RsSensor.hh

Go to the documentation of this file.

// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2020 Intel Corporation. All Rights Reserved.

#pragma once

#include "compression/ICompression.h"
#include <chrono>
#include <ipDeviceCommon/MemoryPool.h>
#include <librealsense2/hpp/rs_types.hpp>
#include <librealsense2/rs.hpp>
#include <unordered_map>

typedef struct RsOption
{
    rs2_option m_opt;
    rs2::option_range m_range;
} RsOption;

class RsSensor
{
public:
    RsSensor(UsageEnvironment* t_env, rs2::sensor t_sensor, rs2::device t_device);
    int open(std::unordered_map<long long int, rs2::frame_queue>& t_streamProfilesQueues);
    int start(std::unordered_map<long long int, rs2::frame_queue>& t_streamProfilesQueues);
    int close();
    int stop();
    rs2::sensor& getRsSensor()
    {
        return m_sensor;
    }
    std::unordered_map<long long int, rs2::video_stream_profile> getStreamProfiles()
    {
        return m_streamProfiles;
    }
    static long long int getStreamProfileKey(rs2::stream_profile t_profile);
    std::string getSensorName();
    rs2::device getDevice()
    {
        return m_device;
    }
    std::vector<RsOption> getSupportedOptions();

private:
    UsageEnvironment* env;
    rs2::sensor m_sensor;
    std::unordered_map<long long int, rs2::video_stream_profile> m_streamProfiles;
    std::unordered_map<long long int, std::shared_ptr<ICompression>> m_iCompress;
    rs2::device m_device;
    MemoryPool* m_memPool;
    std::unordered_map<long long int, std::chrono::high_resolution_clock::time_point> m_prevSample;
};