Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

include/mynteye/types.h

@@ -259,6 +259,14 @@ enum class Option : std::uint8_t {
    */
   GYROSCOPE_LOW_PASS_FILTER,
 
+  /**
+   * The setting of IIC address
+   * <p>
+   *   range: [0,65535], default: 0
+   * </p>
+   */
+  IIC_ADDRESS_SETTING,
+
   /** Zero drift calibration */
   ZERO_DRIFT_CALIBRATION,
   /** Erase chip */

src/mynteye/device/channel/channels.cc

@@ -80,6 +80,9 @@ int XuCamCtrlId(Option option) {
     case Option::GYROSCOPE_LOW_PASS_FILTER:
       return 12;
       break;
+    case Option::IIC_ADDRESS_SETTING:
+      return 13;
+      break;
     default:
       LOG(FATAL) << "No cam ctrl id for " << option;
   }
@@ -148,7 +151,8 @@ void Channels::UpdateControlInfos() {
       Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
       Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
       Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-      Option::GYROSCOPE_LOW_PASS_FILTER}) {
+      Option::GYROSCOPE_LOW_PASS_FILTER,
+      Option::IIC_ADDRESS_SETTING}) {
     if (supports.find(option) != supports.end())
       control_infos_[option] = XuControlInfo(option);
   }
@@ -196,6 +200,7 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
     case Option::GYROSCOPE_RANGE:
     case Option::ACCELEROMETER_LOW_PASS_FILTER:
     case Option::GYROSCOPE_LOW_PASS_FILTER:
+    case Option::IIC_ADDRESS_SETTING:
       return XuCamCtrlGet(option);
     case Option::ZERO_DRIFT_CALIBRATION:
     case Option::ERASE_CHIP:
@@ -277,7 +282,8 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     case Option::DESIRED_BRIGHTNESS:
     case Option::IR_CONTROL:
     case Option::HDR_MODE:
-    case Option::MIN_EXPOSURE_TIME: {
+    case Option::MIN_EXPOSURE_TIME:
+    case Option::IIC_ADDRESS_SETTING: {
       if (!in_range())
         break;
       XuCamCtrlSet(option, value);
@@ -313,6 +319,7 @@ bool Channels::RunControlAction(const Option &option) const {
     case Option::GYROSCOPE_RANGE:
     case Option::ACCELEROMETER_LOW_PASS_FILTER:
     case Option::GYROSCOPE_LOW_PASS_FILTER:
+    case Option::IIC_ADDRESS_SETTING:
       LOG(WARNING) << option << " run action useless";
       return false;
     default:

src/mynteye/device/config.cc

@@ -53,7 +53,7 @@ const std::map<Model, OptionSupports> option_supports_map = {
       Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
     Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
     Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
-    Option::ERASE_CHIP}
+    Option::IIC_ADDRESS_SETTING, Option::ERASE_CHIP}
   }
 };
 

src/mynteye/types.cc

@@ -122,6 +122,7 @@ const char *to_string(const Option &value) {
     CASE(GYROSCOPE_RANGE)
     CASE(ACCELEROMETER_LOW_PASS_FILTER)
     CASE(GYROSCOPE_LOW_PASS_FILTER)
+    CASE(IIC_ADDRESS_SETTING)
     CASE(ZERO_DRIFT_CALIBRATION)
     CASE(ERASE_CHIP)
     default:

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/cpp/option.hpp

@@ -95,6 +95,11 @@ enum class Option : int {
      *  values: {23,64}, default: 64
      */
     GYROSCOPE_LOW_PASS_FILTER,
+    /**
+    * The setting of IIC address
+    *   range: [0,65535], default: 0
+    */
+    IIC_ADDRESS_SETTING,
     /** Zero drift calibration */
     ZERO_DRIFT_CALIBRATION,
     /** Erase chip */

wrappers/android/mynteye/libmynteye/src/main/cpp/mynteye/impl/type_conversion.hpp

@@ -277,6 +277,8 @@ RawOption from_jni(const JniOption& Option) {
       return RawOption::ACCELEROMETER_LOW_PASS_FILTER;
     case JniOption::GYROSCOPE_LOW_PASS_FILTER:
       return RawOption::GYROSCOPE_LOW_PASS_FILTER;
+    case JniOption::IIC_ADDRESS_SETTING:
+      return RawOption::IIC_ADDRESS_SETTING;
     case JniOption::ZERO_DRIFT_CALIBRATION:
       return RawOption::ZERO_DRIFT_CALIBRATION;
     case JniOption::ERASE_CHIP:
@@ -321,6 +323,8 @@ JniOption to_jni(const RawOption& Option) {
       return JniOption::ACCELEROMETER_LOW_PASS_FILTER;
     case RawOption::GYROSCOPE_LOW_PASS_FILTER:
       return JniOption::GYROSCOPE_LOW_PASS_FILTER;
+    case JniOption::IIC_ADDRESS_SETTING:
+      return RawOption::IIC_ADDRESS_SETTING;
     case RawOption::ZERO_DRIFT_CALIBRATION:
       return JniOption::ZERO_DRIFT_CALIBRATION;
     case RawOption::ERASE_CHIP:

wrappers/android/mynteye/libmynteye/src/main/java/com/slightech/mynteye/Option.java

@@ -95,6 +95,11 @@ public enum Option {
      *  values: {23,64}, default: 64
      */
     GYROSCOPE_LOW_PASS_FILTER,
+    /**
+    * The setting of IIC address
+    *   range: [0,65535], default: 0
+    */
+    IIC_ADDRESS_SETTING,
     /** Zero drift calibration */
     ZERO_DRIFT_CALIBRATION,
     /** Erase chip */

wrappers/android/mynteye/scripts/mynteye_types.djinni

@@ -178,6 +178,10 @@ option = enum {
   #  values: {23,64}, default: 64
   gyroscope_low_pass_filter;
 
+  iic_address_setting;
+  # The setting of IIC address
+  #  range: [0,65535], default: 0
+
   # Zero drift calibration
   zero_drift_calibration;
   # Erase chip

wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml

@@ -106,3 +106,7 @@ standard210a/accel_low_filter: -1
 # standard210a/gyro_low_filter range: [23,64]
 standard210a/gyro_low_filter: -1
 # standard210a/gyro_low_filter: 64
+
+# standard210a/iic_address_setting range: [0,65535]
+standard210a/iic_address_setting: -1
+# standard210a/iic_address_setting: 0

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch

@@ -2,6 +2,4 @@
 <launch>
       <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_1.launch" />
       <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_2.launch" />
-      <!-- <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_3.launch" />
-      <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_4.launch" /> -->
 </launch>

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -250,7 +250,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           {Option::GYROSCOPE_RANGE, "standard210a/gyro_range"},
           {Option::ACCELEROMETER_LOW_PASS_FILTER,
                   "standard210a/accel_low_filter"},
-          {Option::GYROSCOPE_LOW_PASS_FILTER, "standard210a/gyro_low_filter"}};
+          {Option::GYROSCOPE_LOW_PASS_FILTER, "standard210a/gyro_low_filter"}
+          {Option::IIC_ADDRESS_SETTING, "standard2/iic_address_setting"}};
     }
 
     // device options of standard2
@@ -1098,6 +1099,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     Context context;
     auto &&devices = context.devices();
 
+    size_t n = devices.size();
+    NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
+
+    NODELET_INFO_STREAM("MYNT EYE devices:");
+    for (size_t i = 0; i < n; i++) {
+      auto &&device = devices[i];
+      auto &&name = device->GetInfo(Info::DEVICE_NAME);
+      auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
+      NODELET_INFO_STREAM("  index: " << i << ", name: " <<
+          name << ", serial number: " << serial_number);
+    }
+
     bool is_multiple = false;
     private_nh_.getParam("is_multiple", is_multiple);
     if (is_multiple) {
@@ -1106,48 +1119,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_FATAL_COND(sn.empty(), "Must set serial_number "
           "in mynteye_1.launch and mynteye_2.launch.");
 
-      size_t n = devices.size();
-      NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
-
-      NODELET_INFO_STREAM("MYNT EYE devices:");
       for (size_t i = 0; i < n; i++) {
         auto &&device = devices[i];
         auto &&name = device->GetInfo(Info::DEVICE_NAME);
         auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
-        NODELET_INFO_STREAM("  index: " << i << ", name: " <<
-            name << ", serial number: " << serial_number);
-      }
-      for (size_t i = 0; i < n; i++) {
-        auto &&device = devices[i];
-        auto &&name = device->GetInfo(Info::DEVICE_NAME);
-        auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
-        NODELET_INFO_STREAM("  index: " << i << ", name: " <<
-            name << ", serial number: " << serial_number);
         if (sn == serial_number)
           return device;
-#if 0
-        if (i == (n - 1)) {
-          /*
         NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
             " check the serial_number configuration. ");
-              */
-          NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
-              " check the serial_number configuration. ");
-          return nullptr;
       }
-#endif
+    } else {
-      }
-    }
-    size_t n = devices.size();
-    NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
-
-    NODELET_INFO_STREAM("MYNT EYE devices:");
-    for (size_t i = 0; i < n; i++) {
-      auto &&device = devices[i];
-      auto &&name = device->GetInfo(Info::DEVICE_NAME);
-      NODELET_INFO_STREAM("  index: " << i << ", name: " << name);
-    }
-
       if (n <= 1) {
         NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
         return devices[0];
@@ -1164,6 +1145,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           return devices[i];
         }
       }
+    }
 
     return nullptr;
   }