orbbec-sdk-sys 0.1.2+2.5.5

// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.

#include "Astra2PropertyAccessors.hpp"
#include "frameprocessor/FrameProcessor.hpp"
#include "sensor/video/DisparityBasedSensor.hpp"
#include "IDeviceComponent.hpp"

namespace libobsensor {

Astra2Disp2DepthPropertyAccessor::Astra2Disp2DepthPropertyAccessor(IDevice *owner)
    : owner_(owner), hwDisparityToDepthEnabled_(true), swDisparityToDepthEnabled_(false), currentDepthUnitLevel_(0) {}

void Astra2Disp2DepthPropertyAccessor::setPropertyValue(uint32_t propertyId, const OBPropertyValue &value) {
    switch(propertyId) {
    case OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->setPropertyValue(propertyId, value);
    } break;
    case OB_PROP_DISPARITY_TO_DEPTH_BOOL: {
        if(value.intValue == 1 && std::find(hwD2DSupportList_.cbegin(), hwD2DSupportList_.cend(), currentDepthUnitLevel_) == hwD2DSupportList_.end()) {
            OBPropertyValue precisionLevel;
            precisionLevel.intValue = hwD2DSupportList_.front();
            setPropertyValue(OB_PROP_DEPTH_PRECISION_LEVEL_INT, precisionLevel);
        }
        auto propertyAccessor = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
        propertyAccessor->setPropertyValue(propertyId, value);
        hwDisparityToDepthEnabled_ = static_cast<bool>(value.intValue);
        markOutputDisparityFrame(!hwDisparityToDepthEnabled_);
    } break;
    case OB_PROP_DEPTH_PRECISION_LEVEL_INT: {
        auto            processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        OBPropertyValue swDisparityEnable;
        processor->getPropertyValue(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, &swDisparityEnable);
        if(swDisparityEnable.intValue == 1) {
            processor->setPropertyValue(propertyId, value);
        }
        else {
            auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
            commandPort->setPropertyValue(propertyId, value);
        }

        // update depth unit
        auto sensor = owner_->getComponentT<DisparityBasedSensor>(OB_DEV_COMPONENT_DEPTH_SENSOR, false);
        if(sensor) {
            auto depthUnit = utils::depthPrecisionLevelToUnit(static_cast<OBDepthPrecisionLevel>(value.intValue));
            sensor->setDepthUnit(depthUnit);
        }

        currentDepthUnitLevel_ = value.intValue;

    } break;
    default: {
        auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
        commandPort->setPropertyValue(propertyId, value);
    } break;
    }
}

void Astra2Disp2DepthPropertyAccessor::getPropertyValue(uint32_t propertyId, OBPropertyValue *value) {
    switch(propertyId) {
    case OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->getPropertyValue(propertyId, value);
    } break;
    case OB_PROP_DISPARITY_TO_DEPTH_BOOL: {
        value->intValue = hwDisparityToDepthEnabled_;
    } break;
    case OB_PROP_DEPTH_PRECISION_LEVEL_INT: {
        auto            processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        OBPropertyValue swDisparityEnable;
        processor->getPropertyValue(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, &swDisparityEnable);
        if(swDisparityEnable.intValue == 1) {
            processor->getPropertyValue(propertyId, value);
        }
        else {
            auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
            commandPort->getPropertyValue(propertyId, value);
        }
    } break;
    default: {
        auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
        commandPort->getPropertyValue(propertyId, value);
    } break;
    }
}

void Astra2Disp2DepthPropertyAccessor::getPropertyRange(uint32_t propertyId, OBPropertyRange *range) {
    switch(propertyId) {
    case OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->getPropertyRange(propertyId, range);
    } break;
    case OB_PROP_DISPARITY_TO_DEPTH_BOOL: {
        range->min.intValue  = 0;
        range->max.intValue  = 1;
        range->step.intValue = 1;
        range->def.intValue  = 1;
        range->cur.intValue  = static_cast<int32_t>(hwDisparityToDepthEnabled_);
    } break;
    case OB_PROP_DEPTH_PRECISION_LEVEL_INT: {
        auto            processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        OBPropertyValue swDisparityEnable;
        processor->getPropertyValue(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, &swDisparityEnable);
        if(swDisparityEnable.intValue == 1) {
            processor->getPropertyRange(propertyId, range);
        }
        else {
            auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
            commandPort->getPropertyRange(propertyId, range);
        }
    } break;
    default: {
        auto commandPort = owner_->getComponentT<IBasicPropertyAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
        commandPort->getPropertyRange(propertyId, range);
    } break;
    }
}

void Astra2Disp2DepthPropertyAccessor::markOutputDisparityFrame(bool enable) {
    auto sensor = owner_->getComponentT<DisparityBasedSensor>(OB_DEV_COMPONENT_DEPTH_SENSOR, false);
    if(sensor) {
        sensor->markOutputDisparityFrame(enable);
    }
}

void Astra2Disp2DepthPropertyAccessor::setStructureData(uint32_t propertyId, const std::vector<uint8_t> &data) {
    utils::unusedVar(data);
    if(propertyId == OB_STRUCT_DEPTH_PRECISION_SUPPORT_LIST) {
        throw invalid_value_exception("OB_STRUCT_DEPTH_PRECISION_SUPPORT_LIST is read-only");
    }
    throw invalid_value_exception(utils::string::to_string() << "unsupported property id:" << propertyId);
}

const std::vector<uint8_t> &Astra2Disp2DepthPropertyAccessor::getStructureData(uint32_t propertyId) {
    if(propertyId == OB_STRUCT_DEPTH_PRECISION_SUPPORT_LIST) {
        if(hwDisparityToDepthEnabled_) {
            static std::vector<uint16_t> hwD2DSupportList = { OB_PRECISION_0MM8, OB_PRECISION_0MM4, OB_PRECISION_0MM1 };
            static std::vector<uint8_t>  hwD2DSupportListBytes(reinterpret_cast<uint8_t *>(hwD2DSupportList.data()),
                                                               reinterpret_cast<uint8_t *>(hwD2DSupportList.data()) + hwD2DSupportList.size() * 2);
            return hwD2DSupportListBytes;
        }
        else {
            static std::vector<uint16_t> swD2DSupportList = { OB_PRECISION_1MM, OB_PRECISION_0MM8, OB_PRECISION_0MM4, OB_PRECISION_0MM2, OB_PRECISION_0MM1 };
            static std::vector<uint8_t>  swD2DSupportListBytes(reinterpret_cast<uint8_t *>(swD2DSupportList.data()),
                                                               reinterpret_cast<uint8_t *>(swD2DSupportList.data()) + swD2DSupportList.size() * 2);
            return swD2DSupportListBytes;
        }
    }
    throw invalid_value_exception(utils::string::to_string() << "unsupported property id:" << propertyId);
}

Astra2TempPropertyAccessor::Astra2TempPropertyAccessor(IDevice *owner) : owner_(owner) {}

void Astra2TempPropertyAccessor::setStructureData(uint32_t propertyId, const std::vector<uint8_t> &data) {
    utils::unusedVar(propertyId);
    utils::unusedVar(data);
    throw unsupported_operation_exception("Temperature params readonly!");
}

const std::vector<uint8_t> &Astra2TempPropertyAccessor::getStructureData(uint32_t propertyId) {
    utils::unusedVar(propertyId);
    tempData_.resize(sizeof(OBDeviceTemperature));

    auto                       commandPort = owner_->getComponentT<IStructureDataAccessor>(OB_DEV_COMPONENT_MAIN_PROPERTY_ACCESSOR);
    const std::vector<uint8_t> tempData    = commandPort->getStructureData(OB_STRUCT_DEVICE_TEMPERATURE);
    OBDeviceTemperature        tempParam;
    memcpy(&tempParam, tempData.data(), sizeof(OBDeviceTemperature));

    tempParam.irLeftTemp     = 0;
    tempParam.irRightTemp    = 0;
    tempParam.chipBottomTemp = 0;
    tempParam.chipTopTemp    = 0;

    memcpy(tempData_.data(), &tempParam, sizeof(OBDeviceTemperature));

    return tempData_;
}

Astra2FrameTransformPropertyAccessor::Astra2FrameTransformPropertyAccessor(IDevice *owner) : owner_(owner) {}

void Astra2FrameTransformPropertyAccessor::setPropertyValue(uint32_t propertyId, const OBPropertyValue &value) {
    switch(propertyId) {
    case OB_PROP_DEPTH_MIRROR_BOOL:
    case OB_PROP_DEPTH_FLIP_BOOL:
    case OB_PROP_DEPTH_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->setPropertyValue(propertyId, value);
    } break;
    case OB_PROP_COLOR_MIRROR_BOOL:
    case OB_PROP_COLOR_FLIP_BOOL:
    case OB_PROP_COLOR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_COLOR_FRAME_PROCESSOR);
        processor->setPropertyValue(propertyId, value);
    } break;
    case OB_PROP_IR_MIRROR_BOOL:
    case OB_PROP_IR_FLIP_BOOL:
    case OB_PROP_IR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_IR_FRAME_PROCESSOR);

        if(propertyId == OB_PROP_IR_MIRROR_BOOL) {
            OBPropertyValue correctValue = value;
            correctValue.intValue        = !correctValue.intValue;
            processor->setPropertyValue(propertyId, correctValue);
        }
        else {
            processor->setPropertyValue(propertyId, value);
        }
    } break;
    default: {
        throw invalid_value_exception("Invalid property id");
    }
    }
}

void Astra2FrameTransformPropertyAccessor::getPropertyValue(uint32_t propertyId, OBPropertyValue *value) {
    if(!value) {
        LOG_DEBUG("Null value pointer, abort property access");
        return;
    }
    memset(value, 0, sizeof(OBPropertyValue));

    switch(propertyId) {
    case OB_PROP_DEPTH_MIRROR_BOOL:
    case OB_PROP_DEPTH_FLIP_BOOL:
    case OB_PROP_DEPTH_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->getPropertyValue(propertyId, value);
    } break;
    case OB_PROP_COLOR_MIRROR_BOOL:
    case OB_PROP_COLOR_FLIP_BOOL:
    case OB_PROP_COLOR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_COLOR_FRAME_PROCESSOR);
        processor->getPropertyValue(propertyId, value);
    } break;
    case OB_PROP_IR_MIRROR_BOOL:
    case OB_PROP_IR_FLIP_BOOL:
    case OB_PROP_IR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_IR_FRAME_PROCESSOR);
        processor->getPropertyValue(propertyId, value);

        if(propertyId == OB_PROP_IR_MIRROR_BOOL) {
            value->intValue = !value->intValue;
        }
    } break;
    default: {
        throw invalid_value_exception("Invalid property id");
    }
    }
}

void Astra2FrameTransformPropertyAccessor::getPropertyRange(uint32_t propertyId, OBPropertyRange *range) {
    if(range == nullptr) {
        LOG_DEBUG("Null range pointer, abort property access");
        return;
    }
    memset(range, 0, sizeof(OBPropertyRange));

    switch(propertyId) {
    case OB_PROP_DEPTH_MIRROR_BOOL:
    case OB_PROP_DEPTH_FLIP_BOOL:
    case OB_PROP_DEPTH_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_DEPTH_FRAME_PROCESSOR);
        processor->getPropertyRange(propertyId, range);
    } break;
    case OB_PROP_COLOR_MIRROR_BOOL:
    case OB_PROP_COLOR_FLIP_BOOL:
    case OB_PROP_COLOR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_COLOR_FRAME_PROCESSOR);
        processor->getPropertyRange(propertyId, range);
    } break;
    case OB_PROP_IR_MIRROR_BOOL:
    case OB_PROP_IR_FLIP_BOOL:
    case OB_PROP_IR_ROTATE_INT: {
        auto processor = owner_->getComponentT<FrameProcessor>(OB_DEV_COMPONENT_IR_FRAME_PROCESSOR);
        processor->getPropertyRange(propertyId, range);

        if(propertyId == OB_PROP_IR_MIRROR_BOOL) {
            range->cur.intValue = !range->cur.intValue;
        }
    } break;
    default: {
        throw invalid_value_exception("Invalid property id");
    }
    }
}
}  // namespace libobsensor