sensorcapture_def.hpp

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//
// Copyright (c) 2021, STEREOLABS.
//
// All rights reserved.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef SENSORCAPTURE_DEF_HPP
#define SENSORCAPTURE_DEF_HPP
 
#define DEFAULT_GRAVITY (9.8189f)
#define ACC_SCALE       (DEFAULT_GRAVITY*(8.0f/32768.0f))
#define GYRO_SCALE      (1000.0f/32768.0f)
#define MAG_SCALE       (1.0f/16.0f)
#define TEMP_SCALE      (0.01f)
#define PRESS_SCALE_NEW (0.0001f)       // FM >= V3.9
#define PRESS_SCALE_OLD (0.01f)         // FW < v3.9
#define HUMID_SCALE_NEW (0.01f)         // FM >= V3.9
#define HUMID_SCALE_OLD (1.0f/1024.0f)  // FW < v3.9
 
#define TS_SCALE        (39062.5f)
#define TEMP_NOT_VALID  (-27315)
 
#include "defines.hpp"
 
namespace sl_oc {
 
namespace sensors {
 
namespace usb {
 
typedef enum CUSTOMHID_REPORT_ID {
    // Input Reports
    REP_ID_SENSOR_DATA          = 0x01,  
 
    // Generic commands
    REP_ID_REQUEST_SET          = 0x21,  
 
    // OV580
    REP_ID_OV580_CMD            = 0x22,  
 
    // Features Reports
    REP_ID_SENSOR_STREAM_STATUS = 0x32,  
 
} CUSTOMHID_REPORT_ID;
 
typedef enum CUSTOMHID_REQUEST_ID {
    RQ_CMD_PING         = 0xF2, 
    RQ_CMD_RST          = 0xE1, 
    OV580_CMD_RESET     = 0x02  
} CUSTOMHID_REQUEST_ID;
 
#pragma pack(push)  // push current alignment to stack
#pragma pack(1)     // set alignment to 1 byte boundary
 
typedef struct RawData {
    uint8_t struct_id;      
    uint8_t imu_not_valid;  
    uint64_t timestamp;     
    int16_t gX;             
    int16_t gY;             
    int16_t gZ;             
    int16_t aX;             
    int16_t aY;             
    int16_t aZ;             
    uint8_t frame_sync;     
    uint8_t sync_capabilities; 
    uint32_t frame_sync_count; 
    int16_t imu_temp;       
    uint8_t mag_valid;      
    int16_t mX;             
    int16_t mY;             
    int16_t mZ;             
    uint8_t camera_moving;  
    uint32_t camera_moving_count; 
    uint8_t camera_falling; 
    uint32_t camera_falling_count; 
    uint8_t env_valid;      
    int16_t temp;           
    uint32_t press;         
    uint32_t humid;         
    int16_t temp_cam_left;  
    int16_t temp_cam_right; 
} RawData;
 
typedef struct StreamStatus {
    uint8_t struct_id;      
    uint8_t stream_status;  
} StreamStatus;
 
typedef struct _ov580_cmd_struct {
    uint8_t struct_id;  
    uint8_t cmd;        
    uint16_t info;      
} OV580CmdStruct;
 
#pragma pack(pop) // Restore previous saved alignment
 
}
 
// ----> FW versions
enum class ZED_M_FW {
    FW_2_2 = 514, 
    FW_2_3 = 515, 
    FW_2_4 = 516, 
    FW_2_5 = 517, 
    LAST
};
 
enum class ZED_2_FW {
    FW_3_4 = 772,  
    FW_3_5 = 773,  
    FW_3_6 = 774,  
    FW_3_7 = 775,  
    FW_3_8 = 776,  
    FW_3_9 = 777,   
    FW_3_10 = 778   
};
 
inline bool atLeast(const int &version_current, const ZED_2_FW &version_required) {
    return (version_current >= static_cast<int>(version_required));
}
 
inline bool atLeast(const int &version_current, const ZED_M_FW &version_required) {
    return (version_current >= static_cast<int>(version_required));
}
// <---- FW versions
 
 
#define NTP_ADJUST_CT 1
const size_t TS_SHIFT_VAL_COUNT = 50; 
 
}
 
}
 
inline std::string wstr2str( const wchar_t* wstr)
{
    if(wstr==NULL)
        return std::string();
 
    try
    {
        std::wstring ws( wstr );
        std::string str( ws.begin(), ws.end() );
        return str;
    }
    catch(...)
    {
        std::cerr << "Failure reading USB data. Please install the udev rules available in the `udev` folder" << std::endl;
        exit(-1);
    }
 
    return std::string();
}
 
 
 
#endif // SENSORCAPTURE_DEF_HPP