Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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rs_context.hpp
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1// License: Apache 2.0. See LICENSE file in root directory.
2// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
3
4#ifndef LIBREALSENSE_RS2_CONTEXT_HPP
5#define LIBREALSENSE_RS2_CONTEXT_HPP
6
7#include "rs_types.hpp"
9#include "rs_processing.hpp"
10
11namespace rs2
12{
14 {
15 public:
17 :_removed(removed), _added(added) {}
18
23 bool was_removed(const rs2::device& dev) const
24 {
25 rs2_error* e = nullptr;
26
27 if (!dev)
28 return false;
29
30 auto res = rs2_device_list_contains(_removed.get_list(), dev.get().get(), &e);
32
33 return res > 0;
34 }
35
40 bool was_added(const rs2::device& dev) const
41 {
42 rs2_error* e = nullptr;
43
44 if (!dev)
45 return false;
46
47 auto res = rs2_device_list_contains(_added.get_list(), dev.get().get(), &e);
49
50 return res > 0;
51 }
52
58 {
59 return _added;
60 }
61
62 private:
63 device_list _removed;
64 device_list _added;
65 };
66
67 template<class T>
69 {
70 T _callback;
71
72 public:
73 explicit devices_changed_callback(T callback) : _callback(callback) {}
74
75 void on_devices_changed(rs2_device_list* removed, rs2_device_list* added) override
76 {
77 std::shared_ptr<rs2_device_list> old(removed, rs2_delete_device_list);
78 std::shared_ptr<rs2_device_list> news(added, rs2_delete_device_list);
79
80
81 event_information info({ device_list(old), device_list(news) });
82 _callback(info);
83 }
84
85 void release() override { delete this; }
86 };
87
88 class pipeline;
89 class device_hub;
90 class software_device;
91
96 class context
97 {
98 public:
100 {
101 rs2_error* e = nullptr;
102 _context = std::shared_ptr<rs2_context>(
105 error::handle(e);
106 }
107
113 {
114 rs2_error* e = nullptr;
115 std::shared_ptr<rs2_device_list> list(
116 rs2_query_devices(_context.get(), &e),
118 error::handle(e);
119
120 return device_list(list);
121 }
122
128 {
129 rs2_error* e = nullptr;
130 std::shared_ptr<rs2_device_list> list(
131 rs2_query_devices_ex(_context.get(), mask, &e),
133 error::handle(e);
134
135 return device_list(list);
136 }
137
142 std::vector<sensor> query_all_sensors() const
143 {
144 std::vector<sensor> results;
145 for (auto&& dev : query_devices())
146 {
147 auto sensors = dev.query_sensors();
148 std::copy(sensors.begin(), sensors.end(), std::back_inserter(results));
149 }
150 return results;
151 }
152
153
155 {
156 rs2_error* e = nullptr;
157 std::shared_ptr<rs2_device> dev(
160 error::handle(e);
161 return device{ dev };
162 }
163
168 template<class T>
170 {
171 rs2_error* e = nullptr;
173 new devices_changed_callback<T>(std::move(callback)), &e);
174 error::handle(e);
175 }
176
184 playback load_device(const std::string& file)
185 {
186 rs2_error* e = nullptr;
187 auto device = std::shared_ptr<rs2_device>(
188 rs2_context_add_device(_context.get(), file.c_str(), &e),
191
192 return playback { device };
193 }
194
195 void unload_device(const std::string& file)
196 {
197 rs2_error* e = nullptr;
198 rs2_context_remove_device(_context.get(), file.c_str(), &e);
200 }
201
203 {
204 rs2_error* e = nullptr;
207 }
208
209 context(std::shared_ptr<rs2_context> ctx)
210 : _context(ctx)
211 {}
212 explicit operator std::shared_ptr<rs2_context>() { return _context; };
213 protected:
214 friend class rs2::pipeline;
215 friend class rs2::device_hub;
217
218 std::shared_ptr<rs2_context> _context;
219 };
220
225 {
226 public:
227 explicit device_hub(context ctx)
228 {
229 rs2_error* e = nullptr;
230 _device_hub = std::shared_ptr<rs2_device_hub>(
231 rs2_create_device_hub(ctx._context.get(), &e),
233 error::handle(e);
234 }
235
241 {
242 rs2_error* e = nullptr;
243 std::shared_ptr<rs2_device> dev(
244 rs2_device_hub_wait_for_device(_device_hub.get(), &e),
246
247 error::handle(e);
248
249 return device(dev);
250
251 }
252
256 bool is_connected(const device& dev) const
257 {
258 rs2_error* e = nullptr;
259 auto res = rs2_device_hub_is_device_connected(_device_hub.get(), dev._dev.get(), &e);
260 error::handle(e);
261
262 return res > 0 ? true : false;
263
264 }
265
266 explicit operator std::shared_ptr<rs2_device_hub>() { return _device_hub; }
267 explicit device_hub(std::shared_ptr<rs2_device_hub> hub) : _device_hub(std::move(hub)) {}
268 private:
269 std::shared_ptr<rs2_device_hub> _device_hub;
270 };
271
272}
273#endif // LIBREALSENSE_RS2_CONTEXT_HPP
Definition: rs_context.hpp:97
void set_devices_changed_callback(T callback)
Definition: rs_context.hpp:169
device_list query_devices() const
Definition: rs_context.hpp:112
void unload_device(const std::string &file)
Definition: rs_context.hpp:195
device_list query_devices(int mask) const
Definition: rs_context.hpp:127
void unload_tracking_module()
Definition: rs_context.hpp:202
std::vector< sensor > query_all_sensors() const
Generate a flat list of all available sensors from all RealSense devices.
Definition: rs_context.hpp:142
std::shared_ptr< rs2_context > _context
Definition: rs_context.hpp:218
playback load_device(const std::string &file)
Definition: rs_context.hpp:184
device get_sensor_parent(const sensor &s) const
Definition: rs_context.hpp:154
context()
Definition: rs_context.hpp:99
context(std::shared_ptr< rs2_context > ctx)
Definition: rs_context.hpp:209
Definition: rs_context.hpp:225
device wait_for_device() const
Definition: rs_context.hpp:240
bool is_connected(const device &dev) const
Definition: rs_context.hpp:256
device_hub(std::shared_ptr< rs2_device_hub > hub)
Definition: rs_context.hpp:267
device_hub(context ctx)
Definition: rs_context.hpp:227
Definition: rs_device.hpp:955
const rs2_device_list * get_list() const
Definition: rs_device.hpp:1051
Definition: rs_device.hpp:19
const std::shared_ptr< rs2_device > & get() const
Definition: rs_device.hpp:116
std::shared_ptr< rs2_device > _dev
Definition: rs_device.hpp:146
Definition: rs_context.hpp:69
void release() override
Definition: rs_context.hpp:85
void on_devices_changed(rs2_device_list *removed, rs2_device_list *added) override
Definition: rs_context.hpp:75
devices_changed_callback(T callback)
Definition: rs_context.hpp:73
static void handle(rs2_error *e)
Definition: rs_types.hpp:144
Definition: rs_context.hpp:14
event_information(device_list removed, device_list added)
Definition: rs_context.hpp:16
bool was_added(const rs2::device &dev) const
Definition: rs_context.hpp:40
bool was_removed(const rs2::device &dev) const
Definition: rs_context.hpp:23
device_list get_new_devices() const
Definition: rs_context.hpp:57
Definition: rs_pipeline.hpp:363
Definition: rs_record_playback.hpp:28
Definition: rs_sensor.hpp:103
std::shared_ptr< rs2_sensor > _sensor
Definition: rs_sensor.hpp:352
Definition: rs_internal.hpp:261
Definition: rs_processing_gl.hpp:13
#define RS2_API_VERSION
Definition: rs.h:42
void rs2_delete_context(rs2_context *context)
Frees the relevant context object.
rs2_device * rs2_device_hub_wait_for_device(const rs2_device_hub *hub, rs2_error **error)
void rs2_delete_device_hub(const rs2_device_hub *hub)
Frees the relevant device hub object.
int rs2_device_hub_is_device_connected(const rs2_device_hub *hub, const rs2_device *device, rs2_error **error)
void rs2_context_unload_tracking_module(rs2_context *ctx, rs2_error **error)
rs2_device_hub * rs2_create_device_hub(const rs2_context *context, rs2_error **error)
Creates RealSense device_hub .
void rs2_context_remove_device(rs2_context *ctx, const char *file, rs2_error **error)
rs2_context * rs2_create_context(int api_version, rs2_error **error)
Creates RealSense context that is required for the rest of the API.
rs2_device * rs2_context_add_device(rs2_context *ctx, const char *file, rs2_error **error)
void rs2_set_devices_changed_callback_cpp(rs2_context *context, rs2_devices_changed_callback *callback, rs2_error **error)
rs2_device_list * rs2_query_devices_ex(const rs2_context *context, int product_mask, rs2_error **error)
rs2_device_list * rs2_query_devices(const rs2_context *context, rs2_error **error)
void rs2_delete_device(rs2_device *device)
int rs2_device_list_contains(const rs2_device_list *info_list, const rs2_device *device, rs2_error **error)
void rs2_delete_device_list(rs2_device_list *info_list)
rs2_device * rs2_create_device_from_sensor(const rs2_sensor *sensor, rs2_error **error)
struct rs2_device_list rs2_device_list
Definition: rs_types.h:267
struct rs2_error rs2_error
Definition: rs_types.h:259
Definition: rs_types.hpp:70