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fix two warning

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This commit is contained in:
Kalman
2018-08-01 20:20:39 +08:00
parent a7750e8217
commit d2b4cc3022
6 changed files with 63 additions and 46 deletions
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40
src/internal/channels.cc
View File

@@ -128,25 +128,29 @@ void Channels::LogControlInfos() const {
}
void Channels::UpdateControlInfos() {
for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
Option::CONTRAST}) {
// control_infos_[option] = PuControlInfo(option);
}
for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
// control_infos_[option] = XuControlInfo(option);
}
if (VLOG_IS_ON(2)) {
for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
VLOG(2) << it->first << ": min=" << it->second.min
<< ", max=" << it->second.max << ", def=" << it->second.def
<< ", cur=" << GetControlValue(it->first);
/*
for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
Option::CONTRAST}) {
control_infos_[option] = PuControlInfo(option);
}
}
for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE})
{
control_infos_[option] = XuControlInfo(option);
}
if (VLOG_IS_ON(2)) {
for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++)
{
VLOG(2) << it->first << ": min=" << it->second.min
<< ", max=" << it->second.max << ", def=" << it->second.def
<< ", cur=" << GetControlValue(it->first);
}
}
*/
}
Channels::control_info_t Channels::GetControlInfo(const Option &option) const {

33
src/internal/types.h
View File

@@ -16,7 +16,6 @@
#pragma once
#include <cstdint>
#include <array>
#include <bitset>
#include <string>
@@ -158,12 +157,17 @@ struct ImagePacket {
}
void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l;
std::uint32_t timestamp_h;
header = *data;
size = *(data + 1);
frame_id = (*(data + 2) << 8) | *(data + 3);
timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
(*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11);
timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
(*(data + 6) << 8) | *(data + 7);
timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11);
timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
exposure_time = (*(data + 12) << 8) | *(data + 13);
checksum = *(data + 14);
}
@@ -212,11 +216,16 @@ struct ImuSegment {
}
void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l;
std::uint32_t timestamp_h;
serial_number = (*(data) << 24) | (*(data + 1) << 16) | (*(data + 2) << 8) |
*(data + 3);
timestamp = (*(data + 4) << 56) | (*(data + 5) << 48) | (*(data + 6) << 40) |
(*(data + 7) << 32) | (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11);
timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
(*(data + 6) << 8) | *(data + 7);
timestamp_l = (*(data + 8) << 24) | (*(data + 9) << 16) |
(*(data + 10) << 8) | *(data + 11);
timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
flag = *(data + 12);
temperature = (*(data + 13) << 8) | *(data + 14);
aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
@@ -236,15 +245,13 @@ struct ImuPacket {
std::vector<ImuSegment> segments;
ImuPacket() = default;
explicit ImuPacket(std::uint8_t seg_count,std::uint8_t *data) {
explicit ImuPacket(std::uint8_t seg_count, std::uint8_t *data) {
count = seg_count;
from_data(data);
}
void from_data(std::uint8_t *data) {
std::size_t seg_n = sizeof(ImuSegment); // 21
for(std::size_t i = 0; i < count; i++) {
for (std::size_t i = 0; i < count; i++) {
segments.push_back(ImuSegment(data + seg_n * i));
}
}
@@ -275,9 +282,9 @@ struct ImuResPacket {
std::size_t seg_n = sizeof(ImuSegment); // 21
std::uint8_t seg_count = size / seg_n;
ImuPacket packet(seg_count,data + 4);
ImuPacket packet(seg_count, data + 4);
packets.push_back(packet);
//packet(2);
// packet(2);
checksum = *(data + 4 + size);
}
};