backend-hid.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.
#pragma once
 
#include "backend.h"
#include "types.h"
 
#include <limits.h>
#include <list>
 
namespace librealsense
{
    namespace platform
    {
        const uint32_t hid_buf_len = 128;
 
        struct hid_input_info
        {
            std::string input = "";
            std::string device_path = "";
            int index = -1;
            bool enabled = false;
 
            uint32_t big_endian = 0;
            uint32_t bits_used = 0;
            uint32_t bytes = 0;
            uint32_t is_signed = 0;
            uint32_t location = 0;
            uint32_t shift = 0;
            uint64_t mask;
            // TODO: parse 'offset' and 'scale'
        };
 
        // SYSFS or HAL for (IIO) device drivers differs requires a non-standard std::fstream operation mode:
        // The first in/out operation selects the mode exclusively.
        // Switching from read to write or vice versa requires fstream's close/open sequence.
        // Writing/appending to the fstream requires flush synchronization
        template<typename T>
        inline bool write_fs_attribute(const std::string& path, const T& val)
        {
            static_assert(((std::is_arithmetic<T>::value)||(std::is_same<T,std::string>::value)),
                "write_fs_attribute supports arithmetic and std::string types only");
 
            bool res = false;
            std::fstream fs_handle(path);
            if (!fs_handle.good())
            {
                LOG_WARNING(__FUNCTION__ <<" with " << val << " failed. The specified path "  << path << " is not valid");
                return res;
            }
 
            try // Read/Modify/Confirm
            {
                T cval{};
                fs_handle >> cval;
 
                if (cval!=val)
                {
                    fs_handle.close();
                    fs_handle.open(path);
                    fs_handle << val;
                    fs_handle.flush();
                    std::ifstream vnv_handle(path);
                    vnv_handle >> cval;
                    fs_handle >> cval;
                    res = (cval==val);
                    if (!res)
                        LOG_WARNING(__FUNCTION__ << " Could not change " << cval << " to " << val << " : path " << path);
                }
            }
            catch (const std::exception& exc)
            {
                LOG_WARNING(__FUNCTION__ << " with  " << path << " failed: " << exc.what());
            }
 
            return res;
        }
 
        // manage an IIO input. or what is called a scan.
        class hid_input
        {
        public:
            hid_input(const std::string& iio_device_path, const std::string& input_name);
            ~hid_input();
 
            // enable scan input. doing so cause the input to be part of the data provided in the polling.
            void enable(bool is_enable);
 
            const hid_input_info& get_hid_input_info() const { return info; }
 
        private:
            // initialize the input by reading the input parameters.
            void init();
 
            hid_input_info info;
        };
 
        class hid_custom_sensor {
        public:
            hid_custom_sensor(const std::string& device_path, const std::string& sensor_name);
 
            ~hid_custom_sensor();
 
            std::vector<uint8_t> get_report_data(const std::string& report_name, custom_sensor_report_field report_field);
 
            const std::string& get_sensor_name() const { return _custom_sensor_name; }
 
            // start capturing and polling.
            void start_capture(hid_callback sensor_callback);
 
            void stop_capture();
        private:
            std::vector<uint8_t> read_report(const std::string& name_report_path);
 
            void init();
 
            void enable(bool state);
 
            void signal_stop();
 
            int _fd;
            int _stop_pipe_fd[2]; // write to _stop_pipe_fd[1] and read from _stop_pipe_fd[0]
            std::map<std::string, std::string> _reports;
            std::string _custom_device_path;
            std::string _custom_sensor_name;
            std::string _custom_device_name;
            hid_callback _callback;
            std::atomic<bool> _is_capturing;
            std::unique_ptr<std::thread> _hid_thread;
        };
 
        // declare device sensor with all of its inputs.
        class iio_hid_sensor {
        public:
            iio_hid_sensor(const std::string& device_path, uint32_t frequency, float sensitivity);
 
            ~iio_hid_sensor();
 
            // start capturing and polling.
            void start_capture(hid_callback sensor_callback);
 
            void stop_capture();
 
            const std::string& get_sensor_name() const { return _sensor_name; }
 
        private:
            void clear_buffer();
 
            void set_frequency(uint32_t frequency);
            void set_sensitivity( float sensitivity );
            void set_power(bool on);
 
            void signal_stop();
 
            bool has_metadata();
 
            static bool sort_hids(hid_input* first, hid_input* second);
 
            void create_channel_array();
 
            // initialize the device sensor. reading its name and all of its inputs.
            void init(uint32_t frequency, float sensitivity);
 
            // calculate the storage size of a scan
            uint32_t get_channel_size() const;
 
            // calculate the actual size of data
            uint32_t get_output_size() const;
 
            std::string get_sampling_frequency_name() const;
 
            std::string get_sensitivity_name() const;
 
            // read the IIO device inputs.
            void read_device_inputs();
 
            int _stop_pipe_fd[2]; // write to _stop_pipe_fd[1] and read from _stop_pipe_fd[0]
            int _fd;
            int _iio_device_number;
            std::string _iio_device_path;
            std::string _sensor_name;
            std::string _sampling_frequency_name;
            std::string _sensitivity_name;
            std::list<hid_input*> _inputs;
            std::list<hid_input*> _channels;
            hid_callback _callback;
            std::atomic<bool> _is_capturing;
            std::unique_ptr<std::thread> _hid_thread;
            std::unique_ptr<std::thread> _pm_thread;    // Delayed initialization due to power-up sequence
            dispatcher                  _pm_dispatcher; // Asynchronous power management
        };
 
        class v4l_hid_device : public hid_device
        {
        public:
            v4l_hid_device(const hid_device_info& info);
 
            ~v4l_hid_device();
 
            void register_profiles(const std::vector<hid_profile>& hid_profiles) override { _hid_profiles = hid_profiles;}
 
            void open(const std::vector<hid_profile>& hid_profiles) override;
 
            void close() override;
 
            std::vector<hid_sensor> get_sensors() override;
 
            void start_capture(hid_callback callback) override;
 
            void stop_capture() override;
 
            std::vector<uint8_t> get_custom_report_data(const std::string& custom_sensor_name,
                                                        const std::string& report_name,
                                                        custom_sensor_report_field report_field) override;
 
            static void foreach_hid_device(std::function<void(const hid_device_info&)> action);
 
            void set_gyro_scale_factor( double scale_factor ) override{};
 
        private:
            static bool get_hid_device_info(const char* dev_path, hid_device_info& device_info);
 
            std::vector<hid_profile> _hid_profiles;
            std::vector<hid_device_info> _hid_device_infos;
            std::vector<std::unique_ptr<iio_hid_sensor>> _iio_hid_sensors;
            std::vector<std::unique_ptr<hid_custom_sensor>> _hid_custom_sensors;
            std::vector<iio_hid_sensor*> _streaming_iio_sensors;
            std::vector<hid_custom_sensor*> _streaming_custom_sensors;
            static constexpr const char* custom_id{"custom"};
        };
    }
}