l500-factory.cpp

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2016 Intel Corporation. All Rights Reserved.

#include <mutex>
#include <chrono>
#include <vector>
#include <iterator>
#include <cstddef>

#include "device.h"
#include "context.h"
#include "image.h"
#include "metadata-parser.h"
#include "../firmware_logger_device.h"

#include "l500-factory.h"
#include "l500-depth.h"
#include "l500-motion.h"
#include "l500-color.h"
#include "l500-serializable.h"

#include "../firmware_logger_device.h"

namespace librealsense
{
    using namespace ivcam2;

    class l515_device : public l500_depth,
        public l500_options,
        public l500_color,
        public l500_motion,
        public l500_serializable,
        public firmware_logger_device
    {
    public:
        l515_device(std::shared_ptr<context> ctx,
            const platform::backend_device_group& group,
            bool register_device_notifications)
            : device(ctx, group, register_device_notifications),
            l500_device(ctx, group),
            l500_depth(ctx, group),
            l500_options(ctx, group),
            l500_color(ctx, group),
            l500_motion(ctx, group),
            l500_serializable(l500_device::_hw_monitor, get_depth_sensor()),
            firmware_logger_device(ctx, group, l500_device::_hw_monitor,
                get_firmware_logs_command(),
                get_flash_logs_command())
        {}

        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;

        std::vector<tagged_profile> get_profiles_tags() const override
        {
            std::vector<tagged_profile> tags;
            auto depth_profiles = l500_depth::get_profiles_tags();
            auto color_profiles = l500_color::get_profiles_tags();
            auto motion_profiles = l500_motion::get_profiles_tags();

            tags.insert(tags.begin(), depth_profiles.begin(), depth_profiles.end());
            tags.insert(tags.begin(), color_profiles.begin(), color_profiles.end());
            tags.insert(tags.begin(), motion_profiles.begin(), motion_profiles.end());
            return tags;
        };
    };

    class l535_device : public l500_depth,
        public l500_options,
        public l500_color,
        public l500_motion,
        public l500_serializable,
        public firmware_logger_device
    {
    public:
        l535_device(std::shared_ptr<context> ctx,
            const platform::backend_device_group& group,
            bool register_device_notifications)
            : device(ctx, group, register_device_notifications),
            l500_device(ctx, group),
            l500_depth(ctx, group),
            l500_options(ctx, group),
            l500_color(ctx, group),
            l500_motion(ctx, group),
            l500_serializable(l500_device::_hw_monitor, get_depth_sensor()),
            firmware_logger_device(ctx, group, l500_device::_hw_monitor,
                get_firmware_logs_command(),
                get_flash_logs_command())
        {}
        
        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
        
        std::vector<tagged_profile> get_profiles_tags() const override
        {
            std::vector<tagged_profile> tags;
            auto depth_profiles = l500_depth::get_profiles_tags();
            auto color_profiles = l500_color::get_profiles_tags();
            auto motion_profiles = l500_motion::get_profiles_tags();
            
            tags.insert(tags.begin(), depth_profiles.begin(), depth_profiles.end());
            tags.insert(tags.begin(), color_profiles.begin(), color_profiles.end());
            tags.insert(tags.begin(), motion_profiles.begin(), motion_profiles.end());
            return tags;
        };
    };

    class rs500_device : public l500_depth,
        public firmware_logger_device
    {
    public:
        rs500_device(std::shared_ptr<context> ctx,
            const platform::backend_device_group& group,
            bool register_device_notifications)
            : device(ctx, group, register_device_notifications),
            l500_device(ctx, group),
            l500_depth(ctx, group),
            firmware_logger_device(ctx, group,l500_device::_hw_monitor,
                get_firmware_logs_command(),
                get_flash_logs_command())
        {}

        l500_color_sensor * get_color_sensor() override { return nullptr; }

        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
    };

    std::shared_ptr<device_interface> l500_info::create(std::shared_ptr<context> ctx,
        bool register_device_notifications) const
    {
        if (_depth.size() == 0) throw std::runtime_error("Depth Camera not found!");
        auto pid = _depth.front().pid;
        platform::backend_device_group group{ get_device_data() };

        switch (pid)
        {
        case L500_PID:
            return std::make_shared<rs500_device>(ctx, group, register_device_notifications);
        case L515_PID_PRE_PRQ:
        case L515_PID:
            return std::make_shared<l515_device>(ctx, group, register_device_notifications);
        case L535_PID:
            return std::make_shared<l535_device>(ctx, group, register_device_notifications);
       default:
            throw std::runtime_error(to_string() << "Unsupported L500 model! 0x"
                << std::hex << std::setw(4) << std::setfill('0') << (int)pid);
        }
    }

    std::vector<std::shared_ptr<device_info>> l500_info::pick_l500_devices(
        std::shared_ptr<context> ctx,
        platform::backend_device_group& group)
    {
        std::vector<platform::uvc_device_info> chosen;
        std::vector<std::shared_ptr<device_info>> results;

        auto correct_pid = filter_by_product(group.uvc_devices, { L500_PID, L515_PID, L535_PID, L515_PID_PRE_PRQ });
        auto group_devices = group_devices_and_hids_by_unique_id(group_devices_by_unique_id(correct_pid), group.hid_devices);
        for (auto& g : group_devices)
        {
            if (!g.first.empty() && mi_present(g.first, 0))
            {
                auto depth = get_mi(g.first, 0);
                platform::usb_device_info hwm;

                if (!ivcam2::try_fetch_usb_device(group.usb_devices, depth, hwm))
                    LOG_DEBUG("try_fetch_usb_device(...) failed.");

                if(g.first[0].pid != L500_PID)
                    if (g.second.size() < 2)
                    {
                        LOG_DEBUG("L500 partial enum: " << g.second.size() << " HID devices were recognized (2+ expected)");
#if !defined(ANDROID) && !defined(__APPLE__) // Not supported by android & macos
                        continue;
#endif // Not supported by android & macos
                    }

                auto info = std::make_shared<l500_info>(ctx, g.first, hwm, g.second);
                chosen.push_back(depth);
                results.push_back(info);
            }
            else
            {
                LOG_DEBUG("L500 group_devices is empty.");
            }
        }

        trim_device_list(group.uvc_devices, chosen);

        return results;
    }

    std::shared_ptr<matcher> rs500_device::create_matcher(const frame_holder& frame) const
    {
        return l500_depth::create_matcher(frame);
    }

    std::shared_ptr<matcher> l515_device::create_matcher(const frame_holder & frame) const
    {
        LOG_DEBUG( "l515_device::create_matcher" );
        std::vector<std::shared_ptr<matcher>> depth_rgb_matchers = { l500_depth::create_matcher(frame),
            std::make_shared<identity_matcher>(_color_stream->get_unique_id(), _color_stream->get_stream_type())};

        auto ts_depth_rgb = std::make_shared<timestamp_composite_matcher>(depth_rgb_matchers);

        auto identity_gyro = std::make_shared<identity_matcher>(_gyro_stream->get_unique_id(), _gyro_stream->get_stream_type());
        auto identity_accel = std::make_shared<identity_matcher>(_accel_stream->get_unique_id(), _accel_stream->get_stream_type());

        std::vector<std::shared_ptr<matcher>> depth_rgb_imu_matchers = {ts_depth_rgb, identity_gyro, identity_accel};
        return std::make_shared<composite_identity_matcher>(depth_rgb_imu_matchers);
    }

    std::shared_ptr<matcher> l535_device::create_matcher(const frame_holder & frame) const
    {
        LOG_DEBUG("l535_device::create_matcher");
        std::vector<std::shared_ptr<matcher>> depth_rgb_matchers = { l500_depth::create_matcher(frame),
            std::make_shared<identity_matcher>(_color_stream->get_unique_id(), _color_stream->get_stream_type()) };
        
        auto ts_depth_rgb = std::make_shared<timestamp_composite_matcher>(depth_rgb_matchers);
        
        auto identity_gyro = std::make_shared<identity_matcher>(_gyro_stream->get_unique_id(), _gyro_stream->get_stream_type());
        auto identity_accel = std::make_shared<identity_matcher>(_accel_stream->get_unique_id(), _accel_stream->get_stream_type());
        
        std::vector<std::shared_ptr<matcher>> depth_rgb_imu_matchers = { ts_depth_rgb, identity_gyro, identity_accel };
        return std::make_shared<composite_identity_matcher>(depth_rgb_imu_matchers);
    }
}