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130 lines
6.3 KiB
130 lines
6.3 KiB
2 months ago
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// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
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#include "pyrealsense2.h"
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#include <librealsense2/hpp/rs_options.hpp>
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using rsutils::json;
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void init_options(py::module &m) {
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/** rs_options.hpp **/
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// Expose option values as a custom struct rather than 'rs2_option_value*'
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struct option_value
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{
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rs2_option id;
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rs2_option_type type;
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py::object value;
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option_value( rs2::option_value const & value_ )
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: id( value_->id )
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, type( value_->type )
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{
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if( ! value_->is_valid )
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value = py::cast< py::none >( Py_None );
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else if( RS2_OPTION_TYPE_FLOAT == value_->type )
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value = py::float_( value_->as_float );
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else if( RS2_OPTION_TYPE_STRING == value_->type )
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value = py::str( value_->as_string );
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else if( RS2_OPTION_TYPE_INTEGER == value_->type )
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value = py::int_( value_->as_integer );
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else if( RS2_OPTION_TYPE_BOOLEAN == value_->type )
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value = py::bool_( value_->as_integer );
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else
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value = py::cast< py::none >( Py_None );
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}
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};
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py::class_< option_value >( m, "option_value" )
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.def_readwrite( "id", &option_value::id )
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.def_readwrite( "value", &option_value::value ) // None if no value available
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.def_readwrite( "type", &option_value::type )
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.def( "__repr__",
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[]( option_value const & self )
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{
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std::ostringstream os;
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os << '<' << rs2_option_to_string( self.id );
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os << ' ' << py::str( self.value );
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os << '>';
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return os.str();
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} );
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// given an iterator, return an option_value
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struct option_value_from_iterator
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{
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option_value operator()( rs2::options_list::iterator const & it ) { return option_value( *it ); }
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};
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py::class_< rs2::options_list >( m, "options_list" )
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.def( "__getitem__",
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[]( const rs2::options_list & self, size_t i )
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{
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if( i >= self.size() )
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throw py::index_error();
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return option_value( self[i] );
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} )
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.def( "__len__", &rs2::options_list::size )
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.def( "__iter__",
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[]( const rs2::options_list & self )
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{
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return py::detail::make_iterator_impl< option_value_from_iterator, // how to access value from iterator
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py::return_value_policy::reference_internal, // pybind default
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rs2::options_list::iterator, // iterator type
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rs2::options_list::iterator, // sentinel (end) type
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option_value // value type
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>( self.begin(), self.end() );
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},
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py::keep_alive< 0, 1 >() );
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py::class_<rs2::options> options(m, "options", "Base class for options interface. Should be used via sensor or processing_block."); // No docstring in C++
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options.def("is_option_read_only", &rs2::options::is_option_read_only, "Check if particular option "
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"is read only.", "option"_a)
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.def("get_option", &rs2::options::get_option, "Read option value from the device.", "option"_a, py::call_guard<py::gil_scoped_release>())
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.def( "get_option_value",
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[]( rs2::options const & self, rs2_option option_id ) -> option_value
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{ return self.get_option_value( option_id ); } )
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.def( "set_option_value",
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[]( rs2::options const & self, rs2_option option_id, json value )
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{
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rs2::option_value rs2_value;
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switch( value.type() )
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{
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case json::value_t::null:
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rs2_value = rs2::option_value( option_id, rs2::option_value::invalid );
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break;
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case json::value_t::string:
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rs2_value = rs2::option_value( option_id, value.string_ref().c_str() );
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break;
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case json::value_t::number_float:
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rs2_value = rs2::option_value( option_id, value.get< float >() );
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break;
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case json::value_t::number_unsigned:
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case json::value_t::number_integer:
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rs2_value = rs2::option_value( option_id, value.get< int64_t >() );
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break;
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case json::value_t::boolean:
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rs2_value = rs2::option_value( option_id, value.get< bool >() );
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break;
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default:
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throw std::runtime_error( "invalid value type: " + value.dump() );
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}
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self.set_option_value( rs2_value );
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} )
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.def("get_option_range", &rs2::options::get_option_range, "Retrieve the available range of values "
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"of a supported option", "option"_a, py::call_guard<py::gil_scoped_release>())
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.def("set_option", &rs2::options::set_option, "Write new value to device option", "option"_a, "value"_a, py::call_guard<py::gil_scoped_release>())
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.def("supports", (bool (rs2::options::*)(rs2_option option) const) &rs2::options::supports, "Check if particular "
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"option is supported by a subdevice", "option"_a)
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.def("get_option_description", &rs2::options::get_option_description, "Get option description.", "option"_a)
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.def("get_option_value_description", &rs2::options::get_option_value_description, "Get option value description "
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"(In case a specific option value holds special meaning)", "option"_a, "value"_a)
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.def("get_supported_options", &rs2::options::get_supported_options, "Retrieve list of supported options") // No docstring in C++
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.def( "on_options_changed", &rs2::options::on_options_changed,
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"Sets a callback to notify in case options in this container change value", "callback"_a );
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/** end rs_options.hpp **/
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}
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