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feat(file_channel): always set params with new version format

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This commit is contained in:
John Zhao 2019-01-05 23:17:30 +08:00
parent 05c5c1f238
commit a67bd6a04e
1 changed files with 38 additions and 45 deletions
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73
src/mynteye/device/channel/file_channel.cc
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@ -176,33 +176,23 @@ ImgParamsParser::~ImgParamsParser() {
std::size_t ImgParamsParser::GetFromData(
const std::uint8_t *data, const std::uint16_t &data_size,
img_params_t *img_params) const {
if (spec_version_ == Version(1, 0) || spec_version_ == Version(1, 1)) {
// get img params without version header
if (spec_version_ == Version(1, 0)) {
// s1030 old params
if (spec_version_ == Version(1, 0) && data_size == 250) {
return GetFromData_v1_0(data, data_size, img_params);
} else {
}
// s210a old params
if (spec_version_ == Version(1, 1) && data_size == 404) {
return GetFromData_v1_1(data, data_size, img_params);
}
} else {
// get img params with version header
// get img params with new version format
return GetFromData_new(data, data_size, img_params);
}
}
std::size_t ImgParamsParser::SetToData(
const img_params_t *img_params, std::uint8_t *data) const {
if (spec_version_ == Version(1, 0) || spec_version_ == Version(1, 1)) {
// set img params without version header
if (spec_version_ == Version(1, 0)) {
return SetToData_v1_0(img_params, data);
} else {
return SetToData_v1_1(img_params, data);
}
} else {
// set img params with version header
// always set img params with new version format
return SetToData_new(img_params, data);
}
}
std::size_t ImgParamsParser::GetFromData_v1_0(
const std::uint8_t *data, const std::uint16_t &data_size,
@ -356,14 +346,16 @@ std::size_t ImgParamsParser::SetToData_new(
return 0;
}
Version version_new(1, 2); // new version
Version version_raw(img_params->begin()->second.version);
std::size_t i = 3; // skip id, size
// version, 2
Version version(img_params->begin()->second.version);
data[i] = version.major();
data[i + 1] = version.minor();
data[i] = version_new.major();
data[i + 1] = version_new.minor();
i += 2;
// set img params according to version
if (version == Version(1, 2)) { // v1.2
// set img params with new version format
if (version_raw <= version_new) {
for (auto &&entry : *img_params) {
auto &&params = entry.second;
// calib_model, 1
@ -382,7 +374,7 @@ std::size_t ImgParamsParser::SetToData_new(
}
} else {
LOG(FATAL) << "Could not set img params of version "
<< version.to_string() << ", please use latest SDK.";
<< version_raw.to_string() << ", please use latest SDK.";
}
// others
@ -404,25 +396,23 @@ ImuParamsParser::~ImuParamsParser() {
std::size_t ImuParamsParser::GetFromData(
const std::uint8_t *data, const std::uint16_t &data_size,
imu_params_t *imu_params) const {
if (spec_version_ == Version(1, 0) || spec_version_ == Version(1, 1)) {
// get imu params without version header
// s1030 old params
if (spec_version_ == Version(1, 0) && data_size == 384) {
return GetFromData_old(data, data_size, imu_params);
} else {
// get imu params with version header
return GetFromData_new(data, data_size, imu_params);
}
// s210a old params
if (spec_version_ == Version(1, 1) && data_size == 384) {
return GetFromData_old(data, data_size, imu_params);
}
// get imu params with new version format
return GetFromData_new(data, data_size, imu_params);
}
std::size_t ImuParamsParser::SetToData(
const imu_params_t *imu_params, std::uint8_t *data) const {
if (spec_version_ == Version(1, 0) || spec_version_ == Version(1, 1)) {
// set imu params without version header
return SetToData_old(imu_params, data);
} else {
// set imu params with version header
// always set imu params with new version format
return SetToData_new(imu_params, data);
}
}
std::size_t ImuParamsParser::GetFromData_old(
const std::uint8_t *data, const std::uint16_t &data_size,
@ -473,19 +463,22 @@ std::size_t ImuParamsParser::GetFromData_new(
std::size_t ImuParamsParser::SetToData_new(
const imu_params_t *imu_params, std::uint8_t *data) const {
std::size_t i = 3; // skip id, size
Version version_new(1, 2); // new version
Version version_raw(imu_params->version);
// version, 2
Version version(imu_params->version);
data[i] = version.major();
data[i + 1] = version.minor();
data[i] = version_new.major();
data[i + 1] = version_new.minor();
i += 2;
// set imu params according to version
if (version == Version(1, 2)) { // v1.2
// set imu params with new version format
if (version_raw <= version_new) {
i += bytes::to_data(&imu_params->in_accel, data + i);
i += bytes::to_data(&imu_params->in_gyro, data + i);
i += bytes::to_data(&imu_params->ex_left_to_imu, data + i);
} else {
LOG(FATAL) << "Could not set imu params of version "
<< version.to_string() << ", please use latest SDK.";
<< version_raw.to_string() << ", please use latest SDK.";
}
// others
std::size_t size = i - 3;