// 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_DEVICE_H_ #define MYNTEYE_DEVICE_DEVICE_H_ #pragma once #include #include #include #include #include #include "mynteye/mynteye.h" #include "mynteye/types.h" #include "mynteye/device/callbacks.h" MYNTEYE_BEGIN_NAMESPACE namespace uvc { struct device; } // namespace uvc namespace tools { class DeviceWriter; } // namespace tools struct DeviceInfo; class API; class Channels; class ChannelsAdapter; class Motions; class Streams; class StreamsAdapter; template class AsyncCallback; /** * The Device class to communicate with MYNT® EYE device. */ class MYNTEYE_API Device { public: /** The device::StreamData callback. */ using stream_callback_t = device::StreamCallback; /** The device::MotionData callback. */ using motion_callback_t = device::MotionCallback; using stream_callbacks_t = std::map; using stream_async_callback_t = AsyncCallback; using motion_async_callback_t = AsyncCallback; using stream_async_callback_ptr_t = std::shared_ptr; using motion_async_callback_ptr_t = std::shared_ptr; using img_params_t = device::img_params_t; using imu_params_t = device::imu_params_t; protected: Device(const Model &model, const std::shared_ptr &device, const std::shared_ptr &streams_adapter, const std::shared_ptr &channels_adapter); public: virtual ~Device(); /** * Create the Device instance. * @param name the device name. * @param device the device from uvc. * @return the Device instance. */ static std::shared_ptr Create( const std::string &name, std::shared_ptr device); /** * Get the model. */ Model GetModel() const { return model_; } /** * Supports the stream or not. */ bool Supports(const Stream &stream) const; /** * Supports the capability or not. */ bool Supports(const Capabilities &capability) const; /** * Supports the option or not. */ bool Supports(const Option &option) const; /** * Supports the addon or not. */ bool Supports(const AddOns &addon) const; /** * Get all stream requests of the capability. */ const std::vector &GetStreamRequests( const Capabilities &capability) const; /** * Config the stream request to the capability. */ void ConfigStreamRequest( const Capabilities &capability, const StreamRequest &request); /** * Get the config stream requests of the capability. */ const StreamRequest &GetStreamRequest(const Capabilities &capability) const; /** * Get all stream requests of the key stream capability. */ const std::vector &GetStreamRequests() const; /** * Config the stream request to the key stream capability. */ void ConfigStreamRequest(const StreamRequest &request); /** * Get the config stream requests of the key stream capability. */ const StreamRequest &GetStreamRequest() const; /** * Get the device info. */ std::shared_ptr GetInfo() const; /** * Get the device info of a field. */ std::string GetInfo(const Info &info) const; /** * Get the intrinsics of stream. */ std::shared_ptr GetIntrinsics(const Stream &stream) const; /** * Get the extrinsics from one stream to another. */ Extrinsics GetExtrinsics(const Stream &from, const Stream &to) const; /** * Get the intrinsics of motion. */ MotionIntrinsics GetMotionIntrinsics() const; /** * Get the extrinsics from one stream to motion. */ Extrinsics GetMotionExtrinsics(const Stream &from) const; /** * Get the intrinsics of stream. */ std::shared_ptr GetIntrinsics( const Stream &stream, bool *ok) const; /** * Get the extrinsics from one stream to another. */ Extrinsics GetExtrinsics( const Stream &from, const Stream &to, bool *ok) const; /** * Get the intrinsics of motion. */ MotionIntrinsics GetMotionIntrinsics(bool *ok) const; /** * Get the extrinsics from one stream to motion. */ Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const; /** * Set the intrinsics of stream. */ void SetIntrinsics(const Stream &stream, const std::shared_ptr &in); /** * Set the extrinsics from one stream to another. */ void SetExtrinsics( const Stream &from, const Stream &to, const Extrinsics &ex); /** * Set the intrinsics of motion. */ void SetMotionIntrinsics(const MotionIntrinsics &in); /** * Set the extrinsics from one stream to motion. */ void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex); /** * Log all option infos. */ void LogOptionInfos() const; /** * Get the option info. */ OptionInfo GetOptionInfo(const Option &option) const; /** * Get the option value. */ std::int32_t GetOptionValue(const Option &option) const; /** * Set the option value. */ void SetOptionValue(const Option &option, std::int32_t value); /** * Run the option action. */ bool RunOptionAction(const Option &option) const; /** * Set the callback of stream. */ void SetStreamCallback( const Stream &stream, stream_callback_t callback, bool async = false); /** * Set the callback of motion. */ void SetMotionCallback(motion_callback_t callback, bool async = false); /** * Has the callback of stream. */ bool HasStreamCallback(const Stream &stream) const; /** * Has the callback of motion. */ bool HasMotionCallback() const; /** * Start capturing the source. */ virtual void Start(const Source &source); /** * Stop capturing the source. */ virtual void Stop(const Source &source); /** * Wait the streams are ready. */ void WaitForStreams(); /** * Get the latest data of stream. */ device::StreamData GetStreamData(const Stream &stream); /** * @deprecated Replaced by GetStreamData(const Stream &stream) */ device::StreamData GetLatestStreamData(const Stream &stream); /** * Get the datas of stream. * @note default cache 4 datas at most. */ std::vector GetStreamDatas(const Stream &stream); /** * Enable cache motion datas. */ void EnableMotionDatas(); /** * Enable cache motion datas. */ void EnableMotionDatas(std::size_t max_size); /** * Get the motion datas. */ std::vector GetMotionDatas(); protected: std::shared_ptr device() const { return device_; } std::shared_ptr streams() const { return streams_; } std::shared_ptr channels() const { return channels_; } std::shared_ptr motions() const { return motions_; } virtual void StartVideoStreaming(); virtual void StopVideoStreaming(); virtual void StartMotionTracking(); virtual void StopMotionTracking(); virtual void OnStereoStreamUpdate(); virtual Capabilities GetKeyStreamCapability() const = 0; std::map GetImgParams() const { return all_img_params_; } device::imu_params_t GetImuParams() const { return imu_params_; } bool video_streaming_; bool motion_tracking_; private: Model model_; std::shared_ptr device_; std::shared_ptr device_info_; std::map all_img_params_; device::imu_params_t imu_params_; std::map> stream_intrinsics_; std::map> stream_from_extrinsics_; std::shared_ptr motion_intrinsics_; std::map motion_from_extrinsics_; stream_callbacks_t stream_callbacks_; motion_callback_t motion_callback_; std::map stream_async_callbacks_; motion_async_callback_ptr_t motion_async_callback_; std::shared_ptr streams_; std::map stream_config_requests_; std::mutex mtx_streams_; std::shared_ptr channels_; std::shared_ptr motions_; void ReadAllInfos(); void UpdateStreamIntrinsics( const Capabilities &capability, const StreamRequest &request); void CallbackPushedStreamData(const Stream &stream); void CallbackMotionData(const device::MotionData &data); friend API; friend tools::DeviceWriter; }; MYNTEYE_END_NAMESPACE #endif // MYNTEYE_DEVICE_DEVICE_H_