Merge pull request #16 from zshahaf/master

Renaming, order and documentation

.gitignore

@@ -75,6 +75,7 @@ librealsense-log.txt
 *.list
 *.txt
 *.cmake
+!config.cmake
 *.json
 *.ini
 *.cxx

CMake/realsense.def

@@ -116,9 +116,9 @@ EXPORTS
     rs2_create_device_from_sensor
     rs2_get_depth_scale
 
-    rs2_is_sensor
-    rs2_is_device
-    rs2_is_frame
+    rs2_is_sensor_extendable_to
+    rs2_is_device_extendable_to
+    rs2_is_frame_extendable_to
 
     rs2_allocate_synthetic_video_frame
     rs2_synthetic_frame_ready
@@ -158,8 +158,6 @@ EXPORTS
     rs2_is_enabled
     rs2_toggle_advanced_mode
 
-    rs2_create_device_serializer
-    rs2_delete_device_serializer
     rs2_create_record_device 
     rs2_create_playback_device 
     rs2_record_device_pause

CMakeLists.txt

@@ -246,7 +246,7 @@ set(REALSENSE_HPP
 )
 
 # Add additional include directories to allow file to include rosbag headers
-include(${CMAKE_CURRENT_LIST_DIR}/third-party/realsense-file/3rd_party/config.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/third-party/realsense-file/config.cmake)
 include_directories(
         ${ROSBAG_HEADER_DIRS}
         ${BOOST_INCLUDE_PATH}
@@ -272,6 +272,7 @@ if(WIN32)
 
     source_group("Source Files\\Media" FILES
         src/recording/record_device.cpp
+        src/recording/record_sensor.cpp
         src/recording/playback_device.cpp
         src/recording/playback_sensor.cpp
         src/recording/ros/stream_playback.cpp

include/librealsense/rs2.hpp

@@ -392,7 +392,7 @@ namespace rs2
             : frame(f)
         {
             rs2_error* e = nullptr;
-            if(!f || (rs2_is_frame(f.get(), RS2_EXTENSION_TYPE_VIDEO_FRAME, &e) == 0 && !e))
+            if(!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_TYPE_VIDEO_FRAME, &e) == 0 && !e))
             {
                 frame_ref = nullptr;
             }
@@ -460,7 +460,7 @@ namespace rs2
                 : frame(f), _size(0)
         {
             rs2_error* e = nullptr;
-            if(!f || (rs2_is_frame(f.get(), RS2_EXTENSION_TYPE_POINTS, &e) == 0 && !e))
+            if(!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_TYPE_POINTS, &e) == 0 && !e))
             {
                 frame_ref = nullptr;
             }
@@ -506,7 +506,7 @@ namespace rs2
             : frame(f), _size(0)
         {
             rs2_error* e = nullptr;
-            if(!f || (rs2_is_frame(f.get(), RS2_EXTENSION_TYPE_COMPOSITE_FRAME, &e) == 0 && !e))
+            if(!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_TYPE_COMPOSITE_FRAME, &e) == 0 && !e))
             {
                 frame_ref = nullptr;
             }
@@ -1136,7 +1136,7 @@ namespace rs2
             : sensor(s.get())
         {
             rs2_error* e = nullptr;
-            if(rs2_is_sensor(_sensor.get(), RS2_EXTENSION_TYPE_ROI, &e) == 0 && !e)
+            if(rs2_is_sensor_extendable_to(_sensor.get(), RS2_EXTENSION_TYPE_ROI, &e) == 0 && !e)
             {
                 _sensor = nullptr;
             }
@@ -1169,7 +1169,7 @@ namespace rs2
             : sensor(s.get())
         {
             rs2_error* e = nullptr;
-            if (rs2_is_sensor(_sensor.get(), RS2_EXTENSION_TYPE_DEPTH_SENSOR, &e) == 0 && !e)
+            if (rs2_is_sensor_extendable_to(_sensor.get(), RS2_EXTENSION_TYPE_DEPTH_SENSOR, &e) == 0 && !e)
             {
                 _sensor = nullptr;
             }
@@ -1329,7 +1329,7 @@ namespace rs2
                 : device(d.get())
         {
             rs2_error* e = nullptr;
-            if(rs2_is_device(_dev.get(), RS2_EXTENSION_TYPE_DEBUG, &e) == 0 && !e)
+            if(rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_TYPE_DEBUG, &e) == 0 && !e)
             {
                 _dev = nullptr;
             }
@@ -1462,14 +1462,8 @@ namespace rs2
             m_file(file)
         {
             rs2_error* e = nullptr;
-            m_serializer = std::shared_ptr<rs2_device_serializer>(
-                rs2_create_device_serializer(file.c_str(), &e),
-                rs2_delete_device_serializer);
-            rs2::error::handle(e);
-
-            e = nullptr;
             _dev = std::shared_ptr<rs2_device>(
-                rs2_create_playback_device(m_serializer.get(), &e),
+                rs2_create_playback_device(file.c_str(), &e),
                 rs2_delete_device);
             rs2::error::handle(e);
         }
@@ -1487,7 +1481,6 @@ namespace rs2
         }
     private:
         std::string m_file;
-        std::shared_ptr<rs2_device_serializer> m_serializer;
     };
     class recorder : public device
     {
@@ -1496,14 +1489,8 @@ namespace rs2
             m_file(file)
         {
             rs2_error* e = nullptr;
-            m_serializer = std::shared_ptr<rs2_device_serializer>(
-                rs2_create_device_serializer(file.c_str(), &e),
-                rs2_delete_device_serializer);
-            rs2::error::handle(e);
-
-            e = nullptr;
             _dev = std::shared_ptr<rs2_device>(
-                rs2_create_record_device(device.get().get(), m_serializer.get(), &e),
+                rs2_create_record_device(device.get().get(), file.c_str(), &e),
                 rs2_delete_device);
             rs2::error::handle(e);
         }
@@ -1522,7 +1509,6 @@ namespace rs2
         }
     private:
         std::string m_file;
-        std::shared_ptr<rs2_device_serializer> m_serializer;
     };
 
     class event_information

include/librealsense/rs2_advanced_mode.hpp

@@ -128,7 +128,7 @@ namespace rs400
                 : rs2::device(d.get())
         {
             rs2_error* e = nullptr;
-            if(rs2_is_device(_dev.get(), RS2_EXTENSION_TYPE_ADVANCED_MODE, &e) == 0 && !e)
+            if(rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_TYPE_ADVANCED_MODE, &e) == 0 && !e)
             {
                 _dev = nullptr;
             }

src/align.cpp

@@ -62,7 +62,7 @@ namespace librealsense
         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((rs2_frame*)original, RS2_EXTENSION_TYPE_VIDEO_FRAME, nullptr))
+            if (!rs2_is_frame_extendable_to((rs2_frame*)original, RS2_EXTENSION_TYPE_VIDEO_FRAME, nullptr))
             {
                 throw std::runtime_error("If original frame is not video frame, you must specify new bpp, width/stide and height!");
             }

src/align.h

@@ -51,7 +51,7 @@ namespace librealsense
         std::mutex _mutex;
         frame_processor_callback_ptr _callback;
         synthetic_source _source_wrapper;
-        rs2_extension_type _output_type;
+        rs2_extension _output_type;
     };
 
     class pointcloud : public processing_block

src/archive.cpp

@@ -233,7 +233,7 @@ namespace librealsense
 
     };
 
-    std::shared_ptr<archive_interface> make_archive(rs2_extension_type type,
+    std::shared_ptr<archive_interface> make_archive(rs2_extension type,
                                                     std::atomic<uint32_t>* in_max_frame_queue_size,
                                                     std::shared_ptr<platform::time_service> ts,
                                                     std::shared_ptr<metadata_parser_map> parsers)

src/archive.h

@@ -262,7 +262,7 @@ namespace librealsense
 
     };
 
-    std::shared_ptr<archive_interface> make_archive(rs2_extension_type type,
+    std::shared_ptr<archive_interface> make_archive(rs2_extension type,
                                                     std::atomic<uint32_t>* in_max_frame_queue_size,
                                                     std::shared_ptr<platform::time_service> ts,
                                                     std::shared_ptr<metadata_parser_map> parsers);

src/core/extension.h

@@ -2,34 +2,33 @@
 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
-#include "../../include/librealsense/rs2.h" //TODO: Ziv, remove relative\file
+#include "../../include/librealsense/rs2.h"
 #include <memory>
 #include <functional>
 
-//Preprocessor Macro to define mapping between rs2_extension_type and their respective interface (and vice versa)
-#define MAP_EXTENSION(E, T)                              \
-    template<> struct ExtensionsToTypes<E> {              \
-        using type = T;                                   \
-    };                                                    \
-    template<> struct TypeToExtensionn<T> {               \
-        static constexpr rs2_extension_type value = E;    \
+//Preprocessor Macro to define mapping between rs2_extension and their respective interface (and vice versa)
+#define MAP_EXTENSION(E, T)                        \
+    template<> struct ExtensionsToTypes<E> {       \
+        using type = T;                            \
+    };                                             \
+    template<> struct TypeToExtensionn<T> {        \
+        static constexpr rs2_extension value = E;  \
     }
 
 namespace librealsense
 {
     class extendable_interface
     {
     public:
-        virtual bool extend_to(rs2_extension_type extension_type, void** ptr) = 0;
+        virtual bool extend_to(rs2_extension extension_type, void** ptr) = 0;
         virtual ~extendable_interface() = default;
     };
 
     /**
-     * Extensions' snapshot implementations are expected to derive from this class in addition to the actual extension
-     * Extensions' interfaces are not expected to derive from this class (//TODO Ziv, what if they do? - test that it works)
+     * Extensions' snapshots implementations are expected to derive from this class in addition to the actual extensions' 
+     * interfaces. Extensions are not expected to derive from this class.
      */
-    //template <typename T>
-    class extension_snapshot  //TODO: : Ziv, : public T, public std::enable_shared_from_this ?
+    class extension_snapshot
     {
     public:
         virtual void update(std::shared_ptr<extension_snapshot> ext) = 0;
@@ -102,7 +101,7 @@ namespace librealsense
         return dynamic_cast<T*>(ptr) != nullptr;
     }
 
-    //Creating Helper functions to map rs2_extension_type enums to actual interface
-    template<rs2_extension_type> struct ExtensionsToTypes;
+    //Creating Helper functions to map rs2_extension enums to actual interface
+    template<rs2_extension> struct ExtensionsToTypes;
     template<typename T> struct TypeToExtensionn;
 }

src/recording/device_snapshot.h

@@ -13,12 +13,12 @@ namespace librealsense
     {
     public:
         snapshot_collection() {}
-        snapshot_collection(const std::map<rs2_extension_type, std::shared_ptr<extension_snapshot>>& snapshots) :
+        snapshot_collection(const std::map<rs2_extension, std::shared_ptr<extension_snapshot>>& snapshots) :
             m_snapshots(snapshots)
         {
         }
 
-        std::shared_ptr<extension_snapshot> find(rs2_extension_type t)
+        std::shared_ptr<extension_snapshot> find(rs2_extension t)
         {
             auto snapshot_it = m_snapshots.find(t);
             if(snapshot_it == std::end(m_snapshots))
@@ -27,22 +27,22 @@ namespace librealsense
             }
             return snapshot_it->second;
         }
-        std::map<rs2_extension_type, std::shared_ptr<extension_snapshot>> get_snapshots() const
+        std::map<rs2_extension, std::shared_ptr<extension_snapshot>> get_snapshots() const
         {
             return m_snapshots;
         }
 
-        const std::shared_ptr<extension_snapshot>& operator[](rs2_extension_type extension) const
+        const std::shared_ptr<extension_snapshot>& operator[](rs2_extension extension) const
         {
             return m_snapshots.at(extension);
         }
 
-        std::shared_ptr<extension_snapshot>& operator[](rs2_extension_type extension)
+        std::shared_ptr<extension_snapshot>& operator[](rs2_extension extension)
         {
             return m_snapshots[extension];
         }
     private:
-        std::map<rs2_extension_type, std::shared_ptr<extension_snapshot>> m_snapshots;
+        std::map<rs2_extension, std::shared_ptr<extension_snapshot>> m_snapshots;
     };
     class sensor_snapshot
     {

src/recording/playback_device.cpp

@@ -209,7 +209,7 @@ rs2_extrinsics playback_device::get_extrinsics(size_t from, rs2_stream from_stre
     //std::dynamic_pointer_cast<librealsense::info_interface>(m_device_description.get_device_extensions_snapshots().get_snapshots()[RS2_EXTENSION_TYPE_EXTRINSICS])->supports_info(info);
 }
 
-bool playback_device::extend_to(rs2_extension_type extension_type, void** ext) 
+bool playback_device::extend_to(rs2_extension extension_type, void** ext) 
 {
     std::shared_ptr<extension_snapshot> e = m_device_description.get_device_extensions_snapshots().find(extension_type);
     if (e == nullptr)

src/recording/playback_device.h

@@ -28,7 +28,7 @@ namespace librealsense
         const sensor_interface& get_sensor(size_t i) const override;
         void hardware_reset() override;
         rs2_extrinsics get_extrinsics(size_t from,rs2_stream from_stream,size_t to,rs2_stream to_stream) const override;
-        bool extend_to(rs2_extension_type extension_type, void** ext) override;
+        bool extend_to(rs2_extension extension_type, void** ext) override;
         std::shared_ptr<matcher> create_matcher(rs2_stream stream) const override;
 
         bool set_frame_rate(double rate);

src/recording/playback_sensor.cpp

@@ -110,7 +110,7 @@ bool playback_sensor::is_streaming() const
 {
     return m_is_started;
 }
-bool playback_sensor::extend_to(rs2_extension_type extension_type, void** ext)
+bool playback_sensor::extend_to(rs2_extension extension_type, void** ext)
 {
     std::shared_ptr<extension_snapshot> e = m_sensor_description.get_sensor_extensions_snapshots().find(extension_type);
     if(e == nullptr)

src/recording/playback_sensor.h

@@ -48,7 +48,7 @@ namespace librealsense
         void start(frame_callback_ptr callback) override;
         void stop() override;
         bool is_streaming() const override;
-        bool extend_to(rs2_extension_type extension_type, void** ext) override;
+        bool extend_to(rs2_extension extension_type, void** ext) override;
         const device_interface& get_device() override;
         rs2_extrinsics get_extrinsics_to(rs2_stream from, const sensor_interface& other, rs2_stream to) const  override;
         const std::vector<platform::stream_profile>& get_curr_configurations() const  override;