158 lines
4.4 KiB
C++
158 lines
4.4 KiB
C++
// 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_INTERNAL_CHANNELS_H_ // NOLINT
|
|
#define MYNTEYE_INTERNAL_CHANNELS_H_
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <memory>
|
|
#include <thread>
|
|
|
|
#include "mynteye/mynteye.h"
|
|
#include "mynteye/types.h"
|
|
|
|
#include "internal/types.h"
|
|
#include "uvc/uvc.h"
|
|
|
|
MYNTEYE_BEGIN_NAMESPACE
|
|
|
|
namespace uvc {
|
|
|
|
struct device;
|
|
struct xu;
|
|
|
|
} // namespace uvc
|
|
|
|
class MYNTEYE_API Channels {
|
|
public:
|
|
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 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;
|
|
|
|
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;
|
|
|
|
using imu_callback_t = std::function<void(const ImuPacket &packet)>;
|
|
|
|
using device_info_t = DeviceInfo;
|
|
|
|
typedef struct ImgParams {
|
|
bool ok;
|
|
std::map<Resolution, Intrinsics> in_left_map;
|
|
std::map<Resolution, Intrinsics> in_right_map;
|
|
Extrinsics ex_left_to_right;
|
|
} img_params_t;
|
|
|
|
typedef struct ImuParams {
|
|
bool ok;
|
|
ImuIntrinsics in_accel;
|
|
ImuIntrinsics in_gyro;
|
|
Extrinsics ex_left_to_imu;
|
|
} imu_params_t;
|
|
|
|
explicit Channels(std::shared_ptr<uvc::device> device);
|
|
~Channels();
|
|
|
|
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) const;
|
|
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::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_;
|
|
};
|
|
|
|
MYNTEYE_END_NAMESPACE
|
|
|
|
#endif // MYNTEYE_INTERNAL_CHANNELS_H_ NOLINT
|