Merge pull request #3690 from dorian3d/update_libtm

libtm: interface updated to latest firmware
IntelRealSense · Apr 7, 2019 · ab141eb · ab141eb
2 parents fe8ca57 + 44a340e
commit ab141eb
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Showing 6 changed files with 6 additions and 78 deletions.
diff --git a/third-party/libtm/libtm/include/TrackingDevice.h b/third-party/libtm/libtm/include/TrackingDevice.h
@@ -409,14 +409,6 @@ namespace perc
         */
         virtual Status SetLocalizationData(IN Listener* listener, IN uint32_t length, IN const uint8_t* buffer) = 0;
 
-        /**
-        * @brief ResetLocalizationData
-        *        Resets the localization data
-        * @param flag - 0 - Reset all localization data tables, 1 - reset only the map by its mapIndex
-        * @return Status
-        */
-        virtual Status ResetLocalizationData(IN uint8_t flag) = 0;
-
         /**
         * @brief SetStaticNode
         *        Set a relative position of a static node

diff --git a/third-party/libtm/libtm/src/Common.cpp b/third-party/libtm/libtm/src/Common.cpp
@@ -264,7 +264,6 @@ std::string messageCodeToString(libusb_transfer_type type, uint16_t code)
                 case SLAM_SET_6DOF_INTERRUPT_RATE:          return "SLAM_SET_6DOF_INTERRUPT_RATE";
                 case SLAM_6DOF_CONTROL:                     return "SLAM_6DOF_CONTROL";
                 case SLAM_OCCUPANCY_MAP_CONTROL:            return "SLAM_OCCUPANCY_MAP_CONTROL";
-                case SLAM_RESET_LOCALIZATION_DATA:          return "SLAM_RESET_LOCALIZATION_DATA";
                 case SLAM_GET_LOCALIZATION_DATA_STREAM:     return "SLAM_GET_LOCALIZATION_DATA_STREAM";
                 case SLAM_SET_STATIC_NODE:                  return "SLAM_SET_STATIC_NODE";
                 case SLAM_GET_STATIC_NODE:                  return "SLAM_GET_STATIC_NODE";

diff --git a/third-party/libtm/libtm/src/Device.cpp b/third-party/libtm/libtm/src/Device.cpp
@@ -1769,34 +1769,6 @@ namespace perc {
         return setMsg.Result == 0 ? Status::SUCCESS : Status::COMMON_ERROR;
     }
 
-    Status Device::ResetLocalizationData(uint8_t flag)
-    {
-        bulk_message_request_reset_localization_data request = {0};
-        bulk_message_response_reset_localization_data response = {0};
-
-        if (flag > 1)
-        {
-            DEVICELOGE("Error: Flag (%d) is unknown", flag);
-            return Status::ERROR_PARAMETER_INVALID;
-        }
-
-        request.header.wMessageID = SLAM_RESET_LOCALIZATION_DATA;
-        request.header.dwLength = sizeof(request);
-        request.bFlag = flag;
-
-        DEVICELOGD("Set Reset Localization Data - Flag 0x%X", flag);
-        Bulk_Message msg((uint8_t*)&request, request.header.dwLength, (uint8_t*)&response, sizeof(response), mEndpointBulkMessages | TO_DEVICE, mEndpointBulkMessages | TO_HOST);
-
-        mDispatcher->sendMessage(&mFsm, msg);
-        if (msg.Result != toUnderlying(Status::SUCCESS))
-        {
-            DEVICELOGE("USB Error (0x%X)", msg.Result);
-            return Status::ERROR_USB_TRANSFER;
-        }
-
-        return fwToHostStatus((MESSAGE_STATUS)response.header.wStatus);
-    }
-
     Status Device::SetStaticNode(const char* guid, const TrackingData::RelativePose& relativePose)
     {
         bulk_message_request_set_static_node request = { 0 };

diff --git a/third-party/libtm/libtm/src/Device.h b/third-party/libtm/libtm/src/Device.h
@@ -61,7 +61,6 @@ namespace perc
         virtual Status DeleteConfiguration(uint16_t tableType) override;
         virtual Status GetLocalizationData(Listener* listener) override;
         virtual Status SetLocalizationData(Listener* listener, uint32_t length, const uint8_t* buffer) override;
-        virtual Status ResetLocalizationData(uint8_t flag) override;
         virtual Status SetStaticNode(const char* guid, const TrackingData::RelativePose& relativePose) override;
         virtual Status GetStaticNode(const char* guid, TrackingData::RelativePose& relativePose) override;
         virtual Status SetGeoLocation(const TrackingData::GeoLocalization& geoLocation) override;

diff --git a/third-party/libtm/libtm/src/Message.h b/third-party/libtm/libtm/src/Message.h
@@ -88,7 +88,6 @@ namespace perc
         SLAM_SET_6DOF_INTERRUPT_RATE = 0x1005,
         SLAM_6DOF_CONTROL = 0x1006,
         SLAM_OCCUPANCY_MAP_CONTROL = 0x1007,
-        SLAM_RESET_LOCALIZATION_DATA = 0x1008,
         SLAM_GET_LOCALIZATION_DATA_STREAM = 0x1009,
         SLAM_SET_STATIC_NODE = 0x100A,
         SLAM_GET_STATIC_NODE = 0x100B,
@@ -1037,22 +1036,6 @@ namespace perc
     } bulk_message_large_stream;
 
 
-    /**
-    * @brief Bulk reset Localization Data Message
-    *
-    * Resets the localization data
-    */
-    typedef struct {
-        bulk_message_request_header header; /**< Message request header: dwLength = 8 bytes, wMessageID = SLAM_RESET_LOCALIZATION_DATA */
-        uint8_t bFlag;                      /**< 0 - Reset all localization data, 1 - Reset only the map by its bMapIndex              */
-        uint8_t bReserved;                  /**< Reserved = 0                                                                          */
-    } bulk_message_request_reset_localization_data;
-
-    typedef struct {
-        bulk_message_response_header header; /**< Message response header: dwLength = 8 bytes, wMessageID = SLAM_RESET_LOCALIZATION_DATA */
-    } bulk_message_response_reset_localization_data;
-
-
     /**
     * @brief Bulk Set Static Node Message
     *

diff --git a/third-party/libtm/tools/libtm_util/libtm_util.cpp b/third-party/libtm/tools/libtm_util/libtm_util.cpp
@@ -174,8 +174,7 @@ enum LocalizationType
 {
     LocalizationTypeGet = 0,
     LocalizationTypeSet = 1,
-    LocalizationTypeReset = 2,
-    LocalizationTypeMax = 3,
+    LocalizationTypeMax = 2,
 };
 
 enum ControllerBurnState
@@ -2818,12 +2817,8 @@ int parseArguments(int argc, char *argv[])
             /* Make sure we aren't at the end of argv */
             if ((i + 1 < argc) && (strstr(argv[i + 1], "-") != argv[i + 1]))
             {
-                if (strncmp("reset", argv[++i], 3) == 0)
-                {
-                    gConfiguration.localization[LocalizationTypeReset].enabled = true;
-                    parseError = false;
-                }
-                else if ((i + 1 < argc) && (strstr(argv[i + 1], "-") != argv[i + 1]))
+                ++i;
+                if ((i + 1 < argc) && (strstr(argv[i + 1], "-") != argv[i + 1]))
                 {
                     if (strncmp("set", argv[i], 3) == 0)
                     {
@@ -2842,10 +2837,9 @@ int parseArguments(int argc, char *argv[])
 
             if (parseError == true)
             {
-                printf("-map : Reset/Set/Get localization map from/to an external file\n");
-                printf("       On multiple call, the order will be:  Get, Set, Reset\n");
-                printf("       Parameters: <reset/set/get> <filename>\n");
-                printf("       Example: \"libtm_util.exe -map reset\"                            : reset localization map\n");
+                printf("-map : Set/Get localization map from/to an external file\n");
+                printf("       On multiple call, the order will be:  Get, Set\n");
+                printf("       Parameters: <set/get> <filename>\n");
                 printf("       Example: \"libtm_util.exe -map set localization_map_input_file\"  : set localization from file localization_map_input_file\n");
                 printf("       Example: \"libtm_util.exe -map get localization_map_output_file\" : get localization to a new file localization_map_output_file\n");
                 printf("       Notice:  To get localization map, 6dof must be enabled\n");
@@ -3942,17 +3936,6 @@ int main(int argc, char *argv[])
         }
     }
 
-    if (gConfiguration.localization[LocalizationTypeReset].enabled == true)
-    {
-        LOGD("Reseting localization map");
-        status = gDevice->ResetLocalizationData(0);
-        if (status != Status::SUCCESS)
-        {
-            LOGE("Failed to reset localization map, status = %s (0x%X)", statusToString(status).c_str(), status);
-            goto cleanup;
-        }
-    }
-
     if (gConfiguration.gpioEnabled == true)
     {
         LOGD("Setting GPIO control bitMask 0x%X", gConfiguration.gpioControlBitMask);