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rs.cpp
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rs.cpp
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// License: Apache 2.0 See LICENSE file in root directory.
// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
#include <functional> // For function
#include "api.h"
#include "log.h"
#include "context.h"
#include "device.h"
#include "algo.h"
#include "core/debug.h"
#include "core/motion.h"
#include "core/extension.h"
#include "media/playback/playback-device-info.h"
#include "media/record/record_device.h"
#include <media/ros/ros_writer.h>
#include <media/ros/ros_reader.h>
#include "core/advanced_mode.h"
#include "core/pose-frame.h"
#include "core/motion-frame.h"
#include "core/disparity-frame.h"
#include "source.h"
#include "proc/synthetic-stream.h"
#include "proc/processing-blocks-factory.h"
#include "proc/colorizer.h"
#include "proc/pointcloud.h"
#include "proc/align.h"
#include "proc/threshold.h"
#include "proc/units-transform.h"
#include "proc/disparity-transform.h"
#include "proc/syncer-processing-block.h"
#include "proc/decimation-filter.h"
#include "proc/spatial-filter.h"
#include "proc/hole-filling-filter.h"
#include "proc/color-formats-converter.h"
#include "proc/y411-converter.h"
#include "proc/rates-printer.h"
#include "proc/hdr-merge.h"
#include "proc/sequence-id-filter.h"
#include "media/playback/playback_device.h"
#include "stream.h"
#include <librealsense2/h/rs_types.h>
#include "pipeline/pipeline.h"
#include "environment.h"
#include "proc/temporal-filter.h"
#include "software-device.h"
#include "software-device-info.h"
#include "software-sensor.h"
#include "global_timestamp_reader.h"
#include "auto-calibrated-device.h"
#include "terminal-parser.h"
#include "firmware_logger_device.h"
#include "device-calibration.h"
#include <librealsense2/h/rs_internal.h>
#include "debug-stream-sensor.h"
#include "max-usable-range-sensor.h"
#include "fw-update/fw-update-device-interface.h"
#include "core/frame-callback.h"
#include "color-sensor.h"
#include "composite-frame.h"
#include "points.h"
#include <src/core/time-service.h>
#include <rsutils/string/from.h>
////////////////////////
// API implementation //
////////////////////////
using namespace librealsense;
using rsutils::json;
struct rs2_stream_profile_list
{
std::vector<std::shared_ptr<stream_profile_interface>> list;
};
struct rs2_processing_block_list
{
processing_blocks list;
};
struct rs2_device_list
{
std::shared_ptr< librealsense::context > ctx;
std::vector< std::shared_ptr< librealsense::device_info > > list;
};
struct rs2_option_value_wrapper : rs2_option_value
{
// Keep the original json value, so we can refer to it (e.g., with as_string)
std::shared_ptr< const json > p_json;
// Add a reference count to control lifetime
mutable std::atomic< int > ref_count;
rs2_option_value_wrapper( rs2_option option_id,
rs2_option_type option_type,
std::shared_ptr< const json > const & p_json_value )
: ref_count( 1 )
, p_json( p_json_value )
{
id = option_id;
type = option_type;
is_valid = false;
if( p_json && ! p_json->is_null() )
{
switch( type )
{
case RS2_OPTION_TYPE_FLOAT:
if( ! p_json->is_number() )
throw invalid_value_exception( get_string( option_id )
+ " value is not a float: " + p_json->dump() );
p_json->get_to( as_float );
break;
case RS2_OPTION_TYPE_INTEGER:
if( ! p_json->is_number_integer() )
throw invalid_value_exception( get_string( option_id )
+ " value is not an integer: " + p_json->dump() );
p_json->get_to( as_integer );
break;
case RS2_OPTION_TYPE_BOOLEAN:
if( ! p_json->is_boolean() )
throw invalid_value_exception( get_string( option_id )
+ " value is not a boolean: " + p_json->dump() );
as_integer = p_json->get< bool >();
break;
case RS2_OPTION_TYPE_STRING:
if( ! p_json->is_string() )
throw invalid_value_exception( get_string( option_id )
+ " value is not a string: " + p_json->dump() );
as_string = p_json->string_ref().c_str();
break;
default:
throw invalid_value_exception( "invalid " + get_string( option_id ) + " type "
+ get_string( option_type ) );
}
is_valid = true;
}
}
};
struct rs2_options_list
{
std::vector< rs2_option_value_wrapper const * > list;
};
struct rs2_sensor : public rs2_options
{
rs2_sensor( std::shared_ptr<librealsense::device_interface> parent,
librealsense::sensor_interface* sensor) :
rs2_options((librealsense::options_interface*)sensor),
parent(parent), sensor(sensor)
{}
std::shared_ptr<librealsense::device_interface> parent;
librealsense::sensor_interface* sensor;
rs2_sensor& operator=(const rs2_sensor&) = delete;
rs2_sensor(const rs2_sensor&) = delete;
rsutils::subscription subscription;
};
struct rs2_context
{
std::shared_ptr<librealsense::context> ctx;
mutable rsutils::subscription devices_changed_subscription;
};
struct rs2_device_hub
{
std::shared_ptr<librealsense::device_hub> hub;
};
struct rs2_pipeline
{
std::shared_ptr<librealsense::pipeline::pipeline> pipeline;
};
struct rs2_config
{
std::shared_ptr<librealsense::pipeline::config> config;
};
struct rs2_pipeline_profile
{
std::shared_ptr<librealsense::pipeline::profile> profile;
};
struct rs2_frame_queue
{
explicit rs2_frame_queue(int cap)
: queue( cap, [cap]( librealsense::frame_holder const & fh ) {
LOG_DEBUG( "DROPPED queue (capacity= " << cap << ") frame " << fh );
} )
{
}
single_consumer_frame_queue<librealsense::frame_holder> queue;
};
struct rs2_sensor_list
{
std::shared_ptr<librealsense::device_interface> device;
};
struct rs2_terminal_parser
{
std::shared_ptr<librealsense::terminal_parser> terminal_parser;
};
struct rs2_firmware_log_message
{
std::shared_ptr<librealsense::fw_logs::fw_logs_binary_data> firmware_log_binary_data;
};
struct rs2_firmware_log_parsed_message
{
std::shared_ptr<librealsense::fw_logs::fw_log_data> firmware_log_parsed;
};
struct rs2_error
{
std::string message;
std::string function;
std::string args;
rs2_exception_type exception_type;
};
rs2_error *rs2_create_error(const char* what, const char* name, const char* args, rs2_exception_type type) BEGIN_API_CALL
{
LOG_ERROR( "[" << name << "( " << args << " ) " << rs2_exception_type_to_string( type ) << "] " << what );
return new rs2_error{ what, name, args, type };
}
NOEXCEPT_RETURN(nullptr, what, name, args, type)
void notifications_processor::raise_notification(const notification n)
{
_dispatcher.invoke([this, n](dispatcher::cancellable_timer ct)
{
std::lock_guard<std::mutex> lock(_callback_mutex);
rs2_notification noti(&n);
if (_callback)_callback->on_notification(¬i);
});
}
rs2_context* rs2_create_context(int api_version, rs2_error** error) BEGIN_API_CALL
{
verify_version_compatibility(api_version);
json settings = json::object();
return new rs2_context{ context::make( settings ) };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, api_version)
rs2_context* rs2_create_context_ex(int api_version, const char * json_settings, rs2_error** error) BEGIN_API_CALL
{
verify_version_compatibility(api_version);
return new rs2_context{ context::make( json_settings ) };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, api_version, json_settings)
void rs2_delete_context(rs2_context* context) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(context);
delete context;
}
NOEXCEPT_RETURN(, context)
rs2_device_hub* rs2_create_device_hub(const rs2_context* context, rs2_error** error) BEGIN_API_CALL
{
return new rs2_device_hub{ device_hub::make( context->ctx ) };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, context)
void rs2_delete_device_hub(const rs2_device_hub* hub) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(hub);
delete hub;
}
NOEXCEPT_RETURN(, hub)
rs2_device* rs2_device_hub_wait_for_device(const rs2_device_hub* hub, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(hub);
auto dev = hub->hub->wait_for_device();
return new rs2_device{ dev };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, hub)
int rs2_device_hub_is_device_connected(const rs2_device_hub* hub, const rs2_device* device, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(hub);
VALIDATE_NOT_NULL(device);
auto res = hub->hub->is_connected(*device->device);
return res ? 1 : 0;
}
HANDLE_EXCEPTIONS_AND_RETURN(0, hub, device)
rs2_device_list* rs2_query_devices(const rs2_context* context, rs2_error** error) BEGIN_API_CALL
{
return rs2_query_devices_ex(context, RS2_PRODUCT_LINE_ANY_INTEL, error);
}
HANDLE_EXCEPTIONS_AND_RETURN(0, context)
rs2_device_list* rs2_query_devices_ex(const rs2_context* context, int product_mask, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(context);
auto results = context->ctx->query_devices( product_mask );
return new rs2_device_list{ context->ctx, results };
}
HANDLE_EXCEPTIONS_AND_RETURN(0, context, product_mask)
rs2_sensor_list* rs2_query_sensors(const rs2_device* device, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(device);
return new rs2_sensor_list{ device->device };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, device)
int rs2_get_device_count(const rs2_device_list* list, rs2_error** error) BEGIN_API_CALL
{
if (list == nullptr)
return 0;
return static_cast<int>(list->list.size());
}
HANDLE_EXCEPTIONS_AND_RETURN(0, list)
int rs2_get_sensors_count(const rs2_sensor_list* list, rs2_error** error) BEGIN_API_CALL
{
if (list == nullptr)
return 0;
return static_cast<int>(list->device->get_sensors_count());
}
HANDLE_EXCEPTIONS_AND_RETURN(0, list)
void rs2_delete_device_list(rs2_device_list* list) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
delete list;
}
NOEXCEPT_RETURN(, list)
void rs2_delete_sensor_list(rs2_sensor_list* list) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
delete list;
}
NOEXCEPT_RETURN(, list)
rs2_device* rs2_create_device(const rs2_device_list* info_list, int index, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(info_list);
VALIDATE_RANGE(index, 0, (int)info_list->list.size() - 1);
return new rs2_device{ info_list->list[index]->create_device() };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, info_list, index)
void rs2_delete_device(rs2_device* device) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(device);
delete device;
}
NOEXCEPT_RETURN(, device)
int rs2_device_is_connected( const rs2_device * device, rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( device );
VALIDATE_NOT_NULL( device->device );
return device->device->is_valid();
}
HANDLE_EXCEPTIONS_AND_RETURN( 0, device )
rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
VALIDATE_RANGE(index, 0, (int)list->device->get_sensors_count() - 1);
return new rs2_sensor{
list->device,
&list->device->get_sensor(index)
};
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, list, index)
void rs2_delete_sensor(rs2_sensor* sensor) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
delete sensor;
}
NOEXCEPT_RETURN(, sensor)
rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
return new rs2_stream_profile_list{ sensor->sensor->get_stream_profiles() };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, sensor)
rs2_stream_profile_list * rs2_get_debug_stream_profiles( rs2_sensor * sensor,
rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( sensor );
auto debug_streaming
= VALIDATE_INTERFACE( sensor->sensor, librealsense::debug_stream_sensor );
return new rs2_stream_profile_list{ debug_streaming->get_debug_stream_profiles() };
}
HANDLE_EXCEPTIONS_AND_RETURN( nullptr, sensor )
rs2_stream_profile_list* rs2_get_active_streams(rs2_sensor* sensor, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
return new rs2_stream_profile_list{ sensor->sensor->get_active_streams() };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, sensor)
const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
VALIDATE_RANGE(index, 0, (int)list->list.size() - 1);
return list->list[index]->get_c_wrapper();
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, list, index)
int rs2_get_stream_profiles_count(const rs2_stream_profile_list* list, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
return static_cast<int>(list->list.size());
}
HANDLE_EXCEPTIONS_AND_RETURN(0, list)
void rs2_delete_stream_profiles_list(rs2_stream_profile_list* list) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
delete list;
}
NOEXCEPT_RETURN(, list)
void rs2_get_video_stream_intrinsics(const rs2_stream_profile* from, rs2_intrinsics* intr, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(from);
VALIDATE_NOT_NULL(intr);
auto vid = VALIDATE_INTERFACE(from->profile, librealsense::video_stream_profile_interface);
*intr = vid->get_intrinsics();
}
HANDLE_EXCEPTIONS_AND_RETURN( , from, intr )
// librealsense wrapper around a C function
class calibration_change_callback : public rs2_calibration_change_callback
{
rs2_calibration_change_callback_ptr _callback;
void* _user_arg;
public:
calibration_change_callback( rs2_calibration_change_callback_ptr callback, void* user_arg )
: _callback( callback ), _user_arg( user_arg ) {}
void on_calibration_change( rs2_calibration_status status ) noexcept override
{
if( _callback )
{
try
{
_callback( status, _user_arg );
}
catch( ... )
{
std::cerr << "Received an execption from profile intrinsics callback!" << std::endl;
}
}
}
void release() override
{
// Shouldn't get called...
throw std::runtime_error( "calibration_change_callback::release() ?!?!?!" );
}
};
void rs2_register_calibration_change_callback( rs2_device* dev, rs2_calibration_change_callback_ptr callback, void * user, rs2_error** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( dev );
VALIDATE_NOT_NULL( callback );
auto d2r = VALIDATE_INTERFACE( dev->device, librealsense::device_calibration );
// Wrap the C function with a callback interface that will get deleted when done
d2r->register_calibration_change_callback(
std::make_shared< calibration_change_callback >( callback, user )
);
}
HANDLE_EXCEPTIONS_AND_RETURN( , dev, callback, user )
void rs2_register_calibration_change_callback_cpp( rs2_device* dev, rs2_calibration_change_callback* callback, rs2_error** error ) BEGIN_API_CALL
{
// Take ownership of the callback ASAP or else memory leaks could result if we throw! (the caller usually does a
// 'new' when calling us)
VALIDATE_NOT_NULL( callback );
rs2_calibration_change_callback_sptr callback_ptr{ callback,
[]( rs2_calibration_change_callback * p )
{
p->release();
} };
VALIDATE_NOT_NULL( dev );
auto d2r = VALIDATE_INTERFACE( dev->device, librealsense::device_calibration );
d2r->register_calibration_change_callback( callback_ptr );
}
HANDLE_EXCEPTIONS_AND_RETURN( , dev, callback )
void rs2_trigger_device_calibration( rs2_device * dev, rs2_calibration_type type, rs2_error** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( dev );
auto cal = VALIDATE_INTERFACE( dev->device, librealsense::device_calibration );
cal->trigger_device_calibration( type );
}
HANDLE_EXCEPTIONS_AND_RETURN( , dev, type )
void rs2_get_motion_intrinsics(const rs2_stream_profile* mode, rs2_motion_device_intrinsic * intrinsics, rs2_error ** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(mode);
VALIDATE_NOT_NULL(intrinsics);
auto motion = VALIDATE_INTERFACE(mode->profile, librealsense::motion_stream_profile_interface);
*intrinsics = motion->get_intrinsics();
}
HANDLE_EXCEPTIONS_AND_RETURN(, mode, intrinsics)
void rs2_get_video_stream_resolution(const rs2_stream_profile* from, int* width, int* height, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(from);
auto vid = VALIDATE_INTERFACE(from->profile, librealsense::video_stream_profile_interface);
if (width) *width = vid->get_width();
if (height) *height = vid->get_height();
}
HANDLE_EXCEPTIONS_AND_RETURN(, from, width, height)
int rs2_is_stream_profile_default(const rs2_stream_profile* profile, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(profile);
return profile->profile->get_tag() & profile_tag::PROFILE_TAG_DEFAULT ? 1 : 0;
}
HANDLE_EXCEPTIONS_AND_RETURN(0, profile)
void rs2_get_stream_profile_data(const rs2_stream_profile* profile, rs2_stream* stream, rs2_format* format, int* index, int* unique_id, int* framerate, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(profile);
VALIDATE_NOT_NULL(stream);
VALIDATE_NOT_NULL(format);
VALIDATE_NOT_NULL(index);
VALIDATE_NOT_NULL(unique_id);
*framerate = profile->profile->get_framerate();
*format = profile->profile->get_format();
*index = profile->profile->get_stream_index();
*stream = profile->profile->get_stream_type();
*unique_id = profile->profile->get_unique_id();
}
HANDLE_EXCEPTIONS_AND_RETURN(, profile, stream, format, index, framerate)
void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(mode);
VALIDATE_ENUM(stream);
VALIDATE_ENUM(format);
mode->profile->set_format(format);
mode->profile->set_stream_type(stream);
mode->profile->set_stream_index(index);
}
HANDLE_EXCEPTIONS_AND_RETURN(, mode, stream, format)
void rs2_delete_stream_profile(rs2_stream_profile* p) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(p);
delete p;
}
NOEXCEPT_RETURN(, p)
rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int stream_idx, rs2_format fmt, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(mode);
VALIDATE_ENUM(stream);
VALIDATE_ENUM(fmt);
auto sp = mode->profile->clone();
sp->set_stream_type(stream);
sp->set_stream_index(stream_idx);
sp->set_format(fmt);
return new rs2_stream_profile{ sp.get(), sp };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, mode, stream, stream_idx, fmt)
rs2_stream_profile* rs2_clone_video_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, int width, int height, const rs2_intrinsics* intr, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(mode);
VALIDATE_ENUM(stream);
VALIDATE_ENUM(format);
VALIDATE_NOT_NULL(intr);
auto sp = mode->profile->clone();
sp->set_stream_type(stream);
sp->set_stream_index(index);
sp->set_format(format);
auto vid = std::dynamic_pointer_cast<video_stream_profile_interface>(sp);
auto i = *intr;
VALIDATE_NOT_NULL(vid)
vid->set_intrinsics([i]() { return i; });
vid->set_dims(width, height);
return new rs2_stream_profile{ sp.get(), sp };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, mode, stream, index, format, width, height, intr)
const rs2_raw_data_buffer* rs2_build_debug_protocol_command(rs2_device* device, unsigned opcode, unsigned param1, unsigned param2,
unsigned param3, unsigned param4, void* data, unsigned size_of_data, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(device);
auto debug_interface = VALIDATE_INTERFACE(device->device, librealsense::debug_interface);
auto ret_data = debug_interface->build_command(opcode, param1, param2, param3, param4, static_cast<uint8_t*>(data), size_of_data);
return new rs2_raw_data_buffer{ std::move(ret_data) };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, device)
const rs2_raw_data_buffer* rs2_send_and_receive_raw_data(rs2_device* device, void* raw_data_to_send, unsigned size_of_raw_data_to_send, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(device);
auto debug_interface = VALIDATE_INTERFACE(device->device, librealsense::debug_interface);
auto raw_data_buffer = static_cast<uint8_t*>(raw_data_to_send);
std::vector<uint8_t> buffer_to_send(raw_data_buffer, raw_data_buffer + size_of_raw_data_to_send);
auto ret_data = debug_interface->send_receive_raw_data(buffer_to_send);
return new rs2_raw_data_buffer{ std::move(ret_data) };
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, device)
const unsigned char* rs2_get_raw_data(const rs2_raw_data_buffer* buffer, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(buffer);
return buffer->buffer.data();
}
HANDLE_EXCEPTIONS_AND_RETURN(0, buffer)
int rs2_get_raw_data_size(const rs2_raw_data_buffer* buffer, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(buffer);
return static_cast<int>(buffer->buffer.size());
}
HANDLE_EXCEPTIONS_AND_RETURN(0, buffer)
void rs2_delete_raw_data(const rs2_raw_data_buffer* buffer) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(buffer);
delete buffer;
}
NOEXCEPT_RETURN(, buffer)
void rs2_open(rs2_sensor* sensor, const rs2_stream_profile* profile, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
VALIDATE_NOT_NULL(profile);
std::vector<std::shared_ptr<stream_profile_interface>> request;
request.push_back(std::dynamic_pointer_cast<stream_profile_interface>(profile->profile->shared_from_this()));
sensor->sensor->open(request);
}
HANDLE_EXCEPTIONS_AND_RETURN(, sensor, profile)
void rs2_open_multiple(rs2_sensor* sensor,
const rs2_stream_profile** profiles, int count, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
VALIDATE_NOT_NULL(profiles);
std::vector<std::shared_ptr<stream_profile_interface>> request;
for (auto i = 0; i < count; i++)
{
request.push_back(std::dynamic_pointer_cast<stream_profile_interface>(profiles[i]->profile->shared_from_this()));
}
sensor->sensor->open(request);
}
HANDLE_EXCEPTIONS_AND_RETURN(, sensor, profiles, count)
void rs2_close(const rs2_sensor* sensor, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
sensor->sensor->close();
}
HANDLE_EXCEPTIONS_AND_RETURN(, sensor)
int rs2_is_option_read_only(const rs2_options* options, rs2_option option, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
return options->options->get_option(option).is_read_only();
}
HANDLE_EXCEPTIONS_AND_RETURN(0, options, option)
float rs2_get_option(const rs2_options* options, rs2_option option_id, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
VALIDATE_OPTION_ENABLED(options, option_id);
auto & option = options->options->get_option( option_id );
switch( option.get_value_type() )
{
case RS2_OPTION_TYPE_FLOAT:
case RS2_OPTION_TYPE_INTEGER:
return option.query();
case RS2_OPTION_TYPE_BOOLEAN:
return (float)option.get_value().get< bool >();
case RS2_OPTION_TYPE_STRING:
// We can convert "enum" options to a float value
auto r = option.get_range();
if( r.min == 0.f && r.step == 1.f )
{
json value = option.get_value();
for( auto i = 0.f; i < r.max; i += r.step )
{
auto desc = option.get_value_description( i );
if( ! desc )
break;
if( value == desc )
return i;
}
}
throw not_implemented_exception( "use rs2_get_option_value to get string values" );
}
return option.query();
}
HANDLE_EXCEPTIONS_AND_RETURN(0.f, options, option_id)
rs2_option_value const * rs2_get_option_value( const rs2_options * options, rs2_option option_id, rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( options );
auto & option = options->options->get_option( option_id ); // throws
std::shared_ptr< const json > value;
if( option.is_enabled() )
value = std::make_shared< const json >( option.get_value() );
auto wrapper = new rs2_option_value_wrapper( option_id, option.get_value_type(), value );
return wrapper;
}
HANDLE_EXCEPTIONS_AND_RETURN( nullptr, options, option_id )
void rs2_delete_option_value( rs2_option_value const * p_value ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( p_value );
auto wrapper = static_cast< rs2_option_value_wrapper const * >( p_value );
if( wrapper && ! --wrapper->ref_count )
delete wrapper;
}
NOEXCEPT_RETURN( , p_value )
void rs2_set_option(const rs2_options* options, rs2_option option, float value, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
VALIDATE_OPTION_ENABLED(options, option);
auto& option_ref = options->options->get_option(option);
auto range = option_ref.get_range();
switch( option_ref.get_value_type() )
{
case RS2_OPTION_TYPE_FLOAT:
if( range.min != range.max && range.step )
VALIDATE_RANGE( value, range.min, range.max );
option_ref.set( value );
break;
case RS2_OPTION_TYPE_INTEGER:
if( range.min != range.max && range.step )
VALIDATE_RANGE( value, range.min, range.max );
if( (int)value != value )
throw invalid_value_exception( rsutils::string::from() << "not an integer: " << value );
option_ref.set( value );
break;
case RS2_OPTION_TYPE_BOOLEAN:
if( value == 0.f )
option_ref.set_value( false );
else if( value == 1.f )
option_ref.set_value( true );
else
throw invalid_value_exception( rsutils::string::from() << "not a boolean: " << value );
break;
case RS2_OPTION_TYPE_STRING:
// We can convert "enum" options to a float value
if( (int)value == value && range.min == 0.f && range.step == 1.f )
{
auto desc = option_ref.get_value_description( value );
if( desc )
{
option_ref.set_value( desc );
break;
}
}
throw not_implemented_exception( "use rs2_set_option_value to set string values" );
}
}
HANDLE_EXCEPTIONS_AND_RETURN(, options, option, value)
void rs2_set_option_value( rs2_options const * options, rs2_option_value const * option_value, rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( options );
VALIDATE_NOT_NULL( option_value );
auto & option = options->options->get_option( option_value->id ); // throws
if( ! option_value->is_valid )
{
option.set_value( rsutils::null_json );
return;
}
rs2_option_type const option_type = option.get_value_type();
if( option_value->type != option_type )
throw invalid_value_exception( "expected " + get_string( option_type ) + " type" );
auto range = option.get_range();
switch( option_type )
{
case RS2_OPTION_TYPE_FLOAT:
VALIDATE_RANGE( option_value->as_float, range.min, range.max );
option.set_value( option_value->as_float );
break;
case RS2_OPTION_TYPE_INTEGER:
VALIDATE_RANGE( option_value->as_integer, range.min, range.max );
option.set_value( option_value->as_integer );
break;
case RS2_OPTION_TYPE_BOOLEAN:
VALIDATE_RANGE( option_value->as_integer, range.min, range.max );
option.set_value( (bool)option_value->as_integer );
break;
case RS2_OPTION_TYPE_STRING:
option.set_value( option_value->as_string );
break;
default:
throw not_implemented_exception( "unexpected option type " + get_string( option_type ) );
}
}
HANDLE_EXCEPTIONS_AND_RETURN( , options, option_value )
rs2_options_list* rs2_get_options_list(const rs2_options* options, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
auto rs2_list = new rs2_options_list;
auto option_ids = options->options->get_supported_options();
rs2_list->list.reserve( option_ids.size() );
for( auto option_id : option_ids )
{
auto & option = options->options->get_option( option_id );
std::shared_ptr< const json > value;
if( option.is_enabled() )
value = std::make_shared< const json >( option.get_value() );
auto wrapper = new rs2_option_value_wrapper( option_id, option.get_value_type(), value );
rs2_list->list.push_back( wrapper );
}
return rs2_list;
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, options)
const char* rs2_get_option_name(const rs2_options* options,rs2_option option, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
return options->options->get_option_name(option).c_str();
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, option, options)
int rs2_get_options_list_size(const rs2_options_list* options, rs2_error** error)BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
return int(options->list.size());
}
HANDLE_EXCEPTIONS_AND_RETURN(0, options)
rs2_option rs2_get_option_from_list(const rs2_options_list* options, int i, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
return options->list.at( i )->id;
}
HANDLE_EXCEPTIONS_AND_RETURN(RS2_OPTION_COUNT, options, i)
rs2_option_value const * rs2_get_option_value_from_list( const rs2_options_list * options, int i, rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( options );
auto const p_option_value = options->list.at( i );
++p_option_value->ref_count;
return p_option_value;
}
HANDLE_EXCEPTIONS_AND_RETURN( nullptr, options, i )
void rs2_delete_options_list(rs2_options_list* list) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(list);
for( auto wrapper : list->list )
rs2_delete_option_value( wrapper );
delete list;
}
NOEXCEPT_RETURN(, list)
int rs2_supports_option(const rs2_options* options, rs2_option option, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
return options->options->supports_option(option);
}
HANDLE_EXCEPTIONS_AND_RETURN(0, options, option)
void rs2_get_option_range(const rs2_options* options, rs2_option option,
float* min, float* max, float* step, float* def, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(options);
VALIDATE_NOT_NULL(min);
VALIDATE_NOT_NULL(max);
VALIDATE_NOT_NULL(step);
VALIDATE_NOT_NULL(def);
auto range = options->options->get_option(option).get_range();
*min = range.min;
*max = range.max;
*def = range.def;
*step = range.step;
}
HANDLE_EXCEPTIONS_AND_RETURN(, options, option, min, max, step, def)
const char* rs2_get_device_info(const rs2_device* dev, rs2_camera_info info, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(dev);
VALIDATE_ENUM(info);
if (dev->device->supports_info(info))
{
return dev->device->get_info(info).c_str();
}
throw librealsense::invalid_value_exception( rsutils::string::from() << "info " << rs2_camera_info_to_string( info )
<< " not supported by the device!" );
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, dev, info)
int rs2_supports_device_info(const rs2_device* dev, rs2_camera_info info, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(dev);
VALIDATE_NOT_NULL(dev->device);
VALIDATE_ENUM(info);
return dev->device->supports_info(info);
}
HANDLE_EXCEPTIONS_AND_RETURN(false, dev, info)
const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
VALIDATE_ENUM(info);
if (sensor->sensor->supports_info(info))
{
return sensor->sensor->get_info(info).c_str();
}
throw librealsense::invalid_value_exception( rsutils::string::from() << "info " << rs2_camera_info_to_string( info )
<< " not supported by the sensor!" );
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, sensor, info)
int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
VALIDATE_ENUM(info);
return sensor->sensor->supports_info(info);
}
HANDLE_EXCEPTIONS_AND_RETURN(false, sensor, info)
rs2_frame_callback_sptr make_user_frame_callback( rs2_frame_callback_ptr on_frame, void * user )
{
return librealsense::make_frame_callback(
[on_frame, user]( frame_interface * f )
{
try
{
on_frame( (rs2_frame *)f, user );
}
catch( ... )
{