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pybackend.cpp
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/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#include <pybind11/pybind11.h>
// convenience functions
#include <pybind11/operators.h>
// STL conversions
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
// makes std::function conversions work
#include <pybind11/functional.h>
#include "core/options.h" // Workaround for the missing DLL_EXPORT template
#include "core/info.h" // Workaround for the missing DLL_EXPORT template
#include "../src/backend.h"
#include "pybackend_extras.h"
#include "../../third-party/stb_image_write.h"
#include <sstream>
#include <vector>
#define NAME pybackend2
#define SNAME "pybackend2"
namespace py = pybind11;
using namespace pybind11::literals;
using namespace librealsense;
using namespace pybackend2;
// Prevents expensive copies of pixel buffers into python
PYBIND11_MAKE_OPAQUE(std::vector<uint8_t>)
PYBIND11_MODULE(NAME, m) {
py::enum_<platform::usb_spec>(m, "USB_TYPE")
.value("USB1", platform::usb_spec::usb1_type)
.value("USB1_1", platform::usb_spec::usb1_1_type)
.value("USB2", platform::usb_spec::usb2_type)
.value("USB2_1", platform::usb_spec::usb2_1_type)
.value("USB3", platform::usb_spec::usb3_type)
.value("USB3_1", platform::usb_spec::usb3_1_type)
.value("USB3_2", platform::usb_spec::usb3_2_type);
m.doc() = "Wrapper for the backend of librealsense";
py::class_<platform::control_range> control_range(m, "control_range");
control_range.def(py::init<>())
.def(py::init<int32_t, int32_t, int32_t, int32_t>(), "in_min"_a, "in_max"_a, "in_step"_a, "in_def"_a)
.def_readwrite("min", &platform::control_range::min)
.def_readwrite("max", &platform::control_range::max)
.def_readwrite("def", &platform::control_range::def)
.def_readwrite("step", &platform::control_range::step);
py::class_<platform::time_service> time_service(m, "time_service");
time_service.def("get_time", &platform::time_service::get_time);
py::class_<platform::os_time_service, platform::time_service> os_time_service(m, "os_time_service");
#define BIND_RAW_RO_ARRAY(class, name, type, size) #name, [](const class &c) -> const std::array<type, size>& { return reinterpret_cast<const std::array<type, size>&>(c.name); }
#define BIND_RAW_RW_ARRAY(class, name, type, size) BIND_RAW_RO_ARRAY(class, name, type, size), [](class &c, const std::array<type, size> &arr) { for (int i=0; i<size; ++i) c.name[i] = arr[i]; }
py::class_<platform::guid> guid(m, "guid");
guid.def_readwrite("data1", &platform::guid::data1)
.def_readwrite("data2", &platform::guid::data2)
.def_readwrite("data3", &platform::guid::data3)
.def_property(BIND_RAW_RW_ARRAY(platform::guid, data4, uint8_t, 8))
.def("__init__", [](platform::guid &g, uint32_t d1, uint32_t d2, uint32_t d3, std::array<uint8_t, 8> d4)
{
new (&g) platform::guid();
g.data1 = d1;
g.data2 = d2;
g.data3 = d3;
for (int i=0; i<8; ++i) g.data4[i] = d4[i];
}, "data1"_a, "data2"_a, "data3"_a, "data4"_a)
.def("__init__", [](platform::guid &g, const std::string &str)
{
new (&g) platform::guid(stoguid(str));
});
py::class_<platform::extension_unit> extension_unit(m, "extension_unit");
extension_unit.def(py::init<>())
.def("__init__", [](platform::extension_unit & xu, int s, uint8_t u, int n, platform::guid g)
{
new (&xu) platform::extension_unit { s, u, n, g };
}, "subdevice"_a, "unit"_a, "node"_a, "guid"_a)
.def_readwrite("subdevice", &platform::extension_unit::subdevice)
.def_readwrite("unit", &platform::extension_unit::unit)
.def_readwrite("node", &platform::extension_unit::node)
.def_readwrite("id", &platform::extension_unit::id);
py::class_<platform::command_transfer, std::shared_ptr<platform::command_transfer>> command_transfer(m, "command_transfer");
command_transfer.def("send_receive", &platform::command_transfer::send_receive, "data"_a, "timeout_ms"_a=5000, "require_response"_a=true);
py::enum_<rs2_option> option(m, "option");
option.value("backlight_compensation", RS2_OPTION_BACKLIGHT_COMPENSATION)
.value("brightness", RS2_OPTION_BRIGHTNESS)
.value("contrast", RS2_OPTION_CONTRAST)
.value("exposure", RS2_OPTION_EXPOSURE)
.value("gain", RS2_OPTION_GAIN)
.value("gamma", RS2_OPTION_GAMMA)
.value("hue", RS2_OPTION_HUE)
.value("saturation", RS2_OPTION_SATURATION)
.value("sharpness", RS2_OPTION_SHARPNESS)
.value("white_balance", RS2_OPTION_WHITE_BALANCE)
.value("enable_auto_exposure", RS2_OPTION_ENABLE_AUTO_EXPOSURE)
.value("enable_auto_white_balance", RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE)
.value("visual_preset", RS2_OPTION_VISUAL_PRESET)
.value("laser_power", RS2_OPTION_LASER_POWER)
.value("accuracy", RS2_OPTION_ACCURACY)
.value("motion_range", RS2_OPTION_MOTION_RANGE)
.value("filter_option", RS2_OPTION_FILTER_OPTION)
.value("confidence_threshold", RS2_OPTION_CONFIDENCE_THRESHOLD)
.value("emitter_enabled", RS2_OPTION_EMITTER_ENABLED)
.value("frames_queue_size", RS2_OPTION_FRAMES_QUEUE_SIZE)
.value("total_frame_drops", RS2_OPTION_TOTAL_FRAME_DROPS)
.value("auto_exposure_mode", RS2_OPTION_AUTO_EXPOSURE_MODE)
.value("power_line_frequency", RS2_OPTION_POWER_LINE_FREQUENCY)
.value("asic_temperature", RS2_OPTION_ASIC_TEMPERATURE)
.value("error_polling_enabled", RS2_OPTION_ERROR_POLLING_ENABLED)
.value("projector_temperature", RS2_OPTION_PROJECTOR_TEMPERATURE)
.value("output_trigger_enabled", RS2_OPTION_OUTPUT_TRIGGER_ENABLED)
.value("motion_module_temperature", RS2_OPTION_MOTION_MODULE_TEMPERATURE)
.value("depth_units", RS2_OPTION_DEPTH_UNITS)
.value("enable_motion_correction", RS2_OPTION_ENABLE_MOTION_CORRECTION)
.value("auto_exposure_priority", RS2_OPTION_AUTO_EXPOSURE_PRIORITY)
.value("color_scheme", RS2_OPTION_COLOR_SCHEME)
.value("histogram_equalization_enabled", RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED)
.value("min_distance", RS2_OPTION_MIN_DISTANCE)
.value("max_distance", RS2_OPTION_MAX_DISTANCE)
.value("texture_source", RS2_OPTION_TEXTURE_SOURCE)
.value("filter_magnitude", RS2_OPTION_FILTER_MAGNITUDE)
.value("filter_smooth_alpha", RS2_OPTION_FILTER_SMOOTH_ALPHA)
.value("filter_smooth_delta", RS2_OPTION_FILTER_SMOOTH_DELTA)
.value("filter_holes_fill", RS2_OPTION_HOLES_FILL)
.value("stereo_baseline", RS2_OPTION_STEREO_BASELINE)
.value("auto_exposure_converge_step", RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP)
.value("inter_cam_sync_mode", RS2_OPTION_INTER_CAM_SYNC_MODE)
.value("stream_filter", RS2_OPTION_STREAM_FILTER)
.value("stream_format_filter", RS2_OPTION_STREAM_FORMAT_FILTER)
.value("stream_index_filter", RS2_OPTION_STREAM_INDEX_FILTER)
.value("emitter_on_off", RS2_OPTION_EMITTER_ON_OFF)
.value("zero_order_point_x", RS2_OPTION_ZERO_ORDER_POINT_X)
.value("zero_order_point_y", RS2_OPTION_ZERO_ORDER_POINT_Y)
.value("lld_temperature", RS2_OPTION_LLD_TEMPERATURE)
.value("mc_temperature", RS2_OPTION_MC_TEMPERATURE)
.value("ma_temperature", RS2_OPTION_MA_TEMPERATURE)
.value("hardware_preset", RS2_OPTION_HARDWARE_PRESET)
.value("global_time_enabled", RS2_OPTION_GLOBAL_TIME_ENABLED)
.value("apd_temperature", RS2_OPTION_APD_TEMPERATURE)
.value("enable_mapping", RS2_OPTION_ENABLE_MAPPING)
.value("enable_relocalization", RS2_OPTION_ENABLE_RELOCALIZATION)
.value("enable_pose_jumping", RS2_OPTION_ENABLE_POSE_JUMPING)
.value("enable_dynamic_calibration", RS2_OPTION_ENABLE_DYNAMIC_CALIBRATION)
.value("enable_depth_offset", RS2_OPTION_DEPTH_OFFSET)
.value("enable_led_power", RS2_OPTION_LED_POWER)
.value("zero_order_enabled", RS2_OPTION_ZERO_ORDER_ENABLED)
.value("enable_map_preservation", RS2_OPTION_ENABLE_MAP_PRESERVATION)
.value("enable_freefall_detection", RS2_OPTION_FREEFALL_DETECTION_ENABLED)
.value("exposure_time_receiver_APD", RS2_OPTION_AVALANCHE_PHOTO_DIODE)
.value("post_processing_sharpening_level", RS2_OPTION_POST_PROCESSING_SHARPENING)
.value("pre_processing_sharpening_level", RS2_OPTION_PRE_PROCESSING_SHARPENING)
.value("edge_background_noise_level", RS2_OPTION_NOISE_FILTERING)
.value("activate_pixel_invalidation", RS2_OPTION_INVALIDATION_BYPASS)
.value("ambient_light_environment_level", RS2_OPTION_AMBIENT_LIGHT)
.value("sensor_resolution_mode", RS2_OPTION_SENSOR_MODE)
.value("emitter_always_on", RS2_OPTION_EMITTER_ALWAYS_ON)
.value("thermal_compensation", RS2_OPTION_THERMAL_COMPENSATION)
.value("trigger_camera_accuracy_health", RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH)
.value("reset_camera_accuracy_health", RS2_OPTION_RESET_CAMERA_ACCURACY_HEALTH)
.value("hdr_enabled", RS2_OPTION_HDR_ENABLED)
.value("sequence_name", RS2_OPTION_SEQUENCE_NAME)
.value("sequence_size", RS2_OPTION_SEQUENCE_SIZE)
.value("sequence_id", RS2_OPTION_SEQUENCE_ID)
.value("count", RS2_OPTION_COUNT);
py::enum_<platform::power_state> power_state(m, "power_state");
power_state.value("D0", platform::power_state::D0)
.value("D3", platform::power_state::D3);
power_state.export_values();
py::class_<platform::stream_profile> stream_profile(m, "stream_profile");
stream_profile.def_readwrite("width", &platform::stream_profile::width)
.def_readwrite("height", &platform::stream_profile::height)
.def_readwrite("fps", &platform::stream_profile::fps)
.def_readwrite("format", &platform::stream_profile::format)
// .def("stream_profile_tuple", &platform::stream_profile::stream_profile_tuple) // converstion operator to std::tuple
.def(py::self == py::self).def("__repr__", [](const platform::stream_profile &p) {
std::stringstream ss;
ss << "<" SNAME ".stream_profile: "
<< p.width
<< "x" << p.height << " @ " << p.fps << "fps "
<< std::hex << p.format << ">";
return ss.str();
});;
// Bind std::vector<uint8_t> to act like a pythonic list
py::bind_vector<std::vector<uint8_t>>(m, "VectorByte");
py::class_<platform::frame_object> frame_object(m, "frame_object");
frame_object.def_readwrite("frame_size", &platform::frame_object::frame_size)
.def_readwrite("metadata_size", &platform::frame_object::metadata_size)
.def_property_readonly("pixels", [](const platform::frame_object &f) { return std::vector<uint8_t>(static_cast<const uint8_t*>(f.pixels), static_cast<const uint8_t*>(f.pixels)+f.frame_size);})
.def_property_readonly("metadata", [](const platform::frame_object &f) { return std::vector<uint8_t>(static_cast<const uint8_t*>(f.metadata), static_cast<const uint8_t*>(f.metadata)+f.metadata_size);})
.def("save_png", [](const platform::frame_object &f, std::string fn, int w, int h, int bpp, int s)
{
stbi_write_png(fn.c_str(), w, h, bpp, f.pixels, s);
}, "filename"_a, "width"_a, "height"_a, "bytes_per_pixel"_a, "stride"_a)
.def("save_png", [](const platform::frame_object &f, std::string fn, int w, int h, int bpp)
{
stbi_write_png(fn.c_str(), w, h, bpp, f.pixels, w*bpp);
}, "filename"_a, "width"_a, "height"_a, "bytes_per_pixel"_a);
py::class_<platform::uvc_device_info> uvc_device_info(m, "uvc_device_info");
uvc_device_info.def_readwrite("id", &platform::uvc_device_info::id, "To distinguish between different pins of the same device.")
.def_readwrite("vid", &platform::uvc_device_info::vid)
.def_readwrite("pid", &platform::uvc_device_info::pid)
.def_readwrite("mi", &platform::uvc_device_info::mi)
.def_readwrite("unique_id", &platform::uvc_device_info::unique_id)
.def_readwrite("device_path", &platform::uvc_device_info::device_path)
.def(py::self == py::self);
py::class_<platform::usb_device_info> usb_device_info(m, "usb_device_info");
usb_device_info.def_readwrite("id", &platform::usb_device_info::id)
.def_readwrite("vid", &platform::usb_device_info::vid)
.def_readwrite("pid", &platform::usb_device_info::pid)
.def_readwrite("mi", &platform::usb_device_info::mi)
.def_readwrite("unique_id", &platform::usb_device_info::unique_id);
py::class_<platform::hid_device_info> hid_device_info(m, "hid_device_info");
hid_device_info.def_readwrite("id", &platform::hid_device_info::id)
.def_readwrite("vid", &platform::hid_device_info::vid)
.def_readwrite("pid", &platform::hid_device_info::pid)
.def_readwrite("unique_id", &platform::hid_device_info::unique_id)
.def_readwrite("device_path", &platform::hid_device_info::device_path);
py::class_<platform::hid_sensor> hid_sensor(m, "hid_sensor");
hid_sensor.def_readwrite("name", &platform::hid_sensor::name);
py::class_<platform::hid_sensor_input> hid_sensor_input(m, "hid_sensor_input");
hid_sensor_input.def_readwrite("index", &platform::hid_sensor_input::index)
.def_readwrite("name", &platform::hid_sensor_input::name);
py::class_<platform::callback_data> callback_data(m, "callback_data");
callback_data.def_readwrite("sensor", &platform::callback_data::sensor)
.def_readwrite("sensor_input", &platform::callback_data::sensor_input)
.def_readwrite("value", &platform::callback_data::value);
py::class_<platform::sensor_data> sensor_data(m, "sensor_data");
sensor_data.def_readwrite("sensor", &platform::sensor_data::sensor)
.def_readwrite("fo", &platform::sensor_data::fo);
py::class_<platform::hid_profile> hid_profile(m, "hid_profile");
hid_profile.def(py::init<>())
.def_readwrite("sensor_name", &platform::hid_profile::sensor_name)
.def_readwrite("frequency", &platform::hid_profile::frequency);
py::enum_<platform::custom_sensor_report_field> custom_sensor_report_field(m, "custom_sensor_report_field");
custom_sensor_report_field.value("minimum", platform::custom_sensor_report_field::minimum)
.value("maximum", platform::custom_sensor_report_field::maximum)
.value("name", platform::custom_sensor_report_field::name)
.value("size", platform::custom_sensor_report_field::size)
.value("unit_expo", platform::custom_sensor_report_field::unit_expo)
.value("units", platform::custom_sensor_report_field::units)
.value("value", platform::custom_sensor_report_field::value);
custom_sensor_report_field.export_values();
py::class_<platform::hid_sensor_data> hid_sensor_data(m, "hid_sensor_data");
hid_sensor_data.def_readwrite("x", &platform::hid_sensor_data::x)
.def_property(BIND_RAW_RW_ARRAY(platform::hid_sensor_data, reserved1, char, 2))
.def_readwrite("y", &platform::hid_sensor_data::y)
.def_property(BIND_RAW_RW_ARRAY(platform::hid_sensor_data, reserved2, char, 2))
.def_readwrite("z", &platform::hid_sensor_data::z)
.def_property(BIND_RAW_RW_ARRAY(platform::hid_sensor_data, reserved3, char, 2))
.def_readwrite("ts_low", &platform::hid_sensor_data::ts_low)
.def_readwrite("ts_high", &platform::hid_sensor_data::ts_high);
py::class_<platform::hid_device, std::shared_ptr<platform::hid_device>> hid_device(m, "hid_device");
hid_device.def("open", &platform::hid_device::open, "hid_profiles"_a)
.def("close", &platform::hid_device::close)
.def("stop_capture", &platform::hid_device::stop_capture)
.def("start_capture", &platform::hid_device::start_capture, "callback"_a)
.def("get_sensors", &platform::hid_device::get_sensors)
.def("get_custom_report_data", &platform::hid_device::get_custom_report_data,
"custom_sensor_name"_a, "report_name"_a, "report_field"_a);
py::class_<platform::multi_pins_hid_device, std::shared_ptr<platform::multi_pins_hid_device>, platform::hid_device> multi_pins_hid_device(m, "multi_pins_hid_device");
multi_pins_hid_device.def(py::init<std::vector<std::shared_ptr<platform::hid_device>>&>())
.def("open", &platform::multi_pins_hid_device::open, "hid_profiles"_a)
.def("close", &platform::multi_pins_hid_device::close)
.def("stop_capture", &platform::multi_pins_hid_device::stop_capture)
.def("start_capture", &platform::multi_pins_hid_device::start_capture, "callback"_a)
.def("get_sensors", &platform::multi_pins_hid_device::get_sensors)
.def("get_custom_report_data", &platform::multi_pins_hid_device::get_custom_report_data,
"custom_sensor_name"_a, "report_name"_a, "report_field"_a);
py::class_<platform::uvc_device, std::shared_ptr<platform::uvc_device>> uvc_device(m, "uvc_device");
py::class_<platform::retry_controls_work_around, std::shared_ptr<platform::retry_controls_work_around>, platform::uvc_device> retry_controls_work_around(m, "retry_controls_work_around");
retry_controls_work_around.def(py::init<std::shared_ptr<platform::uvc_device>>())
.def("probe_and_commit",
[](platform::retry_controls_work_around& dev, const platform::stream_profile& profile,
std::function<void(platform::frame_object)> callback) {
dev.probe_and_commit(profile, [=](platform::stream_profile p,
platform::frame_object fo, std::function<void()> next)
{
callback(fo);
next();
}, 4);
}
, "profile"_a, "callback"_a)
.def("stream_on", [](platform::retry_controls_work_around& dev) {
dev.stream_on([](const notification& n)
{
});
})
.def("start_callbacks", &platform::retry_controls_work_around::start_callbacks)
.def("stop_callbacks", &platform::retry_controls_work_around::stop_callbacks)
.def("get_usb_specification", &platform::retry_controls_work_around::get_usb_specification)
.def("close", [](platform::retry_controls_work_around &dev, platform::stream_profile profile)
{
py::gil_scoped_release release;
dev.close(profile);
}, "profile"_a)
.def("set_power_state", &platform::retry_controls_work_around::set_power_state, "state"_a)
.def("get_power_state", &platform::retry_controls_work_around::get_power_state)
.def("init_xu", &platform::retry_controls_work_around::init_xu, "xu"_a)
.def("set_xu", [](platform::retry_controls_work_around &dev, const platform::extension_unit &xu, uint8_t ctrl, py::list l)
{
std::vector<uint8_t> data(l.size());
for (int i = 0; i < l.size(); ++i)
data[i] = l[i].cast<uint8_t>();
return dev.set_xu(xu, ctrl, data.data(), (int)data.size());
}, "xu"_a, "ctrl"_a, "data"_a)
.def("set_xu", [](platform::retry_controls_work_around &dev, const platform::extension_unit &xu, uint8_t ctrl, std::vector<uint8_t> &data)
{
return dev.set_xu(xu, ctrl, data.data(), (int)data.size());
}, "xu"_a, "ctrl"_a, "data"_a)
.def("get_xu", [](const platform::retry_controls_work_around &dev, const platform::extension_unit &xu, uint8_t ctrl, size_t len)
{
std::vector<uint8_t> data(len);
dev.get_xu(xu, ctrl, data.data(), (int)len);
py::list ret(len);
for (size_t i = 0; i < len; ++i)
ret[i] = data[i];
return ret;
}, "xu"_a, "ctrl"_a, "len"_a)
.def("get_xu_range", &platform::retry_controls_work_around::get_xu_range, "xu"_a, "ctrl"_a, "len"_a)
.def("get_pu", [](platform::retry_controls_work_around& dev, rs2_option opt) {
int val = 0;
dev.get_pu(opt, val);
return val;
}, "opt"_a)
.def("set_pu", &platform::retry_controls_work_around::set_pu, "opt"_a, "value"_a)
.def("get_pu_range", &platform::retry_controls_work_around::get_pu_range, "opt"_a)
.def("get_profiles", &platform::retry_controls_work_around::get_profiles)
.def("lock", &platform::retry_controls_work_around::lock)
.def("unlock", &platform::retry_controls_work_around::unlock)
.def("get_device_location", &platform::retry_controls_work_around::get_device_location);
//py::class_<platform::usb_device, platform::command_transfer, std::shared_ptr<platform::usb_device>> usb_device(m, "usb_device");
py::class_<platform::backend, std::shared_ptr<platform::backend>> backend(m, "backend");
backend.def("create_uvc_device", &platform::backend::create_uvc_device, "info"_a)
.def("query_uvc_devices", &platform::backend::query_uvc_devices)
.def("create_usb_device", &platform::backend::create_usb_device, "info"_a)
.def("query_usb_devices", &platform::backend::query_usb_devices)
.def("create_hid_device", &platform::backend::create_hid_device, "info"_a)
.def("query_hid_devices", &platform::backend::query_hid_devices)
.def("create_time_service", &platform::backend::create_time_service);
py::class_<platform::multi_pins_uvc_device, std::shared_ptr<platform::multi_pins_uvc_device>, platform::uvc_device> multi_pins_uvc_device(m, "multi_pins_uvc_device");
multi_pins_uvc_device.def(py::init<std::vector<std::shared_ptr<platform::uvc_device>>&>())
.def("probe_and_commit",
[](platform::multi_pins_uvc_device& dev, const platform::stream_profile& profile,
std::function<void(platform::frame_object)> callback) {
dev.probe_and_commit(profile, [=](platform::stream_profile p,
platform::frame_object fo, std::function<void()> next)
{
callback(fo);
next();
}, 4);
}
, "profile"_a, "callback"_a)
.def("stream_on", [](platform::multi_pins_uvc_device& dev) {
dev.stream_on([](const notification& n)
{
});
})
.def("start_callbacks", &platform::multi_pins_uvc_device::start_callbacks)
.def("stop_callbacks", &platform::multi_pins_uvc_device::stop_callbacks)
.def("get_usb_specification", &platform::multi_pins_uvc_device::get_usb_specification)
.def("close", [](platform::multi_pins_uvc_device &dev, platform::stream_profile profile)
{
py::gil_scoped_release release;
dev.close(profile);
}, "profile"_a)
.def("set_power_state", &platform::multi_pins_uvc_device::set_power_state, "state"_a)
.def("get_power_state", &platform::multi_pins_uvc_device::get_power_state)
.def("init_xu", &platform::multi_pins_uvc_device::init_xu, "xu"_a)
.def("set_xu", [](platform::multi_pins_uvc_device &dev, const platform::extension_unit &xu, uint8_t ctrl, py::list l)
{
std::vector<uint8_t> data(l.size());
for (int i = 0; i < l.size(); ++i)
data[i] = l[i].cast<uint8_t>();
return dev.set_xu(xu, ctrl, data.data(), (int)data.size());
}, "xu"_a, "ctrl"_a, "data"_a)
.def("set_xu", [](platform::multi_pins_uvc_device &dev, const platform::extension_unit &xu, uint8_t ctrl, std::vector<uint8_t> &data)
{
return dev.set_xu(xu, ctrl, data.data(), (int)data.size());
}, "xu"_a, "ctrl"_a, "data"_a)
.def("get_xu", [](const platform::multi_pins_uvc_device &dev, const platform::extension_unit &xu, uint8_t ctrl, size_t len)
{
std::vector<uint8_t> data(len);
dev.get_xu(xu, ctrl, data.data(), (int)len);
py::list ret(len);
for (size_t i = 0; i < len; ++i)
ret[i] = data[i];
return ret;
}, "xu"_a, "ctrl"_a, "len"_a)
.def("get_xu_range", &platform::multi_pins_uvc_device::get_xu_range, "xu"_a, "ctrl"_a, "len"_a)
.def("get_pu", [](platform::multi_pins_uvc_device& dev, rs2_option opt) {
int val = 0;
dev.get_pu(opt, val);
return val;
}, "opt"_a)
.def("set_pu", &platform::multi_pins_uvc_device::set_pu, "opt"_a, "value"_a)
.def("get_pu_range", &platform::multi_pins_uvc_device::get_pu_range, "opt"_a)
.def("get_profiles", &platform::multi_pins_uvc_device::get_profiles)
.def("lock", &platform::multi_pins_uvc_device::lock)
.def("unlock", &platform::multi_pins_uvc_device::unlock)
.def("get_device_location", &platform::multi_pins_uvc_device::get_device_location);
/*py::enum_<command> command_py(m, "command");
command_py.value("enable_advanced_mode", command::enable_advanced_mode)
.value("advanced_mode_enabled", command::advanced_mode_enabled)
.value("reset", command::reset)
.value("set_advanced", command::set_advanced)
.value("get_advanced", command::get_advanced);*/
m.def("create_backend", &platform::create_backend, py::return_value_policy::move);
m.def("encode_command", [](uint8_t opcode, uint32_t p1, uint32_t p2, uint32_t p3, uint32_t p4, py::list l)
{
std::vector<uint8_t> data(l.size());
for (int i = 0; i < l.size(); ++i)
data[i] = l[i].cast<uint8_t>();
return encode_command(static_cast<command>(opcode), p1, p2, p3, p4, data);
}, "opcode"_a, "p1"_a=0, "p2"_a=0, "p3"_a=0, "p4"_a=0, "data"_a = py::list(0));
}
// Workaroud for failure to export template <typename T> class recordable
void librealsense::option::create_snapshot(std::shared_ptr<option>& snapshot) const {}
void librealsense::info_container::create_snapshot(std::shared_ptr<librealsense::info_interface> &) const {}
void librealsense::info_container::register_info(rs2_camera_info info, const std::string& val){}
void librealsense::info_container::update_info(rs2_camera_info info, const std::string& val) {}
void librealsense::info_container::enable_recording(std::function<void(const info_interface&)> record_action){}
void librealsense::info_container::update(std::shared_ptr<extension_snapshot> ext){}
bool librealsense::info_container::supports_info(rs2_camera_info info) const { return false; }
const std::string& librealsense::info_container::get_info(enum rs2_camera_info) const { static std::string s = ""; return s; }
std::vector<rs2_option> librealsense::options_container::get_supported_options(void)const { return{}; }