From 5017d5c901f348af0d14a9fb8a4cb12b3f8dc90d Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Fri, 29 Mar 2019 17:06:28 +0800
Subject: [PATCH] feat(*): add external time source flag in img data

---
 include/mynteye/types.h                            | 5 +++++
 src/mynteye/device/standard2/streams_adapter_s2.cc | 8 +++++---
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 28cf85e..db9f197 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -660,11 +660,14 @@ struct MYNTEYE_API ImgData {
   std::uint64_t timestamp;
   /** Image exposure time, virtual value in [1, 480] */
   std::uint16_t exposure_time;
+  /** Is external time source */
+  bool is_etc = false;
 
   void Reset() {
     frame_id = 0;
     timestamp = 0;
     exposure_time = 0;
+    is_etc = false;
   }
 
   ImgData() {
@@ -674,11 +677,13 @@ struct MYNTEYE_API ImgData {
     frame_id = other.frame_id;
     timestamp = other.timestamp;
     exposure_time = other.exposure_time;
+    is_etc = other.is_etc;
   }
   ImgData &operator=(const ImgData &other) {
     frame_id = other.frame_id;
     timestamp = other.timestamp;
     exposure_time = other.exposure_time;
+    is_etc = other.is_etc;
     return *this;
   }
 };
diff --git a/src/mynteye/device/standard2/streams_adapter_s2.cc b/src/mynteye/device/standard2/streams_adapter_s2.cc
index ea497c4..ee02dac 100644
--- a/src/mynteye/device/standard2/streams_adapter_s2.cc
+++ b/src/mynteye/device/standard2/streams_adapter_s2.cc
@@ -32,7 +32,8 @@ struct ImagePacket {
   std::uint64_t timestamp;
   std::uint16_t exposure_time;
   std::uint8_t checksum;
-
+  // Is external time source
+  bool is_etc;
   ImagePacket() = default;
   explicit ImagePacket(std::uint8_t *data) {
     from_data(data);
@@ -41,8 +42,8 @@ struct ImagePacket {
   void from_data(std::uint8_t *data) {
     std::uint32_t timestamp_l;
     std::uint32_t timestamp_h;
-
-    header = *data;
+    header = *data & 0b0111;
+    is_ets = (*data & 0b1000 == 0b1000);
     size = *(data + 1);
     frame_id = (*(data + 2) << 8) | *(data + 3);
     timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
@@ -138,6 +139,7 @@ bool unpack_stereo_img_data(
   img->frame_id = img_packet.frame_id;
   img->timestamp = img_packet.timestamp;
   img->exposure_time = img_packet.exposure_time;
+  img->is_etc = img_packet.is_etc;
   return true;
 }