l500-motion.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2019 Intel Corporation. All Rights Reserved.

#pragma once

#include <vector>
#include <string>
#include "device.h"
#include "stream.h"
#include "l500/l500-device.h"
#include "../ds5/ds5-motion.h"

namespace librealsense
{
    class l500_motion : public virtual l500_device
    {
    public:
        std::shared_ptr<synthetic_sensor> create_hid_device(std::shared_ptr<context> ctx,
            const std::vector<platform::hid_device_info>& all_hid_infos);

        l500_motion(std::shared_ptr<context> ctx,
            const platform::backend_device_group& group);

        std::vector<tagged_profile> get_profiles_tags() const override;

        rs2_motion_device_intrinsic get_motion_intrinsics(rs2_stream stream) const;

    private:

        friend class l500_hid_sensor;

        optional_value<uint8_t> _motion_module_device_idx;

        std::shared_ptr<mm_calib_handler>        _mm_calib;
        std::shared_ptr<lazy<ds::imu_intrinsic>> _accel_intrinsic;
        std::shared_ptr<lazy<ds::imu_intrinsic>> _gyro_intrinsic;
        std::shared_ptr<lazy<rs2_extrinsics>>   _depth_to_imu;                  // Mechanical installation pose

        uint16_t _pid;    // product PID

    protected:
        std::shared_ptr<stream_interface> _accel_stream;
        std::shared_ptr<stream_interface> _gyro_stream;
    };

}