/*
|
* imu_service.h - interfaces for EIS algorithm to access imu sensor
|
*
|
* Copyright (c) 2021 Rockchip Electronics Co., Ltd.
|
*
|
* 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.
|
*
|
* Author: Cody Xie <cody.xie@rock-chips.com>
|
*/
|
#ifndef ALGOS_AEIS_IMU_SERVICE_H
|
#define ALGOS_AEIS_IMU_SERVICE_H
|
|
#include <memory>
|
#include <utility>
|
#include <vector>
|
|
#include "rk_aiq_mems_sensor.h"
|
#include "task_service.h"
|
#include "xcam_common.h"
|
|
using namespace XCam;
|
|
namespace RkCam {
|
|
class EisImuAdaptor;
|
|
class EisImuData {
|
public:
|
EisImuData() = delete;
|
explicit EisImuData(std::shared_ptr<EisImuAdaptor> imu, mems_sensor_type_t type,
|
mems_sensor_event_t* data, size_t count);
|
EisImuData(const EisImuData&) = delete;
|
const EisImuData& operator=(const EisImuData&) = delete;
|
~EisImuData();
|
|
const mems_sensor_type_t GetType();
|
const mems_sensor_event_t* GetData();
|
const size_t GetCount();
|
|
private:
|
const std::shared_ptr<EisImuAdaptor> imu_;
|
const mems_sensor_type_t type_;
|
mems_sensor_event_t* data_;
|
const size_t count_;
|
};
|
|
class EisImuAdaptor : std::enable_shared_from_this<EisImuAdaptor> {
|
public:
|
EisImuAdaptor() = delete;
|
explicit EisImuAdaptor(const rk_aiq_mems_sensor_intf_t intf,
|
const mems_sensor_type_t type = SENSOR_ALL_TYPE);
|
EisImuAdaptor(const EisImuAdaptor&) = delete;
|
const EisImuAdaptor& operator=(const EisImuAdaptor&) = delete;
|
~EisImuAdaptor();
|
|
constexpr const mems_sensor_type_t GetType() { return type_; };
|
std::shared_ptr<EisImuAdaptor> GetPtr() { return shared_from_this(); }
|
|
mems_sensor_event_t* GetData(size_t* num_sample);
|
void FreeData(mems_sensor_event_t* data);
|
|
XCamReturn Init(float sample_rate);
|
|
private:
|
XCamReturn DeInit();
|
|
const rk_aiq_mems_sensor_intf_t intf_;
|
const mems_sensor_type_t type_;
|
std::string key_;
|
mems_sensor_ctx_t ctx_;
|
mems_sensor_handle_t handle_;
|
std::vector<std::pair<size_t, mems_sensor_event_t*>> datas_;
|
};
|
|
struct imu_param {
|
int frame_id;
|
TaskTimePoint time_point;
|
std::unique_ptr<EisImuData> data;
|
};
|
|
class ImuTask final : public ServiceTask<imu_param> {
|
public:
|
ImuTask() = delete;
|
explicit ImuTask(std::shared_ptr<EisImuAdaptor> imu) : imu_(imu) {}
|
ImuTask(const ImuTask&) = delete;
|
const ImuTask& operator=(const ImuTask&) = delete;
|
~ImuTask() = default;
|
|
TaskResult operator()(ServiceParam<imu_param>& p);
|
|
private:
|
std::shared_ptr<EisImuAdaptor> imu_;
|
};
|
|
using ImuService = TaskService<imu_param>;
|
|
}; // namespace RkCam
|
|
#endif // ALGOS_AEIS_IMU_SERVICE_H
|
