void perform_and_send_monitor_command(uvc::device & device, std::timed_mutex & mutex, HWMonitorCommand & newCommand)
{
uint32_t opCodeXmit = (uint32_t)newCommand.cmd;
HWMonCommandDetails details;
details.oneDirection = newCommand.oneDirection;
details.TimeOut = newCommand.TimeOut;
fill_usb_buffer(opCodeXmit,
newCommand.Param1,
newCommand.Param2,
newCommand.Param3,
newCommand.Param4,
newCommand.data,
newCommand.sizeOfSendCommandData,
details.sendCommandData,
details.sizeOfSendCommandData);
send_hw_monitor_command(device, mutex, 0, details);
// Error/exit conditions
if (newCommand.oneDirection)
return;
memcpy(newCommand.receivedOpcode, details.receivedOpcode, 4);
memcpy(newCommand.receivedCommandData, details.receivedCommandData, details.receivedCommandDataLength);
newCommand.receivedCommandDataLength = details.receivedCommandDataLength;
// endian?
uint32_t opCodeAsUint32 = pack(details.receivedOpcode[3], details.receivedOpcode[2], details.receivedOpcode[1], details.receivedOpcode[0]);
if (opCodeAsUint32 != opCodeXmit)
{
throw std::runtime_error("opcodes do not match");
}
}
std::vector<uint8_t> hw_monitor::send(command cmd) const
{
hwmon_cmd newCommand(cmd);
auto opCodeXmit = static_cast<uint32_t>(newCommand.cmd);
hwmon_cmd_details details;
details.oneDirection = newCommand.oneDirection;
details.timeOut = newCommand.timeOut;
fill_usb_buffer(opCodeXmit,
newCommand.param1,
newCommand.param2,
newCommand.param3,
newCommand.param4,
newCommand.data,
newCommand.sizeOfSendCommandData,
details.sendCommandData.data(),
details.sizeOfSendCommandData);
send_hw_monitor_command(details);
// Error/exit conditions
if (newCommand.oneDirection)
return std::vector<uint8_t>();
librealsense::copy(newCommand.receivedOpcode, details.receivedOpcode.data(), 4);
librealsense::copy(newCommand.receivedCommandData, details.receivedCommandData.data(), details.receivedCommandDataLength);
newCommand.receivedCommandDataLength = details.receivedCommandDataLength;
// endian?
auto opCodeAsUint32 = pack(details.receivedOpcode[3], details.receivedOpcode[2],
details.receivedOpcode[1], details.receivedOpcode[0]);
if (opCodeAsUint32 != opCodeXmit)
{
throw invalid_value_exception(to_string() << "OpCodes do not match! Sent "
<< opCodeXmit << " but received " << static_cast<int>(opCodeAsUint32) << "!");
}
return std::vector<uint8_t>(newCommand.receivedCommandData,
newCommand.receivedCommandData + newCommand.receivedCommandDataLength);
}
