PR IntelRealSense#12372 from Eran: clean up types.h

Nir-Az · Nov 7, 2023 · 5026b67 · 5026b67
2 parents ceb205f + 43858bd
commit 5026b67
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Showing 126 changed files with 987 additions and 1,289 deletions.
diff --git a/common/calibration-model.cpp b/common/calibration-model.cpp
@@ -28,7 +28,8 @@ bool calibration_model::supports()
 
 void calibration_model::draw_float(std::string name, float& x, const float& orig, bool& changed)
 {
-    if (abs(x - orig) > 0.00001) ImGui::PushStyleColor(ImGuiCol_FrameBg, regular_blue);
+    if( std::abs( x - orig ) > 0.00001 )
+        ImGui::PushStyleColor( ImGuiCol_FrameBg, regular_blue );
     else ImGui::PushStyleColor(ImGuiCol_FrameBg, black);
     if (ImGui::DragFloat(std::string( rsutils::string::from() << "##" << name).c_str(), &x, 0.001f))
     {
@@ -71,66 +72,6 @@ void calibration_model::draw_float4x4(std::string name, librealsense::float3x3&
     ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
 }
 
-namespace helpers
-{
-    #define UPDC32(octet, crc) (crc_32_tab[((crc) ^ (octet)) & 0xff] ^ ((crc) >> 8))
-
-    static const uint32_t crc_32_tab[] = { /* CRC polynomial 0xedb88320 */
-        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
-        0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
-        0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
-        0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
-        0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
-        0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
-        0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
-        0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
-        0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
-        0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
-        0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
-        0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
-        0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
-        0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
-        0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
-        0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
-        0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
-        0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
-        0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
-        0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
-        0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
-        0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
-        0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
-        0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
-        0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
-        0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
-        0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
-        0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
-        0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
-        0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
-        0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
-        0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
-        0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
-    };
-
-    /// Calculate CRC code for arbitrary characters buffer
-    uint32_t calc_crc32(const uint8_t *buf, size_t bufsize)
-    {
-        uint32_t oldcrc32 = 0xFFFFFFFF;
-        for (; bufsize; --bufsize, ++buf)
-            oldcrc32 = UPDC32(*buf, oldcrc32);
-        return ~oldcrc32;
-    }
-}
-
 void calibration_model::update(ux_window& window, std::string& error_message)
 {
     const auto window_name = "Calibration Window";
@@ -445,7 +386,7 @@ void calibration_model::update(ux_window& window, std::string& error_message)
                 {
                     auto actual_data = _calibration.data() + sizeof(librealsense::ds::table_header);
                     auto actual_data_size = _calibration.size() - sizeof(librealsense::ds::table_header);
-                    auto crc = helpers::calc_crc32(actual_data, actual_data_size);
+                    auto crc = rsutils::number::calc_crc32( actual_data, actual_data_size );
                     table->header.crc32 = crc;
                     dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
                     dev.as<rs2::auto_calibrated_device>().write_calibration();

diff --git a/common/calibration-model.h b/common/calibration-model.h
@@ -11,12 +11,6 @@ namespace librealsense
     struct float3x3;
 }
 
-namespace helpers
-{
-    // Calculate CRC code for arbitrary characters buffer
-    uint32_t calc_crc32(const uint8_t* buf, size_t bufsize);
-}
-
 namespace rs2
 {
     class ux_window;

diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp
@@ -8,6 +8,7 @@
 
 #include "os.h"
 
+#include <rsutils/easylogging/easyloggingpp.h>
 #include <map>
 #include <vector>
 #include <string>

diff --git a/common/measurement.cpp b/common/measurement.cpp
@@ -184,7 +184,7 @@ float measurement::calculate_area(std::vector<float3> poly)
     auto a = poly[1] - poly[0];
     auto b = poly[2] - poly[0];
     auto n = cross(a, b);
-    return abs(total * n.normalize()) / 2;
+    return std::abs( total * n.normalize() ) / 2;
 }
 
 void draw_sphere(const float3& pos, float r, int lats, int longs)

diff --git a/common/os.cpp b/common/os.cpp
@@ -201,7 +201,7 @@ Some auxillary functionalities might be affected. Please report this message if
 
         if (filters_split.size() >= 1)
         {
-            filters_count = filters_split.size() - 1;
+            filters_count = int( filters_split.size() - 1 );
 
             // set description
             aSingleFilterDescription = filters_split[0].c_str();

diff --git a/common/post-processing-filter.h b/common/post-processing-filter.h
@@ -6,6 +6,7 @@
 #include <librealsense2/rs.hpp>
 #include <model-views.h>
 #include <viewer.h>
+#include <rsutils/easylogging/easyloggingpp.h>
 
 
 /*

diff --git a/common/realsense-ui-advanced-mode.h b/common/realsense-ui-advanced-mode.h
@@ -4,7 +4,6 @@
 #pragma once
 
 #include <librealsense2/rs_advanced_mode.hpp>
-#include <types.h>
 #include <type_traits>
 #include <rsutils/string/string-utilities.h>
 

diff --git a/common/reflectivity/reflectivity.cpp b/common/reflectivity/reflectivity.cpp
@@ -1,9 +1,13 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2020 Intel Corporation. All Rights Reserved.
 
-#include <numeric>
 #include "reflectivity.h"
-#include <types.h>
+#include <vector>
+#include <numeric>
+#include <algorithm>
+#include <stdexcept>
+#include <cmath>
+#include <limits>
 
 using namespace rs2;
 

diff --git a/common/sw-update/http-downloader.cpp b/common/sw-update/http-downloader.cpp
@@ -9,12 +9,13 @@
 #include <thread>
 #include <atomic>
 #include <mutex>
+#include <fstream>
 #include <curl/curl.h>
 #include <curl/easy.h>
-#include "types.h"
 #endif // CHECK_FOR_UPDATES
 
 #include "http-downloader.h"
+#include <rsutils/easylogging/easyloggingpp.h>
 
 
 namespace rs2

diff --git a/common/sw-update/versions-db-manager.cpp b/common/sw-update/versions-db-manager.cpp
@@ -1,14 +1,15 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#include "versions-db-manager.h"
+#include <nlohmann/json.hpp>
+#include <rsutils/os/os.h>
+#include <rsutils/easylogging/easyloggingpp.h>
 #include <fstream>
 #include <unordered_map>
 #include <algorithm>
 #include <regex>
 
-#include <nlohmann/json.hpp>
-#include "versions-db-manager.h"
-#include <types.h>
-#include <rsutils/os/os.h>
 
 namespace rs2
 {

diff --git a/common/updates-model.cpp b/common/updates-model.cpp
@@ -8,6 +8,7 @@
 #include "os.h"
 #include <stb_image.h>
 #include "sw-update/http-downloader.h"
+#include <rsutils/easylogging/easyloggingpp.h>
 
 using namespace rs2;
 using namespace sw_update;

diff --git a/include/librealsense2/hpp/rs_types.hpp b/include/librealsense2/hpp/rs_types.hpp
@@ -28,20 +28,23 @@ struct rs2_frame_callback
     virtual void                            release() = 0;
     virtual                                 ~rs2_frame_callback() {}
 };
+typedef std::shared_ptr<rs2_frame_callback> rs2_frame_callback_sptr;
 
 struct rs2_frame_processor_callback
 {
     virtual void                            on_frame(rs2_frame * f, rs2_source * source) = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_frame_processor_callback() {}
 };
+typedef std::shared_ptr<rs2_frame_processor_callback> rs2_frame_processor_callback_sptr;
 
 struct rs2_notifications_callback
 {
     virtual void                            on_notification(rs2_notification* n) = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_notifications_callback() {}
 };
+typedef std::shared_ptr<rs2_notifications_callback> rs2_notifications_callback_sptr;
 
 typedef void ( *log_callback_function_ptr )(rs2_log_severity severity, rs2_log_message const * msg );
 
@@ -51,41 +54,47 @@ struct rs2_software_device_destruction_callback
     virtual void                            release() = 0;
     virtual                                 ~rs2_software_device_destruction_callback() {}
 };
+typedef std::shared_ptr<rs2_software_device_destruction_callback> rs2_software_device_destruction_callback_sptr;
 
 struct rs2_log_callback
 {
     virtual void                            on_log( rs2_log_severity severity, rs2_log_message const & msg ) noexcept = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_log_callback() {}
 };
+typedef std::shared_ptr< rs2_log_callback > rs2_log_callback_sptr;
 
 struct rs2_calibration_change_callback
 {
     virtual void                            on_calibration_change( rs2_calibration_status ) noexcept = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_calibration_change_callback() {}
 };
+typedef std::shared_ptr<rs2_calibration_change_callback> rs2_calibration_change_callback_sptr;
 
 struct rs2_devices_changed_callback
 {
     virtual void                            on_devices_changed(rs2_device_list* removed, rs2_device_list* added) = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_devices_changed_callback() {}
 };
+typedef std::shared_ptr<rs2_devices_changed_callback> rs2_devices_changed_callback_sptr;
 
 struct rs2_playback_status_changed_callback
 {
     virtual void                            on_playback_status_changed(rs2_playback_status status) = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_playback_status_changed_callback() {}
 };
+typedef std::shared_ptr<rs2_playback_status_changed_callback> rs2_playback_status_changed_callback_sptr;
 
 struct rs2_update_progress_callback
 {
     virtual void                            on_update_progress(const float update_progress) = 0;
     virtual void                            release() = 0;
     virtual                                 ~rs2_update_progress_callback() {}
 };
+typedef std::shared_ptr<rs2_update_progress_callback> rs2_update_progress_callback_sptr;
 
 namespace rs2
 {

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -111,6 +111,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/platform/platform-device-info.h"
         "${CMAKE_CURRENT_LIST_DIR}/platform/device-watcher.h"
         "${CMAKE_CURRENT_LIST_DIR}/platform/frame-object.h"
+        "${CMAKE_CURRENT_LIST_DIR}/platform/hid-data.h"
         "${CMAKE_CURRENT_LIST_DIR}/platform/hid-device.h"
         "${CMAKE_CURRENT_LIST_DIR}/platform/hid-device-info.h"
         "${CMAKE_CURRENT_LIST_DIR}/platform/playback-device-info.h"
@@ -127,6 +128,8 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/device-info.h"
         "${CMAKE_CURRENT_LIST_DIR}/device_hub.h"
         "${CMAKE_CURRENT_LIST_DIR}/environment.h"
+        "${CMAKE_CURRENT_LIST_DIR}/firmware-version.h"
+        "${CMAKE_CURRENT_LIST_DIR}/fourcc.h"
         "${CMAKE_CURRENT_LIST_DIR}/log.h"
         "${CMAKE_CURRENT_LIST_DIR}/error-handling.h"
         "${CMAKE_CURRENT_LIST_DIR}/firmware_logger_device.h"

diff --git a/src/algo.cpp b/src/algo.cpp
@@ -893,10 +893,10 @@ bool rect_gaussian_dots_target_calculator::validate_corners(const uint8_t* img)
     bool ok = true;
 
     static const int pos_diff_threshold = 4;
-    if (abs(_corners[0].x - _corners[2].x) > pos_diff_threshold ||
-        abs(_corners[1].x - _corners[3].x) > pos_diff_threshold ||
-        abs(_corners[0].y - _corners[1].y) > pos_diff_threshold ||
-        abs(_corners[2].y - _corners[3].y) > pos_diff_threshold)
+    if( std::abs( _corners[0].x - _corners[2].x ) > pos_diff_threshold
+        || std::abs( _corners[1].x - _corners[3].x ) > pos_diff_threshold
+        || std::abs( _corners[0].y - _corners[1].y ) > pos_diff_threshold
+        || std::abs( _corners[2].y - _corners[3].y ) > pos_diff_threshold )
     {
         ok = false;
     }

diff --git a/src/auto-calibrated-device.h b/src/auto-calibrated-device.h
@@ -13,18 +13,18 @@ namespace librealsense
     {
     public:
         virtual void write_calibration() const = 0;
-        virtual std::vector<uint8_t> run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0;
-        virtual std::vector<uint8_t> run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0;
-        virtual std::vector<uint8_t> process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, update_progress_callback_ptr progress_callback) = 0;
+        virtual std::vector<uint8_t> run_on_chip_calibration(int timeout_ms, std::string json, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0;
+        virtual std::vector<uint8_t> run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0;
+        virtual std::vector<uint8_t> process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0;
         virtual std::vector<uint8_t> get_calibration_table() const = 0;
         virtual void set_calibration_table(const std::vector<uint8_t>& calibration) = 0;
         virtual void reset_to_factory_calibration() const = 0;
         virtual std::vector<uint8_t> run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h, 
-            int adjust_both_sides, float* ratio, float* angle, update_progress_callback_ptr progress_callback) = 0;
+            int adjust_both_sides, float* ratio, float* angle, rs2_update_progress_callback_sptr progress_callback) = 0;
         virtual std::vector<uint8_t> run_uv_map_calibration(rs2_frame_queue* left, rs2_frame_queue* color, rs2_frame_queue* depth, int py_px_only,
-            float* const health, int health_size, update_progress_callback_ptr progress_callback) = 0;
+            float* const health, int health_size, rs2_update_progress_callback_sptr progress_callback) = 0;
         virtual float calculate_target_z(rs2_frame_queue* queue1, rs2_frame_queue* queue2, rs2_frame_queue* queue3,
-            float target_w, float target_h, update_progress_callback_ptr progress_callback) = 0;
+            float target_w, float target_h, rs2_update_progress_callback_sptr progress_callback) = 0;
     };
     MAP_EXTENSION(RS2_EXTENSION_AUTO_CALIBRATED_DEVICE, auto_calibrated_interface);
 }
diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
@@ -10,6 +10,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/disparity-frame.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-continuation.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-additional-data.h"
+        "${CMAKE_CURRENT_LIST_DIR}/frame-callback.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-header.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-holder.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-interface.h"
@@ -20,6 +21,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/motion.h"
         "${CMAKE_CURRENT_LIST_DIR}/motion-frame.h"
         "${CMAKE_CURRENT_LIST_DIR}/notification.h"
+        "${CMAKE_CURRENT_LIST_DIR}/notification.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/video.h"
         "${CMAKE_CURRENT_LIST_DIR}/video-frame.h"
         "${CMAKE_CURRENT_LIST_DIR}/options-container.h"

diff --git a/src/core/frame-callback.h b/src/core/frame-callback.h
@@ -0,0 +1,41 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <librealsense2/hpp/rs_types.hpp>
+#include <memory>
+#include <functional>
+
+
+namespace librealsense {
+
+
+class frame_interface;
+
+
+struct frame_callback : public rs2_frame_callback
+{
+    using fn = std::function< void( frame_interface * ) >;
+
+    explicit frame_callback( fn && on_frame )
+        : _on_frame( std::move( on_frame ) )
+    {
+    }
+
+    void on_frame( rs2_frame * fref ) override { _on_frame( (frame_interface *)( fref ) ); }
+
+    void release() override { delete this; }
+
+private:
+    fn _on_frame;
+};
+
+
+inline rs2_frame_callback_sptr make_frame_callback( std::function< void( frame_interface * ) > && callback )
+{
+    return { new frame_callback( std::move( callback ) ),
+             []( rs2_frame_callback * p ) { p->release(); } };
+}
+
+
+}  // namespace librealsense