Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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rs.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_HPP
5#define LIBREALSENSE_RS2_HPP
6
7#include "rs.h"
8#include "hpp/rs_types.hpp"
9#include "hpp/rs_context.hpp"
10#include "hpp/rs_device.hpp"
11#include "hpp/rs_frame.hpp"
12#include "hpp/rs_processing.hpp"
14#include "hpp/rs_sensor.hpp"
15#include "hpp/rs_pipeline.hpp"
16
17namespace rs2
18{
19 inline void log_to_console(rs2_log_severity min_severity)
20 {
21 rs2_error* e = nullptr;
22 rs2_log_to_console(min_severity, &e);
24 }
25
26 inline void log_to_file(rs2_log_severity min_severity, const char * file_path = nullptr)
27 {
28 rs2_error* e = nullptr;
29 rs2_log_to_file(min_severity, file_path, &e);
31 }
32
33 inline void reset_logger()
34 {
35 rs2_error* e = nullptr;
38 }
39
40 // Enable rolling log file when used with rs2_log_to_file:
41 // Upon reaching (max_size/2) bytes, the log will be renamed with an ".old" suffix and a new log created. Any
42 // previous .old file will be erased.
43 // Must have permissions to remove/rename files in log file directory.
44 //
45 // @param max_size max file size in megabytes
46 //
47 inline void enable_rolling_log_file( unsigned max_size )
48 {
49 rs2_error * e = nullptr;
50 rs2_enable_rolling_log_file( max_size, &e );
51 error::handle( e );
52 }
53
54 /*
55 Interface to the log message data we expose.
56 */
58 {
59 // Only log_callback should be creating us!
60 template< class T > friend class log_callback;
61
62 log_message( rs2_log_message const & msg ) : _msg( msg ) {}
63
64 public:
65 /* Returns the line-number in the file where the LOG() comment was issued */
66 size_t line_number() const
67 {
68 rs2_error* e = nullptr;
69 size_t ln = rs2_get_log_message_line_number( &_msg, &e );
70 error::handle( e );
71 return ln;
72 }
73 /* Returns the file in which the LOG() command was issued */
74 const char * filename() const
75 {
76 rs2_error* e = nullptr;
77 const char * path = rs2_get_log_message_filename( &_msg, &e );
78 error::handle( e );
79 return path;
80 }
81 /* Returns the raw message, as it was passed to LOG(), before any embelishments like level etc. */
82 const char* raw() const
83 {
84 rs2_error* e = nullptr;
85 const char* r = rs2_get_raw_log_message( &_msg, &e );
86 error::handle( e );
87 return r;
88 }
89 /*
90 Returns a complete log message, as defined by librealsense, with level, timestamp, etc.:
91 11/12 13:49:40,153 INFO [10604] (rs.cpp:2271) Framebuffer size changed to 1552 x 919
92 */
93 const char* full() const
94 {
95 rs2_error* e = nullptr;
96 const char* str = rs2_get_full_log_message( &_msg, &e );
97 error::handle( e );
98 return str;
99 }
100
101 private:
102 rs2_log_message const & _msg;
103 };
104
105 /*
106 Wrapper around any callback function that is given to log_to_callback.
107 */
108 template<class T>
110 {
111 T on_log_function;
112 public:
113 explicit log_callback( T on_log ) : on_log_function( on_log ) {}
114
115 void on_log( rs2_log_severity severity, rs2_log_message const & msg ) noexcept override
116 {
117 on_log_function( severity, log_message( msg ));
118 }
119
120 void release() override { delete this; }
121 };
122
123 /*
124 Your callback should look like this, for example:
125 void callback( rs2_log_severity severity, rs2::log_message const & msg ) noexcept
126 {
127 std::cout << msg.build() << std::endl;
128 }
129 and, when initializing rs2:
130 rs2::log_to_callback( callback );
131 or:
132 rs2::log_to_callback(
133 []( rs2_log_severity severity, rs2::log_message const & msg ) noexcept
134 {
135 std::cout << msg.build() << std::endl;
136 })
137 */
138 template< typename S >
139 inline void log_to_callback( rs2_log_severity min_severity, S callback )
140 {
141 // We wrap the callback with an interface and pass it to librealsense, who will
142 // now manage its lifetime. Rather than deleting it, though, it will call its
143 // release() function, where (back in our context) it can be safely deleted:
144 rs2_error* e = nullptr;
145 rs2_log_to_callback_cpp( min_severity, new log_callback< S >( std::move( callback )), &e );
146 error::handle( e );
147 }
148
149 inline void log(rs2_log_severity severity, const char* message)
150 {
151 rs2_error* e = nullptr;
152 rs2_log(severity, message, &e);
153 error::handle(e);
154 }
155}
156
157inline std::ostream & operator << (std::ostream & o, rs2_stream stream) { return o << rs2_stream_to_string(stream); }
158inline std::ostream & operator << (std::ostream & o, rs2_format format) { return o << rs2_format_to_string(format); }
159inline std::ostream & operator << (std::ostream & o, rs2_distortion distortion) { return o << rs2_distortion_to_string(distortion); }
160inline std::ostream & operator << (std::ostream & o, rs2_option option) { return o << rs2_option_to_string(option); } // This function is being deprecated. For existing options it will return option name, but for future API additions the user should call rs2_get_option_name instead.
161inline std::ostream & operator << (std::ostream & o, rs2_log_severity severity) { return o << rs2_log_severity_to_string(severity); }
162inline std::ostream & operator << (std::ostream & o, rs2::log_message const & msg ) { return o << msg.raw(); }
163inline std::ostream & operator << (std::ostream & o, rs2_camera_info camera_info) { return o << rs2_camera_info_to_string(camera_info); }
164inline std::ostream & operator << (std::ostream & o, rs2_frame_metadata_value metadata) { return o << rs2_frame_metadata_to_string(metadata); }
165inline std::ostream & operator << (std::ostream & o, rs2_timestamp_domain domain) { return o << rs2_timestamp_domain_to_string(domain); }
166inline std::ostream & operator << (std::ostream & o, rs2_notification_category notificaton) { return o << rs2_notification_category_to_string(notificaton); }
167inline std::ostream & operator << (std::ostream & o, rs2_sr300_visual_preset preset) { return o << rs2_sr300_visual_preset_to_string(preset); }
168inline std::ostream & operator << (std::ostream & o, rs2_exception_type exception_type) { return o << rs2_exception_type_to_string(exception_type); }
169inline std::ostream & operator << (std::ostream & o, rs2_playback_status status) { return o << rs2_playback_status_to_string(status); }
170inline std::ostream & operator << (std::ostream & o, rs2_l500_visual_preset preset) {return o << rs2_l500_visual_preset_to_string(preset);}
171inline std::ostream & operator << (std::ostream & o, rs2_sensor_mode mode) { return o << rs2_sensor_mode_to_string(mode); }
172inline std::ostream & operator << (std::ostream & o, rs2_calibration_type mode) { return o << rs2_calibration_type_to_string(mode); }
173inline std::ostream & operator << (std::ostream & o, rs2_calibration_status mode) { return o << rs2_calibration_status_to_string(mode); }
174
175#endif // LIBREALSENSE_RS2_HPP
static void handle(rs2_error *e)
Definition: rs_types.hpp:144
Definition: rs.hpp:110
void release() override
Definition: rs.hpp:120
log_callback(T on_log)
Definition: rs.hpp:113
void on_log(rs2_log_severity severity, rs2_log_message const &msg) noexcept override
Definition: rs.hpp:115
Definition: rs.hpp:58
size_t line_number() const
Definition: rs.hpp:66
const char * filename() const
Definition: rs.hpp:74
const char * raw() const
Definition: rs.hpp:82
const char * full() const
Definition: rs.hpp:93
Definition: rs_processing_gl.hpp:13
void log(rs2_log_severity severity, const char *message)
Definition: rs.hpp:149
void enable_rolling_log_file(unsigned max_size)
Definition: rs.hpp:47
void reset_logger()
Definition: rs.hpp:33
void log_to_console(rs2_log_severity min_severity)
Definition: rs.hpp:19
void log_to_file(rs2_log_severity min_severity, const char *file_path=nullptr)
Definition: rs.hpp:26
void log_to_callback(rs2_log_severity min_severity, S callback)
Definition: rs.hpp:139
Exposes librealsense functionality for C compilers.
void rs2_log_to_console(rs2_log_severity min_severity, rs2_error **error)
unsigned rs2_get_log_message_line_number(rs2_log_message const *msg, rs2_error **error)
void rs2_log_to_file(rs2_log_severity min_severity, const char *file_path, rs2_error **error)
const char * rs2_get_log_message_filename(rs2_log_message const *msg, rs2_error **error)
void rs2_enable_rolling_log_file(unsigned max_size, rs2_error **error)
const char * rs2_get_full_log_message(rs2_log_message const *msg, rs2_error **error)
void rs2_log_to_callback_cpp(rs2_log_severity min_severity, rs2_log_callback *callback, rs2_error **error)
void rs2_reset_logger(rs2_error **error)
void rs2_log(rs2_log_severity severity, const char *message, rs2_error **error)
const char * rs2_get_raw_log_message(rs2_log_message const *msg, rs2_error **error)
std::ostream & operator<<(std::ostream &o, rs2_stream stream)
Definition: rs.hpp:157
rs2_calibration_type
Definition: rs_device.h:397
const char * rs2_calibration_type_to_string(rs2_calibration_type)
rs2_calibration_status
Definition: rs_device.h:409
const char * rs2_calibration_status_to_string(rs2_calibration_status)
const char * rs2_timestamp_domain_to_string(rs2_timestamp_domain info)
rs2_timestamp_domain
Specifies the clock in relation to which the frame timestamp was measured.
Definition: rs_frame.h:20
const char * rs2_frame_metadata_to_string(rs2_frame_metadata_value metadata)
rs2_frame_metadata_value
Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame...
Definition: rs_frame.h:30
const char * rs2_l500_visual_preset_to_string(rs2_l500_visual_preset preset)
rs2_sr300_visual_preset
For SR300 devices: provides optimized settings (presets) for specific types of usage.
Definition: rs_option.h:127
rs2_l500_visual_preset
For L500 devices: provides optimized settings (presets) for specific types of usage.
Definition: rs_option.h:159
const char * rs2_option_to_string(rs2_option option)
const char * rs2_sensor_mode_to_string(rs2_sensor_mode preset)
rs2_sensor_mode
For setting the camera_mode option.
Definition: rs_option.h:173
rs2_option
Defines general configuration controls. These can generally be mapped to camera UVC controls,...
Definition: rs_option.h:23
const char * rs2_sr300_visual_preset_to_string(rs2_sr300_visual_preset preset)
const char * rs2_playback_status_to_string(rs2_playback_status status)
rs2_playback_status
Definition: rs_record_playback.h:20
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:43
const char * rs2_stream_to_string(rs2_stream stream)
const char * rs2_camera_info_to_string(rs2_camera_info info)
rs2_camera_info
Read-only strings that can be queried from the device. Not all information attributes are available o...
Definition: rs_sensor.h:22
const char * rs2_format_to_string(rs2_format format)
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:60
const char * rs2_exception_type_to_string(rs2_exception_type type)
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:153
const char * rs2_distortion_to_string(rs2_distortion distortion)
struct rs2_log_message rs2_log_message
Definition: rs_types.h:260
rs2_notification_category
Category of the librealsense notification.
Definition: rs_types.h:17
rs2_distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs_types.h:46
const char * rs2_log_severity_to_string(rs2_log_severity info)
struct rs2_error rs2_error
Definition: rs_types.h:259
rs2_exception_type
Exception types are the different categories of errors that RealSense API might return.
Definition: rs_types.h:31
const char * rs2_notification_category_to_string(rs2_notification_category category)
Definition: rs_types.hpp:56