111 lines
3.1 KiB
C++
111 lines
3.1 KiB
C++
/*
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* imu_service.h - interfaces for EIS algorithm to access imu sensor
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*
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* Copyright (c) 2021 Rockchip Electronics Co., Ltd.
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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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*
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* Author: Cody Xie <cody.xie@rock-chips.com>
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*/
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#ifndef ALGOS_AEIS_IMU_SERVICE_H
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#define ALGOS_AEIS_IMU_SERVICE_H
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "rk_aiq_mems_sensor.h"
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#include "task_service.h"
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#include "xcam_common.h"
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using namespace XCam;
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namespace RkCam {
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class EisImuAdaptor;
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class EisImuData {
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public:
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EisImuData() = delete;
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explicit EisImuData(std::shared_ptr<EisImuAdaptor> imu, mems_sensor_type_t type,
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mems_sensor_event_t* data, size_t count);
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EisImuData(const EisImuData&) = delete;
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const EisImuData& operator=(const EisImuData&) = delete;
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~EisImuData();
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mems_sensor_type_t GetType() const;
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mems_sensor_event_t* GetData() const;
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size_t GetCount() const;
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private:
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const std::shared_ptr<EisImuAdaptor> imu_;
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const mems_sensor_type_t type_;
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mems_sensor_event_t* data_;
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const size_t count_;
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};
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class EisImuAdaptor : std::enable_shared_from_this<EisImuAdaptor> {
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public:
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EisImuAdaptor() = delete;
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explicit EisImuAdaptor(const rk_aiq_mems_sensor_intf_t intf,
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const mems_sensor_type_t type = SENSOR_ALL_TYPE);
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EisImuAdaptor(const EisImuAdaptor&) = delete;
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const EisImuAdaptor& operator=(const EisImuAdaptor&) = delete;
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~EisImuAdaptor();
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mems_sensor_type_t GetType() const { return type_; };
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std::shared_ptr<EisImuAdaptor> GetPtr() { return shared_from_this(); }
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mems_sensor_event_t* GetData(size_t* num_sample);
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void FreeData(mems_sensor_event_t* data);
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XCamReturn Init(float sample_rate);
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private:
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XCamReturn DeInit();
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const rk_aiq_mems_sensor_intf_t intf_;
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const mems_sensor_type_t type_;
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std::string key_;
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mems_sensor_ctx_t ctx_;
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mems_sensor_handle_t handle_;
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std::vector<std::pair<size_t, mems_sensor_event_t*>> datas_;
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};
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struct imu_param {
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uint32_t frame_id;
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TaskTimePoint time_point;
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std::unique_ptr<EisImuData> data;
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};
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class ImuTask final : public ServiceTask<imu_param> {
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public:
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ImuTask() = delete;
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explicit ImuTask(std::shared_ptr<EisImuAdaptor> imu) : imu_(imu) {}
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ImuTask(const ImuTask&) = delete;
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const ImuTask& operator=(const ImuTask&) = delete;
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~ImuTask() = default;
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TaskResult operator()(ServiceParam<imu_param>& p);
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private:
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std::shared_ptr<EisImuAdaptor> imu_;
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};
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using ImuService = TaskService<imu_param>;
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} // namespace RkCam
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#endif // ALGOS_AEIS_IMU_SERVICE_H
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