option] = PuControlInfo(option); control_infos_[option] = PuControlInfo(option);
@ -255,17 +256,33 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
break; break;
XuCamCtrlSet(option, value); XuCamCtrlSet(option, value);
} break; } 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::EXPOSURE_MODE:
case Option::MAX_GAIN: case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME: case Option::MAX_EXPOSURE_TIME:
case Option::DESIRED_BRIGHTNESS: case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL: case Option::IR_CONTROL:
case Option::HDR_MODE: case Option::HDR_MODE:
case Option::MIN_EXPOSURE_TIME: 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: {
if (!in_range()) if (!in_range())
break; break;
XuCamCtrlSet(option, value); XuCamCtrlSet(option, value);
@ -545,6 +562,7 @@ std::size_t from_data(
return i; return i;
} }
// TODO(Kalman): Is there a more elegant way?
std::size_t from_data( std::size_t from_data(
Channels::img_params_t *img_params, const std::uint8_t *data, Channels::img_params_t *img_params, const std::uint8_t *data,
const Version *spec_version) { const Version *spec_version) {
@ -659,6 +677,7 @@ bool Channels::GetFiles(
if (img_params->ok) { if (img_params->ok) {
CheckSpecVersion(spec_ver); CheckSpecVersion(spec_ver);
from_data(img_params, data + i, 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); // CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
} }
} break; } break;

1
src/internal/config.cc
View File

@ -21,6 +21,7 @@ const std::map<Model, StreamSupports> stream_supports_map = {
const std::map<Model, CapabilitiesSupports> capabilities_supports_map = { const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
{Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}}; {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
// TODO(Kalman): Compatible with two generation
const std::map<Model, OptionSupports> option_supports_map = { const std::map<Model, OptionSupports> option_supports_map = {
{Model::STANDARD, {Model::STANDARD,
{Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN, {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,