5#ifndef LIBREALSENSE_DEVICE_H
6#define LIBREALSENSE_DEVICE_H
28 template<
class U>
double get(U T::* field) {
activate();
return static_cast<double>(
struct_.*field); }
29 template<
class U,
class V>
void set(U T::* field, V value) {
activate();
struct_.*field =
static_cast<U
>(value); }
40 : max_number(max_value - min_value + 1), last_number(min_value), num_of_wraparounds(0)
45 if ((number + (num_of_wraparounds*max_number)) < last_number)
49 number += (num_of_wraparounds*max_number);
57 unsigned long long num_of_wraparounds;
68 namespace motion_module
77 const std::shared_ptr<rsimpl::uvc::device> device;
84 rsimpl::aligned_stream color_to_depth, depth_to_color, depth_to_rect_color, infrared2_to_depth, depth_to_infrared2;
89 bool data_acquisition_active;
90 std::chrono::high_resolution_clock::time_point capture_started;
91 std::atomic<uint32_t> max_publish_list_size;
92 std::atomic<uint32_t> event_queue_size;
93 std::atomic<uint32_t> events_timeout;
94 std::shared_ptr<rsimpl::syncronizing_archive> archive;
96 mutable std::string usb_port_id;
97 mutable std::mutex usb_port_mutex;
99 std::shared_ptr<std::thread> fw_logger;
102 const rsimpl::uvc::device &
get_device()
const {
return *device; }
150 virtual void start_fw_logger(
char fw_log_op_code,
int grab_rate_in_ms, std::timed_mutex& mutex)
override;
166 virtual void on_before_start(
const std::vector<rsimpl::subdevice_mode_selection> & selected_modes) = 0;
168 virtual std::vector<std::shared_ptr<rsimpl::frame_timestamp_reader>>
T fix(T number)
Definition: device.h:43
wraparound_mechanism(T min_value, T max_value)
Definition: device.h:39
struct_interface< T, R, W > make_struct_interface(R r, W w)
Definition: device.h:33
rs_stream
Streams are different types of data provided by RealSense devices.
Definition: rs.h:34
@ RS_STREAM_COUNT
Definition: rs.h:47
rs_output_buffer_format
Output buffer format: sets how librealsense works with frame memory.
Definition: rs.h:74
rs_preset
Presets: general preferences that are translated by librealsense into concrete resolution and FPS.
Definition: rs.h:82
rs_option
Defines general configuration controls.
Definition: rs.h:129
rs_format
Formats: defines how each stream can be encoded.
Definition: rs.h:54
rs_blob_type
Proprietary formats for direct communication with device firmware.
Definition: rs.h:228
rs_source
Source: allows you to choose between available hardware subdevices.
Definition: rs.h:91
rs_camera_info
Read-only strings that can be queried from the device.
Definition: rs.h:237
rs_capabilities
Specifies various capabilities of a RealSense device.
Definition: rs.h:214
const char * get_serial() const override
Definition: device.h:125
std::atomic< int > frames_drops_counter
Definition: device.h:116
const rsimpl::uvc::device & get_device() const
Definition: device.h:102
virtual void on_before_callback(rs_stream, rs_frame_ref *, std::shared_ptr< rsimpl::frame_archive >)
Definition: device.h:111
void set_stream_callback(rs_stream stream, rs_frame_callback *callback) override
rs_device_base(std::shared_ptr< rsimpl::uvc::device > device, const rsimpl::static_device_info &info, rsimpl::calibration_validator validator=rsimpl::calibration_validator())
virtual void get_option_range(rs_option option, double &min, double &max, double &step, double &def) override
virtual void start_fw_logger(char fw_log_op_code, int grab_rate_in_ms, std::timed_mutex &mutex) override
void set_motion_callback(rs_motion_callback *callback) override
virtual rs_stream select_key_stream(const std::vector< rsimpl::subdevice_mode_selection > &selected_modes)=0
const char * get_option_description(rs_option option) const override
bool is_capturing() const override
Definition: device.h:153
virtual bool supports(rs_capabilities capability) const override
rsimpl::device_config config
Definition: device.h:79
bool poll_all_streams() override
void disable_motion_tracking() override
const char * get_camera_info(rs_camera_info info) const override
virtual void stop_motion_tracking()
rs_frame_ref * clone_frame(rs_frame_ref *frame) override
const rsimpl::stream_interface & get_stream_interface(rs_stream stream) const override
Definition: device.h:122
virtual void set_options(const rs_option options[], size_t count, const double values[]) override
virtual void start(rs_source source) override
void enable_stream_preset(rs_stream stream, rs_preset preset) override
virtual ~rs_device_base()
void set_timestamp_callback(rs_timestamp_callback *callback) override
virtual void on_before_start(const std::vector< rsimpl::subdevice_mode_selection > &selected_modes)=0
virtual void stop_fw_logger() override
const char * get_name() const override
Definition: device.h:124
virtual void stop_video_streaming()
virtual void send_blob_to_device(rs_blob_type, void *, int)
Definition: device.h:174
void set_timestamp_callback(void(*on_event)(rs_device *device, rs_timestamp_data data, void *user), void *user) override
void disable_stream(rs_stream stream) override
void wait_all_streams() override
rs_extrinsics get_motion_extrinsics_from(rs_stream from) const override
void enable_motion_tracking() override
void enable_stream(rs_stream stream, int width, int height, rs_format format, int fps, rs_output_buffer_format output) override
virtual void stop(rs_source source) override
virtual void disable_auto_option(int subdevice, rs_option auto_opt)
void release_frame(rs_frame_ref *ref) override
rsimpl::uvc::device & get_device()
Definition: device.h:103
rs_motion_intrinsics get_motion_intrinsics() const override
bool motion_module_ready
Definition: device.h:113
const char * get_firmware_version() const override
Definition: device.h:126
void set_stream_callback(rs_stream stream, void(*on_frame)(rs_device *device, rs_frame_ref *frame, void *user), void *user) override
int is_motion_tracking_active() const override
Definition: device.h:154
std::atomic< bool > keep_fw_logger_alive
Definition: device.h:114
virtual void start_video_streaming()
static void update_device_info(rsimpl::static_device_info &info)
virtual bool supports(rs_camera_info info_param) const override
virtual bool supports_option(rs_option option) const override
float get_depth_scale() const override
Definition: device.h:127
void set_motion_callback(void(*on_event)(rs_device *device, rs_motion_data data, void *user), void *user) override
virtual void start_motion_tracking()
const char * get_usb_port_id() const override
virtual std::vector< std::shared_ptr< rsimpl::frame_timestamp_reader > > create_frame_timestamp_readers() const =0
virtual void get_options(const rs_option options[], size_t count, double values[]) override
Definition: rscore.hpp:65
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.h:333
Definition: rscore.hpp:133
Definition: rscore.hpp:45
Definition: rscore.hpp:126
Motion data from gyroscope and accelerometer from the microcontroller.
Definition: rs.h:348
Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type rs_motion_d...
Definition: rs.h:326
Definition: rscore.hpp:140
Timestamp data from the motion microcontroller.
Definition: rs.h:340
const static_device_info info
Definition: types.h:450
float depth_scale
Definition: types.h:456
virtual unsigned long long get_frame_counter(const subdevice_mode &mode, const void *frame)=0
virtual bool validate_frame(const subdevice_mode &mode, const void *frame)=0
virtual double get_frame_timestamp(const subdevice_mode &mode, const void *frame, double actual_fps)=0
Definition: motion-module.h:153
std::string firmware_version
Definition: types.h:279
std::string serial
Definition: types.h:280
std::string name
Definition: types.h:270
R reader
Definition: device.h:21
void commit()
Definition: device.h:30
double get(U T::*field)
Definition: device.h:28
W writer
Definition: device.h:22
T struct_
Definition: device.h:20
void activate()
Definition: device.h:27
struct_interface(R r, W w)
Definition: device.h:25
void set(U T::*field, V value)
Definition: device.h:29
bool active
Definition: device.h:23
const uint8_t RS_STREAM_NATIVE_COUNT
Definition: types.h:27