2021-09-17 14:08:01 +00:00
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// Copyright 2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Internal header for the RealSense driver.
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* @author Mateo de Mayo <mateo.demayo@collabora.com>
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* @ingroup drv_rs
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*/
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#pragma once
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#include "xrt/xrt_prober.h"
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#include "rs_interface.h"
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#include <librealsense2/rs.h>
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#include <librealsense2/h/rs_pipeline.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* @addtogroup drv_rs
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* @{
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*/
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//! Container to store and manage useful objects from the RealSense API
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struct rs_container
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{
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rs2_error *error_status;
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// Used by prober and devices
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rs2_context *context; //!< RealSense API context
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rs2_device_list *device_list; //!< List of connected RealSense devices
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int device_count; //!< Length of device_list
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// Used by devices
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int device_idx; //!< `device` index in `device_list`
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rs2_device *device; //!< Main device
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rs2_pipeline *pipeline; //!< RealSense running pipeline
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rs2_config *config; //!< Pipeline streaming configuration
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rs2_pipeline_profile *profile; //!< Pipeline profile
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};
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//! Cleans up an @ref rs_container and resets its fields to NULL;
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static void
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rs_container_cleanup(struct rs_container *rsc)
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{
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// A note about what is and what is not being deleted:
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// In its documentation, the RealSense API specifies which calls require the
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// caller to delete the returned object afterwards. By looking at the code of
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// the API it seems that when that is not explicitly pointed out in the
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// interface documentation, you should *not* delete the returned object.
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// clang-format off
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if (rsc->profile) rs2_delete_pipeline_profile(rsc->profile);
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if (rsc->config) rs2_delete_config(rsc->config);
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if (rsc->pipeline) rs2_delete_pipeline(rsc->pipeline);
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if (rsc->device) rs2_delete_device(rsc->device);
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if (rsc->device_list) rs2_delete_device_list(rsc->device_list);
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if (rsc->context) rs2_delete_context(rsc->context);
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if (rsc->error_status) rs2_free_error(rsc->error_status);
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// clang-format on
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rsc->profile = NULL;
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rsc->config = NULL;
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rsc->pipeline = NULL;
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rsc->device = NULL;
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rsc->device_idx = -1;
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rsc->device_count = 0;
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rsc->device_list = NULL;
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rsc->context = NULL;
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rsc->error_status = NULL;
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}
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//! Create a RealSense device tracked with device-SLAM (T26x).
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struct xrt_device *
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rs_ddev_create(int device_idx);
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2021-09-21 20:11:00 +00:00
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//! Create RealSense device tracked with host-SLAM (one with camera and IMU streams)
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struct xrt_device *
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rs_hdev_create(struct xrt_prober *xp, int device_idx);
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2021-09-17 14:08:01 +00:00
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/*!
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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