RsDevice.cpp

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

#include "RsDevice.hh"
#include "RsUsageEnvironment.h"
#include <iostream>
#include <thread>

int RsDevice::getPhysicalSensorUniqueKey(rs2_stream stream_type, int sensors_index)
{
    return stream_type * 10 + sensors_index;
}

RsDevice::RsDevice(UsageEnvironment* t_env)
    : env(t_env)
{
    //get LRS device
    // The context represents the current platform with respect to connected devices

    bool found = false;
    bool first = true;
    do
    {
        rs2::context ctx;
        rs2::device_list devices = ctx.query_devices();
        rs2::device dev;
        if(devices.size())
        {
            try
            {
                m_device = devices[0]; // Only one device is supported
                *env << "RealSense Device Connected\n";

                found = true;
            }
            catch(const std::exception& e)
            {
                std::cerr << e.what() << '\n';
            }
        }
        if(!found)
        {
            if(first)
            {
                std::cerr << "Waiting for Device..." << std::endl;
                first = false;
            }
            std::this_thread::sleep_for(std::chrono::seconds(1));
        }
    } while(!found);

    //get RS sensors
    for(auto& sensor : m_device.query_sensors())
    {
        m_sensors.push_back(RsSensor(env, sensor, m_device));
    }
}

RsDevice::~RsDevice()
{
    std::cerr << "RsDevice destructor" << std::endl;
}