158 lines
4.3 KiB
C++
158 lines
4.3 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MYNTEYE_INTERNAL_CHANNELS_H_ // NOLINT
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#define MYNTEYE_INTERNAL_CHANNELS_H_
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#pragma once
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#include <map>
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#include <memory>
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#include <thread>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "internal/types.h"
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#include "uvc/uvc.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct device;
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struct xu;
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} // namespace uvc
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class MYNTEYE_API Channels {
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public:
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typedef enum Channel {
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CHANNEL_CAM_CTRL = 1,
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CHANNEL_HALF_DUPLEX = 2,
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CHANNEL_IMU_WRITE = 3,
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CHANNEL_IMU_READ = 4,
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CHANNEL_FILE = 5,
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CHANNEL_LAST
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} channel_t;
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typedef struct ControlInfo {
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std::int32_t min;
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std::int32_t max;
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std::int32_t def;
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} control_info_t;
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typedef enum XuCmd {
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XU_CMD_ZDC = 0xE6, // zero drift calibration
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XU_CMD_ERASE = 0xDE, // erase chip
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XU_CMD_LAST
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} xu_cmd_t;
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typedef enum FileId {
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FID_DEVICE_INFO = 1, // device info
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FID_IMG_PARAMS = 2, // image intrinsics & extrinsics
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FID_IMU_PARAMS = 4, // imu intrinsics & extrinsics
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FID_LAST,
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} file_id_t;
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using imu_callback_t = std::function<void(const ImuPacket &packet)>;
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using device_info_t = DeviceInfo;
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typedef struct ImgParams {
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bool ok;
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Intrinsics in_left;
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Intrinsics in_right;
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Extrinsics ex_right_to_left;
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} img_params_t;
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typedef struct ImuParams {
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bool ok;
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ImuIntrinsics in_accel;
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ImuIntrinsics in_gyro;
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Extrinsics ex_left_to_imu;
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} imu_params_t;
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explicit Channels(std::shared_ptr<uvc::device> device);
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~Channels();
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void LogControlInfos() const;
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void UpdateControlInfos();
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control_info_t GetControlInfo(const Option &option) const;
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std::int32_t GetControlValue(const Option &option) const;
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void SetControlValue(const Option &option, std::int32_t value);
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bool RunControlAction(const Option &option) const;
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void SetImuCallback(imu_callback_t callback);
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void DoImuTrack();
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void StartImuTracking(imu_callback_t callback = nullptr);
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void StopImuTracking();
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bool GetFiles(
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device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
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Version *spec_version = nullptr) const;
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bool SetFiles(
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device_info_t *info, img_params_t *img_params, imu_params_t *imu_params,
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Version *spec_version = nullptr);
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private:
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bool PuControlRange(
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Option option, int32_t *min, int32_t *max, int32_t *def) const;
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bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;
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bool XuControlRange(
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channel_t channel, uint8_t id, int32_t *min, int32_t *max,
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int32_t *def) const;
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bool XuControlRange(
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const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min,
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int32_t *max, int32_t *def) const;
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bool XuControlQuery(
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channel_t channel, uvc::xu_query query, uint16_t size,
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uint8_t *data) const;
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bool XuControlQuery(
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const uvc::xu &xu, uint8_t selector, uvc::xu_query query, uint16_t size,
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uint8_t *data) const;
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bool XuCamCtrlQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
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std::int32_t XuCamCtrlGet(Option option) const;
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void XuCamCtrlSet(Option option, std::int32_t value) const;
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bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;
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bool XuImuWrite(const ImuReqPacket &req) const;
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bool XuImuRead(ImuResPacket *res) const;
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bool XuFileQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
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control_info_t PuControlInfo(Option option) const;
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control_info_t XuControlInfo(Option option) const;
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std::shared_ptr<uvc::device> device_;
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std::map<Option, control_info_t> control_infos_;
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bool is_imu_tracking_;
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std::thread imu_track_thread_;
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volatile bool imu_track_stop_;
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std::uint32_t imu_sn_;
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imu_callback_t imu_callback_;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_INTERNAL_CHANNELS_H_ NOLINT
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