Merge pull request #5789 from remibettan/DSO-14133

Android multicam fix

src/android/jni/sensor.cpp

@@ -41,6 +41,18 @@ Java_com_intel_realsense_librealsense_Sensor_nGetStreamProfiles(JNIEnv *env, jcl
     return rv;
 }
 
+extern "C"
+JNIEXPORT jboolean JNICALL
+Java_com_intel_realsense_librealsense_Sensor_nIsSensorExtendableTo(JNIEnv *env, jclass type,
+                                                                   jlong handle, jint extension) {
+    rs2_error *e = NULL;
+    int rv = rs2_is_sensor_extendable_to(reinterpret_cast<const rs2_sensor *>(handle),
+                                         static_cast<rs2_extension>(extension), &e);
+    handle_error(env, e);
+    return rv > 0;
+}
+
+
 extern "C"
 JNIEXPORT void JNICALL
 Java_com_intel_realsense_librealsense_RoiSensor_nSetRegionOfInterest(JNIEnv *env, jclass clazz,
@@ -75,4 +87,14 @@ Java_com_intel_realsense_librealsense_RoiSensor_nGetRegionOfInterest(JNIEnv *env
     env->SetIntField(roi, min_y_field, min_y);
     env->SetIntField(roi, max_x_field, max_x);
     env->SetIntField(roi, max_y_field, max_y);
+}
+
+extern "C"
+JNIEXPORT jfloat JNICALL
+Java_com_intel_realsense_librealsense_DepthSensor_nGetDepthScale(JNIEnv *env, jclass clazz,
+                                                                     jlong handle) {
+    rs2_error* e = nullptr;
+    float depthScale = rs2_get_depth_scale(reinterpret_cast<rs2_sensor *>(handle), &e);
+    handle_error(env, e);
+    return depthScale;
 }

src/uvc/uvc-device.cpp

@@ -14,6 +14,25 @@ const int CONTROL_TRANSFER_TIMEOUT = 100;
 const int INTERRUPT_BUFFER_SIZE = 1024;
 const int FIRST_FRAME_MILLISECONDS_TIMEOUT = 2000;
 
+class lock_singleton
+{
+public:
+    static lock_singleton& instance()
+    {
+        static lock_singleton inst;
+        return inst;
+    }
+    static void lock();
+    static void unlock();
+
+private:
+    static std::recursive_mutex m;
+};
+std::recursive_mutex lock_singleton::m;
+void lock_singleton::lock() { m.lock(); }
+void lock_singleton::unlock() { m.unlock(); }
+
+
 namespace librealsense
 {
     namespace platform
@@ -301,14 +320,15 @@ namespace librealsense
             return results;
         }
 
+
         void rs_uvc_device::lock() const
         {
-
+            lock_singleton::instance().lock();
         }
 
         void rs_uvc_device::unlock() const
         {
-
+            lock_singleton::instance().unlock();
         }
 
         std::string rs_uvc_device::get_device_location() const

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/ColorSensor.java

@@ -0,0 +1,9 @@
+package com.intel.realsense.librealsense;
+
+public class ColorSensor extends Sensor {
+
+    ColorSensor(long handle) {
+        super(handle);
+        mOwner = false;
+    }
+}

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/DepthSensor.java

@@ -0,0 +1,15 @@
+package com.intel.realsense.librealsense;
+
+public class DepthSensor extends Sensor {
+
+    DepthSensor(long handle) {
+        super(handle);
+        mOwner = false;
+    }
+
+    public float getDepthScale()  { return nGetDepthScale(mHandle); }
+
+
+    private static native float nGetDepthScale(long handle);
+}
+

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Extension.java

@@ -39,7 +39,14 @@ public enum Extension {
     WHEEL_ODOMETER(35),
     GLOBAL_TIMER(36),
     UPDATABLE(37),
-    UPDATE_DEVICE(38);
+    UPDATE_DEVICE(38),
+    L500_DEPTH_SENSOR(39),
+    TM2_SENSOR(40),
+    AUTO_CALIBRATED_DEVICE(41),
+    COLOR_SENSOR(42),
+    MOTION_SENSOR(43),
+    FISHEYE_SENSOR(44),
+    DEPTH_HUFFMAN_DECODER(45);
 
     private final int mValue;
 

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Pipeline.java

@@ -6,6 +6,10 @@ public Pipeline(){
         mHandle = nCreate(ctx.getHandle());
     }
 
+    public Pipeline(RsContext ctx){
+        mHandle = nCreate(ctx.getHandle());
+    }
+
     public PipelineProfile start() throws Exception{
         return new PipelineProfile(nStart(mHandle));
     }

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Sensor.java

@@ -18,11 +18,21 @@ public List<StreamProfile> getStreamProfiles(){
         return rv;
     }
 
-    public <T extends Sensor> T as(Extension extension) {
-        switch (extension){
-            case ROI: return (T) new RoiSensor(mHandle);
+    public <T extends Sensor> T as(Extension extension) throws RuntimeException {
+        if (this.is(extension)) {
+            switch (extension){
+                case ROI: return (T) new RoiSensor(mHandle);
+                case DEPTH_SENSOR: return (T) new DepthSensor(mHandle);
+                case COLOR_SENSOR: return (T) new ColorSensor(mHandle);
+                default: throw new RuntimeException("this API version does not support " + extension.name());
+            }
+        } else{
+            throw new RuntimeException("this sensor is not extendable to " + extension.name());
         }
-        throw new RuntimeException("this sensor is not extendable to " + extension.name());
+    }
+
+    public boolean is(Extension extension) {
+        return nIsSensorExtendableTo(mHandle, extension.value());
     }
 
     @Override
@@ -33,4 +43,5 @@ public void close() {
 
     private static native long[] nGetStreamProfiles(long handle);
     private static native void nRelease(long handle);
+    private static native boolean nIsSensorExtendableTo(long handle, int extension);
 }

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/StreamFormat.java

@@ -23,7 +23,13 @@ public enum StreamFormat {
     DISPARITY32(19),
     Y10BPACK(20),
     DISTANCE(21),
-    MJPEG(22);
+    MJPEG(22),
+    Y8I(23),
+    Y12I(24),
+    INZI(25),
+    INVI(26),
+    W10(27),
+    Z16H(28);
     private final int mValue;
 
     private StreamFormat(int value) { mValue = value; }