1 /* 2 * imu_service.h - interfaces for EIS algorithm to access imu sensor 3 * 4 * Copyright (c) 2021 Rockchip Electronics Co., Ltd. 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 * 18 * Author: Cody Xie <cody.xie@rock-chips.com> 19 */ 20 #ifndef ALGOS_AEIS_IMU_SERVICE_H 21 #define ALGOS_AEIS_IMU_SERVICE_H 22 23 #include <memory> 24 #include <string> 25 #include <utility> 26 #include <vector> 27 28 #include "rk_aiq_mems_sensor.h" 29 #include "task_service.h" 30 #include "xcam_common.h" 31 32 using namespace XCam; 33 34 namespace RkCam { 35 36 class EisImuAdaptor; 37 38 class EisImuData { 39 public: 40 EisImuData() = delete; 41 explicit EisImuData(std::shared_ptr<EisImuAdaptor> imu, mems_sensor_type_t type, 42 mems_sensor_event_t* data, size_t count); 43 EisImuData(const EisImuData&) = delete; 44 const EisImuData& operator=(const EisImuData&) = delete; 45 ~EisImuData(); 46 47 mems_sensor_type_t GetType() const; 48 mems_sensor_event_t* GetData() const; 49 size_t GetCount() const; 50 51 private: 52 const std::shared_ptr<EisImuAdaptor> imu_; 53 const mems_sensor_type_t type_; 54 mems_sensor_event_t* data_; 55 const size_t count_; 56 }; 57 58 class EisImuAdaptor : std::enable_shared_from_this<EisImuAdaptor> { 59 public: 60 EisImuAdaptor() = delete; 61 explicit EisImuAdaptor(const rk_aiq_mems_sensor_intf_t intf, 62 const mems_sensor_type_t type = SENSOR_ALL_TYPE); 63 EisImuAdaptor(const EisImuAdaptor&) = delete; 64 const EisImuAdaptor& operator=(const EisImuAdaptor&) = delete; 65 ~EisImuAdaptor(); 66 GetType()67 mems_sensor_type_t GetType() const { return type_; }; GetPtr()68 std::shared_ptr<EisImuAdaptor> GetPtr() { return shared_from_this(); } 69 70 mems_sensor_event_t* GetData(size_t* num_sample); 71 void FreeData(mems_sensor_event_t* data); 72 73 XCamReturn Init(float sample_rate); 74 75 private: 76 XCamReturn DeInit(); 77 78 const rk_aiq_mems_sensor_intf_t intf_; 79 const mems_sensor_type_t type_; 80 std::string key_; 81 mems_sensor_ctx_t ctx_; 82 mems_sensor_handle_t handle_; 83 std::vector<std::pair<size_t, mems_sensor_event_t*>> datas_; 84 }; 85 86 struct imu_param { 87 uint32_t frame_id; 88 TaskTimePoint time_point; 89 std::unique_ptr<EisImuData> data; 90 }; 91 92 class ImuTask final : public ServiceTask<imu_param> { 93 public: 94 ImuTask() = delete; ImuTask(std::shared_ptr<EisImuAdaptor> imu)95 explicit ImuTask(std::shared_ptr<EisImuAdaptor> imu) : imu_(imu) {} 96 ImuTask(const ImuTask&) = delete; 97 const ImuTask& operator=(const ImuTask&) = delete; 98 ~ImuTask() = default; 99 100 TaskResult operator()(ServiceParam<imu_param>& p); 101 102 private: 103 std::shared_ptr<EisImuAdaptor> imu_; 104 }; 105 106 using ImuService = TaskService<imu_param>; 107 108 } // namespace RkCam 109 110 #endif // ALGOS_AEIS_IMU_SERVICE_H 111