tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
05c5c1f238
MYNT-EYE-S-SDK/src/mynteye/device/channel/channels.cc
John Zhao c580f6e8dc feat(channels): add img params new parser
2019-01-05 22:04:59 +08:00

723 lines
21 KiB
C++
Raw Blame History

// 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;
}
}
} // 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) {
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;
}
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, file_size, info);
CHECK_EQ(n, file_size)
<< "The firmware not support getting device info, you could "
"upgrade to latest";
} break;
case FID_IMG_PARAMS: {
if (file_size > 0) {
auto &&n = file_channel_.GetImgParamsFromData(
data + i, file_size, img_params);
CHECK_EQ(n, file_size);
}
} break;
case FID_IMU_PARAMS: {
imu_params->ok = file_size > 0;
if (imu_params->ok) {
auto &&n = file_channel_.GetImuParamsFromData(
data + i, file_size, 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) {
if (info == nullptr && img_params == nullptr && imu_params == nullptr) {
LOG(WARNING) << "Files are not provided to set";
return false;
}
std::uint8_t data[2000]{};
std::bitset<8> header;
header[7] = 1; // set
std::uint16_t size = 0;
if (info != nullptr) {
auto n = file_channel_.SetDeviceInfoToData(info, data + 3 + size);
if (n > 0) {
header[0] = true;
size += n;
}
}
if (img_params != nullptr) {
auto n = file_channel_.SetImgParamsToData(img_params, data + 3 + size);
if (n > 0) {
header[1] = true;
size += n;
}
}
if (imu_params != nullptr) {
auto n = file_channel_.SetImuParamsToData(imu_params, data + 3 + size);
if (n > 0) {
header[2] = true;
size += n;
}
}
if (size + 3 > 2000) {
LOG(FATAL) << "SetFiles failed, data is too large: " << (size + 3);
}
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
Reference in New Issue View Git Blame Copy Permalink