[WIP] Beta c++ lib

[andre-nguyen]

Still need to:

• [x] Test with camera sync (I'm getting my parts to make a custom cable only next week).
• [x] Add error management, there's a new error async handler.
• [ ] Add more try catch blocks to certain parts
• [x] Non-binary output handling
• [ ] Figure out if pausing/muting the output is useful/done the right way. The old pause/resume methods seem odd.
  • The pause method is essentially writing VNASYNC_OFF (value 0) to the VNASY register. The new value is now part of the AsciiAsync enum i.e. AsciiAsync::VNOFF.
  • The old resume method would write VNASYNC_VNYPR (value 0) to the VNASY register. Essentially turning on the async output to Yaw, Pitch, Roll.
  • I suspect we should't be using these methods as they are related to ascii output and not binary output.
• [x] Confirm they are using JPL notation for quaternions.
  • According to the manual "The last term is the scalar value"

[andre-nguyen]

@versatran01 Sorry for the messy commits but could you maybe give this version a test run without and with camera sync? This shouldn't fix your problem, but I expect a different error code now.

For reference, on my side im running:

Model number: VN-100S-CR
Hardware revision: 7
Firmware version: 2.0.1.0

[versatran01]

@andre-nguyen This looks great. I will test it sometime next week.

It would be nice if you could follow google cpp style, you could just use clang-format to do it. It's also fine if you don't want to.

[andre-nguyen]

Ready for test :smile:

[andre-nguyen]

So I was able to get my wires and stuff today and I tested using a modified cam_imu_sync node and everything is working on my side at 30Hz! (didn't use the sync_verification node yet)

Note:

• I am not using a flea3 but a FireflyMV with a modified pointgrey_camera_driver node. The modification was basically to make it inherit from camera_base. Implementation here: https://github.com/andre-nguyen/pointgrey_camera_driver
• This also required changes on the cam_imu_sync side including adding the vnproglib dependency and of course changing the camera being instanciated https://github.com/andre-nguyen/cam_imu_sync branch pointgrey_generic

[versatran01]

flea3 driver doesn't work with FireflyMV? I prefer not to depend on pointgrey_camera_driver.

[andre-nguyen]

iirc I tried using it 2-3 weeks ago and I wasn't getting any images from it. I can try again today.

[andre-nguyen]

Yeah, flea3 driver doesn't work for me, my guess is it has something to do with it trying to use format7 even when I set it to use 640x480Y8. In any case, on your side the important part is the vn100 driver update, the cam_imu sync should work for you if you cherry pick the changes that link the package to the vnproglib.

[andre-nguyen]

Seems like the time stamping part doesnt work for me. Did you guys by any chance plug sync_out into sync_in to get the sync data through the binary interface?

[versatran01]

Yes, that's a hack, you have to short sync_in and sync_out to get it to work. Should probably mention that in the readme.

[andre-nguyen]

Well that explains things

[versatran01]

haha. Sorry about that. cam_imu_sync is mostly used for an internal project thus it is not very well documented.

[andre-nguyen]

All good, thanks for making it all open source, this has probably accelerated development time on my end by a month.

I soldered the wire and I'm getting time stamps now. I'll run a calibration using Kalibr and get back to you with what the estimated time delay is.

[goldbattle]

This works great with the vn200-rugged. Thank you!

Model number: VN-200S-CR
Hardware revision: 2
Firmware version: 1.0.0.0