132 lines
3.1 KiB
C++
132 lines
3.1 KiB
C++
#ifndef MYNTEYE_DEVICE_H_ // NOLINT
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#define MYNTEYE_DEVICE_H_
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#pragma once
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#include <map>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <vector>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "internal/callbacks.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct device;
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} // namespace uvc
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struct DeviceInfo;
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class Streams;
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class Device {
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public:
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using stream_callback_t = device::StreamCallback;
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using motion_callback_t = device::MotionCallback;
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using stream_callbacks_t = std::map<Stream, stream_callback_t>;
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Device(const Model &model, std::shared_ptr<uvc::device> device);
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virtual ~Device();
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static std::shared_ptr<Device> Create(
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const std::string &name, std::shared_ptr<uvc::device> device);
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Model GetModel() const {
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return model_;
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}
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bool Supports(const Stream &stream) const;
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bool Supports(const Capabilities &capability) const;
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bool Supports(const Option &option) const;
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const std::vector<StreamRequest> &GetStreamRequests(
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const Capabilities &capability) const;
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void ConfigStreamRequest(
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const Capabilities &capability, const StreamRequest &request);
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std::shared_ptr<DeviceInfo> GetInfo() const;
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std::string GetInfo(const Info &info) const;
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ImgIntrinsics GetImgIntrinsics() const;
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ImgExtrinsics GetImgExtrinsics() const;
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ImuIntrinsics GetImuIntrinsics() const;
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ImuExtrinsics GetImuExtrinsics() const;
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void SetStreamCallback(const Stream &stream, stream_callback_t callback);
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void SetMotionCallback(motion_callback_t callback);
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bool HasStreamCallback(const Stream &stream) const;
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bool HasMotionCallback() const;
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virtual void Start(const Source &source);
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virtual void Stop(const Source &source);
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void WaitForStreams();
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std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
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device::StreamData GetLatestStreamData(const Stream &stream);
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protected:
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std::shared_ptr<uvc::device> device() const {
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return device_;
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}
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std::shared_ptr<DeviceInfo> device_info() const {
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return device_info_;
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}
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const StreamRequest &GetStreamRequest(const Capabilities &capability);
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virtual void StartVideoStreaming();
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virtual void StopVideoStreaming();
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virtual void StartMotionTracking();
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virtual void StopMotionTracking();
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virtual std::vector<Stream> GetKeyStreams() const = 0;
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bool video_streaming_;
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bool motion_tracking_;
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private:
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Model model_;
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std::shared_ptr<uvc::device> device_;
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std::shared_ptr<DeviceInfo> device_info_;
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ImgIntrinsics img_intrinsics_;
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ImgExtrinsics img_extrinsics_;
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ImuIntrinsics imu_intrinsics_;
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ImuExtrinsics imu_extrinsics_;
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stream_callbacks_t stream_callbacks_;
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motion_callback_t motion_callback_;
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std::shared_ptr<Streams> streams_;
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std::map<Capabilities, StreamRequest> stream_config_requests_;
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std::mutex mtx_streams_;
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void ReadDeviceInfo();
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void WriteImgIntrinsics(const ImgIntrinsics &intrinsics);
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void WriteImgExtrinsics(const ImgExtrinsics &extrinsics);
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void WriteImuIntrinsics(const ImuIntrinsics &intrinsics);
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void WriteImuExtrinsics(const ImuExtrinsics &extrinsics);
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// friend DeviceWriter;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_H_ NOLINT
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