Add streams & its request

CMakeLists.txt

@@ -92,6 +92,7 @@ endif()
 set(MYNTEYE_SRCS
   ${UVC_SRC}
   src/internal/config.cc
+  src/internal/streams.cc
   src/internal/strings.cc
   src/internal/types.cc
   src/public/types.cc

include/mynteye/types.h

@@ -212,6 +212,8 @@ inline std::ostream &operator<<(std::ostream &os, const Format &value) {
   return os << to_string(value);
 }
 
+std::size_t bytes_per_pixel(const Format &value);
+
 /**
  * Stream request.
  */
@@ -224,6 +226,14 @@ struct MYNTEYE_API StreamRequest {
   Format format;
   /** frames per second */
   std::uint16_t fps;
+
+  bool operator==(const StreamRequest &other) const {
+    return width == other.width && height == other.height &&
+           format == other.format && fps == other.fps;
+  }
+  bool operator!=(const StreamRequest &other) const {
+    return !(*this == other);
+  }
 };
 
 /**

src/device/device.cc

@@ -2,8 +2,12 @@
 
 #include <glog/logging.h>
 
+#include <algorithm>
+#include <stdexcept>
+
 #include "device/device_s.h"
 #include "internal/config.h"
+#include "internal/streams.h"
 #include "internal/strings.h"
 #include "internal/types.h"
 #include "uvc/uvc.h"
@@ -11,7 +15,11 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
-    : model_(model), device_(device) {
+    : video_streaming_(false),
+      motion_tracking_(false),
+      model_(model),
+      device_(device),
+      streams_(nullptr) {
   VLOG(2) << __func__;
   ReadDeviceInfo();
 }
@@ -31,20 +39,45 @@ std::shared_ptr<Device> Device::Create(
 }
 
 bool Device::Supports(const Stream &stream) const {
-  auto &&supports = stream_supports_map.at(Model::STANDARD);
+  auto &&supports = stream_supports_map.at(model_);
   return supports.find(stream) != supports.end();
 }
 
 bool Device::Supports(const Capabilities &capability) const {
-  auto &&supports = capabilities_supports_map.at(Model::STANDARD);
+  auto &&supports = capabilities_supports_map.at(model_);
   return supports.find(capability) != supports.end();
 }
 
 bool Device::Supports(const Option &option) const {
-  auto &&supports = option_supports_map.at(Model::STANDARD);
+  auto &&supports = option_supports_map.at(model_);
   return supports.find(option) != supports.end();
 }
 
+const std::vector<StreamRequest> &Device::GetStreamRequests(
+    const Capabilities &capability) const {
+  if (!Supports(capability)) {
+    LOG(FATAL) << "Unsupported capability: " << to_string(capability);
+  }
+  try {
+    auto &&cap_requests = stream_requests_map.at(model_);
+    return cap_requests.at(capability);
+  } catch (const std::out_of_range &e) {
+    LOG(FATAL) << "Stream request of " << capability << " of " << model_
+               << " not found";
+  }
+}
+
+void Device::ConfigStreamRequest(
+    const Capabilities &capability, const StreamRequest &request) {
+  auto &&requests = GetStreamRequests(capability);
+  if (std::find(requests.cbegin(), requests.cend(), request) ==
+      requests.cend()) {
+    LOG(FATAL) << "Config stream request of " << capability
+               << " is not accpected";
+  }
+  stream_config_requests_[capability] = request;
+}
+
 std::shared_ptr<DeviceInfo> Device::GetInfo() const {
   return device_info_;
 }
@@ -139,26 +172,86 @@ void Device::Stop(const Source &source) {
   }
 }
 
-StreamRequest Device::GetStreamRequest(const Capabilities &capability) const {
+const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
-  if (!Supports(capability)) {
+  try {
-    LOG(FATAL) << "Unsupported capability: " << to_string(capability);
+    return stream_config_requests_[capability];
+  } catch (const std::out_of_range &e) {
+    auto &&requests = GetStreamRequests(capability);
+    if (requests.size() == 1) {
+      VLOG(2) << "Get the only one stream request of " << capability;
+      return requests[0];
+    } else {
+      LOG(FATAL) << "Please config the stream request of " << capability;
+    }
   }
-  auto &&requests = stream_requests_map.at(Model::STANDARD);
-  return requests.at(capability);
 }
 
-void Device::StartVideoStreaming() {}
+void Device::StartVideoStreaming() {
+  if (video_streaming_) {
+    LOG(WARNING) << "Cannot start video streaming without first stopping it";
+    return;
+  }
 
-void Device::StopVideoStreaming() {}
+  streams_ = std::make_shared<Streams>();
+
+  // if stream capabilities are supported with subdevices of device_
+  /*
+  Capabilities stream_capabilities[] = {
+    Capabilities::STEREO,
+    Capabilities::COLOR,
+    Capabilities::DEPTH,
+    Capabilities::POINTS,
+    Capabilities::FISHEYE,
+    Capabilities::INFRARED,
+    Capabilities::INFRARED2
+  };
+  for (auto &&capability : stream_capabilities) {
+  }
+  */
+  if (Supports(Capabilities::STEREO)) {
+    // do stream request selection if more than one request of each stream
+    auto &&stream_request = GetStreamRequest(Capabilities::STEREO);
+    streams_->ConfigStream(Capabilities::STEREO, stream_request);
+    uvc::set_device_mode(
+        *device_, stream_request.width, stream_request.height,
+        static_cast<int>(stream_request.format), stream_request.fps,
+        [this](const void *data) {
+          streams_->PushStream(Capabilities::STEREO, data);
+          // ...
+        });
+  } else {
+    LOG(FATAL) << "Not any stream capabilities are supported by this device";
+  }
+
+  uvc::start_streaming(*device_, 0);
+  video_streaming_ = true;
+}
+
+void Device::StopVideoStreaming() {
+  if (!video_streaming_) {
+    LOG(WARNING) << "Cannot stop video streaming without first starting it";
+    return;
+  }
+  stop_streaming(*device_);
+  video_streaming_ = false;
+}
 
 void Device::StartMotionTracking() {
   if (!Supports(Capabilities::IMU)) {
-    LOG(FATAL) << "IMU is not supported by this device";
+    LOG(FATAL) << "IMU capability is not supported by this device";
+  }
+  if (motion_tracking_) {
+    LOG(WARNING) << "Cannot start motion tracking without first stopping it";
+    return;
   }
   // TODO(JohnZhao)
 }
 
 void Device::StopMotionTracking() {
+  if (!motion_tracking_) {
+    LOG(WARNING) << "Cannot stop motion tracking without first starting it";
+    return;
+  }
   // TODO(JohnZhao)
 }
 

src/device/device.h

@@ -5,6 +5,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -21,6 +22,8 @@ struct device;
 
 struct DeviceInfo;
 
+class Streams;
+
 class Device {
  public:
   using stream_callback_t = device::StreamCallback;
@@ -42,6 +45,11 @@ class Device {
   bool Supports(const Capabilities &capability) const;
   bool Supports(const Option &option) const;
 
+  const std::vector<StreamRequest> &GetStreamRequests(
+      const Capabilities &capability) const;
+  void ConfigStreamRequest(
+      const Capabilities &capability, const StreamRequest &request);
+
   std::shared_ptr<DeviceInfo> GetInfo() const;
   std::string GetInfo(const Info &info) const;
 
@@ -66,7 +74,7 @@ class Device {
     return device_info_;
   }
 
-  StreamRequest GetStreamRequest(const Capabilities &capability) const;
+  const StreamRequest &GetStreamRequest(const Capabilities &capability);
 
   virtual void StartVideoStreaming();
   virtual void StopVideoStreaming();
@@ -74,6 +82,9 @@ class Device {
   virtual void StartMotionTracking();
   virtual void StopMotionTracking();
 
+  bool video_streaming_;
+  bool motion_tracking_;
+
  private:
   Model model_;
   std::shared_ptr<uvc::device> device_;
@@ -87,6 +98,10 @@ class Device {
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
+  std::shared_ptr<Streams> streams_;
+
+  std::map<Capabilities, StreamRequest> stream_config_requests_;
+
   void ReadDeviceInfo();
 
   void WriteImgIntrinsics(const ImgIntrinsics &intrinsics);

src/internal/callbacks.h

@@ -2,7 +2,10 @@
 #define MYNTEYE_INTERNAL_CALLBACKS_H_
 #pragma once
 
+#include <cstdint>
 #include <functional>
+#include <memory>
+#include <vector>
 
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
@@ -11,8 +14,48 @@ MYNTEYE_BEGIN_NAMESPACE
 
 namespace device {
 
+class Frame {
+ public:
+  using data_t = std::vector<std::uint8_t>;
+
+  Frame(const StreamRequest &request, const void *data)
+      : Frame(request.width, request.height, request.format, data) {}
+
+  Frame(
+      std::uint16_t width, std::uint16_t height, Format format,
+      const void *data)
+      : width_(width), height_(height), format_(format) {
+    const std::uint8_t *bytes = static_cast<const std::uint8_t *>(data);
+    data_ = data_t(bytes, bytes + (width * height) * bytes_per_pixel(format));
+  }
+
+  std::uint16_t width() const {
+    return width_;
+  }
+
+  std::uint16_t height() const {
+    return height_;
+  }
+
+  Format format() const {
+    return format_;
+  }
+
+  const data_t &data() const {
+    return data_;
+  }
+
+ private:
+  std::uint16_t width_;
+  std::uint16_t height_;
+  Format format_;
+
+  data_t data_;
+};
+
 struct MYNTEYE_API StreamData {
   ImgData img;
+  std::shared_ptr<Frame> frame;
 };
 
 struct MYNTEYE_API MotionData {

src/internal/config.cc

@@ -15,7 +15,9 @@ const std::map<Model, OptionSupports> option_supports_map = {
       Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
       Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP}}};
 
-const std::map<Model, StreamRequests> stream_requests_map = {
+const std::map<Model, std::map<Capabilities, StreamRequests>>
-    {Model::STANDARD, {{Capabilities::STEREO, {752, 480, Format::YUYV, 25}}}}};
+    stream_requests_map = {
+        {Model::STANDARD,
+         {{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
 
 MYNTEYE_END_NAMESPACE

src/internal/config.h

@@ -19,9 +19,10 @@ extern const std::map<Model, StreamSupports> stream_supports_map;
 extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
 extern const std::map<Model, OptionSupports> option_supports_map;
 
-using StreamRequests = std::map<Capabilities, StreamRequest>;
+using StreamRequests = std::vector<StreamRequest>;
 
-extern const std::map<Model, StreamRequests> stream_requests_map;
+extern const std::map<Model, std::map<Capabilities, StreamRequests>>
+    stream_requests_map;
 
 MYNTEYE_END_NAMESPACE
 

src/internal/streams.cc

@@ -0,0 +1,63 @@
+#include "internal/streams.h"
+
+#include <glog/logging.h>
+
+#include <algorithm>
+
+MYNTEYE_BEGIN_NAMESPACE
+
+Streams::Streams()
+    : stream_capabilities_(
+          {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
+           Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
+           Capabilities::INFRARED2}) {
+  VLOG(2) << __func__;
+}
+
+Streams::~Streams() {
+  VLOG(2) << __func__;
+}
+
+void Streams::ConfigStream(
+    const Capabilities &capability, const StreamRequest &request) {
+  if (!IsStreamCapability(capability)) {
+    LOG(FATAL) << "Cannot config stream without stream capability";
+  }
+  stream_config_requests_[capability] = request;
+}
+
+void Streams::PushStream(const Capabilities &capability, const void *data) {
+  if (!HasStreamConfigRequest(capability)) {
+    LOG(FATAL) << "Cannot push stream without stream config request";
+  }
+  auto frame =
+      std::make_shared<frame_t>(GetStreamConfigRequest(capability), data);
+  // stream_datas_map_[Stream::LEFT];
+  // stream_datas_map_[Stream::RIGHT];
+}
+
+bool Streams::IsStreamCapability(const Capabilities &capability) const {
+  return std::find(
+             stream_capabilities_.begin(), stream_capabilities_.end(),
+             capability) != stream_capabilities_.end();
+}
+
+bool Streams::HasStreamConfigRequest(const Capabilities &capability) const {
+  return stream_config_requests_.find(capability) !=
+         stream_config_requests_.end();
+}
+
+const StreamRequest &Streams::GetStreamConfigRequest(
+    const Capabilities &capability) const {
+  return stream_config_requests_.at(capability);
+}
+
+bool Streams::HasStreamDatas(const Stream &stream) const {
+  return stream_datas_map_.find(stream) != stream_datas_map_.end();
+}
+
+Streams::stream_datas_t &Streams::GetStreamDatas(const Stream &stream) {
+  return stream_datas_map_[stream];
+}
+
+MYNTEYE_END_NAMESPACE

src/internal/streams.h

@@ -0,0 +1,60 @@
+#ifndef MYNTEYE_INTERNAL_STREAMS_H_  // NOLINT
+#define MYNTEYE_INTERNAL_STREAMS_H_
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "mynteye/mynteye.h"
+#include "mynteye/types.h"
+
+#include "internal/callbacks.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace streams {
+
+class Stream {
+ public:
+};
+
+}  // namesapce streams
+
+class Streams {
+ public:
+  using frame_t = device::Frame;
+  using stream_data_t = device::StreamData;
+  using stream_datas_t = std::vector<stream_data_t>;
+
+  Streams();
+  ~Streams();
+
+  void ConfigStream(
+      const Capabilities &capability, const StreamRequest &request);
+
+  void PushStream(const Capabilities &capability, const void *data);
+
+  // void WaitForStreams() const;
+
+  // std::vector<StreamData> GetStreamData(const Stream &stream) const;
+  // StreamData GetLatestStreamData(const Stream &stream) const;
+
+ private:
+  bool IsStreamCapability(const Capabilities &capability) const;
+  bool HasStreamConfigRequest(const Capabilities &capability) const;
+
+  const StreamRequest &GetStreamConfigRequest(
+      const Capabilities &capability) const;
+
+  bool HasStreamDatas(const Stream &stream) const;
+  stream_datas_t &GetStreamDatas(const Stream &stream);
+
+  std::vector<Capabilities> stream_capabilities_;
+  std::map<Capabilities, StreamRequest> stream_config_requests_;
+
+  std::map<Stream, stream_datas_t> stream_datas_map_;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_INTERNAL_STREAMS_H_ NOLINT

src/public/types.cc

@@ -128,4 +128,13 @@ const char *to_string(const Format &value) {
 #undef CASE
 }
 
+std::size_t bytes_per_pixel(const Format &value) {
+  switch (value) {
+    case Format::YUYV:
+      return 2;
+    default:
+      LOG(FATAL) << "Unknown format";
+  }
+}
+
 MYNTEYE_END_NAMESPACE