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Merged
merged 23 commits into from
Mar 6, 2020
Merged

Software Device update #5333

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b9015f6
[sw-dev] add rw option support, new ro option implementation
Nov 21, 2019
314c8ac
add get_active_streams to sensor API
Nov 21, 2019
fce98fc
make get_active_streams threadsafe
Nov 27, 2019
a9900c1
[sw-dev] add device destruction callback and support for simulating s…
Dec 12, 2019
ddbe825
[Bugfix] `add_*_stream` function errors hidden bug
Jun 19, 2019
6a4e9ff
[Refactor] Reduce duplicative search for stream by uid
Jun 19, 2019
6ebcb67
Expanded the software device API for emulating realsense devices
Jun 19, 2019
95a22a6
[sw-dev] add ability to flag stream_profile as default.
Dec 12, 2019
c56e0e6
Add missing functions to realsense.def
Dec 12, 2019
e44bc52
fix error handling in rs2_software_sensor_on_notification
Dec 12, 2019
a98c99a
Additional fixes
Dec 12, 2019
77bae3c
minor documentation tweaks
Jan 15, 2020
61ed068
[python] Wrapped software_device, including all new functionality
Jan 15, 2020
58d44c8
[python] Release gil during fw update processes, add constructor for …
Jan 15, 2020
bc2003f
Only call swdev on_destruction_callback if its initialized
Jan 15, 2020
dff8f96
[python] handle discrepancy between MSVC and g++
Jan 16, 2020
89486c2
Merge branch 'development' of https://github.com/IntelRealSense/libre…
Feb 16, 2020
72d9751
add missing typename in python bindings
Feb 16, 2020
1f38d1f
Add software_device constructor with name argument
Feb 16, 2020
e5aa265
[python] remove constexpr from function
Feb 17, 2020
6666424
Code review changes
Mar 5, 2020
69328da
Add live unit test for get_active_streams
Mar 5, 2020
09d115a
Add missing else
Mar 5, 2020
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111 changes: 103 additions & 8 deletions include/librealsense2/h/rs_internal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ typedef enum rs2_recording_mode
RS2_RECORDING_MODE_COUNT
} rs2_recording_mode;

/** \brief All the parameters are required to define video stream*/
/** \brief All the parameters required to define a video stream. */
typedef struct rs2_video_stream
{
rs2_stream type;
Expand All @@ -44,7 +44,7 @@ typedef struct rs2_video_stream
rs2_intrinsics intrinsics;
} rs2_video_stream;

/** \brief All the parameters are required to define motion stream*/
/** \brief All the parameters required to define a motion stream. */
typedef struct rs2_motion_stream
{
rs2_stream type;
Expand All @@ -55,7 +55,7 @@ typedef struct rs2_motion_stream
rs2_motion_device_intrinsic intrinsics;
} rs2_motion_stream;

/** \brief All the parameters are required to define pose stream*/
/** \brief All the parameters required to define a pose stream. */
typedef struct rs2_pose_stream
{
rs2_stream type;
Expand All @@ -65,7 +65,7 @@ typedef struct rs2_pose_stream
rs2_format fmt;
} rs2_pose_stream;

/** \brief All the parameters are required to define video frame*/
/** \brief All the parameters required to define a video frame. */
typedef struct rs2_software_video_frame
{
void* pixels;
Expand All @@ -78,7 +78,7 @@ typedef struct rs2_software_video_frame
const rs2_stream_profile* profile;
} rs2_software_video_frame;

/** \brief All the parameters are required to define motion frame*/
/** \brief All the parameters required to define a motion frame. */
typedef struct rs2_software_motion_frame
{
void* data;
Expand All @@ -89,7 +89,7 @@ typedef struct rs2_software_motion_frame
const rs2_stream_profile* profile;
} rs2_software_motion_frame;

/** \brief All the parameters are required to define pose frame*/
/** \brief All the parameters required to define a pose frame. */
typedef struct rs2_software_pose_frame
{
struct pose_frame_info
Expand All @@ -111,6 +111,18 @@ typedef struct rs2_software_pose_frame
const rs2_stream_profile* profile;
} rs2_software_pose_frame;

/** \brief All the parameters required to define a sensor notification. */
typedef struct rs2_software_notification
{
rs2_notification_category category;
int type;
rs2_log_severity severity;
const char* description;
const char* serialized_data;
} rs2_software_notification;

struct rs2_software_device_destruction_callback;

/**
* Create librealsense context that will try to record all operations over librealsense into a file
* \param[in] api_version realsense API version as provided by RS2_API_VERSION macro
Expand Down Expand Up @@ -185,6 +197,15 @@ void rs2_software_sensor_on_motion_frame(rs2_sensor* sensor, rs2_software_motion
*/
void rs2_software_sensor_on_pose_frame(rs2_sensor* sensor, rs2_software_pose_frame frame, rs2_error** error);


/**
* Inject notification to software sonsor
* \param[in] sensor the software sensor
* \param[in] notif all the notification components
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_sensor_on_notification(rs2_sensor* sensor, rs2_software_notification notif, rs2_error** error);

/**
* Set frame metadata for the upcoming frames
* \param[in] sensor the software sensor
Expand All @@ -194,6 +215,22 @@ void rs2_software_sensor_on_pose_frame(rs2_sensor* sensor, rs2_software_pose_fra
*/
void rs2_software_sensor_set_metadata(rs2_sensor* sensor, rs2_frame_metadata_value value, rs2_metadata_type type, rs2_error** error);

/**
* set callback to be notified when a specific software device is destroyed
* \param[in] dev software device
* \param[in] on_notification function pointer to register as callback
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_device_set_destruction_callback(const rs2_device* dev, rs2_software_device_destruction_callback_ptr on_notification, void* user, rs2_error** error);

/**
* set callback to be notified when a specific software device is destroyed
* \param[in] dev software device
* \param[in] callback callback object created from c++ application. ownership over the callback object is moved into the relevant device lock
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_device_set_destruction_callback_cpp(const rs2_device* dev, rs2_software_device_destruction_callback* callback, rs2_error** error);

/**
* Set the wanted matcher type that will be used by the syncer
* \param[in] dev the software device
Expand All @@ -202,6 +239,24 @@ void rs2_software_sensor_set_metadata(rs2_sensor* sensor, rs2_frame_metadata_val
*/
void rs2_software_device_create_matcher(rs2_device* dev, rs2_matchers matcher, rs2_error** error);

/**
* Register a camera info value for the software device
* \param[in] dev the software device
* \param[in] info identifier for the camera info to add.
* \param[in] val string value for this new camera info.
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_device_register_info(rs2_device* dev, rs2_camera_info info, const char *val, rs2_error** error);

/**
* Update an existing camera info value for the software device
* \param[in] dev the software device
* \param[in] info identifier for the camera info to add.
* \param[in] val string value for this new camera info.
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_device_update_info(rs2_device* dev, rs2_camera_info info, const char * val, rs2_error** error);

/**
* Add video stream to sensor
* \param[in] sensor the software sensor
Expand All @@ -210,22 +265,49 @@ void rs2_software_device_create_matcher(rs2_device* dev, rs2_matchers matcher, r
*/
rs2_stream_profile* rs2_software_sensor_add_video_stream(rs2_sensor* sensor, rs2_video_stream video_stream, rs2_error** error);

/**
* Add video stream to sensor
* \param[in] sensor the software sensor
* \param[in] video_stream all the stream components
* \param[in] is_default whether or not the stream should be a default stream for the device
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
rs2_stream_profile* rs2_software_sensor_add_video_stream_ex(rs2_sensor* sensor, rs2_video_stream video_stream, int is_default, rs2_error** error);

/**
* Add motion stream to sensor
* \param[in] sensor the software sensor
* \param[in] video_stream all the stream components
* \param[in] motion_stream all the stream components
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
rs2_stream_profile* rs2_software_sensor_add_motion_stream(rs2_sensor* sensor, rs2_motion_stream motion_stream, rs2_error** error);

/**
* Add motion stream to sensor
* \param[in] sensor the software sensor
* \param[in] motion_stream all the stream components
* \param[in] is_default whether or not the stream should be a default stream for the device
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
rs2_stream_profile* rs2_software_sensor_add_motion_stream_ex(rs2_sensor* sensor, rs2_motion_stream motion_stream, int is_default, rs2_error** error);

/**
* Add pose stream to sensor
* \param[in] sensor the software sensor
* \param[in] video_stream all the stream components
* \param[in] pose_stream all the stream components
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
rs2_stream_profile* rs2_software_sensor_add_pose_stream(rs2_sensor* sensor, rs2_pose_stream pose_stream, rs2_error** error);

/**
* Add pose stream to sensor
* \param[in] sensor the software sensor
* \param[in] pose_stream all the stream components
* \param[in] is_default whether or not the stream should be a default stream for the device
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
rs2_stream_profile* rs2_software_sensor_add_pose_stream_ex(rs2_sensor* sensor, rs2_pose_stream pose_stream, int is_default, rs2_error** error);

/**
* Add read only option to sensor
* \param[in] sensor the software sensor
Expand All @@ -243,6 +325,19 @@ void rs2_software_sensor_add_read_only_option(rs2_sensor* sensor, rs2_option opt
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_sensor_update_read_only_option(rs2_sensor* sensor, rs2_option option, float val, rs2_error** error);

/**
* Add an option to sensor
* \param[in] sensor the software sensor
* \param[in] option the wanted option
* \param[in] min the minimum value which will be accepted for this option
* \param[in] max the maximum value which will be accepted for this option
* \param[in] step the granularity of options which accept discrete values, or zero if the option accepts continuous values
* \param[in] def the initial value of the option
* \param[in] is_writable should the option be read-only or not
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
void rs2_software_sensor_add_option(rs2_sensor* sensor, rs2_option option, float min, float max, float step, float def, int is_writable, rs2_error** error);
#ifdef __cplusplus
}
#endif
Expand Down
12 changes: 10 additions & 2 deletions include/librealsense2/h/rs_sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -317,11 +317,19 @@ const char* rs2_get_notification_serialized_data(rs2_notification* notification,

/**
* check if physical subdevice is supported
* \param[in] device input RealSense device
* \param[in] sensor input RealSense subdevice
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
* \return list of stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list
*/
rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* device, rs2_error** error);
rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error** error);

/**
* check how subdevice is streaming
* \param[in] sensor input RealSense subdevice
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
* \return list of stream profiles that given subdevice is currently streaming, should be released by rs2_delete_profiles_list
*/
rs2_stream_profile_list* rs2_get_active_streams(rs2_sensor* sensor, rs2_error** error);

/**
* Get pointer to specific stream profile
Expand Down
1 change: 1 addition & 0 deletions include/librealsense2/h/rs_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,7 @@ typedef struct rs2_notification rs2_notification;
typedef struct rs2_notifications_callback rs2_notifications_callback;
typedef void (*rs2_log_callback_ptr)(rs2_log_severity, rs2_log_message const *, void * arg);
typedef void (*rs2_notification_callback_ptr)(rs2_notification*, void*);
typedef void(*rs2_software_device_destruction_callback_ptr)(void*);
typedef void (*rs2_devices_changed_callback_ptr)(rs2_device_list*, rs2_device_list*, void*);
typedef void (*rs2_frame_callback_ptr)(rs2_frame*, void*);
typedef void (*rs2_frame_processor_callback_ptr)(rs2_frame*, rs2_source*, void*);
Expand Down
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