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refactor(channel):init channel need model

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This commit is contained in:
kalman 2018-12-22 16:17:47 +08:00
parent 618f2c02e5
commit 5800e1c6c8
8 changed files with 37 additions and 27 deletions
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10
src/mynteye/device/channels.cc
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@ -120,13 +120,15 @@ void CheckSpecVersion(const Version *spec_version) {
} // namespace
Channels::Channels(std::shared_ptr<uvc::device> device)
Channels::Channels(const Model &model, std::shared_ptr<uvc::device> device)
: device_(device),
model_(model),
is_imu_tracking_(false),
imu_track_stop_(false),
imu_sn_(0),
imu_callback_(nullptr) {
VLOG(2) << __func__;
imu_res_version_ = (model == Model::STANDARD) ? 1 : 2;
// UpdateControlInfos();
}
@ -327,13 +329,17 @@ bool Channels::RunControlAction(const Option &option) const {
}
}
std::uint8_t Channels::GetImuResVersion() {
return imu_res_version_;
}
void Channels::SetImuCallback(imu_callback_t callback) {
imu_callback_ = callback;
}
void Channels::DoImuTrack() {
static ImuReqPacket req_packet{0};
static ImuResPacket res_packet(model_);
static ImuResPacket res_packet(imu_res_version_);
req_packet.serial_number = imu_sn_;
if (!XuImuWrite(req_packet)) {

11
src/mynteye/device/channels.h
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@ -71,9 +71,8 @@ class MYNTEYE_API Channels {
using img_params_t = std::map<Resolution, device::img_params_t>;
using imu_params_t = device::imu_params_t;
std::uint8_t model_;
explicit Channels(std::shared_ptr<uvc::device> device);
explicit Channels(
const Model &model, std::shared_ptr<uvc::device> device);
~Channels();
void LogControlInfos() const;
@ -85,6 +84,8 @@ class MYNTEYE_API Channels {
bool RunControlAction(const Option &option) const;
std::uint8_t GetImuResVersion();
void SetImuCallback(imu_callback_t callback);
void DoImuTrack();
@ -131,6 +132,10 @@ class MYNTEYE_API Channels {
control_info_t PuControlInfo(Option option) const;
control_info_t XuControlInfo(Option option) const;
std::uint8_t imu_res_version_;
Model model_;
std::shared_ptr<uvc::device> device_;
std::map<Option, control_info_t> control_infos_;

2
src/mynteye/device/device.cc
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@ -85,7 +85,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
model_(model),
device_(device),
streams_(nullptr),
channels_(std::make_shared<Channels>(device)),
channels_(std::make_shared<Channels>(model_, device)),
motions_(std::make_shared<Motions>(channels_)) {
VLOG(2) << __func__;
ReadAllInfos();

5
src/mynteye/device/motions.cc
View File

@ -36,7 +36,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
if (motion_callback_) {
accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
if (accel_range == -1)
accel_range = (channels_->model_) ? 8 : 12; // ugly
accel_range = (channels_->GetImuResVersion() == 1) ? 8 : 12;
gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
if (gyro_range == -1)
@ -78,8 +78,7 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
}
}
void Motions::DoMotionTrack(std::uint8_t model) {
channels_->model_ = model;
void Motions::DoMotionTrack() {
channels_->DoImuTrack();
}

6
src/mynteye/device/motions.h
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@ -37,7 +37,7 @@ class Motions {
~Motions();
void SetMotionCallback(motion_callback_t callback);
void DoMotionTrack(std::uint8_t model);
void DoMotionTrack();
void StartMotionTracking();
void StopMotionTracking();
@ -58,8 +58,8 @@ class Motions {
std::mutex mtx_datas_;
int accel_range = 12;
int gyro_range = 1000;
int accel_range;
int gyro_range;
};
MYNTEYE_END_NAMESPACE

2
src/mynteye/device/standard/device_s.cc
View File

@ -44,7 +44,7 @@ void StandardDevice::StartVideoStreaming() {
void StandardDevice::OnStereoStreamUpdate() {
if (motion_tracking_) {
auto &&motions = this->motions();
motions->DoMotionTrack(1);
motions->DoMotionTrack();
}
}

2
src/mynteye/device/standard2/device_s2.cc
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@ -39,7 +39,7 @@ std::shared_ptr<StreamsAdapter> Standard2Device::CreateStreamsAdapter() const {
void Standard2Device::OnStereoStreamUpdate() {
if (motion_tracking_) {
auto &&motions = this->motions();
motions->DoMotionTrack(2);
motions->DoMotionTrack();
}
}

26
src/mynteye/device/types.h
View File

@ -322,9 +322,9 @@ struct ImuSegment {
gyro[2] = (flag == 2) ? group.accel_or_gyro[2] : 0;
}
explicit ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
ImuSegment(std::uint32_t timestamp, ImuGroupS1 group) {
frame_id = static_cast<uint32_t> (group.frame_id);
this->timestamp = static_cast<uint64_t> (timestamp + group.offset);
this->timestamp = static_cast<uint64_t> (timestamp + group.offset) * 10;
flag = 3;
temperature = group.temperature;
accel[0] = group.accel[0];
@ -343,19 +343,19 @@ struct ImuSegment {
*/
#pragma pack(push, 1)
struct ImuPacket {
std::uint8_t model;
std::uint8_t version;
std::uint8_t count;
std::uint32_t serial_number;
std::vector<ImuSegment> segments;
ImuPacket() = default;
explicit ImuPacket(
std::uint8_t model, std::uint8_t seg_count, std::uint8_t *data)
: model(model), count(seg_count) {
std::uint8_t version, std::uint8_t seg_count, std::uint8_t *data)
: version(version), count(seg_count) {
from_data(data);
}
void from_data(std::uint8_t *data) {
if (model == 1) {
if (version == 1) {
serial_number =
(*(data) << 24) | (*(data + 1) << 16) |
(*(data + 2) << 8) | *(data + 3);
@ -369,7 +369,7 @@ struct ImuPacket {
ImuGroupS1 group(data + 9 + (seg_n * i));
segments.push_back(ImuSegment(timestamp, group));
}
} else if (model == 2) {
} else if (version == 2) {
std::size_t seg_n = sizeof(ImuGroupS2); // 21
for (std::size_t i = 0; i < count; i++) {
ImuGroupS2 group(data + seg_n * i);
@ -387,7 +387,7 @@ struct ImuPacket {
*/
#pragma pack(push, 1)
struct ImuResPacket {
std::uint8_t model;
std::uint8_t version;
std::uint8_t header;
std::uint8_t state;
std::uint16_t size;
@ -395,27 +395,27 @@ struct ImuResPacket {
std::uint8_t checksum;
ImuResPacket() = default;
explicit ImuResPacket(std::uint8_t model) : model(model) {}
explicit ImuResPacket(std::uint8_t version) : version(version) {}
void from_data(std::uint8_t *data) {
header = *data;
state = *(data + 1);
size = (*(data + 2) << 8) | *(data + 3);
if (model == 1) {
if (version == 1) {
std::size_t seg_n = sizeof(ImuGroupS1); // 18
for (std::size_t i = 4; i < size;) {
ImuPacket packet(model, 0, data + i);
ImuPacket packet(version, 0, data + i);
packets.push_back(packet);
i += 9 + (packet.count * seg_n);
}
checksum = *(data + 4 + size);
}
if (model == 2) {
if (version == 2) {
std::size_t seg_n = sizeof(ImuGroupS2); // 21
std::uint8_t seg_count = size / seg_n;
ImuPacket packet(model, seg_count, data + 4);
ImuPacket packet(version, seg_count, data + 4);
packets.push_back(packet);
// packet(2);
checksum = *(data + 4 + size);