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refactor(channels): sepreate bytes and file channel

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This commit is contained in:
John Zhao
2019-01-05 20:02:08 +08:00
parent ca51d2cf94
commit e539cb9fe0
21 changed files with 940 additions and 624 deletions
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208
src/mynteye/device/channel/bytes.cc Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/channel/bytes.h"
#include "mynteye/util/strings.h"
MYNTEYE_BEGIN_NAMESPACE
namespace bytes {
// from
std::string _from_data(const std::uint8_t *data, std::size_t count) {
std::string s(reinterpret_cast<const char *>(data), count);
strings::trim(s);
return s;
}
// from types
std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data) {
std::size_t i = 0;
// width, 2
in->width = _from_data<std::uint16_t>(data + i);
i += 2;
// height, 2
in->height = _from_data<std::uint16_t>(data + i);
i += 2;
// fx, 8
in->fx = _from_data<double>(data + i);
i += 8;
// fy, 8
in->fy = _from_data<double>(data + i);
i += 8;
// cx, 8
in->cx = _from_data<double>(data + i);
i += 8;
// cy, 8
in->cy = _from_data<double>(data + i);
i += 8;
// model, 1
in->model = data[i];
i += 1;
// coeffs, 40
for (std::size_t j = 0; j < 5; j++) {
in->coeffs[j] = _from_data<double>(data + i + j * 8);
}
i += 40;
return i;
}
std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data) {
std::size_t i = 0;
// scale
for (std::size_t j = 0; j < 3; j++) {
for (std::size_t k = 0; k < 3; k++) {
in->scale[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
}
}
i += 72;
// drift
for (std::size_t j = 0; j < 3; j++) {
in->drift[j] = _from_data<double>(data + i + j * 8);
}
i += 24;
// noise
for (std::size_t j = 0; j < 3; j++) {
in->noise[j] = _from_data<double>(data + i + j * 8);
}
i += 24;
// bias
for (std::size_t j = 0; j < 3; j++) {
in->bias[j] = _from_data<double>(data + i + j * 8);
}
i += 24;
return i;
}
std::size_t from_data(Extrinsics *ex, const std::uint8_t *data) {
std::size_t i = 0;
// rotation
for (std::size_t j = 0; j < 3; j++) {
for (std::size_t k = 0; k < 3; k++) {
ex->rotation[j][k] = _from_data<double>(data + i + (j * 3 + k) * 8);
}
}
i += 72;
// translation
for (std::size_t j = 0; j < 3; j++) {
ex->translation[j] = _from_data<double>(data + i + j * 8);
}
i += 24;
return i;
}
// to
std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
std::copy(value.begin(), value.end(), data);
for (std::size_t i = value.size(); i < count; i++) {
data[i] = ' ';
}
return count;
}
// to types
std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data) {
std::size_t i = 0;
// width, 2
_to_data(in->width, data + i);
i += 2;
// height, 2
_to_data(in->height, data + i);
i += 2;
// fx, 8
_to_data(in->fx, data + i);
i += 8;
// fy, 8
_to_data(in->fy, data + i);
i += 8;
// cx, 8
_to_data(in->cx, data + i);
i += 8;
// cy, 8
_to_data(in->cy, data + i);
i += 8;
// model, 1
data[i] = in->model;
i += 1;
// coeffs, 40
for (std::size_t j = 0; j < 5; j++) {
_to_data(in->coeffs[j], data + i + j * 8);
}
i += 40;
return i;
}
std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data) {
std::size_t i = 0;
// scale
for (std::size_t j = 0; j < 3; j++) {
for (std::size_t k = 0; k < 3; k++) {
_to_data(in->scale[j][k], data + i + (j * 3 + k) * 8);
}
}
i += 72;
// drift
for (std::size_t j = 0; j < 3; j++) {
_to_data(in->drift[j], data + i + j * 8);
}
i += 24;
// noise
for (std::size_t j = 0; j < 3; j++) {
_to_data(in->noise[j], data + i + j * 8);
}
i += 24;
// bias
for (std::size_t j = 0; j < 3; j++) {
_to_data(in->bias[j], data + i + j * 8);
}
i += 24;
return i;
}
std::size_t to_data(const Extrinsics *ex, std::uint8_t *data) {
std::size_t i = 0;
// rotation
for (std::size_t j = 0; j < 3; j++) {
for (std::size_t k = 0; k < 3; k++) {
_to_data(ex->rotation[j][k], data + i + (j * 3 + k) * 8);
}
}
i += 72;
// translation
for (std::size_t j = 0; j < 3; j++) {
_to_data(ex->translation[j], data + i + j * 8);
}
i += 24;
return i;
}
} // namespace bytes
MYNTEYE_END_NAMESPACE

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src/mynteye/device/channel/bytes.h Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_CHANNEL_BYTES_H_
#define MYNTEYE_DEVICE_CHANNEL_BYTES_H_
#pragma once
#include <algorithm>
#include <string>
#include "mynteye/mynteye.h"
#include "mynteye/types.h"
#include "mynteye/device/channel/def.h"
#include "mynteye/device/types.h"
MYNTEYE_BEGIN_NAMESPACE
namespace bytes {
// from
template <typename T>
T _from_data(const std::uint8_t *data) {
std::size_t size = sizeof(T) / sizeof(std::uint8_t);
T value = 0;
for (std::size_t i = 0; i < size; i++) {
value |= data[i] << (8 * (size - i - 1));
}
return value;
}
template <>
inline double _from_data(const std::uint8_t *data) {
return *(reinterpret_cast<const double *>(data));
}
std::string _from_data(const std::uint8_t *data, std::size_t count);
// from types
std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data);
std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data);
std::size_t from_data(Extrinsics *ex, const std::uint8_t *data);
// to
template <typename T>
std::size_t _to_data(T value, std::uint8_t *data) {
std::size_t size = sizeof(T) / sizeof(std::uint8_t);
for (std::size_t i = 0; i < size; i++) {
data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
}
return size;
}
template <>
inline std::size_t _to_data(double value, std::uint8_t *data) {
std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
std::copy(val, val + 8, data);
return 8;
}
std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
// to types
std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data);
std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data);
std::size_t to_data(const Extrinsics *ex, std::uint8_t *data);
} // namespace bytes
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_CHANNEL_BYTES_H_

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src/mynteye/device/channel/channels.cc Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/channel/channels.h"
#include <bitset>
#include <chrono>
#include <iomanip>
#include <iterator>
#include <sstream>
#include <stdexcept>
#include <string>
#include <vector>
#include "mynteye/logger.h"
#include "mynteye/util/times.h"
#define IMU_TRACK_PERIOD 25 // ms
MYNTEYE_BEGIN_NAMESPACE
namespace {
const uvc::xu mynteye_xu = {3, 2,
{
0x947a6d9f, 0x8a2f, 0x418d,
{0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}
}
};
int XuCamCtrlId(Option option) {
switch (option) {
case Option::EXPOSURE_MODE:
return 0;
break;
case Option::MAX_GAIN:
return 1;
break;
case Option::MAX_EXPOSURE_TIME:
return 2;
break;
case Option::DESIRED_BRIGHTNESS:
return 3;
break;
case Option::IMU_FREQUENCY:
return 4;
break;
case Option::IR_CONTROL:
return 5;
break;
case Option::HDR_MODE:
return 6;
break;
case Option::FRAME_RATE:
return 7;
break;
case Option::MIN_EXPOSURE_TIME:
return 8;
break;
case Option::ACCELEROMETER_RANGE:
return 9;
break;
case Option::GYROSCOPE_RANGE:
return 10;
break;
case Option::ACCELEROMETER_LOW_PASS_FILTER:
return 11;
break;
case Option::GYROSCOPE_LOW_PASS_FILTER:
return 12;
break;
default:
LOG(FATAL) << "No cam ctrl id for " << 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;
}
}
void CheckSpecVersion(const Version *spec_version) {
if (spec_version == nullptr) {
LOG(FATAL) << "Spec version must be specified";
}
std::vector<std::string> spec_versions{"1.0", "1.1"};
for (auto &&spec_ver : spec_versions) {
if (*spec_version == Version(spec_ver)) {
return; // supported
}
}
std::ostringstream ss;
std::copy(
spec_versions.begin(), spec_versions.end(),
std::ostream_iterator<std::string>(ss, ","));
LOG(FATAL) << "Spec version " << spec_version->to_string()
<< " not supported, must in [" << ss.str() << "]";
}
} // namespace
Channels::Channels(const std::shared_ptr<uvc::device> &device,
const std::shared_ptr<ChannelsAdapter> &adapter)
: device_(device),
adapter_(adapter),
is_imu_tracking_(false),
imu_track_stop_(false),
imu_sn_(0),
imu_callback_(nullptr) {
VLOG(2) << __func__;
UpdateControlInfos();
}
Channels::~Channels() {
VLOG(2) << __func__;
StopImuTracking();
}
std::int32_t Channels::GetAccelRangeDefault() {
return adapter_->GetAccelRangeDefault();
}
std::int32_t Channels::GetGyroRangeDefault() {
return adapter_->GetGyroRangeDefault();
}
void Channels::LogControlInfos() const {
for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++) {
LOG(INFO) << it->first << ": min=" << it->second.min
<< ", max=" << it->second.max << ", def=" << it->second.def
<< ", cur=" << GetControlValue(it->first);
}
}
void Channels::UpdateControlInfos() {
auto &&supports = adapter_->GetOptionSupports();
for (auto &&option : std::vector<Option>{
Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST}) {
if (supports.find(option) != supports.end())
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::MIN_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
Option::HDR_MODE, Option::ACCELEROMETER_RANGE,
Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
Option::GYROSCOPE_LOW_PASS_FILTER}) {
if (supports.find(option) != supports.end())
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 {
try {
return control_infos_.at(option);
} catch (const std::out_of_range &e) {
LOG(WARNING) << "Get control info of " << option << " failed";
return {0, 0, 0};
}
}
std::int32_t Channels::GetControlValue(const Option &option) const {
switch (option) {
case Option::GAIN:
case Option::BRIGHTNESS:
case Option::CONTRAST:
std::int32_t value;
if (PuControlQuery(option, uvc::PU_QUERY_GET, &value)) {
return value;
} else {
LOG(WARNING) << option << " get value failed";
return -1;
}
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:
case Option::MIN_EXPOSURE_TIME:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
case Option::ACCELEROMETER_LOW_PASS_FILTER:
case Option::GYROSCOPE_LOW_PASS_FILTER:
return XuCamCtrlGet(option);
case Option::ZERO_DRIFT_CALIBRATION:
case Option::ERASE_CHIP:
LOG(WARNING) << option << " get value useless";
return -1;
default:
LOG(ERROR) << "Unsupported option " << option;
}
return -1;
}
void Channels::SetControlValue(const Option &option, std::int32_t value) {
auto in_range = [this, &option, &value]() {
auto &&info = GetControlInfo(option);
if (value < info.min || value > info.max) {
LOG(WARNING) << option << " set value out of range, " << value
<< " not in [" << info.min << "," << info.max << "]";
return false;
}
return true;
};
auto in_values = [&option, &value](std::vector<std::int32_t> values) {
if (std::find(values.begin(), values.end(), value) != values.end()) {
return true;
} else {
std::ostringstream ss;
std::copy(
values.begin(), values.end(),
std::ostream_iterator<std::int32_t>(ss, ","));
LOG(WARNING) << option << " set value invalid, must in [" << ss.str()
<< "]";
return false;
}
};
switch (option) {
case Option::GAIN:
case Option::BRIGHTNESS:
case Option::CONTRAST: {
if (!in_range())
break;
if (!PuControlQuery(option, uvc::PU_QUERY_SET, &value)) {
LOG(WARNING) << option << " set value failed";
}
} break;
case Option::FRAME_RATE: {
if (!in_range() ||
!in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::IMU_FREQUENCY: {
if (!in_range() || !in_values({100, 200, 250, 333, 500}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::ACCELEROMETER_RANGE: {
if (!in_range() || !in_values(adapter_->GetAccelRangeValues()))
break;
XuCamCtrlSet(option, value);
} break;
case Option::GYROSCOPE_RANGE: {
if (!in_range() || !in_values(adapter_->GetGyroRangeValues()))
break;
XuCamCtrlSet(option, value);
} break;
case Option::ACCELEROMETER_LOW_PASS_FILTER: {
if (!in_range() || !in_values({0, 1, 2}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::GYROSCOPE_LOW_PASS_FILTER: {
if (!in_range() || !in_values({23, 64}))
break;
XuCamCtrlSet(option, value);
} break;
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:
case Option::MIN_EXPOSURE_TIME: {
if (!in_range())
break;
XuCamCtrlSet(option, value);
} break;
case Option::ZERO_DRIFT_CALIBRATION:
case Option::ERASE_CHIP:
LOG(WARNING) << option << " set value useless";
break;
default:
LOG(ERROR) << "Unsupported option " << option;
}
}
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:
case Option::MIN_EXPOSURE_TIME:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
case Option::ACCELEROMETER_LOW_PASS_FILTER:
case Option::GYROSCOPE_LOW_PASS_FILTER:
LOG(WARNING) << option << " run action useless";
return false;
default:
LOG(ERROR) << "Unsupported option " << option;
return false;
}
}
void Channels::SetImuCallback(imu_callback_t callback) {
imu_callback_ = callback;
}
void Channels::DoImuTrack() {
static ImuReqPacket req_packet{0};
static ImuResPacket res_packet;
req_packet.serial_number = imu_sn_;
if (!XuImuWrite(req_packet)) {
return;
}
if (!XuImuRead(&res_packet)) {
return;
}
if (res_packet.packets.size() == 0) {
return;
}
if (res_packet.packets.back().count == 0) {
return;
}
VLOG(2) << "Imu req sn: " << imu_sn_ << ", res count: " << []() {
std::size_t n = 0;
for (auto &&packet : res_packet.packets) {
n += packet.count;
}
return n;
}();
auto &&sn = res_packet.packets.back().serial_number;
if (imu_sn_ == sn) {
VLOG(2) << "New imu not ready, dropped";
return;
}
imu_sn_ = sn;
if (imu_callback_) {
for (auto &&packet : res_packet.packets) {
imu_callback_(packet);
}
}
res_packet.packets.clear();
}
void Channels::StartImuTracking(imu_callback_t callback) {
if (is_imu_tracking_) {
LOG(WARNING) << "Start imu tracking failed, is tracking already";
return;
}
if (callback) {
imu_callback_ = callback;
}
is_imu_tracking_ = true;
imu_track_thread_ = std::thread([this]() {
imu_sn_ = 0;
auto sleep = [](const times::system_clock::time_point &time_beg) {
auto &&time_elapsed_ms =
times::count<times::milliseconds>(times::now() - time_beg);
if (time_elapsed_ms < IMU_TRACK_PERIOD) {
std::this_thread::sleep_for(
std::chrono::milliseconds(IMU_TRACK_PERIOD - time_elapsed_ms));
VLOG(2) << "Imu track cost " << time_elapsed_ms << " ms"
<< ", sleep " << (IMU_TRACK_PERIOD - time_elapsed_ms) << " ms";
}
};
while (!imu_track_stop_) {
auto &&time_beg = times::now();
DoImuTrack();
sleep(time_beg);
}
});
}
void Channels::StopImuTracking() {
if (!is_imu_tracking_) {
return;
}
if (imu_track_thread_.joinable()) {
imu_track_stop_ = true;
imu_track_thread_.join();
imu_track_stop_ = false;
is_imu_tracking_ = false;
}
}
bool Channels::GetFiles(
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
Version *spec_version) {
if (info == nullptr && img_params == nullptr && imu_params == nullptr) {
LOG(WARNING) << "Files are not provided to get";
return false;
}
std::uint8_t data[2000]{};
std::bitset<8> header;
header[7] = 0; // get
header[0] = (info != nullptr);
header[1] = (img_params != nullptr);
header[2] = (imu_params != nullptr);
data[0] = static_cast<std::uint8_t>(header.to_ulong());
VLOG(2) << "GetFiles header: 0x" << std::hex << std::uppercase << std::setw(2)
<< std::setfill('0') << static_cast<int>(data[0]);
if (!XuFileQuery(uvc::XU_QUERY_SET, 2000, data)) {
LOG(WARNING) << "GetFiles failed";
return false;
}
if (XuFileQuery(uvc::XU_QUERY_GET, 2000, data)) {
// header = std::bitset<8>(data[0]);
std::uint16_t size = bytes::_from_data<std::uint16_t>(data + 1);
std::uint8_t checksum = data[3 + size];
VLOG(2) << "GetFiles data size: " << size << ", checksum: 0x" << std::hex
<< std::setw(2) << std::setfill('0') << static_cast<int>(checksum);
std::uint8_t checksum_now = 0;
for (std::size_t i = 3, n = 3 + size; i < n; i++) {
checksum_now = (checksum_now ^ data[i]);
}
if (checksum != checksum_now) {
LOG(WARNING) << "Files checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(checksum) << ", but 0x" << std::setw(2)
<< std::setfill('0') << static_cast<int>(checksum_now)
<< " now";
return false;
}
Version *spec_ver = spec_version;
std::size_t i = 3;
std::size_t end = 3 + size;
while (i < end) {
std::uint8_t file_id = *(data + i);
std::uint16_t file_size = bytes::_from_data<std::uint16_t>(data + i + 1);
VLOG(2) << "GetFiles id: " << static_cast<int>(file_id)
<< ", size: " << file_size;
i += 3;
switch (file_id) {
case FID_DEVICE_INFO: {
auto &&n = file_channel_.GetDeviceInfoFromData(data + i, info);
CHECK_EQ(n, file_size)
<< "The firmware not support getting device info, you could "
"upgrade to latest";
spec_ver = &info->spec_version;
CheckSpecVersion(spec_ver);
} break;
case FID_IMG_PARAMS: {
if (file_size > 0) {
CheckSpecVersion(spec_ver);
auto &&n = file_channel_.GetImgParamsFromData(data + i, img_params);
CHECK_EQ(n, file_size);
}
} break;
case FID_IMU_PARAMS: {
imu_params->ok = file_size > 0;
if (imu_params->ok) {
CheckSpecVersion(spec_ver);
auto &&n = file_channel_.GetImuParamsFromData(data + i, imu_params);
CHECK_EQ(n, file_size);
}
} break;
default:
LOG(FATAL) << "Unsupported file id: " << file_id;
}
i += file_size;
}
VLOG(2) << "GetFiles success";
return true;
} else {
LOG(WARNING) << "GetFiles failed";
return false;
}
}
bool Channels::SetFiles(
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
Version *spec_version) {
if (info == nullptr && img_params == nullptr && imu_params == nullptr) {
LOG(WARNING) << "Files are not provided to set";
return false;
}
Version *spec_ver = spec_version;
if (spec_ver == nullptr && info != nullptr) {
spec_ver = &info->spec_version;
}
CheckSpecVersion(spec_ver);
std::uint8_t data[2000]{};
std::bitset<8> header;
header[7] = 1; // set
std::uint16_t size = 0;
if (info != nullptr) {
header[0] = true;
size += file_channel_.SetDeviceInfoToData(info, data + 3 + size);
}
if (img_params != nullptr) {
header[1] = true;
size += file_channel_.SetImgParamsToData(img_params, data + 3 + size);
}
if (imu_params != nullptr) {
header[2] = true;
size += file_channel_.SetImuParamsToData(imu_params, data + 3 + size);
}
data[0] = static_cast<std::uint8_t>(header.to_ulong());
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
VLOG(2) << "SetFiles header: 0x" << std::hex << std::uppercase << std::setw(2)
<< std::setfill('0') << static_cast<int>(data[0]);
if (XuFileQuery(uvc::XU_QUERY_SET, 2000, data)) {
VLOG(2) << "SetFiles success";
return true;
} else {
LOG(WARNING) << "SetFiles failed";
return false;
}
}
bool Channels::PuControlRange(
Option option, int32_t *min, int32_t *max, int32_t *def) const {
CHECK_NOTNULL(device_);
return uvc::pu_control_range(*device_, option, min, max, def);
}
bool Channels::PuControlQuery(
Option option, uvc::pu_query query, int32_t *value) const {
CHECK_NOTNULL(device_);
return uvc::pu_control_query(*device_, option, query, value);
}
bool Channels::XuControlRange(
channel_t channel, uint8_t id, int32_t *min, int32_t *max,
int32_t *def) const {
return XuControlRange(mynteye_xu, channel, id, min, max, def);
}
bool Channels::XuControlRange(
const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
int32_t *def) const {
CHECK_NOTNULL(device_);
return uvc::xu_control_range(*device_, xu, selector, id, min, max, def);
}
bool Channels::XuControlQuery(
channel_t channel, uvc::xu_query query, uint16_t size,
uint8_t *data) const {
return XuControlQuery(mynteye_xu, channel, query, size, data);
}
bool Channels::XuControlQuery(
const uvc::xu &xu, uint8_t selector, uvc::xu_query query, uint16_t size,
uint8_t *data) const {
CHECK_NOTNULL(device_);
return uvc::xu_control_query(*device_, xu, selector, query, size, data);
}
bool Channels::XuCamCtrlQuery(
uvc::xu_query query, uint16_t size, uint8_t *data) const {
return XuControlQuery(CHANNEL_CAM_CTRL, query, size, data);
}
std::int32_t Channels::XuCamCtrlGet(Option option) const {
int id = XuCamCtrlId(option);
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) << "XuCamCtrlGet value of " << option << " failed";
return -1;
}
data[0] = id & 0xFF;
if (XuCamCtrlQuery(uvc::XU_QUERY_GET, 3, data)) {
return (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "XuCamCtrlGet value of " << option << " failed";
return -1;
}
}
void Channels::XuCamCtrlSet(Option option, std::int32_t value) const {
int id = XuCamCtrlId(option);
std::uint8_t data[3] = {static_cast<std::uint8_t>(id & 0xFF),
static_cast<std::uint8_t>((value >> 8) & 0xFF),
static_cast<std::uint8_t>(value & 0xFF)};
if (XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
VLOG(2) << "XuCamCtrlSet value (" << value << ") of " << option
<< " success";
} else {
LOG(WARNING) << "XuCamCtrlSet value (" << value << ") of " << option
<< " failed";
}
}
bool Channels::XuHalfDuplexSet(Option option, xu_cmd_t cmd) const {
int id = XuHalfDuplexId(option);
std::uint8_t data[20] = {static_cast<std::uint8_t>(id & 0xFF),
static_cast<std::uint8_t>(cmd)};
if (XuControlQuery(CHANNEL_HALF_DUPLEX, uvc::XU_QUERY_SET, 20, data)) {
VLOG(2) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase << cmd
<< ") of " << option << " success";
return true;
} else {
LOG(WARNING) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase
<< cmd << ") of " << option << " failed";
return false;
}
}
bool Channels::XuImuWrite(const ImuReqPacket &req) const {
auto &&data = req.to_data();
if (XuControlQuery(
CHANNEL_IMU_WRITE, uvc::XU_QUERY_SET, data.size(), data.data())) {
VLOG(2) << "XuImuWrite request success";
return true;
} else {
LOG(WARNING) << "XuImuWrite request failed";
return false;
}
}
bool Channels::XuImuRead(ImuResPacket *res) const {
static std::uint8_t data[2000]{};
// std::fill(data, data + 2000, 0); // reset
if (XuControlQuery(CHANNEL_IMU_READ, uvc::XU_QUERY_GET, 2000, data)) {
adapter_->GetImuResPacket(data, res);
if (res->header != 0x5B) {
LOG(WARNING) << "Imu response packet header must be 0x5B, but 0x"
<< std::hex << std::uppercase << std::setw(2)
<< std::setfill('0') << static_cast<int>(res->header)
<< " now";
return false;
}
if (res->state != 0) {
LOG(WARNING) << "Imu response packet state must be 0, but " << res->state
<< " now";
return false;
}
std::uint8_t checksum = 0;
for (std::size_t i = 4, n = 4 + res->size; i < n; i++) {
checksum = (checksum ^ data[i]);
}
if (res->checksum != checksum) {
LOG(WARNING) << "Imu response packet checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(res->checksum) << ", but 0x"
<< std::setw(2) << std::setfill('0')
<< static_cast<int>(checksum) << " now";
return false;
}
VLOG(2) << "XuImuRead response success";
return true;
} else {
LOG(WARNING) << "XuImuRead response failed";
return false;
}
}
bool Channels::XuFileQuery(
uvc::xu_query query, uint16_t size, uint8_t *data) const {
return XuControlQuery(CHANNEL_FILE, query, size, data);
}
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 PuControlInfo of " << option << " failed";
}
return {min, max, def};
}
Channels::control_info_t Channels::XuControlInfo(Option option) const {
int id = XuCamCtrlId(option);
int32_t min = 0, max = 0, def = 0;
if (!XuControlRange(
CHANNEL_CAM_CTRL, static_cast<std::uint8_t>(id), &min, &max, &def)) {
LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
}
return {min, max, def};
}
MYNTEYE_END_NAMESPACE

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src/mynteye/device/channel/channels.h Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_CHANNEL_CHANNELS_H_
#define MYNTEYE_DEVICE_CHANNEL_CHANNELS_H_
#pragma once
#include <map>
#include <memory>
#include <set>
#include <thread>
#include <vector>
#include "mynteye/mynteye.h"
#include "mynteye/device/channel/def.h"
#include "mynteye/device/channel/file_channel.h"
#include "mynteye/device/device.h"
#include "mynteye/device/types.h"
#include "mynteye/uvc/uvc.h"
MYNTEYE_BEGIN_NAMESPACE
namespace uvc {
struct device;
struct xu;
} // namespace uvc
class ChannelsAdapter;
class MYNTEYE_API Channels {
public:
typedef struct ControlInfo {
std::int32_t min;
std::int32_t max;
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;
using imu_callback_t = std::function<void(const ImuPacket &packet)>;
using device_info_t = FileChannel::device_info_t;
using img_params_t = FileChannel::img_params_t;
using imu_params_t = FileChannel::imu_params_t;
Channels(const std::shared_ptr<uvc::device> &device,
const std::shared_ptr<ChannelsAdapter> &adapter);
~Channels();
std::int32_t GetAccelRangeDefault();
std::int32_t GetGyroRangeDefault();
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;
void SetImuCallback(imu_callback_t callback);
void DoImuTrack();
void StartImuTracking(imu_callback_t callback = nullptr);
void StopImuTracking();
bool GetFiles(
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
Version *spec_version = nullptr);
bool SetFiles(
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
Version *spec_version = nullptr);
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 XuControlRange(
channel_t channel, uint8_t id, int32_t *min, int32_t *max,
int32_t *def) const;
bool XuControlRange(
const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min,
int32_t *max, int32_t *def) const;
bool XuControlQuery(
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,
uint8_t *data) const;
bool XuCamCtrlQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
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;
bool XuImuWrite(const ImuReqPacket &req) const;
bool XuImuRead(ImuResPacket *res) const;
bool XuFileQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
control_info_t PuControlInfo(Option option) const;
control_info_t XuControlInfo(Option option) const;
std::shared_ptr<uvc::device> device_;
std::shared_ptr<ChannelsAdapter> adapter_;
FileChannel file_channel_;
std::map<Option, control_info_t> control_infos_;
bool is_imu_tracking_;
std::thread imu_track_thread_;
volatile bool imu_track_stop_;
std::uint32_t imu_sn_;
imu_callback_t imu_callback_;
};
class ChannelsAdapter {
public:
virtual ~ChannelsAdapter() {}
virtual std::set<Option> GetOptionSupports() = 0;
virtual std::int32_t GetAccelRangeDefault() = 0;
virtual std::vector<std::int32_t> GetAccelRangeValues() = 0;
virtual std::int32_t GetGyroRangeDefault() = 0;
virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_CHANNEL_CHANNELS_H_

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_CHANNEL_DEF_H_
#define MYNTEYE_DEVICE_CHANNEL_DEF_H_
#pragma once
#include "mynteye/mynteye.h"
MYNTEYE_BEGIN_NAMESPACE
typedef enum Channel {
CHANNEL_CAM_CTRL = 1,
CHANNEL_HALF_DUPLEX = 2,
CHANNEL_IMU_WRITE = 3,
CHANNEL_IMU_READ = 4,
CHANNEL_FILE = 5,
CHANNEL_LAST
} channel_t;
typedef enum FileId {
FID_DEVICE_INFO = 1, // device info
FID_IMG_PARAMS = 2, // image intrinsics & extrinsics
FID_IMU_PARAMS = 4, // imu intrinsics & extrinsics
FID_LAST,
} file_id_t;
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_CHANNEL_DEF_H_

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src/mynteye/device/channel/file_channel.cc Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/device/channel/file_channel.h"
#include "mynteye/logger.h"
MYNTEYE_BEGIN_NAMESPACE
// FileChannel
FileChannel::FileChannel() {
dev_info_parser_ = std::make_shared<DeviceInfoParser>();
img_params_parser_ = std::make_shared<ImgParamsParser>();
imu_params_parser_ = std::make_shared<ImuParamsParser>();
}
FileChannel::~FileChannel() {
}
std::size_t FileChannel::GetDeviceInfoFromData(
const std::uint8_t *data, device_info_t *info) {
auto n = dev_info_parser_->GetFromData(data, info);
auto spec_version = info->spec_version;
img_params_parser_->SetSpecVersion(spec_version);
imu_params_parser_->SetSpecVersion(spec_version);
return n;
}
std::size_t FileChannel::SetDeviceInfoToData(
const device_info_t *info, std::uint8_t *data) {
auto spec_version = info->spec_version;
img_params_parser_->SetSpecVersion(spec_version);
imu_params_parser_->SetSpecVersion(spec_version);
return dev_info_parser_->SetToData(info, data);
}
std::size_t FileChannel::GetImgParamsFromData(
const std::uint8_t *data, img_params_t *img_params) {
CHECK_NOTNULL(img_params_parser_);
return img_params_parser_->GetFromData(data, img_params);
}
std::size_t FileChannel::SetImgParamsToData(
const img_params_t *img_params, std::uint8_t *data) {
CHECK_NOTNULL(img_params_parser_);
return img_params_parser_->SetToData(img_params, data);
}
std::size_t FileChannel::GetImuParamsFromData(
const std::uint8_t *data, imu_params_t *imu_params) {
return imu_params_parser_->GetFromData(data, imu_params);
}
std::size_t FileChannel::SetImuParamsToData(
const imu_params_t *imu_params, std::uint8_t *data) {
return imu_params_parser_->SetToData(imu_params, data);
}
// DeviceInfoParser
DeviceInfoParser::DeviceInfoParser() {
}
DeviceInfoParser::~DeviceInfoParser() {
}
std::size_t DeviceInfoParser::GetFromData(
const std::uint8_t *data, device_info_t *info) const {
std::size_t i = 4; // skip vid, pid
// name, 16
info->name = bytes::_from_data(data + i, 16);
i += 16;
// serial_number, 16
info->serial_number = bytes::_from_data(data + i, 16);
i += 16;
// firmware_version, 2
info->firmware_version.set_major(data[i]);
info->firmware_version.set_minor(data[i + 1]);
i += 2;
// hardware_version, 3
info->hardware_version.set_major(data[i]);
info->hardware_version.set_minor(data[i + 1]);
info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
i += 3;
// spec_version, 2
info->spec_version.set_major(data[i]);
info->spec_version.set_minor(data[i + 1]);
i += 2;
// lens_type, 4
info->lens_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->lens_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// imu_type, 4
info->imu_type.set_vendor(bytes::_from_data<std::uint16_t>(data + i));
info->imu_type.set_product(bytes::_from_data<std::uint16_t>(data + i + 2));
i += 4;
// nominal_baseline, 2
info->nominal_baseline = bytes::_from_data<std::uint16_t>(data + i);
i += 2;
// get other infos according to spec_version
return i;
}
std::size_t DeviceInfoParser::SetToData(
const device_info_t *info, std::uint8_t *data) const {
std::size_t i = 3; // skip id, size
i += 4; // skip vid, pid
// name, 16
bytes::_to_data(info->name, data + i, 16);
i += 16;
// serial_number, 16
bytes::_to_data(info->serial_number, data + i, 16);
i += 16;
// firmware_version, 2
data[i] = info->firmware_version.major();
data[i + 1] = info->firmware_version.minor();
i += 2;
// hardware_version, 3
data[i] = info->hardware_version.major();
data[i + 1] = info->hardware_version.minor();
data[i + 2] =
static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
i += 3;
// spec_version, 2
data[i] = info->spec_version.major();
data[i + 1] = info->spec_version.minor();
i += 2;
// lens_type, 4
bytes::_to_data(info->lens_type.vendor(), data + i);
bytes::_to_data(info->lens_type.product(), data + i + 2);
i += 4;
// imu_type, 4
bytes::_to_data(info->imu_type.vendor(), data + i);
bytes::_to_data(info->imu_type.product(), data + i + 2);
i += 4;
// nominal_baseline, 2
bytes::_to_data(info->nominal_baseline, data + i);
i += 2;
// set other infos according to spec_version
// others
std::size_t size = i - 3;
data[0] = FID_DEVICE_INFO;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
// ImgParamsParser
ImgParamsParser::ImgParamsParser() {
}
ImgParamsParser::~ImgParamsParser() {
}
std::size_t ImgParamsParser::GetFromData(
const std::uint8_t *data, 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)) {
return GetFromData_v1_0(data, img_params);
} else {
return GetFromData_v1_1(data, img_params);
}
} else {
// get img params with version header
return GetFromData_new(data, 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
return SetToData_new(img_params, data);
}
}
std::size_t ImgParamsParser::GetFromData_v1_0(
const std::uint8_t *data, img_params_t *img_params) const {
std::size_t i = 0;
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
Extrinsics ex_right_to_left;
i += bytes::from_data(in_left.get(), data + i);
i += bytes::from_data(in_right.get(), data + i);
i += bytes::from_data(&ex_right_to_left, data + i);
(*img_params)[{752, 480}] = {true, spec_version_.to_string(),
in_left, in_right, ex_right_to_left};
return i;
}
std::size_t ImgParamsParser::SetToData_v1_0(
const img_params_t *img_params, std::uint8_t *data) const {
std::size_t i = 3; // skip id, size
auto params = (*img_params).at({752, 480});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_right);
i += bytes::to_data(in_left.get(), data + i);
i += bytes::to_data(in_right.get(), data + i);
i += bytes::to_data(&params.ex_right_to_left, data + i);
// others
std::size_t size = i - 3;
data[0] = FID_IMG_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
std::size_t ImgParamsParser::GetFromData_v1_1(
const std::uint8_t *data, img_params_t *img_params) const {
std::size_t i = 0;
Extrinsics ex_right_to_left;
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i);
i += bytes::from_data(in_right.get(), data + i);
(*img_params)[{1280, 400}] = {true, spec_version_.to_string(),
in_left, in_right, ex_right_to_left};
}
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i);
i += bytes::from_data(in_right.get(), data + i);
(*img_params)[{2560, 800}] = {true, spec_version_.to_string(),
in_left, in_right, ex_right_to_left};
}
{
i += bytes::from_data(&ex_right_to_left, data + i);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
return i;
}
std::size_t ImgParamsParser::SetToData_v1_1(
const img_params_t *img_params, std::uint8_t *data) const {
std::size_t i = 3; // skip id, size
{
auto params = (*img_params).at({1280, 400});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i);
i += bytes::to_data(in_right.get(), data + i);
}
{
auto params = (*img_params).at({2560, 800});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i);
i += bytes::to_data(in_right.get(), data + i);
i += bytes::to_data(&params.ex_right_to_left, data + i);
}
// others
std::size_t size = i - 3;
data[0] = FID_IMG_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
std::size_t ImgParamsParser::GetFromData_new(
const std::uint8_t *data, img_params_t *img_params) const {
return 0;
}
std::size_t ImgParamsParser::SetToData_new(
const img_params_t *img_params, std::uint8_t *data) const {
return 0;
}
// ImuParamsParser
ImuParamsParser::ImuParamsParser() {
}
ImuParamsParser::~ImuParamsParser() {
}
std::size_t ImuParamsParser::GetFromData(
const std::uint8_t *data, imu_params_t *imu_params) const {
if (spec_version_ == Version(1, 0) || spec_version_ == Version(1, 1)) {
// get imu params without version header
return GetFromData_old(data, imu_params);
} else {
// get imu params with version header
return GetFromData_new(data, 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
return SetToData_new(imu_params, data);
}
}
std::size_t ImuParamsParser::GetFromData_old(
const std::uint8_t *data, imu_params_t *imu_params) const {
std::size_t i = 0;
i += bytes::from_data(&imu_params->in_accel, data + i);
i += bytes::from_data(&imu_params->in_gyro, data + i);
i += bytes::from_data(&imu_params->ex_left_to_imu, data + i);
return i;
}
std::size_t ImuParamsParser::SetToData_old(
const imu_params_t *imu_params, std::uint8_t *data) const {
std::size_t i = 3; // skip id, size
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);
// others
std::size_t size = i - 3;
data[0] = FID_IMU_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
std::size_t ImuParamsParser::GetFromData_new(
const std::uint8_t *data, imu_params_t *imu_params) const {
std::size_t i = 0;
// version, 2
Version version(data[i], data[i + 1]);
imu_params->version = version.to_string();
i += 2;
// get imu params according to version
if (version == Version(1, 2)) { // v1.2
i += bytes::from_data(&imu_params->in_accel, data + i);
i += bytes::from_data(&imu_params->in_gyro, data + i);
i += bytes::from_data(&imu_params->ex_left_to_imu, data + i);
} else {
LOG(FATAL) << "Could not get imu params of version "
<< version.to_string() << ", please use latest SDK.";
}
return i;
}
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, 2
Version version(imu_params->version);
data[i] = version.major();
data[i + 1] = version.minor();
i += 2;
// set imu params according to version
if (version == Version(1, 2)) { // v1.2
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.";
}
// others
std::size_t size = i - 3;
data[0] = FID_IMU_PARAMS;
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
data[2] = static_cast<std::uint8_t>(size & 0xFF);
return size + 3;
}
MYNTEYE_END_NAMESPACE

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src/mynteye/device/channel/file_channel.h Normal file
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MYNTEYE_DEVICE_CHANNEL_FILE_CHANNEL_H_
#define MYNTEYE_DEVICE_CHANNEL_FILE_CHANNEL_H_
#pragma once
#include <map>
#include <memory>
#include "mynteye/mynteye.h"
#include "mynteye/device/device.h"
#include "mynteye/device/channel/bytes.h"
MYNTEYE_BEGIN_NAMESPACE
class DeviceInfoParser;
class ImgParamsParser;
class ImuParamsParser;
class FileChannel {
public:
using device_info_t = DeviceInfo;
using img_params_t = std::map<Resolution, device::img_params_t>;
using imu_params_t = device::imu_params_t;
FileChannel();
~FileChannel();
std::size_t GetDeviceInfoFromData(
const std::uint8_t *data, device_info_t *info);
std::size_t SetDeviceInfoToData(
const device_info_t *info, std::uint8_t *data);
std::size_t GetImgParamsFromData(
const std::uint8_t *data, img_params_t *img_params);
std::size_t SetImgParamsToData(
const img_params_t *img_params, std::uint8_t *data);
std::size_t GetImuParamsFromData(
const std::uint8_t *data, imu_params_t *imu_params);
std::size_t SetImuParamsToData(
const imu_params_t *imu_params, std::uint8_t *data);
private:
std::shared_ptr<DeviceInfoParser> dev_info_parser_;
std::shared_ptr<ImgParamsParser> img_params_parser_;
std::shared_ptr<ImuParamsParser> imu_params_parser_;
};
class DeviceInfoParser {
public:
using device_info_t = FileChannel::device_info_t;
DeviceInfoParser();
~DeviceInfoParser();
std::size_t GetFromData(
const std::uint8_t *data, device_info_t *info) const;
std::size_t SetToData(
const device_info_t *info, std::uint8_t *data) const;
};
class ImgParamsParser {
public:
using img_params_t = FileChannel::img_params_t;
ImgParamsParser();
~ImgParamsParser();
void SetSpecVersion(const Version& spec_version) {
spec_version_ = spec_version;
}
std::size_t GetFromData(
const std::uint8_t *data, img_params_t *img_params) const;
std::size_t SetToData(
const img_params_t *img_params, std::uint8_t *data) const;
std::size_t GetFromData_v1_0(
const std::uint8_t *data, img_params_t *img_params) const;
std::size_t SetToData_v1_0(
const img_params_t *img_params, std::uint8_t *data) const;
std::size_t GetFromData_v1_1(
const std::uint8_t *data, img_params_t *img_params) const;
std::size_t SetToData_v1_1(
const img_params_t *img_params, std::uint8_t *data) const;
std::size_t GetFromData_new(
const std::uint8_t *data, img_params_t *img_params) const;
std::size_t SetToData_new(
const img_params_t *img_params, std::uint8_t *data) const;
private:
Version spec_version_;
};
class ImuParamsParser {
public:
using imu_params_t = FileChannel::imu_params_t;
ImuParamsParser();
~ImuParamsParser();
void SetSpecVersion(const Version& spec_version) {
spec_version_ = spec_version;
}
std::size_t GetFromData(
const std::uint8_t *data, imu_params_t *imu_params) const;
std::size_t SetToData(
const imu_params_t *imu_params, std::uint8_t *data) const;
std::size_t GetFromData_old(
const std::uint8_t *data, imu_params_t *imu_params) const;
std::size_t SetToData_old(
const imu_params_t *imu_params, std::uint8_t *data) const;
std::size_t GetFromData_new(
const std::uint8_t *data, imu_params_t *imu_params) const;
std::size_t SetToData_new(
const imu_params_t *imu_params, std::uint8_t *data) const;
private:
Version spec_version_;
};
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_DEVICE_CHANNEL_FILE_CHANNEL_H_