Add async callback support

src/api/api.cc

@@ -139,8 +139,9 @@ void API::SetStreamCallback(const Stream &stream, stream_callback_t callback) {
 void API::SetMotionCallback(motion_callback_t callback) {
   static auto callback_ = callback;
   if (callback_) {
-    device_->SetMotionCallback(
+    device_->SetMotionCallback([](const device::MotionData &data) {
-        [](const device::MotionData &data) { callback_({data.imu}); });
+      callback_({data.imu});
+    } /*, true*/);
   } else {
     device_->SetMotionCallback(nullptr);
   }

src/api/synthetic.cc

@@ -104,14 +104,16 @@ void Synthetic::StartVideoStreaming() {
     if (it->second == MODE_NATIVE) {
       auto &&stream = it->first;
       device->SetStreamCallback(
-          stream, [this, stream](const device::StreamData &data) {
+          stream,
+          [this, stream](const device::StreamData &data) {
             auto &&stream_data = data2api(data);
             ProcessNativeStream(stream, stream_data);
             // Need mutex if set callback after start
             if (HasStreamCallback(stream)) {
               stream_callbacks_.at(stream)(stream_data);
             }
-          });
+          },
+          true);
     }
   }
   device->Start(Source::VIDEO_STREAMING);

src/device/device.cc

@@ -20,6 +20,7 @@
 #include <utility>
 
 #include "device/device_s.h"
+#include "internal/async_callback.h"
 #include "internal/channels.h"
 #include "internal/config.h"
 #include "internal/motions.h"
@@ -272,20 +273,32 @@ bool Device::RunOptionAction(const Option &option) const {
 }
 
 void Device::SetStreamCallback(
-    const Stream &stream, stream_callback_t callback) {
+    const Stream &stream, stream_callback_t callback, bool async) {
   if (!Supports(stream)) {
     LOG(WARNING) << "Unsupported stream: " << stream;
     return;
   }
   if (callback) {
     stream_callbacks_[stream] = callback;
+    if (async)
+      stream_async_callbacks_[stream] =
+          std::make_shared<stream_async_callback_t>(
+              to_string(stream), callback);
   } else {
     stream_callbacks_.erase(stream);
+    stream_async_callbacks_.erase(stream);
   }
 }
 
-void Device::SetMotionCallback(motion_callback_t callback) {
+void Device::SetMotionCallback(motion_callback_t callback, bool async) {
   motion_callback_ = callback;
+  if (callback) {
+    if (async)
+      motion_async_callback_ =
+          std::make_shared<motion_async_callback_t>("motion", callback);
+  } else {
+    motion_async_callback_ = nullptr;
+  }
 }
 
 bool Device::HasStreamCallback(const Stream &stream) const {
@@ -409,16 +422,8 @@ void Device::StartVideoStreaming() {
             return;
           }
           if (streams_->PushStream(Capabilities::STEREO, data)) {
-            if (HasStreamCallback(Stream::LEFT)) {
+            CallbackPushedStreamData(Stream::LEFT);
-              auto &&stream_datas = streams_->stream_datas(Stream::LEFT);
+            CallbackPushedStreamData(Stream::RIGHT);
-              // if (stream_datas.size() > 0) {}
-              stream_callbacks_.at(Stream::LEFT)(stream_datas.back());
-            }
-            if (HasStreamCallback(Stream::RIGHT)) {
-              auto &&stream_datas = streams_->stream_datas(Stream::RIGHT);
-              // if (stream_datas.size() > 0) {}
-              stream_callbacks_.at(Stream::RIGHT)(stream_datas.back());
-            }
           }
         });
   } else {
@@ -446,11 +451,8 @@ void Device::StartMotionTracking() {
     LOG(WARNING) << "Cannot start motion tracking without first stopping it";
     return;
   }
-  motions_->SetMotionCallback([this](const device::MotionData &data) {
+  motions_->SetMotionCallback(
-    if (motion_callback_) {
+      std::bind(&Device::CallbackMotionData, this, std::placeholders::_1));
-      motion_callback_(data);
-    }
-  });
   motions_->StartMotionTracking();
   motion_tracking_ = true;
 }
@@ -508,4 +510,27 @@ void Device::ReadAllInfos() {
   }
 }
 
+void Device::CallbackPushedStreamData(const Stream &stream) {
+  if (HasStreamCallback(stream)) {
+    auto &&datas = streams_->stream_datas(stream);
+    // if (datas.size() > 0) {}
+    auto &&data = datas.back();
+    if (stream_async_callbacks_.find(stream) != stream_async_callbacks_.end()) {
+      stream_async_callbacks_.at(stream)->PushData(data);
+    } else {
+      stream_callbacks_.at(stream)(data);
+    }
+  }
+}
+
+void Device::CallbackMotionData(const device::MotionData &data) {
+  if (HasMotionCallback()) {
+    if (motion_async_callback_) {
+      motion_async_callback_->PushData(data);
+    } else {
+      motion_callback_(data);
+    }
+  }
+}
+
 MYNTEYE_END_NAMESPACE

src/device/device.h

@@ -46,6 +46,9 @@ class Channels;
 class Motions;
 class Streams;
 
+template <class Data>
+class AsyncCallback;
+
 /**
  * The Device class to communicate with MYNT® EYE device.
  */
@@ -58,6 +61,11 @@ class MYNTEYE_API Device {
 
   using stream_callbacks_t = std::map<Stream, stream_callback_t>;
 
+  using stream_async_callback_t = AsyncCallback<device::StreamData>;
+  using motion_async_callback_t = AsyncCallback<device::MotionData>;
+  using stream_async_callback_ptr_t = std::shared_ptr<stream_async_callback_t>;
+  using motion_async_callback_ptr_t = std::shared_ptr<motion_async_callback_t>;
+
   Device(const Model &model, std::shared_ptr<uvc::device> device);
   virtual ~Device();
 
@@ -175,11 +183,12 @@ class MYNTEYE_API Device {
   /**
    * Set the callback of stream.
    */
-  void SetStreamCallback(const Stream &stream, stream_callback_t callback);
+  void SetStreamCallback(
+      const Stream &stream, stream_callback_t callback, bool async = false);
   /**
    * Set the callback of motion.
    */
-  void SetMotionCallback(motion_callback_t callback);
+  void SetMotionCallback(motion_callback_t callback, bool async = false);
 
   /**
    * Has the callback of stream.
@@ -256,6 +265,9 @@ class MYNTEYE_API Device {
   stream_callbacks_t stream_callbacks_;
   motion_callback_t motion_callback_;
 
+  std::map<Stream, stream_async_callback_ptr_t> stream_async_callbacks_;
+  motion_async_callback_ptr_t motion_async_callback_;
+
   std::shared_ptr<Streams> streams_;
 
   std::map<Capabilities, StreamRequest> stream_config_requests_;
@@ -266,6 +278,9 @@ class MYNTEYE_API Device {
 
   void ReadAllInfos();
 
+  void CallbackPushedStreamData(const Stream &stream);
+  void CallbackMotionData(const device::MotionData &data);
+
   std::shared_ptr<Channels> channels() {
     return channels_;
   }

src/internal/async_callback.h

@@ -0,0 +1,59 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_  // NOLINT
+#define MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_
+#pragma once
+
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <string>
+#include <thread>
+
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <class Data>
+class AsyncCallback {
+ public:
+  using callback_t = std::function<void(Data data)>;
+
+  AsyncCallback(std::string name, callback_t callback);
+  ~AsyncCallback();
+
+  void PushData(Data data);
+
+ private:
+  void Run();
+
+  std::string name_;
+
+  callback_t callback_;
+
+  std::mutex mtx_;
+  std::condition_variable cv_;
+
+  bool running_;
+  std::thread thread_;
+
+  Data data_;
+  std::uint32_t count_;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#include "internal/async_callback_impl.h"
+
+#endif  // MYNTEYE_INTERNAL_ASYNC_CALLBACK_H_ NOLINT

src/internal/async_callback_impl.h

@@ -0,0 +1,78 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_  // NOLINT
+#define MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_
+#pragma once
+
+#include <glog/logging.h>
+
+#include <string>
+#include <utility>
+
+MYNTEYE_BEGIN_NAMESPACE
+
+template <class Data>
+AsyncCallback<Data>::AsyncCallback(std::string name, callback_t callback)
+    : name_(std::move(name)), callback_(std::move(callback)), count_(0) {
+  VLOG(2) << __func__;
+  running_ = true;
+  thread_ = std::thread(&AsyncCallback<Data>::Run, this);
+}
+
+template <class Data>
+AsyncCallback<Data>::~AsyncCallback() {
+  VLOG(2) << __func__;
+  {
+    std::lock_guard<std::mutex> _(mtx_);
+    running_ = false;
+    ++count_;
+  }
+  cv_.notify_one();
+  if (thread_.joinable()) {
+    thread_.join();
+  }
+}
+
+template <class Data>
+void AsyncCallback<Data>::PushData(Data data) {
+  std::lock_guard<std::mutex> _(mtx_);
+  data_ = data;
+  ++count_;
+  cv_.notify_one();
+}
+
+template <class Data>
+void AsyncCallback<Data>::Run() {
+  VLOG(2) << "AsyncCallback(" << name_ << ") thread start";
+  while (true) {
+    std::unique_lock<std::mutex> lock(mtx_);
+    cv_.wait(lock, [this] { return count_ > 0; });
+
+    if (!running_)
+      break;
+
+    if (callback_)
+      callback_(data_);
+
+    if (VLOG_IS_ON(2) && count_ > 1) {
+      VLOG(2) << "AsyncCallback(" << name_ << ") dropped " << (count_ - 1);
+    }
+    count_ = 0;
+  }
+  VLOG(2) << "AsyncCallback(" << name_ << ") thread end";
+}
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_INTERNAL_ASYNC_CALLBACK_IMPL_H_ NOLINT