Exposes RealSense internal functionality for C compilers. More...

#include "rs_types.h"
#include "rs_context.h"
#include "rs_sensor.h"
#include "rs_frame.h"
#include "rs_option.h"

Classes
struct	rs2_video_stream
	All the parameters required to define a video stream. More...

struct	rs2_motion_stream
	All the parameters required to define a motion stream. More...

struct	rs2_pose_stream
	All the parameters required to define a pose stream. More...

struct	rs2_software_video_frame
	All the parameters required to define a video frame. More...

struct	rs2_software_motion_frame
	All the parameters required to define a motion frame. More...

struct	rs2_software_pose_frame
	All the parameters required to define a pose frame. More...

struct	rs2_software_pose_frame::pose_frame_info

struct	rs2_software_notification
	All the parameters required to define a sensor notification. More...

Typedefs
typedef enum rs2_recording_mode	rs2_recording_mode

typedef struct rs2_video_stream	rs2_video_stream
	All the parameters required to define a video stream. More...

typedef struct rs2_motion_stream	rs2_motion_stream
	All the parameters required to define a motion stream. More...

typedef struct rs2_pose_stream	rs2_pose_stream
	All the parameters required to define a pose stream. More...

typedef struct rs2_software_video_frame	rs2_software_video_frame
	All the parameters required to define a video frame. More...

typedef struct rs2_software_motion_frame	rs2_software_motion_frame
	All the parameters required to define a motion frame. More...

typedef struct rs2_software_pose_frame	rs2_software_pose_frame
	All the parameters required to define a pose frame. More...

typedef struct rs2_software_notification	rs2_software_notification
	All the parameters required to define a sensor notification. More...

Enumerations
enum	rs2_recording_mode { RS2_RECORDING_MODE_BLANK_FRAMES, RS2_RECORDING_MODE_COMPRESSED, RS2_RECORDING_MODE_BEST_QUALITY, RS2_RECORDING_MODE_COUNT }

Functions
rs2_context *	rs2_create_recording_context (int api_version, const char filename, const char section, rs2_recording_mode mode, rs2_error **error)

rs2_context *	rs2_create_mock_context (int api_version, const char filename, const char section, rs2_error **error)

rs2_context *	rs2_create_mock_context_versioned (int api_version, const char filename, const char section, const char min_api_version, rs2_error *error)

rs2_device *	rs2_create_software_device (rs2_error **error)

rs2_sensor *	rs2_software_device_add_sensor (rs2_device dev, const char sensor_name, rs2_error **error)

void	rs2_software_sensor_on_video_frame (rs2_sensor sensor, rs2_software_video_frame frame, rs2_error *error)

void	rs2_software_sensor_on_motion_frame (rs2_sensor sensor, rs2_software_motion_frame frame, rs2_error *error)

void	rs2_software_sensor_on_pose_frame (rs2_sensor sensor, rs2_software_pose_frame frame, rs2_error *error)

void	rs2_software_sensor_on_notification (rs2_sensor sensor, rs2_software_notification notif, rs2_error *error)

void	rs2_software_sensor_set_metadata (rs2_sensor sensor, rs2_frame_metadata_value value, rs2_metadata_type type, rs2_error *error)

void	rs2_software_device_set_destruction_callback (const rs2_device dev, rs2_software_device_destruction_callback_ptr on_notification, void user, rs2_error **error)

void	rs2_software_device_set_destruction_callback_cpp (const rs2_device dev, rs2_software_device_destruction_callback callback, rs2_error **error)

void	rs2_software_device_create_matcher (rs2_device dev, rs2_matchers matcher, rs2_error *error)

void	rs2_software_device_register_info (rs2_device dev, rs2_camera_info info, const char val, rs2_error **error)

void	rs2_software_device_update_info (rs2_device dev, rs2_camera_info info, const char val, rs2_error **error)

rs2_stream_profile *	rs2_software_sensor_add_video_stream (rs2_sensor sensor, rs2_video_stream video_stream, rs2_error *error)

rs2_stream_profile *	rs2_software_sensor_add_video_stream_ex (rs2_sensor sensor, rs2_video_stream video_stream, int is_default, rs2_error *error)

rs2_stream_profile *	rs2_software_sensor_add_motion_stream (rs2_sensor sensor, rs2_motion_stream motion_stream, rs2_error *error)

rs2_stream_profile *	rs2_software_sensor_add_motion_stream_ex (rs2_sensor sensor, rs2_motion_stream motion_stream, int is_default, rs2_error *error)

rs2_stream_profile *	rs2_software_sensor_add_pose_stream (rs2_sensor sensor, rs2_pose_stream pose_stream, rs2_error *error)

rs2_stream_profile *	rs2_software_sensor_add_pose_stream_ex (rs2_sensor sensor, rs2_pose_stream pose_stream, int is_default, rs2_error *error)

void	rs2_software_sensor_add_read_only_option (rs2_sensor sensor, rs2_option option, float val, rs2_error *error)

void	rs2_software_sensor_update_read_only_option (rs2_sensor sensor, rs2_option option, float val, rs2_error *error)

void	rs2_software_sensor_add_option (rs2_sensor sensor, rs2_option option, float min, float max, float step, float def, int is_writable, rs2_error *error)

void	rs2_software_sensor_detach (rs2_sensor sensor, rs2_error *error)

void	rs2_start_collecting_fw_logs (rs2_device dev, rs2_error *error)
	Starts collecting FW log messages in the device. More...

void	rs2_stop_collecting_fw_logs (rs2_device dev, rs2_error *error)
	Stops collecting FW log messages in the device. More...

rs2_firmware_log_message *	rs2_create_fw_log_message (rs2_device dev, rs2_error *error)
	Creates RealSense firmware log message. More...

int	rs2_get_fw_log (rs2_device dev, rs2_firmware_log_message fw_log_msg, rs2_error **error)
	Gets RealSense firmware log. More...

int	rs2_get_flash_log (rs2_device dev, rs2_firmware_log_message fw_log_msg, rs2_error **error)
	Gets RealSense flash log - this is a fw log that has been written in the device during the previous shutdown of the device. More...

void	rs2_delete_fw_log_message (rs2_firmware_log_message *msg)

const unsigned char *	rs2_fw_log_message_data (rs2_firmware_log_message msg, rs2_error *error)
	Gets RealSense firmware log message data. More...

int	rs2_fw_log_message_size (rs2_firmware_log_message msg, rs2_error *error)
	Gets RealSense firmware log message size. More...

unsigned int	rs2_fw_log_message_timestamp (rs2_firmware_log_message msg, rs2_error *error)
	Gets RealSense firmware log message timestamp. More...

rs2_log_severity	rs2_fw_log_message_severity (const rs2_firmware_log_message msg, rs2_error *error)
	Gets RealSense firmware log message severity. More...

int	rs2_init_fw_log_parser (rs2_device dev, const char xml_content, rs2_error **error)
	Initializes RealSense firmware logs parser in device. More...

rs2_firmware_log_parsed_message *	rs2_create_fw_log_parsed_message (rs2_device dev, rs2_error *error)
	Creates RealSense firmware log parsed message. More...

void	rs2_delete_fw_log_parsed_message (rs2_firmware_log_parsed_message *fw_log_parsed_msg)
	Deletes RealSense firmware log parsed message. More...

int	rs2_parse_firmware_log (rs2_device dev, rs2_firmware_log_message fw_log_msg, rs2_firmware_log_parsed_message parsed_msg, rs2_error *error)
	Gets RealSense firmware log parser. More...

unsigned int	rs2_get_number_of_fw_logs (rs2_device dev, rs2_error *error)
	Returns number of fw logs already polled from device but not by user yet. More...

const char *	rs2_get_fw_log_parsed_message (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message. More...

const char *	rs2_get_fw_log_parsed_file_name (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message file name. More...

const char *	rs2_get_fw_log_parsed_thread_name (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message source (SoC) or thread name. More...

const char *	rs2_get_fw_log_parsed_module_name (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message module name. More...

rs2_log_severity	rs2_get_fw_log_parsed_severity (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message severity. More...

unsigned int	rs2_get_fw_log_parsed_line (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message relevant line (in the file that is returned by rs2_get_fw_log_parsed_file_name). More...

unsigned int	rs2_get_fw_log_parsed_timestamp (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message timestamp. More...

unsigned int	rs2_get_fw_log_parsed_sequence_id (rs2_firmware_log_parsed_message fw_log_parsed_msg, rs2_error *error)
	Gets RealSense firmware log parsed message sequence id - cyclic number of FW log with [0..15] range. More...

rs2_terminal_parser *	rs2_create_terminal_parser (const char xml_content, rs2_error *error)
	Creates RealSense terminal parser. More...

void	rs2_delete_terminal_parser (rs2_terminal_parser *terminal_parser)
	Deletes RealSense terminal parser. More...

rs2_raw_data_buffer *	rs2_terminal_parse_command (rs2_terminal_parser terminal_parser, const char command, unsigned int size_of_command, rs2_error **error)
	Parses terminal command via RealSense terminal parser. More...

rs2_raw_data_buffer *	rs2_terminal_parse_response (rs2_terminal_parser terminal_parser, const char command, unsigned int size_of_command, const void response, unsigned int size_of_response, rs2_error *error)
	Parses terminal response via RealSense terminal parser. More...

Variables
const unsigned int	signed_fw_size = 0x18031C

const unsigned int	unsigned_fw_size = 0x200000

Detailed Description

Exposes RealSense internal functionality for C compilers.

Typedef Documentation

◆ rs2_motion_stream

typedef struct rs2_motion_stream rs2_motion_stream

All the parameters required to define a motion stream.

◆ rs2_pose_stream

typedef struct rs2_pose_stream rs2_pose_stream

All the parameters required to define a pose stream.

◆ rs2_recording_mode

typedef enum rs2_recording_mode rs2_recording_mode

librealsense Recorder is intended for effective unit-testing Currently supports three modes of operation:

◆ rs2_software_motion_frame

typedef struct rs2_software_motion_frame rs2_software_motion_frame

All the parameters required to define a motion frame.

◆ rs2_software_notification

typedef struct rs2_software_notification rs2_software_notification

All the parameters required to define a sensor notification.

◆ rs2_software_pose_frame

typedef struct rs2_software_pose_frame rs2_software_pose_frame

All the parameters required to define a pose frame.

◆ rs2_software_video_frame

typedef struct rs2_software_video_frame rs2_software_video_frame

All the parameters required to define a video frame.

◆ rs2_video_stream

typedef struct rs2_video_stream rs2_video_stream

All the parameters required to define a video stream.

Enumeration Type Documentation

◆ rs2_recording_mode

enum rs2_recording_mode

librealsense Recorder is intended for effective unit-testing Currently supports three modes of operation:

Enumerator
RS2_RECORDING_MODE_BLANK_FRAMES
RS2_RECORDING_MODE_COMPRESSED
RS2_RECORDING_MODE_BEST_QUALITY
RS2_RECORDING_MODE_COUNT

Function Documentation

◆ rs2_create_fw_log_message()

rs2_firmware_log_message* rs2_create_fw_log_message	(	rs2_device *	dev,
		rs2_error **	error
	)

Creates RealSense firmware log message.

Parameters

[in]	dev	Device from which the FW log will be taken using the created message
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: pointer to created empty firmware log message

◆ rs2_create_fw_log_parsed_message()

rs2_firmware_log_parsed_message* rs2_create_fw_log_parsed_message	(	rs2_device *	dev,
		rs2_error **	error
	)

Creates RealSense firmware log parsed message.

Parameters

[in]	dev	Device from which the FW log will be taken using the created message
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: pointer to created empty firmware log message

◆ rs2_create_mock_context()

rs2_context* rs2_create_mock_context	(	int	api_version,
		const char *	filename,
		const char *	section,
		rs2_error **	error
	)

Create librealsense context that given a file will respond to calls exactly as the recording did if the user calls a method that was either not called during recording or violates causality of the recording error will be thrown

Deprecated:

Parameters

[in]	api_version	realsense API version as provided by RS2_API_VERSION macro
[in]	filename	string representing the name of the file to play back from
[in]	section	string representing the name of the section within existing recording
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: context object, should be released by rs2_delete_context

◆ rs2_create_mock_context_versioned()

rs2_context* rs2_create_mock_context_versioned	(	int	api_version,
		const char *	filename,
		const char *	section,
		const char *	min_api_version,
		rs2_error **	error
	)

Create librealsense context that given a file will respond to calls exactly as the recording did if the user calls a method that was either not called during recording or violates causality of the recording error will be thrown

Deprecated:

Parameters

[in]	api_version	realsense API version as provided by RS2_API_VERSION macro
[in]	filename	string representing the name of the file to play back from
[in]	section	string representing the name of the section within existing recording
[in]	min_api_version	reject any file that was recorded before this version
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: context object, should be released by rs2_delete_context

◆ rs2_create_recording_context()

rs2_context* rs2_create_recording_context	(	int	api_version,
		const char *	filename,
		const char *	section,
		rs2_recording_mode	mode,
		rs2_error **	error
	)

Create librealsense context that will try to record all operations over librealsense into a file

Deprecated:

Parameters

[in]	api_version	realsense API version as provided by RS2_API_VERSION macro
[in]	filename	string representing the name of the file to record
[in]	section	string representing the name of the section within existing recording
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: context object, should be released by rs2_delete_context

◆ rs2_create_software_device()

rs2_device* rs2_create_software_device ( rs2_error ** error )

Create software device to enable use librealsense logic without getting data from backend but inject the data from outside

Parameters

[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: software device object, should be released by rs2_delete_device

◆ rs2_create_terminal_parser()

rs2_terminal_parser* rs2_create_terminal_parser	(	const char *	xml_content,
		rs2_error **	error
	)

Creates RealSense terminal parser.

Parameters

[in]	xml_content	content of the xml file needed for parsing
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: pointer to created terminal parser object

◆ rs2_delete_fw_log_message()

void rs2_delete_fw_log_message ( rs2_firmware_log_message * msg )

Delete RealSense firmware log message

Parameters

[in] device Realsense firmware log message to delete

◆ rs2_delete_fw_log_parsed_message()

void rs2_delete_fw_log_parsed_message ( rs2_firmware_log_parsed_message * fw_log_parsed_msg )

Deletes RealSense firmware log parsed message.

Parameters

[in] msg message to be deleted

◆ rs2_delete_terminal_parser()

void rs2_delete_terminal_parser ( rs2_terminal_parser * terminal_parser )

Deletes RealSense terminal parser.

Parameters

[in] terminal_parser terminal parser to be deleted

◆ rs2_fw_log_message_data()

const unsigned char* rs2_fw_log_message_data	(	rs2_firmware_log_message *	msg,
		rs2_error **	error
	)

Gets RealSense firmware log message data.

Parameters

[in]	msg	firmware log message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: pointer to start of the firmware log message data

◆ rs2_fw_log_message_severity()

rs2_log_severity rs2_fw_log_message_severity	(	const rs2_firmware_log_message *	msg,
		rs2_error **	error
	)

Gets RealSense firmware log message severity.

Parameters

[in]	msg	firmware log message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: severity of the firmware log message data

◆ rs2_fw_log_message_size()

int rs2_fw_log_message_size	(	rs2_firmware_log_message *	msg,
		rs2_error **	error
	)

Gets RealSense firmware log message size.

Parameters

[in]	msg	firmware log message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: size of the firmware log message data

◆ rs2_fw_log_message_timestamp()

unsigned int rs2_fw_log_message_timestamp	(	rs2_firmware_log_message *	msg,
		rs2_error **	error
	)

Gets RealSense firmware log message timestamp.

Parameters

[in]	msg	firmware log message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: timestamp of the firmware log message

◆ rs2_get_flash_log()

int rs2_get_flash_log	(	rs2_device *	dev,
		rs2_firmware_log_message *	fw_log_msg,
		rs2_error **	error
	)

Gets RealSense flash log - this is a fw log that has been written in the device during the previous shutdown of the device.

Parameters

[in]	dev	Device from which the FW log should be taken
[in]	fw_log_msg	Firmware log message object to be filled
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor

◆ rs2_get_fw_log()

int rs2_get_fw_log	(	rs2_device *	dev,
		rs2_firmware_log_message *	fw_log_msg,
		rs2_error **	error
	)

Gets RealSense firmware log.

Parameters

[in]	dev	Device from which the FW log should be taken
[in]	fw_log_msg	Firmware log message object to be filled
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor

◆ rs2_get_fw_log_parsed_file_name()

const char* rs2_get_fw_log_parsed_file_name	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message file name.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: file name of the firmware log parsed message

◆ rs2_get_fw_log_parsed_line()

unsigned int rs2_get_fw_log_parsed_line	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message relevant line (in the file that is returned by rs2_get_fw_log_parsed_file_name).

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: line number of the firmware log parsed message

◆ rs2_get_fw_log_parsed_message()

const char* rs2_get_fw_log_parsed_message	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: message of the firmware log parsed message

◆ rs2_get_fw_log_parsed_module_name()

const char* rs2_get_fw_log_parsed_module_name	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message module name.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: module name of the firmware log parsed message

◆ rs2_get_fw_log_parsed_sequence_id()

unsigned int rs2_get_fw_log_parsed_sequence_id	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message sequence id - cyclic number of FW log with [0..15] range.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: sequence of the firmware log parsed message

◆ rs2_get_fw_log_parsed_severity()

rs2_log_severity rs2_get_fw_log_parsed_severity	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message severity.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: severity of the firmware log parsed message

◆ rs2_get_fw_log_parsed_thread_name()

const char* rs2_get_fw_log_parsed_thread_name	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message source (SoC) or thread name.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: source (SoC) or thread name of the firmware log parsed message

◆ rs2_get_fw_log_parsed_timestamp()

unsigned int rs2_get_fw_log_parsed_timestamp	(	rs2_firmware_log_parsed_message *	fw_log_parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parsed message timestamp.

Parameters

[in]	fw_log_parsed_msg	firmware log parsed message object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: timestamp of the firmware log parsed message

◆ rs2_get_number_of_fw_logs()

unsigned int rs2_get_number_of_fw_logs	(	rs2_device *	dev,
		rs2_error **	error
	)

Returns number of fw logs already polled from device but not by user yet.

Parameters

[in]	dev	Device from which the FW log will be taken
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: number of fw logs already polled from device but not by user yet

◆ rs2_init_fw_log_parser()

int rs2_init_fw_log_parser	(	rs2_device *	dev,
		const char *	xml_content,
		rs2_error **	error
	)

Initializes RealSense firmware logs parser in device.

Parameters

[in]	dev	Device from which the FW log will be taken
[in]	xml_content	content of the xml file needed for parsing
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true for success, false for failure - failure happens if opening the xml from the xml_path input fails

◆ rs2_parse_firmware_log()

int rs2_parse_firmware_log	(	rs2_device *	dev,
		rs2_firmware_log_message *	fw_log_msg,
		rs2_firmware_log_parsed_message *	parsed_msg,
		rs2_error **	error
	)

Gets RealSense firmware log parser.

Parameters

[in]	dev	Device from which the FW log will be taken
[in]	fw_log_msg	firmware log message to be parsed
[in]	parsed_msg	firmware log parsed message - place holder for the resulting parsed message
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true for success, false for failure - failure happens if message could not be parsed

◆ rs2_software_device_add_sensor()

rs2_sensor* rs2_software_device_add_sensor	(	rs2_device *	dev,
		const char *	sensor_name,
		rs2_error **	error
	)

Add sensor to the software device

Parameters

[in]	dev	the software device
[in]	sensor_name	the name of the sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: software sensor object, should be released by rs2_delete_sensor

◆ rs2_software_device_create_matcher()

void rs2_software_device_create_matcher	(	rs2_device *	dev,
		rs2_matchers	matcher,
		rs2_error **	error
	)

Set the wanted matcher type that will be used by the syncer

Parameters

[in]	dev	the software device
[in]	matcher	matcher type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_device_register_info()

void rs2_software_device_register_info	(	rs2_device *	dev,
		rs2_camera_info	info,
		const char *	val,
		rs2_error **	error
	)

Register a camera info value for the software device

Parameters

[in]	dev	the software device
[in]	info	identifier for the camera info to add.
[in]	val	string value for this new camera info.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_device_set_destruction_callback()

void rs2_software_device_set_destruction_callback	(	const rs2_device *	dev,
		rs2_software_device_destruction_callback_ptr	on_notification,
		void *	user,
		rs2_error **	error
	)

set callback to be notified when a specific software device is destroyed

Parameters

[in]	dev	software device
[in]	on_notification	function pointer to register as callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_device_set_destruction_callback_cpp()

void rs2_software_device_set_destruction_callback_cpp	(	const rs2_device *	dev,
		rs2_software_device_destruction_callback *	callback,
		rs2_error **	error
	)

set callback to be notified when a specific software device is destroyed

Parameters

[in]	dev	software device
[in]	callback	callback object created from c++ application. ownership over the callback object is moved into the relevant device lock
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_device_update_info()

void rs2_software_device_update_info	(	rs2_device *	dev,
		rs2_camera_info	info,
		const char *	val,
		rs2_error **	error
	)

Update an existing camera info value for the software device

Parameters

[in]	dev	the software device
[in]	info	identifier for the camera info to add.
[in]	val	string value for this new camera info.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_motion_stream()

rs2_stream_profile* rs2_software_sensor_add_motion_stream	(	rs2_sensor *	sensor,
		rs2_motion_stream	motion_stream,
		rs2_error **	error
	)

Add motion stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	motion_stream	all the stream components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_motion_stream_ex()

rs2_stream_profile* rs2_software_sensor_add_motion_stream_ex	(	rs2_sensor *	sensor,
		rs2_motion_stream	motion_stream,
		int	is_default,
		rs2_error **	error
	)

Add motion stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	motion_stream	all the stream components
[in]	is_default	whether or not the stream should be a default stream for the device
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_option()

void rs2_software_sensor_add_option	(	rs2_sensor *	sensor,
		rs2_option	option,
		float	min,
		float	max,
		float	step,
		float	def,
		int	is_writable,
		rs2_error **	error
	)

Add an option to sensor

Parameters

[in]	sensor	the software sensor
[in]	option	the wanted option
[in]	min	the minimum value which will be accepted for this option
[in]	max	the maximum value which will be accepted for this option
[in]	step	the granularity of options which accept discrete values, or zero if the option accepts continuous values
[in]	def	the initial value of the option
[in]	is_writable	should the option be read-only or not
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_pose_stream()

rs2_stream_profile* rs2_software_sensor_add_pose_stream	(	rs2_sensor *	sensor,
		rs2_pose_stream	pose_stream,
		rs2_error **	error
	)

Add pose stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	pose_stream	all the stream components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_pose_stream_ex()

rs2_stream_profile* rs2_software_sensor_add_pose_stream_ex	(	rs2_sensor *	sensor,
		rs2_pose_stream	pose_stream,
		int	is_default,
		rs2_error **	error
	)

Add pose stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	pose_stream	all the stream components
[in]	is_default	whether or not the stream should be a default stream for the device
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_read_only_option()

void rs2_software_sensor_add_read_only_option	(	rs2_sensor *	sensor,
		rs2_option	option,
		float	val,
		rs2_error **	error
	)

Add read only option to sensor

Parameters

[in]	sensor	the software sensor
[in]	option	the wanted option
[in]	val	the initial value
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_video_stream()

rs2_stream_profile* rs2_software_sensor_add_video_stream	(	rs2_sensor *	sensor,
		rs2_video_stream	video_stream,
		rs2_error **	error
	)

Add video stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	video_stream	all the stream components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_add_video_stream_ex()

rs2_stream_profile* rs2_software_sensor_add_video_stream_ex	(	rs2_sensor *	sensor,
		rs2_video_stream	video_stream,
		int	is_default,
		rs2_error **	error
	)

Add video stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	video_stream	all the stream components
[in]	is_default	whether or not the stream should be a default stream for the device
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_detach()

void rs2_software_sensor_detach	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

Sensors hold the parent device in scope via a shared_ptr. This function detaches that so that the software sensor doesn't keep the software device alive. Note that this is dangerous as it opens the door to accessing freed memory if care isn't taken.

Parameters

[in]	sensor	the software sensor
[out]	error	if non-null, recieves any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_on_motion_frame()

void rs2_software_sensor_on_motion_frame	(	rs2_sensor *	sensor,
		rs2_software_motion_frame	frame,
		rs2_error **	error
	)

Inject motion frame to software sonsor

Parameters

[in]	sensor	the software sensor
[in]	frame	all the frame components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_on_notification()

void rs2_software_sensor_on_notification	(	rs2_sensor *	sensor,
		rs2_software_notification	notif,
		rs2_error **	error
	)

Inject notification to software sonsor

Parameters

[in]	sensor	the software sensor
[in]	notif	all the notification components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_on_pose_frame()

void rs2_software_sensor_on_pose_frame	(	rs2_sensor *	sensor,
		rs2_software_pose_frame	frame,
		rs2_error **	error
	)

Inject pose frame to software sonsor

Parameters

[in]	sensor	the software sensor
[in]	frame	all the frame components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_on_video_frame()

void rs2_software_sensor_on_video_frame	(	rs2_sensor *	sensor,
		rs2_software_video_frame	frame,
		rs2_error **	error
	)

Inject video frame to software sonsor

Parameters

[in]	sensor	the software sensor
[in]	frame	all the frame components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_set_metadata()

void rs2_software_sensor_set_metadata	(	rs2_sensor *	sensor,
		rs2_frame_metadata_value	value,
		rs2_metadata_type	type,
		rs2_error **	error
	)

Set frame metadata for the upcoming frames

Parameters

[in]	sensor	the software sensor
[in]	value	metadata key to set
[in]	type	metadata value
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_software_sensor_update_read_only_option()

void rs2_software_sensor_update_read_only_option	(	rs2_sensor *	sensor,
		rs2_option	option,
		float	val,
		rs2_error **	error
	)

Update the read only option added to sensor

Parameters

[in]	sensor	the software sensor
[in]	option	the wanted option
[in]	val	the wanted value
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_start_collecting_fw_logs()

void rs2_start_collecting_fw_logs	(	rs2_device *	dev,
		rs2_error **	error
	)

Starts collecting FW log messages in the device.

Parameters

[in]	dev	Device that will start collecting log messages.
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are

◆ rs2_stop_collecting_fw_logs()

void rs2_stop_collecting_fw_logs	(	rs2_device *	dev,
		rs2_error **	error
	)

Stops collecting FW log messages in the device.

Parameters

[in]	dev	Device that will stop collecting log messages.
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are

◆ rs2_terminal_parse_command()

rs2_raw_data_buffer* rs2_terminal_parse_command	(	rs2_terminal_parser *	terminal_parser,
		const char *	command,
		unsigned int	size_of_command,
		rs2_error **	error
	)

Parses terminal command via RealSense terminal parser.

Parameters

[in]	terminal_parser	Terminal parser object
[in]	command	command to be sent to the hw monitor of the device
[in]	size_of_command	size of command to be sent to the hw monitor of the device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: command to hw monitor, in hex

◆ rs2_terminal_parse_response()

rs2_raw_data_buffer* rs2_terminal_parse_response	(	rs2_terminal_parser *	terminal_parser,
		const char *	command,
		unsigned int	size_of_command,
		const void *	response,
		unsigned int	size_of_response,
		rs2_error **	error
	)

Parses terminal response via RealSense terminal parser.

Parameters

[in]	terminal_parser	Terminal parser object
[in]	command	command sent to the hw monitor of the device
[in]	size_of_command	size of the command to sent to the hw monitor of the device
[in]	response	response received by the hw monitor of the device
[in]	size_of_response	size of the response received by the hw monitor of the device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: answer parsed

Variable Documentation

◆ signed_fw_size

const unsigned int signed_fw_size = 0x18031C

Firmware size constants

◆ unsigned_fw_size

const unsigned int unsigned_fw_size = 0x200000

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ rs2_motion_stream

◆ rs2_pose_stream

◆ rs2_recording_mode

◆ rs2_software_motion_frame

◆ rs2_software_notification

◆ rs2_software_pose_frame

◆ rs2_software_video_frame

◆ rs2_video_stream

Enumeration Type Documentation

◆ rs2_recording_mode

Function Documentation

◆ rs2_create_fw_log_message()

◆ rs2_create_fw_log_parsed_message()

◆ rs2_create_mock_context()

◆ rs2_create_mock_context_versioned()

◆ rs2_create_recording_context()

◆ rs2_create_software_device()

◆ rs2_create_terminal_parser()

◆ rs2_delete_fw_log_message()

◆ rs2_delete_fw_log_parsed_message()

◆ rs2_delete_terminal_parser()

◆ rs2_fw_log_message_data()

◆ rs2_fw_log_message_severity()

◆ rs2_fw_log_message_size()

◆ rs2_fw_log_message_timestamp()

◆ rs2_get_flash_log()

◆ rs2_get_fw_log()

◆ rs2_get_fw_log_parsed_file_name()

◆ rs2_get_fw_log_parsed_line()

◆ rs2_get_fw_log_parsed_message()

◆ rs2_get_fw_log_parsed_module_name()

◆ rs2_get_fw_log_parsed_sequence_id()

◆ rs2_get_fw_log_parsed_severity()

◆ rs2_get_fw_log_parsed_thread_name()

◆ rs2_get_fw_log_parsed_timestamp()

◆ rs2_get_number_of_fw_logs()

◆ rs2_init_fw_log_parser()

◆ rs2_parse_firmware_log()

◆ rs2_software_device_add_sensor()

◆ rs2_software_device_create_matcher()

◆ rs2_software_device_register_info()

◆ rs2_software_device_set_destruction_callback()

◆ rs2_software_device_set_destruction_callback_cpp()

◆ rs2_software_device_update_info()

◆ rs2_software_sensor_add_motion_stream()

◆ rs2_software_sensor_add_motion_stream_ex()

◆ rs2_software_sensor_add_option()

◆ rs2_software_sensor_add_pose_stream()

◆ rs2_software_sensor_add_pose_stream_ex()

◆ rs2_software_sensor_add_read_only_option()

◆ rs2_software_sensor_add_video_stream()

◆ rs2_software_sensor_add_video_stream_ex()

◆ rs2_software_sensor_detach()

◆ rs2_software_sensor_on_motion_frame()

◆ rs2_software_sensor_on_notification()

◆ rs2_software_sensor_on_pose_frame()

◆ rs2_software_sensor_on_video_frame()

◆ rs2_software_sensor_set_metadata()

◆ rs2_software_sensor_update_read_only_option()

◆ rs2_start_collecting_fw_logs()

◆ rs2_stop_collecting_fw_logs()

◆ rs2_terminal_parse_command()

◆ rs2_terminal_parse_response()

Variable Documentation

◆ signed_fw_size

◆ unsigned_fw_size