void software_sensor::close()
{
if (_is_streaming)
throw wrong_api_call_sequence_exception("close() failed. Software device is streaming!");
else if (!_is_opened)
throw wrong_api_call_sequence_exception("close() failed. Software device was not opened!");
_is_opened = false;
set_active_streams({});
}
void software_sensor::open(const stream_profiles& requests)
{
if (_is_streaming)
throw wrong_api_call_sequence_exception("open(...) failed. Software device is streaming!");
else if (_is_opened)
throw wrong_api_call_sequence_exception("open(...) failed. Software device is already opened!");
_is_opened = true;
set_active_streams(requests);
}
void software_sensor::start(frame_callback_ptr callback)
{
if (_is_streaming)
throw wrong_api_call_sequence_exception("start_streaming(...) failed. Software device is already streaming!");
else if (!_is_opened)
throw wrong_api_call_sequence_exception("start_streaming(...) failed. Software device was not opened!");
_source.get_published_size_option()->set(0);
_source.init(_metadata_parsers);
_source.set_sensor(this->shared_from_this());
_source.set_callback(callback);
_is_streaming = true;
raise_on_before_streaming_changes(true);
}
void start(device_changed_callback callback) override
{
std::lock_guard<std::mutex> lock(_m);
if (!_data._stopped) throw wrong_api_call_sequence_exception("Cannot start a running device_watcher");
_data._stopped = false;
_data._callback = std::move(callback);
_thread = std::thread([this]() { run(); });
}
void software_sensor::stop()
{
if (!_is_streaming)
throw wrong_api_call_sequence_exception("stop_streaming() failed. Software device is not streaming!");
_is_streaming = false;
raise_on_before_streaming_changes(false);
_source.flush();
_source.reset();
}
frame_interface* synthetic_source::allocate_points(std::shared_ptr<stream_profile_interface> stream, frame_interface* original)
{
auto vid_stream = dynamic_cast<video_stream_profile_interface*>(stream.get());
if (vid_stream)
{
frame_additional_data data{};
data.frame_number = original->get_frame_number();
data.timestamp = original->get_frame_timestamp();
data.timestamp_domain = original->get_frame_timestamp_domain();
data.metadata_size = 0;
data.system_time = _actual_source.get_time();
auto res = _actual_source.alloc_frame(RS2_EXTENSION_POINTS, vid_stream->get_width() * vid_stream->get_height() * sizeof(float) * 5, data, true);
if (!res) throw wrong_api_call_sequence_exception("Out of frame resources!");
res->set_sensor(original->get_sensor());
res->set_stream(stream);
return res;
}
return nullptr;
}
frame_interface* synthetic_source::allocate_video_frame(std::shared_ptr<stream_profile_interface> stream,
frame_interface* original,
int new_bpp,
int new_width,
int new_height,
int new_stride,
rs2_extension frame_type)
{
video_frame* vf = nullptr;
if (new_bpp == 0 || (new_width == 0 && new_stride == 0) || new_height == 0)
{
// If the user wants to delegate width, height and etc to original frame, it must be a video frame
if (!rs2_is_frame_extendable_to((rs2_frame*)original, RS2_EXTENSION_VIDEO_FRAME, nullptr))
{
throw std::runtime_error("If original frame is not video frame, you must specify new bpp, width/stide and height!");
}
vf = static_cast<video_frame*>(original);
}
frame_additional_data data{};
data.frame_number = original->get_frame_number();
data.timestamp = original->get_frame_timestamp();
data.timestamp_domain = original->get_frame_timestamp_domain();
data.metadata_size = 0;
data.system_time = _actual_source.get_time();
auto width = new_width;
auto height = new_height;
auto bpp = new_bpp * 8;
auto stride = new_stride;
if (bpp == 0)
{
bpp = vf->get_bpp();
}
if (width == 0 && stride == 0)
{
width = vf->get_width();
stride = width * bpp / 8;
}
else if (width == 0)
{
width = stride * 8 / bpp;
}
else if (stride == 0)
{
stride = width * bpp / 8;
}
if (height == 0)
{
height = vf->get_height();
}
auto res = _actual_source.alloc_frame(frame_type, stride * height, data, true);
if (!res) throw wrong_api_call_sequence_exception("Out of frame resources!");
vf = static_cast<video_frame*>(res);
vf->assign(width, height, stride, bpp);
vf->set_sensor(original->get_sensor());
res->set_stream(stream);
if (frame_type == RS2_EXTENSION_DEPTH_FRAME)
{
original->acquire();
(dynamic_cast<depth_frame*>(res))->set_original(original);
}
return res;
}
