#include <Device.hpp>

Public Member Functions
	Device (std::unique_ptr< DeviceImpl > impl)
	Describe the entity of the RGBD camera, representing a specific model of RGBD camera. More...

virtual	~Device () noexcept

std::shared_ptr< DeviceInfo >	getDeviceInfo ()
	Get device information. More...

std::shared_ptr< SensorList >	getSensorList ()
	Get device sensor list. More...

std::shared_ptr< Sensor >	getSensor (OBSensorType type)
	Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance. More...

void	setIntProperty (OBPropertyID propertyId, int32_t property)
	Set int type of device property. More...

void	setFloatProperty (OBPropertyID propertyId, float property)
	Set float type of device property. More...

void	setBoolProperty (OBPropertyID propertyId, bool property)
	Set bool type of device property. More...

int32_t	getIntProperty (OBPropertyID propertyId)
	Get int type of device property. More...

float	getFloatProperty (OBPropertyID propertyId)
	Get float type of device property. More...

bool	getBoolProperty (OBPropertyID propertyId)
	Get bool type of device property. More...

OBIntPropertyRange	getIntPropertyRange (OBPropertyID propertyId)
	Get int type device property range (ncluding current valueand default value) More...

OBFloatPropertyRange	getFloatPropertyRange (OBPropertyID propertyId)
	Get float type device property range((including current valueand default value) More...

OBBoolPropertyRange	getBoolPropertyRange (OBPropertyID propertyId)
	Get bool type device property range (including current value anddefault value) More...

void	writeAHB (uint32_t reg, uint32_t mask, uint32_t value)
	AHB register write. More...

void	readAHB (uint32_t reg, uint32_t mask, uint32_t *value)
	AHB AHB register read. More...

void	writeI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t value)
	I2C register write. More...

void	readI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t *value)
	I2C registers read. More...

void	writeFlash (uint32_t offset, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false)
	Set the properties of writing to Flash. More...

void	readFlash (uint32_t offset, uint32_t dataSize, GetDataCallback callback, bool async=false)
	Read Flash property. More...

void	setRawData (OBPropertyID propertyId, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false)
	Set raw data type of device property [Asynchronous callback]. More...

void	getRawData (OBPropertyID propertyId, GetDataCallback callback, bool async=false)
	Get raw data type of device property [Asynchronous callback]. More...

void	setStructuredData (OBPropertyID propertyId, const void *data, uint32_t dataSize)
	Set structured data type of device property. More...

void	getStructuredData (OBPropertyID propertyId, void data, uint32_t dataSize)
	Get structured data type of device property. More...

void	setStructuredDataExt (OBPropertyID propertyId, std::shared_ptr< OBDataBundle > dataBundle, SetDataCallback callback)
	Get structured data type of device property. More...

std::shared_ptr< OBDataBundle >	getStructuredDataExt (OBPropertyID propertyId)
	Get structured data type of device property. More...

OBProtocolVersion	getProtocolVersion ()
	Get the property protocol version. More...

OBCmdVersion	getCmdVersion (OBPropertyID propertyId)
	Get cmdVersion of property. More...

uint32_t	getSupportedPropertyCount ()
	Get number of devices supported property. More...

OBPropertyItem	getSupportedProperty (uint32_t index)
	Get device supported properties. More...

bool	isPropertySupported (OBPropertyID propertyId, OBPermissionType permission)
	Judge property permission support. More...

uint64_t	syncDeviceTime ()
	Synchronize device time (synchronize local systemtime to device) More...

void	deviceUpgrade (const char *filePath, DeviceUpgradeCallback callback, bool async=true)
	Upgrade the device firmware. More...

void	sendFile (const char filePath, const char dstPath, SendFileCallback callback, bool async=true)
	Send files to the specified path on the device side [Asynchronouscallback]. More...

OBDeviceState	getDeviceState ()
	Get the current state. More...

void	setDeviceStateChangedCallback (DeviceStateChangedCallback callback)
	Set the device state changed callbacks. More...

bool	activateAuthorization (const char *authCode)
	Verify device authorization code. More...

void	writeAuthorizationCode (const char *authCodeStr)
	Write authorization code. More...

std::shared_ptr< CameraParamList >	getCalibrationCameraParamList ()
	Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current open-current configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the Pipeline::getCameraParam() interface. More...

OBDepthWorkMode	getCurrentDepthWorkMode ()
	Get current depth work mode. More...

OBStatus	switchDepthWorkMode (const OBDepthWorkMode &workMode)
	Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode. More...

OBStatus	switchDepthWorkMode (const char *modeName)
	Switch depth work mode by work mode name. More...

std::shared_ptr< OBDepthWorkModeList >	getDepthWorkModeList ()
	Request support depth work mode list. More...

void	reboot ()
	Device restart. More...

OBDeviceSyncConfig	getSyncConfig ()
	获取当前设备同步配置 More...

void	setSyncConfig (const OBDeviceSyncConfig &deviceSyncConfig)
	设置设备同步配置 More...

Friends
class	Pipeline

class	Recorder

Detailed Description

Definition at line 33 of file Device.hpp.

Constructor & Destructor Documentation

ob::Device::Device ( std::unique_ptr< DeviceImpl > impl )

Describe the entity of the RGBD camera, representing a specific model of RGBD camera.

virtual ob::Device::~Device ( )

virtualnoexcept

Member Function Documentation

std::shared_ptr<DeviceInfo> ob::Device::getDeviceInfo ( )

Get device information.

Returns: std::shared_ptr<DeviceInfo> returns device information

std::shared_ptr<SensorList> ob::Device::getSensorList ( )

Get device sensor list.

Returns: std::shared_ptr<SensorList> returns the sensor list

std::shared_ptr<Sensor> ob::Device::getSensor ( OBSensorType type )

Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance.

Returns: std::shared_ptr<Sensor> eturns the sensor example, if the device does not have the device,returns nullptr

void ob::Device::setIntProperty	(	OBPropertyID	propertyId,
		int32_t	property
	)

Set int type of device property.

Parameters

propertyId	Property id
property	Property to be set

void ob::Device::setFloatProperty	(	OBPropertyID	propertyId,
		float	property
	)

Set float type of device property.

Parameters

propertyId	Property id
property	Property to be set

void ob::Device::setBoolProperty	(	OBPropertyID	propertyId,
		bool	property
	)

Set bool type of device property.

Parameters

propertyId	Property id
property	Property to be set

int32_t ob::Device::getIntProperty ( OBPropertyID propertyId )

Get int type of device property.

Parameters

propertyId Property id

Returns: int32_t Property to get

float ob::Device::getFloatProperty ( OBPropertyID propertyId )

Get float type of device property.

Parameters

propertyId Property id

Returns: float Property to get

bool ob::Device::getBoolProperty ( OBPropertyID propertyId )

Get bool type of device property.

Parameters

propertyId Property id

Returns: bool Property to get

OBIntPropertyRange ob::Device::getIntPropertyRange ( OBPropertyID propertyId )

Get int type device property range (ncluding current valueand default value)

Parameters

propertyId Property id

Returns: OBIntPropertyRange Property range

OBFloatPropertyRange ob::Device::getFloatPropertyRange ( OBPropertyID propertyId )

Get float type device property range((including current valueand default value)

Parameters

propertyId Property id

Returns: OBFloatPropertyRange Property range

OBBoolPropertyRange ob::Device::getBoolPropertyRange ( OBPropertyID propertyId )

Get bool type device property range (including current value anddefault value)

Parameters

propertyId Property id

Returns: OBBoolPropertyRange Property range

void ob::Device::writeAHB	(	uint32_t	reg,
		uint32_t	mask,
		uint32_t	value
	)

AHB register write.

Parameters

reg	Register to be written
mask	The mask to be writen
value	The value to be written

void ob::Device::readAHB	(	uint32_t	reg,
		uint32_t	mask,
		uint32_t *	value
	)

AHB AHB register read.

Parameters

reg	Register to be read
mask	The mask to be read
value	The value to be returned

void ob::Device::writeI2C	(	uint32_t	moduleId,
		uint32_t	reg,
		uint32_t	mask,
		uint32_t	value
	)

I2C register write.

Parameters

reg	I2C module ID to be written
reg	Register to be written
mask	The mask to be written
value	he value to be written

void ob::Device::readI2C	(	uint32_t	moduleId,
		uint32_t	reg,
		uint32_t	mask,
		uint32_t *	value
	)

I2C registers read.

Parameters

reg	I2C module ID to be read
reg	Register to be read
mask	The mask to be read
value	The value to be returned

void ob::Device::writeFlash	(	uint32_t	offset,
		const void *	data,
		uint32_t	dataSize,
		SetDataCallback	callback,
		bool	async = `false`
	)

Set the properties of writing to Flash.

Parameters

offset	flash offset address
data	Property data to be written
dataSize	The size of the property to be written
callback	Write flash progress callback
async	Whether to execute asynchronously

void ob::Device::readFlash	(	uint32_t	offset,
		uint32_t	dataSize,
		GetDataCallback	callback,
		bool	async = `false`
	)

Read Flash property.

Parameters

offset	flash offset address
data	Property data to be read
dataSize	The size of the property to get
callback	Read data returned by flash and progress callback
async	Whether to execute asynchronously

void ob::Device::setRawData	(	OBPropertyID	propertyId,
		const void *	data,
		uint32_t	dataSize,
		SetDataCallback	callback,
		bool	async = `false`
	)

Set raw data type of device property [Asynchronous callback].

Parameters

propertyId	Property id
data	Property data to be set
dataSize	The size of the property data to be set
callback	rawdata set progress callback
async	Whether to execute asynchronously

void ob::Device::getRawData	(	OBPropertyID	propertyId,
		GetDataCallback	callback,
		bool	async = `false`
	)

Get raw data type of device property [Asynchronous callback].

Parameters

propertyId	Property id
data	Property data obtained
dataSize	Get the size of the property
callback	Get the returned data and progress callback
async	Whether to execute asynchronously

void ob::Device::setStructuredData	(	OBPropertyID	propertyId,
		const void *	data,
		uint32_t	dataSize
	)

Set structured data type of device property.

Parameters

propertyId	Property id
data	Property data to be set
dataSize	The size of the attribute to be set

void ob::Device::getStructuredData	(	OBPropertyID	propertyId,
		void *	data,
		uint32_t *	dataSize
	)

Get structured data type of device property.

Parameters

propertyId	Property id
data	Property data obtained
dataSize	Get the size of the attribute

void ob::Device::setStructuredDataExt	(	OBPropertyID	propertyId,
		std::shared_ptr< OBDataBundle >	dataBundle,
		SetDataCallback	callback
	)

Get structured data type of device property.

Parameters

propertyId	Property id
dataBundle	Target data
callback	Callback of setting

std::shared_ptr<OBDataBundle> ob::Device::getStructuredDataExt ( OBPropertyID propertyId )

Get structured data type of device property.

Parameters

propertyId Property id

Returns: Data bundle

OBProtocolVersion ob::Device::getProtocolVersion ( )

Get the property protocol version.

Returns: OBProtocolVersion

OBCmdVersion ob::Device::getCmdVersion ( OBPropertyID propertyId )

Get cmdVersion of property.

Parameters

propertyId Property id

Returns: OBCmdVersion

uint32_t ob::Device::getSupportedPropertyCount ( )

Get number of devices supported property.

Returns: uint32_t returns the number of supported attributes

OBPropertyItem ob::Device::getSupportedProperty ( uint32_t index )

Get device supported properties.

Parameters

uint32_t Property index

Returns: OBPropertyItem returns the type of supported properties

bool ob::Device::isPropertySupported	(	OBPropertyID	propertyId,
		OBPermissionType	permission
	)

Judge property permission support.

Parameters

propertyId	Property id
permission	Types of read and write permissions that need to be interpreted

Returns: bool returns whether it is supported

uint64_t ob::Device::syncDeviceTime ( )

Synchronize device time (synchronize local systemtime to device)

Returns: uint64_t command (round trip time， rtt）

void ob::Device::deviceUpgrade	(	const char *	filePath,
		DeviceUpgradeCallback	callback,
		bool	async = `true`
	)

Upgrade the device firmware.

Parameters

filePath	Firmware path
callback	Firmware upgrade progress and status callback
async	Whether to execute asynchronously

void ob::Device::sendFile	(	const char *	filePath,
		const char *	dstPath,
		SendFileCallback	callback,
		bool	async = `true`
	)

Send files to the specified path on the device side [Asynchronouscallback].

Parameters

filePath	Original file path
dstPath	Accept the save path on the device side
callback	File transfer callback
async	Whether to execute asynchronously

OBDeviceState ob::Device::getDeviceState ( )

Get the current state.

Returns: OBDeviceState device state information

void ob::Device::setDeviceStateChangedCallback ( DeviceStateChangedCallback callback )

Set the device state changed callbacks.

Parameters

callback The callback function that is triggered when the device status changes (for example, the frame rate is automatically reduced or the stream is closed due to high temperature, etc.)

bool ob::Device::activateAuthorization ( const char * authCode )

Verify device authorization code.

Parameters

authCode Authorization code

Returns: bool whether the activation is successfu

void ob::Device::writeAuthorizationCode ( const char * authCodeStr )

Write authorization code.

Parameters

authCode Authorization code

std::shared_ptr<CameraParamList> ob::Device::getCalibrationCameraParamList ( )

Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current open-current configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the Pipeline::getCameraParam() interface.

Returns: std::shared_ptr<CameraParamList> camera parameter list

OBDepthWorkMode ob::Device::getCurrentDepthWorkMode ( )

Get current depth work mode.

Returns: ob_depth_work_mode Current depth work mode

OBStatus ob::Device::switchDepthWorkMode ( const OBDepthWorkMode & workMode )

Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode.

Parameters

[in] workMode Depth work mode come from ob_depth_work_mode_list which return by ob_device_get_depth_work_mode_list

OBStatus ob::Device::switchDepthWorkMode ( const char * modeName )

Switch depth work mode by work mode name.

Parameters

[in] mode name Depth work mode name which equals to ob_depth_work_mode.name

std::shared_ptr<OBDepthWorkModeList> ob::Device::getDepthWorkModeList ( )

Request support depth work mode list.

Returns: OBDepthWorkModeList list of ob_depth_work_mode

void ob::Device::reboot ( )

Device restart.

Attention: The device will be disconnected and reconnected. After the device is disconnected, the access to the Device object interface may be abnormal. Please delete the object directly and obtain it again after the device is reconnected.

OBDeviceSyncConfig ob::Device::getSyncConfig ( )

获取当前设备同步配置

设备同步：包括单机内的不同 Sensor 的曝光同步功能和多机同步功能

Returns: OBDeviceSyncConfig 返回设备同步配置

void ob::Device::setSyncConfig ( const OBDeviceSyncConfig & deviceSyncConfig )

设置设备同步配置

用于配置单机内的不同 Sensor 的曝光同步功能和多机同步功能

Attention: 调用本函数会直接将配置写入设备Flash，设备重启后依然会生效。为了避免影响Flash寿命，不要频繁更新配置。

Parameters

[out] deviceSyncConfig 设备同步配置

Friends And Related Function Documentation

friend class Pipeline

friend

Definition at line 714 of file Device.hpp.

friend class Recorder

friend

Definition at line 715 of file Device.hpp.

The documentation for this class was generated from the following file:

/root/libobsensor/include/libobsensor/hpp/Device.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation