rs_driver.h

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