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This commit is contained in:
John Zhao 2018-04-10 16:00:38 +08:00
parent 8c0605255b
commit a750622cac
5 changed files with 96 additions and 19 deletions
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4
samples/device/camera.cc
View File

@ -49,8 +49,6 @@ int main(int argc, char *argv[]) {
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
}
*/
/*
{ // manual-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
device->SetOptionValue(Option::GAIN, 20); // [0.48]
@ -61,6 +59,8 @@ int main(int argc, char *argv[]) {
*/
device->LogOptionInfos();
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
std::size_t left_count = 0;
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {

12
src/device/device.cc
View File

@ -131,6 +131,10 @@ ImuExtrinsics Device::GetImuExtrinsics() const {
return imu_extrinsics_;
}
void Device::LogOptionInfos() const {
channels_->LogControlInfos();
}
OptionInfo Device::GetOptionInfo(const Option &option) const {
if (!Supports(option)) {
LOG(WARNING) << "Unsupported option: " << option;
@ -156,8 +160,12 @@ void Device::SetOptionValue(const Option &option, std::int32_t value) {
channels_->SetControlValue(option, value);
}
void Device::LogOptionInfos() const {
channels_->LogControlInfos();
bool Device::RunOptionAction(const Option &option) const {
if (!Supports(option)) {
LOG(WARNING) << "Unsupported option: " << option;
return false;
}
return channels_->RunControlAction(option);
}
void Device::SetStreamCallback(

5
src/device/device.h
View File

@ -61,10 +61,13 @@ class Device {
ImuIntrinsics GetImuIntrinsics() const;
ImuExtrinsics GetImuExtrinsics() const;
void LogOptionInfos() const;
OptionInfo GetOptionInfo(const Option &option) const;
std::int32_t GetOptionValue(const Option &option) const;
void SetOptionValue(const Option &option, std::int32_t value);
void LogOptionInfos() const;
bool RunOptionAction(const Option &option) const;
void SetStreamCallback(const Stream &stream, stream_callback_t callback);
void SetMotionCallback(motion_callback_t callback);

79
src/internal/channels.cc
View File

@ -39,6 +39,19 @@ int XuCamCtrlId(Option option) {
}
}
int XuHalfDuplexId(Option option) {
switch (option) {
case Option::ZERO_DRIFT_CALIBRATION:
return 0;
break;
case Option::ERASE_CHIP:
return 1;
break;
default:
LOG(FATAL) << "No half duplex id for " << option;
}
}
} // namespace
Channels::Channels(std::shared_ptr<uvc::device> device) : device_(device) {
@ -161,6 +174,30 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
}
}
bool Channels::RunControlAction(const Option &option) const {
switch (option) {
case Option::ZERO_DRIFT_CALIBRATION:
return XuHalfDuplexSet(option, XU_CMD_ZDC);
case Option::ERASE_CHIP:
return XuHalfDuplexSet(option, XU_CMD_ERASE);
case Option::GAIN:
case Option::BRIGHTNESS:
case Option::CONTRAST:
case Option::FRAME_RATE:
case Option::IMU_FREQUENCY:
case Option::EXPOSURE_MODE:
case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME:
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
LOG(WARNING) << option << " run action useless";
return false;
default:
LOG(FATAL) << "Unsupported option " << option;
}
}
bool Channels::PuControlRange(
Option option, int32_t *min, int32_t *max, int32_t *def) const {
CHECK_NOTNULL(device_);
@ -174,8 +211,9 @@ bool Channels::PuControlQuery(
}
bool Channels::XuControlQuery(
uint8_t selector, uvc::xu_query query, uint16_t size, uint8_t *data) const {
return XuControlQuery({3}, selector, query, size, data);
channel_t channel, uvc::xu_query query, uint16_t size,
uint8_t *data) const {
return XuControlQuery({3}, channel >> 8, query, size, data);
}
bool Channels::XuControlQuery(
@ -187,7 +225,7 @@ bool Channels::XuControlQuery(
bool Channels::XuCamCtrlQuery(
uvc::xu_query query, uint16_t size, uint8_t *data) const {
return XuControlQuery(CHANNEL_CAM_CTRL >> 8, query, size, data);
return XuControlQuery(CHANNEL_CAM_CTRL, query, size, data);
}
std::int32_t Channels::XuCamCtrlGet(Option option) const {
@ -195,7 +233,7 @@ std::int32_t Channels::XuCamCtrlGet(Option option) const {
std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0};
if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
LOG(WARNING) << "Get control value of " << option << " failed";
LOG(WARNING) << "XuCamCtrlGet value of " << option << " failed";
return -1;
}
@ -203,7 +241,7 @@ std::int32_t Channels::XuCamCtrlGet(Option option) const {
if (XuCamCtrlQuery(uvc::XU_QUERY_GET, 3, data)) {
return (data[1] << 8) + (data[2]);
} else {
LOG(WARNING) << "Get control value of " << option << " failed";
LOG(WARNING) << "XuCamCtrlGet value of " << option << " failed";
return -1;
}
}
@ -214,14 +252,33 @@ void Channels::XuCamCtrlSet(Option option, std::int32_t value) const {
static_cast<std::uint8_t>((value >> 8) & 0xFF),
static_cast<std::uint8_t>(value & 0xFF)};
if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
LOG(WARNING) << "Set control value of " << option << " failed";
LOG(WARNING) << "XuCamCtrlSet value (" << value << ") of " << option
<< " failed";
} else {
VLOG(2) << "XuCamCtrlSet value (" << value << ") of " << option
<< " success";
}
}
bool Channels::XuHalfDuplexSet(Option option, xu_cmd_t cmd) const {
int id = XuHalfDuplexId(option);
std::uint8_t data[3] = {// must be 3 now
static_cast<std::uint8_t>(id & 0xFF), cmd};
if (!XuControlQuery(CHANNEL_HALF_DUPLEX, uvc::XU_QUERY_SET, 3, data)) {
LOG(WARNING) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase
<< cmd << ") of " << option << " failed";
return false;
} else {
VLOG(2) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase << cmd
<< ") of " << option << " success";
return true;
}
}
Channels::control_info_t Channels::PuControlInfo(Option option) const {
int32_t min = 0, max = 0, def = 0;
if (!PuControlRange(option, &min, &max, &def)) {
LOG(WARNING) << "Get control range of " << option << " failed";
LOG(WARNING) << "Get PuControlInfo of " << option << " failed";
}
return {min, max, def};
}
@ -231,7 +288,7 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0};
if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
LOG(WARNING) << "Get control range of " << option << " failed";
LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
return {0, 0, 0};
}
@ -241,17 +298,17 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
if (XuCamCtrlQuery(uvc::XU_QUERY_MIN, 3, data)) {
info.min = (data[1] << 8) + (data[2]);
} else {
LOG(WARNING) << "Get control range min of " << option << " failed";
LOG(WARNING) << "Get XuControlInfo.min of " << option << " failed";
}
if (XuCamCtrlQuery(uvc::XU_QUERY_MAX, 3, data)) {
info.max = (data[1] << 8) + (data[2]);
} else {
LOG(WARNING) << "Get control range max of " << option << " failed";
LOG(WARNING) << "Get XuControlInfo.max of " << option << " failed";
}
if (XuCamCtrlQuery(uvc::XU_QUERY_DEF, 3, data)) {
info.def = (data[1] << 8) + (data[2]);
} else {
LOG(WARNING) << "Get control range def of " << option << " failed";
LOG(WARNING) << "Get XuControlInfo.def of " << option << " failed";
}
return info;

15
src/internal/channels.h
View File

@ -34,24 +34,31 @@ class Channels {
std::int32_t def;
} control_info_t;
typedef enum XuCmd {
XU_CMD_ZDC = 0xE6, // zero drift calibration
XU_CMD_ERASE = 0xDE, // erase chip
XU_CMD_LAST
} xu_cmd_t;
explicit Channels(std::shared_ptr<uvc::device> device);
~Channels();
void LogControlInfos() const;
void UpdateControlInfos();
control_info_t GetControlInfo(const Option &option) const;
std::int32_t GetControlValue(const Option &option) const;
void SetControlValue(const Option &option, std::int32_t value);
bool RunControlAction(const Option &option) const;
private:
bool PuControlRange(
Option option, int32_t *min, int32_t *max, int32_t *def) const;
bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;
bool XuControlQuery(
uint8_t selector, uvc::xu_query query, uint16_t size,
channel_t channel, uvc::xu_query query, uint16_t size,
uint8_t *data) const;
bool XuControlQuery(
const uvc::xu &xu, uint8_t selector, uvc::xu_query query, uint16_t size,
@ -61,6 +68,8 @@ class Channels {
std::int32_t XuCamCtrlGet(Option option) const;
void XuCamCtrlSet(Option option, std::int32_t value) const;
bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;
control_info_t PuControlInfo(Option option) const;
control_info_t XuControlInfo(Option option) const;