You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
93 lines
2.8 KiB
93 lines
2.8 KiB
2 months ago
|
// License: Apache 2.0. See LICENSE file in root directory.
|
||
|
|
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "basics.h" // C4250
|
||
|
|
#include <src/core/device-interface.h>
|
||
|
|
#include <src/core/info.h>
|
||
|
|
#include <src/core/features-container.h>
|
||
|
|
|
||
|
|
#include "device-info.h"
|
||
|
|
|
||
|
|
#include <rsutils/lazy.h>
|
||
|
|
#include <rsutils/subscription.h>
|
||
|
|
#include <chrono>
|
||
|
|
#include <memory>
|
||
|
|
#include <vector>
|
||
|
|
#include <atomic>
|
||
|
|
|
||
|
|
|
||
|
|
namespace librealsense {
|
||
|
|
|
||
|
|
|
||
|
|
enum class format_conversion
|
||
|
|
{
|
||
|
|
raw,
|
||
|
|
basic,
|
||
|
|
full
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
// Base implementation for most devices in librealsense. While it's not necessary to derive from this class, it greatly
|
||
|
|
// simplifies implementations.
|
||
|
|
//
|
||
|
|
class device
|
||
|
|
: public virtual device_interface
|
||
|
|
, public info_container
|
||
|
|
, public features_container
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~device();
|
||
|
|
size_t get_sensors_count() const override;
|
||
|
|
|
||
|
|
sensor_interface& get_sensor(size_t subdevice) override;
|
||
|
|
const sensor_interface& get_sensor(size_t subdevice) const override;
|
||
|
|
|
||
|
|
void hardware_reset() override;
|
||
|
|
|
||
|
|
virtual std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
|
||
|
|
|
||
|
|
size_t find_sensor_idx(const sensor_interface& s) const;
|
||
|
|
|
||
|
|
std::shared_ptr< context > get_context() const override { return _dev_info->get_context(); }
|
||
|
|
|
||
|
|
std::shared_ptr< const device_info > get_device_info() const override { return _dev_info; }
|
||
|
|
|
||
|
|
std::pair<uint32_t, rs2_extrinsics> get_extrinsics(const stream_interface& stream) const override;
|
||
|
|
|
||
|
|
bool is_valid() const override { return *_is_alive; }
|
||
|
|
|
||
|
|
void tag_profiles(stream_profiles profiles) const override;
|
||
|
|
|
||
|
|
virtual bool compress_while_record() const override { return true; }
|
||
|
|
|
||
|
|
virtual bool contradicts(const stream_profile_interface* a, const std::vector<stream_profile>& others) const override;
|
||
|
|
|
||
|
|
virtual void stop_activity() const;
|
||
|
|
|
||
|
|
bool device_changed_notifications_on() const { return _device_change_subscription.is_active(); }
|
||
|
|
|
||
|
|
format_conversion get_format_conversion() const;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
int add_sensor(const std::shared_ptr<sensor_interface>& sensor_base);
|
||
|
|
int assign_sensor(const std::shared_ptr<sensor_interface>& sensor_base, uint8_t idx);
|
||
|
|
void register_stream_to_extrinsic_group(const stream_interface& stream, uint32_t groupd_index);
|
||
|
|
std::vector<rs2_format> map_supported_color_formats(rs2_format source_format);
|
||
|
|
|
||
|
|
explicit device( std::shared_ptr< const device_info > const &, bool device_changed_notifications = true );
|
||
|
|
|
||
|
|
std::map<int, std::pair<uint32_t, std::shared_ptr<const stream_interface>>> _extrinsics;
|
||
|
|
|
||
|
|
private:
|
||
|
|
std::vector<std::shared_ptr<sensor_interface>> _sensors;
|
||
|
|
std::shared_ptr< const device_info > _dev_info;
|
||
|
|
std::shared_ptr< std::atomic< bool > > _is_alive;
|
||
|
|
rsutils::subscription _device_change_subscription;
|
||
|
|
rsutils::lazy< std::vector< tagged_profile > > _profiles_tags;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
}
|