Merge branch 'release/v2.4.0' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into release/v2.4.0

include/mynteye/api/api.h

@@ -252,6 +252,11 @@ class MYNTEYE_API API {
    */
   void SetOptionValue(const Option &option, std::int32_t value);
 
+  /**
+   * Set the option value.
+   */
+  bool SetOptionValue(const Option &option, std::uint64_t value);
+
   /**
    * Run the option action.
    */

include/mynteye/device/device.h

@@ -223,6 +223,10 @@ class MYNTEYE_API Device {
    * Set the option value.
    */
   void SetOptionValue(const Option &option, std::int32_t value);
+  /**
+   * Set the option value.
+   */
+  bool SetOptionValue(const Option &option, std::uint64_t value);
 
   /**
    * Run the option action.

samples/tutorials/CMakeLists.txt

@@ -125,6 +125,7 @@ make_executable2(ctrl_imu_low_pass_filter SRCS control/imu_low_pass_filter.cc WI
 make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 make_executable2(ctrl_iic_adress SRCS control/iic_address.cc WITH_OPENCV)
+make_executable2(ctrl_sync_timestamp SRCS control/sync_timestamp.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV

samples/tutorials/control/sync_timestamp.cc

@@ -0,0 +1,56 @@
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  Model model = api->GetModel();
+
+  if (model != Model::STANDARD200B) {
+    LOG(INFO) << "Sorry, This device don't support sync timestamp";
+    return 0;
+  }
+
+  if (model == Model::STANDARD200B) {
+    std::uint64_t value = 10;
+    auto ok = api->SetOptionValue(Option::SYNC_TIMESTAMP, value);
+    if (ok) {
+      LOG(INFO) << "Set timestamp is successful.";
+    } else {
+      LOG(INFO) << "Set timestamp is failed.";
+    }
+  }
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}

src/mynteye/api/api.cc

@@ -368,6 +368,10 @@ void API::SetOptionValue(const Option &option, std::int32_t value) {
   device_->SetOptionValue(option, value);
 }
 
+bool API::SetOptionValue(const Option &option, std::uint64_t value) {
+  return device_->SetOptionValue(option, value);
+}
+
 bool API::RunOptionAction(const Option &option) const {
   return device_->RunOptionAction(option);
 }

src/mynteye/device/channel/channels.cc

@@ -97,7 +97,7 @@ int XuHalfDuplexId(Option option) {
       return 1;
       break;
     case Option::SYNC_TIMESTAMP:
-      return 2;
+      return 3;
       break;
     default:
       LOG(FATAL) << "No half duplex id for " << option;
@@ -332,7 +332,7 @@ bool Channels::SetControlValue(const Option &option, std::uint64_t value) {
       LOG(WARNING) << option << " set value useless";
       break;
     case Option::SYNC_TIMESTAMP:
-      return XuHalfDuplexSet(option, XU_SYNC_TIMESTAMP);
+      return XuHalfDuplexSet(option, value);
       break;
     default:
       LOG(ERROR) << "Unsupported option " << option;
@@ -719,6 +719,29 @@ bool Channels::XuHalfDuplexSet(Option option, xu_cmd_t cmd) const {
   }
 }
 
+bool Channels::XuHalfDuplexSet(Option option, std::uint64_t value) const {
+  int id = XuHalfDuplexId(option);
+  std::uint8_t data[20] = {static_cast<std::uint8_t>(id & 0xFF),
+                           static_cast<std::uint8_t>(value & 0xFF),
+                           static_cast<std::uint8_t>((value >> 8) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 16) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 24) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 32) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 40) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 48) & 0xFF),
+                           static_cast<std::uint8_t>((value >> 56) & 0xFF)};
+
+  if (XuControlQuery(CHANNEL_HALF_DUPLEX, uvc::XU_QUERY_SET, 20, data)) {
+    VLOG(2) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase << value
+            << ") of " << option << " success";
+    return true;
+  } else {
+    LOG(WARNING) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase
+                 << value << ") of " << option << " failed";
+    return false;
+  }
+}
+
 bool Channels::XuImuWrite(const ImuReqPacket &req) const {
   auto &&data = req.to_data();
   if (XuControlQuery(

src/mynteye/device/channel/channels.h

@@ -112,6 +112,7 @@ class MYNTEYE_API Channels {
   void XuCamCtrlSet(Option option, std::int32_t value) const;
 
   bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;
+  bool XuHalfDuplexSet(Option option, std::uint64_t value) const;
 
   bool XuImuWrite(const ImuReqPacket &req) const;
   bool XuImuRead(ImuResPacket *res) const;

src/mynteye/device/device.cc

@@ -381,6 +381,14 @@ void Device::SetOptionValue(const Option &option, std::int32_t value) {
   channels_->SetControlValue(option, value);
 }
 
+bool Device::SetOptionValue(const Option &option, std::uint64_t value) {
+  if (!Supports(option)) {
+    LOG(WARNING) << "Unsupported option: " << option;
+    return false;
+  }
+  return channels_->SetControlValue(option, value);
+}
+
 bool Device::RunOptionAction(const Option &option) const {
   if (!Supports(option)) {
     LOG(WARNING) << "Unsupported option: " << option;