148 lines
6.6 KiB
C
148 lines
6.6 KiB
C
/* License: Apache 2.0. See LICENSE file in root directory.
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Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
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/** \file rs_context.h
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* \brief Exposes RealSense context functionality for C compilers
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*/
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#ifndef LIBREALSENSE_RS2_CONTEXT_H
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#define LIBREALSENSE_RS2_CONTEXT_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "rs_types.h"
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/**
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* \brief Creates RealSense context that is required for the rest of the API.
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* \param[in] api_version Users are expected to pass their version of \c RS2_API_VERSION to make sure they are running the correct librealsense version.
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
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* \return Context object
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*/
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rs2_context* rs2_create_context(int api_version, rs2_error** error);
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/**
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* \brief Frees the relevant context object.
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* \param[in] context Object that is no longer needed
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*/
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void rs2_delete_context(rs2_context* context);
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/**
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* set callback to get devices changed events
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* these events will be raised by the context whenever new RealSense device is connected or existing device gets disconnected
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* \param context Object representing librealsense session
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* \param[in] callback callback object created from c++ application. ownership over the callback object is moved into the context
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* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
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*/
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void rs2_set_devices_changed_callback_cpp(rs2_context* context, rs2_devices_changed_callback* callback, rs2_error** error);
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/**
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* set callback to get devices changed events
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* these events will be raised by the context whenever new RealSense device is connected or existing device gets disconnected
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* \param context Object representing librealsense session
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* \param[in] callback function pointer to register as per-notifications callback
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* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
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*/
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void rs2_set_devices_changed_callback(const rs2_context* context, rs2_devices_changed_callback_ptr callback, void* user, rs2_error** error);
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/**
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* Create a new device and add it to the context
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* \param ctx The context to which the new device will be added
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* \param file The file from which the device should be created
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
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* @return A pointer to a device that plays data from the file, or null in case of failure
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*/
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rs2_device* rs2_context_add_device(rs2_context* ctx, const char* file, rs2_error** error);
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/**
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* Add an instance of software device to the context
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* \param ctx The context to which the new device will be added
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* \param dev Instance of software device to register into the context
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
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*/
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void rs2_context_add_software_device(rs2_context* ctx, rs2_device* dev, rs2_error** error);
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/**
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* Removes a playback device from the context, if exists
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* \param[in] ctx The context from which the device should be removed
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* \param[in] file The file name that was used to add the device
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
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*/
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void rs2_context_remove_device(rs2_context* ctx, const char* file, rs2_error** error);
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/**
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* Removes tracking module.
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* function query_devices() locks the tracking module in the tm_context object.
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* If the tracking module device is not used it should be removed using this function, so that other applications could find it.
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* This function can be used both before the call to query_device() to prevent enabling tracking modules or afterwards to
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* release them.
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*/
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void rs2_context_unload_tracking_module(rs2_context* ctx, rs2_error** error);
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/**
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* create a static snapshot of all connected devices at the time of the call
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* \param context Object representing librealsense session
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* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
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* \return the list of devices, should be released by rs2_delete_device_list
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*/
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rs2_device_list* rs2_query_devices(const rs2_context* context, rs2_error** error);
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#define RS2_PRODUCT_LINE_ANY 0xff
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#define RS2_PRODUCT_LINE_ANY_INTEL 0xfe
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#define RS2_PRODUCT_LINE_NON_INTEL 0x01
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#define RS2_PRODUCT_LINE_D400 0x02
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#define RS2_PRODUCT_LINE_SR300 0x04
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#define RS2_PRODUCT_LINE_L500 0x08
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#define RS2_PRODUCT_LINE_T200 0x10
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#define RS2_PRODUCT_LINE_DEPTH (RS2_PRODUCT_LINE_L500 | RS2_PRODUCT_LINE_SR300 | RS2_PRODUCT_LINE_D400)
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#define RS2_PRODUCT_LINE_TRACKING RS2_PRODUCT_LINE_T200
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/**
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* create a static snapshot of all connected devices at the time of the call
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* \param context Object representing librealsense session
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* \param product_mask Controls what kind of devices will be returned
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* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
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* \return the list of devices, should be released by rs2_delete_device_list
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*/
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rs2_device_list* rs2_query_devices_ex(const rs2_context* context, int product_mask, rs2_error** error);
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/**
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* \brief Creates RealSense device_hub .
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* \param[in] context The context for the device hub
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
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* \return Device hub object
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*/
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rs2_device_hub* rs2_create_device_hub(const rs2_context* context, rs2_error** error);
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/**
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* \brief Frees the relevant device hub object.
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* \param[in] hub Object that is no longer needed
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*/
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void rs2_delete_device_hub(const rs2_device_hub* hub);
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/**
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* If any device is connected return it, otherwise wait until next RealSense device connects.
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* Calling this method multiple times will cycle through connected devices
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* \param[in] ctx The context to creat the device
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* \param[in] hub The device hub object
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
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* \return device object
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*/
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rs2_device* rs2_device_hub_wait_for_device(const rs2_device_hub* hub, rs2_error** error);
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/**
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* Checks if device is still connected
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* \param[in] hub The device hub object
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* \param[in] device The device
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* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
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* \return 1 if the device is connected, 0 otherwise
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*/
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int rs2_device_hub_is_device_connected(const rs2_device_hub* hub, const rs2_device* device, rs2_error** error);
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#ifdef __cplusplus
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}
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#endif
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#endif
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