建立 MAG160C 逆向工程交接仓库
This commit is contained in:
ZXCLI
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97: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __cxa_end_catch@CXXABI_1.3 (10)
|
||||
98: 0000000000000000 0 FUNC GLOBAL DEFAULT UND _ZSt17__throw_bad_allocv@GLIBCXX_3.4 (6)
|
||||
99: 0000000000000000 0 OBJECT GLOBAL DEFAULT UND _ZNSs4_Rep20_S_empty_rep_storageE@GLIBCXX_3.4 (6)
|
||||
100: 0000000000000000 0 FUNC GLOBAL DEFAULT UND fscanf@GLIBC_2.2.5 (5)
|
||||
101: 0000000000000000 0 FUNC GLOBAL DEFAULT UND closedir@GLIBC_2.2.5 (5)
|
||||
102: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __sprintf_chk@GLIBC_2.3.4 (7)
|
||||
103: 0000000000000000 0 OBJECT GLOBAL DEFAULT UND stderr@GLIBC_2.2.5 (5)
|
||||
104: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __snprintf_chk@GLIBC_2.3.4 (7)
|
||||
105: 0000000000000000 0 FUNC GLOBAL DEFAULT UND access@GLIBC_2.2.5 (5)
|
||||
106: 0000000000000000 0 FUNC GLOBAL DEFAULT UND _ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_@GLIBCXX_3.4 (6)
|
||||
107: 0000000000000000 0 FUNC WEAK DEFAULT UND __pthread_key_create@GLIBC_2.2.5 (3)
|
||||
108: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __cxa_begin_catch@CXXABI_1.3 (10)
|
||||
109: 0000000000000000 0 FUNC GLOBAL DEFAULT UND bind@GLIBC_2.2.5 (5)
|
||||
110: 0000000000000000 0 FUNC GLOBAL DEFAULT UND fwrite@GLIBC_2.2.5 (5)
|
||||
111: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_mutex_lock@GLIBC_2.2.5 (3)
|
||||
112: 0000000000000000 0 FUNC GLOBAL DEFAULT UND realloc@GLIBC_2.2.5 (5)
|
||||
113: 0000000000000000 0 FUNC GLOBAL DEFAULT UND timerfd_create@GLIBC_2.8 (8)
|
||||
114: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_mutexattr_init@GLIBC_2.2.5 (3)
|
||||
115: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_key_create@GLIBC_2.2.5 (3)
|
||||
116: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __gxx_personality_v0@CXXABI_1.3 (10)
|
||||
117: 0000000000000000 0 FUNC GLOBAL DEFAULT UND timerfd_settime@GLIBC_2.8 (8)
|
||||
118: 0000000000000000 0 FUNC GLOBAL DEFAULT UND localtime@GLIBC_2.2.5 (5)
|
||||
119: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_mutex_destroy@GLIBC_2.2.5 (3)
|
||||
120: 0000000000000000 0 FUNC GLOBAL DEFAULT UND write@GLIBC_2.2.5 (3)
|
||||
121: 0000000000000000 0 FUNC GLOBAL DEFAULT UND _Znwm@GLIBCXX_3.4 (6)
|
||||
122: 0000000000000000 0 FUNC GLOBAL DEFAULT UND _Unwind_Resume@GCC_3.0 (13)
|
||||
123: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_cond_broadcast@GLIBC_2.3.2 (4)
|
||||
124: 0000000000000000 0 FUNC GLOBAL DEFAULT UND clock_gettime@GLIBC_2.2.5 (14)
|
||||
125: 0000000000000000 0 FUNC GLOBAL DEFAULT UND sqrt@GLIBC_2.2.5 (2)
|
||||
126: 0000000000000000 0 FUNC GLOBAL DEFAULT UND strtoul@GLIBC_2.2.5 (5)
|
||||
127: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_mutex_unlock@GLIBC_2.2.5 (3)
|
||||
128: 0000000000000000 0 FUNC GLOBAL DEFAULT UND memcpy@GLIBC_2.14 (15)
|
||||
129: 0000000000000000 0 FUNC GLOBAL DEFAULT UND fcntl@GLIBC_2.2.5 (3)
|
||||
130: 0000000000000000 0 FUNC GLOBAL DEFAULT UND open@GLIBC_2.2.5 (3)
|
||||
131: 0000000000000000 0 FUNC GLOBAL DEFAULT UND __open_2@GLIBC_2.7 (16)
|
||||
132: 0000000000000000 0 FUNC GLOBAL DEFAULT UND mmap@GLIBC_2.2.5 (5)
|
||||
133: 0000000000000000 0 OBJECT GLOBAL DEFAULT UND stdout@GLIBC_2.2.5 (5)
|
||||
134: 0000000000000000 0 FUNC GLOBAL DEFAULT UND mkdir@GLIBC_2.2.5 (5)
|
||||
135: 0000000000000000 0 FUNC GLOBAL DEFAULT UND time@GLIBC_2.2.5 (5)
|
||||
136: 0000000000000000 0 FUNC GLOBAL DEFAULT UND fflush@GLIBC_2.2.5 (5)
|
||||
137: 0000000000000000 0 FUNC GLOBAL DEFAULT UND sqrtf@GLIBC_2.2.5 (2)
|
||||
138: 0000000000000000 0 FUNC GLOBAL DEFAULT UND pthread_attr_setdetachstate@GLIBC_2.2.5 (3)
|
||||
139: 0000000000020770 99 FUNC GLOBAL DEFAULT 11 libusb_has_capability
|
||||
140: 000000000001b1a0 70 FUNC GLOBAL DEFAULT 11 MAG_GetRecentHeartBeat
|
||||
141: 0000000000023ce0 5 FUNC GLOBAL DEFAULT 11 libusb_free_ss_endpoint_companion_descriptor
|
||||
142: 000000000001cf40 22 FUNC GLOBAL DEFAULT 11 MAG_SetSerialCallBack
|
||||
143: 000000000001c4d0 57 FUNC GLOBAL DEFAULT 11 MAG_GetVideoVCL
|
||||
144: 0000000000025e90 159 FUNC GLOBAL DEFAULT 11 libusb_try_lock_events
|
||||
145: 000000000001c900 90 FUNC GLOBAL DEFAULT 11 MAG_SetEXLevel
|
||||
146: 0000000000020fb0 170 FUNC GLOBAL DEFAULT 11 libusb_unref_device
|
||||
147: 0000000000020e80 14 FUNC GLOBAL DEFAULT 11 libusb_get_port_path
|
||||
148: 000000000001ad90 61 FUNC GLOBAL DEFAULT 11 MAG_IsChannelAvailable
|
||||
149: 000000000001b110 10 FUNC GLOBAL DEFAULT 11 MAG_EnableAutoReConnect
|
||||
150: 000000000001dc50 96 FUNC GLOBAL DEFAULT 11 MAG_StartProcessImage
|
||||
151: 000000000001f1b0 330 FUNC GLOBAL DEFAULT 11 MAG_SaveMGT
|
||||
152: 0000000000024d90 124 FUNC GLOBAL DEFAULT 11 libusb_alloc_transfer
|
||||
153: 000000000001e9f0 193 FUNC GLOBAL DEFAULT 11 MAG_LoadDDT
|
||||
154: 0000000000005cb8 0 FUNC GLOBAL DEFAULT 9 _init
|
||||
155: 00000000000205e0 5 FUNC GLOBAL DEFAULT 11 libusb_get_bus_number
|
||||
156: 0000000000020e90 115 FUNC GLOBAL DEFAULT 11 libusb_get_max_packet_size
|
||||
157: 0000000000025c00 4 FUNC GLOBAL DEFAULT 11 libusb_transfer_get_stream_id
|
||||
158: 000000000001b540 154 FUNC GLOBAL DEFAULT 11 MAG_Initialize
|
||||
159: 000000000001ce90 103 FUNC GLOBAL DEFAULT 11 MAG_SaveBMP
|
||||
160: 0000000000023790 298 FUNC GLOBAL DEFAULT 11 libusb_get_active_config_descriptor
|
||||
161: 00000000000266d0 7 FUNC GLOBAL DEFAULT 11 libusb_handle_events_timeout
|
||||
162: 000000000001b3f0 68 FUNC GLOBAL DEFAULT 11 MAG_WillStartImmediately
|
||||
163: 00000000000241d0 183 FUNC GLOBAL DEFAULT 11 libusb_get_usb_2_0_extension_descriptor
|
||||
164: 0000000000021cf0 167 FUNC GLOBAL DEFAULT 11 libusb_claim_interface
|
||||
165: 0000000000024360 5 FUNC GLOBAL DEFAULT 11 libusb_free_ss_usb_device_capability_descriptor
|
||||
166: 00000000000238c0 354 FUNC GLOBAL DEFAULT 11 libusb_get_config_descriptor
|
||||
167: 0000000000023d50 1149 FUNC GLOBAL DEFAULT 11 libusb_get_bos_descriptor
|
||||
168: 000000000001c100 330 FUNC GLOBAL DEFAULT 11 MAG_GetOutputBMPdataRGB24
|
||||
169: 000000000001de60 34 FUNC GLOBAL DEFAULT 11 MAG_GetEstimatedEnvTemp
|
||||
170: 000000000001c000 79 FUNC GLOBAL DEFAULT 11 MAG_GetFilteredRaw
|
||||
171: 000000000001bf30 174 FUNC GLOBAL DEFAULT 11 MAG_SetIsothermalPara
|
||||
172: 000000000001b810 52 FUNC GLOBAL DEFAULT 11 MAG_SetFFCMode
|
||||
173: 0000000000025fd0 108 FUNC GLOBAL DEFAULT 11 libusb_event_handling_ok
|
||||
174: 000000000001cbe0 74 FUNC GLOBAL DEFAULT 11 MAG_GetTemperatureProbe2
|
||||
175: 000000000001c250 79 FUNC GLOBAL DEFAULT 11 MAG_GetOutputRawData
|
||||
176: 0000000000026cc0 167 FUNC GLOBAL DEFAULT 11 libusb_get_pollfds
|
||||
177: 000000000001c510 94 FUNC GLOBAL DEFAULT 11 MAG_GetTemperatureData
|
||||
178: 0000000000022890 360 FUNC GLOBAL DEFAULT 11 libusb_error_name
|
||||
179: 00000000000273c0 25 FUNC GLOBAL DEFAULT 11 libusb_bulk_transfer
|
||||
180: 00000000000266e0 36 FUNC GLOBAL DEFAULT 11 libusb_handle_events
|
||||
181: 000000000001b0e0 18 FUNC GLOBAL DEFAULT 11 MAG_GetLocalIp
|
||||
182: 000000000001b7e0 48 FUNC GLOBAL DEFAULT 11 MAG_StopListen
|
||||
183: 0000000000020f10 148 FUNC GLOBAL DEFAULT 11 libusb_get_max_iso_packet_size
|
||||
184: 000000000001ded0 2838 FUNC GLOBAL DEFAULT 11 MAG_EstimateUnderArmTempFromForeheadRect
|
||||
185: 000000000001c750 147 FUNC GLOBAL DEFAULT 11 MAG_GetFixPara
|
||||
186: 0000000000026740 108 FUNC GLOBAL DEFAULT 11 libusb_handle_events_locked
|
||||
187: 000000000001b350 154 FUNC GLOBAL DEFAULT 11 MAG_PrepareProcessImage
|
||||
188: 000000000001b280 18 FUNC GLOBAL DEFAULT 11 MAG_GetMulticastState
|
||||
189: 00000000000206d0 5 FUNC GLOBAL DEFAULT 11 libusb_get_device
|
||||
190: 000000000001ce10 64 FUNC GLOBAL DEFAULT 11 MAG_UseTemperatureMask
|
||||
191: 000000000001cd40 107 FUNC GLOBAL DEFAULT 11 MAG_GetEllipseTemperatureInfo
|
||||
192: 0000000000021ca0 66 FUNC GLOBAL DEFAULT 11 libusb_set_configuration
|
||||
193: 00000000000220c0 111 FUNC GLOBAL DEFAULT 11 libusb_kernel_driver_active
|
||||
194: 000000000001b0b0 41 FUNC GLOBAL DEFAULT 11 MAG_IsInitialized
|
||||
195: 00000000000242a0 183 FUNC GLOBAL DEFAULT 11 libusb_get_ss_usb_device_capability_descriptor
|
||||
196: 000000000001b490 169 FUNC GLOBAL DEFAULT 11 MAG_StopProcessImage
|
||||
197: 000000000001be50 217 FUNC GLOBAL DEFAULT 11 MAG_SetAutoEnlargePara
|
||||
198: 0000000000024e10 90 FUNC GLOBAL DEFAULT 11 libusb_free_transfer
|
||||
199: 00000000000221a0 111 FUNC GLOBAL DEFAULT 11 libusb_attach_kernel_driver
|
||||
200: 0000000000021800 842 FUNC GLOBAL DEFAULT 11 libusb_close
|
||||
201: 00000000000260c0 159 FUNC GLOBAL DEFAULT 11 libusb_interrupt_event_handler
|
||||
202: 000000000001b320 37 FUNC GLOBAL DEFAULT 11 MAG_IsProcessingImage
|
||||
203: 000000000001cf20 16 FUNC GLOBAL DEFAULT 11 MAG_SetSerialCmd
|
||||
204: 000000000001c9e0 115 FUNC GLOBAL DEFAULT 11 MAG_FixTemperature
|
||||
205: 000000000001add0 103 FUNC GLOBAL DEFAULT 11 MAG_RevisedTemp2InnerTemp
|
||||
206: 000000000001de30 38 FUNC GLOBAL DEFAULT 11 MAG_GetEstimateUnderArmTempMode
|
||||
207: 0000000000021170 485 FUNC GLOBAL DEFAULT 11 libusb_get_device_list
|
||||
208: 0000000000026190 46 FUNC GLOBAL DEFAULT 11 libusb_unlock_event_waiters
|
||||
209: 000000000001ae40 103 FUNC GLOBAL DEFAULT 11 MAG_RevisedTemp2Gray
|
||||
210: 0000000000020de0 157 FUNC GLOBAL DEFAULT 11 libusb_get_port_numbers
|
||||
211: 000000000001b770 105 FUNC GLOBAL DEFAULT 11 MAG_DisLinkCamera
|
||||
212: 0000000000020730 30 FUNC GLOBAL DEFAULT 11 libusb_set_auto_detach_kernel_driver
|
||||
213: 000000000001d880 41 FUNC GLOBAL DEFAULT 11 MAG_LinkCamera
|
||||
214: 000000000001c7f0 257 FUNC GLOBAL DEFAULT 11 MAG_SetFixPara
|
||||
215: 000000000001aeb0 317 FUNC GLOBAL DEFAULT 11 MAG_GetCurrentOffset
|
||||
216: 0000000000022130 111 FUNC GLOBAL DEFAULT 11 libusb_detach_kernel_driver
|
||||
217: 00000000000215a0 394 FUNC GLOBAL DEFAULT 11 libusb_open
|
||||
218: 000000000001c2a0 171 FUNC GLOBAL DEFAULT 11 MAG_GetOutputColorBardata
|
||||
219: 000000000001dcb0 99 FUNC GLOBAL DEFAULT 11 MAG_StartProcessPulseImage
|
||||
220: 000000000001b030 60 FUNC GLOBAL DEFAULT 11 MAG_GetCameraTemperature
|
||||
221: 000000000001bcf0 103 FUNC GLOBAL DEFAULT 11 MAG_SetColorPalette
|
||||
222: 0000000000026160 46 FUNC GLOBAL DEFAULT 11 libusb_lock_event_waiters
|
||||
223: 000000000001c490 57 FUNC GLOBAL DEFAULT 11 MAG_GetVideoSPS
|
||||
224: 000000000001b120 48 FUNC GLOBAL DEFAULT 11 MAG_EnumCameras
|
||||
225: 000000000001cf30 16 FUNC GLOBAL DEFAULT 11 MAG_SetVideoContrast
|
||||
226: 0000000000023b20 152 FUNC GLOBAL DEFAULT 11 libusb_get_config_descriptor_by_value
|
||||
227: 000000000001cf10 16 FUNC GLOBAL DEFAULT 11 MAG_QueryPTZState
|
||||
228: 000000000001cfc0 65 FUNC GLOBAL DEFAULT 11 MAG_UnLockFrame
|
||||
229: 0000000000024440 378 FUNC GLOBAL DEFAULT 11 libusb_get_string_descriptor_ascii
|
||||
230: 000000000001bcc0 29 FUNC GLOBAL DEFAULT 11 MAG_TriggerFFC
|
||||
231: 0000000000026250 604 FUNC GLOBAL DEFAULT 11 libusb_get_next_timeout
|
||||
232: 000000000001cf00 16 FUNC GLOBAL DEFAULT 11 MAG_SetPTZCmd
|
||||
233: 0000000000020710 30 FUNC GLOBAL DEFAULT 11 libusb_dev_mem_free
|
||||
234: 0000000000021ef0 100 FUNC GLOBAL DEFAULT 11 libusb_clear_halt
|
||||
235: 0000000000022a00 8 FUNC GLOBAL DEFAULT 11 libusb_get_version
|
||||
236: 0000000000024370 183 FUNC GLOBAL DEFAULT 11 libusb_get_container_id_descriptor
|
||||
237: 0000000000021730 195 FUNC GLOBAL DEFAULT 11 libusb_open_device_with_vid_pid
|
||||
238: 000000000001c450 57 FUNC GLOBAL DEFAULT 11 MAG_GetVideoPPS
|
||||
239: 000000000023f60c 0 NOTYPE GLOBAL DEFAULT 25 __bss_start
|
||||
240: 000000000001c350 171 FUNC GLOBAL DEFAULT 11 MAG_GetOutputVideoData
|
||||
241: 000000000001f830 346 FUNC GLOBAL DEFAULT 11 MAG_SaveDDT
|
||||
242: 000000000001d0f0 32 FUNC GLOBAL DEFAULT 11 MAG_SDCardStorage
|
||||
243: 000000000001b440 69 FUNC GLOBAL DEFAULT 11 MAG_TransferPulseImage
|
||||
244: 000000000001c9a0 61 FUNC GLOBAL DEFAULT 11 MAG_SetDetailEnhancement
|
||||
245: 000000000001d090 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageMGT
|
||||
246: 0000000000024820 167 FUNC GLOBAL DEFAULT 11 libusb_hotplug_deregister_callback
|
||||
247: 0000000000024290 5 FUNC GLOBAL DEFAULT 11 libusb_free_usb_2_0_extension_descriptor
|
||||
248: 0000000000027130 652 FUNC GLOBAL DEFAULT 11 libusb_control_transfer
|
||||
249: 000000000001d0a0 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageBMP
|
||||
250: 000000000001cc30 119 FUNC GLOBAL DEFAULT 11 MAG_GetLineTemperatureInfo
|
||||
251: 0000000000025bf0 4 FUNC GLOBAL DEFAULT 11 libusb_transfer_set_stream_id
|
||||
252: 0000000000026220 46 FUNC GLOBAL DEFAULT 11 libusb_pollfds_handle_timeouts
|
||||
253: 000000000001f990 227 FUNC GLOBAL DEFAULT 11 MAG_SaveDDT2Buffer
|
||||
254: 000000000001cac0 52 FUNC GLOBAL DEFAULT 11 MAG_GetFrameStatisticalData
|
||||
255: 0000000000025f70 92 FUNC GLOBAL DEFAULT 11 libusb_unlock_events
|
||||
256: 000000000001d0c0 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageMGSStop
|
||||
257: 0000000000023bc0 34 FUNC GLOBAL DEFAULT 11 libusb_free_config_descriptor
|
||||
258: 0000000000024e70 1080 FUNC GLOBAL DEFAULT 11 libusb_submit_transfer
|
||||
259: 000000000001cf70 65 FUNC GLOBAL DEFAULT 11 MAG_LockFrame
|
||||
260: 000000000001d0e0 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageAviStop
|
||||
261: 000000000001d080 5 FUNC GLOBAL DEFAULT 11 MAG_LoadBufferedDDT
|
||||
262: 000000000001b5e0 183 FUNC GLOBAL DEFAULT 11 MAG_Free
|
||||
263: 000000000001d0d0 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageAviStart
|
||||
264: 000000000001b100 7 FUNC GLOBAL DEFAULT 11 MAG_SetFilter
|
||||
265: 000000000001ca60 91 FUNC GLOBAL DEFAULT 11 MAG_FixTemperature2
|
||||
266: 0000000000022600 652 FUNC GLOBAL DEFAULT 11 libusb_exit
|
||||
267: 000000000001b070 60 FUNC GLOBAL DEFAULT 11 MAG_GetSenorTemperature
|
||||
268: 000000000001bce0 16 FUNC GLOBAL DEFAULT 11 MAG_SetIoAlarmState
|
||||
269: 000000000001de90 58 FUNC GLOBAL DEFAULT 11 MAG_SetEnvTempEstimateMode
|
||||
270: 00000000002666f0 0 NOTYPE GLOBAL DEFAULT 25 _end
|
||||
271: 00000000000248d0 543 FUNC GLOBAL DEFAULT 11 libusb_hotplug_register_callback
|
||||
272: 000000000001c050 171 FUNC GLOBAL DEFAULT 11 MAG_GetOutputBMPdata
|
||||
273: 000000000001c400 79 FUNC GLOBAL DEFAULT 11 MAG_GetOutputVideoYV12
|
||||
274: 0000000000026d70 18 FUNC GLOBAL DEFAULT 11 libusb_free_pollfds
|
||||
275: 000000000002c734 0 FUNC GLOBAL DEFAULT 12 _fini
|
||||
276: 0000000000021da0 149 FUNC GLOBAL DEFAULT 11 libusb_release_interface
|
||||
277: 0000000000020600 5 FUNC GLOBAL DEFAULT 11 libusb_get_parent
|
||||
278: 000000000001cb40 152 FUNC GLOBAL DEFAULT 11 MAG_GetTemperatureProbe
|
||||
279: 0000000000021e40 175 FUNC GLOBAL DEFAULT 11 libusb_set_interface_alt_setting
|
||||
280: 000000000023f60c 0 NOTYPE GLOBAL DEFAULT 24 _edata
|
||||
281: 000000000001d0b0 16 FUNC GLOBAL DEFAULT 11 MAG_SDStorageMGSStart
|
||||
282: 000000000001abd0 434 FUNC GLOBAL DEFAULT 11 MAG_NewChannel
|
||||
283: 000000000001bff0 16 FUNC GLOBAL DEFAULT 11 MAG_ResetCamera
|
||||
284: 0000000000021fb0 135 FUNC GLOBAL DEFAULT 11 libusb_alloc_streams
|
||||
285: 000000000001b1f0 60 FUNC GLOBAL DEFAULT 11 MAG_SetReConnectCallBack
|
||||
286: 0000000000026710 37 FUNC GLOBAL DEFAULT 11 libusb_handle_events_completed
|
||||
287: 000000000001c570 472 FUNC GLOBAL DEFAULT 11 MAG_GetTemperatureData_Raw
|
||||
288: 000000000001b190 16 FUNC GLOBAL DEFAULT 11 MAG_ListenTo
|
||||
289: 000000000001b230 77 FUNC GLOBAL DEFAULT 11 MAG_GetCamInfo
|
||||
290: 00000000000267b0 44 FUNC GLOBAL DEFAULT 11 libusb_set_pollfd_notifiers
|
||||
291: 00000000000273e0 25 FUNC GLOBAL DEFAULT 11 libusb_interrupt_transfer
|
||||
292: 0000000000026040 124 FUNC GLOBAL DEFAULT 11 libusb_event_handler_active
|
||||
293: 000000000001b150 44 FUNC GLOBAL DEFAULT 11 MAG_IsLinked
|
||||
294: 0000000000023bf0 240 FUNC GLOBAL DEFAULT 11 libusb_get_ss_endpoint_companion_descriptor
|
||||
295: 0000000000021b50 333 FUNC GLOBAL DEFAULT 11 libusb_get_configuration
|
||||
296: 000000000001b6a0 195 FUNC GLOBAL DEFAULT 11 MAG_DelChannel
|
||||
297: 000000000001ddd0 85 FUNC GLOBAL DEFAULT 11 MAG_SetEstimateUnderArmTempMode
|
||||
298: 0000000000020620 4 FUNC GLOBAL DEFAULT 11 libusb_get_device_speed
|
||||
299: 000000000001ce50 62 FUNC GLOBAL DEFAULT 11 MAG_IsUsingTemperatureMask
|
||||
300: 0000000000021420 378 FUNC GLOBAL DEFAULT 11 libusb_wrap_fd
|
||||
301: 0000000000023740 72 FUNC GLOBAL DEFAULT 11 libusb_get_device_descriptor
|
||||
302: 0000000000022040 119 FUNC GLOBAL DEFAULT 11 libusb_free_streams
|
||||
303: 0000000000022210 993 FUNC GLOBAL DEFAULT 11 libusb_init
|
||||
304: 00000000000206e0 35 FUNC GLOBAL DEFAULT 11 libusb_dev_mem_alloc
|
||||
305: 000000000001ccb0 143 FUNC GLOBAL DEFAULT 11 MAG_GetRectTemperatureInfo
|
||||
306: 0000000000023cf0 87 FUNC GLOBAL DEFAULT 11 libusb_free_bos_descriptor
|
||||
307: 00000000000261c0 92 FUNC GLOBAL DEFAULT 11 libusb_wait_for_event
|
||||
308: 000000000001c960 49 FUNC GLOBAL DEFAULT 11 MAG_GetEXLevel
|
||||
309: 0000000000025f30 52 FUNC GLOBAL DEFAULT 11 libusb_lock_events
|
||||
310: 00000000000252b0 241 FUNC GLOBAL DEFAULT 11 libusb_cancel_transfer
|
||||
311: 0000000000021060 71 FUNC GLOBAL DEFAULT 11 libusb_free_device_list
|
||||
312: 0000000000024430 5 FUNC GLOBAL DEFAULT 11 libusb_free_container_id_descriptor
|
||||
313: 0000000000020630 26 FUNC GLOBAL DEFAULT 11 libusb_ref_device
|
||||
314: 000000000001bd60 232 FUNC GLOBAL DEFAULT 11 MAG_SetSubsectionEnlargePara
|
||||
315: 000000000001d780 243 FUNC GLOBAL DEFAULT 11 MAG_LinkCameraEx
|
||||
316: 00000000000205f0 5 FUNC GLOBAL DEFAULT 11 libusb_get_port_number
|
||||
317: 000000000001b2a0 114 FUNC GLOBAL DEFAULT 11 MAG_GetTerminalList
|
||||
318: 0000000000020610 5 FUNC GLOBAL DEFAULT 11 libusb_get_device_address
|
||||
319: 000000000001cdb0 94 FUNC GLOBAL DEFAULT 11 MAG_GetRgnTemperatureInfo
|
||||
320: 0000000000026550 375 FUNC GLOBAL DEFAULT 11 libusb_handle_events_timeout_completed
|
||||
321: 000000000001cf60 16 FUNC GLOBAL DEFAULT 11 MAG_SetVideoBrightness
|
||||
322: 000000000001bfe0 16 FUNC GLOBAL DEFAULT 11 MAG_SetUserROIs
|
||||
323: 000000000001cb00 52 FUNC GLOBAL DEFAULT 11 MAG_GetRemoteInfo
|
||||
324: 000000000001aff0 60 FUNC GLOBAL DEFAULT 11 MAG_GetCurrentCameraInnerTemperature
|
||||
325: 0000000000021f60 71 FUNC GLOBAL DEFAULT 11 libusb_reset_device
|
||||
326: 000000000001b180 16 FUNC GLOBAL DEFAULT 11 MAG_IsListening
|
||||
327: 0000000000020750 22 FUNC GLOBAL DEFAULT 11 libusb_set_debug
|
||||
Binary file not shown.
@@ -0,0 +1,416 @@
|
||||
# MAG160C 项目交接文档 (2026-08-10)
|
||||
|
||||
> **2026-08-10 晚更新(本会话)**:FFC 停帧问题已解决并多次实机验证;
|
||||
> 坏点/对比度/标定管线已按开源方案重做并合入 csdk。详见第 10 节。
|
||||
|
||||
## 1. 项目目标
|
||||
|
||||
对 Elo/Magnity MAG160C USB 热成像相机进行完整逆向,实现一个独立、可用的
|
||||
Linux/Windows C SDK + Windows GUI Demo。已完成的逆向依据:
|
||||
- `analysis/protocol_spec.md`(协议全谱)
|
||||
- `analysis/findings.md`(证据链)
|
||||
- `analysis/captures/libusb0_trace.txt`(官方 demo 完整 USB 流量,26092 行)
|
||||
- `analysis/captures/official_hand.pcap`(官方 demo 手掌遮挡抓包)
|
||||
- `analysis/captures/csdk_verified.pcap`(csdk 抓包)
|
||||
|
||||
## 2. 硬件事实(实机确认)
|
||||
|
||||
- 设备名:Magnity Thermal Camera,VID 0x833C PID 0x0001,序列号 160043865
|
||||
- 分辨率 160x120,帧率 ~15fps,每帧 38456 字节
|
||||
- USB:config 值 1(仅一个配置),interface 0,端点:0x03 OUT、0x81/0x82/0x84 IN
|
||||
- 设备只有 config 1——Linux SDK 逆向中的 set_configuration(2) 在这台机器上失败,
|
||||
会回退到 1(逆向代码 0x1865b 分支)
|
||||
|
||||
## 3. 已验证协议(权威,实机+官方流量双重确认)
|
||||
|
||||
### 3.1 命令(4 字节魔数,无参数;仅 FFC 用 8 字节 {magic,param})
|
||||
| 命令 | 字节 | 响应 |
|
||||
|---|---|---|
|
||||
| 0x6bb6b66b 信息查询 | 4 | 0x5bb5b55b(60B:pid@+4,width=160@+0x14,height=120@+0x18,fps=15@+0x1c) |
|
||||
| 0x6bb6b66c | 4 | 0x5bb5b55c(60B,另一数据块,勿当 info 解析) |
|
||||
| 0x6bb6b66f | 4 | 0x5bb5b55e(20B) |
|
||||
| 0x6bb6b672 FFC | 8 | 0x5bb5b55f(4B OK) |
|
||||
| 0x6bb6b673 START | 4 | 0x5bb5b55f |
|
||||
| 0x6bb6b674 STOP | 4 | 0x5bb5b55f(需先 clear_halt 0x03/0x82) |
|
||||
|
||||
注意:帧头字段偏移以"帧内"为准:marker@0、cnt@4、len@8、type@0xc、shutter@0x10。
|
||||
|
||||
### 3.2 启动序列(官方一致)
|
||||
```
|
||||
open(config 1, claim iface 0)
|
||||
66b → 66c → 66f (各 4B)
|
||||
FFC(0) → 100ms → FFC(0) → 300ms → START(4B) → 700ms
|
||||
```
|
||||
|
||||
### 3.3 FFC 语义(关键难点)
|
||||
- FFC(1) 使流切换为 **type=0 帧(温度数据,avg ~11720,手掌遮挡 +1200 counts)**
|
||||
- FFC(0) 使流切换为 type=1 帧(avg ~16000,手掌遮挡变化小 <100)
|
||||
- **官方 demo 在 type=0 下每 ~10 帧发一次 FFC(0/1 交替)维持推流**
|
||||
- FFC 必须在"完整帧(头+数据)之后"发送
|
||||
- 问题:在 libusb-1.0(TI DLL)或 libusb0 下,FFC(1) 切换后设备经常停帧;
|
||||
但 `csdk/tools/thermal_viewer.c`(单线程、frames==3 时 FFC(1)+Sleep(400))
|
||||
能稳定工作(已验证多次,显示 type=0 帧 100+)
|
||||
- `csdk/tools/mag160c_demo2.c` 基于 viewer 核心,但被强杀/反复运行后设备
|
||||
进入坏状态需 libusb_reset_device 重试(已加 4 次重试)
|
||||
|
||||
### 3.4 帧格式
|
||||
```
|
||||
+0x00 u32 0x1bb1b11b
|
||||
+0x04 u32 frame counter
|
||||
+0x08 u32 0x9600 (38400 data length)
|
||||
+0x0c u32 type (0=温度/response, 1=raw)
|
||||
+0x10 u32 shutter
|
||||
+0x14..0x1b 保留
|
||||
+0x1c .. 38400 字节像素 (u16 LE)
|
||||
+0x1c+38400 u32 0x1bb1b11c (尾标记)
|
||||
之后 24 字节尾字段(含 0x6cf0 类统计值)
|
||||
```
|
||||
|
||||
## 4. 温度数据(实测)
|
||||
|
||||
- type=0 帧:背景 avg≈11720,手掌遮挡(整个 FOV)+1200 counts
|
||||
- 线性标定:约 **147 counts/°C**(假设手掌 34°C vs 背景 25°C,未精确标定)
|
||||
- demo 温度显示:25 + (v - reference)/147
|
||||
- 官方 Android SDK 有 T2E 表(0x112 项,已 dump 到 analysis/t2e_table.json)
|
||||
和 E2TAccQ10 表(逆向的 ReviseTemperature/CorrectTemperature 用)
|
||||
|
||||
## 5. 当前 Demo 状态(csdk/tools/)
|
||||
|
||||
| 文件 | 状态 |
|
||||
|---|---|
|
||||
| `thermal_viewer.c` | ✅ 稳定工作:单线程循环、frames==3 时 FFC(1)、percentile 2%-98% 渲染、type=0 显示 |
|
||||
| `mag160c_demo2.c` | 🔶 基于 viewer 核心,加面板/按钮/温度/坏点检测;有设备状态残留问题(需 reset 重试) |
|
||||
| `mag160c_demo.c` | ❌ 弃用(自行写的 init/FFC 逻辑设备会停帧) |
|
||||
| `mag160c_demo_usb0.c` | ❌ 弃用(libusb0 API 版,同样停帧——问题不在传输层) |
|
||||
|
||||
### 已知显示问题(需参考开源实现解决)
|
||||
1. **坏点(红蓝固定点)**:type=0 帧存在固定坏像素,显示为红/蓝点。
|
||||
已在 demo2 加"参考采集时 min-max 波动 >400 标记坏点、邻居平均替换",
|
||||
但用户反馈仍可见(阈值/方法需优化,或坏点表应在 FFC 后重新采集)
|
||||
2. **对比度**:diff 模式(当前-参考,deadband±70,span 1500)手掌轮廓可见但偏弱;
|
||||
absolute 模式 percentile 拉伸对比度差
|
||||
3. **FFC 后设备停帧**:不稳定,与官方 demo(持续工作)行为不一致,
|
||||
差异可能在于官方 FFC 的精确时序/频率
|
||||
|
||||
## 6. 环境与工具
|
||||
|
||||
- Windows 11,MinGW gcc 14.2 (C:\mingw64)
|
||||
- 设备驱动:**libusb-win32 v1.2.6.0**(Zadig 安装;WinUSB 也可但 TI libusb DLL 的
|
||||
FFC 写失败;官方 libusb-1.0.27 在两种驱动下都崩溃)
|
||||
- 传输库:**TI libusb-1.0.dll**(C:\ti\ccs2050\ccs\ccs_base\common\bin\,
|
||||
支持 libusb0 后端,有无害的 monotonic clock 警告)
|
||||
+ dlltool 生成的导入库 csdk/third_party/libusb/win64/
|
||||
- USBPcap 1.5.4 + Wireshark(重启后可用,设备在 \\\\.\USBPcap4)
|
||||
- 抓包 pcap 解析脚本:analysis/captures/ 下(参考之前会话)
|
||||
|
||||
## 7. 开源热成像 SDK 参考(下一轮调研目标)
|
||||
|
||||
网络在部分时段可用,建议用 webfetch 搜索:
|
||||
- **FLIR Lepton SDK**(github: groupgets/LeptonModule 或 purethermal1):展示了
|
||||
raw→radiance→温度、AGC(自动增益控制)、伪彩色流程;坏点补偿思路
|
||||
- **Seek Thermal 开源驱动**(github: ThermalScope/seek-thermal-camera 或
|
||||
fnoop/seek-thermal-linux):EEPROM 坏点表、NUC(非均匀性校正)
|
||||
- **MLX90640 库**(github: intergatedcircuits/Pico-MLX90640):插值+显示
|
||||
- **AMG8833/MLX90640 的 Adafruit 库**:显示映射方法
|
||||
- 关键要学习:①坏点检测与补偿算法 ②AGC/显示拉伸(直方图均衡 vs percentile)
|
||||
③NUC/FFC 后的温度图管线 ④伪彩色 LUT 设计
|
||||
|
||||
## 8. 下一步工作
|
||||
|
||||
1. 调研开源热成像显示管线,改进 demo2 的:坏点补偿、AGC(显示拉伸)、伪彩色
|
||||
2. 稳定 FFC:对照官方 trace 精确复刻 FFC 时序(包括周期性),解决停帧
|
||||
3. 温度标定:用已知温度(冰水/热水)做两点标定,替代 147 counts/°C 假设
|
||||
4. 把验证过的协议与显示管线合并回 csdk 的 mag160c_ir 实现
|
||||
5. Linux 移植(最终目标)
|
||||
|
||||
## 9. 快速启动命令
|
||||
|
||||
```powershell
|
||||
# 设备恢复(设备停帧时)
|
||||
.\build-artifacts\usb_hardreset.exe
|
||||
# 运行 demo(能看手掌的稳定版)
|
||||
.\build-artifacts\thermal_viewer.exe
|
||||
# 功能完整版(重试+坏点+新 FFC 调度)
|
||||
.\build-artifacts\mag160c_demo2.exe
|
||||
# 无头 FFC 稳定性验证(1400 帧 type=0,~95s)
|
||||
.\build-artifacts\mag160c_ffc_test.exe
|
||||
# csdk 线程管线验证(reader thread + FFC scheduler)
|
||||
.\build-artifacts\csdk_stream_test.exe
|
||||
# csdk CLI 综合(显示管线自检 / 流验证)
|
||||
.\build-artifacts\csdk_cli_libusb.exe display-test
|
||||
.\build-artifacts\csdk_cli_libusb.exe ffc-test 1000
|
||||
# 抓包
|
||||
& "C:\Program Files\USBPcap\USBPcapCMD.exe" -d \\.\USBPcap4 -o out.pcap -A -s 65535
|
||||
```
|
||||
|
||||
## 10. 2026-08-10 晚:FFC 停帧解决 + 显示管线重做(本会话)
|
||||
|
||||
### 10.1 官方 FFC 时序(从 libusb0_trace.txt 精确解码)
|
||||
|
||||
逐行统计 26092 行官方流量,每帧 = 28B 头 + 38428B 数据。FFC 事件与帧计数:
|
||||
|
||||
```
|
||||
init: 66b 66c 66f -> FFC(0) -> START -> [frame 1] -> FFC(0)
|
||||
frame 10: FFC(1) -> 流切换 type=0(第 11 帧起)
|
||||
然后周期循环: FFC(0) --9 帧--> FFC(1) --N 帧--> FFC(0) ...
|
||||
```
|
||||
|
||||
- **FFC(1) 总是在 FFC(0) 后恰 9~10 帧**发出(0.6s@15fps,即快门闭合→恢复)。
|
||||
- FFC(1) 后到下一个 FFC(0) 的间隔 N 不固定:34, 48, 66, 101, 166, 373, 346,
|
||||
103, 1383, 381, 48, 1006, 317, 171, 158, 189, 219, 294, 425, 628, 723,
|
||||
1012, 1450, 1804, 2680, 403, 105 …(用户/定时器驱动,非固定周期)。
|
||||
- 全程 10898 帧持续推送,type=0 占 10519 帧(96.5%),type=1 只出现在每个
|
||||
FFC(0)→FFC(1) 的 9 帧窗口。
|
||||
- **FFC 必须在一整帧(头+数据)读完之后发送**(trace 中 FFC 行紧跟帧数据行)。
|
||||
- **教训**:demo2 旧版只发一次 FFC(1) 且周期 44 帧过密 → 设备停帧或 type=1
|
||||
占比过高(17.7%)、fps 下滑。官方式 **周期 400 帧 + 9 帧间隔** 完美工作。
|
||||
|
||||
### 10.2 实机验证结果(全部 PASS)
|
||||
|
||||
| 验证项 | 工具 | 结果 |
|
||||
|---|---|---|
|
||||
| FFC 周期 400 + gap 9 | `mag160c_ffc_test.exe` | 1400 type=0 帧 / 95s / 15.1fps / 0 停帧(2 次) |
|
||||
| csdk 线程管线(reader thread + scheduler) | `csdk_stream_test.exe` | 1030 type=0 帧 / 70s / 14.7fps / 0 停帧 |
|
||||
| csdk CLI `ffc-test` | `csdk_cli_libusb.exe` | 同上,PASS |
|
||||
| 显示管线单测 | `csdk_test_display.exe` | 20/20 通过 |
|
||||
| GUI demo2 | `mag160c_demo2.exe` | 窗口实时显示 type=0,坏点红蓝占比 0.02%,无饱和坏点 |
|
||||
| 回归(旧 4 套) | csdk test_* | 全部通过 |
|
||||
|
||||
### 10.3 显示管线(按开源方案重做,已合入 csdk)
|
||||
|
||||
新增 `csdk/src/mag160c_display.c` + `csdk/include/mag160c/mag160c_display.h`,
|
||||
纯 C 无平台依赖(Linux 可直接编):
|
||||
|
||||
1. **坏点检测**(参考 OpenThermal/libseek-thermal SeekCam.cpp + MLX90640):
|
||||
- 时域:参考帧 min-max 波动 > 400 → 坏点(保留旧法)
|
||||
- 直方图峰偏离(Seek 法):`thr = histPeak - (frameMax - histPeak)`,
|
||||
并加 `histPeak + 200` 下界防孤立极值误杀全图
|
||||
- **拓扑序填充**:坏簇从边缘向中心迭代,存填充顺序;参考图与每帧
|
||||
都按该顺序用 4 邻域均值替换(坏簇逐层内缩)
|
||||
2. **AGC/显示拉伸**:
|
||||
- 绝对模式:2%~98% percentile 拉伸 + **ironbow LUT**(FLIR 风格 7 锚点)
|
||||
- diff 模式:自适应 span = 2×mean|diff|,clamp [120, 4000],
|
||||
deadband = span/20(轮廓对比度显著提升)
|
||||
3. **FFC 调度器** `mag160c_ffc_scheduler_t`:tick(帧后)返回应发的 FFC
|
||||
参数(0/1/-1);`mag160c_ir_set_ffc_scheduler()` 挂到 reader thread,
|
||||
Linux 线程模型直接可用。
|
||||
4. **两点线性标定** `mag160c_temp_calibrate_linear(counts0,temp0,counts1,temp1)`
|
||||
→ a/b;demo2 有 Cal Cold(0°C)/Cal Hot(90°C) 按钮,CLI 有 `calibrate` 占位。
|
||||
|
||||
### 10.4 遗留事项(下一步)
|
||||
|
||||
- **物理两点标定**:需实际操作(冰水 0°C / 开水 90°C+ 充满 FOV),用 demo2
|
||||
的 Cal Cold/Cal Hot 按钮或记录 counts 代入 `mag160c_temp_calibrate_linear`。
|
||||
当前仍是 147 counts/°C 假设(参考背景 ~11720 counts @ 25°C)。
|
||||
- demo2 内联的坏点/AGC 逻辑与 csdk 模块功能重复,后续可让 demo2 直接调
|
||||
csdk 模块(现 demo2 已用 csdk 的 FFC scheduler)。
|
||||
- Linux 移植:csdk 侧已就绪(纯 C + pthread + libusb);GUI demo 的 Win32
|
||||
部分需换 SDL/GTK。
|
||||
|
||||
### 10.5 后续小 bug 修复(2026-08-10 深夜)
|
||||
|
||||
用户反馈两个现象,均已修复并实机验证:
|
||||
|
||||
1. **鬼影**:旧参考帧用逐像素 EMA(`(r*199+v)/200`)持续吸收当前画面,
|
||||
静止物体 ~13s 就被"吃进"参考帧,移开后留下反向残影。改为**漂移跟随**:
|
||||
仅当场景安静(mean|diff| < 40)时,把参考帧整体平移全局均值差
|
||||
(clamp ±400),不再吸收任何空间内容 —— 跟温度漂移/FFC 基线,不跟场景。
|
||||
2. **FFC 响应红黄闪烁 + 卡顿**:FFC(0) 后设备输出 ~9 帧 type=1(avg ~16000,
|
||||
与 type=0 基线差 +4300),旧 demo 照常渲染 → 全屏红黄;手动 FFC 按钮在
|
||||
UI 线程 `Sleep(300)` 阻塞。修复:
|
||||
- 主循环**跳过非 type=0 帧的渲染**(冻结画面,与官方 app 一致)—— 实测
|
||||
218s/3744 帧/~8 次自动 FFC 周期标题栏从未出现 type=1,闪烁消除。
|
||||
- 手动 FFC 改**异步排队**:按钮只置 `g_manual_ffc` 标志,主循环在下一
|
||||
完整帧后经 `mag160c_ffc_scheduler_trigger()` 发 FFC(0),9 帧后自动
|
||||
发 FFC(1),UI 不再阻塞。
|
||||
- csdk 新增 `mag160c_ffc_scheduler_trigger()`(test_display 22/22 通过)。
|
||||
|
||||
### 10.6 二次修复:鬼影根因 + FFC 残闪(2026-08-10 深夜,实机验证)
|
||||
|
||||
用户复测:鬼影仍存在,且高温物体进入鬼影区会被"遮住"成低温色;
|
||||
红黄帧不再卡住但偶尔闪过。根因分析 + 修复(参考 OpenCV MOG 背景建模
|
||||
与 Seek 挡片校准思路):
|
||||
|
||||
1. **鬼影根因**(两层):
|
||||
- 旧参考更新用"全局 mean drift":物体占 FOV 比例小时 mean|d| < 40
|
||||
误判安静,全局偏移把**小物体逐步吸收进参考帧**(数秒~数十秒),
|
||||
移开后留下高温残影;真实高温物体移到该位置时 diff=live-ref 变负
|
||||
→ 显示成低温,即"被遮住"。
|
||||
- 初始参考采集是 30 帧**均值**:采集窗口内若有物体在动,均值会把
|
||||
物体烘焙进参考,永久鬼影。
|
||||
- 修复:
|
||||
a. **MOG 逐像素背景模型**(`mag160c_display_ref_track`):背景像素
|
||||
(|d| < 60)慢速 EMA 跟踪漂移;前景像素(|d| >= 60)**完全冻结**,
|
||||
永不吸收(之前是 clamp+漏吸收,约 112 counts/s 泄漏)。
|
||||
b. **安静门控的初始采集**:每帧与上一帧 mean|Δ| < 25 才入样本,
|
||||
30 帧逐像素取**中位数**(物体短暂进入窗口不会污染参考);
|
||||
场景一直不静则参考一直不落(可手动 Set reference)。
|
||||
c. 合成测试 `MOG_GHOST_TEST`:静态 +1200 热块 4500 帧(模拟 5 分钟)
|
||||
吸收 0 像素;移开后 diff≈0 无鬼影;慢漂移仍可跟踪 → PASS。
|
||||
2. **FFC 残闪**:FFC(1) 后 type=0 基线跳变(官方 trace 实测最大 +1000
|
||||
counts),旧重对齐 ±400 clamp 不够,残余偏移需 MOG 数秒才消化 →
|
||||
短暂偏红。修复:重对齐 clamp 放宽到 ±2000(中位数本身抗 >50% FOV
|
||||
物体),FFC(1) 后跳过前 2 帧渲染(`g_skip_ffc`)。
|
||||
实测连续 3+ 个 FFC 周期(period 400)红色占比前后无跳变(11.1% →
|
||||
11.1%),蓝色始终 0.01%,type=1 帧从不渲染,流不断(1500+ 帧)。
|
||||
|
||||
证据:`analysis/demo2_v3_mog_verified_20260810.png`;单测 28/28 通过
|
||||
(`csdk_test_display.exe`),旧 4 套回归全绿。
|
||||
|
||||
### 10.7 三次修复:开机乱图 + 残余鬼影(2026-08-10 深夜,实机验证)
|
||||
|
||||
用户复测:FFC 红黄闪帧已解决,但(1) 刚开软件画面有红黄点乱分布,
|
||||
且不会消失、叠加到正常画面上;(2) 鬼影仍存在。
|
||||
|
||||
**根因**(两层,均为 MOG"永久冻结"缺陷):
|
||||
1. **开机乱图**:参考帧首次采集在 nread>=150(~10s,第一个自动 FFC 周期
|
||||
之前)进行。设备刚完成启动 FFC(1),type=0 基线/坏点尚未稳定,启动
|
||||
噪声(红黄点)被中位数采入参考;之后 live 已正常,这些像素
|
||||
|d| >= 60 被 MOG **永久冻结** → 乱图叠加且永不消失。
|
||||
2. **鬼影**:同上——参考一旦采错(含物体/含噪声),MOG 冻结使其无法自愈;
|
||||
FFC 后一次性 median rebase 只平移全局,修不掉逐像素错误。
|
||||
|
||||
**修复**:
|
||||
1. **首次参考采集提前到启动 FFC(1) 稳定之后**(nread >= 40 + 跳过 2 帧
|
||||
过渡),不在第一个自动 FFC 周期前采集 → 启动噪声不再进入参考。
|
||||
2. **每次 FFC(1) 后重新采集参考**(REF_REINIT_AFTER_FFC):FFC 校准后
|
||||
设备输出最干净的 type=0 帧,用它重建参考(安静帧中位数,30 帧,
|
||||
沿用坏点表填充),取代一次性 rebase。每 ~27s 自动刷新一次,任何
|
||||
残留错误最长一个周期内被清除。
|
||||
3. **MOG 自愈**(`mag160c_display_ref_track_heal`):孤立像素(8 邻域前景
|
||||
< 2)连续前景 >= 30 帧 → 判定为参考错误(启动噪声/坏点)而非物体
|
||||
(物体是连片的),重置 ref = live。乱图/残点最长 ~2s 内自愈。
|
||||
|
||||
**验证**:
|
||||
- 合成测试 `SELFHEAL_TEST` / csdk `test_display` 30/30:40 个孤立噪声点
|
||||
全被治愈;60x40 连片热块 200 帧吸收 0 像素、不被误治;移开后无鬼影。
|
||||
- 实机:开机 t=4s 孤立噪声 0.12%,t=34s(参考+FFC 后)0.11%,t=90s
|
||||
(5+ FFC 周期)0.10% —— 乱图不出现、不叠加、不增长;红色像素全部为
|
||||
真实场景连片目标(45~71 个大 blob);FFC 周期红%无跳变(6.4~8.6%),
|
||||
蓝%恒 0.01%;流持续 2157+ 帧无停帧。
|
||||
|
||||
证据:`analysis/demo2_v4_selfheal_verified_20260810.png`。
|
||||
|
||||
### 10.8 四次修复:根因定位(传感器 mura)+ NUC 平场校正(2026-08-10 深夜,数据驱动)
|
||||
|
||||
用户复测:开机乱图和鬼影依然存在。本次用数据驱动定位**真正根因**,并
|
||||
采用开源(Seek/FLIR 挡片帧)同款方案修复。
|
||||
|
||||
**实测数据(mag160c_frame_dump 抓 60 帧 type=0 分析)**:
|
||||
- 每像素时域噪声 std ~248 counts(99.9% 像素"波动")→ diff 模式自适应
|
||||
span≈400、deadband≈20 把噪声全部放大成可见红蓝点 = **开机乱图**
|
||||
- 固定传感器 mura:行剖面跨度 15594(row1 恒定 +5000,25418 vs row98 9824)、
|
||||
列剖面 8714;FFT 行/列轴能量占比 ~10%
|
||||
- mura 会话内漂移 ~350 counts,FFC 后突变 → diff 参考帧跟不上 = **鬼影**
|
||||
- flat-field 校正验证:`live - (ref - mean(ref))` 把 mura std 3557→379
|
||||
(行跨度 15704→401),中值滤波后噪声 ~80
|
||||
|
||||
**为什么官方 app 没有乱图/鬼影**:Android 官方管线是 raw→温度→**绝对
|
||||
温度窗口显示(25~40°C)**,不用场景参考帧做 diff,天然免疫噪声放大与
|
||||
参考漂移。
|
||||
|
||||
**修复(推翻 diff 方案,改 NUC 平场 + 绝对温度显示)**:
|
||||
1. **flat-field(NUC)校正**(`mag160c_display_nuc`,csdk):`nuc = live -
|
||||
(ref - mean(ref))`,消除固定 mura;显示绝对温度级别,median 居中
|
||||
±1500 窗口 + ironbow。
|
||||
2. **3x3 中值平滑**:把 248-count 时域噪声降 ~3 倍,画面平滑无噪点。
|
||||
3. 参考帧只做**固定图案**,不跟踪场景:采集时 5% 像素偏离阈值即拒帧
|
||||
(持久物体永不进参考)+ MOG 冻结 + FFC 后重采集 → 无鬼影。
|
||||
4. diff 模式降级为可选(默认 absolute)。
|
||||
|
||||
**实机验证**:speckle residual 2.2~2.7(平滑)、纯蓝 0%、红色均为真实场景
|
||||
连片目标(1~1.4%);连续 5+ FFC 周期无闪帧、无图案出现、无噪声增长;
|
||||
流持续 2268+ 帧。csdk 单测 32/32,旧回归全绿。
|
||||
|
||||
证据:`analysis/demo2_v5_nuc_verified_20260810.png`。
|
||||
工具:`csdk/tools/mag160c_frame_dump.c`、`mag160c_frame_stats.c`。
|
||||
|
||||
### 10.9 五次修复:数据驱动根因 + 官方 DLL 活体对比(2026-08-10 深夜)
|
||||
|
||||
用户复测:画面更混乱。本次彻底转向**官方实现对比**:
|
||||
|
||||
**逆向成果(活体官方管线)**:
|
||||
1. 反汇编 Windows 官方 CoreSDKLib.dll + ThermalSDK.dll(65 个 MAG 导出,
|
||||
精确 RVA 全部解析),确认官方渲染管线:
|
||||
- `MAG_GetOutputBMPdataRGB24`:8-bit 灰度 `[dev+0xb00]` → 调色板查表
|
||||
(256x4 BGR),输出 320x240 RGB
|
||||
- `MAG_GetTemperatureData`:逐像素 counts→temp,T2E 表(646 项,已从
|
||||
`.rdata 0x5cde0` 提取)+ 斜率表,公式:
|
||||
`temp = slope[i]*diff>>12 + (i<<12) - 0x249f0`
|
||||
- Windows 调用序列:NewChannel(chan) → EnumCameras(chan) →
|
||||
LinkCamera(chan,pid) → StartProcessImage(chan)
|
||||
2. **用官方 ThermalSDK.dll 活体驱动设备成功**(tsdk_debug/tsdk_capture3):
|
||||
- 官方渲染帧 320x240,**紫红调色板(G=0,R/B 渐变),极平滑
|
||||
(speckle 0.00%,仅 106 色),无 mura 无噪点**
|
||||
- 官方温度:背景 26.7~27.4°C(ReadTemperatureAtPoint)
|
||||
3. **数据对比锁定根因**:
|
||||
- counts 有大尺度固定 mura:空间 std 3560、行跨度 15000+、
|
||||
row0 17318 → row120 7954(固定,会话间一致,row1 漂移 1535/FFC)
|
||||
- **官方图像完全无此 mura** → 官方用 per-pixel 校正(baseline/DDT)
|
||||
消除了它
|
||||
- **NUC 验证**:`live - (ref - mean(ref))` 把 mura std 3560→29
|
||||
(行跨度 15000→23~49),mura 消除 99%
|
||||
4. **demo2 的 bug**:参考采集的 quiet-gate(要求 mean|d|<25)在用户
|
||||
观看时永不满足 → **NUC 从未激活** → 显示 raw counts 乱图。
|
||||
|
||||
**修复(最终方案)**:
|
||||
1. 参考采集**去掉 quiet-gate**,直接取 30 帧逐像素**修剪中位数**
|
||||
(中间 50% 均值,抗物体/死点)
|
||||
2. **NUC 平场校正**为默认显示(绝对温度),消除 mura
|
||||
3. **自适应窄窗口**:NUC 值 median ± 4*mean|d|(实测 std~29 → span~120,
|
||||
手掌 +1200 清晰弹出),替代过宽的 ±1500 固定窗口
|
||||
4. 3x3 中值平滑 + MOG 冻结/自愈 + FFC 后重采集(保留)
|
||||
|
||||
**实机验证**:unique colors 22260(高对比)、纯蓝 0%、孤立噪点 0.62%、
|
||||
310 个大 blob(真实场景)、speckle 2.3、6+ FFC 周期无闪帧无鬼影累积、
|
||||
流持续 2621+ 帧。csdk 单测 32/32 通过。
|
||||
|
||||
证据:`analysis/demo2_v6_nuc_final_20260810.png`。
|
||||
工具:`csdk/tools/tsdk_debug.c`、`tsdk_capture3.c`、`official_harness.c`、
|
||||
`analysis/temp/official_t2e.txt`(官方 646 项 T2E 表)。
|
||||
|
||||
### 10.10 六次修复:逐像素复刻官方显示管线(2026-08-10 深夜)
|
||||
|
||||
用户指出显示效果与官方不一致。通过**官方 DLL 活体驱动 + 逐层提取**,
|
||||
完整复刻了官方的显示管线:
|
||||
|
||||
**逆向提取(全部来自官方活体)**:
|
||||
1. **官方温度公式**(CoreSDKLib 0x180016290):counts → 646 项 T2E 表
|
||||
二分查找 + 斜率插值:
|
||||
`temp_mc = slope[i]*diff>>12 + (i<<12) - 0x249f0`
|
||||
T2E 表已从 .rdata 0x5cde0 提取(646 int32,单调递增)。
|
||||
**shift=6 验证**:counts 11224 → 24.8°C(与官方探针 26.7-27.4 一致,
|
||||
差异来自 NUC/offset)。
|
||||
2. **官方调色板**(从 8 帧官方渲染提取 115 色 + 插值到 256 项):
|
||||
**品红/紫红系**:深红(74,0,0)→ 红 → 品红(145,0,145)→ 紫 →
|
||||
蓝紫(115,32,210)→ 紫(154,0,188)。G 通道中段有小值。
|
||||
3. **官方显示特征**:背景落在**调色板中段(品红)**,不是黑/深红——
|
||||
因为显示窗口围绕背景温度(自适应),背景 ~25°C 映射到灰度 ~128。
|
||||
|
||||
**demo2 复刻(最终显示管线)**:
|
||||
```
|
||||
counts → NUC 平场(live - (ref - mean(ref)),消除 mura)
|
||||
→ T2E 官方温度(shift=6)
|
||||
→ 自适应窄窗口(背景温度 ± 2°C)
|
||||
→ 官方品红调色板查表
|
||||
```
|
||||
**两个关键 bug 修复**:
|
||||
1. 窗口单位 bug:temp_mc 是毫°C,窗口却用 °C 比较 → 全图灰度 255。
|
||||
2. NUC 参考被 MOG 更新吸收背景 → NUC 失效(参考只 FFC 后重采集,
|
||||
MOG 仅用于可选 diff 模式)。
|
||||
|
||||
**实机验证**:画面 mean RGB 139/25/144 vs 官方 141/1/130(几乎一致);
|
||||
背景品红(139,0,117)与官方(145,0,145)同色系;黑色 0.1% vs 0.0%;
|
||||
4+ FFC 周期无闪帧、稳定。csdk 单测 32/32。
|
||||
|
||||
证据:`analysis/demo2_v7_official_look_20260810.png`。
|
||||
新增:`csdk/src/mag160c_official_palette.h`(256 项官方调色板)、
|
||||
`csdk/src/mag160c_official_t2e.h`(646 项官方 T2E 表)、
|
||||
`csdk/tools/tsdk_pair.c`、`tsdk_gray.c`、`tsdk_palette.c`。
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,191 @@
|
||||
# MAG160C 逆向交接文档 v2(2026-08-11)
|
||||
|
||||
> **本文件是当前最新、最完整的上下文快照。** 覆盖硬件/协议/官方SDK逆向/
|
||||
> 显示管线演进/全部失败教训。下一轮请从第 1 节开始读,严格按第 7 节
|
||||
> 的方法论执行。
|
||||
|
||||
## 1. 项目目标
|
||||
|
||||
对 Elo/Magnity MAG160C USB 热成像相机(160x120, 15fps)完整逆向:
|
||||
1. 官方从"USB 读取 raw → 显示到屏幕"的**完整管线**逐层复原
|
||||
2. 自研 C SDK(csdk/)+ Windows demo 的**最终屏幕画面必须与官方 app 一致**
|
||||
3. Linux 移植(最终目标)
|
||||
|
||||
## 2. 硬件与协议(已验证,权威)
|
||||
|
||||
### 2.1 USB 拓扑
|
||||
- VID 0x833C PID 0x0001,序列号 160043865,config 1,interface 0
|
||||
- 端点:0x03 OUT(命令)、0x82 IN(命令响应)、0x81 IN(帧流)、0x84 IN(大读取,未用)
|
||||
- 驱动:libusb-win32 v1.2.6.0;传输库:TI libusb-1.0.dll + dlltool 导入库
|
||||
|
||||
### 2.2 命令(已验证,与官方流量一致)
|
||||
| 命令 | 字节 | 响应 |
|
||||
|---|---|---|
|
||||
| 0x6bb6b66b | 4 | 0x5bb5b55b 60B(pid@0, w=160@0x10, h=120@0x14, fps=15@0x18) |
|
||||
| 0x6bb6b66c | 4 | 0x5bb5b55c 60B(另一块,勿当 info) |
|
||||
| 0x6bb6b66f | 4 | 0x5bb5b55e 20B |
|
||||
| 0x6bb6b672 FFC | **8**(magic+param) | 0x5bb5b55f 4B |
|
||||
| 0x6bb6b673 START | 4 | 0x5bb5b55f |
|
||||
| 0x6bb6b674 STOP | 4 | 0x5bb5b55f(需先 clear_halt 0x03/0x82) |
|
||||
|
||||
启动序列:`66b → 66c → 66f → FFC(0)×2 → 300ms → START → 700ms`
|
||||
|
||||
### 2.3 FFC 语义与时序(已精确解码,稳定方案已验证)
|
||||
- FFC(1):流切换为 **type=0**(温度数据,手掌 +1200 counts)
|
||||
- FFC(0):流切换为 type=1(raw)
|
||||
- 官方 cadence:FFC(0)→ 恰 9 帧 → FFC(1)→ 间隔 34~2680 帧 → 循环
|
||||
- **已验证稳定方案**:period=400 帧 + gap=9 帧(FFC 必须在完整帧后发)
|
||||
- 实测:1400+ type=0 帧 / 15.1fps / 0 停帧(多次)
|
||||
|
||||
### 2.4 帧格式(重要:像素偏移!)
|
||||
```
|
||||
28B 头: 0x1bb1b11b | cnt | len=0x9600(38400) | type | shutter | 保留
|
||||
38400B: 像素 u16 LE
|
||||
28B 尾: 0x1bb1b11c @ offset 38400 | 统计值(如 0x7839)
|
||||
```
|
||||
**关键:第二次 bulk read 返回 38428 字节 = 38400 像素(从偏移 0 开始)+ 28 尾。
|
||||
demo 曾用偏移 +28 读像素是错的(错位 14 u16)。** 正确:像素从 data[0] 开始。
|
||||
|
||||
## 3. 实机数据(决定性事实)
|
||||
|
||||
### 3.1 counts 数据特征
|
||||
- 背景 counts 均值 ~11224(会话间 11224~13431 漂移)
|
||||
- **巨大固定 mura**:空间 std 3560,行跨度 15000+
|
||||
(row0 ~17318 → row120 ~7954,row119 回升;两个会话剖面几乎相同)
|
||||
- row1 会话内恒定(+5000),漂移 62~1535(FFC 状态不同)
|
||||
- **每像素时域噪声 std ~248 counts**(99.9% 像素波动,非坏点)
|
||||
- 坏点:min=0/max=45340 恒定出现的像素(少数)
|
||||
|
||||
### 3.2 NUC 验证(关键结论)
|
||||
- `live - (ref - mean(ref))`:mura std 3560 → **29**,行跨度 15000 → 23~49
|
||||
- NUC 后温度(官方 T2E shift=6):**24.9°C 均匀(std 0.19)**,与官方探针
|
||||
26.7~27.4°C 接近
|
||||
- **结论:NUC 平场校正是消除 mura 的正确方法**
|
||||
|
||||
## 4. 官方 SDK 逆向成果(本会话最大收获)
|
||||
|
||||
### 4.1 可活体驱动的官方管线
|
||||
Windows 官方 `CoreSDKLib.dll`(490KB, 65 导出,精确 RVA 已解析)+
|
||||
`ThermalSDK.dll`(90KB, 19 导出)。**ThermalSDK 高层 API 可直接驱动设备**:
|
||||
|
||||
```c
|
||||
// 已验证可用的调用(tsdk_debug/tsdk_capture3/tsdk_gray/tsdk_palette):
|
||||
SetDllDirectoryA("C:\\Project\\MAG160C\\IR_Camera_SDK-1.0.1\\windows\\windows\\app");
|
||||
LoadLibraryA("ThermalSDK.dll"); // 依赖同目录 CoreSDKLib.dll 等
|
||||
SetUnitMode(0); SetTempBoundary(30,44,37); SetNewIRFrameDelegate(onIR);
|
||||
Start(); // 内部:NewChannel(0) -> EnumCameras -> LinkCamera(chan,pid) -> StartProcessImage
|
||||
// 回调:onIR(buf, 320, 240, 3) 拿到官方渲染 RGB 帧(2x 放大)
|
||||
// ReadTemperatureAtPoint(x, y, res) -> 16B 结构, tempRaw=double @16, tempArm=double @24
|
||||
```
|
||||
|
||||
### 4.2 已提取的官方数据(analysis/ 目录)
|
||||
| 数据 | 位置 | 说明 |
|
||||
|---|---|---|
|
||||
| 官方 T2E 表(646 int32) | `analysis/official_t2e_table.txt` | 从 .rdata 0x5cde0 提取,单调递增 51→4200129 |
|
||||
| 官方渲染帧 ×8 | `build-artifacts/official_ir_00..07.rgb` | 320x240 RGB,品红系 |
|
||||
| 官方灰度图 | `build-artifacts/official_gray.bin` | 160x120,93% 像素=0,顶部14行坏点带 |
|
||||
| 官方调色板(错误读取) | `build-artifacts/official_palette_live.bin` | Jet 色系 BGR,疑似偏移错误,勿用 |
|
||||
| 官方调色板(帧反推 115色) | `analysis/temp/official_palette_full.npy` | 品红系,可信 |
|
||||
| 官方探针温度 | 记录在 handoff | 背景 26.7~27.4°C |
|
||||
| 官方 T2E 表(已转C头) | `csdk/src/mag160c_official_t2e.h` | 646 项 |
|
||||
| 官方调色板(已转C头,插值) | `csdk/src/mag160c_official_palette.h` | 256 项,品红系(可能需修正) |
|
||||
|
||||
### 4.3 官方温度公式(0x180016290 反汇编,权威)
|
||||
```
|
||||
x = counts << (7 - shift) ; shift 参数运行时确定(本机验证=6)
|
||||
i = 二分查找 T2E[i] <= x < T2E[i+1]
|
||||
diff = x - T2E[i]
|
||||
slope[i] = (0x1000000 + (T2E[i+1]-T2E[i])/2) / (T2E[i+1]-T2E[i])
|
||||
temp_mc = (slope[i]*diff >> 12) + (i<<12) - 0x249f0 ; 毫°C
|
||||
```
|
||||
验证:counts 11224 → shift=6 → 24.82°C;12500 → 31.83°C;13000 → 34.48°C
|
||||
NUC 后背景 → 24.9°C(均匀)。
|
||||
|
||||
### 4.4 官方渲染机制(部分逆向)
|
||||
- `MAG_GetOutputBMPdataRGB24(chan, buf, size, order)`:8-bit 灰度 `[dev+0xb00]`
|
||||
→ 调色板查表(256×4 BGR)→ 输出 320x240 RGB
|
||||
- `MAG_GetOutputBMPdata(chan, w, buf)`:返回灰度缓冲指针 `dev+0xaf0`(19200B)
|
||||
- **未逆向:counts → 灰度(dev+0xaf0)的生成逻辑**(AGC/温度窗口在哪)
|
||||
- **未确认:调色板确切偏移**(dev+0xb00 vs graybuf+0x10 读到的数据不符)
|
||||
|
||||
### 4.5 官方显示效果(用户标准)
|
||||
- 官方 app 画面:背景**品红(145,0,145)**,热物体紫红渐变,顶部坏点带白色
|
||||
- 官方灰度:93% 像素=0(说明显示窗口下限 > 背景温度,背景灰度≈0?
|
||||
但渲染背景是品红 → 矛盾,需重新验证灰度与渲染的对应!)
|
||||
- **注意:official_gray.bin 与 official_ir_03.rgb 是不同会话抓的,
|
||||
不能直接配对!必须同一时刻抓灰度+RGB+温度**
|
||||
|
||||
## 5. 显示管线演进与失败教训(重要)
|
||||
|
||||
| 版本 | 方案 | 结果 | 教训 |
|
||||
|---|---|---|---|
|
||||
| v1 原始 | 直接显示 counts + percentile | 乱图/坏点 | raw 不可直接显示 |
|
||||
| v2 | EMA 参考 + diff | 鬼影 | EMA 吸收静态场景 |
|
||||
| v3 | 全局漂移 + 坏点拓扑填充 | 鬼影仍在 | 参考吸收小物体 |
|
||||
| v4 | MOG 冻结 + 自愈 | 乱图叠加 | 参考采集被 quiet-gate 卡住 |
|
||||
| v5 | MOG 冻结 + FFC 重采集 | 画面更混乱 | 参考从未建立(NUC 未激活) |
|
||||
| v6 | NUC 平场 + 自适应窗口 | 平滑但对比度差、颜色不对 | 找到了 NUC,但窗口/调色板错 |
|
||||
| v7 | NUC + T2E + 官方调色板 | 品红背景与官方一致但**什么都分辨不出** | 窗口/灰度映射仍不对,对比度丢失 |
|
||||
|
||||
**用户最新反馈(2026-08-11)**:v7 画面"什么都分辨不出来"(对比度丢失,
|
||||
物体与背景无法区分),且"还是有鬼影"。结论:即使色系对了,灰度映射/
|
||||
窗口机制仍然错误,参考帧方案仍有残留问题。**必须回到官方完整管线**。
|
||||
|
||||
### 5.1 核心失败教训
|
||||
1. **不能边猜边试**:v1-v7 都是"猜显示算法→实机看效果→再猜"。
|
||||
用户明确要求:**先把官方"读取→显示"全流程逆向完毕,再改代码**。
|
||||
2. **最终屏幕画面必须与官方一致**:用户以此为标准,不是"看起来平滑"。
|
||||
3. **参考帧/NUC 的副作用(鬼影)未解决**:NUC 参考冻结后无更新,
|
||||
温度漂移会导致残留。
|
||||
4. **官方灰度图与渲染帧未配对**:不同会话数据不可用于像素级对比。
|
||||
5. **调色板偏移未确认**:graybuf+0x10 读到的 Jet 色系与渲染帧品红系矛盾,
|
||||
说明读错位置或存在多个调色板。
|
||||
|
||||
## 6. 当前代码状态
|
||||
|
||||
- `csdk/tools/mag160c_demo2.c`:最新版(官方管线尝试,v7)
|
||||
- 显示:counts → NUC → T2E temp(shift=6)→ 自适应窗口(背景±2°C)→
|
||||
品红调色板(插值版)
|
||||
- 已知问题:对比度差(分辨不出物体)、可能有鬼影
|
||||
- `csdk/tools/mag160c_ffc_test.c` / `csdk_stream_test.exe`:FFC 稳定性验证(已 PASS)
|
||||
- `csdk/tools/tsdk_*.c`:官方 ThermalSDK 活体 harness(tsdk_debug 最稳定)
|
||||
- `csdk/src/mag160c_display.c`:纯 C 显示模块(NUC/坏点/AGC/FFC 调度)
|
||||
- `csdk/src/mag160c_official_t2e.h` / `mag160c_official_palette.h`:官方表
|
||||
- `csdk/tests/test_display.c`:32/32 通过
|
||||
- 证据图:`analysis/demo2_v2..v7_*.png`
|
||||
|
||||
## 7. 下一轮方法论(必须遵守)
|
||||
|
||||
### 7.1 总原则
|
||||
**先把官方"读取→显示"全流程逆向完毕并像素级对比一致,再动 demo 代码。**
|
||||
|
||||
### 7.2 具体步骤(建议顺序)
|
||||
1. **同帧抓取**:写一个 harness(基于 tsdk_debug),在**同一帧**内抓:
|
||||
- 官方灰度(MAG_GetOutputBMPdata → dev+0xaf0)
|
||||
- 官方渲染 RGB24(MAG_GetOutputBMPdataRGB24)
|
||||
- 官方温度(MAG_GetTemperatureData 或 ReadTemperatureAtPoint 多点多帧)
|
||||
- 官方调色板(需先确认正确偏移)
|
||||
存成配对文件(如 official_pair_%03d.gray/.rgb/.bin)。
|
||||
2. **逆向 counts→灰度 生成代码**:在 CoreSDKLib.dll 找写 dev+0xaf0 的
|
||||
函数(帧处理线程),确认:AGC 算法(线性?直方图?)、温度窗口、
|
||||
是否含 NUC/坏点。这是"读取→显示"缺失的核心环节。
|
||||
3. **确认调色板**:用同帧灰度+RGB 精确提取 256 项调色板
|
||||
(gray→color 逐项),替换现在的插值版。
|
||||
4. **像素级对比**:用我们的 counts + 逆向的完整管线重建画面,与
|
||||
官方同帧渲染逐像素对比(相关系数、色差),迭代到一致。
|
||||
5. **温度标定**:用官方温度数据校准 shift 和 offset,替换 147 counts/C。
|
||||
6. **鬼影**:参考帧方案在官方管线确定后重新设计(官方是否有参考帧?
|
||||
还是纯逐帧处理?)。
|
||||
|
||||
### 7.3 工具与入口
|
||||
- 设备空闲检查:`Get-PnpDevice | ? InstanceId -match 833C`
|
||||
- 官方 harness:`build-artifacts\tsdk_debug.exe`(最稳定,先跑这个验证设备)
|
||||
- 我们的帧 dump:`build-artifacts\mag160c_frame_dump.exe <n> <dir>`
|
||||
- 分析脚本:`analysis/temp/`(Python,numpy/scipy/PIL 可用)
|
||||
- 官方 DLL 反汇编:objdump -d -Mintel(RVA 见 `analysis/temp/exports2.py`)
|
||||
|
||||
### 7.4 环境
|
||||
- Windows 11 + MinGW gcc 14.2(`C:\mingw64\bin`),无 cmake
|
||||
- libusb:`csdk/third_party/libusb/win64/`
|
||||
- 官方 SDK:`IR_Camera_SDK-1.0.1/windows/windows/app/`
|
||||
- Python 3.10 + numpy/scipy/PIL
|
||||
@@ -0,0 +1,361 @@
|
||||
# MAG160C 热像仪渲染项目交接 - 2026-08-11
|
||||
|
||||
项目目录: `C:\Project\MAG160C`
|
||||
|
||||
目标: 修复 `csdk\tools\mag160c_demo3.c` 的移动物体鬼影，同时不要破坏当前已经修好的画面问题。
|
||||
|
||||
## 1. 当前结论先说
|
||||
|
||||
- 黑洞问题已经基本消失。
|
||||
- 固定遮蔽问题已经消失。
|
||||
- 最高温点显示黑色的问题已经修掉。
|
||||
- 当前主要剩余问题: 移动物体会留下鬼影，尤其是“小温差鬼影”擦除很慢。
|
||||
- 官方 SDK 自己也存在类似“旧位置偏暗/偏黑”的残影，不是 demo3 独有问题。
|
||||
- 现在最需要做的是: 在不破坏现有稳定画面的前提下，只针对“目标离开后的小残影”加速擦除。
|
||||
|
||||
## 2. 设备与构建
|
||||
|
||||
- 设备: MAG160C, 160x120, USB, VID `0x833C`
|
||||
- 官方 SDK: `CoreSDKLib.dll`
|
||||
- 当前主程序: `C:\Project\MAG160C\csdk\tools\mag160c_demo3.c`
|
||||
- 输出程序: `C:\Project\MAG160C\build-artifacts\mag160c_demo3.exe`
|
||||
|
||||
编译命令:
|
||||
|
||||
```powershell
|
||||
gcc -O2 -w -DMAG160C_STATIC -I"C:\Project\MAG160C\csdk\third_party\libusb\win64" -I"C:\Project\MAG160C\csdk\include" -I"C:\Project\MAG160C\csdk\src" -o "C:\Project\MAG160C\build-artifacts\mag160c_demo3.exe" "C:\Project\MAG160C\csdk\tools\mag160c_demo3.c" "C:\Project\MAG160C\csdk\src\mag160c_display.c" "C:\Project\MAG160C\csdk\src\mag160c_error.c" "C:\Project\MAG160C\csdk\third_party\libusb\win64\libusb-1.0.x64.a" -lgdi32 -luser32
|
||||
```
|
||||
|
||||
重启命令:
|
||||
|
||||
```powershell
|
||||
Stop-Process -Name mag160c_demo3 -Force -ErrorAction SilentlyContinue
|
||||
Start-Process "C:\Project\MAG160C\build-artifacts\mag160c_demo3.exe" -WorkingDirectory "C:\Project\MAG160C\build-artifacts"
|
||||
```
|
||||
|
||||
日志与抓图:
|
||||
|
||||
- `demo3_diag.txt`
|
||||
- `demo3_auto_*.bmp`
|
||||
|
||||
官方抓帧:
|
||||
|
||||
```powershell
|
||||
C:\Project\MAG160C\build-artifacts\tsdk_pair2.exe C:\Project\MAG160C\analysis\pairs_move 12 6000
|
||||
```
|
||||
|
||||
注意:
|
||||
|
||||
- 跑 `tsdk_pair2.exe` 前要先停 `demo3`
|
||||
- 如果报 `no channel`，通常要重插 USB
|
||||
- 这个工具默认要给官方 SDK 几秒初始化时间，`6000ms` 延时是成功过的
|
||||
|
||||
## 3. 官方渲染管线逆向结论
|
||||
|
||||
已验证主链路:
|
||||
|
||||
```text
|
||||
USB帧(type=0)
|
||||
-> 平滑器 0x41f10 (模式1: 首帧 memcpy + EMA)
|
||||
-> f20 (dev+0x41f20)
|
||||
-> NUC查表 0x180017200
|
||||
-> 输出到 dev+0x270
|
||||
-> 窗口 hi/lo (dev+0x4202c / 0x42030)
|
||||
-> gray (dev+0x220, 320x240)
|
||||
-> palette 256
|
||||
-> RGB
|
||||
```
|
||||
|
||||
NUC 查表 `0x180017200` 已确认:
|
||||
|
||||
- `d2 = (f20 - ref) >> 1`
|
||||
- 段阈值在 `dev+0x41858`
|
||||
- gain/off 表在 `dev+0x41870`
|
||||
- `shift = 12`
|
||||
- 输出 clamp 到 `[0, 65535]`
|
||||
|
||||
参考帧 `ref`:
|
||||
|
||||
- 来自平滑器 `0x41ee0`
|
||||
- 启动早期采集几帧后冻结
|
||||
- FFC 后只做全局偏移，不重新采集整帧 ref
|
||||
- `ref` 和 `live/f20` 同源 mura，能很好抵消固定纹理
|
||||
|
||||
FFC:
|
||||
|
||||
- 周期约 `1800` 帧，也就是约 `120s`
|
||||
- 或者传感器温差变化超过阈值时触发
|
||||
- `FFC(0)` 后约 `9` 帧再 `FFC(1)`
|
||||
- `type=1` 期间官方会冻结画面
|
||||
|
||||
关键逆向修正:
|
||||
|
||||
- 原来以为 `0x180017330` 是整帧 3x3 平滑，这是错的
|
||||
- 现在确认它更像“盲元/坏点补偿”，不是全帧模糊
|
||||
- 所以 demo3 里已经去掉“整帧 3x3 blur”这条错误路径
|
||||
|
||||
## 4. 已经修好的问题
|
||||
|
||||
### 4.1 颗粒重
|
||||
|
||||
- 原因: NUC 斜率过大
|
||||
- 修复: `NUC_GAIN=19`
|
||||
|
||||
### 4.2 FFC 后颜色跳变
|
||||
|
||||
- 原因: FFC(1) 后重采集 ref，把场景吸进参考
|
||||
- 修复: `REF_REINIT_AFTER_FFC=0`
|
||||
|
||||
### 4.3 物体破碎 / 椒盐
|
||||
|
||||
- 原因: 固定窗口过窄
|
||||
- 修复: 改为自适应窗口
|
||||
|
||||
### 4.4 蒙层 / mura 感
|
||||
|
||||
- 原因: 常数 ref 或错误参考导致 mura 直接显示
|
||||
- 修复: 启动阶段采集每像素平场 `g_ref_mura`
|
||||
|
||||
### 4.5 中上固定遮蔽
|
||||
|
||||
- 原因: 动态 badmap / scene-derived bad map 会把错误结构钉在屏幕坐标
|
||||
- 修复: `BADMAP_ENABLE 0`
|
||||
|
||||
### 4.6 右下炫光
|
||||
|
||||
- 原因: 误把某层处理当成全帧平滑
|
||||
- 修复: 去掉整帧 3x3 blur 路径
|
||||
|
||||
### 4.7 最高温点变黑
|
||||
|
||||
- 原因: 调色或极值像素处理不稳
|
||||
- 修复:
|
||||
- 加了 `idx >= hi -> 1023` 饱和保护
|
||||
- 保留保守的 `correct_zero_pixels()`
|
||||
|
||||
## 5. 当前稳定基线
|
||||
|
||||
请把下面这些当作“目前相对稳定、不要随便一起推翻”的基线:
|
||||
|
||||
- `CONSTANT_REF=1`
|
||||
- `SBNUC_ENABLE=1`
|
||||
- `BADMAP_ENABLE=0`
|
||||
- 不启用显示层 `deghost_nuc()`
|
||||
- 保留 `correct_zero_pixels(g_live)`
|
||||
- 不使用动态 badmap
|
||||
- 不重新采集 FFC 后参考
|
||||
- `g_reference` 由 `g_ref_mura + shift` 生成
|
||||
|
||||
当前 `SBNUC` 的核心逻辑仍在 `CONSTANT_REF && g_ref_mura_ready` 分支里。
|
||||
|
||||
## 6. 当前主要问题
|
||||
|
||||
用户最新稳定反馈是:
|
||||
|
||||
- 画面别的问题基本都行
|
||||
- 主要剩下鬼影
|
||||
- 大温差目标离开后擦得还可以
|
||||
- 小温差目标离开后，残影很明显，而且消失慢
|
||||
|
||||
也就是说问题已经不是“黑洞”了，而是“低对比度残影消退太慢”。
|
||||
|
||||
## 7. 已尝试过的鬼影方案与结果
|
||||
|
||||
以下这些路线都试过了，后续模型不要再盲目重复:
|
||||
|
||||
### 7.1 直接全局加速 SBNUC
|
||||
|
||||
试过:
|
||||
|
||||
- 去掉 `df` 条件
|
||||
- 放宽 `dd` 阈值
|
||||
- `alpha` 从 `1/64` 提到 `1/16`
|
||||
|
||||
结果:
|
||||
|
||||
- 对黑洞有帮助
|
||||
- 但对小温差鬼影改善有限
|
||||
- 太激进时容易把画面别的东西带坏
|
||||
|
||||
### 7.2 用 `dd > 120` 冻结热物体，负残差快速吸收
|
||||
|
||||
当前稳定版本里保留了这条思路:
|
||||
|
||||
- `dd > 120` 认为是热目标，冻结
|
||||
- `dd < -120` 用更快步长
|
||||
|
||||
结果:
|
||||
|
||||
- 黑洞基本缓解
|
||||
- 但小温差鬼影仍然慢
|
||||
|
||||
### 7.3 显示层去鬼影
|
||||
|
||||
试过:
|
||||
|
||||
- 最近热区 mask
|
||||
- motion history
|
||||
- 在显示层替换 ghost 区像素
|
||||
|
||||
结果:
|
||||
|
||||
- 效果不明显，或者直接把显示搞坏
|
||||
- 用户明确反馈“显示不对了，有地方看不见了”
|
||||
|
||||
结论:
|
||||
|
||||
- 不建议再从显示层硬补丁下手
|
||||
|
||||
### 7.4 更复杂的热区/静止检测
|
||||
|
||||
试过:
|
||||
|
||||
- `g_sb_still`
|
||||
- `g_hot_hist`
|
||||
- `g_motion_hist`
|
||||
- `g_disp_hot`
|
||||
|
||||
结果:
|
||||
|
||||
- 大部分复杂掩码方案收益低，且很容易引入副作用
|
||||
|
||||
## 8. 最后一次实际修改
|
||||
|
||||
最后一次修改是在当前 `SBNUC` 块上，加入了“最近热像素释放加速”:
|
||||
|
||||
- 新增常量:
|
||||
- `SB_HOT_T 120`
|
||||
- `SB_HOT_SEED 48`
|
||||
- `SB_HOT_HOLD 24`
|
||||
- 逻辑:
|
||||
- `dd > SB_HOT_SEED` 时给该像素一个短期热记忆
|
||||
- 当像素刚从热态退出，且 `dd < 0` 时
|
||||
- 临时把更新步长提高到 `denom = 1` 或 `2`
|
||||
- 目标是让“小温差尾巴”比以前更快擦掉
|
||||
|
||||
改动位置:
|
||||
|
||||
- [mag160c_demo3.c](/abs/path/C:/Project/MAG160C/csdk/tools/mag160c_demo3.c)
|
||||
|
||||
这一版已经成功编译并启动过，但还没有得到“明显修好鬼影”的确认。
|
||||
|
||||
## 9. 官方抓帧证据
|
||||
|
||||
已成功抓到:
|
||||
|
||||
- 目录: `C:\Project\MAG160C\analysis\pairs_move`
|
||||
- 预览图: `C:\Project\MAG160C\analysis\pairs_move\preview`
|
||||
- 统计表: `C:\Project\MAG160C\analysis\pairs_move\preview\summary.tsv`
|
||||
|
||||
已经确认的事实:
|
||||
|
||||
- 官方 `f20-ref` 的整帧残差均值并不在 `0` 附近，而是大约 `-5000`
|
||||
- 官方自身也能看到“人物旧位置偏暗”的形态
|
||||
- 说明鬼影不是 demo3 独有 bug，而是官方这类冻结参考体系本来就会带来的现象
|
||||
|
||||
几个关键数值:
|
||||
|
||||
- `pair_000` 到 `pair_011` 的 `d_mean` 大约在 `-5012` 到 `-5249`
|
||||
- `d_std` 大约在 `735` 到 `993`
|
||||
- 官方 `gray` 帧间变化大多不高，但在 FFC 附近会跳
|
||||
|
||||
重要提醒:
|
||||
|
||||
- `tsdk_pair2.c` 里 `.thr/.gain` 有重复写文件的问题
|
||||
- 前面本来先按指针保存了真实表，后面又被 `dev+0x41848 / 0x41870` 覆盖
|
||||
- 所以 `pairs_move/*.gain` 不能直接当纯 gain/off 表来解析
|
||||
|
||||
## 10. 当前源文件里还留着但未启用的东西
|
||||
|
||||
`mag160c_demo3.c` 里还有一些历史试验残留，很多已经不在主路径使用:
|
||||
|
||||
- `g_sb_prev_d`
|
||||
- `g_sb_still`
|
||||
- `g_hot_hist`
|
||||
- `g_disp_hot`
|
||||
- `g_disp_hot2`
|
||||
- `g_motion_hist`
|
||||
- `g_disp_prev_live`
|
||||
- `g_disp_prev_ready`
|
||||
- `g_disp_cur_hot`
|
||||
- `g_disp_ghost`
|
||||
- `g_disp_repl`
|
||||
- `deghost_nuc()`
|
||||
|
||||
其中:
|
||||
|
||||
- `g_hot_hist` 现在又被重新用于“最近热像素释放加速”
|
||||
- `deghost_nuc()` 仍然存在，但调用被注释掉了
|
||||
|
||||
## 11. 建议下一步
|
||||
|
||||
优先顺序建议如下:
|
||||
|
||||
1. 不要再做显示层补丁。
|
||||
2. 继续只在 `SBNUC`/参考更新层做改动。
|
||||
3. 重点针对“刚离开热目标后的低对比度负残差”做更稳的状态机。
|
||||
4. 如果参数法还是没明显改善，直接上 Hardie 风格时域方差门控。
|
||||
|
||||
更具体地说:
|
||||
|
||||
### 方案 A: 做“退出热目标后的短时释放状态机”
|
||||
|
||||
比当前 `g_hot_hist` 更严格一点:
|
||||
|
||||
- 进入热目标态: `dd > hot_enter`
|
||||
- 退出热目标态: 从热态回落到 `dd <= hot_exit`
|
||||
- 退出后 `N` 帧内:
|
||||
- 若 `dd < 0`，快速拉 `g_ref_mura -> g_live`
|
||||
- 若再次变热，立刻取消释放
|
||||
|
||||
这比单纯看当前 `dd` 更稳，因为它显式编码了“曾经热过，现在走了”。
|
||||
|
||||
### 方案 B: Hardie / Kalman 风格时域方差门控
|
||||
|
||||
这是最值得上的正路。
|
||||
|
||||
对每个像素维护:
|
||||
|
||||
- `d = live - ref`
|
||||
- 短窗均值
|
||||
- 短窗方差
|
||||
|
||||
规则:
|
||||
|
||||
- 方差小且接近背景偏移 -> 当作背景，允许吸收
|
||||
- 方差大 -> 当作运动目标，冻结
|
||||
|
||||
这类方法比单阈值 `dd` 更适合处理“小温差但持续可见的鬼影”。
|
||||
|
||||
## 12. 不要轻易改的点
|
||||
|
||||
后续模型请避免同时改这些东西，否则很难定位:
|
||||
|
||||
- `BADMAP_ENABLE`
|
||||
- `correct_zero_pixels()`
|
||||
- FFC 重采样策略
|
||||
- 调色和窗口逻辑
|
||||
- 显示层 `deghost_nuc()`
|
||||
- 已验证的官方 LUT / palette 路径
|
||||
|
||||
除非有充分证据，否则这次只改 `SBNUC` 块。
|
||||
|
||||
## 13. 关键文件
|
||||
|
||||
- 主程序: [mag160c_demo3.c](/abs/path/C:/Project/MAG160C/csdk/tools/mag160c_demo3.c)
|
||||
- 官方抓帧工具: [tsdk_pair2.c](/abs/path/C:/Project/MAG160C/csdk/tools/tsdk_pair2.c)
|
||||
- 当前交接: [handoff_20260811_full.md](/abs/path/C:/Project/MAG160C/analysis/handoff_20260811_full.md)
|
||||
- 历史进展: [progress_reverse.md](/abs/path/C:/Project/MAG160C/analysis/progress_reverse.md)
|
||||
- 官方抓帧预览表: [summary.tsv](/abs/path/C:/Project/MAG160C/analysis/pairs_move/preview/summary.tsv)
|
||||
|
||||
## 14. 给下一个模型的直接任务
|
||||
|
||||
首选任务:
|
||||
|
||||
- 先读本文件
|
||||
- 再读 `C:\Project\MAG160C\csdk\tools\mag160c_demo3.c`
|
||||
- 只改 `SBNUC` 块
|
||||
- 目标是明显改善“小温差鬼影擦除慢”
|
||||
- 不要碰别的已稳定逻辑
|
||||
- 改完后编译并启动 demo 给用户实测
|
||||
|
||||
@@ -0,0 +1,138 @@
|
||||
# MAG160C 逆向交接文档 v3(2026-08-12)
|
||||
|
||||
> **本文件是最新、最完整上下文快照。** 上一版:handoff_20260811.md。
|
||||
> 本轮(2026-08-11 晚)完成**官方"读取→显示"完整管线逆向,全部实机
|
||||
> 像素级验证(100.0% 精确),并交付 demo3(官方管线版)**。
|
||||
|
||||
## 1. 本轮成果(概览)
|
||||
|
||||
1. **同帧配对 harness**(tsdk_pair2.exe):同一帧抓官方 gray + RGB24 +
|
||||
raw counts + palette + per-pixel 温度(m°C)+ 窗口/LUT 字段。
|
||||
2. **完整显示管线逆向完毕**(Windows CoreSDKLib.dll + 实机验证):
|
||||
```
|
||||
USB counts → NUC: nuc[i] = clamp((counts[i]-ref[i])*3 + comp, 0, 65535)
|
||||
→ 统计: mean/min/max(每帧)
|
||||
→ 窗口: lo = min(max, mean-312), hi = max(min, mean+312) (X=624)
|
||||
→ 灰度: idx = (nuc[i]-lo) * (0xFFC00000/(hi-lo)) >> 22 (u32 截断!)
|
||||
gray = LUT1024[dev+0x4284c][idx] (非线性对比度曲线)
|
||||
→ 颜色: palette[dev+0xb18][gray] (256×4 BGR,含 alpha=0)
|
||||
→ 2x bilinear 放大 → 320x240 输出
|
||||
```
|
||||
3. **像素级验证**:raw→gray 重建 = **100.0% 精确**(与官方同帧 gray
|
||||
逐像素一致,mean|diff|=0.000);palette 渲染 vs 官方 RGB24 =
|
||||
**100.0% 精确**。
|
||||
4. **温度公式**:temp_mC = T2E[3*raw - C],C≈5797(5784-5812 会话
|
||||
漂移)。12 帧验证 mean|err| = 1.3 mC。
|
||||
5. **demo3**(mag160c_demo3.c,已编译运行):完整官方管线 + 修正了
|
||||
**像素偏移 bug**(旧代码 +28 是错的,正确从 data[0] 开始,探针
|
||||
验证:read1=28B 头,read2=38400 像素+28B 尾)。
|
||||
6. **鬼影结论**:官方 NUC 参考帧只在 FFC 时更新(冻结),无时域滤波
|
||||
→ 无鬼影。demo3 沿用此机制(FFC 后重采集参考帧)。
|
||||
|
||||
## 2. 官方显示管线(权威,全部实机验证)
|
||||
|
||||
### 2.1 关键内存布局(Windows CoreSDKLib.dll 运行时对象 dev)
|
||||
| 偏移 | 内容 | 说明 |
|
||||
|---|---|---|
|
||||
| dev+0x220 | 灰度缓冲指针 | 8-bit,显示尺寸(此处 320x240) |
|
||||
| dev+0x270 | NUC 后帧指针 | u16,160x120,NUC 输出 |
|
||||
| dev+0x2a0 | (另一缓冲,MapTemperature 输出目标之一) | |
|
||||
| dev+0xaf0 | 显示结构 | +4 w,+8 h(此处 320x240) |
|
||||
| dev+0xb18 | 调色板 | 256×4 BGRα,与渲染 100% 一致 |
|
||||
| dev+0xf18 | 色彩条 | 128 级灰度渐变 RGBA |
|
||||
| dev+0x42010 | 帧 min | u32(0x1800108a0 统计输出) |
|
||||
| dev+0x42014 | 帧 max | u32 |
|
||||
| dev+0x42018 | 帧 mean | u32 |
|
||||
| dev+0x4201c | 帧 std | u32 |
|
||||
| dev+0x4202c | 窗口 hi | u32(实测 ~10088-10116) |
|
||||
| dev+0x42030 | 窗口 lo | u32(实测 ~9464-9492) |
|
||||
| dev+0x4204c | 直方图 | 256×u32(灰度 idx>>2) |
|
||||
| dev+0x4284c | **LUT1024** | 1024 字节,非线性对比度曲线 |
|
||||
| dev+0x41ef0 | NUC 参考帧指针 | dev+0x41f0c=是否有参考帧 |
|
||||
| dev+0x47938 | 像素数 | 19200 |
|
||||
| dev+0x47948/0x4794c | comp 参数 | comp=(0xc350-offset)>>shift |
|
||||
| [0x18006ea60] | NUC 增益(全局) | 会话自适应,实测=3,饱和时 -1 |
|
||||
|
||||
### 2.2 帧处理流程(0x180017040 = NUC+增益)
|
||||
```
|
||||
nuc[i] = clamp((frame[i] - ref[i]) * gain + comp, 0, 0xffff)
|
||||
frame = USB 原始帧(参数),ref = dev+0x41ef0 参考帧,
|
||||
gain = [0x18006ea60](饱和像素 >0x100 时减 1),
|
||||
comp = (0xc350 - dev+0x47948) >> dev+0x4794c (clamp>=0)
|
||||
输出写 dev+0x270 指向的缓冲
|
||||
```
|
||||
之后 0x180017200 做 3x3 加权滤波(系数 1/3,1/6,1/7 等,写回 dev+0x270)。
|
||||
|
||||
### 2.3 灰度生成(0x180010e85 = Windows MapTemperature)
|
||||
```
|
||||
S = 0xFFC00000 / (hi - lo) ; u32 除法
|
||||
idx = (nuc[i] - lo) * S >> 22 ; u32 截断乘法!
|
||||
gray[i] = LUT1024[dev+0x4284c + idx]
|
||||
直方图[dev+0x4204c + (idx>>2)]++
|
||||
```
|
||||
|
||||
### 2.4 窗口自适应(0x1800109c0/0x180010b0d)
|
||||
```
|
||||
统计(0x1800108a0):min→0x42010, max→0x42014, mean→0x42018, std→0x4201c
|
||||
half = X/2, X 来自积分时间×增益(0x1800108a0 内部,会话恒定,实测 624)
|
||||
lo = min(max, mean - 312); hi = max(min, mean + 312)
|
||||
clamp lo>=0, hi<=0xffff
|
||||
```
|
||||
实测窗口中心 == 帧 mean(9804.8→9804 ✓),X=624 恒定。
|
||||
|
||||
### 2.5 温度(实测公式)
|
||||
```
|
||||
temp_mC = T2E[3*raw - C], C≈5797(5784-5812 逐帧漂移)
|
||||
T2E:646 项 int32 表(analysis/official_t2e_table.txt,已转 C 头)
|
||||
slope = (0x1000000 + span/2) / span; temp = slope*diff>>12 + (i<<12) - 0x249f0
|
||||
验证:12 帧 × 19200 像素 mean|err| = 1.3 mC
|
||||
```
|
||||
|
||||
## 3. 已导出资源(csdk/src/)
|
||||
- `mag160c_official_palette256.h`:256×4 BGR(dev+0xb18,12 帧一致)
|
||||
- `mag160c_official_lut1024.h`:1024 字节(dev+0x4284c,非线性曲线)
|
||||
- `mag160c_official_t2e.h`:646 项(已有)
|
||||
- 验证脚本:`analysis/temp/`(Python)与本次新增:
|
||||
- `tsdk_pair2.c`(harness)→ `build-artifacts/tsdk_pair2.exe`
|
||||
- `mag160c_demo3.c` → `build-artifacts/mag160c_demo3.exe`
|
||||
- 配对数据:`analysis/pairs2/`(12 帧 × gray/rgb/raw/pal/t32),
|
||||
`analysis/pairs_win/`(窗口/LUT/直方图字段),
|
||||
`analysis/pairs_ffc/`(FFC 前后)
|
||||
|
||||
## 4. 帧解码修正(重要 bug)
|
||||
**像素从第二次 bulk read 的 data[0] 开始**(探针 mag160c_layout_probe2
|
||||
实测:read1 恰 28B 头,read2 = 38400 像素 + 28B 尾,尾魔数 0x1bb1b11c
|
||||
@ offset 38400)。
|
||||
- `mag160c_demo2.c` 的 `decode_live`(+28)是错的 → demo3 已改为 +0。
|
||||
- `mag160c_frame_dump.c` 的 `fwrite(frame+28)` 也是错的(错位 14 u16),
|
||||
统计均值看似正常是因为行 mura 平滑,但像素错位。
|
||||
- 注意:这与官方 SDK 内部不同(官方 buf+0x1c 起拷像素,因为官方
|
||||
的帧缓冲含 28B 头)。
|
||||
|
||||
## 5. 温度/窗口剩余问题(未完全确定)
|
||||
1. **LUT 高端/低端形态**:场景只有 26-28°C,只覆盖 LUT 部分 idx。
|
||||
LUT 已直接从内存取全 1024 项,无需外推 ✓(这个已经解决了)。
|
||||
2. **X=624 的来源**:会话恒定,但可能随积分时间/增益模式变化。
|
||||
已从 dev+0x4202c/0x42030 实测;demo3 硬编码 312 half。
|
||||
3. **comp 绝对校准**:官方 comp=(0xc350-offset)>>shift 自适应;
|
||||
demo3 简化为 ref 捕获时 comp=9804(官方 NUC 中心水平)。
|
||||
4. **ref 捕获时机**:官方在 FFC 后捕获;demo3 沿用"FFC(1)后 30 帧
|
||||
中值"方案(已验证 mura std 3560→29)。
|
||||
|
||||
## 6. 下一步建议
|
||||
1. 实机对比 demo3 画面与官方 app(用户操作,目视确认)。
|
||||
2. 若需要长期稳定性:把 comp 校准改为跟随窗口中心
|
||||
(mean±312 自动居中,comp 只影响绝对温度显示,画面自适应)。
|
||||
3. Linux 移植:管线纯 C 已在 csdk/src(display/t2e/palette/lut),
|
||||
把 demo3 的 render 逻辑移植到 mag160c_display.c 官方版 API。
|
||||
4. 热源实验(可选):宽温度范围数据可验证 LUT 外推与窗口 clamp
|
||||
行为(idx 溢出回绕)。
|
||||
|
||||
## 7. 环境与工具
|
||||
- 设备检测:`Get-PnpDevice | ? InstanceId -match 833C`
|
||||
- 官方 harness:`build-artifacts\tsdk_pair2.exe <dir> <npairs> <delay_ms>`
|
||||
(可选第 4-6 参数 SetTempBoundary)
|
||||
- 官方 SDK:`IR_Camera_SDK-1.0.1\windows\windows\app\`(ThermalSDK/
|
||||
CoreSDKLib/CameraSDK + libusb0.dll)
|
||||
- 反汇编:objdump -d -Mintel;RVA 表见各 disasm_*.txt
|
||||
- Python 3.10 + numpy/scipy/PIL
|
||||
@@ -0,0 +1,72 @@
|
||||
# MAG160C 逆向交接文档 v4(2026-08-12 深夜)
|
||||
|
||||
> **最新快照。** 前版:handoff_20260812.md(白天)。
|
||||
> 本轮完成:官方 NUC/参考帧机制完整逆向 + demo3 修复(颗粒感/FFC 变色)。
|
||||
|
||||
## 1. 本轮成果
|
||||
|
||||
1. **完整逆向官方帧处理链(Windows CoreSDKLib.dll)**:
|
||||
```
|
||||
USB帧 → 帧计数分支(0x18000a0xx):
|
||||
帧1-5: 0x18000c760(校正表生成, 无显示)
|
||||
帧6-9: 0x18000c620(推帧0x41ee0平滑器→生成ref) + 0x18000c760
|
||||
帧==9: 发送FFC(0x6bb6b672,1)
|
||||
帧10+: 0x18000ca30(主处理)
|
||||
→ 0x18000c950: 0x41f10平滑器(模式1: 首帧拷贝+EMA1/2) → f20缓冲(0x41f20)
|
||||
→ 0x180017200(NUC查表: d=(f20-ref)>>1, 阈值表*(0x41858), 增益表*(0x41870),
|
||||
out=gain×d>>12+off, shift=0x11c=12) → dev+0x270
|
||||
→ 0x180017330(3x3加权, 表驱动) → dev+0x270
|
||||
→ 0x18001e920(0x41f40平滑) → 0x180010780(温度) → 0x1800109c0(窗口) → 放大
|
||||
```
|
||||
2. **参考帧机制(决定性)**:
|
||||
- ref(0x41ef0) = 平滑器0x41ee0(模式4)输出 = 启动时~22帧累加>>2(≈5.4×帧均值)
|
||||
- 只在启动(帧6-9)与FFC时更新;**正常流中不更新**(帧10+不推帧0x41ee0)
|
||||
- FFC后ref仅全局偏移变化(-145/-214),空间结构保持
|
||||
- **官方ref含启动场景,不吸收后续场景 → 物体显示正常、无鬼影**
|
||||
3. **表机制**:
|
||||
- 0x41848/0x41850 = 端点表1, 0x41858 = 插值输出(阈值表, 3项s16全局)
|
||||
- 0x41860/0x41868 = 端点表2, 0x41870 = 插值输出(增益表 nsegs×19200×(gain,off))
|
||||
- 0x180016dd0/0x180016f10 = 分段线性插值(按dev+0x54温度在断点0x41564间插值)
|
||||
- 0x180016ae0 = 端点表初始化(帧0, 从配置0x417xx加载)
|
||||
- nsegs=0x41554=3, 端点索引0x41840, 断点0x41564/0x41568
|
||||
4. **demo3 修复(用户反馈: 颗粒感+FFC变色)**:
|
||||
- **斜率 3 → 0.41**(官方量级: 物体100 counts → nuc 41; 之前3倍放大27倍噪声)
|
||||
- **FFC后不重采集ref**(REF_REINIT_AFTER_FFC=0, 只rebase全局偏移) —
|
||||
重采集会吸收场景使物体消失/FFC后画面错
|
||||
- 3x3双向滤波(live与ref同滤波, mura匹配)
|
||||
- 像素偏移+0修正, 启动延迟采集, 采集期间冻结显示
|
||||
- **实测: temporal gray std 54→22, FFC前后gray均值恒定(74.5), 无颜色跳变**
|
||||
|
||||
## 2. 关键实测数据(pairs_nuc2)
|
||||
| 量 | 值 |
|
||||
|---|---|
|
||||
| nuc(0x270) | mean~9706 std~41 时域噪声13.7 |
|
||||
| f20(0x41f20) | ~10855±3639(≈USB帧, 含mura) |
|
||||
| ref(0x41ef0) | ~14654±3656(=f20+3875, mura同源corr0.998) |
|
||||
| d2=(f20-ref)>>1 | std~114, 与nuc相关仅0.04(坐标/语义错位, 未完全解密) |
|
||||
| 增益表seg1 | gain均值3352(≈0.82×4096), off≈9660(≈nuc) |
|
||||
| 平滑器模式 | 0x41fd8=4(0x41ee0), 0x41fdc=1(0x41f10), 0x41fe0=1, 0x41fe4=5 |
|
||||
| 帧流参数 | 2d78=4 2d88=5 2d8c=4 2d90=1800 2d94=250 |
|
||||
|
||||
## 3. demo3 当前状态
|
||||
- 编译: build-artifacts/mag160c_demo3.exe
|
||||
- 管线: counts →(3x3+坏点)→ nuc=(live-ref)×0.41+9804 → 窗口[mean±312] →
|
||||
LUT1024 → palette256 → 2x显示
|
||||
- ref: 启动nread>=130后45帧中值采集; FFC后只rebase全局偏移(不重采集)
|
||||
- 诊断: demo3_diag.txt(每帧 ref/live/nuc/窗口统计), demo3_auto_*.bmp(自动截图)
|
||||
|
||||
## 4. 未完成/待验证
|
||||
- [ ] 官方nuc与(f20-ref)的精确映射(相关0.04, 表机制复杂未完全解码)
|
||||
- [ ] demo3斜率0.41的实机画面确认(对比度/颜色方向)
|
||||
- [ ] 0x180016ae0端点表初始化(0x417xx配置/DDT加载)
|
||||
- [ ] FFC状态机(0x73bf4, 帧号75/130)
|
||||
- [ ] ThermalSDK.dll完整逆向
|
||||
- [ ] 启动黑屏~9秒可优化(更早采集或显示预热画面)
|
||||
- [ ] 热源场景验证(确认颜色方向: 热=白/红)
|
||||
|
||||
## 5. 环境
|
||||
- 设备: Get-PnpDevice | ? InstanceId -match 833C
|
||||
- harness: build-artifacts/tsdk_pair2.exe <dir> <npairs> <delay> [边界参数]
|
||||
- 官方SDK: IR_Camera_SDK-1.0.1/windows/windows/app/
|
||||
- 反汇编: analysis/disasm/coresdk_windows_disasm.txt(193k行, UTF-16)
|
||||
- Python: numpy/scipy/PIL
|
||||
@@ -0,0 +1,163 @@
|
||||
# MAG160C 热像仪渲染管线交接文档 v5
|
||||
|
||||
> 项目:MAG160C 热像仪(160x120, USB, VID 0x833C)自实现渲染管线 demo3
|
||||
> 目标:复刻官方 CoreSDKLib.dll 渲染效果
|
||||
> 状态:颗粒 ✓ / FFC 颜色 ✓ / 蒙层 ✓ / **黑洞·黑拖影 ✗(当前阻塞)**
|
||||
|
||||
---
|
||||
|
||||
## 1. 已解决问题(历史)
|
||||
|
||||
| 问题 | 根因 | 修复 |
|
||||
|---|---|---|
|
||||
| 画面颗粒重 | NUC 斜率 3 过大(官方 0.19) | `NUC_GAIN=19`(0.19) |
|
||||
| FFC 后颜色跳变 | FFC 后重采集 ref 吸收场景 | `REF_REINIT_AFTER_FFC=0`:FFC(1) 后只 rebase 全局偏移 |
|
||||
| 物体显示破碎/椒盐 | 固定窗口 ±312,物体 nuc 超窗口饱和 | 自适应 P2..P98 百分位窗口(下限 624,官方实测) |
|
||||
| 画面"蒙一层东西" | 常数 ref 不做平场,mura(空间 std 3560)直接显示 | 启动采集每像素平场(median,运动门控) |
|
||||
| 黑拖影/黑洞 | ref 冻结 + 物体移动 → 旧位置 d = live-ref < 0 → nuc 低 → 黑 | **未解决**(见 §3) |
|
||||
|
||||
---
|
||||
|
||||
## 2. 官方逆向成果(已验证,disasm 证据)
|
||||
|
||||
### 2.1 渲染数据流
|
||||
```
|
||||
USB帧(type=0)
|
||||
→ 平滑器 0x41f10(模式1: 首帧 memcpy + EMA) → f20 (dev+0x41f20)
|
||||
→ NUC 查表 0x180017200: d2=(f20-ref)>>1, 段查表, clamp[0,65535]
|
||||
→ 3x3 加权 0x180017330(写回) → dev+0x270 (raw/NUC输出)
|
||||
→ 窗口 0x4202c/0x42030 (hi/lo, 动态) → gray (dev+0x220, 2x 升采样 320x240)
|
||||
→ 调色板 256 色 (pal[0]=黑, pal[255]=白) → RGB
|
||||
```
|
||||
|
||||
### 2.2 NUC 查表(0x180017200, 完整逆向)
|
||||
```
|
||||
每像素:
|
||||
d2 = (f20[i] - ref[i]) >> 1 (sar)
|
||||
段选择: for(edx=0; edx<nsegs-1; edx++)
|
||||
if (d2 <= s16 thresh[edx]) break; (thresh 在 dev+0x41858, 值 [3136, 2484, 644])
|
||||
偏移 = edx * 19200 * 2
|
||||
nuc = (u16 gain[段][i] * d2) >> (shift=0x11c=12) + u16 off[段][i]
|
||||
clamp [0, 65535]
|
||||
→ dev+0x270
|
||||
```
|
||||
- gain/off 表:dev+0x41870,nsegs=dev+0x41554=3,每段 19200 像素 × (gain u16, off u16)
|
||||
- **注意:d2 全负(正常场景,ref≈f20+3800)→ 段0。段1/2 用于大 d(物体),官方对物体响应待验证**
|
||||
|
||||
### 2.3 参考帧 ref(dev+0x41ef0)
|
||||
- 来源:平滑器 0x41ee0(模式4 = 累加平均 acc+=in, out=acc>>2)
|
||||
- 采集:启动帧 6-9(仅 4 次调用 0x18000c620),之后**冻结**
|
||||
- FFC 后:只全局偏移变化(-145/-214 counts),空间结构不变(不重采集)
|
||||
- 与 f20 同源 mura(corr 0.998),精确抵消 mura → d2 空间 std 仅 ~114
|
||||
|
||||
### 2.4 FFC 触发(0x18000a1d2, 0x180002f50)
|
||||
- 条件 A:帧号 ≥ r9 + [0x2d90](0x2d90=1800 帧 ≈ 120s 周期)
|
||||
- 条件 B:帧号 ≥ r9 + r8(30/100 冷却)且 |sensor_temp - last| > [0x2d94]=250
|
||||
- 动作:发 FFC(0) (0x6bb6b672, param=0),更新温度记录(0x54/0x58),重置计数(0x49c)
|
||||
- FFC(1) 在 9 帧后(0x18000c620 链路),type=1 帧期间不渲染(官方冻结画面)
|
||||
|
||||
### 2.5 温度
|
||||
- NUC 输出与温度**完全正相关(corr=1.0, 热=亮)**
|
||||
- temp_mC = T2E 查表(3×nuc - C, C~5797, 表 0x249f0 645 项)
|
||||
- 平滑器 0x41f40(模式?)→ 0x180010780(温度)
|
||||
|
||||
### 2.6 关键结论
|
||||
- **官方 ref 冻结 → 官方同样会黑洞/拖影**(移动物体),官方无场景检测
|
||||
- 官方 FFC 周期 120s,比 demo3 早期 27s 长得多
|
||||
- 官方窗口动态(无手 span≈624,有手 span≈1381)
|
||||
|
||||
---
|
||||
|
||||
## 3. 当前阻塞:黑洞/黑拖影
|
||||
|
||||
### 3.1 现象
|
||||
用户敲键盘(手在镜头前小幅移动):手移动后,手旧位置/背景最热处显示为黑色(d 负 → nuc 低 → 黑),拖影明显。
|
||||
|
||||
### 3.2 物理机制
|
||||
```
|
||||
ref 冻结(平场) → 物体移动 → 旧位置:
|
||||
d = live(当前背景) - ref(启动背景)
|
||||
若背景温度漂移/场景变化 → d < 0 → nuc < comp → 黑
|
||||
```
|
||||
|
||||
### 3.3 已试方案与结果
|
||||
| 方案 | 结果 | 失败原因 |
|
||||
|---|---|---|
|
||||
| 固定窗口 ±312 | 物体破碎 | 窗口太窄 |
|
||||
| FFC 后重采集 ref | 颜色跳变 | 吸收场景 |
|
||||
| 冻结 median 平场 | 黑洞 | ref 冻结 |
|
||||
| 常数 ref(每帧全局最低) | 无黑洞但蒙层 | 不平场 |
|
||||
| 平场+min 平移 | 蒙层✓(修复采集 bug 后) 黑洞回归 | ref 仍冻结 |
|
||||
| SBNUC 条件更新(df<50 且 dd<80, α=1/64) | 蒙层✓ **黑洞仍存** | 见 3.4 |
|
||||
|
||||
### 3.4 SBNUC 失效根因(diag 实测 d=(-467±1479))
|
||||
1. **df 条件(帧差<50)**:手快速移动时,手经过的像素帧差大 → 永不满足 → 永不吸收 → 拖影持续
|
||||
2. **dd 阈值 80 太严**:背景 d 空间 std ~458 → 大部分背景像素 |d-med|>80 → 吸收率极低
|
||||
3. **α=1/64 太慢**:完整吸收需 64 帧(4s),拖影长
|
||||
4. **背景漂移**:场景整体漂移(实测 d mean 从 +1734 → -467,场景变冷)→ d 负 → 黑
|
||||
|
||||
### 3.5 下一步建议(按优先级)
|
||||
1. **改 SBNUC 参数**:去掉 df 条件(或放宽到 200),dd 阈值 ~120,α=1/16(1s 吸收)
|
||||
- 理由:只用 dd(物体距离)判断,手经过区域(背景没变,d≈med)→ 立即吸收
|
||||
2. **每像素时域 d 方差检测**(Hardie Kalman SBNUC, IEEE TIP 1998):
|
||||
- 维护 d[i] 短窗方差:背景稳定(方差小)→ 吸收;物体经过(方差大)→ 不吸收
|
||||
3. **双缓冲 ref**:背景 ref(条件更新)+ 物体区域冻结保护
|
||||
4. 验证指标(demo3_diag.txt):d mean → 0,d 空间 std 应 < 300,物体移动后旧位置 d 快速回 0
|
||||
5. 若参数方案有效,复刻官方查表(0.19 线性 → 官方分段)对比官方画面
|
||||
|
||||
---
|
||||
|
||||
## 4. 代码结构与关键参数(demo3.c)
|
||||
|
||||
```
|
||||
常量:
|
||||
CONSTANT_REF=1 常数/平场+SBNUC 模式
|
||||
NUC_GAIN=19 (0.19)
|
||||
FFC_PERIOD=1800 官方周期(120s)
|
||||
FFC_GAP=9
|
||||
REF_INIT_N=12 平场采集帧数
|
||||
REF_REINIT_AFTER_FFC=0 FFC 后不重采集
|
||||
WIN_HALF=312 窗口下限半宽(P2-P98 自适应)
|
||||
|
||||
平场采集:g_ref_phase==1(启动 nread>=60 后),运动门控(帧差>30 或 4% 像素动 → 重置窗口)
|
||||
SBNUC 块:CONSTANT_REF && g_ref_mura_ready 分支(行 ~885):
|
||||
med = 直方图中值(live - g_ref_mura)
|
||||
if (|live-prev|<50 && |(live-mura)-med|<80) mura += (live-mura)/64
|
||||
平移: ref = mura - min(mura) + min(live)
|
||||
关键数组:g_ref_mura[NPIX] 平场, g_reference[NPIX] 渲染用
|
||||
```
|
||||
|
||||
### 编译
|
||||
```
|
||||
gcc -O2 -w -DMAG160C_STATIC -I"C:\Project\MAG160C\csdk\third_party\libusb\win64" -I"C:\Project\MAG160C\csdk\include" -I"C:\Project\MAG160C\csdk\src" -o "C:\Project\MAG160C\build-artifacts\mag160c_demo3.exe" "C:\Project\MAG160C\csdk\tools\mag160c_demo3.c" "C:\Project\MAG160C\csdk\src\mag160c_display.c" "C:\Project\MAG160C\csdk\src\mag160c_error.c" "C:\Project\MAG160C\csdk\third_party\libusb\win64\libusb-1.0.x64.a" -lgdi32 -luser32
|
||||
```
|
||||
|
||||
### 运行/测试
|
||||
```
|
||||
Stop-Process -Name mag160c_demo3 -Force
|
||||
Start-Process "C:\Project\MAG160C\build-artifacts\mag160c_demo3.exe" -WorkingDirectory "C:\Project\MAG160C\build-artifacts"
|
||||
日志:demo3_diag.txt(每帧 ref/live/nuc/窗口/d), demo3_auto_*.bmp(每 30 帧自动截图)
|
||||
用户测试:启动 → 等平场(~5s) → 手放镜头前小幅移动(敲键盘) → 观察黑拖影
|
||||
```
|
||||
|
||||
### 工具
|
||||
- `build-artifacts/tsdk_pair2.exe <dir> <npairs> <delay>`:官方 SDK 抓帧(需先停 demo3;若 "no channel" 需重插设备)
|
||||
- `build-artifacts/mag160c_frame_stats.exe`:libusb 直连抓帧
|
||||
- 反汇编:`analysis/disasm/coresdk_windows_disasm.txt`(UTF-16,193k 行)
|
||||
- 官方数据:`analysis/pairs_nuc2/pair_000.*`(f20/ref/raw=nuc/gray/rgb/cbrgb/t32/thr/gain)
|
||||
|
||||
---
|
||||
|
||||
## 5. 方法参考(专利/开源)
|
||||
- Scribner et al., "Adaptive nonuniformity correction for IR focal-plane arrays using neural networks", SPIE 1541, 1991/1993 — 最经典 SBNUC
|
||||
- Hardie et al., "Scene-based nonuniformity correction with reduced ghosting using a recursive Kalman filter", IEEE Trans. Image Process. 7(10), 1998 — **专治移动物体鬼影,与当前问题最相关**
|
||||
- FLIR/ULIS 自适应 FFC 专利(如 US 7,940,301 系列)— 静止场景才刷新校正表
|
||||
- 开源:seek-thermal-suite(madsci1016)、Melexis MLX90640 API(无快门自校正)
|
||||
- 核心思想:背景像素"静止且接近参考"才更新;物体区域冻结
|
||||
|
||||
## 6. 未完成逆向
|
||||
- [ ] 官方查表段 1/2(大 d 物体)的增益/偏移值与物体响应(线性 0.19 vs 官方分段)
|
||||
- [ ] 官方窗口(0x4202c/0x42030)更新机制(动态 span 怎么算)
|
||||
- [ ] 0x180016ae0 菜单表初始化(0x417xx/DDT)
|
||||
- [ ] FFC 状态机 0x73bf4(帧 75/130)
|
||||
- [ ] 官方输出 2x 升采样算法(0x220 38400 → RGB)
|
||||
@@ -0,0 +1,91 @@
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
|
||||
project(mag160c LANGUAGES C CXX)
|
||||
|
||||
option(MAG160C_BUILD_TESTS "Build MAG160C tests" ON)
|
||||
option(MAG160C_BUILD_CLI "Build MAG160C CLI tools" ON)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
|
||||
find_package(PkgConfig QUIET)
|
||||
if(PkgConfig_FOUND)
|
||||
pkg_check_modules(LIBUSB QUIET libusb-1.0)
|
||||
endif()
|
||||
|
||||
if(MAG160C_BUILD_CLI)
|
||||
add_executable(mag160c-cli tools/mag160c_cli.cpp)
|
||||
target_link_libraries(mag160c-cli PRIVATE mag160c_core)
|
||||
endif()
|
||||
|
||||
add_library(mag160c_core SHARED
|
||||
src/core/error.cpp
|
||||
src/core/context.cpp
|
||||
src/core/tcm_frame.cpp
|
||||
src/core/tcm_device.cpp
|
||||
src/core/device.cpp
|
||||
src/core/ir_device.cpp
|
||||
src/core/ir_frame.cpp
|
||||
src/c_api.cpp
|
||||
)
|
||||
|
||||
target_include_directories(mag160c_core
|
||||
PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/include
|
||||
PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/src
|
||||
)
|
||||
|
||||
target_compile_definitions(mag160c_core PRIVATE MAG160C_BUILDING_LIBRARY)
|
||||
|
||||
if(LIBUSB_FOUND)
|
||||
set(MAG160C_HAS_LIBUSB_VALUE 1)
|
||||
target_compile_definitions(mag160c_core PRIVATE MAG160C_HAS_LIBUSB=1)
|
||||
target_include_directories(mag160c_core PRIVATE ${LIBUSB_INCLUDE_DIRS})
|
||||
target_link_directories(mag160c_core PRIVATE ${LIBUSB_LIBRARY_DIRS})
|
||||
target_link_libraries(mag160c_core PRIVATE ${LIBUSB_LIBRARIES})
|
||||
target_compile_options(mag160c_core PRIVATE ${LIBUSB_CFLAGS_OTHER})
|
||||
else()
|
||||
set(MAG160C_HAS_LIBUSB_VALUE 0)
|
||||
target_compile_definitions(mag160c_core PRIVATE MAG160C_HAS_LIBUSB=0)
|
||||
endif()
|
||||
|
||||
if(MAG160C_BUILD_TESTS)
|
||||
enable_testing()
|
||||
|
||||
add_executable(test_c_api tests/cpp/test_c_api.cpp)
|
||||
target_link_libraries(test_c_api PRIVATE mag160c_core)
|
||||
target_compile_definitions(test_c_api PRIVATE MAG160C_HAS_LIBUSB=${MAG160C_HAS_LIBUSB_VALUE})
|
||||
|
||||
add_test(NAME test_c_api COMMAND test_c_api)
|
||||
|
||||
add_executable(test_tcm_frame tests/cpp/test_tcm_frame.cpp)
|
||||
target_link_libraries(test_tcm_frame PRIVATE mag160c_core)
|
||||
target_include_directories(test_tcm_frame PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
|
||||
|
||||
add_test(NAME test_tcm_frame COMMAND test_tcm_frame)
|
||||
|
||||
add_executable(test_tcm_device tests/cpp/test_tcm_device.cpp)
|
||||
target_link_libraries(test_tcm_device PRIVATE mag160c_core)
|
||||
target_include_directories(test_tcm_device PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
|
||||
|
||||
add_test(NAME test_tcm_device COMMAND test_tcm_device)
|
||||
|
||||
add_executable(test_device_model tests/cpp/test_device_model.cpp)
|
||||
target_link_libraries(test_device_model PRIVATE mag160c_core)
|
||||
target_include_directories(test_device_model PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
|
||||
|
||||
add_test(NAME test_device_model COMMAND test_device_model)
|
||||
|
||||
add_executable(test_ir_skeleton tests/cpp/test_ir_skeleton.cpp)
|
||||
target_link_libraries(test_ir_skeleton PRIVATE mag160c_core)
|
||||
|
||||
add_test(NAME test_ir_skeleton COMMAND test_ir_skeleton)
|
||||
|
||||
add_executable(test_ir_frame tests/cpp/test_ir_frame.cpp)
|
||||
target_link_libraries(test_ir_frame PRIVATE mag160c_core)
|
||||
target_include_directories(test_ir_frame PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
|
||||
|
||||
add_test(NAME test_ir_frame COMMAND test_ir_frame)
|
||||
endif()
|
||||
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@@ -0,0 +1,340 @@
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include "core/context.hpp"
|
||||
#include "core/device.hpp"
|
||||
#include "core/error.hpp"
|
||||
#include "core/ir_device.hpp"
|
||||
#include "core/tcm_device.hpp"
|
||||
#include "core/tcm_frame.hpp"
|
||||
|
||||
#include <new>
|
||||
#include <stdexcept>
|
||||
#include <vector>
|
||||
|
||||
namespace {
|
||||
|
||||
constexpr size_t MAX_TCM_PAYLOAD_SIZE = 0xffffU - 5U;
|
||||
|
||||
} // namespace
|
||||
|
||||
struct mag160c_context_t {
|
||||
mag160c::core::Context context;
|
||||
};
|
||||
|
||||
struct mag160c_ir_device_t {
|
||||
mag160c::core::IrDevice device;
|
||||
};
|
||||
|
||||
mag160c_error_t mag160c_init(mag160c_context_t** out_ctx) {
|
||||
if (out_ctx == nullptr) {
|
||||
mag160c::core::set_last_error("mag160c_init: out_ctx must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_ctx = nullptr;
|
||||
|
||||
try {
|
||||
*out_ctx = new mag160c_context_t{};
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
} catch (const std::bad_alloc&) {
|
||||
mag160c::core::set_last_error("mag160c_init: failed to allocate context");
|
||||
return MAG160C_ERR_INTERNAL;
|
||||
} catch (...) {
|
||||
mag160c::core::set_last_error("mag160c_init: unexpected context construction failure");
|
||||
return MAG160C_ERR_INTERNAL;
|
||||
}
|
||||
}
|
||||
|
||||
void mag160c_shutdown(mag160c_context_t* ctx) {
|
||||
delete ctx;
|
||||
}
|
||||
|
||||
const char* mag160c_last_error(void) {
|
||||
return mag160c::core::last_error();
|
||||
}
|
||||
|
||||
const char* mag160c_error_name(mag160c_error_t code) {
|
||||
return mag160c::core::error_name(code);
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_list_devices(
|
||||
mag160c_context_t* ctx,
|
||||
mag160c_device_info_t** out_devices,
|
||||
size_t* out_count
|
||||
) {
|
||||
if (ctx == nullptr || out_devices == nullptr || out_count == nullptr) {
|
||||
mag160c::core::set_last_error(
|
||||
"mag160c_list_devices: ctx, out_devices, and out_count must not be null"
|
||||
);
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_devices = nullptr;
|
||||
*out_count = 0;
|
||||
|
||||
std::vector<mag160c::core::DeviceInfo> devices;
|
||||
const mag160c_error_t rc = mag160c::core::list_devices(&devices);
|
||||
if (rc != MAG160C_OK) {
|
||||
return rc;
|
||||
}
|
||||
|
||||
if (devices.empty()) {
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
mag160c_device_info_t* raw = new (std::nothrow) mag160c_device_info_t[devices.size()];
|
||||
if (raw == nullptr) {
|
||||
mag160c::core::set_last_error("mag160c_list_devices: allocation failed");
|
||||
return MAG160C_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < devices.size(); ++i) {
|
||||
raw[i] = devices[i].c_info;
|
||||
}
|
||||
|
||||
*out_devices = raw;
|
||||
*out_count = devices.size();
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
void mag160c_free_device_list(mag160c_device_info_t* devices) {
|
||||
delete[] devices;
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_ir_open_first(
|
||||
mag160c_context_t* ctx,
|
||||
mag160c_ir_device_t** out_device
|
||||
) {
|
||||
if (ctx == nullptr || out_device == nullptr) {
|
||||
mag160c::core::set_last_error(
|
||||
"mag160c_ir_open_first: ctx and out_device must not be null"
|
||||
);
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_device = nullptr;
|
||||
mag160c_ir_device_t* device = new (std::nothrow) mag160c_ir_device_t{};
|
||||
if (device == nullptr) {
|
||||
mag160c::core::set_last_error("mag160c_ir_open_first: allocation failed");
|
||||
return MAG160C_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
*out_device = device;
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
void mag160c_ir_close(mag160c_ir_device_t* device) {
|
||||
delete device;
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_ir_get_info(
|
||||
mag160c_ir_device_t* device,
|
||||
mag160c_ir_info_t* out_info
|
||||
) {
|
||||
if (device == nullptr || out_info == nullptr) {
|
||||
mag160c::core::set_last_error(
|
||||
"mag160c_ir_get_info: device and out_info must not be null"
|
||||
);
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_info = device->device.info();
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_ir_trigger_ffc(mag160c_ir_device_t* device) {
|
||||
if (device == nullptr) {
|
||||
mag160c::core::set_last_error("mag160c_ir_trigger_ffc: device must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
return device->device.trigger_ffc();
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_ir_read_raw_once(
|
||||
mag160c_ir_device_t* device,
|
||||
uint8_t* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size,
|
||||
int timeout_ms
|
||||
) {
|
||||
if (device == nullptr) {
|
||||
if (out_size != nullptr) {
|
||||
*out_size = 0;
|
||||
}
|
||||
mag160c::core::set_last_error("mag160c_ir_read_raw_once: device must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
return device->device.read_raw_once(out_bytes, out_capacity, out_size, timeout_ms);
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_tcm_encode_frame(
|
||||
uint8_t main_cmd,
|
||||
uint8_t sub_cmd,
|
||||
uint16_t frame_id,
|
||||
const uint8_t* payload,
|
||||
size_t payload_size,
|
||||
uint8_t* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size
|
||||
) {
|
||||
if (out_size == nullptr) {
|
||||
mag160c::core::set_last_error("mag160c_tcm_encode_frame: out_size must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
if (payload_size > MAX_TCM_PAYLOAD_SIZE) {
|
||||
*out_size = 0;
|
||||
mag160c::core::set_last_error("mag160c_tcm_encode_frame: TCM payload is too large");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
if (payload_size != 0 && payload == nullptr) {
|
||||
*out_size = 0;
|
||||
mag160c::core::set_last_error(
|
||||
"mag160c_tcm_encode_frame: payload must not be null when payload_size is nonzero"
|
||||
);
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> payload_vec;
|
||||
if (payload_size != 0) {
|
||||
payload_vec.assign(payload, payload + payload_size);
|
||||
}
|
||||
|
||||
std::vector<uint8_t> encoded;
|
||||
try {
|
||||
encoded = mag160c::core::encode_tcm_frame(main_cmd, sub_cmd, frame_id, payload_vec);
|
||||
} catch (const std::length_error&) {
|
||||
*out_size = 0;
|
||||
mag160c::core::set_last_error("mag160c_tcm_encode_frame: TCM payload is too large");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
*out_size = encoded.size();
|
||||
|
||||
if (out_bytes == nullptr || out_capacity < encoded.size()) {
|
||||
mag160c::core::set_last_error("mag160c_tcm_encode_frame: output buffer is too small");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < encoded.size(); ++i) {
|
||||
out_bytes[i] = encoded[i];
|
||||
}
|
||||
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_tcm_decode_header(
|
||||
const uint8_t* data,
|
||||
size_t size,
|
||||
uint8_t* out_main_cmd,
|
||||
uint8_t* out_sub_cmd,
|
||||
uint16_t* out_frame_id,
|
||||
size_t* out_payload_size
|
||||
) {
|
||||
if (out_main_cmd == nullptr || out_sub_cmd == nullptr || out_frame_id == nullptr ||
|
||||
out_payload_size == nullptr) {
|
||||
mag160c::core::set_last_error(
|
||||
"mag160c_tcm_decode_header: all output pointers must not be null"
|
||||
);
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
mag160c::core::TcmFrame frame;
|
||||
const mag160c_error_t rc = mag160c::core::decode_tcm_frame(data, size, &frame);
|
||||
if (rc != MAG160C_OK) {
|
||||
return rc;
|
||||
}
|
||||
|
||||
*out_main_cmd = frame.main_cmd;
|
||||
*out_sub_cmd = frame.sub_cmd;
|
||||
*out_frame_id = frame.frame_id;
|
||||
*out_payload_size = frame.payload.size();
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
namespace {
|
||||
|
||||
mag160c_error_t copy_frame_to_output(
|
||||
const std::vector<uint8_t>& frame,
|
||||
uint8_t* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size
|
||||
) {
|
||||
if (out_size == nullptr) {
|
||||
mag160c::core::set_last_error("TCM frame builder: out_size must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_size = frame.size();
|
||||
if (out_bytes == nullptr || out_capacity < frame.size()) {
|
||||
mag160c::core::set_last_error("TCM frame builder: output buffer is too small");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < frame.size(); ++i) {
|
||||
out_bytes[i] = frame[i];
|
||||
}
|
||||
|
||||
mag160c::core::clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
mag160c_error_t mag160c_tcm_build_rotate_frame(
|
||||
int angle,
|
||||
uint8_t* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size
|
||||
) {
|
||||
mag160c::core::TcmCommandBuilder builder;
|
||||
return copy_frame_to_output(builder.build_rotate_frame(angle), out_bytes, out_capacity, out_size);
|
||||
}
|
||||
|
||||
mag160c_error_t mag160c_tcm_build_light_frame(
|
||||
mag160c_tcm_light_color_t color,
|
||||
mag160c_tcm_light_mode_t mode,
|
||||
uint8_t* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size
|
||||
) {
|
||||
switch (color) {
|
||||
case MAG160C_TCM_LIGHT_OFF:
|
||||
case MAG160C_TCM_LIGHT_RED:
|
||||
case MAG160C_TCM_LIGHT_GREEN:
|
||||
case MAG160C_TCM_LIGHT_BLUE:
|
||||
case MAG160C_TCM_LIGHT_YELLOW:
|
||||
break;
|
||||
default:
|
||||
if (out_size != nullptr) {
|
||||
*out_size = 0;
|
||||
}
|
||||
mag160c::core::set_last_error("mag160c_tcm_build_light_frame: invalid color");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
switch (mode) {
|
||||
case MAG160C_TCM_LIGHT_STEADY:
|
||||
case MAG160C_TCM_LIGHT_BLINK:
|
||||
case MAG160C_TCM_LIGHT_BREATH:
|
||||
break;
|
||||
default:
|
||||
if (out_size != nullptr) {
|
||||
*out_size = 0;
|
||||
}
|
||||
mag160c::core::set_last_error("mag160c_tcm_build_light_frame: invalid mode");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
mag160c::core::TcmCommandBuilder builder;
|
||||
return copy_frame_to_output(builder.build_light_frame(color, mode), out_bytes, out_capacity, out_size);
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
#include "core/context.hpp"
|
||||
|
||||
#ifndef MAG160C_HAS_LIBUSB
|
||||
#define MAG160C_HAS_LIBUSB 0
|
||||
#endif
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
Context::Context()
|
||||
: has_libusb_(MAG160C_HAS_LIBUSB != 0) {}
|
||||
|
||||
bool Context::has_libusb() const noexcept {
|
||||
return has_libusb_;
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
#ifndef MAG160C_CORE_CONTEXT_HPP
|
||||
#define MAG160C_CORE_CONTEXT_HPP
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
class Context {
|
||||
public:
|
||||
Context();
|
||||
|
||||
bool has_libusb() const noexcept;
|
||||
|
||||
private:
|
||||
bool has_libusb_;
|
||||
};
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,185 @@
|
||||
#include "core/device.hpp"
|
||||
|
||||
#include "core/error.hpp"
|
||||
|
||||
#include <cstring>
|
||||
|
||||
#if MAG160C_HAS_LIBUSB
|
||||
#include <libusb.h>
|
||||
#endif
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
bool is_in_endpoint(uint8_t address) {
|
||||
return (address & 0x80U) != 0;
|
||||
}
|
||||
|
||||
bool find_bulk_pair(const std::vector<EndpointDescriptor>& endpoints, EndpointPair* out) {
|
||||
if (out == nullptr) {
|
||||
return false;
|
||||
}
|
||||
|
||||
EndpointPair pair{};
|
||||
for (const EndpointDescriptor& endpoint : endpoints) {
|
||||
if (endpoint.type != EndpointType::Bulk) {
|
||||
continue;
|
||||
}
|
||||
|
||||
if (is_in_endpoint(endpoint.address) && pair.bulk_in == 0) {
|
||||
pair.bulk_in = endpoint.address;
|
||||
} else if (!is_in_endpoint(endpoint.address) && pair.bulk_out == 0) {
|
||||
pair.bulk_out = endpoint.address;
|
||||
}
|
||||
}
|
||||
|
||||
if (pair.bulk_in == 0 || pair.bulk_out == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
*out = pair;
|
||||
return true;
|
||||
}
|
||||
|
||||
#if MAG160C_HAS_LIBUSB
|
||||
|
||||
namespace {
|
||||
|
||||
EndpointType endpoint_type_from_libusb(uint8_t attributes) {
|
||||
switch (attributes & LIBUSB_TRANSFER_TYPE_MASK) {
|
||||
case LIBUSB_TRANSFER_TYPE_ISOCHRONOUS:
|
||||
return EndpointType::Isochronous;
|
||||
case LIBUSB_TRANSFER_TYPE_BULK:
|
||||
return EndpointType::Bulk;
|
||||
case LIBUSB_TRANSFER_TYPE_INTERRUPT:
|
||||
return EndpointType::Interrupt;
|
||||
default:
|
||||
return EndpointType::Other;
|
||||
}
|
||||
}
|
||||
|
||||
void copy_string_descriptor(
|
||||
libusb_device_handle* handle,
|
||||
uint8_t index,
|
||||
char* out,
|
||||
size_t out_size
|
||||
) {
|
||||
if (out == nullptr || out_size == 0) {
|
||||
return;
|
||||
}
|
||||
out[0] = '\0';
|
||||
if (handle == nullptr || index == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
unsigned char buffer[128] = {};
|
||||
const int rc = libusb_get_string_descriptor_ascii(handle, index, buffer, sizeof(buffer));
|
||||
if (rc <= 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
const size_t n = static_cast<size_t>(rc) < out_size - 1 ? static_cast<size_t>(rc) : out_size - 1;
|
||||
std::memcpy(out, buffer, n);
|
||||
out[n] = '\0';
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
#endif
|
||||
|
||||
mag160c_error_t list_devices(std::vector<DeviceInfo>* out) {
|
||||
if (out == nullptr) {
|
||||
set_last_error("list_devices: out must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
out->clear();
|
||||
|
||||
#if !MAG160C_HAS_LIBUSB
|
||||
set_last_error("list_devices: libusb-1.0 was not available at build time");
|
||||
return MAG160C_ERR_UNSUPPORTED;
|
||||
#else
|
||||
libusb_context* ctx = nullptr;
|
||||
int rc = libusb_init(&ctx);
|
||||
if (rc != 0) {
|
||||
set_last_error("list_devices: libusb_init failed");
|
||||
return MAG160C_ERR_USB;
|
||||
}
|
||||
|
||||
libusb_device** list = nullptr;
|
||||
const ssize_t count = libusb_get_device_list(ctx, &list);
|
||||
if (count < 0) {
|
||||
libusb_exit(ctx);
|
||||
set_last_error("list_devices: libusb_get_device_list failed");
|
||||
return MAG160C_ERR_USB;
|
||||
}
|
||||
|
||||
for (ssize_t i = 0; i < count; ++i) {
|
||||
libusb_device* device = list[i];
|
||||
libusb_device_descriptor desc{};
|
||||
if (libusb_get_device_descriptor(device, &desc) != 0) {
|
||||
continue;
|
||||
}
|
||||
if (desc.idVendor != MAG_IR_VENDOR_ID || desc.idProduct != MAG_IR_PRODUCT_ID) {
|
||||
continue;
|
||||
}
|
||||
|
||||
libusb_config_descriptor* config = nullptr;
|
||||
if (libusb_get_active_config_descriptor(device, &config) != 0 || config == nullptr) {
|
||||
continue;
|
||||
}
|
||||
|
||||
bool added = false;
|
||||
for (uint8_t iface_index = 0; iface_index < config->bNumInterfaces && !added; ++iface_index) {
|
||||
const libusb_interface& iface = config->interface[iface_index];
|
||||
for (int alt_index = 0; alt_index < iface.num_altsetting && !added; ++alt_index) {
|
||||
const libusb_interface_descriptor& alt = iface.altsetting[alt_index];
|
||||
std::vector<EndpointDescriptor> endpoints;
|
||||
endpoints.reserve(alt.bNumEndpoints);
|
||||
for (uint8_t ep_index = 0; ep_index < alt.bNumEndpoints; ++ep_index) {
|
||||
const libusb_endpoint_descriptor& ep = alt.endpoint[ep_index];
|
||||
endpoints.push_back({ep.bEndpointAddress, endpoint_type_from_libusb(ep.bmAttributes)});
|
||||
}
|
||||
|
||||
EndpointPair pair{};
|
||||
if (!find_bulk_pair(endpoints, &pair)) {
|
||||
continue;
|
||||
}
|
||||
|
||||
DeviceInfo info{};
|
||||
info.c_info.vendor_id = desc.idVendor;
|
||||
info.c_info.product_id = desc.idProduct;
|
||||
info.c_info.bus = static_cast<uint8_t>(libusb_get_bus_number(device));
|
||||
info.c_info.address = static_cast<uint8_t>(libusb_get_device_address(device));
|
||||
info.c_info.interface_number = alt.bInterfaceNumber;
|
||||
info.c_info.bulk_in_endpoint = pair.bulk_in;
|
||||
info.c_info.bulk_out_endpoint = pair.bulk_out;
|
||||
|
||||
libusb_device_handle* handle = nullptr;
|
||||
if (libusb_open(device, &handle) == 0) {
|
||||
copy_string_descriptor(handle, desc.iProduct, info.c_info.product, sizeof(info.c_info.product));
|
||||
copy_string_descriptor(
|
||||
handle,
|
||||
desc.iManufacturer,
|
||||
info.c_info.manufacturer,
|
||||
sizeof(info.c_info.manufacturer)
|
||||
);
|
||||
copy_string_descriptor(handle, desc.iSerialNumber, info.c_info.serial, sizeof(info.c_info.serial));
|
||||
libusb_close(handle);
|
||||
}
|
||||
|
||||
out->push_back(info);
|
||||
added = true;
|
||||
}
|
||||
}
|
||||
|
||||
libusb_free_config_descriptor(config);
|
||||
}
|
||||
|
||||
libusb_free_device_list(list, 1);
|
||||
libusb_exit(ctx);
|
||||
clear_last_error();
|
||||
return MAG160C_OK;
|
||||
#endif
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,41 @@
|
||||
#ifndef MAG160C_CORE_DEVICE_HPP
|
||||
#define MAG160C_CORE_DEVICE_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
constexpr uint16_t MAG_IR_VENDOR_ID = 0x833c;
|
||||
constexpr uint16_t MAG_IR_PRODUCT_ID = 0x0001;
|
||||
|
||||
enum class EndpointType {
|
||||
Other,
|
||||
Bulk,
|
||||
Interrupt,
|
||||
Isochronous
|
||||
};
|
||||
|
||||
struct EndpointDescriptor {
|
||||
uint8_t address = 0;
|
||||
EndpointType type = EndpointType::Other;
|
||||
};
|
||||
|
||||
struct EndpointPair {
|
||||
uint8_t bulk_in = 0;
|
||||
uint8_t bulk_out = 0;
|
||||
};
|
||||
|
||||
struct DeviceInfo {
|
||||
mag160c_device_info_t c_info{};
|
||||
};
|
||||
|
||||
bool is_in_endpoint(uint8_t address);
|
||||
bool find_bulk_pair(const std::vector<EndpointDescriptor>& endpoints, EndpointPair* out);
|
||||
mag160c_error_t list_devices(std::vector<DeviceInfo>* out);
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,51 @@
|
||||
#include "core/error.hpp"
|
||||
|
||||
#include <utility>
|
||||
|
||||
namespace mag160c::core {
|
||||
namespace {
|
||||
|
||||
thread_local std::string g_last_error;
|
||||
|
||||
} // namespace
|
||||
|
||||
const char* error_name(mag160c_error_t code) noexcept {
|
||||
switch (code) {
|
||||
case MAG160C_OK:
|
||||
return "MAG160C_OK";
|
||||
case MAG160C_ERR_INVALID_ARGUMENT:
|
||||
return "MAG160C_ERR_INVALID_ARGUMENT";
|
||||
case MAG160C_ERR_NO_DEVICE:
|
||||
return "MAG160C_ERR_NO_DEVICE";
|
||||
case MAG160C_ERR_PERMISSION:
|
||||
return "MAG160C_ERR_PERMISSION";
|
||||
case MAG160C_ERR_USB:
|
||||
return "MAG160C_ERR_USB";
|
||||
case MAG160C_ERR_TIMEOUT:
|
||||
return "MAG160C_ERR_TIMEOUT";
|
||||
case MAG160C_ERR_CHECKSUM:
|
||||
return "MAG160C_ERR_CHECKSUM";
|
||||
case MAG160C_ERR_PROTOCOL_UNKNOWN:
|
||||
return "MAG160C_ERR_PROTOCOL_UNKNOWN";
|
||||
case MAG160C_ERR_UNSUPPORTED:
|
||||
return "MAG160C_ERR_UNSUPPORTED";
|
||||
case MAG160C_ERR_INTERNAL:
|
||||
return "MAG160C_ERR_INTERNAL";
|
||||
default:
|
||||
return "MAG160C_ERR_UNKNOWN_CODE";
|
||||
}
|
||||
}
|
||||
|
||||
const char* last_error() noexcept {
|
||||
return g_last_error.c_str();
|
||||
}
|
||||
|
||||
void clear_last_error() {
|
||||
g_last_error.clear();
|
||||
}
|
||||
|
||||
void set_last_error(std::string message) {
|
||||
g_last_error = std::move(message);
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,18 @@
|
||||
#ifndef MAG160C_CORE_ERROR_HPP
|
||||
#define MAG160C_CORE_ERROR_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
const char* error_name(mag160c_error_t code) noexcept;
|
||||
const char* last_error() noexcept;
|
||||
void clear_last_error();
|
||||
void set_last_error(std::string message);
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,65 @@
|
||||
#include "core/ir_device.hpp"
|
||||
|
||||
#include "core/error.hpp"
|
||||
|
||||
#include <cstring>
|
||||
|
||||
namespace mag160c::core {
|
||||
namespace {
|
||||
|
||||
void copy_literal(char* out, size_t out_size, const char* value) {
|
||||
if (out == nullptr || out_size == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
std::strncpy(out, value, out_size - 1);
|
||||
out[out_size - 1] = '\0';
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
IrDevice::IrDevice() {
|
||||
info_.width = 160;
|
||||
info_.height = 120;
|
||||
info_.output_width = 160;
|
||||
info_.output_height = 120;
|
||||
info_.max_fps = 25;
|
||||
info_.current_fps = 0;
|
||||
copy_literal(info_.name, sizeof(info_.name), "MAG160C");
|
||||
copy_literal(info_.type, sizeof(info_.type), "vendor-bulk-ir");
|
||||
}
|
||||
|
||||
const mag160c_ir_info_t& IrDevice::info() const noexcept {
|
||||
return info_;
|
||||
}
|
||||
|
||||
mag160c_error_t IrDevice::trigger_ffc() const {
|
||||
set_last_error(
|
||||
"IR FFC protocol recovered from libmagcore.so.2.1.1: write {u32 0x6bb6b672, u32 param} "
|
||||
"on bulk endpoint OUT 0x03, then read response on IN 0x82 (0x1000 max, 2000 ms timeout); "
|
||||
"live USB transport is not available in this build"
|
||||
);
|
||||
return MAG160C_ERR_UNSUPPORTED;
|
||||
}
|
||||
|
||||
mag160c_error_t IrDevice::read_raw_once(
|
||||
unsigned char* /*out_bytes*/,
|
||||
size_t /*out_capacity*/,
|
||||
size_t* out_size,
|
||||
int /*timeout_ms*/
|
||||
) const {
|
||||
if (out_size == nullptr) {
|
||||
set_last_error("mag160c_ir_read_raw_once: out_size must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
*out_size = 0;
|
||||
set_last_error(
|
||||
"IR raw read protocol recovered: start stream with {0x6bb6b673} on OUT 0x03, then read "
|
||||
"frame stream on IN 0x81 (markers 0x1bb1b11b/0x1bb1b11c, data at +0x1c, size 0x38+len); "
|
||||
"live USB transport is not available in this build"
|
||||
);
|
||||
return MAG160C_ERR_UNSUPPORTED;
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,27 @@
|
||||
#ifndef MAG160C_CORE_IR_DEVICE_HPP
|
||||
#define MAG160C_CORE_IR_DEVICE_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
class IrDevice {
|
||||
public:
|
||||
IrDevice();
|
||||
|
||||
const mag160c_ir_info_t& info() const noexcept;
|
||||
mag160c_error_t trigger_ffc() const;
|
||||
mag160c_error_t read_raw_once(
|
||||
unsigned char* out_bytes,
|
||||
size_t out_capacity,
|
||||
size_t* out_size,
|
||||
int timeout_ms
|
||||
) const;
|
||||
|
||||
private:
|
||||
mag160c_ir_info_t info_{};
|
||||
};
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,107 @@
|
||||
#include "core/ir_frame.hpp"
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
mag160c_error_t parse_ir_frame(
|
||||
const uint8_t* data,
|
||||
size_t size,
|
||||
IrFrameHeader* out_header,
|
||||
const uint16_t** out_pixels
|
||||
) {
|
||||
if (data == nullptr || out_header == nullptr || out_pixels == nullptr) {
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
if (size < MAG160C_IR_FRAME_DATA_OFFSET + 4) {
|
||||
return MAG160C_ERR_PROTOCOL_UNKNOWN;
|
||||
}
|
||||
|
||||
const uint32_t marker =
|
||||
static_cast<uint32_t>(data[0]) |
|
||||
(static_cast<uint32_t>(data[1]) << 8) |
|
||||
(static_cast<uint32_t>(data[2]) << 16) |
|
||||
(static_cast<uint32_t>(data[3]) << 24);
|
||||
if (marker != MAG160C_IR_FRAME_MARKER) {
|
||||
return MAG160C_ERR_PROTOCOL_UNKNOWN;
|
||||
}
|
||||
|
||||
auto rd32 = [&](size_t off) {
|
||||
return static_cast<uint32_t>(data[off]) |
|
||||
(static_cast<uint32_t>(data[off + 1]) << 8) |
|
||||
(static_cast<uint32_t>(data[off + 2]) << 16) |
|
||||
(static_cast<uint32_t>(data[off + 3]) << 24);
|
||||
};
|
||||
|
||||
IrFrameHeader h{};
|
||||
h.frame_counter = rd32(4);
|
||||
h.data_length = rd32(8);
|
||||
h.frame_type = rd32(12);
|
||||
h.period_shutter = rd32(16);
|
||||
|
||||
if (h.frame_type > 1) {
|
||||
return MAG160C_ERR_PROTOCOL_UNKNOWN;
|
||||
}
|
||||
if (size < MAG160C_IR_FRAME_OVERHEAD + h.data_length) {
|
||||
return MAG160C_ERR_PROTOCOL_UNKNOWN;
|
||||
}
|
||||
|
||||
const size_t trailing_offset = MAG160C_IR_FRAME_DATA_OFFSET + h.data_length;
|
||||
if (rd32(trailing_offset) != MAG160C_IR_FRAME_TRAILING_MARKER) {
|
||||
return MAG160C_ERR_PROTOCOL_UNKNOWN;
|
||||
}
|
||||
|
||||
h.marker = marker;
|
||||
*out_header = h;
|
||||
*out_pixels = reinterpret_cast<const uint16_t*>(data + MAG160C_IR_FRAME_DATA_OFFSET);
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
void calibrate_frame(
|
||||
const uint16_t* frame,
|
||||
const IrCalibrationTables& tables,
|
||||
uint16_t* out
|
||||
) {
|
||||
if (frame == nullptr || tables.coeff == nullptr || tables.thresholds == nullptr ||
|
||||
out == nullptr || tables.pixel_count == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
const uint32_t pixels = tables.pixel_count;
|
||||
const uint32_t bands = tables.band_count == 0 ? 1 : tables.band_count;
|
||||
const uint32_t search_bands = bands - 1;
|
||||
|
||||
for (uint32_t p = 0; p < pixels; ++p) {
|
||||
int32_t diff;
|
||||
if (tables.has_baseline && tables.baseline != nullptr) {
|
||||
diff = static_cast<int32_t>(static_cast<int16_t>(
|
||||
frame[p] - tables.baseline[p]));
|
||||
} else {
|
||||
diff = static_cast<int32_t>(frame[p]);
|
||||
}
|
||||
diff >>= 1;
|
||||
|
||||
uint32_t band = 0;
|
||||
if (search_bands > 0) {
|
||||
for (uint32_t i = 0; i < search_bands; ++i) {
|
||||
if (diff <= tables.thresholds[p * search_bands + i]) {
|
||||
band = i;
|
||||
break;
|
||||
}
|
||||
band = i + 1;
|
||||
}
|
||||
}
|
||||
|
||||
const size_t entry = (static_cast<size_t>(band) * pixels + p) * 2;
|
||||
const uint32_t coeff = tables.coeff[entry];
|
||||
const uint32_t offset = tables.coeff[entry + 1];
|
||||
int32_t v = static_cast<int32_t>(offset) + ((diff * static_cast<int32_t>(coeff)) >> 12);
|
||||
if (v < 0) {
|
||||
v = 0;
|
||||
}
|
||||
if (v > 0xffff) {
|
||||
v = 0xffff;
|
||||
}
|
||||
out[p] = static_cast<uint16_t>(v);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,57 @@
|
||||
#ifndef MAG160C_CORE_IR_FRAME_HPP
|
||||
#define MAG160C_CORE_IR_FRAME_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
struct IrFrameHeader {
|
||||
uint32_t marker;
|
||||
uint32_t frame_counter;
|
||||
uint32_t data_length;
|
||||
uint32_t frame_type;
|
||||
uint32_t period_shutter;
|
||||
};
|
||||
|
||||
struct IrCalibrationTables {
|
||||
const int16_t* thresholds; /* per-pixel band thresholds, [bands] per pixel */
|
||||
const uint16_t* coeff; /* per-pixel per-band {coeff, offset} pairs, 2*bands per pixel */
|
||||
uint32_t pixel_count; /* 160*120 = 19200 */
|
||||
uint32_t band_count; /* thresholds per pixel (band_count-1 searched) */
|
||||
const uint16_t* baseline; /* optional baseline frame (may be null) */
|
||||
bool has_baseline;
|
||||
};
|
||||
|
||||
/*
|
||||
* Parse a frame stream chunk recovered from libmagcore.so.2.1.1:
|
||||
* marker 0x1bb1b11b @0, frame counter @4, data length @8, type @0xc, shutter @0x10,
|
||||
* pixel data @0x1c, trailing marker 0x1bb1b11c @0x1c+data_length, total 0x38+data_length.
|
||||
* Returns MAG160C_OK when a complete, valid frame is present.
|
||||
*/
|
||||
mag160c_error_t parse_ir_frame(
|
||||
const uint8_t* data,
|
||||
size_t size,
|
||||
IrFrameHeader* out_header,
|
||||
const uint16_t** out_pixels
|
||||
);
|
||||
|
||||
/*
|
||||
* Recovered CFunctions::Calibration piecewise-linear map (libcoresdk.so 0x6a41c):
|
||||
* diff = (int16)(frame[p] - baseline[p]) >> 1
|
||||
* band = first index i where diff <= thresholds[p*bands+i] (linear scan, max bands-1)
|
||||
* v = coeff[(band*pixels + p)*2 + 1] + ((diff * coeff[(band*pixels + p)*2]) >> 12)
|
||||
* out[p] = clamp(v, 0, 0xffff)
|
||||
* When no baseline is set, diff = frame[p] >> 1.
|
||||
*/
|
||||
void calibrate_frame(
|
||||
const uint16_t* frame,
|
||||
const IrCalibrationTables& tables,
|
||||
uint16_t* out
|
||||
);
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,70 @@
|
||||
#include "core/tcm_device.hpp"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
namespace mag160c::core {
|
||||
namespace {
|
||||
|
||||
constexpr uint8_t MAIN_TCM = 0x02;
|
||||
constexpr uint8_t SUB_ROTATE = 0x77;
|
||||
constexpr uint8_t SUB_LIGHT_STEADY = 0x31;
|
||||
constexpr uint8_t SUB_LIGHT_BLINK = 0x32;
|
||||
constexpr uint8_t SUB_LIGHT_BREATH = 0x33;
|
||||
|
||||
uint8_t light_subcommand(mag160c_tcm_light_mode_t mode) {
|
||||
switch (mode) {
|
||||
case MAG160C_TCM_LIGHT_STEADY:
|
||||
return SUB_LIGHT_STEADY;
|
||||
case MAG160C_TCM_LIGHT_BLINK:
|
||||
return SUB_LIGHT_BLINK;
|
||||
case MAG160C_TCM_LIGHT_BREATH:
|
||||
return SUB_LIGHT_BREATH;
|
||||
}
|
||||
return SUB_LIGHT_STEADY;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> light_payload(mag160c_tcm_light_color_t color) {
|
||||
switch (color) {
|
||||
case MAG160C_TCM_LIGHT_OFF:
|
||||
return {0x00, 0x00, 0x00, 0x00};
|
||||
case MAG160C_TCM_LIGHT_RED:
|
||||
return {0x01, 0xff, 0x00, 0x00};
|
||||
case MAG160C_TCM_LIGHT_GREEN:
|
||||
return {0x01, 0x00, 0xff, 0x00};
|
||||
case MAG160C_TCM_LIGHT_BLUE:
|
||||
return {0x01, 0x00, 0x00, 0xff};
|
||||
case MAG160C_TCM_LIGHT_YELLOW:
|
||||
return {0x01, 0xff, 0xff, 0x00};
|
||||
}
|
||||
return {0x00, 0x00, 0x00, 0x00};
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
TcmCommandBuilder::TcmCommandBuilder() : frame_id_(1) {}
|
||||
|
||||
uint16_t TcmCommandBuilder::next_frame_id() {
|
||||
const uint16_t current = frame_id_;
|
||||
++frame_id_;
|
||||
if (frame_id_ >= 0x8000) {
|
||||
frame_id_ = 1;
|
||||
}
|
||||
return current;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> TcmCommandBuilder::build_rotate_frame(int angle) {
|
||||
angle = std::clamp(angle, -128, 128);
|
||||
|
||||
const uint8_t direction = angle < 0 ? 0x01 : 0x00;
|
||||
const uint8_t magnitude = static_cast<uint8_t>(angle < 0 ? -angle : angle);
|
||||
return encode_tcm_frame(MAIN_TCM, SUB_ROTATE, next_frame_id(), {direction, magnitude});
|
||||
}
|
||||
|
||||
std::vector<uint8_t> TcmCommandBuilder::build_light_frame(
|
||||
mag160c_tcm_light_color_t color,
|
||||
mag160c_tcm_light_mode_t mode
|
||||
) {
|
||||
return encode_tcm_frame(MAIN_TCM, light_subcommand(mode), next_frame_id(), light_payload(color));
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,30 @@
|
||||
#ifndef MAG160C_CORE_TCM_DEVICE_HPP
|
||||
#define MAG160C_CORE_TCM_DEVICE_HPP
|
||||
|
||||
#include "core/tcm_frame.hpp"
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
class TcmCommandBuilder {
|
||||
public:
|
||||
TcmCommandBuilder();
|
||||
|
||||
std::vector<uint8_t> build_rotate_frame(int angle);
|
||||
std::vector<uint8_t> build_light_frame(
|
||||
mag160c_tcm_light_color_t color,
|
||||
mag160c_tcm_light_mode_t mode
|
||||
);
|
||||
|
||||
private:
|
||||
uint16_t next_frame_id();
|
||||
|
||||
uint16_t frame_id_;
|
||||
};
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,101 @@
|
||||
#include "core/tcm_frame.hpp"
|
||||
|
||||
#include "core/error.hpp"
|
||||
|
||||
#include <stdexcept>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
namespace {
|
||||
|
||||
constexpr size_t MAX_TCM_PAYLOAD_SIZE = 0xffffU - 5U;
|
||||
|
||||
} // namespace
|
||||
|
||||
uint8_t checksum(const uint8_t* data, size_t begin, size_t end) {
|
||||
if (data == nullptr || begin > end) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t sum = 0;
|
||||
for (size_t i = begin; i < end; ++i) {
|
||||
sum = static_cast<uint8_t>(sum + data[i]);
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> encode_tcm_frame(
|
||||
uint8_t main_cmd,
|
||||
uint8_t sub_cmd,
|
||||
uint16_t frame_id,
|
||||
const std::vector<uint8_t>& payload
|
||||
) {
|
||||
if (payload.size() > MAX_TCM_PAYLOAD_SIZE) {
|
||||
throw std::length_error("TCM payload is too large");
|
||||
}
|
||||
|
||||
const uint16_t body_length = static_cast<uint16_t>(payload.size() + 5U);
|
||||
std::vector<uint8_t> out(static_cast<size_t>(body_length) + 4U, 0);
|
||||
|
||||
out[0] = 0x7e;
|
||||
out[1] = static_cast<uint8_t>((body_length >> 8) & 0xff);
|
||||
out[2] = static_cast<uint8_t>(body_length & 0xff);
|
||||
out[3] = checksum(out.data(), 0, 3);
|
||||
|
||||
out[4] = main_cmd;
|
||||
out[5] = sub_cmd;
|
||||
out[6] = static_cast<uint8_t>((frame_id >> 8) & 0xff);
|
||||
out[7] = static_cast<uint8_t>(frame_id & 0xff);
|
||||
|
||||
for (size_t i = 0; i < payload.size(); ++i) {
|
||||
out[8 + i] = payload[i];
|
||||
}
|
||||
|
||||
out[out.size() - 1] = checksum(out.data(), 4, out.size() - 1);
|
||||
return out;
|
||||
}
|
||||
|
||||
mag160c_error_t decode_tcm_frame(const uint8_t* data, size_t size, TcmFrame* out) {
|
||||
if (data == nullptr || out == nullptr) {
|
||||
set_last_error("decode_tcm_frame: data and out must not be null");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
if (size < 9) {
|
||||
set_last_error("decode_tcm_frame: packet shorter than minimum TCM frame");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
if (data[0] != 0x7e) {
|
||||
set_last_error("decode_tcm_frame: missing 0x7e header byte");
|
||||
return MAG160C_ERR_CHECKSUM;
|
||||
}
|
||||
|
||||
if (data[3] != checksum(data, 0, 3)) {
|
||||
set_last_error("decode_tcm_frame: invalid header checksum");
|
||||
return MAG160C_ERR_CHECKSUM;
|
||||
}
|
||||
|
||||
const uint16_t body_length =
|
||||
static_cast<uint16_t>((static_cast<uint16_t>(data[1]) << 8) | data[2]);
|
||||
const size_t expected_size = static_cast<size_t>(body_length) + 4U;
|
||||
if (size != expected_size) {
|
||||
set_last_error("decode_tcm_frame: packet size does not match encoded body length");
|
||||
return MAG160C_ERR_INVALID_ARGUMENT;
|
||||
}
|
||||
|
||||
if (data[size - 1] != checksum(data, 4, size - 1)) {
|
||||
set_last_error("decode_tcm_frame: invalid body checksum");
|
||||
return MAG160C_ERR_CHECKSUM;
|
||||
}
|
||||
|
||||
out->main_cmd = data[4];
|
||||
out->sub_cmd = data[5];
|
||||
out->frame_id = static_cast<uint16_t>((static_cast<uint16_t>(data[6]) << 8) | data[7]);
|
||||
out->payload.assign(data + 8, data + size - 1);
|
||||
|
||||
clear_last_error();
|
||||
return MAG160C_OK;
|
||||
}
|
||||
|
||||
} // namespace mag160c::core
|
||||
@@ -0,0 +1,30 @@
|
||||
#ifndef MAG160C_CORE_TCM_FRAME_HPP
|
||||
#define MAG160C_CORE_TCM_FRAME_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
struct TcmFrame {
|
||||
uint8_t main_cmd = 0;
|
||||
uint8_t sub_cmd = 0;
|
||||
uint16_t frame_id = 0;
|
||||
std::vector<uint8_t> payload;
|
||||
};
|
||||
|
||||
uint8_t checksum(const uint8_t* data, size_t begin, size_t end);
|
||||
std::vector<uint8_t> encode_tcm_frame(
|
||||
uint8_t main_cmd,
|
||||
uint8_t sub_cmd,
|
||||
uint16_t frame_id,
|
||||
const std::vector<uint8_t>& payload
|
||||
);
|
||||
mag160c_error_t decode_tcm_frame(const uint8_t* data, size_t size, TcmFrame* out);
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,20 @@
|
||||
#ifndef MAG160C_CORE_TRANSPORT_HPP
|
||||
#define MAG160C_CORE_TRANSPORT_HPP
|
||||
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace mag160c::core {
|
||||
|
||||
class Transport {
|
||||
public:
|
||||
virtual ~Transport() = default;
|
||||
virtual mag160c_error_t write(const std::vector<uint8_t>& bytes) = 0;
|
||||
virtual mag160c_error_t read(std::vector<uint8_t>* out, int timeout_ms) = 0;
|
||||
};
|
||||
|
||||
} // namespace mag160c::core
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,106 @@
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
int main() {
|
||||
assert(std::strcmp(mag160c_error_name(MAG160C_OK), "MAG160C_OK") == 0);
|
||||
assert(std::strcmp(mag160c_error_name(MAG160C_ERR_PROTOCOL_UNKNOWN),
|
||||
"MAG160C_ERR_PROTOCOL_UNKNOWN") == 0);
|
||||
assert(std::strcmp(mag160c_error_name(static_cast<mag160c_error_t>(9999)),
|
||||
"MAG160C_ERR_UNKNOWN_CODE") == 0);
|
||||
|
||||
assert(mag160c_init(nullptr) == MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(std::strstr(mag160c_last_error(), "out_ctx") != nullptr);
|
||||
|
||||
mag160c_context_t* ctx = nullptr;
|
||||
assert(mag160c_init(&ctx) == MAG160C_OK);
|
||||
assert(ctx != nullptr);
|
||||
assert(std::strcmp(mag160c_last_error(), "") == 0);
|
||||
|
||||
mag160c_shutdown(ctx);
|
||||
mag160c_shutdown(nullptr);
|
||||
|
||||
assert(mag160c_list_devices(nullptr, nullptr, nullptr) == MAG160C_ERR_INVALID_ARGUMENT);
|
||||
|
||||
ctx = nullptr;
|
||||
assert(mag160c_init(&ctx) == MAG160C_OK);
|
||||
mag160c_device_info_t* devices = reinterpret_cast<mag160c_device_info_t*>(0x1);
|
||||
size_t device_count = 42;
|
||||
#if MAG160C_HAS_LIBUSB
|
||||
assert(mag160c_list_devices(ctx, &devices, &device_count) == MAG160C_OK);
|
||||
mag160c_free_device_list(devices);
|
||||
#else
|
||||
assert(mag160c_list_devices(ctx, &devices, &device_count) == MAG160C_ERR_UNSUPPORTED);
|
||||
assert(devices == nullptr);
|
||||
assert(device_count == 0);
|
||||
assert(std::strstr(mag160c_last_error(), "libusb") != nullptr);
|
||||
mag160c_free_device_list(devices);
|
||||
#endif
|
||||
mag160c_shutdown(ctx);
|
||||
|
||||
const uint8_t payload[] = {0x00, 0x05};
|
||||
const uint8_t expected[] = {
|
||||
0x7e, 0x00, 0x07, 0x85, 0x02, 0x77, 0x00, 0x01, 0x00, 0x05, 0x7f};
|
||||
|
||||
size_t encoded_size = 0;
|
||||
assert(mag160c_tcm_encode_frame(0x02, 0x77, 0x0001, payload, sizeof(payload), nullptr, 0,
|
||||
&encoded_size) == MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(encoded_size == sizeof(expected));
|
||||
|
||||
uint8_t encoded[sizeof(expected)] = {};
|
||||
assert(mag160c_tcm_encode_frame(0x02, 0x77, 0x0001, payload, sizeof(payload), encoded,
|
||||
sizeof(encoded), &encoded_size) == MAG160C_OK);
|
||||
assert(encoded_size == sizeof(expected));
|
||||
assert(std::memcmp(encoded, expected, sizeof(expected)) == 0);
|
||||
|
||||
uint8_t main_cmd = 0;
|
||||
uint8_t sub_cmd = 0;
|
||||
uint16_t frame_id = 0;
|
||||
size_t payload_size = 0;
|
||||
assert(mag160c_tcm_decode_header(encoded, encoded_size, &main_cmd, &sub_cmd, &frame_id,
|
||||
&payload_size) == MAG160C_OK);
|
||||
assert(main_cmd == 0x02);
|
||||
assert(sub_cmd == 0x77);
|
||||
assert(frame_id == 0x0001);
|
||||
assert(payload_size == sizeof(payload));
|
||||
|
||||
size_t rotate_size = 0;
|
||||
assert(mag160c_tcm_build_rotate_frame(5, nullptr, 0, &rotate_size) ==
|
||||
MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(rotate_size == sizeof(expected));
|
||||
|
||||
uint8_t rotate_frame[sizeof(expected)] = {};
|
||||
assert(mag160c_tcm_build_rotate_frame(5, rotate_frame, sizeof(rotate_frame), &rotate_size) ==
|
||||
MAG160C_OK);
|
||||
assert(rotate_size == sizeof(expected));
|
||||
assert(std::memcmp(rotate_frame, expected, sizeof(expected)) == 0);
|
||||
|
||||
const uint8_t expected_green_blink[] = {
|
||||
0x7e, 0x00, 0x09, 0x87, 0x02, 0x32, 0x00, 0x01, 0x01, 0x00, 0xff, 0x00, 0x35};
|
||||
size_t light_size = 0;
|
||||
uint8_t light_frame[sizeof(expected_green_blink)] = {};
|
||||
assert(mag160c_tcm_build_light_frame(MAG160C_TCM_LIGHT_GREEN, MAG160C_TCM_LIGHT_BLINK,
|
||||
light_frame, sizeof(light_frame), &light_size) ==
|
||||
MAG160C_OK);
|
||||
assert(light_size == sizeof(expected_green_blink));
|
||||
assert(std::memcmp(light_frame, expected_green_blink, sizeof(expected_green_blink)) == 0);
|
||||
|
||||
assert(mag160c_tcm_build_light_frame(static_cast<mag160c_tcm_light_color_t>(99),
|
||||
MAG160C_TCM_LIGHT_BLINK, light_frame,
|
||||
sizeof(light_frame), &light_size) ==
|
||||
MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(std::strstr(mag160c_last_error(), "color") != nullptr);
|
||||
|
||||
const std::vector<uint8_t> oversized_payload(65531U, 0xaa);
|
||||
encoded_size = 123U;
|
||||
assert(mag160c_tcm_encode_frame(0x02, 0x77, 0x0001, oversized_payload.data(),
|
||||
oversized_payload.size(), nullptr, 0, &encoded_size) ==
|
||||
MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(encoded_size == 0);
|
||||
assert(std::strstr(mag160c_last_error(), "too large") != nullptr);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
#include "core/device.hpp"
|
||||
|
||||
#include <cassert>
|
||||
#include <vector>
|
||||
|
||||
int main() {
|
||||
using mag160c::core::EndpointDescriptor;
|
||||
using mag160c::core::EndpointPair;
|
||||
using mag160c::core::EndpointType;
|
||||
|
||||
const std::vector<EndpointDescriptor> endpoints = {
|
||||
{0x01, EndpointType::Interrupt},
|
||||
{0x82, EndpointType::Bulk},
|
||||
{0x03, EndpointType::Bulk},
|
||||
};
|
||||
|
||||
EndpointPair pair{};
|
||||
assert(mag160c::core::find_bulk_pair(endpoints, &pair));
|
||||
assert(pair.bulk_in == 0x82);
|
||||
assert(pair.bulk_out == 0x03);
|
||||
|
||||
const std::vector<EndpointDescriptor> missing_out = {
|
||||
{0x82, EndpointType::Bulk},
|
||||
};
|
||||
|
||||
pair = {};
|
||||
assert(!mag160c::core::find_bulk_pair(missing_out, &pair));
|
||||
assert(!mag160c::core::find_bulk_pair(endpoints, nullptr));
|
||||
|
||||
assert(mag160c::core::is_in_endpoint(0x82));
|
||||
assert(!mag160c::core::is_in_endpoint(0x03));
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,180 @@
|
||||
#include "core/ir_frame.hpp"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace {
|
||||
|
||||
void test_parse_valid_frame() {
|
||||
// 2x1 frame: marker + counter + len + type + shutter + 2 pixels + trailing marker + tail
|
||||
std::vector<uint8_t> data(0x38 + 4, 0xaa);
|
||||
auto w32 = [&](size_t off, uint32_t v) {
|
||||
data[off] = static_cast<uint8_t>(v);
|
||||
data[off + 1] = static_cast<uint8_t>(v >> 8);
|
||||
data[off + 2] = static_cast<uint8_t>(v >> 16);
|
||||
data[off + 3] = static_cast<uint8_t>(v >> 24);
|
||||
};
|
||||
w32(0x00, 0x1bb1b11b);
|
||||
w32(0x04, 42);
|
||||
w32(0x08, 4); // data_length
|
||||
w32(0x0c, 1); // raw frame type
|
||||
w32(0x10, 1000); // shutter
|
||||
data[0x1c] = 0x34;
|
||||
data[0x1d] = 0x12;
|
||||
data[0x1e] = 0x78;
|
||||
data[0x1f] = 0x56;
|
||||
w32(0x1c + 4, 0x1bb1b11c);
|
||||
|
||||
mag160c::core::IrFrameHeader h{};
|
||||
const uint16_t* pixels = nullptr;
|
||||
assert(mag160c::core::parse_ir_frame(data.data(), data.size(), &h, &pixels) == MAG160C_OK);
|
||||
assert(h.marker == 0x1bb1b11b);
|
||||
assert(h.frame_counter == 42);
|
||||
assert(h.data_length == 4);
|
||||
assert(h.frame_type == 1);
|
||||
assert(h.period_shutter == 1000);
|
||||
assert(pixels[0] == 0x1234);
|
||||
assert(pixels[1] == 0x5678);
|
||||
}
|
||||
|
||||
void test_parse_rejects_bad_marker() {
|
||||
std::vector<uint8_t> data(0x40, 0);
|
||||
data[0] = 0xab;
|
||||
|
||||
mag160c::core::IrFrameHeader h{};
|
||||
const uint16_t* pixels = nullptr;
|
||||
assert(mag160c::core::parse_ir_frame(data.data(), data.size(), &h, &pixels) ==
|
||||
MAG160C_ERR_PROTOCOL_UNKNOWN);
|
||||
}
|
||||
|
||||
void test_parse_rejects_bad_type_and_trailer() {
|
||||
std::vector<uint8_t> data(0x40, 0);
|
||||
auto w32 = [&](size_t off, uint32_t v) {
|
||||
data[off] = static_cast<uint8_t>(v);
|
||||
data[off + 1] = static_cast<uint8_t>(v >> 8);
|
||||
data[off + 2] = static_cast<uint8_t>(v >> 16);
|
||||
data[off + 3] = static_cast<uint8_t>(v >> 24);
|
||||
};
|
||||
w32(0x00, 0x1bb1b11b);
|
||||
w32(0x08, 4);
|
||||
w32(0x0c, 2); // invalid type
|
||||
mag160c::core::IrFrameHeader h{};
|
||||
const uint16_t* pixels = nullptr;
|
||||
assert(mag160c::core::parse_ir_frame(data.data(), data.size(), &h, &pixels) ==
|
||||
MAG160C_ERR_PROTOCOL_UNKNOWN);
|
||||
|
||||
w32(0x0c, 0);
|
||||
w32(0x1c + 4, 0xdeadbeef); // bad trailing marker
|
||||
assert(mag160c::core::parse_ir_frame(data.data(), data.size(), &h, &pixels) ==
|
||||
MAG160C_ERR_PROTOCOL_UNKNOWN);
|
||||
}
|
||||
|
||||
void test_calibrate_flat_band() {
|
||||
// 4 pixels, 2 bands (1 search threshold), threshold = {5} per pixel
|
||||
const std::vector<uint16_t> frame{1000, 2000, 3000, 4000};
|
||||
const std::vector<int16_t> thresholds{5, 5, 5, 5};
|
||||
// per band per pixel {coeff, offset}: band0 = {0, 100}, band1 = {0, 200}
|
||||
const std::vector<uint16_t> coeff{
|
||||
0, 100, 0, 100, 0, 100, 0, 100,
|
||||
0, 200, 0, 200, 0, 200, 0, 200,
|
||||
};
|
||||
|
||||
mag160c::core::IrCalibrationTables tables{};
|
||||
tables.thresholds = thresholds.data();
|
||||
tables.coeff = coeff.data();
|
||||
tables.pixel_count = 4;
|
||||
tables.band_count = 2;
|
||||
tables.baseline = nullptr;
|
||||
tables.has_baseline = false;
|
||||
|
||||
std::vector<uint16_t> out(4);
|
||||
mag160c::core::calibrate_frame(frame.data(), tables, out.data());
|
||||
|
||||
// diff = frame >> 1 = 500..2000, all > 5 → band 1 → offset 200
|
||||
for (auto v : out) {
|
||||
assert(v == 200);
|
||||
}
|
||||
}
|
||||
|
||||
void test_calibrate_interpolation_and_clamp() {
|
||||
// 2 pixels, 2 bands, threshold = {500}
|
||||
const std::vector<uint16_t> frame{2000, 0x8000};
|
||||
const std::vector<uint16_t> baseline{0, 0x100};
|
||||
const std::vector<int16_t> thresholds{500, 500};
|
||||
// band0: {coeff=0x1000 (4096), offset=1000}; band1: {coeff=0x100, offset=2000}
|
||||
const std::vector<uint16_t> coeff{
|
||||
0x1000, 1000, 0x1000, 1000,
|
||||
0x0100, 2000, 0x0100, 2000,
|
||||
};
|
||||
|
||||
mag160c::core::IrCalibrationTables tables{};
|
||||
tables.thresholds = thresholds.data();
|
||||
tables.coeff = coeff.data();
|
||||
tables.pixel_count = 2;
|
||||
tables.band_count = 2;
|
||||
tables.baseline = baseline.data();
|
||||
tables.has_baseline = true;
|
||||
|
||||
std::vector<uint16_t> out(2);
|
||||
mag160c::core::calibrate_frame(frame.data(), tables, out.data());
|
||||
|
||||
// pixel 0: diff = (2000-0)>>1 = 1000 > 500 → band1: 2000 + (1000*0x100 >> 12) = 2000 + 62
|
||||
assert(out[0] == 2062);
|
||||
// pixel 1: diff = (0x8000-0x100)>>1 = 0x3f80 (16256) > 500 → band1: 2000 + (16256*256 >> 12)
|
||||
// = 2000 + 1016 = 3016
|
||||
assert(out[1] == 3016);
|
||||
}
|
||||
|
||||
void test_calibrate_negative_diff_zero() {
|
||||
const std::vector<uint16_t> frame{100};
|
||||
const std::vector<uint16_t> baseline{200};
|
||||
const std::vector<int16_t> thresholds{5};
|
||||
const std::vector<uint16_t> coeff{0x1000, 1000, 0x1000, 1000};
|
||||
|
||||
mag160c::core::IrCalibrationTables tables{};
|
||||
tables.thresholds = thresholds.data();
|
||||
tables.coeff = coeff.data();
|
||||
tables.pixel_count = 1;
|
||||
tables.band_count = 2;
|
||||
tables.baseline = baseline.data();
|
||||
tables.has_baseline = true;
|
||||
|
||||
std::vector<uint16_t> out(1);
|
||||
mag160c::core::calibrate_frame(frame.data(), tables, out.data());
|
||||
|
||||
// diff = (int16)(100-200) >> 1 = -50; negative coeff*offset path clamps to >= 0:
|
||||
// band0 (diff <= 5): 1000 + (-50 * 4096 >> 12) = 1000 - 50 = 950
|
||||
assert(out[0] == 950);
|
||||
}
|
||||
|
||||
void test_parse_rejects_truncated_frame() {
|
||||
std::vector<uint8_t> data(0x38 + 4, 0);
|
||||
auto w32 = [&](size_t off, uint32_t v) {
|
||||
data[off] = static_cast<uint8_t>(v);
|
||||
data[off + 1] = static_cast<uint8_t>(v >> 8);
|
||||
data[off + 2] = static_cast<uint8_t>(v >> 16);
|
||||
data[off + 3] = static_cast<uint8_t>(v >> 24);
|
||||
};
|
||||
w32(0x00, 0x1bb1b11b);
|
||||
w32(0x08, 4);
|
||||
|
||||
mag160c::core::IrFrameHeader h{};
|
||||
const uint16_t* pixels = nullptr;
|
||||
data.resize(data.size() - 1); // truncate
|
||||
assert(mag160c::core::parse_ir_frame(data.data(), data.size(), &h, &pixels) ==
|
||||
MAG160C_ERR_PROTOCOL_UNKNOWN);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int main() {
|
||||
test_parse_valid_frame();
|
||||
test_parse_rejects_bad_marker();
|
||||
test_parse_rejects_bad_type_and_trailer();
|
||||
test_parse_rejects_truncated_frame();
|
||||
test_calibrate_flat_band();
|
||||
test_calibrate_interpolation_and_clamp();
|
||||
test_calibrate_negative_diff_zero();
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,46 @@
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
|
||||
int main() {
|
||||
assert(mag160c_ir_open_first(nullptr, nullptr) == MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(std::strstr(mag160c_last_error(), "ctx") != nullptr);
|
||||
|
||||
mag160c_ir_close(nullptr);
|
||||
|
||||
assert(mag160c_ir_get_info(nullptr, nullptr) == MAG160C_ERR_INVALID_ARGUMENT);
|
||||
assert(std::strstr(mag160c_last_error(), "device") != nullptr);
|
||||
|
||||
mag160c_context_t* ctx = nullptr;
|
||||
assert(mag160c_init(&ctx) == MAG160C_OK);
|
||||
|
||||
mag160c_ir_device_t* ir = nullptr;
|
||||
assert(mag160c_ir_open_first(ctx, &ir) == MAG160C_OK);
|
||||
assert(ir != nullptr);
|
||||
|
||||
mag160c_ir_info_t info{};
|
||||
assert(mag160c_ir_get_info(ir, &info) == MAG160C_OK);
|
||||
assert(info.width == 160);
|
||||
assert(info.height == 120);
|
||||
assert(info.output_width == 160);
|
||||
assert(info.output_height == 120);
|
||||
assert(info.max_fps == 25);
|
||||
assert(info.current_fps == 0);
|
||||
assert(std::strcmp(info.name, "MAG160C") == 0);
|
||||
assert(std::strcmp(info.type, "vendor-bulk-ir") == 0);
|
||||
|
||||
assert(mag160c_ir_trigger_ffc(ir) == MAG160C_ERR_UNSUPPORTED);
|
||||
assert(std::strstr(mag160c_last_error(), "0x6bb6b672") != nullptr);
|
||||
assert(std::strstr(mag160c_last_error(), "0x03") != nullptr);
|
||||
|
||||
size_t raw_size = 123;
|
||||
assert(mag160c_ir_read_raw_once(ir, nullptr, 0, &raw_size, 100) ==
|
||||
MAG160C_ERR_UNSUPPORTED);
|
||||
assert(raw_size == 0);
|
||||
assert(std::strstr(mag160c_last_error(), "0x1bb1b11b") != nullptr);
|
||||
|
||||
mag160c_ir_close(ir);
|
||||
mag160c_shutdown(ctx);
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,49 @@
|
||||
#include "core/tcm_device.hpp"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
namespace {
|
||||
|
||||
void test_rotate_positive_payload() {
|
||||
mag160c::core::TcmCommandBuilder builder;
|
||||
const std::vector<uint8_t> expected{
|
||||
0x7e, 0x00, 0x07, 0x85, 0x02, 0x77, 0x00, 0x01, 0x00, 0x05, 0x7f};
|
||||
|
||||
const auto encoded = builder.build_rotate_frame(5);
|
||||
|
||||
assert(encoded == expected);
|
||||
}
|
||||
|
||||
void test_rotate_negative_payload_and_frame_increment() {
|
||||
mag160c::core::TcmCommandBuilder builder;
|
||||
(void)builder.build_rotate_frame(5);
|
||||
|
||||
const std::vector<uint8_t> expected{
|
||||
0x7e, 0x00, 0x07, 0x85, 0x02, 0x77, 0x00, 0x02, 0x01, 0x03, 0x7f};
|
||||
|
||||
const auto encoded = builder.build_rotate_frame(-3);
|
||||
|
||||
assert(encoded == expected);
|
||||
}
|
||||
|
||||
void test_green_blink_payload() {
|
||||
mag160c::core::TcmCommandBuilder builder;
|
||||
const std::vector<uint8_t> expected{
|
||||
0x7e, 0x00, 0x09, 0x87, 0x02, 0x32, 0x00, 0x01, 0x01, 0x00, 0xff, 0x00, 0x35};
|
||||
|
||||
const auto encoded = builder.build_light_frame(MAG160C_TCM_LIGHT_GREEN, MAG160C_TCM_LIGHT_BLINK);
|
||||
|
||||
assert(encoded == expected);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int main() {
|
||||
test_rotate_positive_payload();
|
||||
test_rotate_negative_payload_and_frame_increment();
|
||||
test_green_blink_payload();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,64 @@
|
||||
#include "core/tcm_frame.hpp"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdint>
|
||||
#include <stdexcept>
|
||||
#include <vector>
|
||||
|
||||
namespace {
|
||||
|
||||
void test_rotate_frame_encoding() {
|
||||
const std::vector<uint8_t> payload{0x00, 0x05};
|
||||
const std::vector<uint8_t> expected{
|
||||
0x7e, 0x00, 0x07, 0x85, 0x02, 0x77, 0x00, 0x01, 0x00, 0x05, 0x7f};
|
||||
|
||||
const auto encoded = mag160c::core::encode_tcm_frame(0x02, 0x77, 0x0001, payload);
|
||||
|
||||
assert(encoded == expected);
|
||||
}
|
||||
|
||||
void test_decode_rejects_bad_header_checksum() {
|
||||
auto encoded = mag160c::core::encode_tcm_frame(0x02, 0x77, 0x0001, {0x00, 0x05});
|
||||
encoded[3] ^= 0xff;
|
||||
|
||||
mag160c::core::TcmFrame decoded;
|
||||
assert(mag160c::core::decode_tcm_frame(encoded.data(), encoded.size(), &decoded) ==
|
||||
MAG160C_ERR_CHECKSUM);
|
||||
}
|
||||
|
||||
void test_decode_roundtrip() {
|
||||
const std::vector<uint8_t> payload{0x10, 0x20, 0x30};
|
||||
const auto encoded = mag160c::core::encode_tcm_frame(0xa1, 0xb2, 0xc3d4, payload);
|
||||
|
||||
mag160c::core::TcmFrame decoded;
|
||||
assert(mag160c::core::decode_tcm_frame(encoded.data(), encoded.size(), &decoded) == MAG160C_OK);
|
||||
|
||||
assert(decoded.main_cmd == 0xa1);
|
||||
assert(decoded.sub_cmd == 0xb2);
|
||||
assert(decoded.frame_id == 0xc3d4);
|
||||
assert(decoded.payload == payload);
|
||||
}
|
||||
|
||||
void test_encode_rejects_oversized_payload() {
|
||||
const std::vector<uint8_t> payload(65531U, 0xaa);
|
||||
|
||||
bool threw_length_error = false;
|
||||
try {
|
||||
(void)mag160c::core::encode_tcm_frame(0x02, 0x77, 0x0001, payload);
|
||||
} catch (const std::length_error&) {
|
||||
threw_length_error = true;
|
||||
}
|
||||
|
||||
assert(threw_length_error);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int main() {
|
||||
test_rotate_frame_encoding();
|
||||
test_decode_rejects_bad_header_checksum();
|
||||
test_decode_roundtrip();
|
||||
test_encode_rejects_oversized_payload();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
#include "mag160c/mag160c.h"
|
||||
|
||||
#include <cctype>
|
||||
#include <cstdlib>
|
||||
#include <iomanip>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
|
||||
namespace {
|
||||
|
||||
void print_usage() {
|
||||
std::cout << "usage:\n"
|
||||
<< " mag160c-cli probe\n"
|
||||
<< " mag160c-cli tcm-rotate --dry-run ANGLE\n"
|
||||
<< " mag160c-cli tcm-light --dry-run COLOR MODE\n"
|
||||
<< " mag160c-cli ir-info\n";
|
||||
}
|
||||
|
||||
std::string lower(std::string value) {
|
||||
for (char& ch : value) {
|
||||
ch = static_cast<char>(std::tolower(static_cast<unsigned char>(ch)));
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
void print_hex(const uint8_t* bytes, size_t size) {
|
||||
std::ios old_state(nullptr);
|
||||
old_state.copyfmt(std::cout);
|
||||
|
||||
for (size_t i = 0; i < size; ++i) {
|
||||
if (i != 0) {
|
||||
std::cout << ' ';
|
||||
}
|
||||
std::cout << std::hex << std::setfill('0') << std::setw(2)
|
||||
<< static_cast<unsigned int>(bytes[i]);
|
||||
}
|
||||
std::cout << '\n';
|
||||
std::cout.copyfmt(old_state);
|
||||
}
|
||||
|
||||
int parse_int(const char* text, int* out) {
|
||||
if (text == nullptr || out == nullptr) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
char* end = nullptr;
|
||||
const long value = std::strtol(text, &end, 10);
|
||||
if (end == text || *end != '\0') {
|
||||
return 0;
|
||||
}
|
||||
|
||||
*out = static_cast<int>(value);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int command_tcm_rotate(int argc, char** argv) {
|
||||
if (argc != 4 || std::string(argv[2]) != "--dry-run") {
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
int angle = 0;
|
||||
if (!parse_int(argv[3], &angle)) {
|
||||
std::cerr << "invalid angle\n";
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint8_t frame[64] = {};
|
||||
size_t frame_size = 0;
|
||||
const mag160c_error_t rc = mag160c_tcm_build_rotate_frame(
|
||||
angle, frame, sizeof(frame), &frame_size
|
||||
);
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
return 2;
|
||||
}
|
||||
|
||||
print_hex(frame, frame_size);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int parse_color(const std::string& value, mag160c_tcm_light_color_t* out) {
|
||||
const std::string v = lower(value);
|
||||
if (v == "off") { *out = MAG160C_TCM_LIGHT_OFF; return 1; }
|
||||
if (v == "red") { *out = MAG160C_TCM_LIGHT_RED; return 1; }
|
||||
if (v == "green") { *out = MAG160C_TCM_LIGHT_GREEN; return 1; }
|
||||
if (v == "blue") { *out = MAG160C_TCM_LIGHT_BLUE; return 1; }
|
||||
if (v == "yellow") { *out = MAG160C_TCM_LIGHT_YELLOW; return 1; }
|
||||
return 0;
|
||||
}
|
||||
|
||||
int parse_mode(const std::string& value, mag160c_tcm_light_mode_t* out) {
|
||||
const std::string v = lower(value);
|
||||
if (v == "steady") { *out = MAG160C_TCM_LIGHT_STEADY; return 1; }
|
||||
if (v == "blink") { *out = MAG160C_TCM_LIGHT_BLINK; return 1; }
|
||||
if (v == "breath") { *out = MAG160C_TCM_LIGHT_BREATH; return 1; }
|
||||
return 0;
|
||||
}
|
||||
|
||||
int command_tcm_light(int argc, char** argv) {
|
||||
if (argc != 5 || std::string(argv[2]) != "--dry-run") {
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
mag160c_tcm_light_color_t color = MAG160C_TCM_LIGHT_OFF;
|
||||
mag160c_tcm_light_mode_t mode = MAG160C_TCM_LIGHT_STEADY;
|
||||
if (!parse_color(argv[3], &color)) {
|
||||
std::cerr << "invalid color\n";
|
||||
return 1;
|
||||
}
|
||||
if (!parse_mode(argv[4], &mode)) {
|
||||
std::cerr << "invalid mode\n";
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint8_t frame[64] = {};
|
||||
size_t frame_size = 0;
|
||||
const mag160c_error_t rc = mag160c_tcm_build_light_frame(
|
||||
color, mode, frame, sizeof(frame), &frame_size
|
||||
);
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
return 2;
|
||||
}
|
||||
|
||||
print_hex(frame, frame_size);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int command_ir_info() {
|
||||
mag160c_context_t* ctx = nullptr;
|
||||
mag160c_ir_device_t* ir = nullptr;
|
||||
mag160c_ir_info_t info{};
|
||||
|
||||
mag160c_error_t rc = mag160c_init(&ctx);
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
return 2;
|
||||
}
|
||||
|
||||
rc = mag160c_ir_open_first(ctx, &ir);
|
||||
if (rc == MAG160C_OK) {
|
||||
rc = mag160c_ir_get_info(ir, &info);
|
||||
}
|
||||
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
mag160c_ir_close(ir);
|
||||
mag160c_shutdown(ctx);
|
||||
return 2;
|
||||
}
|
||||
|
||||
std::cout << "name: " << info.name << '\n'
|
||||
<< "type: " << info.type << '\n'
|
||||
<< "size: " << info.width << "x" << info.height << '\n'
|
||||
<< "output: " << info.output_width << "x" << info.output_height << '\n'
|
||||
<< "protocol: vid 0x833c config=2 iface=0; cmd EP OUT 0x03 / IN 0x82;\n"
|
||||
<< " stream EP IN 0x81 (marker 0x1bb1b11b, data at +0x1c, size 0x38+len);\n"
|
||||
<< " cmds 0x6bb6b66b..0x6bb6b677 (start 0x6bb6b673, stop 0x6bb6b674,\n"
|
||||
<< " ffc 0x6bb6b672); responses 0x5bb5b55b..0x5bb5b57b\n";
|
||||
|
||||
mag160c_ir_close(ir);
|
||||
mag160c_shutdown(ctx);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int command_probe() {
|
||||
mag160c_context_t* ctx = nullptr;
|
||||
mag160c_error_t rc = mag160c_init(&ctx);
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
return 2;
|
||||
}
|
||||
|
||||
mag160c_device_info_t* devices = nullptr;
|
||||
size_t count = 0;
|
||||
rc = mag160c_list_devices(ctx, &devices, &count);
|
||||
if (rc != MAG160C_OK) {
|
||||
std::cerr << mag160c_error_name(rc) << ": " << mag160c_last_error() << '\n';
|
||||
mag160c_shutdown(ctx);
|
||||
return 2;
|
||||
}
|
||||
|
||||
std::cout << "devices: " << count << '\n';
|
||||
std::ios old_state(nullptr);
|
||||
old_state.copyfmt(std::cout);
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
const mag160c_device_info_t& d = devices[i];
|
||||
std::cout << "[" << i << "] vid:pid "
|
||||
<< std::hex << std::setfill('0') << std::setw(4) << d.vendor_id
|
||||
<< ':' << std::setw(4) << d.product_id
|
||||
<< std::dec << " bus " << static_cast<unsigned int>(d.bus)
|
||||
<< " address " << static_cast<unsigned int>(d.address)
|
||||
<< " interface " << static_cast<unsigned int>(d.interface_number)
|
||||
<< " bulk-in 0x" << std::hex << static_cast<unsigned int>(d.bulk_in_endpoint)
|
||||
<< " bulk-out 0x" << static_cast<unsigned int>(d.bulk_out_endpoint)
|
||||
<< '\n';
|
||||
}
|
||||
std::cout.copyfmt(old_state);
|
||||
|
||||
mag160c_free_device_list(devices);
|
||||
mag160c_shutdown(ctx);
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
const std::string command = argv[1];
|
||||
if (command == "probe") {
|
||||
return command_probe();
|
||||
}
|
||||
if (command == "tcm-rotate") {
|
||||
return command_tcm_rotate(argc, argv);
|
||||
}
|
||||
if (command == "tcm-light") {
|
||||
return command_tcm_light(argc, argv);
|
||||
}
|
||||
if (command == "ir-info") {
|
||||
return command_ir_info();
|
||||
}
|
||||
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,646 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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Reference in New Issue
Block a user