build done

Merge pull request !32 from AiYangSky/optimize-gimbal-track

CMakeLists.txt

@@ -69,6 +69,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f
+  ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
@@ -76,7 +77,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
-    ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -118,7 +119,8 @@ set(
   include/sv_mot.h
   include/sv_color_line.h
   include/sv_veri_det.h
-  include/sv_video_input.h
+  # include/sv_video_input.h
+  include/sv_camera.h
   include/sv_video_output.h
   include/sv_world.h
 )
@@ -139,6 +141,8 @@ file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10/
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
+file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40/*.cpp)
+list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 
@@ -290,7 +294,9 @@ target_link_libraries(EvalModelOnCocoVal sv_world)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
 add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
-target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
+target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world)
+add_executable(CreateMarker samples/calib/create_marker.cpp)
+target_link_libraries(CreateMarker ${OpenCV_LIBS})
 
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 if (NOT DEFINED SV_INSTALL_PREFIX)
@@ -309,7 +315,7 @@ if(USE_CUDA)
     RUNTIME DESTINATION bin
   )
 elseif(PLATFORM STREQUAL "X86_INTEL")
-  install(TARGETS sv_world
+  install(TARGETS sv_gimbal sv_world
     LIBRARY DESTINATION lib
   )
 endif()

README.md

@@ -12,7 +12,7 @@ SpireCV是一个专为**智能无人系统**打造的**边缘实时感知SDK**
 
 ## 快速入门
 
- - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
+ - 安装及使用：[SpireCV使用手册](https://docs.amovlab.com/Spire_CV_Amov/#/)（[wolai版本](https://www.wolai.com/4qWFM6aZmtpQE6jj7hnNMW)）、[SpireCV开发者套件指南](https://docs.amovlab.com/spirecvkit/#/)
     - 需掌握C++语言基础、CMake编译工具基础。
     - 需要掌握OpenCV视觉库基础，了解CUDA、OpenVINO、RKNN和CANN等计算库。
     - 需要了解ROS基本概念及基本操作。

algorithm/sv_algorithm_base.cpp

@@ -94,7 +94,8 @@ void ArucoDetector::_load()
   // _detector_params = aruco::DetectorParameters::create();
   _detector_params = new aruco::DetectorParameters;
   for (auto i : aruco_params_value) {
-    if ("_dictionary_id" == std::string(i->key)) {
+    if ("dictionaryId" == std::string(i->key)) {
+      // std::cout << "dictionary_id (old, new): " << _dictionary_id << ", " << i->value.toNumber() << std::endl;
       _dictionary_id = i->value.toNumber();
     }
     else if ("adaptiveThreshConstant" == std::string(i->key)) {

algorithm/veri/cuda/veri_det_cuda_impl.cpp

@@ -74,10 +74,10 @@ namespace sv
   bool VeriDetectorCUDAImpl::cudaSetup()
   {
 #ifdef WITH_CUDA
-    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "model.engine";
+    std::string trt_model_fn = get_home() + SV_MODEL_DIR + "veri.engine";
     if (!is_file_exist(trt_model_fn))
     {
-      throw std::runtime_error("SpireCV (104) Error loading the VERI TensorRT model (File Not Exist)");
+      throw std::runtime_error("SpireCV (104) Error loading the VeriDetector TensorRT model (File Not Exist)");
     }
     char *trt_model_stream{nullptr};
     size_t trt_model_size{0};
@@ -107,7 +107,7 @@ namespace sv
 
     delete[] trt_model_stream;
     const ICudaEngine &cu_engine = this->_trt_context->getEngine();
-    assert(cu_engine.getNbBindings() == 2);
+    assert(cu_engine.getNbBindings() == 3);
 
     this->_input_index = cu_engine.getBindingIndex("input");
     this->_output_index1 = cu_engine.getBindingIndex("output");
@@ -123,7 +123,6 @@ namespace sv
     this->_p_data = new float[2 * 3 * 224 * 224];
     this->_p_prob1 = new float[2 * 576];
     this->_p_prob2 = new float[2 * 1280];
-    this->_p_prob3 = new float[2 * 1280];
     // Input
     TRTCHECK(cudaMemcpyAsync(_p_buffers[this->_input_index], this->_p_data, 2 * 3 * 224 * 224 * sizeof(float), cudaMemcpyHostToDevice, this->_cu_stream));
     // this->_trt_context->enqueue(1, _p_buffers, this->_cu_stream, nullptr);
@@ -139,11 +138,12 @@ namespace sv
 
   void VeriDetectorCUDAImpl::cudaRoiCNN(
       std::vector<cv::Mat> &input_rois_,
-      std::vector<int> &output_labels_)
+      std::vector<float> &output_labels_)
   {
 #ifdef WITH_CUDA
 
-    for (int i = 0; i < 2; ++i)
+
+    for (int i = 0; i < 2; i++)
     {
       for (int row = 0; row < 224; ++row)
       {
@@ -151,14 +151,15 @@ namespace sv
         for (int col = 0; col < 224; ++col)
         {
           // mean=[136.20, 141.50, 145.41], std=[44.77, 44.20, 44.30]
-          this->_p_data[224 * 224 * 3 * i + col + row * 224] = ((float)uc_pixel[0] - 136.20f) / 44.77f;
+          this->_p_data[col + row * 224 + 224 * 224 * 3 * i] = ((float)uc_pixel[0] - 136.20f) / 44.77f;
-          this->_p_data[224 * 224 * 3 * i + col + row * 224 + 224 * 224] = ((float)uc_pixel[1] - 141.50f) / 44.20f;
+          this->_p_data[col + row * 224 + 224 * 224  + 224 * 224 * 3 * i] = ((float)uc_pixel[1] - 141.50f) / 44.20f;
-          this->_p_data[224 * 224 * 3 * i + col + row * 224 + 224 * 224 * 2] = ((float)uc_pixel[2] - 145.41f) / 44.30f;
+          this->_p_data[col + row * 224 + 224 * 224 * 2  + 224 * 224 * 3 * i] = ((float)uc_pixel[2] - 145.41f) / 44.30f;
           uc_pixel += 3;
         }
       }
     }
 
+
     // Input
     TRTCHECK(cudaMemcpyAsync(_p_buffers[this->_input_index], this->_p_data, 2 * 3 * 224 * 224 * sizeof(float), cudaMemcpyHostToDevice, this->_cu_stream));
     // this->_trt_context->enqueue(1, _p_buffers, this->_cu_stream, nullptr);
@@ -180,10 +181,9 @@ namespace sv
       }
     }
 
-    // 计算两个数组的余弦相似性
+    float similarity = cosineSimilarity(this->_p_prob2, this->_p_prob2 + 1280, 1280);
-    float similarity = cosineSimilarity(_p_prob2, _p_prob2 + 1280, 1280);
+    output_labels_.push_back(label);
-    std::cout << "余弦相似性: " << similarity << std::endl;
+    output_labels_.push_back(similarity);
-    std::cout << "VERI LABEL: " << label << std::endl;
   }
 #endif
 }

algorithm/veri/cuda/veri_det_cuda_impl.h

@@ -29,14 +29,13 @@ public:
   bool cudaSetup();
   void cudaRoiCNN(
     std::vector<cv::Mat>& input_rois_,
-    std::vector<int>& output_labels_
+    std::vector<float>& output_labels_
   );
 
 #ifdef WITH_CUDA
   float *_p_data;
   float *_p_prob1;
   float *_p_prob2;
-  float *_p_prob3;
   nvinfer1::IExecutionContext *_trt_context;
   int _input_index;
   int _output_index1;

algorithm/veri/sv_veri_det.cpp

@@ -1,61 +1,153 @@
 #include "sv_veri_det.h"
 #include <cmath>
 #include <fstream>
+#include "gason.h"
+#include "sv_util.h"
+
 #ifdef WITH_CUDA
 #include <NvInfer.h>
 #include <cuda_runtime_api.h>
 #include "veri_det_cuda_impl.h"
 #endif
 
+#define SV_ROOT_DIR "/SpireCV/"
 
-namespace sv {
+namespace sv
-
-
-VeriDetector::VeriDetector()
 {
-  this->_cuda_impl = new VeriDetectorCUDAImpl;
-}
-VeriDetector::~VeriDetector()
-{
-}
 
-bool VeriDetector::setupImpl()
+  VeriDetector::VeriDetector()
-{
+  {
-#ifdef WITH_CUDA
+#ifdef WITH_CUDA
-  return this->_cuda_impl->cudaSetup();
+    this->_cuda_impl = new VeriDetectorCUDAImpl;
-#endif
+#endif
-  return false;
+  }
-}
+  VeriDetector::~VeriDetector()
-
-void VeriDetector::roiCNN(
-  std::vector<cv::Mat>& input_rois_,
-  std::vector<int>& output_labels_
-)
-{
-#ifdef WITH_CUDA
-  this->_cuda_impl->cudaRoiCNN(
-    input_rois_,
-    output_labels_
-  );
-#endif
-}
-
-
-
-void VeriDetector::detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame& tgts_)
-{
-  if (!_params_loaded)
   {
-    this->_load();
-    this->_loadLabels();
-    _params_loaded = true;
   }
 
-  std::vector<cv::Mat> e_roi = {img1_, img2_};
+  void VeriDetector::_load()
+  {
+    JsonValue all_value;
+    JsonAllocator allocator;
+    _load_all_json(this->alg_params_fn, all_value, allocator);
 
-  std::vector<int> output_labels;
+    JsonValue veriliner_params_value;
-  roiCNN(e_roi, output_labels);
+    _parser_algorithm_params("VeriDetector", all_value, veriliner_params_value);
-}
+
+    for (auto i : veriliner_params_value)
+    {
+      if ("vehicle_ID" == std::string(i->key))
+      {
+        this->vehicle_id = i->value.toString();
+        std::cout << "vehicle_ID Load Sucess!" << std::endl;
+      }
+    }
+  }
+
+  bool VeriDetector::setupImpl()
+  {
+#ifdef WITH_CUDA
+    return this->_cuda_impl->cudaSetup();
+#endif
+  
+    return false;
+  }
+
+
+  void VeriDetector::roiCNN(
+      std::vector<cv::Mat> &input_rois_,
+      std::vector<float> &output_labels_)
+  {
+#ifdef WITH_CUDA
+    this->_cuda_impl->cudaRoiCNN(
+        input_rois_,
+        output_labels_);
+#endif
+  }
+
+  void VeriDetector::detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt)
+  {
+    if (!_params_loaded)
+    {
+      this->_load();
+      this->_loadLabels();
+      _params_loaded = true;
+    }
+
+    // convert Rect2d from left-up to center.
+    targetPos[0] = float(bounding_box_.x) + float(bounding_box_.width) * 0.5f;
+    targetPos[1] = float(bounding_box_.y) + float(bounding_box_.height) * 0.5f;
+
+    targetSz[0] = float(bounding_box_.width);
+    targetSz[1] = float(bounding_box_.height);
+
+    // Extent the bounding box.
+    float sumSz = targetSz[0] + targetSz[1];
+    float wExtent = targetSz[0] + 0.5 * (sumSz);
+    float hExtent = targetSz[1] + 0.5 * (sumSz);
+    int sz = int(cv::sqrt(wExtent * hExtent));
+
+    cv::Mat crop;
+    getSubwindow(crop, img_, sz, 224);
+
+    std::string img_ground_dir = get_home()  + SV_ROOT_DIR + this->vehicle_id;
+    cv::Mat img_ground = cv::imread(img_ground_dir);
+    cv::resize(img_ground, img_ground, cv::Size(224, 224));
+    std::vector<cv::Mat> input_rois_ = {crop, img_ground};
+
+#ifdef WITH_CUDA
+    std::vector<float> output_labels;
+    roiCNN(input_rois_, output_labels);
+
+    // auto t1 = std::chrono::system_clock::now();
+    // tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
+    // this->_t0 = std::chrono::system_clock::now();
+    // tgts_.setTimeNow();
+
+    if (output_labels.size() > 0)
+    {
+      // tgt.category_id = output_labels[0];
+      tgt.sim_score = output_labels[1];
+      // tgts_.targets.push_back(tgt);
+    }
+#endif
+  }
+
+    void VeriDetector::getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz)
+  {
+    cv::Scalar avgChans = mean(srcImg);
+    cv::Size imgSz = srcImg.size();
+    int c = (originalSz + 1) / 2;
+
+    int context_xmin = (int)(targetPos[0]) - c;
+    int context_xmax = context_xmin + originalSz - 1;
+    int context_ymin = (int)(targetPos[1]) - c;
+    int context_ymax = context_ymin + originalSz - 1;
+
+    int left_pad = std::max(0, -context_xmin);
+    int top_pad = std::max(0, -context_ymin);
+    int right_pad = std::max(0, context_xmax - imgSz.width + 1);
+    int bottom_pad = std::max(0, context_ymax - imgSz.height + 1);
+
+    context_xmin += left_pad;
+    context_xmax += left_pad;
+    context_ymin += top_pad;
+    context_ymax += top_pad;
+
+    cv::Mat cropImg;
+    if (left_pad == 0 && top_pad == 0 && right_pad == 0 && bottom_pad == 0)
+    {
+      // Crop image without padding.
+      cropImg = srcImg(cv::Rect(context_xmin, context_ymin,
+                                context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    else // Crop image with padding, and the padding value is avgChans
+    {
+      cv::Mat tmpMat;
+      cv::copyMakeBorder(srcImg, tmpMat, top_pad, bottom_pad, left_pad, right_pad, cv::BORDER_CONSTANT, avgChans);
+      cropImg = tmpMat(cv::Rect(context_xmin, context_ymin, context_xmax - context_xmin + 1, context_ymax - context_ymin + 1));
+    }
+    resize(cropImg, dstCrop, cv::Size(resizeSz, resizeSz));
+  }
 
 }
-

gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:53:43
+ * @LastEditTime: 2023-12-05 16:30:27
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_crc32.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
  */
 #ifndef AT10_GIMBAL_CRC32_H
 #define AT10_GIMBAL_CRC32_H

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:39:56
+ * @LastEditTime: 2023-12-06 10:27:59
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
  */
 #include "AT10_gimbal_driver.h"
 #include "AT10_gimbal_crc32.h"
@@ -24,13 +24,6 @@ AT10GimbalDriver::AT10GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::
     stdRxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
     stdTxQueue = new fifoRing(sizeof(AT10::GIMBAL_STD_FRAME_T), MAX_QUEUE_SIZE);
     parserState = AT10::GIMBAL_SERIAL_STATE_IDLE;
-
-    // Initialize and enable attitude data return (50Hz)
-    // uint8_t cmd = 0XFF;
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_H, &cmd, 1);
-    // pack(AT10::GIMBAL_CMD_SET_FEEDBACK_L, &cmd, 1);
-    // cmd = 0X00;
-    // pack(AT10::GIMBAL_CMD_OPEN_FEEDBACK, &cmd, 1);
 }
 
 /**
@@ -84,21 +77,7 @@ void AT10GimbalDriver::convert(void *buf)
     switch (temp->head)
     {
     case AT10::GIMBAL_CMD_RCV_STATE:
-        std::cout << "Undefined old frame from AT10";
+        std::cout << "Undefined old frame from AT10\r\n";
-        // AT10::GIMBAL_RCV_POS_MSG_T *tempPos;
-        // tempPos = reinterpret_cast<AT10::GIMBAL_RCV_POS_MSG_T *>(((uint8_t *)buf) + AT10_EXT_PAYLOAD_OFFSET);
-        // mState.lock();
-        // state.abs.yaw = tempPos->yawIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.roll = tempPos->rollIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.abs.pitch = tempPos->pitchIMUAngle * AT10_EXT_SCALE_FACTOR_ANGLE;
-        // state.rel.yaw = tempPos->yawStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.roll = tempPos->rollStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // state.rel.pitch = tempPos->pitchStatorRotorAngle * AT10_EXT_SCALE_FACTOR_SPEED;
-        // updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
-        //                           state.abs.roll, state.abs.pitch, state.abs.yaw,
-        //                           state.fov.x, state.fov.y);
-        // mState.unlock();
-
         break;
 
     case AT10::GIMBAL_CMD_STD:
@@ -123,15 +102,15 @@ void AT10GimbalDriver::convert(void *buf)
             state.fov.y = amovGimbalTools::conversionBigLittle(tempRcv->D1.fovY) * 0.1;
             if ((amovGimbalTools::conversionBigLittle(tempRcv->D1.camera) & 0X0003) == 0X01)
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+                state.video = AMOV_GIMBAL_VIDEO_TAKE;
             }
             else
             {
-                state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+                state.video = AMOV_GIMBAL_VIDEO_OFF;
             }
             updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                       state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                      state.fov.x, state.fov.y);
+                                      state.fov.x, state.fov.y, updataCaller);
             mState.unlock();
             break;
 
@@ -316,21 +295,9 @@ bool AT10GimbalDriver::parser(IN uint8_t byte)
 
 void AT10GimbalDriver::sendHeart(void)
 {
-    // uint8_t tempBuffer[72];
     uint8_t temp = 0X00;
     while (1)
     {
-        // if (!IO->isBusy() && IO->isOpen())
-        // {
-        //     bool state = false;
-
-        //     state = txQueue->outCell(&tempBuffer);
-        //     if (state)
-        //     {
-        //         IO->outPutBytes((uint8_t *)&tempBuffer,
-        //                         reinterpret_cast<AT10::GIMBAL_EXTEND_FRAME_T *>(tempBuffer)->len + AT10_EXT_PAYLOAD_OFFSET + sizeof(uint8_t));
-        //     }
-        // }
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         pack(AT10::GIMBAL_CMD_STD_HEART, &temp, sizeof(temp));
     }
@@ -363,19 +330,26 @@ void AT10GimbalDriver::stackStart(void)
     }
     std::thread sendHeartLoop(&AT10GimbalDriver::sendHeart, this);
     std::thread sendStdLoop(&AT10GimbalDriver::sendStd, this);
+
+    this->sendThreadHanle = sendStdLoop.native_handle();
+    this->sendHreatThreadHandle = sendHeartLoop.native_handle();
+
     sendHeartLoop.detach();
     sendStdLoop.detach();
 }
 
 void AT10GimbalDriver::parserLoop(void)
 {
-    uint8_t temp;
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
 
     while (1)
     {
-        if (IO->inPutByte(&temp))
+        getCount = IO->inPutBytes(temp);
+
+        for (i = 0; i < getCount; i++)
         {
-            parser(temp);
+            parser(temp[i]);
         }
     }
 }
@@ -387,7 +361,7 @@ void AT10GimbalDriver::getStdRxPack(void)
     {
         if (stdRxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
@@ -400,20 +374,25 @@ void AT10GimbalDriver::getExtRxPack(void)
     {
         if (rxQueue->outCell(tempBuffer))
         {
-            msgCustomCallback(tempBuffer);
+            msgCustomCallback(tempBuffer, msgCaller);
             convert(tempBuffer);
         }
     }
 }
 
-void AT10GimbalDriver::parserStart(amovGimbal::pStateInvoke callback)
+void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
 {
     this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
 
     std::thread parser(&AT10GimbalDriver::parserLoop, this);
     std::thread getStdRxPackLoop(&AT10GimbalDriver::getStdRxPack, this);
     std::thread getExtRxPackLooP(&AT10GimbalDriver::getExtRxPack, this);
 
+    this->parserThreadHanle = parser.native_handle();
+    this->stackThreadHanle = getStdRxPackLoop.native_handle();
+    this->extStackThreadHandle = getExtRxPackLooP.native_handle();
+
     parser.detach();
     getStdRxPackLoop.detach();
     getExtRxPackLooP.detach();

gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h

@@ -3,19 +3,17 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:28:55
+ * @LastEditTime: 2023-12-06 10:27:48
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __AT10_DRIVER_H
+#define __AT10_DRIVER_H
 #include "../amov_gimbal_private.h"
 #include "AT10_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __AT10_DRIVER_H
-#define __AT10_DRIVER_H
-
 class AT10GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -32,12 +30,13 @@ private:
     void sendHeart(void);
     void sendStd(void);
 
-    void parserStart(amovGimbal::pStateInvoke callback);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
     void parserLoop(void);
     void getExtRxPack(void);
     void getStdRxPack(void);
 
-    // bool getRxPack(OUT void *pack);
+    std::thread::native_handle_type sendHreatThreadHandle;
+    std::thread::native_handle_type extStackThreadHandle;
 
     bool parser(IN uint8_t byte);
     void convert(void *buf);
@@ -46,18 +45,18 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
-    uint32_t extensionFuntions(void* cmd);
+    uint32_t extensionFuntions(void *cmd);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
@@ -76,6 +75,13 @@ public:
         {
             delete stdTxQueue;
         }
+        // set thread kill anytime
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        sendHreatThreadHandle = sendHreatThreadHandle == 0 ? 0 : pthread_cancel(sendHreatThreadHandle);
+        extStackThreadHandle = extStackThreadHandle == 0 ? 0 : pthread_cancel(extStackThreadHandle);
     }
 };
 

gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp

@@ -3,7 +3,7 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:56:15
+ * @LastEditTime: 2023-11-27 16:27:18
  * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_funtion.cpp
  */
 #include "AT10_gimbal_driver.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t AT10GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     int16_t yaw, pitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -35,14 +35,14 @@ uint32_t AT10GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
 }
 
 /**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t AT10GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     int16_t speedYaw, speedPitch;
     AT10::GIMBAL_CMD_A1_MSG_T temp;
@@ -66,7 +66,7 @@ uint32_t AT10GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t AT10GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = fabs(followSpeed.pitch * 100);
     state.maxFollow.yaw = fabs(followSpeed.yaw * 100);
@@ -110,10 +110,10 @@ uint32_t AT10GimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t AT10GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint16_t temp;
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_T::AMOV_GIMBAL_VIDEO_TAKE)
     {
         temp = 0x14 << 3;
     }
@@ -127,20 +127,20 @@ uint32_t AT10GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newSta
     return pack(AT10::GIMBAL_CMD_STD_CAMERA, (uint8_t *)&data, sizeof(uint16_t));
 }
 
-uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     if (targetRate == 0.0f)
     {
         uint16_t temp = 0;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
             temp = 0X08 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
             temp = 0X09 << 3;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
             temp = 0X01 << 3;
             break;
         default:
@@ -160,18 +160,18 @@ uint32_t AT10GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t AT10GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t AT10GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint16_t temp = 0;
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_IN:
         temp = 0X0B << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_OUT:
         temp = 0X0A << 3;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_T::AMOV_GIMBAL_ZOOM_STOP:
         temp = 0X01 << 3;
         break;
     default:

gimbal_ctrl/driver/src/CMakeLists.txt

@@ -1,36 +0,0 @@
-add_library(AMOV_Gimbal ${LIB_FLAG})
-
-SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb -fPIC")
-SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -fPIC")
-
-add_definitions(
-    -DMAX_QUEUE_SIZE=100
-)
-
-add_subdirectory(FIFO)
-########## add types of gimbal ##############
-add_subdirectory(G1)
-add_subdirectory(G2)
-add_subdirectory(Q10f)
-add_subdirectory(AT10)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(AMOV_Gimbal
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_link_libraries(AMOV_Gimbal
-    PRIVATE
-    Gimabl_G1
-    Gimabl_G2
-    Gimabl_Q10f
-    Gimabl_AT10
-)
-
-target_include_directories(AMOV_Gimbal
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-

gimbal_ctrl/driver/src/FIFO/CMakeLists.txt

@@ -1,13 +0,0 @@
-add_library(FIFO)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(FIFO
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_include_directories(FIFO
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:10
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-21 16:10:16
+ * @LastEditTime: 2023-11-28 11:47:34
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
  */
 
 #include <string.h>

gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:02
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:22:46
+ * @LastEditTime: 2023-11-28 11:47:39
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
  */
 
 #ifndef RING_FIFO_H

gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2022-10-28 14:10:02
+ * @LastEditTime: 2023-12-05 16:30:13
- * @FilePath: \amov-gimbal-sdk\src\G1\g1_gimbal_crc32.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
  */
 #ifndef G1_GIMBAL_CRC32_H
 #define G1_GIMBAL_CRC32_H

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 11:01:25
+ * @LastEditTime: 2023-12-05 17:22:57
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
@@ -75,7 +75,7 @@ void g1GimbalDriver::convert(void *buf)
         state.rel.pitch = tempPos->HALL_pitch * G1_SCALE_FACTOR;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
         break;
 

gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 02:31:19
+ * @LastEditTime: 2023-12-05 16:29:58
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __G1_DRIVER_H
+#define __G1_DRIVER_H
+
 #include "../amov_gimbal_private.h"
 #include "g1_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __G1_DRIVER_H
-#define __G1_DRIVER_H
-
 class g1GimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,22 +28,22 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
-    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
+                                const AMOV_GIMBAL_VELOCITY_T &speed,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
                                 void *extenData);
 
-    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const AMOV_GIMBAL_VELOCITY_T &seppd,
-                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
                                 void *extenData);
     uint32_t extensionFuntions(void *cmd);
 

gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:50:30
+ * @LastEditTime: 2023-12-05 16:29:51
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_funtion.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
@@ -18,7 +18,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t g1GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_ANGLE;
@@ -32,14 +32,14 @@ uint32_t g1GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
 }
 
 /**
- * It takes a struct of type amovGimbal::AMOV_GIMBAL_POS_T and converts it to a struct of type
+ * It takes a struct of type AMOV_GIMBAL_POS_T and converts it to a struct of type
  * G1::GIMBAL_SET_POS_MSG_T
  *
  * @param speed the speed of the gimbal
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t g1GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     G1::GIMBAL_SET_POS_MSG_T temp;
     temp.mode = G1::GIMBAL_CMD_POS_MODE_SPEED;
@@ -59,7 +59,7 @@ uint32_t g1GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &sp
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t g1GimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t g1GimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / G1_SCALE_FACTOR;
     state.maxFollow.roll = followSpeed.roll / G1_SCALE_FACTOR;
@@ -100,18 +100,18 @@ uint32_t g1GimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t g1GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t temp = G1::GIMBAL_CMD_CAMERA_REC;
 
     mState.lock();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
     else
     {
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     mState.unlock();
 
@@ -124,10 +124,10 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @param quaterion The "quaterion" parameter is a structure of type "AMOV_GIMBAL_QUATERNION_T" which
  * contains the following fields:
- * @param speed The "speed" parameter is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` and represents
+ * @param speed The "speed" parameter is of type `AMOV_GIMBAL_VELOCITY_T` and represents
  * the velocity of the gimbal. It contains three components: `x`, `y`, and `z`, which represent the
  * velocity in the respective axes.
- * @param acc The "acc" parameter is of type "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
  * acceleration of the gimbal in three dimensions (x, y, z).
  * @param extenData The extenData parameter is a void pointer that can be used to pass additional data
  * to the attitudeCorrection function. In this case, it is being cast to a float pointer and then
@@ -136,9 +136,9 @@ uint32_t g1GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATERNION_T &quaterion,
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &speed,
+                                            const AMOV_GIMBAL_VELOCITY_T &speed,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
                                             void *extenData)
 {
     G1::GIMBAL_ATT_CORR_MSG_T temp;
@@ -161,12 +161,12 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  * The function `attitudeCorrection` calculates the attitude correction for a gimbal based on the given
  * position, velocity, and acceleration values.
  *
- * @param pos The "pos" parameter is of type amovGimbal::AMOV_GIMBAL_POS_T and represents the current
+ * @param pos The "pos" parameter is of type AMOV_GIMBAL_POS_T and represents the current
  * position of the gimbal. It contains the pitch, roll, and yaw angles of the gimbal.
  * @param seppd seppd stands for "Separate Pointing Device" and it represents the velocity of the
- * gimbal in terms of pitch, roll, and yaw. It is of type `amovGimbal::AMOV_GIMBAL_VELOCITY_T` which
+ * gimbal in terms of pitch, roll, and yaw. It is of type `AMOV_GIMBAL_VELOCITY_T` which
  * likely contains three float values for pitch,
- * @param acc The "acc" parameter is of type "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
  * acceleration of the gimbal in three dimensions (x, y, z).
  * @param extenData The `extenData` parameter is a void pointer that can be used to pass additional
  * data to the `attitudeCorrection` function. In this code snippet, it is assumed that `extenData` is a
@@ -174,9 +174,9 @@ uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_QUATER
  *
  * @return a uint32_t value.
  */
-uint32_t g1GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
+uint32_t g1GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
+                                            const AMOV_GIMBAL_VELOCITY_T &seppd,
-                                            const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                            const AMOV_GIMBAL_VELOCITY_T &acc,
                                             void *extenData)
 {
     G1::GIMBAL_ATT_CORR_MSG_T temp;

gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:45:13
+ * @LastEditTime: 2023-12-05 16:29:48
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_struct.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
  */
 #ifndef G1_GIMBAL_STRUCT_H
 #define G1_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h

@@ -0,0 +1,41 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:33:07
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:29:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h
+ */
+#ifndef GX40_GIMBAL_CRC16_H
+#define GX40_GIMBAL_CRC16_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+    const static uint16_t crc16Tab[16] = {
+        0x0000, 0x1021, 0x2042, 0x3063,
+        0x4084, 0x50a5, 0x60c6, 0x70e7,
+        0x8108, 0x9129, 0xa14a, 0xb16b,
+        0xc18c, 0xd1ad, 0xe1ce, 0xf1ef};
+
+    static inline uint16_t CalculateCrc16(const uint8_t *ptr, uint8_t len)
+    {
+        uint16_t crc = 0;
+        uint8_t temp;
+
+        while (len-- != 0)
+        {
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr >> 4)];
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr & 0x0F)];
+            ptr++;
+        }
+        crc = (crc >> 8) | (crc << 8);
+        return (crc);
+    }
+}
+#endif

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp

@@ -0,0 +1,302 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:28
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+#include "GX40_gimbal_crc16.h"
+#include <math.h>
+
+/**
+ * The above function is a constructor for the GX40GimbalDriver class in C++, which initializes member
+ * variables and sets the parser state to idle.
+ *
+ * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase. It is used to communicate
+ * with the gimbal device.
+ */
+GX40GimbalDriver::GX40GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
+{
+    rxQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+
+    parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+}
+
+/**
+ * The function `nopSend` continuously sends a "no operation" command to a GX40 gimbal driver.
+ */
+void GX40GimbalDriver::nopSend(void)
+{
+    while (1)
+    {
+        // 50Hz
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        pack(GX40::GIMBAL_CMD_NOP, nullptr, 0);
+    }
+}
+
+/**
+ * The function `parserStart` initializes the gimbal driver by setting the callback function, creating
+ * two threads for the main loop and sending NOP commands, and detaching the threads.
+ *
+ * @param callback The parameter "callback" is of type "amovGimbal::pStateInvoke", which is a function
+ * pointer type. It is used to specify a callback function that will be invoked when the gimbal state
+ * is updated.
+ */
+void GX40GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+{
+    this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
+
+    std::thread mainLoop(&GX40GimbalDriver::mainLoop, this);
+    std::thread sendNop(&GX40GimbalDriver::nopSend, this);
+
+    this->stackThreadHanle = mainLoop.native_handle();
+    this->nopSendThreadHandle = sendNop.native_handle();
+
+    mainLoop.detach();
+    sendNop.detach();
+}
+
+/**
+ * The function `pack` in the `GX40GimbalDriver` class is responsible for packing data into a frame for
+ * transmission.
+ *
+ * @param uint32_t The parameter `cmd` is an unsigned 32-bit integer representing the command.
+ * @param pPayload The `pPayload` parameter is a pointer to the payload data that needs to be packed.
+ * It is of type `uint8_t*`, which means it is a pointer to an array of unsigned 8-bit integers. The
+ * payload data is stored in this array.
+ * @param payloadSize The parameter `payloadSize` represents the size of the payload data in bytes. It
+ * is used to determine the size of the payload data that needs to be packed into the `temp` structure.
+ *
+ * @return a uint32_t value, which is stored in the variable "ret".
+ */
+uint32_t GX40GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize)
+{
+    uint32_t ret = 0;
+    GX40::GIMBAL_FRAME_T temp;
+    memset(&temp, 0, sizeof(GX40::GIMBAL_FRAME_T));
+    GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *primary = (GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *)temp.primaryData;
+    carrierStateMutex.lock();
+
+    primary->state = 0X00;
+    // 姿态数据&指令数据填充
+    primary->roll = targetPos[0];
+    primary->pitch = targetPos[1];
+    primary->yaw = targetPos[2];
+
+    primary->state |= (0X01 << 2);
+
+    temp.otherData[0] = cmd;
+    memcpy(temp.otherData + 1, pPayload, payloadSize);
+
+    // 固定字节填充
+    temp.head.u16 = XF_SEND_HEAD;
+    temp.version = 0X01;
+    primary->secondaryFlag = 0X01;
+    temp.lenght.u16 = 69 + payloadSize + 1 + 2;
+
+    // 惯导数据填充
+    std::chrono::milliseconds nowTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    // over 1s GNSS has losed
+    if ((nowTs.count() - upDataTs.count()) < std::chrono::milliseconds(1500).count())
+    {
+        primary->selfRoll = (int16_t)(-(carrierPos.roll / 0.01f));
+        primary->selfPitch = (int16_t)(-(carrierPos.pitch / 0.01f));
+        primary->selfYaw = (int16_t)(carrierPos.yaw / 0.01f);
+        primary->accE = (int16_t)(carrierAcc.y / 0.01f);
+        primary->accN = (int16_t)(carrierAcc.x / 0.01f);
+        primary->accUp = (int16_t)(carrierAcc.z / 0.01f);
+        primary->speedE = (int16_t)(carrierSpeed.y / 0.01f);
+        primary->speedN = (int16_t)(carrierSpeed.x / 0.01f);
+        primary->speedUp = (int16_t)(carrierSpeed.z / 0.01f);
+
+        carrierGNSS.GPSweeks = ((nowTs.count() / 1000) - 315964800) / 604800;
+        carrierGNSS.GPSms = nowTs.count() - (carrierGNSS.GPSweeks * 604800000);
+
+        memcpy(temp.secondaryData, &carrierGNSS, sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T));
+
+        primary->state |= (0X01 << 0);
+    }
+    else
+    {
+        primary->state &= (~(0X01 << 0));
+    }
+
+    carrierStateMutex.unlock();
+
+    // 校验
+    *(uint16_t *)(&temp.otherData[payloadSize + 1]) = GX40::CalculateCrc16((uint8_t *)&temp, 69 + 1 + payloadSize);
+
+    // 添加至发送队列
+    if (txQueue->inCell(&temp))
+    {
+        ret = temp.lenght.u16;
+    }
+    return ret;
+}
+
+/**
+ * The function `convert` takes a buffer and extracts data from it to update the state of a gimbal
+ * driver.
+ *
+ * @param buf The `buf` parameter is a void pointer that points to a buffer containing data that needs
+ * to be converted.
+ */
+void GX40GimbalDriver::convert(void *buf)
+{
+    GX40::GIMBAL_FRAME_T *temp;
+    GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *primary;
+    GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *secondary;
+    temp = reinterpret_cast<GX40::GIMBAL_FRAME_T *>(buf);
+    primary = (GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *)temp->primaryData;
+    secondary = (GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *)temp->secondaryData;
+
+    mState.lock();
+    this->state.workMode = (AMOV_GIMBAL_SERVO_MODE_T)primary->workMode;
+    this->state.cameraFlag = (AMOV_GIMBAL_CAMERA_FLAG_T)primary->state;
+    // 应该需要再解算一下，才能出具体的框架角度
+    this->state.rel.yaw = -(primary->motorYaw * XF_ANGLE_DPI);
+    this->state.rel.yaw = this->state.rel.yaw < -180.0f ? this->state.rel.yaw + 360.0f : this->state.rel.yaw;
+    this->state.rel.pitch = -(primary->motorPitch * XF_ANGLE_DPI);
+    this->state.rel.roll = -(primary->motorRoll * XF_ANGLE_DPI);
+
+    this->state.abs.yaw = -(primary->yaw * XF_ANGLE_DPI);
+    this->state.abs.yaw = this->state.abs.yaw < -180.0f ? this->state.abs.yaw + 360.0f : this->state.abs.yaw;
+
+    this->state.abs.pitch = -(primary->pitch * XF_ANGLE_DPI);
+    this->state.abs.roll = -(primary->roll * XF_ANGLE_DPI);
+
+    this->state.relSpeed.yaw = -(primary->speedYaw * XF_ANGLE_DPI);
+    this->state.relSpeed.pitch = -(primary->speedPitch * XF_ANGLE_DPI);
+    this->state.relSpeed.roll = -(primary->speedRoll * XF_ANGLE_DPI);
+
+    // 近似值 不准
+    this->state.fov.x = secondary->camera1Zoom * 0.1f;
+    this->state.fov.x = 60.2f / this->state.fov.x;
+    this->state.fov.y = secondary->camera1Zoom * 0.1f;
+    this->state.fov.y = 36.1f / this->state.fov.y;
+
+    updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
+                              state.abs.roll, state.abs.pitch, state.abs.yaw,
+                              state.fov.x, state.fov.y, updataCaller);
+
+    mState.unlock();
+}
+
+/**
+ * The function calculates the total length of a data packet by adding the length of the payload to the
+ * size of a uint16_t.
+ *
+ * @param pack The parameter "pack" is a void pointer, which means it can point to any type of data. In
+ * this case, it is expected to point to a structure of type "GX40::GIMBAL_FRAME_T".
+ *
+ * @return the sum of the length of the gimbal frame and the size of a uint16_t.
+ */
+uint32_t GX40GimbalDriver::calPackLen(void *pack)
+{
+    return ((GX40::GIMBAL_FRAME_T *)pack)->lenght.u16;
+}
+/**
+ * The function `parser` is used to parse incoming data frames in a specific format and returns a
+ * boolean value indicating whether the parsing was successful or not.
+ *
+ * @param uint8_t The parameter `byte` is of type `uint8_t`, which is an unsigned 8-bit integer. It is
+ * used to store a single byte of data that is being parsed by the `GX40GimbalDriver::parser` function.
+ *
+ * @return a boolean value, either true or false.
+ */
+bool GX40GimbalDriver::parser(IN uint8_t byte)
+{
+    bool state = false;
+    static uint8_t payloadLenght = 0;
+    static uint8_t *pRx = nullptr;
+
+    switch (parserState)
+    {
+    case GX40::GIMBAL_FRAME_PARSER_STATE_IDLE:
+        if (byte == ((XF_RCV_HEAD >> 8) & 0XFF))
+        {
+            rx.head.u8[0] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_HEAD;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_HEAD:
+        if (byte == ((XF_RCV_HEAD >> 0) & 0XFF))
+        {
+            rx.head.u8[1] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN1;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN1:
+        rx.lenght.u8[0] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN2;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN2:
+        rx.lenght.u8[1] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_VERSION;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_VERSION:
+        if (byte == XF_VERSION)
+        {
+            rx.version = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD;
+            pRx = rx.primaryData;
+            payloadLenght = rx.lenght.u16 - 5;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+            rx.lenght.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD:
+        *pRx = byte;
+        payloadLenght--;
+        pRx++;
+        if (payloadLenght <= 0)
+        {
+            if (*(uint16_t *)(pRx - sizeof(uint16_t)) == GX40::CalculateCrc16((uint8_t *)&rx, rx.lenght.u16 - 2))
+            {
+                state = true;
+                rxQueue->inCell(&rx);
+            }
+            else
+            {
+                memset(&rx, 0, sizeof(GX40::GIMBAL_FRAME_T));
+            }
+
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            pRx = nullptr;
+            payloadLenght = 0;
+        }
+        break;
+
+    default:
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+        pRx = nullptr;
+        payloadLenght = 0;
+        break;
+    }
+
+    return state;
+}

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -0,0 +1,86 @@
+
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 10:27:05
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
+ */
+#ifndef __GX40_DRIVER_H
+#define __GX40_DRIVER_H
+#include "../amov_gimbal_private.h"
+#include "GX40_gimbal_struct.h"
+#include <mutex>
+#include <malloc.h>
+#include <iostream>
+#include <chrono>
+#include <time.h>
+
+class GX40GimbalDriver : public amovGimbal::amovGimbalBase
+{
+    GX40::GIMBAL_FRAME_PARSER_STATE_T parserState;
+    GX40::GIMBAL_FRAME_T rx;
+
+    std::chrono::milliseconds upDataTs;
+    std::mutex carrierStateMutex;
+
+    int16_t targetPos[3];
+
+    AMOV_GIMBAL_POS_T carrierPos;
+    AMOV_GIMBAL_VELOCITY_T carrierSpeed;
+    AMOV_GIMBAL_VELOCITY_T carrierAcc;
+    GX40::GIMBAL_SECONDARY_MASTER_FRAME_T carrierGNSS;
+
+    std::thread::native_handle_type nopSendThreadHandle;
+    void nopSend(void);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+public:
+    uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
+    bool parser(IN uint8_t byte);
+    void convert(void *buf);
+    uint32_t calPackLen(void *pack);
+
+    // funtions
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalHome(void);
+
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+
+    uint32_t takePic(void);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const AMOV_GIMBAL_VELOCITY_T &acc,
+                                void *extenData);
+
+    uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+    uint32_t extensionFuntions(void *cmd);
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    {
+        return new GX40GimbalDriver(_IO);
+    }
+    GX40GimbalDriver(amovGimbal::IOStreamBase *_IO);
+    ~GX40GimbalDriver()
+    {
+        if (txQueue != nullptr)
+        {
+            delete txQueue;
+        }
+        if (rxQueue != nullptr)
+        {
+            delete rxQueue;
+        }
+
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        nopSendThreadHandle = nopSendThreadHandle == 0 ? 0 : pthread_cancel(nopSendThreadHandle);
+    }
+};
+
+#endif

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

@@ -0,0 +1,251 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-02 17:50:26
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:29:13
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+
+/**
+ * The function sets the target position of a gimbal based on the input roll, pitch, and yaw values.
+ *
+ * @param pos The parameter "pos" is of type "AMOV_GIMBAL_POS_T". It is a structure that
+ * contains the roll, pitch, and yaw values of the gimbal position.
+ *
+ * @return a packed value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-pos.roll / 0.01f);
+    targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
+    targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
+    carrierStateMutex.unlock();
+    return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal speed based on the provided roll, pitch, and yaw values.
+ *
+ * @param speed The parameter "speed" is of type "AMOV_GIMBAL_POS_T". It is a structure
+ * that contains the roll, pitch, and yaw values of the gimbal speed.
+ *
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-speed.roll / 0.1f);
+    targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
+    targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
+    carrierStateMutex.unlock();
+
+    return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal's home position to (0, 0, 0) and sends a command to the gimbal to go to
+ * the home position.
+ *
+ * @return the result of the pack() function call with the arguments GX40::GIMBAL_CMD_HOME, nullptr, and
+ * 0.
+ */
+uint32_t GX40GimbalDriver::setGimabalHome(void)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+    carrierStateMutex.unlock();
+
+    pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
+    return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
+}
+
+/**
+ * The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
+ * returns the packed command.
+ *
+ * @return a uint32_t value.
+ */
+uint32_t GX40GimbalDriver::takePic(void)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `setVideo` toggles the video state of a gimbal driver and returns a packed command.
+ *
+ * @param newState The parameter `newState` is of type `AMOV_GIMBAL_VIDEO_T`, which is an
+ * enumeration representing the state of the video in the gimbal. It can have two possible values:
+ *
+ * @return the result of the `pack` function, which is a `uint32_t` value.
+ */
+uint32_t GX40GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    uint8_t temp = 0X01;
+
+    mState.lock();
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
+    {
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
+    }
+    else
+    {
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
+    }
+    mState.unlock();
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `attitudeCorrection` updates the state of a gimbal driver with position, velocity, and
+ * acceleration data.
+ *
+ * @param pos The "pos" parameter is of type "AMOV_GIMBAL_POS_T" and represents the current
+ * position of the gimbal. It likely contains information such as the pitch, yaw, and roll angles of
+ * the gimbal.
+ * @param seppd The parameter `seppd` stands for "Separate Pointing Device" and represents the velocity
+ * of the gimbal in separate axes (e.g., pitch, yaw, roll). It is of type
+ * `AMOV_GIMBAL_VELOCITY_T`.
+ * @param acc The "acc" parameter is of type "AMOV_GIMBAL_VELOCITY_T" and represents the
+ * acceleration of the gimbal.
+ * @param extenData The extenData parameter is a pointer to additional data that can be passed to the
+ * attitudeCorrection function. It can be used to provide any extra information or context that may be
+ * needed for the attitude correction calculation. The specific type and structure of the extenData is
+ * not provided in the code snippet,
+ *
+ * @return the size of the data being passed as arguments. The size is calculated by adding the sizes
+ * of the three types: sizeof(AMOV_GIMBAL_POS_T),
+ * sizeof(AMOV_GIMBAL_VELOCITY_T), and sizeof(AMOV_GIMBAL_VELOCITY_T).
+ */
+uint32_t GX40GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                              const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                              const AMOV_GIMBAL_VELOCITY_T &acc,
+                                              void *extenData)
+{
+    carrierStateMutex.lock();
+    carrierPos = pos;
+    carrierSpeed = seppd;
+    carrierAcc = acc;
+    upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    carrierStateMutex.unlock();
+    return sizeof(AMOV_GIMBAL_POS_T) + sizeof(AMOV_GIMBAL_VELOCITY_T) + sizeof(AMOV_GIMBAL_VELOCITY_T);
+}
+
+/**
+ * The function `extensionFuntions` takes a command as input, converts it to a specific format, and
+ * returns a 32-bit unsigned integer.
+ *
+ * @param cmd The parameter "cmd" is a void pointer, which means it can point to any type of data. In
+ * this case, it is being cast to a uint8_t pointer, which means it is expected to point to an array of
+ * uint8_t (8-bit unsigned integers).
+ *
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::extensionFuntions(void *cmd)
+{
+    uint8_t *temp = (uint8_t *)cmd;
+    return pack(temp[0], &temp[2], temp[1]);
+}
+
+/**
+ * The function `setGimbalZoom` in the `GX40GimbalDriver` class sets the zoom level of a gimbal based on
+ * the specified zoom type and target rate.
+ *
+ * @param zoom The "zoom" parameter is of type AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type. It represents the zoom action to be performed on the gimbal. The possible values for this
+ * parameter are:
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal. It is used to control the zoom functionality of the gimbal.
+ *
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp[4];
+    uint8_t len = 0;
+    temp[1] = 0X01;
+    if (targetRate == 0.0f)
+    {
+        len = 1;
+        switch (zoom)
+        {
+        case AMOV_GIMBAL_ZOOM_IN:
+            temp[0] = GX40::GIMBAL_CMD_ZOMM_IN;
+            break;
+        case AMOV_GIMBAL_ZOOM_OUT:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_OUT;
+            break;
+        case AMOV_GIMBAL_ZOOM_STOP:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_STOP;
+            break;
+        }
+    }
+    else
+    {
+        len = 3;
+        temp[0] = GX40::GIMBAL_CMD_ZOOM;
+        int16_t targetTemp = (int16_t)(-targetRate / 0.1f);
+        temp[2] = (targetTemp >> 0) & 0XFF;
+        temp[3] = (targetTemp >> 8) & 0XFF;
+    }
+
+    return pack(temp[0], &temp[1], len);
+}
+
+/**
+ * The function "setGimbalFocus" sets the focus of a gimbal by specifying the zoom level and target
+ * rate.
+ *
+ * @param zoom The zoom parameter is of type AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type representing different zoom levels for the gimbal. It is used to specify the desired zoom level
+ * for the gimbal focus.
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal.
+ *
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_FOCUE, &temp, 1);
+}
+
+/**
+ * The function sets the GNSS information in the carrierGNSS struct and returns the size of the struct.
+ *
+ * @param lng The "lng" parameter represents the longitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param lat The "lat" parameter represents the latitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param alt The "alt" parameter represents the altitude value in meters.
+ * @param nState The parameter "nState" represents the state of the GNSS (Global Navigation Satellite
+ * System) information. It is of type uint32_t, which means it is an unsigned 32-bit integer. The
+ * specific values and their meanings for the "nState" parameter are not provided in the code snippet
+ * @param relAlt Relative altitude of the carrier (in meters)
+ *
+ * @return the size of the structure GX40::GIMBAL_SECONDARY_MASTER_FRAME_T.
+ */
+uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    carrierStateMutex.lock();
+    carrierGNSS.head = 0X01;
+
+    carrierGNSS.lng = lng / 1E-7;
+    carrierGNSS.lat = lat / 1E-7;
+    carrierGNSS.alt = alt / 1E-3;
+
+    carrierGNSS.relAlt = relAlt / 1E-3;
+    carrierGNSS.nState = nState;
+
+    carrierStateMutex.unlock();
+    return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
+}

gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h

@@ -0,0 +1,154 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:28:54
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h
+ */
+#ifndef GX40_GIMBAL_STRUCT_H
+#define GX40_GIMBAL_STRUCT_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+#define XF_SEND_HEAD 0XE5A8
+#define XF_RCV_HEAD 0X8A5E
+#define XF_VERSION 0X00
+#define XF_ANGLE_DPI 0.01f
+
+    typedef enum
+    {
+        GIMBAL_FRAME_PARSER_STATE_IDLE,
+        GIMBAL_FRAME_PARSER_STATE_HEAD,
+        GIMBAL_FRAME_PARSER_STATE_LEN1,
+        GIMBAL_FRAME_PARSER_STATE_LEN2,
+        GIMBAL_FRAME_PARSER_STATE_VERSION,
+        GIMBAL_FRAME_PARSER_STATE_PAYLOAD,
+    } GIMBAL_FRAME_PARSER_STATE_T;
+
+    typedef enum
+    {
+        GIMBAL_CMD_NOP = 0X00,
+        GIMBAL_CMD_CAL = 0X01,
+        GIMBAL_CMD_HOME = 0X03,
+        GIMBAL_CMD_MODE_FPV = 0X10,
+        GIMBAL_CMD_MODE_LOCK = 0X11,
+        GIMBAL_CMD_MODE_FOLLOW = 0X12,
+        GIMBAL_CMD_MODE_OVERLOCK = 0X13,
+        GIMBAL_CMD_MODE_EULER = 0X14,
+        GIMBAL_CMD_MODE_WATCH_POS = 0X15,
+        GIMBAL_CMD_MODE_WATCH = 0X16,
+        GIMBAL_CMD_MODE_TRACK = 0X17,
+        GIMBAL_CMD_MODE_MOVE = 0X1A,
+        GIMBAL_CMD_MODE_MOVE_TRACK = 0X1B,
+        GIMBAL_CMD_TAKEPIC = 0X20,
+        GIMBAL_CMD_TAKEVIDEO = 0X21,
+        GIMBAL_CMD_ZOOM_OUT = 0X22,
+        GIMBAL_CMD_ZOMM_IN = 0X23,
+        GIMBAL_CMD_ZOOM_STOP = 0X24,
+        GIMBAL_CMD_ZOOM = 0X25,
+        GIMBAL_CMD_FOCUE = 0X26,
+        GIMBAL_CMD_VIDEO_MODE = 0X2A,
+        GIMBAL_CMD_NIGHT = 0X2B,
+        GIMBAL_CMD_OSD = 0X73,
+        GIMBAL_CMD_FIX_MODE = 0X74,
+        GIMBAL_CMD_LIGHT = 0X80,
+        GIMBAL_CMD_TAKE_DISTANCE = 0X81,
+    } GIMBAL_CMD_T;
+
+#pragma pack(1)
+
+    typedef struct
+    {
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } head;
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } lenght;
+        uint8_t version;
+        uint8_t primaryData[32];
+        uint8_t secondaryData[32];
+        uint8_t otherData[32];
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } crc16;
+    } GIMBAL_FRAME_T;
+
+    typedef struct
+    {
+        int16_t roll;
+        int16_t pitch;
+        int16_t yaw;
+        uint8_t state;
+        int16_t selfRoll;
+        int16_t selfPitch;
+        uint16_t selfYaw;
+        int16_t accN;
+        int16_t accE;
+        int16_t accUp;
+        int16_t speedN;
+        int16_t speedE;
+        int16_t speedUp;
+        uint8_t secondaryFlag;
+        uint8_t reserve[6];
+    } GIMBAL_PRIMARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t workMode;
+        uint16_t state;
+        int16_t offsetX;
+        int16_t offsetY;
+        uint16_t motorRoll;
+        uint16_t motorPitch;
+        uint16_t motorYaw;
+        int16_t roll;
+        int16_t pitch;
+        uint16_t yaw;
+        int16_t speedRoll;
+        int16_t speedPitch;
+        int16_t speedYaw;
+        uint8_t reserve[7];
+    } GIMBAL_PRIMARY_SLAVE_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        int32_t lng;
+        int32_t lat;
+        int32_t alt;
+        uint8_t nState;
+        uint32_t GPSms;
+        int32_t GPSweeks;
+        int32_t relAlt;
+        uint8_t reserve[8];
+    } GIMBAL_SECONDARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        uint8_t versionHW;
+        uint8_t versionSoft;
+        uint8_t type;
+        uint16_t error;
+        int32_t targetDistance;
+        int32_t targetLng;
+        int32_t targetLat;
+        int32_t targetAlt;
+        uint16_t camera1Zoom;
+        uint16_t camera2Zoom;
+        uint8_t reserve[6];
+    } GIMBAL_SECONDARY_SLAVE_FRAME_T;
+#pragma pack()
+}
+
+#endif

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h

@@ -3,12 +3,11 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-23 17:24:23
+ * @LastEditTime: 2023-12-05 16:28:29
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_crc32.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
  */
 #ifndef Q10F_GIMBAL_CRC32_H
 #define Q10F_GIMBAL_CRC32_H
-
 namespace Q10f
 {
     static inline unsigned char CheckSum(unsigned char *pData, unsigned short Lenght)

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 12:03:44
+ * @LastEditTime: 2023-12-05 17:23:15
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -86,7 +86,7 @@ void Q10fGimbalDriver::convert(void *buf)
         state.rel.pitch = tempPos->pitchStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
         updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
                                   state.abs.roll, state.abs.pitch, state.abs.yaw,
-                                  state.fov.x, state.fov.y);
+                                  state.fov.x, state.fov.y, updataCaller);
         mState.unlock();
 
         break;

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h

@@ -3,19 +3,18 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-28 17:01:00
+ * @LastEditTime: 2023-12-05 16:27:45
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
  */
-#include "../amov_gimbal.h"
+#ifndef __Q10F_DRIVER_H
+#define __Q10F_DRIVER_H
+
 #include "../amov_gimbal_private.h"
 #include "Q10f_gimbal_struct.h"
 #include <mutex>
 #include <malloc.h>
 #include <iostream>
 
-#ifndef __Q10F_DRIVER_H
-#define __Q10F_DRIVER_H
-
 class Q10fGimbalDriver : protected amovGimbal::amovGimbalBase
 {
 private:
@@ -29,16 +28,16 @@ private:
 
 public:
     // funtions
-    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-    uint32_t setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed);
+    uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
     uint32_t setGimabalHome(void);
 
-    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
 
     uint32_t takePic(void);
-    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
 
     // builds
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 14:22:57
+ * @LastEditTime: 2023-12-05 16:27:39
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_funtion.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
@@ -17,7 +17,7 @@
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+uint32_t Q10fGimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_ANGLE_SPEED;
@@ -41,7 +41,7 @@ uint32_t Q10fGimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+uint32_t Q10fGimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
 {
     Q10f::GIMBAL_SET_POS_MSG_T temp;
     temp.modeR = Q10f::GIMBAL_CMD_POS_MODE_SPEED;
@@ -64,7 +64,7 @@ uint32_t Q10fGimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
  *
  * @return The return value is the number of bytes written to the buffer.
  */
-uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
+uint32_t Q10fGimbalDriver::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
 {
     state.maxFollow.pitch = followSpeed.pitch / 0.1220740379f;
     state.maxFollow.roll = followSpeed.roll / 0.1220740379f;
@@ -108,25 +108,25 @@ uint32_t Q10fGimbalDriver::takePic(void)
  *
  * @return The return value is the number of bytes written to the serial port.
  */
-uint32_t Q10fGimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+uint32_t Q10fGimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 {
     uint8_t cmd[2] = {0X01, 0XFF};
 
-    if (newState == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (newState == AMOV_GIMBAL_VIDEO_TAKE)
     {
         cmd[0] = 0X02;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        state.video = AMOV_GIMBAL_VIDEO_TAKE;
     }
     else
     {
         cmd[0] = 0X03;
-        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        state.video = AMOV_GIMBAL_VIDEO_OFF;
     }
 
     return pack(Q10f::GIMBAL_CMD_CAMERA, (uint8_t *)cmd, sizeof(cmd));
 }
 
-uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[5] = {0X00, 0X00, 0X00, 0X00, 0XFF};
     if (targetRate == 0.0f)
@@ -134,13 +134,13 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
         cmd[1] = 0XFF;
         switch (zoom)
         {
-        case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+        case AMOV_GIMBAL_ZOOM_IN:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+        case AMOV_GIMBAL_ZOOM_OUT:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
             break;
-        case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+        case AMOV_GIMBAL_ZOOM_STOP:
             cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
             break;
         default:
@@ -159,18 +159,18 @@ uint32_t Q10fGimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
     }
 }
 
-uint32_t Q10fGimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+uint32_t Q10fGimbalDriver::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     uint8_t cmd[2] = {0X00, 0XFF};
     switch (zoom)
     {
-    case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+    case AMOV_GIMBAL_ZOOM_IN:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_IN;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+    case AMOV_GIMBAL_ZOOM_OUT:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_OUT;
         break;
-    case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+    case AMOV_GIMBAL_ZOOM_STOP:
         cmd[0] = Q10f::GIMBAL_CMD_ZOOM_STOP;
         break;
     default:

gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h

@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 11:51:59
+ * @LastEditTime: 2023-12-05 16:27:27
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_struct.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
  */
 #ifndef Q10F_GIMBAL_STRUCT_H
 #define Q10F_GIMBAL_STRUCT_H

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -0,0 +1,111 @@
+/*
+ * @Description:    External interface of amov gimbals
+ * @Author: L LC @amov
+ * @Date: 2022-10-27 18:34:26
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:37:09
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h
+ */
+
+#ifndef AMOV_GIMBAL_H
+#define AMOV_GIMBAL_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <iostream>
+
+#include "amov_gimbal_struct.h"
+
+namespace amovGimbal
+{
+#define IN
+#define OUT
+#define SET
+
+#ifndef MAX_QUEUE_SIZE
+#define MAX_QUEUE_SIZE 100
+#endif
+
+    static inline void idleCallback(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                    double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                    double fovX, double fovY, void *caller)
+    {
+    }
+    static inline void idleMsgCallback(void *msg, void *caller)
+    {
+    }
+
+    // Control data input and output
+    class IOStreamBase
+    {
+    public:
+        IOStreamBase() {}
+        virtual ~IOStreamBase() {}
+
+        virtual bool open() = 0;
+        virtual bool close() = 0;
+        virtual bool isOpen() = 0;
+        virtual bool isBusy() = 0;
+        // These two functions need to be thread-safe
+        virtual uint32_t inPutBytes(IN uint8_t *byte) = 0;
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght) = 0;
+    };
+
+    class gimbal
+    {
+    private:
+        std::string typeName;
+        // Instantiated device handle
+        void *devHandle;
+
+    public:
+        static void inBytesCallback(uint8_t *pData, uint32_t len, gimbal *handle);
+        // Protocol stack function items
+        void startStack(void);
+        void parserAuto(pAmovGimbalStateInvoke callback = idleCallback, void *caller = nullptr);
+        void setParserCallback(pAmovGimbalStateInvoke callback, void *caller = nullptr);
+        void setMsgCallback(pAmovGimbalMsgInvoke callback, void *caller = nullptr);
+        void setRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *caller = nullptr);
+        void setSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *caller = nullptr);
+        AMOV_GIMBAL_STATE_T getGimabalState(void);
+
+        // non-block functions
+        uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+        uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+        uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
+        uint32_t setGimabalHome(void);
+        uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
+        uint32_t takePic(void);
+        uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+        uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                    const AMOV_GIMBAL_VELOCITY_T &speed,
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                    const AMOV_GIMBAL_VELOCITY_T &seppd,
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        uint32_t extensionFuntions(void *cmd);
+
+        // block functions
+        bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        bool setGimabalHomeBlock(void);
+        bool setGimbalZoomBlock(float targetRate);
+        bool takePicBlock(void);
+        bool calibrationBlock(void);
+
+        std::string name()
+        {
+            return typeName;
+        }
+
+        gimbal(const std::string &type, IOStreamBase *_IO,
+               uint32_t _self = 0x02, uint32_t _remote = 0X80);
+
+        ~gimbal();
+    };
+
+}
+#endif

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h

@@ -0,0 +1,55 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 16:01:22
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 11:35:58
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h
+ */
+#ifndef AMOV_GIMBAL_C_H
+#define AMOV_GIMBAL_C_H
+
+#include <stdint.h>
+#include "amov_gimbal_struct.h"
+
+extern "C"
+{
+    // initialization funtions
+    void amovGimbalCreat(char *type, uint32_t selfId, uint32_t gimbalId, void *handle);
+    void amovGimbalInBytesCallback(uint8_t *pData, uint32_t len, void *handle);
+    void amovGimbalSetRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *handle, void *caller);
+    void amovGimbalSetSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *handle, void *caller);
+    void amovGimbalChangeStateCallback(pAmovGimbalStateInvoke callback, void *handle, void *caller);
+    void amovGimbalSetMsgCallback(pAmovGimbalMsgInvoke callback, void *handle, void *caller);
+    void amovGimbalStart(pAmovGimbalStateInvoke callback, void *handle, void *caller);
+
+    // non-block functions
+    uint32_t amovGimbalSetGimabalPos(AMOV_GIMBAL_POS_T *pos, void *handle);
+    uint32_t amovGimbalSetGimabalSpeed(AMOV_GIMBAL_POS_T *speed, void *handle);
+    uint32_t amovGimbalSetGimabalFollowSpeed(AMOV_GIMBAL_POS_T *followSpeed, void *handle);
+    uint32_t amovGimbalSetGimabalHome(void *handle);
+    uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle);
+    uint32_t amovGimbalSetGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle);
+    uint32_t amovGimbalSetGimbalROI(AMOV_GIMBAL_ROI_T *area, void *handle);
+    uint32_t amovGimbalTakePic(void *handle);
+    uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle);
+    uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
+                                           AMOV_GIMBAL_VELOCITY_T *speed,
+                                           AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
+    uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
+                                           AMOV_GIMBAL_VELOCITY_T *speed,
+                                           AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
+    uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle);
+    uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle);
+    void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle);
+    void getGimbalType(char *type, void *handle);
+
+    // block functions
+    bool amovGimbalSetGimbalPosBlock(AMOV_GIMBAL_POS_T *pos, void *handle);
+    bool amovGimbalSetGimabalHomeBlock(void *handle);
+    bool amovGimbalSetGimbalZoomBlock(float targetRate, void *handle);
+    bool amovGimbalTakePicBlock(void *handle);
+    bool amovGimbalCalibrationBlock(void *handle);
+}
+
+#endif

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_struct.h

@@ -0,0 +1,102 @@
+/*
+ * @Description: Common Data Structures of gimbal
+ * @Author: L LC @amov
+ * @Date: 2022-10-31 11:56:43
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:03:02
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_struct.h
+ */
+
+#include <stdint.h>
+
+#ifndef __AMOV_GIMABL_STRUCT_H
+#define __AMOV_GIMABL_STRUCT_H
+
+typedef void (*pAmovGimbalStateInvoke)(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                       double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                       double fovX, double fovY, void *caller);
+typedef void (*pAmovGimbalMsgInvoke)(void *msg, void *caller);
+typedef uint32_t (*pAmovGimbalInputBytesInvoke)(uint8_t *pData, void *caller);
+typedef uint32_t (*pAmovGimbalOutputBytesInvoke)(uint8_t *pData, uint32_t len, void *caller);
+
+typedef enum
+{
+    AMOV_GIMBAL_SERVO_MODE_FPV = 0X10,
+    AMOV_GIMBAL_SERVO_MODE_LOCK = 0X11,
+    AMOV_GIMBAL_SERVO_MODE_FOLLOW = 0X12,
+    AMOV_GIMBAL_SERVO_MODE_OVERLOOK = 0X13,
+    AMOV_GIMBAL_SERVO_MODE_EULER = 0X14,
+    AMOV_GIMBAL_SERVO_MODE_WATCH = 0X16,
+    AMOV_GIMBAL_SERVO_MODE_TRACK = 0X17,
+} AMOV_GIMBAL_SERVO_MODE_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_CAMERA_FLAG_INVERSION = 0X1000,
+    AMOV_GIMBAL_CAMERA_FLAG_IR = 0X0200,
+    AMOV_GIMBAL_CAMERA_FLAG_RF = 0X0100,
+    AMOV_GIMBAL_CAMERA_FLAG_LOCK = 0X0001,
+} AMOV_GIMBAL_CAMERA_FLAG_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_VIDEO_TAKE,
+    AMOV_GIMBAL_VIDEO_OFF
+} AMOV_GIMBAL_VIDEO_T;
+
+typedef enum
+{
+    AMOV_GIMBAL_ZOOM_IN,
+    AMOV_GIMBAL_ZOOM_OUT,
+    AMOV_GIMBAL_ZOOM_STOP
+} AMOV_GIMBAL_ZOOM_T;
+
+typedef struct
+{
+    double yaw;
+    double roll;
+    double pitch;
+} AMOV_GIMBAL_POS_T;
+
+typedef struct
+{
+    double x;
+    double y;
+} AMOV_GIMBAL_FOV_T;
+
+typedef struct
+{
+    AMOV_GIMBAL_SERVO_MODE_T workMode;
+    AMOV_GIMBAL_CAMERA_FLAG_T cameraFlag;
+    AMOV_GIMBAL_VIDEO_T video;
+    AMOV_GIMBAL_POS_T abs;
+    AMOV_GIMBAL_POS_T rel;
+    AMOV_GIMBAL_POS_T relSpeed;
+    AMOV_GIMBAL_POS_T maxFollow;
+    AMOV_GIMBAL_FOV_T fov;
+} AMOV_GIMBAL_STATE_T;
+
+typedef struct
+{
+    uint32_t centreX;
+    uint32_t centreY;
+    uint32_t hight;
+    uint32_t width;
+} AMOV_GIMBAL_ROI_T;
+
+typedef struct
+{
+    double q0;
+    double q1;
+    double q2;
+    double q3;
+} AMOV_GIMBAL_QUATERNION_T;
+
+typedef struct
+{
+    double x; // or N
+    double y; // or E
+    double z; // or UP
+} AMOV_GIMBAL_VELOCITY_T;
+
+#endif

gimbal_ctrl/driver/src/amov_gimbal.cpp

@@ -1,328 +0,0 @@
-/*
- * @Description:
- * @Author: L LC @amov
- * @Date: 2022-10-28 11:54:11
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-17 11:57:11
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.cpp
- */
-
-// #include "amov_gimbal.h"
-#include "amov_gimbal_private.h"
-#include "g1_gimbal_driver.h"
-#include "Q10f_gimbal_driver.h"
-#include "AT10_gimbal_driver.h"
-
-#include <iostream>
-#include <thread>
-#include <map>
-#include <iterator>
-
-#define MAX_PACK_SIZE 280
-typedef enum
-{
-    AMOV_GIMBAL_TYPE_NULL,
-    AMOV_GIMBAL_TYPE_G1 = 1,
-    AMOV_GIMBAL_TYPE_G2,
-    AMOV_GIMBAL_TYPE_Q10,
-    AMOV_GIMBAL_TYPE_AT10,
-} AMOV_GIMBAL_TYPE_T;
-
-namespace amovGimbal
-{
-    typedef amovGimbal::amovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
-    typedef std::map<std::string, createCallback> callbackMap;
-    std::map<std::string, AMOV_GIMBAL_TYPE_T> amovGimbalTypeList =
-        {
-            {"G1", AMOV_GIMBAL_TYPE_G1},
-            {"Q10f", AMOV_GIMBAL_TYPE_Q10},
-            {"AT10", AMOV_GIMBAL_TYPE_AT10}};
-
-    callbackMap amovGimbals =
-        {
-            {"G1", g1GimbalDriver::creat},
-            {"Q10f", Q10fGimbalDriver::creat},
-            {"AT10", AT10GimbalDriver::creat}};
-}
-
-/* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
-// Factory used to create the gimbal instance
-class amovGimbalCreator
-{
-public:
-    static amovGimbal::amovGimbalBase *createAmovGimbal(const std::string &type, amovGimbal::IOStreamBase *_IO)
-    {
-        amovGimbal::callbackMap::iterator temp = amovGimbal::amovGimbals.find(type);
-
-        if (temp != amovGimbal::amovGimbals.end())
-        {
-            return (temp->second)(_IO);
-        }
-        std::cout << type << " is Unsupported device type!" << std::endl;
-        return NULL;
-    }
-
-private:
-    amovGimbalCreator()
-    {
-    }
-    static amovGimbalCreator *pInstance;
-    static amovGimbalCreator *getInstance()
-    {
-        if (pInstance == NULL)
-        {
-            pInstance = new amovGimbalCreator();
-        }
-        return pInstance;
-    }
-
-    ~amovGimbalCreator();
-};
-
-/**
- * This is a constructor for the amovGimbalBase class that initializes its parent classes with an
- * IOStreamBase object.
- *
- * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase, which is the base class
- * for input/output streams used by the amovGimbal class. This parameter is passed to the constructor
- * of amovGimbalBase, which is a derived class of I
- */
-amovGimbal::amovGimbalBase::amovGimbalBase(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(), amovGimbal::PamovGimbalBase(_IO)
-{
-}
-
-/**
- * The function is a destructor that sleeps for 50 milliseconds and closes an IO object.
- */
-amovGimbal::amovGimbalBase::~amovGimbalBase()
-{
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    IO->close();
-}
-
-/**
- * This function retrieves a packet from a ring buffer queue and returns a boolean value indicating
- * whether the operation was successful or not.
- *
- * @param void void is a keyword in C++ that represents the absence of a type. In this function, it is
- * used to indicate that the function does not return any value.
- *
- * @return a boolean value, which indicates whether or not a data packet was successfully retrieved
- * from a ring buffer queue.
- */
-bool amovGimbal::amovGimbalBase::getRxPack(OUT void *pack)
-{
-    bool state = false;
-    state = rxQueue->outCell(pack);
-    return state;
-}
-
-/**
- * This function sends data from a buffer to an output device if it is not busy and open.
- */
-void amovGimbal::amovGimbalBase::send(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    if (!IO->isBusy() && IO->isOpen())
-    {
-        bool state = false;
-
-        state = txQueue->outCell(&tempBuffer);
-
-        if (state)
-        {
-            IO->outPutBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer));
-        }
-    }
-}
-
-/**
- * "If the input byte is available, then parse it."
- *
- * The function is a loop that runs forever. It calls the IO->inPutByte() function to get a byte from
- * the serial port. If the byte is available, then it calls the parser() function to parse the byte
- */
-void amovGimbal::amovGimbalBase::parserLoop(void)
-{
-    uint8_t temp;
-
-    while (1)
-    {
-        if (IO->inPutByte(&temp))
-        {
-            parser(temp);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::sendLoop(void)
-{
-    while (1)
-    {
-        send();
-    }
-}
-
-void amovGimbal::amovGimbalBase::mainLoop(void)
-{
-    uint8_t tempBuffer[MAX_PACK_SIZE];
-
-    while (1)
-    {
-        if (getRxPack(tempBuffer))
-        {
-            msgCustomCallback(tempBuffer);
-            convert(tempBuffer);
-        }
-    }
-}
-
-void amovGimbal::amovGimbalBase::stackStart(void)
-{
-    if (!this->IO->isOpen())
-    {
-        this->IO->open();
-    }
-    std::thread parserLoop(&amovGimbalBase::parserLoop, this);
-    std::thread sendLoop(&amovGimbalBase::sendLoop, this);
-    parserLoop.detach();
-    sendLoop.detach();
-}
-/**
- * It starts two threads, one for reading data from the serial port and one for sending data to the
- * serial port
- */
-void amovGimbal::gimbal::startStack(void)
-{
-    ((amovGimbalBase *)(this->dev))->stackStart();
-}
-
-void amovGimbal::gimbal::setParserCallback(amovGimbal::pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->updateGimbalStateCallback = callback;
-}
-
-void amovGimbal::amovGimbalBase::parserStart(pStateInvoke callback)
-{
-    this->updateGimbalStateCallback = callback;
-
-    std::thread mainLoop(&amovGimbalBase::mainLoop, this);
-
-    mainLoop.detach();
-}
-/**
- * The function creates a thread that runs the mainLoop function
- */
-void amovGimbal::gimbal::parserAuto(pStateInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->parserStart(callback);
-}
-
-void amovGimbal::gimbal::setMsgCallback(pMsgInvoke callback)
-{
-    ((amovGimbalBase *)(this->dev))->msgCustomCallback = callback;
-}
-
-amovGimbal::AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
-{
-    ((amovGimbalBase *)(this->dev))->mState.lock();
-    AMOV_GIMBAL_STATE_T temp = ((amovGimbalBase *)(this->dev))->state;
-    ((amovGimbalBase *)(this->dev))->mState.unlock();
-    return temp;
-}
-
-/**
- * Default implementation of interface functions, not pure virtual functions for ease of extension.
- */
-void amovGimbal::IamovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
-{
-    return;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalFollowSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &followSpeed)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setGimbalROI(const amovGimbal::AMOV_GIMBAL_ROI_T area)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::takePic(void)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
-{
-    return 0;
-}
-
-uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
-{
-    return 0;
-}
-
-/**
- * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
- * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
- *
- * @param type the type of the device, which is the same as the name of the class
- * @param _IO The IOStreamBase object that is used to communicate with the device.
- * @param _self the node ID of the device
- * @param _remote the node ID of the remote device
- */
-amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
-                           uint32_t _self, uint32_t _remote)
-{
-    typeName = type;
-    IO = _IO;
-
-    dev = amovGimbalCreator::createAmovGimbal(typeName, IO);
-
-    dev->nodeSet(_self, _remote);
-}
-
-amovGimbal::gimbal::~gimbal()
-{
-    // 先干掉请求线程
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-    delete dev;
-}

gimbal_ctrl/driver/src/amov_gimbal.h

@@ -1,101 +0,0 @@
-/*
- * @Description:    External interface of amov gimbals
- * @Author: L LC @amov
- * @Date: 2022-10-27 18:34:26
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:28
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.h
- */
-
-#ifndef AMOV_GIMBAL_H
-#define AMOV_GIMBAL_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <iostream>
-
-#include "amov_gimbal_struct.h"
-
-#define MAX_QUEUE_SIZE 100
-namespace amovGimbal
-{
-#define IN
-#define OUT
-#define SET
-
-    static inline void idleCallback(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                    double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                    double &fovX, double &fovY)
-    {
-    }
-    static inline void idleMsgCallback(void *)
-    {
-    }
-
-
-    // Control data input and output
-    class IOStreamBase
-    {
-    public:
-        IOStreamBase() {}
-        virtual ~IOStreamBase() {}
-
-        virtual bool open() = 0;
-        virtual bool close() = 0;
-        virtual bool isOpen() = 0;
-        virtual bool isBusy() = 0;
-        // These two functions need to be thread-safe
-        virtual bool inPutByte(IN uint8_t *byte) = 0;
-        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght) = 0;
-    };
-
-    // Device interface
-    class IamovGimbalBase
-    {
-    public:
-        IamovGimbalBase() {}
-        virtual ~IamovGimbalBase() {}
-        // functions
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
-        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
-        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
-        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
-        virtual uint32_t setGimabalHome(void);
-        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
-        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
-        virtual uint32_t takePic(void);
-        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
-        virtual uint32_t extensionFuntions(void *cmd);
-    };
-
-    class gimbal
-    {
-    private:
-        std::string typeName;
-        IOStreamBase *IO;
-
-    public:
-        // Instantiated device handle
-        IamovGimbalBase *dev;
-
-        // Protocol stack function items
-        void startStack(void);
-        void parserAuto(pStateInvoke callback = idleCallback);
-        void setParserCallback(pStateInvoke callback);
-        void setMsgCallback(pMsgInvoke callback);
-
-        AMOV_GIMBAL_STATE_T getGimabalState(void);
-
-        std::string name()
-        {
-            return typeName;
-        }
-        gimbal(const std::string &type, IOStreamBase *_IO,
-               uint32_t _self = 0x02, uint32_t _remote = 0X80);
-        ~gimbal();
-    };
-}
-#endif

gimbal_ctrl/driver/src/amov_gimbal_factory.cpp

@@ -0,0 +1,90 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 15:48:47
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 16:27:10
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_factory.cpp
+ */
+
+#include "amov_gimbal_private.h"
+#include "g1_gimbal_driver.h"
+#include "Q10f_gimbal_driver.h"
+#include "AT10_gimbal_driver.h"
+#include "GX40_gimbal_driver.h"
+
+#include <map>
+#include <iterator>
+
+namespace amovGimbalFactory
+{
+    typedef amovGimbal::amovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
+    typedef std::map<std::string, createCallback> callbackMap;
+
+    callbackMap amovGimbals =
+        {
+            {"G1", g1GimbalDriver::creat},
+            {"Q10f", Q10fGimbalDriver::creat},
+            {"AT10", AT10GimbalDriver::creat},
+            {"GX40", GX40GimbalDriver::creat}};
+
+    /* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
+    // Factory used to create the gimbal instance
+    class amovGimbalCreator
+    {
+    public:
+        static amovGimbal::amovGimbalBase *createAmovGimbal(const std::string &type, amovGimbal::IOStreamBase *_IO)
+        {
+            callbackMap::iterator temp = amovGimbals.find(type);
+
+            if (temp != amovGimbals.end())
+            {
+                return (temp->second)(_IO);
+            }
+            std::cout << type << " is Unsupported device type!" << std::endl;
+            return NULL;
+        }
+
+    private:
+        amovGimbalCreator()
+        {
+        }
+        static amovGimbalCreator *pInstance;
+        static amovGimbalCreator *getInstance()
+        {
+            if (pInstance == NULL)
+            {
+                pInstance = new amovGimbalCreator();
+            }
+            return pInstance;
+        }
+
+        ~amovGimbalCreator();
+    };
+} // namespace amovGimbalFactory
+
+/**
+ * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
+ * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
+ *
+ * @param type the type of the device, which is the same as the name of the class
+ * @param _IO The IOStreamBase object that is used to communicate with the device.
+ * @param _self the node ID of the device
+ * @param _remote the node ID of the remote device
+ */
+amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
+                           uint32_t _self, uint32_t _remote)
+{
+    typeName = type;
+
+    devHandle = amovGimbalFactory::amovGimbalCreator::createAmovGimbal(typeName, _IO);
+
+    ((amovGimbalBase *)(devHandle))->nodeSet(_self, _remote);
+}
+
+amovGimbal::gimbal::~gimbal()
+{
+    // 先干掉请求线程
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    delete ((amovGimbalBase *)(devHandle));
+}

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

@@ -0,0 +1,229 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 16:00:28
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:18:34
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp
+ */
+#include "amov_gimbal_private.h"
+
+// must realize
+void amovGimbal::gimbal::startStack(void)
+{
+    ((amovGimbalBase *)(this->devHandle))->stackStart();
+}
+
+void amovGimbal::gimbal::parserAuto(pAmovGimbalStateInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->parserStart(callback, caller);
+}
+
+void amovGimbal::gimbal::setParserCallback(pAmovGimbalStateInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->updateGimbalStateCallback = callback;
+    ((amovGimbalBase *)(this->devHandle))->updataCaller = caller;
+}
+
+void amovGimbal::gimbal::setMsgCallback(pAmovGimbalMsgInvoke callback, void *caller)
+{
+    ((amovGimbalBase *)(this->devHandle))->msgCustomCallback = callback;
+    ((amovGimbalBase *)(this->devHandle))->msgCaller = caller;
+}
+
+AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
+{
+    ((amovGimbalBase *)(this->devHandle))->mState.lock();
+    AMOV_GIMBAL_STATE_T temp = ((amovGimbalBase *)(this->devHandle))->state;
+    ((amovGimbalBase *)(this->devHandle))->mState.unlock();
+    return temp;
+}
+
+// gimbal funtions maybe realize
+uint32_t amovGimbal::gimbal::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalPos(pos);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalSpeed(speed);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalFollowSpeed(followSpeed);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimabalHome(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalHome();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalFocus(zoom, targetRate);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGimbalROI(const AMOV_GIMBAL_ROI_T area)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalROI(area);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalROI(const AMOV_GIMBAL_ROI_T area)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::takePic(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->takePic();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::takePic(void)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setVideo(newState);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc, extenData);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
+                                                         const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                                const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, extenData);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
+                                                         const AMOV_GIMBAL_VELOCITY_T &speed,
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGNSSInfo(lng, lat, alt, nState, relAlt);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    return 0;
+}
+
+uint32_t amovGimbal::gimbal::extensionFuntions(void *cmd)
+{
+    return ((amovGimbalBase *)(this->devHandle))->extensionFuntions(cmd);
+}
+
+uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
+{
+    return 0;
+}
+
+bool amovGimbal::gimbal::setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalPosBlock(pos);
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::setGimabalHomeBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimabalHomeBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::setGimabalHomeBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::setGimbalZoomBlock(float targetRate)
+{
+    return ((amovGimbalBase *)(this->devHandle))->setGimbalZoomBlock(targetRate);
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalZoomBlock(float targetRate)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::takePicBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->takePicBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::takePicBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::gimbal::calibrationBlock(void)
+{
+    return ((amovGimbalBase *)(this->devHandle))->calibrationBlock();
+}
+
+bool amovGimbal::IamovGimbalBase::calibrationBlock(void)
+{
+    return false;
+}

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

@@ -0,0 +1,152 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-27 12:28:32
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-06 11:36:30
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp
+ */
+#include "amov_gimbal_private.h"
+#include <string>
+
+void amovGimbalSetRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setRcvBytes(callbaclk, caller);
+}
+
+void amovGimbalSetSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setSendBytes(callbaclk, caller);
+}
+
+void amovGimbalInBytesCallback(uint8_t *pData, uint32_t len, void *handle)
+{
+    amovGimbal::gimbal::inBytesCallback(pData, len, (amovGimbal::gimbal *)handle);
+}
+
+void amovGimbalCreat(char *type, uint32_t selfId, uint32_t gimbalId, void *handle)
+{
+    std::string strType = type;
+    handle = new amovGimbal::gimbal(strType, nullptr, selfId, gimbalId);
+}
+
+void amovGimbalStart(pAmovGimbalStateInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->startStack();
+    ((amovGimbal::gimbal *)handle)->parserAuto(callback, caller);
+}
+
+void amovGimbalChangeStateCallback(pAmovGimbalStateInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setParserCallback(callback, caller);
+}
+
+void amovGimbalSetMsgCallback(pAmovGimbalMsgInvoke callback, void *handle, void *caller)
+{
+    ((amovGimbal::gimbal *)handle)->setMsgCallback(callback, caller);
+}
+
+uint32_t amovGimbalSetGimabalPos(AMOV_GIMBAL_POS_T *pos, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalPos(*pos);
+}
+
+uint32_t amovGimbalSetGimabalSpeed(AMOV_GIMBAL_POS_T *speed, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalSpeed(*speed);
+}
+
+uint32_t amovGimbalSetGimabalFollowSpeed(AMOV_GIMBAL_POS_T *followSpeed, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalFollowSpeed(*followSpeed);
+}
+
+uint32_t amovGimbalSetGimabalHome(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalHome();
+}
+
+uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);
+}
+
+uint32_t amovGimbalSetGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalFocus(zoom, targetRate);
+}
+
+uint32_t amovGimbalSetGimbalROI(AMOV_GIMBAL_ROI_T *area, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalROI(*area);
+}
+
+uint32_t amovGimbalTakePic(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->takePic();
+}
+
+uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setVideo(newState);
+}
+
+uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
+                                       AMOV_GIMBAL_VELOCITY_T *speed,
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, extenData);
+}
+
+uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
+                                       AMOV_GIMBAL_VELOCITY_T *speed,
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, extenData);
+}
+
+uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGNSSInfo(lng, lat, alt, nState, relAlt);
+}
+
+uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->extensionFuntions(cmd);
+}
+
+void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle)
+{
+    *state = ((amovGimbal::gimbal *)handle)->getGimabalState();
+}
+
+void getGimbalType(char *type, void *handle)
+{
+    std::string temp = ((amovGimbal::gimbal *)handle)->name();
+    temp.copy(type, temp.size(), 0);
+}
+
+bool amovGimbalSetGimbalPosBlock(AMOV_GIMBAL_POS_T *pos, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalPosBlock(*pos);
+}
+
+bool amovGimbalSetGimabalHomeBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimabalHomeBlock();
+}
+
+bool amovGimbalSetGimbalZoomBlock(float targetRate, void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->setGimbalZoomBlock(targetRate);
+}
+
+bool amovGimbalTakePicBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->takePicBlock();
+}
+
+bool amovGimbalCalibrationBlock(void *handle)
+{
+    return ((amovGimbal::gimbal *)handle)->calibrationBlock();
+}

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2023-05-13 10:39:20
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:30:53
+ * @LastEditTime: 2023-12-05 17:18:06
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_private.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_private.h
  */
 #ifndef __AMOV_GIMABL_PRIVATE_H
 #define __AMOV_GIMABL_PRIVATE_H
@@ -12,12 +12,12 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <iostream>
-
 #include <thread>
 #include <unistd.h>
 #include <mutex>
 
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
+#include "amovGimbal/amov_gimbal_c.h"
 
 #include "Ring_Fifo.h"
 #include "amov_tool.h"
@@ -28,14 +28,28 @@ namespace amovGimbal
     public:
         AMOV_GIMBAL_STATE_T state;
         std::mutex mState;
-        IOStreamBase *IO;
+
-        pStateInvoke updateGimbalStateCallback;
+        // IO类
-        pMsgInvoke msgCustomCallback = idleMsgCallback;
+        IOStreamBase *IO = nullptr;
+        // 适用于C的函数指针
+        void *inBytesCaller = nullptr;
+        pAmovGimbalInputBytesInvoke inBytes = nullptr;
+        void *outBytesCaller = nullptr;
+        pAmovGimbalOutputBytesInvoke outBytes = nullptr;
+
+        void *updataCaller = nullptr;
+        pAmovGimbalStateInvoke updateGimbalStateCallback;
+        void *msgCaller = nullptr;
+        pAmovGimbalMsgInvoke msgCustomCallback = idleMsgCallback;
 
         fifoRing *rxQueue;
         fifoRing *txQueue;
 
-        PamovGimbalBase(SET IOStreamBase *_IO)
+        std::thread::native_handle_type parserThreadHanle = 0;
+        std::thread::native_handle_type sendThreadHanle = 0;
+        std::thread::native_handle_type stackThreadHanle = 0;
+
+        PamovGimbalBase(IOStreamBase *_IO)
         {
             IO = _IO;
         }
@@ -49,9 +63,45 @@ namespace amovGimbal
             {
                 delete rxQueue;
             }
+            // set thread kill anytime
+            pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+            parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+            sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+            stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
         }
     };
 
+    // Device interface
+    class IamovGimbalBase
+    {
+    public:
+        IamovGimbalBase() {}
+        virtual ~IamovGimbalBase() {}
+
+        // non-block functions
+        virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
+        virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
+        virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
+        virtual uint32_t setGimabalHome(void);
+        virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+        virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
+        virtual uint32_t takePic(void);
+        virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        virtual uint32_t extensionFuntions(void *cmd);
+
+        // block functions
+        virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        virtual bool setGimabalHomeBlock(void);
+        virtual bool setGimbalZoomBlock(float targetRate);
+        virtual bool takePicBlock(void);
+        virtual bool calibrationBlock(void);
+    };
+
     class amovGimbalBase : public IamovGimbalBase, public PamovGimbalBase
     {
     public:
@@ -68,7 +118,9 @@ namespace amovGimbal
         virtual void mainLoop(void);
 
         virtual void stackStart(void);
-        virtual void parserStart(amovGimbal::pStateInvoke callback);
+        virtual void parserStart(pAmovGimbalStateInvoke callback, void *caller);
+
+        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
 
     public:
         amovGimbalBase(IOStreamBase *_IO);

gimbal_ctrl/driver/src/amov_gimbal_realize.cpp

@@ -0,0 +1,197 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-24 15:55:37
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-05 17:19:19
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_realize.cpp
+ */
+
+#include "amov_gimbal_private.h"
+
+#include <thread>
+
+#define MAX_PACK_SIZE 280
+
+/**
+ * This is a constructor for the amovGimbalBase class that initializes its parent classes with an
+ * IOStreamBase object.
+ *
+ * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase, which is the base class
+ * for input/output streams used by the amovGimbal class. This parameter is passed to the constructor
+ * of amovGimbalBase, which is a derived class of I
+ */
+amovGimbal::amovGimbalBase::amovGimbalBase(amovGimbal::IOStreamBase *_IO) : amovGimbal::IamovGimbalBase(), amovGimbal::PamovGimbalBase(_IO)
+{
+}
+
+/**
+ * The function is a destructor that sleeps for 50 milliseconds and closes an IO object.
+ */
+amovGimbal::amovGimbalBase::~amovGimbalBase()
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    IO->close();
+}
+
+/**
+ * This function retrieves a packet from a ring buffer queue and returns a boolean value indicating
+ * whether the operation was successful or not.
+ *
+ * @param void void is a keyword in C++ that represents the absence of a type. In this function, it is
+ * used to indicate that the function does not return any value.
+ *
+ * @return a boolean value, which indicates whether or not a data packet was successfully retrieved
+ * from a ring buffer queue.
+ */
+bool amovGimbal::amovGimbalBase::getRxPack(OUT void *pack)
+{
+    bool state = false;
+    state = rxQueue->outCell(pack);
+    return state;
+}
+
+/**
+ * This function sends data from a buffer to an output device if it is not busy and open.
+ */
+void amovGimbal::amovGimbalBase::send(void)
+{
+    uint8_t tempBuffer[MAX_PACK_SIZE];
+
+    if (IO == nullptr)
+    {
+        while (1)
+        {
+            if (txQueue->outCell(&tempBuffer))
+            {
+                this->outBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer), outBytesCaller);
+            }
+        }
+    }
+    else
+    {
+        while (1)
+        {
+            if (!IO->isBusy() && IO->isOpen())
+            {
+                if (txQueue->outCell(&tempBuffer))
+                {
+                    IO->outPutBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer));
+                }
+            }
+        }
+    }
+}
+
+/**
+ * "If the input byte is available, then parse it."
+ *
+ * The function is a loop that runs forever. It calls the IO->inPutByte() function to get a byte from
+ * the serial port. If the byte is available, then it calls the parser() function to parse the byte
+ */
+void amovGimbal::amovGimbalBase::parserLoop(void)
+{
+    uint8_t temp[65536];
+    uint32_t i = 0, getCount = 0;
+    if (IO == nullptr)
+    {
+        while (1)
+        {
+            getCount = inBytes(temp, inBytesCaller);
+
+            for (i = 0; i < getCount; i++)
+            {
+                parser(temp[i]);
+            }
+        }
+    }
+    else
+    {
+        while (1)
+        {
+            getCount = IO->inPutBytes(temp);
+
+            for (i = 0; i < getCount; i++)
+            {
+                parser(temp[i]);
+            }
+        }
+    }
+}
+
+void amovGimbal::amovGimbalBase::sendLoop(void)
+{
+    send();
+}
+
+void amovGimbal::amovGimbalBase::mainLoop(void)
+{
+    uint8_t tempBuffer[MAX_PACK_SIZE];
+
+    while (1)
+    {
+        if (getRxPack(tempBuffer))
+        {
+            msgCustomCallback(tempBuffer, msgCaller);
+            convert(tempBuffer);
+        }
+    }
+}
+
+void amovGimbal::amovGimbalBase::stackStart(void)
+{
+    if (!this->IO->isOpen() && this->IO != nullptr)
+    {
+        this->IO->open();
+    }
+
+    // 当且仅当需要库主动查询时才启用解析器线程
+    if (inBytes != nullptr || this->IO != nullptr)
+    {
+        std::thread parserLoop(&amovGimbalBase::parserLoop, this);
+        this->parserThreadHanle = parserLoop.native_handle();
+        parserLoop.detach();
+    }
+
+    std::thread sendLoop(&amovGimbalBase::sendLoop, this);
+    this->sendThreadHanle = sendLoop.native_handle();
+    sendLoop.detach();
+}
+
+void amovGimbal::amovGimbalBase::parserStart(pAmovGimbalStateInvoke callback, void *caller)
+{
+    this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
+
+    std::thread mainLoop(&amovGimbalBase::mainLoop, this);
+
+    this->stackThreadHanle = mainLoop.native_handle();
+
+    mainLoop.detach();
+}
+
+void amovGimbal::amovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
+{
+    return;
+}
+
+void amovGimbal::gimbal::setRcvBytes(pAmovGimbalInputBytesInvoke callbaclk, void *caller)
+{
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->inBytes = callbaclk;
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->inBytesCaller = caller;
+}
+
+void amovGimbal::gimbal::setSendBytes(pAmovGimbalOutputBytesInvoke callbaclk, void *caller)
+{
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->outBytes = callbaclk;
+    ((amovGimbal::amovGimbalBase *)(this->devHandle))->outBytesCaller = caller;
+}
+
+void amovGimbal::gimbal::inBytesCallback(uint8_t *pData, uint32_t len, gimbal *handle)
+{
+    uint32_t i = 0;
+    for (i = 0; i < len; i++)
+    {
+        ((amovGimbalBase *)((handle)->devHandle))->parser(pData[i]);
+    }
+}

gimbal_ctrl/driver/src/amov_gimbal_struct.h

@@ -1,89 +0,0 @@
-/*
- * @Description: Common Data Structures of gimbal
- * @Author: L LC @amov
- * @Date: 2022-10-31 11:56:43
- * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:46
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_struct.h
- */
-
-#include <stdint.h>
-
-#ifndef __AMOV_GIMABL_STRUCT_H
-#define __AMOV_GIMABL_STRUCT_H
-
-namespace amovGimbal
-{
-    typedef void (*pStateInvoke)(double &frameAngleRoll, double &frameAnglePitch, double &frameAngleYaw,
-                                 double &imuAngleRoll, double &imuAnglePitch, double &imuAngleYaw,
-                                 double &fovX, double &fovY);
-    typedef void (*pMsgInvoke)(void *msg);
-
-    typedef enum
-    {
-        AMOV_GIMBAL_MODE_LOCK,
-        AMOV_GIMBAL_MODE_NULOCK,
-    } AMOV_GIMBAL_MODE_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_VIDEO_TAKE,
-        AMOV_GIMBAL_VIDEO_OFF
-    } AMOV_GIMBAL_VIDEO_T;
-
-    typedef enum
-    {
-        AMOV_GIMBAL_ZOOM_IN,
-        AMOV_GIMBAL_ZOOM_OUT,
-        AMOV_GIMBAL_ZOOM_STOP
-    } AMOV_GIMBAL_ZOOM_T;
-
-    typedef struct
-    {
-        double yaw;
-        double roll;
-        double pitch;
-    } AMOV_GIMBAL_POS_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-    } AMOV_GIMBAL_FOV_T;
-
-    typedef struct
-    {
-        AMOV_GIMBAL_MODE_T workMode;
-        AMOV_GIMBAL_VIDEO_T video;
-        AMOV_GIMBAL_POS_T abs;
-        AMOV_GIMBAL_POS_T rel;
-        AMOV_GIMBAL_POS_T maxFollow;
-        AMOV_GIMBAL_FOV_T fov;
-    } AMOV_GIMBAL_STATE_T;
-
-    typedef struct
-    {
-        uint32_t centreX;
-        uint32_t centreY;
-        uint32_t hight;
-        uint32_t width;
-    } AMOV_GIMBAL_ROI_T;
-
-    typedef struct
-    {
-        double q0;
-        double q1;
-        double q2;
-        double q3;
-    } AMOV_GIMBAL_QUATERNION_T;
-
-    typedef struct
-    {
-        double x;
-        double y;
-        double z;
-    } AMOV_GIMBAL_VELOCITY_T;
-
-} // namespace amovGimbal
-
-#endif

gimbal_ctrl/driver/src/amov_tool.h

@@ -3,10 +3,12 @@
  * @Author: L LC @amov
  * @Date: 2023-07-31 18:30:33
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-31 18:55:18
+ * @LastEditTime: 2023-12-05 16:26:05
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_tool.h
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_tool.h
  */
 
+#ifndef __AMOVGIMABL_TOOL_H
+#define __AMOVGIMABL_TOOL_H
 namespace amovGimbalTools
 {
     static inline unsigned short conversionBigLittle(unsigned short value)
@@ -27,3 +29,4 @@ namespace amovGimbalTools
         return temp;
     }
 }
+#endif

gimbal_ctrl/sv_gimbal.cpp

@@ -3,11 +3,10 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:37:42
+ * @LastEditTime: 2023-12-05 17:33:29
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal.cpp
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal.cpp
  */
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
-#include "amov_gimbal_struct.h"
 
 #include "sv_gimbal.h"
 #include "sv_gimbal_io.hpp"
@@ -20,18 +19,42 @@ namespace sv
     std::map<std::string, void *> Gimbal::IOList;
     std::mutex Gimbal::IOListMutex;
 
-    std::map<GimbalType, std::string> gimbaltypeList =
+    typedef struct
-        {
-            {GimbalType::G1, "G1"},
-            {GimbalType::Q10f, "Q10f"},
-            {GimbalType::AT10, "AT10"}};
-
-    std::string &cvGimbalType2Str(const GimbalType &type)
     {
-        std::map<GimbalType, std::string>::iterator temp = gimbaltypeList.find(type);
+        std::string name;
+        GimbalLink supportLink;
+    } gimbalTrait;
+
+    std::map<GimbalType, gimbalTrait> gimbaltypeList =
+        {
+            {GimbalType::G1, {"G1", GimbalLink::SERIAL}},
+            {GimbalType::Q10f, {"Q10f", GimbalLink::SERIAL}},
+            {GimbalType::AT10, {"AT10", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP}},
+            {GimbalType::GX40, {"GX40", GimbalLink::SERIAL | GimbalLink::ETHERNET_TCP | GimbalLink::ETHERNET_UDP}}};
+
+    /**
+     * The function `svGimbalType2Str` converts a `GimbalType` enum value to its corresponding string
+     * representation.
+     *
+     * @return a reference to a string.
+     */
+    std::string &svGimbalType2Str(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
         if (temp != gimbaltypeList.end())
         {
-            return (temp->second);
+            return (temp->second).name;
+        }
+        throw "Error: Unsupported gimbal device type!!!!";
+        exit(-1);
+    }
+
+    GimbalLink &svGimbalTypeFindLinkType(const GimbalType &type)
+    {
+        std::map<GimbalType, gimbalTrait>::iterator temp = gimbaltypeList.find(type);
+        if (temp != gimbaltypeList.end())
+        {
+            return (temp->second).supportLink;
         }
         throw "Error: Unsupported gimbal device type!!!!";
         exit(-1);
@@ -100,17 +123,29 @@ void sv::Gimbal::setNetIp(const std::string &ip)
 }
 
 /**
- * This function sets the network port for a Gimbal object in C++.
+ * The function sets the TCP network port for the Gimbal object.
  *
- * @param port The "port" parameter is an integer value that represents the network port number that
+ * @param port The parameter "port" is an integer that represents the TCP network port number.
- * the Gimbal object will use for communication. This function sets the value of the "m_net_port"
- * member variable of the Gimbal object to the value passed in as the "port" parameter.
  */
-void sv::Gimbal::setNetPort(const int &port)
+void sv::Gimbal::setTcpNetPort(const int &port)
 {
     this->m_net_port = port;
 }
 
+/**
+ * The function sets the UDP network ports for receiving and sending data.
+ *
+ * @param recvPort The recvPort parameter is the port number that the Gimbal object will use to receive
+ * UDP packets.
+ * @param sendPort The sendPort parameter is the port number used for sending data over UDP (User
+ * Datagram Protocol) network communication.
+ */
+void sv::Gimbal::setUdpNetPort(const int &recvPort, const int &sendPort)
+{
+    this->m_net_recv_port = recvPort;
+    this->m_net_send_port = sendPort;
+}
+
 /**
  * The function sets a parser callback for a gimbal device.
  *
@@ -121,25 +156,31 @@ void sv::Gimbal::setNetPort(const int &port)
 void sv::Gimbal::setStateCallback(sv::PStateInvoke callback)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    pdevTemp->setParserCallback(callback);
+    m_callback = callback;
+    pdevTemp->setParserCallback(sv::Gimbal::gimbalUpdataCallback, this);
 }
 
 /**
- * The function `creatIO` creates an IO object for a gimbal device and adds it to a list of IO objects
+ * The function `sv::Gimbal::creatIO` creates an IO object based on the specified gimbal type and link
- * if it doesn't already exist.
+ * type, and returns a pointer to the created object.
  *
- * @param dev A pointer to an instance of the `Gimbal` class.
+ * @param dev The "dev" parameter is a pointer to an object of type "sv::Gimbal". It is used to access
- * @param IO The parameter "IO" is a pointer to an object that represents the input/output (IO) device
+ * the member variables of the Gimbal object, such as "m_serial_port", "m_serial_baud_rate",
- * for the gimbal. It is used to establish a connection with the gimbal and perform communication
+ * "m_serial_timeout", etc. These variables store information about
- * operations.
  *
- * @return a boolean value.
+ * @return a void pointer.
  */
 void *sv::Gimbal::creatIO(sv::Gimbal *dev)
 {
     IOListMutex.lock();
     std::map<std::string, void *>::iterator list = IOList.find(dev->m_serial_port);
     std::pair<std::string, void *> key("NULL", nullptr);
+    GimbalLink link = svGimbalTypeFindLinkType(dev->m_gimbal_type);
+
+    if ((dev->m_gimbal_link & svGimbalTypeFindLinkType(dev->m_gimbal_type)) == GimbalLink::NONE)
+    {
+        throw std::runtime_error("gimbal Unsupported linktype !!!");
+    }
 
     if (list == IOList.end())
     {
@@ -159,20 +200,35 @@ void *sv::Gimbal::creatIO(sv::Gimbal *dev)
         }
         else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_TCP)
         {
+            TCPClient *tcp;
+            tcp = new TCPClient(dev->m_net_ip, dev->m_net_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)tcp;
+            IOList.insert(key);
         }
         else if (dev->m_gimbal_link == sv::GimbalLink::ETHERNET_UDP)
         {
+            UDP *udp;
+            udp = new UDP(dev->m_net_ip, dev->m_net_recv_port, dev->m_net_send_port);
+            key.first = dev->m_net_ip;
+            key.second = (void *)udp;
+            IOList.insert(key);
         }
-        else
+    }
-        {
+    else
-            std::cout << "Error: gimbal IO has opened!!!" << std::endl;
+    {
-        }
+        std::cout << "Error: gimbal IO has opened!!!" << std::endl;
     }
     IOListMutex.unlock();
 
     return key.second;
 }
 
+/**
+ * The function removes a Gimbal device from the IOList.
+ *
+ * @param dev dev is a pointer to an object of type sv::Gimbal.
+ */
 void sv::Gimbal::removeIO(sv::Gimbal *dev)
 {
     IOListMutex.lock();
@@ -180,6 +236,7 @@ void sv::Gimbal::removeIO(sv::Gimbal *dev)
 
     IOListMutex.unlock();
 }
+
 /**
  * The function opens a communication interface with a gimbal device and sets up a parser to handle
  * incoming data.
@@ -196,14 +253,16 @@ bool sv::Gimbal::open(PStateInvoke callback)
     bool ret = false;
 
     this->IO = creatIO(this);
+
     if (this->IO != nullptr)
     {
         std::string driverName;
-        driverName = sv::cvGimbalType2Str(this->m_gimbal_type);
+        driverName = sv::svGimbalType2Str(this->m_gimbal_type);
         this->dev = new amovGimbal::gimbal(driverName, (amovGimbal::IOStreamBase *)this->IO);
         amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
         pdevTemp->startStack();
-        pdevTemp->parserAuto(callback);
+        m_callback = callback;
+        pdevTemp->parserAuto(sv::Gimbal::gimbalUpdataCallback, this);
 
         ret = true;
     }
@@ -221,7 +280,7 @@ bool sv::Gimbal::open(PStateInvoke callback)
 bool sv::Gimbal::setHome()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
-    if (pdevTemp->dev->setGimabalHome() > 0)
+    if (pdevTemp->setGimabalHome() > 0)
     {
         return true;
     }
@@ -250,7 +309,7 @@ bool sv::Gimbal::setZoom(double x)
         return false;
     }
 
-    if (pdevTemp->dev->setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_STOP, x) > 0)
+    if (pdevTemp->setGimbalZoom(AMOV_GIMBAL_ZOOM_STOP, x) > 0)
     {
         return true;
     }
@@ -274,7 +333,7 @@ bool sv::Gimbal::setAutoZoom(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalZoom((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalZoom((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -300,7 +359,7 @@ bool sv::Gimbal::setAutoFocus(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->setGimbalFocus((amovGimbal::AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
+    if (pdevTemp->setGimbalFocus((AMOV_GIMBAL_ZOOM_T)state, 0.0f) > 0)
     {
         return true;
     }
@@ -320,7 +379,7 @@ bool sv::Gimbal::takePhoto()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    if (pdevTemp->dev->takePic() > 0)
+    if (pdevTemp->takePic() > 0)
     {
         return true;
     }
@@ -344,21 +403,21 @@ bool sv::Gimbal::takeVideo(int state)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_VIDEO_T newState;
+    AMOV_GIMBAL_VIDEO_T newState;
     switch (state)
     {
     case 0:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     case 1:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+        newState = AMOV_GIMBAL_VIDEO_TAKE;
         break;
     default:
-        newState = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+        newState = AMOV_GIMBAL_VIDEO_OFF;
         break;
     }
 
-    if (pdevTemp->dev->setVideo(newState) > 0)
+    if (pdevTemp->setVideo(newState) > 0)
     {
         return true;
     }
@@ -379,13 +438,13 @@ int sv::Gimbal::getVideoState()
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     int ret;
-    amovGimbal::AMOV_GIMBAL_STATE_T state;
+    AMOV_GIMBAL_STATE_T state;
     state = pdevTemp->getGimabalState();
-    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    if (state.video == AMOV_GIMBAL_VIDEO_TAKE)
     {
         ret = 1;
     }
-    else if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_OFF)
+    else if (state.video == AMOV_GIMBAL_VIDEO_OFF)
     {
         ret = 0;
     }
@@ -413,7 +472,7 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
 
     if (pitch_rate == 0.0f)
         pitch_rate = 360;
@@ -425,11 +484,11 @@ void sv::Gimbal::setAngleEuler(double roll, double pitch, double yaw,
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalFollowSpeed(temp);
+    pdevTemp->setGimabalFollowSpeed(temp);
     temp.pitch = pitch;
     temp.roll = roll;
     temp.yaw = yaw;
-    pdevTemp->dev->setGimabalPos(temp);
+    pdevTemp->setGimabalPos(temp);
 }
 
 /**
@@ -444,11 +503,11 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
 
-    amovGimbal::AMOV_GIMBAL_POS_T temp;
+    AMOV_GIMBAL_POS_T temp;
     temp.pitch = pitch_rate;
     temp.roll = roll_rate;
     temp.yaw = yaw_rate;
-    pdevTemp->dev->setGimabalSpeed(temp);
+    pdevTemp->setGimabalSpeed(temp);
 }
 
 sv::Gimbal::~Gimbal()

gimbal_ctrl/sv_gimbal_io.hpp

@@ -3,65 +3,236 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 12:22:09
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-13 10:17:21
+ * @LastEditTime: 2023-12-05 17:38:59
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal_io.hpp
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal_io.hpp
  */
 #ifndef __SV_GIMABL_IO_H
 #define __SV_GIMABL_IO_H
 
-#include "amov_gimbal.h"
+#include "amovGimbal/amov_gimbal.h"
 #include "serial/serial.h"
 
-class UART : public amovGimbal::IOStreamBase
+#include <string.h>
+#include <stdio.h>
+#if defined(_WIN32)
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#endif
+
+#if defined(__linux__)
+#include <arpa/inet.h>
+#endif
+
+#include <unistd.h>
+namespace sv
 {
-private:
+    class UART : public amovGimbal::IOStreamBase
-    serial::Serial *ser;
+    {
+    private:
+        serial::Serial *ser;
 
-public:
+    public:
-    virtual bool open()
+        virtual bool open()
-    {
+        {
-        ser->open();
+            ser->open();
-        return true;
+            return true;
-    }
+        }
-    virtual bool close()
+        virtual bool close()
-    {
+        {
-        ser->close();
+            ser->close();
-        return true;
+            return true;
-    }
+        }
-    virtual bool isOpen()
+        virtual bool isOpen()
-    {
+        {
-        return ser->isOpen();
+            return ser->isOpen();
-    }
+        }
-    virtual bool isBusy()
+        virtual bool isBusy()
-    {
+        {
-        return false;
+            return false;
-    }
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            if (ser->read(byte, 1))
+            {
+                return 1;
+            }
+            return 0;
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return ser->write(byte, lenght);
+        }
+        UART(const std::string &port, uint32_t baudrate, serial::Timeout timeout,
+             serial::bytesize_t bytesize, serial::parity_t parity, serial::stopbits_t stopbits,
+             serial::flowcontrol_t flowcontrol)
+        {
+            ser = new serial::Serial(port, baudrate, timeout, bytesize, parity, stopbits, flowcontrol);
+        }
+        ~UART()
+        {
+            ser->close();
+        }
+    };
 
-    virtual bool inPutByte(IN uint8_t *byte)
+    int scoketClose(int scoket)
     {
-        if (ser->read(byte, 1))
+#if defined(_WIN32)
+        return closesocket(scoket);
+#endif
+#if defined(__linux__)
+        return close(scoket);
+#endif
+    }
+    class TCPClient : public amovGimbal::IOStreamBase
+    {
+    private:
+        int scoketFd;
+        sockaddr_in scoketAddr;
+
+    public:
+        virtual bool open()
         {
             return true;
         }
-        return false;
+        virtual bool close()
-    }
+        {
+            sv::scoketClose(scoketFd);
+            return true;
+        }
+        virtual bool isOpen()
+        {
+            return true;
+        }
+        virtual bool isBusy()
+        {
+            return false;
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            return recv(scoketFd, (char *)byte, 65536, 0);
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return send(scoketFd, (const char *)byte, lenght, 0);
+        }
 
-    virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        TCPClient(const std::string &addr, const uint16_t port)
-    {
+        {
-        return ser->write(byte, lenght);
+            if ((scoketFd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
-    }
+            {
+                throw std::runtime_error("scoket creat failed");
+            }
+            memset(&scoketAddr, 0, sizeof(scoketAddr));
+            scoketAddr.sin_family = AF_INET;
+            scoketAddr.sin_addr.s_addr = inet_addr(addr.c_str());
 
-    UART(const std::string &port, uint32_t baudrate, serial::Timeout timeout,
+            if (scoketAddr.sin_addr.s_addr == INADDR_NONE ||
-         serial::bytesize_t bytesize, serial::parity_t parity, serial::stopbits_t stopbits,
+                scoketAddr.sin_addr.s_addr == INADDR_ANY)
-         serial::flowcontrol_t flowcontrol)
+            {
+                sv::scoketClose(scoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+            scoketAddr.sin_port = htons(port);
+
+            if (connect(scoketFd, (struct sockaddr *)&scoketAddr, sizeof(scoketAddr)) != 0)
+            {
+                sv::scoketClose(scoketFd);
+
+                throw std::runtime_error("scoket connect failed !");
+            }
+        }
+        ~TCPClient()
+        {
+            close();
+        }
+    };
+
+    class UDP : public amovGimbal::IOStreamBase
     {
-        ser = new serial::Serial(port, baudrate, timeout, bytesize, parity, stopbits, flowcontrol);
+    private:
-    }
+        int rcvScoketFd, sendScoketFd;
-    ~UART()
+        sockaddr_in rcvScoketAddr, sendScoketAddr;
-    {
+
-        ser->close();
+    public:
-        delete ser;
+        virtual bool open()
-    }
+        {
-};
+            return true;
+        }
+        virtual bool close()
+        {
+            sv::scoketClose(rcvScoketFd);
+            sv::scoketClose(sendScoketFd);
+            return true;
+        }
+        virtual bool isOpen()
+        {
+            return true;
+        }
+        virtual bool isBusy()
+        {
+            return false;
+        }
+        virtual uint32_t inPutBytes(IN uint8_t *byte)
+        {
+            sockaddr_in remoteAddr;
+            int len = sizeof(remoteAddr);
+
+            return recvfrom(rcvScoketFd, (char *)byte, 65536, 0,
+                            (struct sockaddr *)&remoteAddr, reinterpret_cast<socklen_t *>(&len));
+        }
+        virtual uint32_t outPutBytes(IN uint8_t *byte, uint32_t lenght)
+        {
+            return sendto(sendScoketFd, (const char *)byte, lenght, 0,
+                          (struct sockaddr *)&sendScoketAddr, sizeof(sendScoketAddr));
+        }
+
+        UDP(const std::string &remoteAddr, const uint16_t rcvPort, uint16_t sendPort)
+        {
+            if ((rcvScoketFd = socket(AF_INET, SOCK_DGRAM, 0)) == -1 ||
+                (sendScoketFd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
+            {
+                sv::scoketClose(rcvScoketFd);
+                sv::scoketClose(sendScoketFd);
+                throw std::runtime_error("scoket creat failed");
+            }
+            memset(&rcvScoketAddr, 0, sizeof(rcvScoketAddr));
+            memset(&sendScoketAddr, 0, sizeof(sendScoketAddr));
+            sendScoketAddr.sin_family = AF_INET;
+            sendScoketAddr.sin_addr.s_addr = inet_addr(remoteAddr.c_str());
+            sendScoketAddr.sin_port = htons(sendPort);
+
+            if (sendScoketAddr.sin_addr.s_addr == INADDR_NONE ||
+                sendScoketAddr.sin_addr.s_addr == INADDR_ANY)
+            {
+                sv::scoketClose(sendScoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+
+            rcvScoketAddr.sin_family = AF_INET;
+            rcvScoketAddr.sin_addr.s_addr = INADDR_ANY;
+            rcvScoketAddr.sin_port = htons(rcvPort);
+
+            if (rcvScoketAddr.sin_addr.s_addr == INADDR_NONE)
+            {
+                sv::scoketClose(rcvScoketFd);
+
+                throw std::runtime_error("scoket addr errr");
+            }
+
+            if (bind(rcvScoketFd, (struct sockaddr *)&rcvScoketAddr, sizeof(rcvScoketAddr)) == -1)
+            {
+                sv::scoketClose(rcvScoketFd);
+
+                throw std::runtime_error("scoket bind failed !");
+            }
+        }
+        ~UDP()
+        {
+            close();
+        }
+    };
+}
 
 #endif

include/sv_camera.h

@@ -0,0 +1,79 @@
+#ifndef __SV_CAMERA__
+#define __SV_CAMERA__
+
+#include "opencv2/opencv.hpp"
+
+namespace sv
+{
+
+enum class CameraType : int
+{
+  // 未知相机
+  NONE = 0X00001000,
+  // 标准opencv框架下的相机
+  V4L2CAM = 0X00001001,  
+  WEBCAM = 0X00001002,
+  // 视频文件
+  VIDEOFILE = 0X00002001,
+  // 普通流媒体相机
+  STREAMING = 0X00004001,
+  // 普通的MIPI-CSI相机
+  MIPI = 0X00008001,
+  // 进行了传输优化适配的相机
+  G1 = 0X00010001,
+  Q10 = 0X00010002,
+  GX40 = 0X00010003,
+  MC1 = 0X00010004,
+  // 虚拟的相机设备 主要仿真接入
+  VIRTUAL = 0X00020001,
+};
+
+class Camera
+{
+private:
+  void *dev;
+
+public:
+  // 构建时根据相机类型实例化对应的相机类
+  // timeOut: 相机连接超时时间；超过该时间没有读取到新的帧，则认为相机失去连接 单位ms
+  Camera(CameraType type, int timeOut = 500);
+
+  // 基本配置 必须调用下述的一个接口后才能open
+  bool setStream(const std::string &ip, int port);
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+  // 基础功能
+  bool open(void);
+  bool read(cv::Mat &image);
+  bool readNoBlock(cv::Mat &image);
+  void release(void);
+
+  // 属性配置
+  void setWH(int width, int height);
+  void setFps(int fps);
+  void setBrightness(double brightness);
+  void setContrast(double contrast);
+  void setSaturation(double saturation);
+  void setHue(double hue);
+  void setExposure(double exposure);
+
+  // 获取属性
+  bool isActive(void);
+  CameraType getType(void);
+  std::string getName(void);
+
+  int getW(void);
+  int getH(void);
+  int getExpectFps(void);
+  double getFps(void);
+  double getBrightness(void);
+  double getContrast(void);
+  double getSaturation(void);
+  double getHue(void);
+  double getExposure(void);
+
+  ~Camera();
+};
+
+}
+#endif

include/sv_gimbal.h

@@ -3,8 +3,8 @@
  * @Author: jario-jin @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:49:27
+ * @LastEditTime: 2023-12-05 17:25:40
- * @FilePath: /spirecv-gimbal-sdk/include/sv_gimbal.h
+ * @FilePath: /SpireCV/include/sv_gimbal.h
  */
 #ifndef __SV_GIMBAL__
 #define __SV_GIMBAL__
@@ -27,14 +27,26 @@ namespace sv
     G1,
     Q10f,
     AT10,
+    GX40,
   };
-  enum class GimbalLink
+  enum class GimbalLink : int
   {
-    SERIAL,
+    NONE = 0x00,
-    ETHERNET_TCP,
+    SERIAL = 0x01,
-    ETHERNET_UDP
+    ETHERNET_TCP = 0x02,
+    ETHERNET_UDP = 0x04,
   };
 
+  constexpr GimbalLink operator|(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) | static_cast<int>(b));
+  }
+
+  constexpr GimbalLink operator&(GimbalLink a, GimbalLink b)
+  {
+    return static_cast<GimbalLink>(static_cast<int>(a) & static_cast<int>(b));
+  }
+
   enum class GimablSerialByteSize
   {
     FIVE_BYTES = 5,
@@ -83,6 +95,7 @@ namespace sv
     // Device pointers
     void *dev;
     void *IO;
+    PStateInvoke m_callback;
 
     // Generic serial interface parameters list & default parameters
     std::string m_serial_port = "/dev/ttyUSB0";
@@ -94,8 +107,10 @@ namespace sv
     int m_serial_timeout = 500;
 
     // Ethernet interface parameters list & default parameters
-    std::string m_net_ip = "192.168.2.64";
+    std::string m_net_ip = "192.168.144.121";
-    int m_net_port = 9090;
+    int m_net_port = 2332;
+    int m_net_recv_port = 2338;
+    int m_net_send_port = 2337;
 
     GimbalType m_gimbal_type;
     GimbalLink m_gimbal_link;
@@ -104,6 +119,14 @@ namespace sv
     static std::mutex IOListMutex;
     static void *creatIO(Gimbal *dev);
     static void removeIO(Gimbal *dev);
+
+    static void gimbalUpdataCallback(double frameAngleRoll, double frameAnglePitch, double frameAngleYaw,
+                                     double imuAngleRoll, double imuAnglePitch, double imuAngleYaw,
+                                     double fovX, double fovY, void *handle)
+    {
+      ((Gimbal *)(handle))->m_callback(frameAngleRoll, frameAnglePitch, frameAngleYaw, imuAngleRoll, imuAnglePitch, imuAngleYaw, fovX, fovY);
+    }
+
   public:
     //! Constructor
     /*!
@@ -125,7 +148,10 @@ namespace sv
 
     // set Ethernet interface parameters
     void setNetIp(const std::string &ip);
-    void setNetPort(const int &port);
+    // set tcp port
+    void setTcpNetPort(const int &port);
+    // set udp port
+    void setUdpNetPort(const int &recvPort, const int &sendPort);
 
     // Create a device instance
     void setStateCallback(PStateInvoke callback);

include/sv_veri_det.h

@@ -8,29 +8,36 @@
 #include <string>
 #include <chrono>
 
-
+namespace sv
-namespace sv {
-
-class VeriDetectorCUDAImpl;
-
-class VeriDetector : public LandingMarkerDetectorBase
 {
-public:
-  VeriDetector();
-  ~VeriDetector();
 
-  void detect(cv::Mat img1_, cv::Mat img2_, TargetsInFrame &tgts_);
+  class VeriDetectorCUDAImpl;
 
-protected:
+  class VeriDetector : public LandingMarkerDetectorBase
-  bool setupImpl();
+  {
-  void roiCNN(
+  public:
-    std::vector<cv::Mat>& input_rois_,
+    VeriDetector();
-    std::vector<int>& output_labels_
+    ~VeriDetector();
-  );
 
-  VeriDetectorCUDAImpl* _cuda_impl;
+    void detect(cv::Mat img_, const cv::Rect &bounding_box_, sv::Target &tgt);
-};
 
+  protected:
+    void _load();
+    bool setupImpl();
+    void roiCNN(
+        std::vector<cv::Mat> &input_rois_,
+        std::vector<float> &output_labels_);
+    void getSubwindow(cv::Mat &dstCrop, cv::Mat &srcImg, int originalSz, int resizeSz);
+
+    std::string vehicle_id;
+    
+      // Save the target bounding box for each frame.
+    std::vector<float> targetSz = {0, 0};  // H and W of bounding box
+    std::vector<float> targetPos = {0, 0}; // center point of bounding box (x, y)
+
+
+    VeriDetectorCUDAImpl *_cuda_impl;
+  };
 
 }
 #endif

include/sv_video_base.h

@@ -90,6 +90,9 @@ public:
   double los_ay;
   //! The angle of the target in the image coordinate system,  (unit: degree) [-180, 180].
   double yaw_a;
+  
+  //! Similarity, Confidence, (0, 1]
+  double sim_score;
 
   //! Whether the height&width of the target can be obtained.
   bool has_hw;
@@ -323,59 +326,59 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, G1, Q10, MIPI};
+// enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
 
-class CameraBase {
+// class CameraBase {
-public:
+// public:
-  CameraBase(CameraType type=CameraType::NONE, int id=0);
+//   CameraBase(CameraType type=CameraType::NONE, int id=0);
-  ~CameraBase();
+//   ~CameraBase();
-  void open(CameraType type=CameraType::WEBCAM, int id=0);
+//   void open(CameraType type=CameraType::WEBCAM, int id=0);
-  bool read(cv::Mat& image);
+//   bool read(cv::Mat& image);
-  void release();
+//   void release();
   
-  int getW();
+//   int getW();
-  int getH();
+//   int getH();
-  int getFps();
+//   int getFps();
-  std::string getIp();
+//   std::string getIp();
-  int getPort();
+//   int getPort();
-  double getBrightness();
+//   double getBrightness();
-  double getContrast();
+//   double getContrast();
-  double getSaturation();
+//   double getSaturation();
-  double getHue();
+//   double getHue();
-  double getExposure();
+//   double getExposure();
-  bool isRunning();
+//   bool isRunning();
-  void setWH(int width, int height);
+//   void setWH(int width, int height);
-  void setFps(int fps);
+//   void setFps(int fps);
-  void setIp(std::string ip);
+//   void setIp(std::string ip);
-  void setPort(int port);
+//   void setPort(int port);
-  void setBrightness(double brightness);
+//   void setBrightness(double brightness);
-  void setContrast(double contrast);
+//   void setContrast(double contrast);
-  void setSaturation(double saturation);
+//   void setSaturation(double saturation);
-  void setHue(double hue);
+//   void setHue(double hue);
-  void setExposure(double exposure);
+//   void setExposure(double exposure);
-protected:
+// protected:
-  virtual void openImpl();
+//   virtual void openImpl();
-  void _run();
+//   void _run();
 
-  bool _is_running;
+//   bool _is_running;
-  bool _is_updated;
+//   bool _is_updated;
-  std::thread _tt;
+//   std::thread _tt;
-  cv::VideoCapture _cap;
+//   cv::VideoCapture _cap;
-  cv::Mat _frame;
+//   cv::Mat _frame;
-  CameraType _type;
+//   CameraType _type;
-  int _camera_id;
+//   int _camera_id;
   
-  int _width;
+//   int _width;
-  int _height;
+//   int _height;
-  int _fps;
+//   int _fps;
-  std::string _ip;
+//   std::string _ip;
-  int _port;
+//   int _port;
-  double _brightness;
+//   double _brightness;
-  double _contrast;
+//   double _contrast;
-  double _saturation;
+//   double _saturation;
-  double _hue;
+//   double _hue;
-  double _exposure;
+//   double _exposure;
-};
+// };
 
 
 void drawTargetsInFrame(

include/sv_video_input.h

@@ -1,3 +1,4 @@
+#if 0
 #ifndef __SV_VIDEO_INPUT__
 #define __SV_VIDEO_INPUT__
 
@@ -25,3 +26,4 @@ protected:
 
 }
 #endif
+#endif

samples/SpireCVDet.cpp

@@ -18,9 +18,9 @@ const static int kInputH_HD = 1280;
 const static int kInputW_HD = 1280;
 const static int kOutputSize = kMaxNumOutputBbox * sizeof(Detection) / sizeof(float) + 1;
 
-bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bool& is_p6, float& gd, float& gw, std::string& img_dir, int& n_classes) {
+bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bool& is_p6, float& gd, float& gw, std::string& img_dir, int& n_classes, int& n_batch) {
   if (argc < 4) return false;
-  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 8)) {
+  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 7 || argc == 8)) {
     wts = std::string(argv[2]);
     engine = std::string(argv[3]);
     n_classes = atoi(argv[4]);
@@ -51,6 +51,9 @@ bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, bo
     if (net.size() == 2 && net[1] == '6') {
       is_p6 = true;
     }
+    if (argc == 7) {
+      n_batch = atoi(argv[6]);
+    }
   } else {
     return false;
   }
@@ -99,18 +102,20 @@ int main(int argc, char** argv) {
   float gd = 0.0f, gw = 0.0f;
   std::string img_dir;
   int n_classes;
+  int n_batch = 1;
 
-  if (!parse_args(argc, argv, wts_name, engine_name, is_p6, gd, gw, img_dir, n_classes)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, is_p6, gd, gw, img_dir, n_classes, n_batch)) {
     std::cerr << "arguments not right!" << std::endl;
     std::cerr << "./SpireCVDet -s [.wts] [.engine] n_classes [n/s/m/l/x/n6/s6/m6/l6/x6 or c/c6 gd gw]  // serialize model to plan file" << std::endl;
     // std::cerr << "./SpireCVDet -d [.engine] ../images  // deserialize plan file and run inference" << std::endl;
     return -1;
   }
   std::cout << "n_classes: " << n_classes << std::endl;
+  std::cout << "max_batch: " << n_batch << std::endl;
 
   // Create a model using the API directly and serialize it to a file
   if (!wts_name.empty()) {
-    serialize_engine(kBatchSize, is_p6, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(n_batch, is_p6, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/SpireCVSeg.cpp

@@ -18,44 +18,47 @@ const static int kInputW = 640;
 const static int kOutputSize1 = kMaxNumOutputBbox * sizeof(Detection) / sizeof(float) + 1;
 const static int kOutputSize2 = 32 * (kInputH / 4) * (kInputW / 4);
 
-bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, float& gd, float& gw, std::string& img_dir, std::string& labels_filename, int& n_classes) {
+bool parse_args(int argc, char** argv, std::string& wts, std::string& engine, float& gd, float& gw, std::string& img_dir, std::string& labels_filename, int& n_classes, int& n_batch) {
-    if (argc < 4) return false;
+  if (argc < 4) return false;
-    if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 8)) {
+  if (std::string(argv[1]) == "-s" && (argc == 6 || argc == 7 || argc == 8)) {
-        wts = std::string(argv[2]);
+    wts = std::string(argv[2]);
-        engine = std::string(argv[3]);
+    engine = std::string(argv[3]);
-        n_classes = atoi(argv[4]);
+    n_classes = atoi(argv[4]);
-        if (n_classes < 1)
+    if (n_classes < 1)
-          return false;
+      return false;
-        auto net = std::string(argv[5]);
+    auto net = std::string(argv[5]);
-        if (net[0] == 'n') {
+    if (net[0] == 'n') {
-            gd = 0.33;
+      gd = 0.33;
-            gw = 0.25;
+      gw = 0.25;
-        } else if (net[0] == 's') {
+    } else if (net[0] == 's') {
-            gd = 0.33;
+      gd = 0.33;
-            gw = 0.50;
+      gw = 0.50;
-        } else if (net[0] == 'm') {
+    } else if (net[0] == 'm') {
-            gd = 0.67;
+      gd = 0.67;
-            gw = 0.75;
+      gw = 0.75;
-        } else if (net[0] == 'l') {
+    } else if (net[0] == 'l') {
-            gd = 1.0;
+      gd = 1.0;
-            gw = 1.0;
+      gw = 1.0;
-        } else if (net[0] == 'x') {
+    } else if (net[0] == 'x') {
-            gd = 1.33;
+      gd = 1.33;
-            gw = 1.25;
+      gw = 1.25;
-        } else if (net[0] == 'c' && argc == 8) {
+    } else if (net[0] == 'c' && argc == 8) {
-            gd = atof(argv[6]);
+      gd = atof(argv[6]);
-            gw = atof(argv[7]);
+      gw = atof(argv[7]);
-        } else {
-            return false;
-        }
-    } else if (std::string(argv[1]) == "-d" && argc == 5) {
-        engine = std::string(argv[2]);
-        img_dir = std::string(argv[3]);
-        labels_filename = std::string(argv[4]);
     } else {
-        return false;
+      return false;
     }
-    return true;
+    if (argc == 7) {
+      n_batch = atoi(argv[6]);
+    }
+  } else if (std::string(argv[1]) == "-d" && argc == 5) {
+    engine = std::string(argv[2]);
+    img_dir = std::string(argv[3]);
+    labels_filename = std::string(argv[4]);
+  } else {
+    return false;
+  }
+  return true;
 }
 
 
@@ -98,19 +101,21 @@ int main(int argc, char** argv) {
   std::string labels_filename = "";
   float gd = 0.0f, gw = 0.0f;
   int n_classes;
+  int n_batch = 1;
 
   std::string img_dir;
-  if (!parse_args(argc, argv, wts_name, engine_name, gd, gw, img_dir, labels_filename, n_classes)) {
+  if (!parse_args(argc, argv, wts_name, engine_name, gd, gw, img_dir, labels_filename, n_classes, n_batch)) {
     std::cerr << "arguments not right!" << std::endl;
     std::cerr << "./SpireCVSeg -s [.wts] [.engine] n_classes [n/s/m/l/x or c gd gw]  // serialize model to plan file" << std::endl;
     // std::cerr << "./SpireCVSeg -d [.engine] ../images coco.txt  // deserialize plan file, read the labels file and run inference" << std::endl;
     return -1;
   }
   std::cout << "n_classes: " << n_classes << std::endl;
+  std::cout << "max_batch: " << n_batch << std::endl;
 
   // Create a model using the API directly and serialize it to a file
   if (!wts_name.empty()) {
-    serialize_engine(kBatchSize, gd, gw, wts_name, engine_name, n_classes);
+    serialize_engine(n_batch, gd, gw, wts_name, engine_name, n_classes);
     return 0;
   }
 

samples/calib/calibrate_camera_charuco.cpp

@@ -36,8 +36,11 @@ the use of this software, even if advised of the possibility of such damage.
 #include <opencv2/imgproc.hpp>
 #include <vector>
 #include <iostream>
+#include <sv_world.h>
 #include "aruco_samples_utility.hpp"
 
+#include  "sv_camera.h"
+
 using namespace std;
 using namespace cv;
 
@@ -58,7 +61,10 @@ const char* keys  =
         "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
         "{cd       |       | Input file with custom dictionary }"
         "{@outfile |<none> | Output file with calibrated camera parameters }"
-        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{imh      |       | Camera Image Height }"
+        "{imw      |       | Camera Image Width }"
+        "{fps      |       | Camera FPS }"
+        "{tp       |       | 1:WEBCAM, 2:V4L2CAM, 3:G1, 4:Q10, 5:MIPI, 6:GX40 }"
         "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
         "{dp       |       | File of marker detector parameters }"
         "{rs       | false | Apply refind strategy }"
@@ -107,26 +113,51 @@ int main(int argc, char *argv[]) {
 
     bool refindStrategy = parser.get<bool>("rs");
     int camId = parser.get<int>("ci");
-    String video;
+    int imW = 800;
+    int imH = 600;
+    int fps = 30;
+    int tp = 1;
 
-    if(parser.has("v")) {
+    if(parser.has("imh")) {
-        video = parser.get<String>("v");
+        imH = parser.get<int>("imh");
     }
+    if(parser.has("imw")) {
+        imW = parser.get<int>("imw");
+    }
+    if(parser.has("fps")) {
+        fps = parser.get<int>("fps");
+    }
+    if(parser.has("tp")) {
+        tp = parser.get<int>("tp");
+    }
+    sv::CameraType c_type = sv::CameraType::WEBCAM;
+    if (2 == tp)
+      c_type = sv::CameraType::V4L2CAM;
+    else if (3 == tp)
+      c_type = sv::CameraType::G1;
+    else if (4 == tp)
+      c_type = sv::CameraType::Q10;
+    else if (5 == tp)
+      c_type = sv::CameraType::MIPI;
+    else if (6 == tp)
+      c_type = sv::CameraType::GX40;
 
     if(!parser.check()) {
         parser.printErrors();
         return 0;
     }
 
-    VideoCapture inputVideo;
+    // VideoCapture inputVideo;
-    int waitTime;
+    sv::Camera inputVideo(c_type);
-    if(!video.empty()) {
+    inputVideo.setIndex(camId);
-        inputVideo.open(video);
+    inputVideo.setStream("192.168.144.64",554);
-        waitTime = 0;
+
-    } else {
+    inputVideo.setWH(imW, imH);
-        inputVideo.open(camId);
+    inputVideo.setFps(fps);
-        waitTime = 10;
+    
-    }
+    inputVideo.open();
+  
+    int waitTime = 10;
 
     aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
     if (parser.has("d")) {
@@ -156,9 +187,9 @@ int main(int argc, char *argv[]) {
     vector< Mat > allImgs;
     Size imgSize;
 
-    while(inputVideo.grab()) {
+    while(1) {
         Mat image, imageCopy;
-        inputVideo.retrieve(image);
+        inputVideo.read(image);
 
         vector< int > ids;
         vector< vector< Point2f > > corners, rejected;

samples/calib/create_marker.cpp

@@ -0,0 +1,255 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace cv;
+
+namespace {
+const char* about = "Create an ArUco marker image";
+
+//! [aruco_create_markers_keys]
+const char* keys  =
+    "{@outfile |<none> | Output image }"
+    "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+    "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+    "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+    "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+    "{cd       |       | Input file with custom dictionary }"
+    "{id       |       | Marker id in the dictionary }"
+    "{ms       | 200   | Marker size in pixels }"
+    "{bs       | 50    | Border size in pixels }"
+    "{lp       | 50    | Landing Pad Unit in pixels }"
+    "{bb       | 1     | Number of bits in marker borders }"
+    "{si       | false | show generated image }";
+}
+//! [aruco_create_markers_keys]
+
+
+Mat create_marker_with_borders(aruco::Dictionary& dictionary, int markerId, int markerSize, int borderBits, int borderSize) {
+  Mat tmpImg;
+  aruco::generateImageMarker(dictionary, markerId, markerSize, tmpImg, borderBits);
+  Mat tmpImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
+  tmpImg.copyTo(tmpImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
+  tmpImg = tmpImgCopy;
+  return tmpImg;
+}
+
+
+int main(int argc, char *argv[]) {
+  CommandLineParser parser(argc, argv, keys);
+  parser.about(about);
+
+  if(argc < 4) {
+    parser.printMessage();
+    return 0;
+  }
+
+  int markerId = parser.get<int>("id");
+  int borderBits = parser.get<int>("bb");
+  int markerSize = parser.get<int>("ms");
+  bool showImage = parser.get<bool>("si");
+
+  int borderSize = 0;
+  if (parser.has("bs")) {
+    borderSize = parser.get<int>("bs");
+  }
+  int landingPadUnit = 0;
+  if (parser.has("lp")) {
+    landingPadUnit = parser.get<int>("lp");
+    borderSize = landingPadUnit;
+    borderBits = 1;
+    markerSize = landingPadUnit * 4;
+  }
+
+  String out = parser.get<String>(0);
+
+  if(!parser.check()) {
+    parser.printErrors();
+    return 0;
+  }
+
+  aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
+  if (parser.has("d")) {
+    int dictionaryId = parser.get<int>("d");
+    dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
+  }
+  else if (parser.has("cd")) {
+    FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
+    bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
+    if(!readOk) {
+      std::cerr << "Invalid dictionary file" << std::endl;
+      return 0;
+    }
+  }
+  else {
+    std::cerr << "Dictionary not specified" << std::endl;
+    return 0;
+  }
+
+  Mat markerImg;
+  aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);
+  if (borderSize > 0) {
+    Mat markerImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
+    markerImg.copyTo(markerImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
+    markerImg = markerImgCopy;
+  }
+
+  if (landingPadUnit > 0) {
+    Mat markerImgBIG = Mat::ones(landingPadUnit * 62, landingPadUnit * 62, CV_8UC1) * 255;
+    markerId = 0;
+    markerSize = landingPadUnit * 4;
+    borderSize = landingPadUnit;
+    int newSize = markerSize + borderSize * 2;
+
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18 + i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46 + i * landingPadUnit * 5, 0, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 5 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 18 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 46 + i * landingPadUnit * 5, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    for (int i=0; i<3; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
+    }
+    
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 51 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<5; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 38 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    for (int i=0; i<2; i++) {
+      markerId += 1;
+      markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+      markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 10 - i * landingPadUnit * 5, newSize, newSize)));
+    }
+    
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 23, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 33, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 33, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 23, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 18, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 38, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 51, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 10, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46, landingPadUnit * 28, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 46, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10, landingPadUnit * 28, newSize, newSize)));
+    
+    markerId = 90;
+    markerSize = landingPadUnit * 4 * 4;
+    borderSize = landingPadUnit * 4;
+    newSize = markerSize + borderSize * 2;
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
+    markerId += 1;
+    markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
+    markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
+
+    markerImg = Mat::ones(landingPadUnit * 64, landingPadUnit * 64, CV_8UC1) * 255;
+    markerImgBIG.copyTo(markerImg(Rect(landingPadUnit, landingPadUnit, landingPadUnit * 62, landingPadUnit * 62)));
+  }
+
+  if(showImage) {
+    imshow("marker", markerImg);
+    waitKey(0);
+  }
+
+  imwrite(out, markerImg);
+
+  return 0;
+}
+

samples/demo/aruco_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,12 @@ int main(int argc, char *argv[]) {
   ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  
+  cap.setIndex(0);
+  cap.setWH(ad.image_width, ad.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/camera_reading.cpp

@@ -2,15 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {  
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
   // cap.setWH(640, 480);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   while (1)

samples/demo/color_line_detect.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 using namespace sv;
@@ -14,10 +15,11 @@ int main(int argc, char *argv[])
   cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(cld.image_width, cld.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
+  cap.open(); // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/common_object_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,11 @@ int main(int argc, char *argv[]) {
   cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/detection_with_clicked_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -48,11 +49,12 @@ int main(int argc, char *argv[]) {
 
 
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
-  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/ellipse_detection.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -12,10 +13,12 @@ int main(int argc, char *argv[]) {
   ed.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(ed.image_width, ed.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -2,35 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include <map>
-using namespace std;
+#include "sv_camera.h"
 
 // 定义窗口名称
 static const std::string RGB_WINDOW = "Image window";
-// 框选到的矩形
-cv::Rect rect_sel;
-// 框选起始点
-cv::Point pt_origin;
 
-// 是否得到一个新的框选区域
-bool b_renew_ROI = false;
-// 是否开始跟踪
-bool b_begin_TRACK = false;
 // 实现框选逻辑的回调函数
 void onMouse(int event, int x, int y, int, void *);
-
+bool isTarck = false;
-struct node
+bool isStartTarck = false;
-{
+int clickX = -1, clickY = -1;
-  double x, y;
-};
-node p1, p2, p3, p4;
-node p;
-double getCross(node p1, node p2, node p)
-{
-  return (p2.x - p1.x) * (p.y - p1.y) - (p.x - p1.x) * (p2.y - p1.y);
-}
-bool b_clicked = false;
-bool detect_tracking = true;
 
 // 定义吊舱
 sv::Gimbal *gimbal;
@@ -53,57 +35,125 @@ void gimbalNoTrack(void)
 
 int main(int argc, char *argv[])
 {
+  // 实例化 框选目标跟踪类
+  sv::SingleObjectTracker sot;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
+  sv::CommonObjectDetector cod;
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
+
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-  // 定义相机
+
-  sv::Camera cap;
+  // 打开摄像头
-  // 设置相机流媒体地址为 192.168.2.64
+  sv::Camera cap(sv::CameraType::G1);
-  cap.setIp("192.168.2.64");
+  cap.setStream("192.168.2.64",554);
-  // 设置获取画面分辨率为720P
+  cap.setWH(cod.image_width, cod.image_height);
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
   cap.setFps(30);
-  // 开启相机
+  cap.open();  // CameraID 0
-  cap.open(sv::CameraType::G1);
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个新的窗口，可在上面进行框选操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现整个框选逻辑
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 框选目标跟踪类
-  sv::SingleObjectTracker sot;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
+  sv::TargetsInFrame lastTgts(frame_id);
   while (1)
   {
-    if (detect_tracking == true)
+    // 如果位标非法 则不能进行任何形式的追踪
+    if (clickX == -1 || clickY == -1)
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+      isStartTarck = false;
-      sv::TargetsInFrame tgts(frame_id++);
+      isTarck = false;
-      // 读取一帧图像到img
+    }
-      cap.read(img);
+
+    if (isStartTarck && !isTarck)
+    {
+      // 使用上一帧结果初始化追踪器
+      std::map<int, cv::Rect> inBoxList;
+
+      // 计算点击事件是否位于每个目标框内
+      for (int i = 0; i < lastTgts.targets.size(); i++)
+      {
+        int halfWidht = (lastTgts.targets[i].w * lastTgts.width) / 2;
+        int halfHeight = (lastTgts.targets[i].h * lastTgts.height) / 2;
+        int x = lastTgts.targets[i].cx * lastTgts.width;
+        int y = lastTgts.targets[i].cy * lastTgts.height;
+
+        int diffX = x - clickX;
+        int diffY = y - clickY;
+
+        if ((abs(diffX) < halfWidht) && (abs(diffY) < halfHeight))
+        {
+          std::pair<int, cv::Rect> point;
+          point.first = diffX * diffX + diffY * diffY;
+          point.second = cv::Rect(x - halfWidht, y - halfHeight, halfWidht * 2, halfHeight * 2);
+          inBoxList.insert(point);
+        }
+      }
+
+      // 取离中心点最近的目标进行跟踪
+      int min = 0X7FFFFFFF;
+      cv::Rect sel;
+      for (auto i = inBoxList.begin(); i != inBoxList.end(); i++)
+      {
+        if (i->first < min)
+        {
+          min = i->first;
+          sel = i->second;
+        }
+      }
+
+      // min被赋值则存在一个目标框与点击的点重合
+      if (min != 0X7FFFFFFF)
+      {
+        sot.init(img, sel);
+        isTarck = true;
+        printf("rect_sel Yes\n");
+      }
+      else
+      {
+        isTarck = false;
+        printf("rect_sel No\n");
+      }
+
+      isStartTarck = false;
+    }
+
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像
+    cap.read(img);
+
+    if (!isTarck)
+    {
+      // 缩放图像尺寸用于适配检测器
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-      // 执行通用目标检测
+      // 进行通用目标检测
       cod.detect(img, tgts);
-
       gimbalNoTrack();
 
-      // 可视化检测结果，叠加到img上
+      // 向控制台输出检测结果
-      sv::drawTargetsInFrame(img, tgts);
-
-      // 控制台打印通用目标检测结果
       printf("Frame-[%d]\n", frame_id);
       // 打印当前检测的FPS
       printf("  FPS = %.2f\n", tgts.fps);
@@ -124,109 +174,78 @@ int main(int argc, char *argv[])
         printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
         // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
         printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
-        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p2.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p2.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
-        p4.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
-        p4.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p3.x = tgts.targets[i].cx * tgts.width + tgts.targets[i].w * tgts.width / 2;
-        p3.y = tgts.targets[i].cy * tgts.height + tgts.targets[i].h * tgts.height / 2;
-        p.x = pt_origin.x;
-        p.y = pt_origin.y;
-        std::cout << "p.x " << p.x << "\t"
-                  << "p.y " << p.y << std::endl;
-        if (getCross(p1, p2, p) * getCross(p3, p4, p) >= 0 && getCross(p2, p3, p) * getCross(p4, p1, p) >= 0)
-        {
-          b_begin_TRACK = false;
-          detect_tracking = false;
-          // pt_origin = cv::Point(nor_x, nor_p_y);
-          // std::cout << "pt_origin  " <<nor_x<<"/t"<<nor_p_y<< std::endl;
-          rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
-          // std::cout << rect_sel << std::endl;
-          b_renew_ROI = true;
-          frame_id = 0;
-          printf("rect_sel Yes\n");
-        }
-        else
-        {
-          printf("rect_sel No\n");
-        }
       }
     }
     else
     {
-      // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+      // 缩放图像尺寸用于适配追踪器
-      sv::TargetsInFrame tgts(frame_id++);
-      // 读取一帧图像到img
-      cap.read(img);
       cv::resize(img, img, cv::Size(sot.image_width, sot.image_height));
-      // 开始 单目标跟踪 逻辑
-      // 是否有新的目标被手动框选
-      if (b_renew_ROI)
-      {
-        // 拿新的框选区域 来 初始化跟踪器
-        sot.init(img, rect_sel);
-        // std::cout << rect_sel << std::endl;
-        // 重置框选标志
-        b_renew_ROI = false;
-        // 开始跟踪
-        b_begin_TRACK = true;
-      }
-      else if (b_begin_TRACK)
-      {
-        // 以前一帧的结果继续跟踪
-        sot.track(img, tgts);
-        gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
 
-        // 可视化检测结果，叠加到img上
+      // 图像追踪
-        sv::drawTargetsInFrame(img, tgts);
+      sot.track(img, tgts);
-        // 控制台打印 单目标跟踪 结果
+
+      // 吊舱追踪
+      gimbalTrack(tgts.targets[0].cx - 0.5f, tgts.targets[0].cy - 0.5f);
+
+      // 向控制台输出追踪结果
+      printf("Frame-[%d]\n", frame_id);
+      // 打印当前检测的FPS
+      printf("  FPS = %.2f\n", tgts.fps);
+      // 打印当前相机的视场角（degree）
+      printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+      if (tgts.targets.size() > 0)
+      {
         printf("Frame-[%d]\n", frame_id);
-        // 打印当前检测的FPS
+        // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
-        printf("  FPS = %.2f\n", tgts.fps);
+        printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-        // 打印当前相机的视场角（degree）
+        // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-        printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+        printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-        if (tgts.targets.size() > 0)
+        // 打印 跟踪目标 的视线角，跟相机视场相关
-        {
+        printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-          printf("Frame-[%d]\n", frame_id);
-          // 打印 跟踪目标 的中心位置，cx，cy的值域为[0, 1]
-          printf("  Tracking Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[0].cx, tgts.targets[0].cy);
-          // 打印 跟踪目标 的外接矩形框的宽度、高度，w，h的值域为(0, 1]
-          printf("  Tracking Size (w, h) = (%.3f, %.3f)\n", tgts.targets[0].w, tgts.targets[0].h);
-          // 打印 跟踪目标 的视线角，跟相机视场相关
-          printf("  Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
-        }
       }
-    } // end of tracking
+    }
+
+    // 叠加目标框至原始图像
+    sv::drawTargetsInFrame(img, tgts);
     // 显示检测结果img
     cv::imshow(RGB_WINDOW, img);
     cv::waitKey(10);
+
+    lastTgts = tgts;
   }
+
   return 0;
 }
 
 void onMouse(int event, int x, int y, int, void *)
 {
-  if (b_clicked)
+  // 左键点击 进入追踪模式
+  if (event == cv::MouseEventTypes::EVENT_LBUTTONDOWN)
   {
-    // 更新框选区域坐标
+    if (!isTarck && !isStartTarck)
-    pt_origin.x = 0;
+    {
-    pt_origin.y = 0;
+      clickX = x;
+      clickY = y;
+      isStartTarck = true;
+    }
   }
-  // 左键按下
+  // 右键点击 退出追踪模式
-  if (event == cv::EVENT_LBUTTONDOWN)
+  else if (event == cv::MouseEventTypes::EVENT_RBUTTONDOWN)
   {
-    detect_tracking = true;
+    if (isTarck)
-    pt_origin = cv::Point(x, y);
+    {
+      clickX = -1;
+      clickY = -1;
+      isTarck = false;
+    }
   }
-
+  // 中键点击 归中（仅非追踪模式下有效）
-  else if (event == cv::EVENT_RBUTTONDOWN)
+  else if (event == cv::MouseEventTypes::EVENT_MBUTTONDOWN)
   {
-    detect_tracking = true;
+    if (!isTarck)
-    b_renew_ROI = false;
+    {
-    b_begin_TRACK = false;
+      gimbal->setHome();
-    b_clicked = true;
+    }
   }
 }
 

samples/demo/gimbal_landing_marker_detection.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 // #include "gimbal_tools.hpp"
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -33,32 +34,40 @@ void gimbalNoTrack(void)
 }
 
 int main(int argc, char *argv[])
-{
+{ 
+  // 实例化 圆形降落标志 检测器类
+  sv::LandingMarkerDetector lmd;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
-  // 定义相机
+
-  sv::Camera cap;
+  // 打开摄像头
-  // 设置相机流媒体地址为 192.168.2.64
+  sv::Camera cap(sv::CameraType::G1);
-  cap.setIp("192.168.2.64");
+  cap.setStream("192.168.2.64", 554);
-  // 设置获取画面分辨率为720P
+  cap.setWH(lmd.image_width, lmd.image_height);
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
   cap.setFps(30);
-  // 开启相机
+  cap.open(); // CameraID 0
-  cap.open(sv::CameraType::G1);
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化 圆形降落标志 检测器类
-  sv::LandingMarkerDetector lmd;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/gimbal_udp_detection_info_sender.cpp

@@ -2,13 +2,14 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
-                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
@@ -42,32 +43,41 @@ static const std::string RGB_WINDOW = "Image window";
 void onMouse(int event, int x, int y, int, void *);
 
 int main(int argc, char *argv[])
-{
+{  
+  // 实例化Aruco检测器类
+  sv::ArucoDetector ad;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // 实例化吊舱
   gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以gimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(gimableCallback);
-  // 定义相机
+
-  sv::Camera cap;
+  // 打开摄像头
-  // 设置相机流媒体地址为 192.168.2.64
+  sv::Camera cap(sv::CameraType::G1);
-  cap.setIp("192.168.2.64");
+  cap.setStream("192.168.2.64",554);
-  // 设置获取画面分辨率为720P
+  cap.setWH(ad.image_width, ad.image_height);
-  cap.setWH(1280, 720);
-  // 设置视频帧率为30帧
   cap.setFps(30);
-  // 开启相机
+  cap.open();  // CameraID 0
-  cap.open(sv::CameraType::G1);
+
+  // // 定义相机
+  // sv::Camera cap;
+  // // 设置相机流媒体地址为 192.168.2.64
+  // cap.setIp("192.168.2.64");
+  // // 设置获取画面分辨率为720P
+  // cap.setWH(1280, 720);
+  // // 设置视频帧率为30帧
+  // cap.setFps(30);
+  // // 开启相机
+  // cap.open(sv::CameraType::G1);
 
   // 定义一个窗口 才可以在上面操作
   cv::namedWindow(RGB_WINDOW);
   // 设置窗口操作回调函数，该函数实现吊舱控制
   cv::setMouseCallback(RGB_WINDOW, onMouse, 0);
-  // 实例化Aruco检测器类
+
-  sv::ArucoDetector ad;
-  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  ad.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像
@@ -80,6 +90,8 @@ int main(int argc, char *argv[])
     // 读取一帧图像到img
     cap.read(img);
 
+    // std::cout << img.type() <<  std::endl;
+
     // 执行Aruco二维码检测
     ad.detect(img, tgts);
 

samples/demo/landing_marker_detection.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -11,11 +11,13 @@ int main(int argc, char *argv[]) {
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   lmd.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  // 打开摄像头
+   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(lmd.image_width, lmd.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/multiple_object_tracking.cpp

@@ -2,6 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
@@ -15,11 +16,13 @@ int main(int argc, char *argv[]) {
   mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
   mot.init(&cod);
   
-  // 打开摄像头
+   // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/single_object_tracking.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 // 定义窗口名称
@@ -32,11 +32,13 @@ int main(int argc, char *argv[]) {
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
   // sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1920x1080.yaml");
   
-  // 打开摄像头
+ // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(640, 480);
+  cap.setIndex(0);
+  cap.setWH(sot.image_width, sot.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
+
   // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;

samples/demo/udp_detection_info_receiver_by_airborne.cpp

@@ -0,0 +1,140 @@
+#include <iostream>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include <string.h>
+
+#define PORT 12346       // UDP端口号
+
+// 枚举定义消息类型
+enum MessageType {
+    TIMESTAMP = 0x00,
+    CLICK_COORDINATES = 0x01,
+    TARGET_BOX_COORDINATES = 0x02,
+    CLICK_COORDINATES_FRAME_ID = 0x03,
+    TARGET_BOX_COORDINATES_FRAME_ID = 0x04
+};
+
+// 定义消息结构体
+#pragma pack(1) // 使用1字节对齐方式
+struct Message {
+    unsigned char header[2];   // 帧头
+    unsigned char type;        // 消息类型
+    unsigned char reserved;    // 保留字段
+    unsigned int requestID;    // 请求ID
+    unsigned int dataLength;   // 数据长度
+    unsigned char* data;       // 数据段
+};
+#pragma pack() // 恢复默认对齐方式
+
+// 解析时间戳消息
+void parseTimestampMessage(unsigned char* data) {
+    unsigned short year = ntohs(*reinterpret_cast<unsigned short*>(data));
+    unsigned char month = *(data + 2);
+    unsigned char day = *(data + 3);
+    unsigned char hour = *(data + 4);
+    unsigned char minute = *(data + 5);
+    unsigned char second = *(data + 6);
+    unsigned short millisecond = ntohs(*reinterpret_cast<unsigned short*>(data + 7));
+
+    std::cout << "Timestamp: " << static_cast<int>(year) << "-" << static_cast<int>(month)
+              << "-" << static_cast<int>(day) << " " << static_cast<int>(hour) << ":"
+              << static_cast<int>(minute) << ":" << static_cast<int>(second) << "."
+              << static_cast<int>(millisecond) << std::endl;
+}
+
+// 解析点击坐标消息
+void parseClickCoordinatesMessage(unsigned char* data) {
+    float x = *reinterpret_cast<float*>(data);
+    float y = *reinterpret_cast<float*>(data + 4);
+
+    std::cout << "Click coordinates: (" << x << ", " << y << ")" << std::endl;
+}
+
+// 解析目标框坐标消息
+void parseTargetBoxCoordinatesMessage(unsigned char* data) {
+    float x1 = *reinterpret_cast<float*>(data);
+    float y1 = *reinterpret_cast<float*>(data + 4);
+    float x2 = *reinterpret_cast<float*>(data + 8);
+    float y2 = *reinterpret_cast<float*>(data + 12);
+
+    std::cout << "Target box coordinates: (" << x1 << ", " << y1 << ") - ("
+              << x2 << ", " << y2 << ")" << std::endl;
+}
+
+// 解析UDP数据包
+void parseUDPData(unsigned char* buffer, int length) {
+    if (length < 13) {
+        std::cout << "Invalid UDP data format" << std::endl;
+        return;
+    }
+
+    Message message;
+    memcpy(&message, buffer, sizeof(Message));
+
+    // 解析消息类型
+    MessageType messageType = static_cast<MessageType>(message.type);
+
+    // 根据消息类型处理数据
+    switch (messageType) {
+        case TIMESTAMP:
+            if (length != 9) {
+                std::cout << "Invalid timestamp message length" << std::endl;
+                return;
+            }
+            parseTimestampMessage(message.data);
+            break;
+        case CLICK_COORDINATES:
+            if (length != 13) {
+                std::cout << "Invalid click coordinates message length" << std::endl;
+                return;
+            }
+            parseClickCoordinatesMessage(message.data);
+            break;
+        case TARGET_BOX_COORDINATES:
+            if (length != 21) {
+                std::cout << "Invalid target box coordinates message length" << std::endl;
+                return;
+            }
+            parseTargetBoxCoordinatesMessage(message.data);
+            break;
+        default:
+            std::cout << "Unsupported message type" << std::endl;
+            break;
+    }
+}
+
+int main() {
+    int sockfd;
+    struct sockaddr_in servaddr, cliaddr;
+    unsigned char buffer[4096];
+
+    // 创建UDP套接字
+    sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+
+    memset(&servaddr, 0, sizeof(servaddr));
+    memset(&cliaddr, 0, sizeof(cliaddr));
+
+    servaddr.sin_family = AF_INET;
+    servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+    servaddr.sin_port = htons(PORT);
+
+    // 绑定UDP套接字到端口
+    bind(sockfd, (const struct sockaddr*)&servaddr, sizeof(servaddr));
+
+    while (true) {
+        socklen_t len = sizeof(cliaddr);
+
+        // 接收UDP数据包
+        ssize_t n = recvfrom(sockfd, buffer, sizeof(buffer), MSG_WAITALL,
+                             (struct sockaddr*)&cliaddr, &len);
+
+        // 解析UDP数据包
+        parseUDPData(buffer, n);
+    }
+
+    close(sockfd);
+
+    return 0;
+}

samples/demo/udp_detection_info_sender.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -11,11 +11,12 @@ int main(int argc, char *argv[]) {
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   ad.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
-  // 打开摄像头
+ // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  cap.setWH(640, 480);
+  cap.setIndex(0);
-  cap.setFps(30);
+  cap.setWH(ad.image_width, ad.image_height);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  // cap.setFps(30);
+  cap.open();  // CameraID 0
 
   sv::UDPServer udp;
   // 实例化OpenCV的Mat类，用于内存单帧图像

samples/demo/veri.cpp

@@ -2,44 +2,89 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
-int main(int argc, char *argv[]) {  
+struct node
-  // 打开摄像头
+{
+  double x, y;
+};
+
+node p1;
+
+// 框选到的矩形
+cv::Rect rect_sel;
+
+int main(int argc, char *argv[])
+{
+  // 实例化 框选目标跟踪类
   sv::VeriDetector veri;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
   veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
 
-  cv::VideoCapture cap1("/home/amov/Videos/com/FlyVideo_2023-09-02_11-36-00.avi");
+  sv::CommonObjectDetector cod;
-  cv::VideoCapture cap2("/home/amov/Videos/com/FlyVideo_2023-09-02_11-41-55.avi");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
-  // cap.setWH(640, 480);
+
+ // 打开摄像头
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  //cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
-
+  cv::Mat img;
-
-  cv::Mat img1,img2;
   int frame_id = 0;
   while (1)
   {
+
     // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
     sv::TargetsInFrame tgts(frame_id++);
-
     // 读取一帧图像到img
-    cap1.read(img1);
+    cap.read(img);
-    cap2.read(img2);
+    cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
 
-    cv::resize(img1, img1, cv::Size(224, 224));
+    // 执行通用目标检测
-    cv::resize(img2, img2, cv::Size(224, 224));
+    cod.detect(img, tgts);
 
-    veri.detect(img1, img2, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
 
-    
+    // 控制台打印通用目标检测结果
+    printf("Frame-[%d]\n", frame_id);
+    // 打印当前检测的FPS
+    printf("  FPS = %.2f\n", tgts.fps);
+    // 打印当前相机的视场角（degree）
+    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    for (int i = 0; i < tgts.targets.size(); i++)
+    {
+      printf("Frame-[%d], Object-[%d]\n", frame_id, i);
+      // 打印每个目标的中心位置，cx，cy的值域为[0, 1]
+      printf("  Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
+      // 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1]
+      printf("  Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
+      // 打印每个目标的置信度
+      printf("  Object Score = %.3f\n", tgts.targets[i].score);
+      // 打印每个目标的类别，字符串类型
+      printf("  Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
+      // 打印每个目标的视线角，跟相机视场相关
+      printf("  Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+      // 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
+      printf("  Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
 
-    // 显示img
+      if (tgts.targets[i].category_id == 2)
-    // cv::imshow("img", img);
+      {
-    // cv::waitKey(10);
+        p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
+        p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
+        rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
+        veri.detect(img, rect_sel, tgts.targets[i]);
+        // 打印每个目标的CosineSimilarity
+        printf("  CosineSimilarity Score = %.3f\n", tgts.targets[i].sim_score);
+      }
+    }
+
+    // 显示检测结果img
+    cv::imshow("img", img);
+    cv::waitKey(10);
   }
-
   return 0;
 }

samples/demo/video_saving.cpp

@@ -2,7 +2,7 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
-
+#include "sv_camera.h"
 using namespace std;
 
 int main(int argc, char *argv[]) {
@@ -12,10 +12,12 @@ int main(int argc, char *argv[]) {
   cod.loadCameraParams("/home/amov/SpireCV/calib_webcam_640x480.yaml");
   
   // 打开摄像头
-  sv::Camera cap;
+ // 打开摄像头
-  // cap.setWH(640, 480);
+  sv::Camera cap(sv::CameraType::WEBCAM);
+  cap.setIndex(0);
+  cap.setWH(cod.image_width, cod.image_height);
   // cap.setFps(30);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.open();  // CameraID 0
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;

samples/demo/video_streaming.cpp

@@ -2,15 +2,17 @@
 #include <string>
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
+#include "sv_camera.h"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {
-  // 打开摄像头
+ // 打开摄像头
-  sv::Camera cap;
+  sv::Camera cap(sv::CameraType::WEBCAM);
-  // cap.setWH(1280, 720);
+  cap.setIndex(0);
-  // cap.setFps(30);
+  cap.setWH(1280, 720);
-  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  cap.setFps(30);
+  cap.open();  // CameraID 0
 
   // 实例化视频推流类sv::VideoStreamer
   sv::VideoStreamer streamer;

samples/test/gimbal_test.cpp

@@ -3,6 +3,7 @@
 // 包含SpireCV SDK头文件
 #include <sv_world.h>
 #include <chrono>
+#include "sv_camera.h"
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
@@ -143,14 +144,20 @@ int main(int argc, char *argv[])
     std::cout << " pass... " << std::endl;
     std::cout << " start image test " << std::endl;
 
-    sv::Camera cap;
+    // 打开摄像头
-    cap.setIp(argv[2]);
+    sv::Camera cap(sv::CameraType::G1);
+    cap.setStream(argv[2], 554);
     cap.setWH(1280, 720);
     cap.setFps(30);
+    cap.open(); // CameraID 0
 
-    cap.open(sv::CameraType::G1);
+    // sv::Camera cap;
+    // cap.setIp(argv[2]);
+    // cap.setWH(1280, 720);
+    // cap.setFps(30);
+    // cap.open(sv::CameraType::G1);
 
-    if (!cap.isRunning())
+    if (!cap.isActive())
     {
         std::cout << " gimbal image error , failed !!!!!" << std::endl;
         return -1;

scripts/x86-cuda/x86-opencv470-install.sh

@@ -28,6 +28,10 @@ sudo apt install -y libjasper1 libjasper-dev
 
 sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
 sudo apt install -y libdc1394-22-dev
+sudo apt install -y libcurl4 build-essential pkg-config cmake libopenblas-dev libeigen3-dev \
+                    libtbb-dev libavcodec-dev libavformat-dev libgstreamer-plugins-base1.0-dev \
+                    libgstreamer1.0-dev libswscale-dev libgtk-3-dev libpng-dev libjpeg-dev \
+                    libcanberra-gtk-module libcanberra-gtk3-module
 
 
 echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."

video_io/driver/sv_camera_G1.cpp

@@ -0,0 +1,106 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:56:47
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_G1.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_G1 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+
+public:
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::G1; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+  sv_camera_G1(int timeOut);
+  ~sv_camera_G1();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_G1(timeOut);
+  }
+};
+
+sv_camera_G1::sv_camera_G1(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_G1::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    ret = true;
+  }
+  return ret;
+}
+
+const static uint32_t imageHList[3] = {1520, 1080, 720};
+const static uint32_t imageWList[3] = {2704, 1920, 1280};
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_G1::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://" << this->_ip << ":554/H264?W=";
+
+  // 判断尺寸是否合法 不合法则找最高画质进行缩放
+  uint8_t i;
+  for (i = 0; i < 3; i++)
+  {
+    if (imageHList[i] <= this->getH())
+    {
+      if (imageWList[i] <= this->getW())
+      {
+        break;
+      }
+    }
+  }
+
+  // 在范围内
+  if (i < 3)
+  {
+    pipeline << imageWList[i] << "&H=" << imageHList[i];
+  }
+  else
+  {
+    pipeline << imageWList[2] << "&H=" << imageHList[2];
+  }
+
+  pipeline << "&FPS=" << this->getExpectFps() << "&BR=4000000 latency=100 "
+           << "! application/x-rtp,media=video ! rtph264depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder enable-max-performancegst=1 \
+               ! nvvidconv ! video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#else
+  pipeline << "avdec_h264 ! videoscale ! video/x-raw"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH();
+#endif
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_GX40.cpp

@@ -0,0 +1,85 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:02
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_GX40.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_GX40 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+  uint16_t _port = 554;
+
+public:
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::GX40; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+  sv_camera_GX40(int timeOut);
+  ~sv_camera_GX40();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_GX40(timeOut);
+  }
+};
+
+sv_camera_GX40::sv_camera_GX40(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_GX40::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    this->_port = port;
+    ret = true;
+  }
+  return ret;
+}
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_GX40::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+           << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! "
+           << "rtph265depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder ! nvvidconv flip-method=4 ! ";
+#else
+  pipeline << "avdec_h265 ! videoscale ! ";
+#endif
+  pipeline << "video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH()
+           << " ";
+
+#ifndef PLATFORM_JETSON
+  pipeline << "! videoflip video-direction=4 ";
+#endif
+
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_MC1.cpp

@@ -0,0 +1,78 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:07
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_MC1.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MC1 : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+
+public:
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MC1; }
+
+  bool open(void);
+
+  sv_camera_MC1(int timeOut);
+  ~sv_camera_MC1();
+
+  static CameraBase *creat(int timeOut)
+  {
+#ifdef PLATFORM_JETSON
+    return new sv_camera_MC1(timeOut);
+#else
+    throw std::runtime_error("SpireCV (101) Camera not supported except allspark");
+    return nullptr;
+#endif
+  }
+};
+
+sv_camera_MC1::sv_camera_MC1(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MC1::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MC1::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "nvarguscamerasrc sensor-id=" << this->_index;
+
+  pipeline << " ! video/x-raw,video/x-raw(memory:NVMM),"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " nvvidconv flip-method=0 ! video/x-raw,format=(string)BGRx !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_V4L2s.cpp

@@ -0,0 +1,149 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 10:45:50
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:30
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_V4L2s.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_V4L2 : public sv_p::CameraBase
+{
+private:
+  int _index = -1;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::V4L2CAM; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_V4L2(int timeOut);
+  ~sv_camera_V4L2();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_V4L2(timeOut);
+  }
+};
+
+sv_camera_V4L2::sv_camera_V4L2(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_V4L2::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::open(void)
+{
+  bool ret = false;
+
+  if (this->_index >= 0)
+  {
+    ret = this->cap.open(this->_index, cv::CAP_V4L2);
+  }
+
+  if (!ret)
+  {
+    if (this->_name != "\0")
+    {
+      ret = this->cap.open(this->_name, cv::CAP_V4L2);
+    }
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}
+
+class sv_camera_WEBCAM : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::WEBCAM; }
+
+  sv_camera_WEBCAM(int timeOut);
+  ~sv_camera_WEBCAM();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_WEBCAM(timeOut);
+  }
+};
+
+sv_camera_WEBCAM::sv_camera_WEBCAM(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_Q10 : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::Q10; }
+
+  sv_camera_Q10(int timeOut);
+  ~sv_camera_Q10();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Q10(timeOut);
+  }
+};
+
+sv_camera_Q10::sv_camera_Q10(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_NONE : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::NONE; }
+
+  sv_camera_NONE(int timeOut);
+  ~sv_camera_NONE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_NONE(timeOut);
+  }
+};
+
+sv_camera_NONE::sv_camera_NONE(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}

video_io/driver/sv_camera_file.cpp

@@ -0,0 +1,79 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:56:34
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_file.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_FILE : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::VIDEOFILE; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+  bool read(cv::Mat &image)
+  {
+    return this->cap.read(image);
+  }
+  bool readNoBlock(cv::Mat &image)
+  {
+    return this->read(image);
+  }
+
+  sv_camera_FILE(int timeOut);
+  ~sv_camera_FILE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_FILE(timeOut);
+  }
+};
+
+sv_camera_FILE::sv_camera_FILE(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_FILE::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_FILE::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+  }
+
+  return ret;
+}
+
+

video_io/driver/sv_camera_mipi.cpp

@@ -0,0 +1,95 @@
+/*
+ * @Description: 
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:12
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_mipi.cpp
+ */
+#include "sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MIPI : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MIPI; }
+  std::string getName(void) { return _name; }
+
+  bool open(void);
+
+  sv_camera_MIPI(int timeOut);
+  ~sv_camera_MIPI();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_MIPI(timeOut);
+  }
+};
+
+sv_camera_MIPI::sv_camera_MIPI(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MIPI::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_MIPI::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MIPI::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "v4l2src ";
+
+  if (this->_name != "\0")
+  {
+    pipeline << "device=" << this->_name << " !";
+  }
+  else if (this->_index != -2)
+  {
+    pipeline << "device-fd=" << this->_index << " !";
+  }
+
+  pipeline << " video/x-raw,format=(string)NV12,"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_streaming.cpp

@@ -0,0 +1,74 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:57:22
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_streaming.cpp
+ */
+#include "sv_camera_privately.h"
+
+class sv_camera_Streaming : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::STREAMING; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_Streaming(int timeOut);
+  ~sv_camera_Streaming();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Streaming(timeOut);
+  }
+};
+
+sv_camera_Streaming::sv_camera_Streaming(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_Streaming::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_Streaming::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}

video_io/sv_camera.cpp

@@ -0,0 +1,192 @@
+#include "sv_camera_privately.h"
+#include "sv_camera.h"
+#include "driver/sv_camera_G1.cpp"
+#include "driver/sv_camera_V4L2s.cpp"
+#include "driver/sv_camera_file.cpp"
+#include "driver/sv_camera_streaming.cpp"
+#include "driver/sv_camera_mipi.cpp"
+#include "driver/sv_camera_MC1.cpp"
+#include "driver/sv_camera_GX40.cpp"
+
+#include <map>
+#include <iterator>
+
+sv_p::CameraBase *cameraCreatEmpty(int timeOut)
+{
+  throw std::runtime_error("SpireCV (101) Camera not supported");
+  return nullptr;
+}
+
+typedef sv_p::CameraBase *(*cameraCreat)(int timeOut);
+static std::map<sv::CameraType, cameraCreat> svCameraList =
+    {
+        {sv::CameraType::NONE, sv_camera_NONE::creat},
+        {sv::CameraType::WEBCAM, sv_camera_WEBCAM::creat},
+        {sv::CameraType::V4L2CAM, sv_camera_V4L2::creat},
+        {sv::CameraType::VIDEOFILE, sv_camera_FILE::creat},
+        {sv::CameraType::STREAMING, sv_camera_Streaming::creat},
+        {sv::CameraType::MIPI, sv_camera_MIPI::creat},
+        {sv::CameraType::G1, sv_camera_G1::creat},
+        {sv::CameraType::Q10, sv_camera_Q10::creat},
+        {sv::CameraType::GX40, sv_camera_GX40::creat},
+        {sv::CameraType::MC1, sv_camera_MC1::creat},
+        {sv::CameraType::VIRTUAL, cameraCreatEmpty}};
+
+static sv_p::CameraBase *svCreatCamera(sv::CameraType type, int timeOut)
+{
+  std::map<sv::CameraType, cameraCreat>::iterator temp = svCameraList.find(type);
+  if (temp != svCameraList.end())
+  {
+    return temp->second(timeOut);
+  }
+  return nullptr;
+}
+
+sv::Camera::Camera(CameraType type, int timeOut)
+{
+  this->dev = svCreatCamera(type, timeOut);
+}
+
+sv::Camera::~Camera()
+{
+  // 休眠50ms 以便能退出线程
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  delete (sv_p::CameraBase *)dev;
+}
+
+sv_p::CameraBase::~CameraBase()
+{
+  pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+  readThreadHandle = readThreadHandle == 0 ? 0 : pthread_cancel(readThreadHandle);
+  release();
+}
+
+bool sv::Camera::setStream(const std::string &ip, int port)
+{
+  return ((sv_p::CameraBase *)dev)->setStream(ip, port);
+}
+
+bool sv::Camera::setName(const std::string &name)
+{
+  return ((sv_p::CameraBase *)dev)->setName(name);
+}
+
+bool sv::Camera::setIndex(int index)
+{
+  return ((sv_p::CameraBase *)dev)->setIndex(index);
+}
+
+bool sv::Camera::open(void)
+{
+  return ((sv_p::CameraBase *)dev)->open();
+}
+
+bool sv::Camera::read(cv::Mat &image)
+{
+  return ((sv_p::CameraBase *)dev)->read(image);
+}
+
+bool sv::Camera::readNoBlock(cv::Mat &image)
+{
+  return ((sv_p::CameraBase *)dev)->readNoBlock(image);
+}
+
+void sv::Camera::release(void)
+{
+  ((sv_p::CameraBase *)dev)->release();
+}
+
+void sv::Camera::setWH(int width, int height)
+{
+  ((sv_p::CameraBase *)dev)->setWH(width, height);
+}
+
+void sv::Camera::setFps(int fps)
+{
+  ((sv_p::CameraBase *)dev)->setFps(fps);
+}
+
+void sv::Camera::setBrightness(double brightness)
+{
+  ((sv_p::CameraBase *)dev)->setBrightness(brightness);
+}
+
+void sv::Camera::setContrast(double contrast)
+{
+  ((sv_p::CameraBase *)dev)->setContrast(contrast);
+}
+
+void sv::Camera::setSaturation(double saturation)
+{
+  ((sv_p::CameraBase *)dev)->setSaturation(saturation);
+}
+
+void sv::Camera::setHue(double hue)
+{
+  ((sv_p::CameraBase *)dev)->setHue(hue);
+}
+
+void sv::Camera::setExposure(double exposure)
+{
+  ((sv_p::CameraBase *)dev)->setExposure(exposure);
+}
+
+bool sv::Camera::isActive(void)
+{
+  return ((sv_p::CameraBase *)dev)->isActive();
+}
+
+sv::CameraType sv::Camera::getType(void)
+{
+  return ((sv_p::CameraBase *)dev)->getType();
+}
+
+std::string sv::Camera::getName(void)
+{
+  return ((sv_p::CameraBase *)dev)->getName();
+}
+
+int sv::Camera::getW(void)
+{
+  return ((sv_p::CameraBase *)dev)->getW();
+}
+
+int sv::Camera::getH(void)
+{
+  return ((sv_p::CameraBase *)dev)->getH();
+}
+
+int sv::Camera::getExpectFps(void)
+{
+  return ((sv_p::CameraBase *)dev)->getExpectFps();
+}
+
+double sv::Camera::getFps(void)
+{
+  return ((sv_p::CameraBase *)dev)->getFps();
+}
+
+double sv::Camera::getBrightness(void)
+{
+  return ((sv_p::CameraBase *)dev)->getBrightness();
+}
+
+double sv::Camera::getContrast(void)
+{
+  return ((sv_p::CameraBase *)dev)->getContrast();
+}
+
+double sv::Camera::getSaturation(void)
+{
+  return ((sv_p::CameraBase *)dev)->getSaturation();
+}
+
+double sv::Camera::getHue(void)
+{
+  return ((sv_p::CameraBase *)dev)->getHue();
+}
+
+double sv::Camera::getExposure(void)
+{
+  return ((sv_p::CameraBase *)dev)->getExposure();
+}

video_io/sv_camera_def.cpp

@@ -0,0 +1,138 @@
+#include "sv_camera_privately.h"
+#include "iostream"
+
+sv_p::CameraBase::CameraBase(int timeOut)
+{
+  this->_timeOut = timeOut;
+}
+
+void sv_p::CameraBase::readThread(void)
+{
+  int count = 0;
+
+  while (this->cap.isOpened())
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    if (this->cap.grab())
+    {
+      std::lock_guard<std::mutex> locker(this->frameMutex);
+      this->cap.retrieve(this->imageBuff);
+      this->frameEmpty.notify_all();
+      isGot = true;
+
+      // 统计输入的瞬时帧率
+      this->fpsCurr = 1000.0f / count;
+      count = 0;
+    }
+    else
+    {
+      count++;
+      if (count > this->_timeOut)
+      {
+        // 超时则主动关闭相机
+        this->cap.release();
+      }
+    }
+  }
+  // 相机断开连接 记录事件后 退出线程
+  std::cout << "SpireCV (101) Camera has offline, check CAMERA!" << std::endl;
+}
+
+bool sv_p::CameraBase::read(cv::Mat &image)
+{
+  bool ret = false;
+  std::lock_guard<std::mutex> locker(this->frameMutex);
+  if (this->frameEmpty.wait_for(this->frameMutex, std::chrono::milliseconds(this->_timeOut)) == std::cv_status::no_timeout)
+  {
+    // 获取图像
+    this->imageBuff.copyTo(image);
+    ret = true;
+    isGot = false;
+  }
+  return ret;
+}
+
+bool sv_p::CameraBase::readNoBlock(cv::Mat &image)
+{
+  bool ret = false;
+  std::lock_guard<std::mutex> locker(this->frameMutex);
+  if (this->isGot)
+  {
+    // 该情况下read()不会阻塞
+    ret = this->read(image);
+  }
+  return ret;
+}
+
+#define PARAM_SET_CHECK(param, value) param = (value > 0 ? value : param)
+
+void sv_p::CameraBase::setWH(int width, int height)
+{
+  if (!this->cap.isOpened())
+  {
+    PARAM_SET_CHECK(this->_width, width);
+    PARAM_SET_CHECK(this->_height, height);
+  }
+}
+
+void sv_p::CameraBase::setFps(int fps)
+{
+  PARAM_SET_CHECK(this->_fps, fps);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_FPS, fps);
+  }
+}
+
+void sv_p::CameraBase::setBrightness(float brightness)
+{
+  PARAM_SET_CHECK(this->_brightness, brightness);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_BRIGHTNESS, brightness);
+  }
+}
+
+void sv_p::CameraBase::setContrast(float contrast)
+{
+  PARAM_SET_CHECK(this->_contrast, contrast);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_CONTRAST, contrast);
+  }
+}
+
+void sv_p::CameraBase::setSaturation(float saturation)
+{
+  PARAM_SET_CHECK(this->_saturation, saturation);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_SATURATION, saturation);
+  }
+}
+
+void sv_p::CameraBase::setHue(float hue)
+{
+  PARAM_SET_CHECK(this->_hue, hue);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_HUE, hue);
+  }
+}
+
+void sv_p::CameraBase::setExposure(float exposure)
+{
+  PARAM_SET_CHECK(this->_exposure, exposure);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_EXPOSURE, exposure);
+  }
+}
+
+void sv_p::CameraBase::release(void)
+{
+  if (this->cap.isOpened())
+  {
+    this->cap.release();
+  }
+}

video_io/sv_camera_privately.h

@@ -0,0 +1,83 @@
+#ifndef __SV_CAMERA_PRIVATELY__
+#define __SV_CAMERA_PRIVATELY__
+
+#include "opencv2/opencv.hpp"
+#include <stdint.h>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include "sv_camera.h"
+
+namespace sv_p 
+{
+
+class CameraBase
+{
+public:
+  // 图像的属性
+  int _width = 1280;
+  int _height = 720;
+  int _fps = 30;
+
+  float _brightness = -1;
+  float _contrast = -1;
+  float _saturation = -1;
+  float _hue = -1;
+  float _exposure = -1;
+
+  int _timeOut;
+  
+  // 内部状态
+  float fpsCurr = -1;
+  bool isGot = false;
+
+  // 内部变量
+  cv::Mat imageBuff;
+  std::mutex frameMutex;
+  std::condition_variable_any frameEmpty;
+  std::thread::native_handle_type readThreadHandle = 0;
+  cv::VideoCapture cap;
+  // 获取图像的线程 在这个线程中查询、提取图像
+  virtual void readThread(void);
+  // 属性设置的接口
+  virtual void setWH(int width, int height);
+  // 基本属性 至少实现1个
+  virtual bool setStream(const std::string &ip, uint16_t port) { return false; }
+  virtual bool setName(const std::string &name) { return false; }
+  virtual bool setIndex(int index) { return false; }
+
+  // 扩展属性设置 默认调用opencv的实现
+  virtual void setFps(int fps);
+  virtual void setBrightness(float brightness);
+  virtual void setContrast(float contrast);
+  virtual void setSaturation(float saturation);
+  virtual void setHue(float hue);
+  virtual void setExposure(float exposure);
+
+  // 属性获取的接口
+  virtual sv::CameraType getType(void) { return sv::CameraType::NONE; }
+  virtual std::string getName(void) { return "\0"; };
+
+  virtual bool isActive(void) { return (readThreadHandle == 0 ? false : true); }
+  int getW(void) { return _width; }
+  int getH(void) { return _height; }
+  int getExpectFps(void) { return _fps; }
+  float getFps(void) { return fpsCurr; }
+  float getBrightness(void) { return _brightness; }
+  float getContrast(void) { return _contrast; }
+  float getSaturation(void) { return _saturation; }
+  float getHue(void) { return _hue; }
+  float getExposure(void) { return _exposure; }
+
+  // 功能接口函数
+  virtual bool open(void) = 0;
+  virtual bool read(cv::Mat &image);
+  virtual bool readNoBlock(cv::Mat &image);
+  virtual void release(void);
+
+  CameraBase(int timeOut = 500);
+  ~CameraBase();
+};
+
+}
+#endif

video_io/sv_video_base.cpp

@@ -969,172 +969,172 @@ void VideoWriterBase::releaseImpl()
 }
 
 
-CameraBase::CameraBase(CameraType type, int id)
+// CameraBase::CameraBase(CameraType type, int id)
-{
+// {
-  this->_is_running = false;
+//   this->_is_running = false;
-  this->_is_updated = false;
+//   this->_is_updated = false;
-  this->_type = type;
+//   this->_type = type;
   
-  this->_width = -1;
+//   this->_width = -1;
-  this->_height = -1;
+//   this->_height = -1;
-  this->_fps = -1;
+//   this->_fps = -1;
-  this->_ip = "192.168.2.64";
+//   this->_ip = "192.168.2.64";
-  this->_port = -1;
+//   this->_port = -1;
-  this->_brightness = -1;
+//   this->_brightness = -1;
-  this->_contrast = -1;
+//   this->_contrast = -1;
-  this->_saturation = -1;
+//   this->_saturation = -1;
-  this->_hue = -1;
+//   this->_hue = -1;
-  this->_exposure = -1;
+//   this->_exposure = -1;
 
-  this->open(type, id);
+//   this->open(type, id);
-}
+// }
-CameraBase::~CameraBase()
+// CameraBase::~CameraBase()
-{
+// {
-  this->_is_running = false;
+//   this->_is_running = false;
-  // this->_tt.join();
+//   // this->_tt.join();
-}
+// }
-void CameraBase::setWH(int width, int height)
+// void CameraBase::setWH(int width, int height)
-{
+// {
-  this->_width = width;
+//   this->_width = width;
-  this->_height = height;
+//   this->_height = height;
-}
+// }
-void CameraBase::setFps(int fps)
+// void CameraBase::setFps(int fps)
-{
+// {
-  this->_fps = fps;
+//   this->_fps = fps;
-}
+// }
-void CameraBase::setIp(std::string ip)
+// void CameraBase::setIp(std::string ip)
-{
+// {
-  this->_ip = ip;
+//   this->_ip = ip;
-}
+// }
-void CameraBase::setPort(int port)
+// void CameraBase::setPort(int port)
-{
+// {
-  this->_port = port;
+//   this->_port = port;
-}
+// }
-void CameraBase::setBrightness(double brightness)
+// void CameraBase::setBrightness(double brightness)
-{
+// {
-  this->_brightness = brightness;
+//   this->_brightness = brightness;
-}
+// }
-void CameraBase::setContrast(double contrast)
+// void CameraBase::setContrast(double contrast)
-{
+// {
-  this->_contrast = contrast;
+//   this->_contrast = contrast;
-}
+// }
-void CameraBase::setSaturation(double saturation)
+// void CameraBase::setSaturation(double saturation)
-{
+// {
-  this->_saturation = saturation;
+//   this->_saturation = saturation;
-}
+// }
-void CameraBase::setHue(double hue)
+// void CameraBase::setHue(double hue)
-{
+// {
-  this->_hue = hue;
+//   this->_hue = hue;
-}
+// }
-void CameraBase::setExposure(double exposure)
+// void CameraBase::setExposure(double exposure)
-{
+// {
-  this->_exposure = exposure;
+//   this->_exposure = exposure;
-}
+// }
 
-int CameraBase::getW()
+// int CameraBase::getW()
-{
+// {
-  return this->_width;
+//   return this->_width;
-}
+// }
-int CameraBase::getH()
+// int CameraBase::getH()
-{
+// {
-  return this->_height;
+//   return this->_height;
-}
+// }
-int CameraBase::getFps()
+// int CameraBase::getFps()
-{
+// {
-  return this->_fps;
+//   return this->_fps;
-}
+// }
-std::string CameraBase::getIp()
+// std::string CameraBase::getIp()
-{
+// {
-  return this->_ip;
+//   return this->_ip;
-}
+// }
-int CameraBase::getPort()
+// int CameraBase::getPort()
-{
+// {
-  return this->_port;
+//   return this->_port;
-}
+// }
-double CameraBase::getBrightness()
+// double CameraBase::getBrightness()
-{
+// {
-  return this->_brightness;
+//   return this->_brightness;
-}
+// }
-double CameraBase::getContrast()
+// double CameraBase::getContrast()
-{
+// {
-  return this->_contrast;
+//   return this->_contrast;
-}
+// }
-double CameraBase::getSaturation()
+// double CameraBase::getSaturation()
-{
+// {
-  return this->_saturation;
+//   return this->_saturation;
-}
+// }
-double CameraBase::getHue()
+// double CameraBase::getHue()
-{
+// {
-  return this->_hue;
+//   return this->_hue;
-}
+// }
-double CameraBase::getExposure()
+// double CameraBase::getExposure()
-{
+// {
-  return this->_exposure;
+//   return this->_exposure;
-}
+// }
-bool CameraBase::isRunning()
+// bool CameraBase::isRunning()
-{
+// {
-  return this->_is_running;
+//   return this->_is_running;
-}
+// }
 
-void CameraBase::openImpl()
+// void CameraBase::openImpl()
-{
+// {
 
-}
+// }
-void CameraBase::open(CameraType type, int id)
+// void CameraBase::open(CameraType type, int id)
-{
+// {
-  this->_type = type;
+//   this->_type = type;
-  this->_camera_id = id;
+//   this->_camera_id = id;
 
-  openImpl();
+//   openImpl();
 
-  if (this->_cap.isOpened())
+//   if (this->_cap.isOpened())
-  {
+//   {
-    std::cout << "Camera opened!" << std::endl;
+//     std::cout << "Camera opened!" << std::endl;
-    this->_is_running = true;
+//     this->_is_running = true;
-    this->_tt = std::thread(&CameraBase::_run, this);
+//     this->_tt = std::thread(&CameraBase::_run, this);
-    this->_tt.detach();
+//     this->_tt.detach();
-  }
+//   }
-  else if (type != CameraType::NONE)
+//   else if (type != CameraType::NONE)
-  {
+//   {
-    std::cout << "Camera can NOT open!" << std::endl;
+//     std::cout << "Camera can NOT open!" << std::endl;
-  }
+//   }
-}
+// }
-void CameraBase::_run()
+// void CameraBase::_run()
-{
+// {
-  while (this->_is_running && this->_cap.isOpened())
+//   while (this->_is_running && this->_cap.isOpened())
-  {
+//   {
-    this->_cap >> this->_frame;
+//     this->_cap >> this->_frame;
-    this->_is_updated = true;
+//     this->_is_updated = true;
-    std::this_thread::sleep_for(std::chrono::milliseconds(2));
+//     std::this_thread::sleep_for(std::chrono::milliseconds(2));
-  }
+//   }
-}
+// }
-bool CameraBase::read(cv::Mat& image)
+// bool CameraBase::read(cv::Mat& image)
-{
+// {
-  if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1 || this->_type == CameraType::MIPI)
+//   if (this->_type != CameraType::NONE)
-  {
+//   {
-    int n_try = 0;
+//     int n_try = 0;
-    while (n_try < 5000)
+//     while (n_try < 5000)
-    {
+//     {
-      if (this->_is_updated)
+//       if (this->_is_updated)
-      {
+//       {
-        this->_is_updated = false;
+//         this->_is_updated = false;
-        this->_frame.copyTo(image);
+//         this->_frame.copyTo(image);
-        break;
+//         break;
-      }
+//       }
-      std::this_thread::sleep_for(std::chrono::milliseconds(20));
+//       std::this_thread::sleep_for(std::chrono::milliseconds(20));
-      n_try ++;
+//       n_try ++;
-    }
+//     }
-  }
+//   }
-  if (image.cols == 0 || image.rows == 0)
+//   if (image.cols == 0 || image.rows == 0)
-  {
+//   {
-    throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
+//     throw std::runtime_error("SpireCV (101) Camera cannot OPEN, check CAMERA_ID!");
-  }
+//   }
-  return image.cols > 0 && image.rows > 0;
+//   return image.cols > 0 && image.rows > 0;
-}
+// }
-void CameraBase::release()
+// void CameraBase::release()
-{
+// {
-  _cap.release();
+//   _cap.release();
-}
+// }
 
 
 

video_io/sv_video_input.cpp

@@ -1,25 +1,30 @@
+#if 0
 #include "sv_video_input.h"
 #include <cmath>
 #include <fstream>
 
-
-
 namespace sv {
 
-
 Camera::Camera()
 {
 }
+
 Camera::~Camera()
 {
 }
 
-
 void Camera::openImpl()
 {
-  if (this->_type == CameraType::WEBCAM)
+  if (this->_type == CameraType::WEBCAM || this->_type == CameraType::V4L2CAM)
   {
-    this->_cap.open(this->_camera_id);
+    if (this->_type == CameraType::V4L2CAM)
+    {
+      this->_cap.open(this->_camera_id, cv::CAP_V4L2);
+    }
+    if (this->_type == CameraType::WEBCAM)
+    {
+      this->_cap.open(this->_camera_id);
+    }
     if (this->_width > 0 && this->_height > 0)
     {
       this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);
@@ -74,6 +79,37 @@ void Camera::openImpl()
 #ifdef PLATFORM_JETSON
     sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
+#endif
+  }
+  else if (this->_type == CameraType::GX40)
+  {
+    std::ostringstream camera_url;
+    if (this->_width <= 0 || this->_height <= 0)
+    {
+      this->_width = 1280;
+      this->_height = 720;
+    }
+    if (this->_port <= 0)
+    {
+      this->_port = 554;
+    }
+#ifdef PLATFORM_X86_CUDA
+    camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+               << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \
+               rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width
+               << ",height=(int)" << this->_height << " ! videoflip video-direction=4 ! videoconvert ! video/x-raw,format=(string)BGR ! \
+               appsink sync=false";
+      this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
+#endif
+#ifdef PLATFORM_JETSON
+    camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+               << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! \
+               application/x-rtp,media=video ! rtph265depay ! parsebin ! \
+               nvv4l2decoder ! nvvidconv flip-method=4 ! \
+               video/x-raw,format=(string)BGRx,width=(int)"
+               << this->_width << ",height=(int)" << this->_height << " ! videoconvert ! video/x-raw,format=(string)BGR ! \
+               appsink sync=false";
+    this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
 #endif
   }
   else if (this->_type == CameraType::MIPI)
@@ -91,9 +127,9 @@ void Camera::openImpl()
 
     sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
- }
+  }
 }
 
-
 }
 
+#endif