From c24e2806b35f8641cb0f0669973b5c65dde72257 Mon Sep 17 00:00:00 2001 From: kalman Date: Thu, 28 Feb 2019 14:56:18 +0800 Subject: [PATCH] feat(*): add function to querry some hardware info --- doc/en/spec_hardware_info.md | 2 ++ doc/zh-Hans/spec_hardware_info.md | 2 ++ include/mynteye/device/types.h | 2 ++ include/mynteye/types.h | 4 +++ samples/tutorials/data/get_device_info.cc | 3 ++ src/mynteye/device/channel/channels.cc | 1 + src/mynteye/device/channel/file_channel.cc | 32 +++++++++++++++++-- src/mynteye/device/device.cc | 4 +++ src/mynteye/types.cc | 2 ++ test/types_test.cc | 2 ++ tools/writer/config/S210A/device.info | 10 +++--- tools/writer/device_writer.cc | 8 ++++- wrappers/python/src/mynteye_py.cc | 4 ++- .../launch/mynteye.launch | 2 +- .../scripts/get_device_info.py | 2 ++ .../src/wrapper_nodelet.cc | 6 ++++ .../src/mynt_eye_ros_wrapper/srv/GetInfo.srv | 10 +++--- 17 files changed, 83 insertions(+), 13 deletions(-) diff --git a/doc/en/spec_hardware_info.md b/doc/en/spec_hardware_info.md index 7ad0981..16bf998 100644 --- a/doc/en/spec_hardware_info.md +++ b/doc/en/spec_hardware_info.md @@ -12,3 +12,5 @@ | Lens type | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 | | IMU type | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2); default: 0 | | Nominal baseline | nominal_baseline | - | × | √ Get/Set | 2 | unit: mm; default: 0 | +| Auxiliary chip version | auxiliary_chip_version | - | × | √ Get | 2 | major,minor | +| isp version | isp_version | - | × | √ Get | 2 | major,minor | diff --git a/doc/zh-Hans/spec_hardware_info.md b/doc/zh-Hans/spec_hardware_info.md index e05f1aa..ba2dd41 100644 --- a/doc/zh-Hans/spec_hardware_info.md +++ b/doc/zh-Hans/spec_hardware_info.md @@ -12,6 +12,8 @@ | 镜头类型 | lens_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 | | IMU 类型 | imu_type | - | × | √ Get/Set | 4 | vendor(2),product(2) ，未 Set 默认 0 | | 基线长度 | nominal_baseline | - | × | √ Get/Set | 2 | 单位 mm ，未 set 默认 0 | +| 辅助芯片版本 | auxiliary_chip_version | - | × | √ Get | 2 | major,minor | +| ISP版本 | isp_version | - | × | √ Get | 2 | major,minor | * 描述符获取：指通用 USB 设备信息，可用工具查看。 * 拓展通道获取：指通过拓展通道（UVC Extension Unit）问硬件获取到的信息，需要读取。 diff --git a/include/mynteye/device/types.h b/include/mynteye/device/types.h index 7ad1b75..7e156b0 100644 --- a/include/mynteye/device/types.h +++ b/include/mynteye/device/types.h @@ -162,6 +162,8 @@ struct MYNTEYE_API DeviceInfo { Type lens_type; Type imu_type; std::uint16_t nominal_baseline; + Version auxiliary_chip_version; + Version isp_version; }; #undef MYNTEYE_PROPERTY diff --git a/include/mynteye/types.h b/include/mynteye/types.h index b95d228..adf52c8 100644 --- a/include/mynteye/types.h +++ b/include/mynteye/types.h @@ -122,6 +122,10 @@ enum class Info : std::uint8_t { IMU_TYPE, /** Nominal baseline */ NOMINAL_BASELINE, + /** Auxiliary chip version */ + AUXILIARY_CHIP_VERSION, + /** Isp version */ + ISP_VERSION, /** Last guard */ LAST }; diff --git a/samples/tutorials/data/get_device_info.cc b/samples/tutorials/data/get_device_info.cc index ddb3bd9..298d72e 100644 --- a/samples/tutorials/data/get_device_info.cc +++ b/samples/tutorials/data/get_device_info.cc @@ -28,6 +28,9 @@ int main(int argc, char *argv[]) { LOG(INFO) << "Lens type: " << api->GetInfo(Info::LENS_TYPE); LOG(INFO) << "IMU type: " << api->GetInfo(Info::IMU_TYPE); LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::NOMINAL_BASELINE); + LOG(INFO) << "Auxiliary chip version: " + << api->GetInfo(Info::AUXILIARY_CHIP_VERSION); + LOG(INFO) << "Nominal baseline: " << api->GetInfo(Info::ISP_VERSION); return 0; } diff --git a/src/mynteye/device/channel/channels.cc b/src/mynteye/device/channel/channels.cc index 0794aa7..a51555e 100644 --- a/src/mynteye/device/channel/channels.cc +++ b/src/mynteye/device/channel/channels.cc @@ -460,6 +460,7 @@ bool Channels::GetFiles( while (i < end) { std::uint8_t file_id = *(data + i); std::uint16_t file_size = bytes::_from_data(data + i + 1); + LOG(INFO) << "GetFiles:data_size : " << file_size; VLOG(2) << "GetFiles id: " << static_cast(file_id) << ", size: " << file_size; i += 3; diff --git a/src/mynteye/device/channel/file_channel.cc b/src/mynteye/device/channel/file_channel.cc index 5c24777..7a4526e 100644 --- a/src/mynteye/device/channel/file_channel.cc +++ b/src/mynteye/device/channel/file_channel.cc @@ -32,6 +32,7 @@ std::size_t FileChannel::GetDeviceInfoFromData( const std::uint8_t *data, const std::uint16_t &data_size, device_info_t *info) { auto n = dev_info_parser_->GetFromData(data, data_size, info); + LOG(INFO) << "GetDeviceInfoFromData:data_size : " << data_size; auto spec_version = info->spec_version; img_params_parser_->SetSpecVersion(spec_version); imu_params_parser_->SetSpecVersion(spec_version); @@ -113,6 +114,22 @@ std::size_t DeviceInfoParser::GetFromData( info->nominal_baseline = bytes::_from_data(data + i); i += 2; + if (info->spec_version >= Version(1, 2)) { + // auxiliary_chip_version, 2 + info->auxiliary_chip_version.set_major(data[i]); + info->auxiliary_chip_version.set_minor(data[i + 1]); + i += 2; + // isp_version, 2 + info->isp_version.set_major(data[i]); + info->isp_version.set_minor(data[i + 1]); + i += 2; + } else { + info->auxiliary_chip_version.set_major(0); + info->auxiliary_chip_version.set_minor(0); + info->isp_version.set_major(0); + info->isp_version.set_minor(0); + } + // get other infos according to spec_version MYNTEYE_UNUSED(data_size) @@ -155,6 +172,17 @@ std::size_t DeviceInfoParser::SetToData( bytes::_to_data(info->nominal_baseline, data + i); i += 2; + if (info->spec_version >= Version(1, 2)) { + // auxiliary_chip_version, 2 + data[i] = info->auxiliary_chip_version.major(); + data[i + 1] = info->auxiliary_chip_version.minor(); + i += 2; + // isp_version, 2 + data[i] = info->isp_version.major(); + data[i + 1] = info->isp_version.minor(); + i += 2; + } + // set other infos according to spec_version // others @@ -181,7 +209,7 @@ std::size_t ImgParamsParser::GetFromData( return GetFromData_v1_0(data, data_size, img_params); } // s210a old params - if (spec_version_ == Version(1, 1) && data_size == 404) { + if (spec_version_ >= Version(1, 1) && data_size == 404) { return GetFromData_v1_1(data, data_size, img_params); } // get img params with new version format @@ -406,7 +434,7 @@ std::size_t ImuParamsParser::GetFromData( return GetFromData_old(data, data_size, imu_params); } // s210a old params - if (spec_version_ == Version(1, 1) && data_size == 384) { + if (spec_version_ >= Version(1, 1) && data_size == 384) { return GetFromData_old(data, data_size, imu_params); } // get imu params with new version format diff --git a/src/mynteye/device/device.cc b/src/mynteye/device/device.cc index 497d5cd..271be74 100644 --- a/src/mynteye/device/device.cc +++ b/src/mynteye/device/device.cc @@ -234,6 +234,10 @@ std::string Device::GetInfo(const Info &info) const { return device_info_->imu_type.to_string(); case Info::NOMINAL_BASELINE: return std::to_string(device_info_->nominal_baseline); + case Info::AUXILIARY_CHIP_VERSION: + return device_info_->auxiliary_chip_version.to_string(); + case Info::ISP_VERSION: + return device_info_->isp_version.to_string(); default: LOG(WARNING) << "Unknown device info"; return ""; diff --git a/src/mynteye/types.cc b/src/mynteye/types.cc index e723031..27b6beb 100644 --- a/src/mynteye/types.cc +++ b/src/mynteye/types.cc @@ -92,6 +92,8 @@ const char *to_string(const Info &value) { CASE(LENS_TYPE) CASE(IMU_TYPE) CASE(NOMINAL_BASELINE) + CASE(AUXILIARY_CHIP_VERSION) + CASE(ISP_VERSION) default: CHECK(is_valid(value)); return "Info::UNKNOWN"; diff --git a/test/types_test.cc b/test/types_test.cc index cc2dfa8..28a292c 100644 --- a/test/types_test.cc +++ b/test/types_test.cc @@ -53,6 +53,8 @@ TEST(Info, VerifyToString) { EXPECT_STREQ("Info::LENS_TYPE", to_string(Info::LENS_TYPE)); EXPECT_STREQ("Info::IMU_TYPE", to_string(Info::IMU_TYPE)); EXPECT_STREQ("Info::NOMINAL_BASELINE", to_string(Info::NOMINAL_BASELINE)); + EXPECT_STREQ("Info::AUXILIARY_CHIP_VERSION", to_string(Info::AUXILIARY_CHIP_VERSION)); + EXPECT_STREQ("Info::ISP_VERSION", to_string(Info::ISP_VERSION)); } TEST(Option, VerifyToString) { diff --git a/tools/writer/config/S210A/device.info b/tools/writer/config/S210A/device.info index 6bce65d..f887695 100644 --- a/tools/writer/config/S210A/device.info +++ b/tools/writer/config/S210A/device.info @@ -2,9 +2,11 @@ --- device_name: MYNT-EYE-S210A serial_number: "07C40D1C0009071F" -firmware_version: "0.1" +firmware_version: "1.1" hardware_version: "1.0" -spec_version: "1.1" -lens_type: "0000" -imu_type: "0000" +spec_version: "1.2" +lens_type: "0001" +imu_type: "0001" nominal_baseline: 0 +auxiliary_chip_version: "1.0" +isp_version: "1.0" diff --git a/tools/writer/device_writer.cc b/tools/writer/device_writer.cc index cb57712..96d9f77 100644 --- a/tools/writer/device_writer.cc +++ b/tools/writer/device_writer.cc @@ -52,7 +52,11 @@ bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) { << ", spec_version: " << dev_info->spec_version.to_string() << ", lens_type: " << dev_info->lens_type.to_string() << ", imu_type: " << dev_info->imu_type.to_string() - << ", nominal_baseline: " << dev_info->nominal_baseline << "}"; + << ", nominal_baseline: " << dev_info->nominal_baseline + << ", auxiliary_chip_version: " + << dev_info->auxiliary_chip_version.to_string() + << ", isp_version: " + << dev_info->isp_version.to_string()<< "}"; return true; } else { LOG(ERROR) << "Write device info failed"; @@ -215,6 +219,8 @@ bool DeviceWriter::SaveDeviceInfo( fs << "lens_type" << info.lens_type.to_string(); fs << "imu_type" << info.imu_type.to_string(); fs << "nominal_baseline" << info.nominal_baseline; + fs << "auxiliary_chip_version" << info.auxiliary_chip_version.to_string(); + fs << "isp_version" << info.isp_version.to_string(); // save other infos according to spec_version fs.release(); return true; diff --git a/wrappers/python/src/mynteye_py.cc b/wrappers/python/src/mynteye_py.cc index 5c23cf3..b27a044 100644 --- a/wrappers/python/src/mynteye_py.cc +++ b/wrappers/python/src/mynteye_py.cc @@ -104,7 +104,7 @@ struct MYNTEYE_API MotionData { ImuData imu; bool operator==(const MotionData &other) const { - return imu.timestamp == other.imu.timestamp; + return imu.timestamp == other.imu.timestamp; } }; @@ -247,6 +247,8 @@ BOOST_PYTHON_MODULE(mynteye_py) { .value("LENS_TYPE", Info::LENS_TYPE) .value("IMU_TYPE", Info::IMU_TYPE) .value("NOMINAL_BASELINE", Info::NOMINAL_BASELINE) + .value("AUXILIARY_CHIP_VERSION", Info::AUXILIARY_CHIP_VERSION) + .value("ISP_VERSION", Info::ISP_VERSION) #ifdef ENUM_EXPORT_VALUES .export_values() #endif diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch index d6ada67..020e254 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch @@ -153,7 +153,7 @@ - + diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py b/wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py index db4989b..7aeeeed 100755 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/scripts/get_device_info.py @@ -54,6 +54,8 @@ def main(): 'LENS_TYPE': GetInfoRequest.LENS_TYPE, 'IMU_TYPE': GetInfoRequest.IMU_TYPE, 'NOMINAL_BASELINE': GetInfoRequest.NOMINAL_BASELINE, + 'AUXILIARY_CHIP_VERSION': GetInfoRequest.AUXILIARY_CHIP_VERSION, + 'ISP_VERSION': GetInfoRequest.ISP_VERSION, } for k, v in get_device_info(**keys).items(): print('{}: {}'.format(k, v)) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc index 62a5945..ededd62 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc @@ -407,6 +407,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet { case Request::NOMINAL_BASELINE: res.value = api_->GetInfo(Info::NOMINAL_BASELINE); break; + case Request::AUXILIARY_CHIP_VERSION: + res.value = api_->GetInfo(Info::AUXILIARY_CHIP_VERSION); + break; + case Request::ISP_VERSION: + res.value = api_->GetInfo(Info::ISP_VERSION); + break; case Request::IMG_INTRINSICS: { auto intri_left = api_->GetIntrinsicsBase(Stream::LEFT); diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv b/wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv index 3e2efe3..a917450 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/srv/GetInfo.srv @@ -6,10 +6,12 @@ uint32 SPEC_VERSION=4 uint32 LENS_TYPE=5 uint32 IMU_TYPE=6 uint32 NOMINAL_BASELINE=7 -uint32 IMG_INTRINSICS=8 -uint32 IMG_EXTRINSICS_RTOL=9 -uint32 IMU_INTRINSICS=10 -uint32 IMU_EXTRINSICS=11 +uint32 AUXILIARY_CHIP_VERSION=8 +uint32 ISP_VERSION=9 +uint32 IMG_INTRINSICS=10 +uint32 IMG_EXTRINSICS_RTOL=11 +uint32 IMU_INTRINSICS=12 +uint32 IMU_EXTRINSICS=13 uint32 key --- string value