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use crate::{
common::*,
error::{ErrorChecker, Result},
kind::CameraInfo,
sensor_list::SensorList,
};
#[derive(Debug)]
pub struct Device {
pub(crate) ptr: NonNull<sys::rs2_device>,
}
impl Device {
pub fn query_sensors(&self) -> Result<SensorList> {
let list = unsafe {
let mut checker = ErrorChecker::new();
let ptr = sys::rs2_query_sensors(self.ptr.as_ptr(), checker.inner_mut_ptr());
checker.check()?;
SensorList::from_raw(ptr)
};
Ok(list)
}
pub fn hardware_reset(&self) -> Result<()> {
unsafe {
let mut checker = ErrorChecker::new();
sys::rs2_hardware_reset(self.ptr.as_ptr(), checker.inner_mut_ptr());
checker.check()?;
}
Ok(())
}
pub fn name(&self) -> Result<Option<&str>> {
self.info(CameraInfo::Name)
}
pub fn serial_number(&self) -> Result<Option<&str>> {
self.info(CameraInfo::SerialNumber)
}
pub fn recommended_firmware_version(&self) -> Result<Option<&str>> {
self.info(CameraInfo::RecommendedFirmwareVersion)
}
pub fn physical_port(&self) -> Result<Option<&str>> {
self.info(CameraInfo::PhysicalPort)
}
pub fn debug_op_code(&self) -> Result<Option<&str>> {
self.info(CameraInfo::DebugOpCode)
}
pub fn advanced_mode(&self) -> Result<Option<&str>> {
self.info(CameraInfo::AdvancedMode)
}
pub fn product_id(&self) -> Result<Option<&str>> {
self.info(CameraInfo::ProductId)
}
pub fn camera_locked(&self) -> Result<Option<&str>> {
self.info(CameraInfo::CameraLocked)
}
pub fn usb_type_descriptor(&self) -> Result<Option<&str>> {
self.info(CameraInfo::UsbTypeDescriptor)
}
pub fn product_line(&self) -> Result<Option<&str>> {
self.info(CameraInfo::ProductLine)
}
pub fn asic_serial_number(&self) -> Result<Option<&str>> {
self.info(CameraInfo::AsicSerialNumber)
}
pub fn firmware_update_id(&self) -> Result<Option<&str>> {
self.info(CameraInfo::FirmwareUpdateId)
}
pub fn count(&self) -> Result<Option<&str>> {
self.info(CameraInfo::Count)
}
pub fn info(&self, kind: CameraInfo) -> Result<Option<&str>> {
if !self.is_info_supported(kind)? {
return Ok(None);
}
let ptr = unsafe {
let mut checker = ErrorChecker::new();
let ptr = sys::rs2_get_device_info(
self.ptr.as_ptr(),
kind as sys::rs2_camera_info,
checker.inner_mut_ptr(),
);
checker.check()?;
ptr
};
let string = unsafe { CStr::from_ptr(ptr).to_str().unwrap() };
Ok(Some(string))
}
pub fn is_info_supported(&self, kind: CameraInfo) -> Result<bool> {
let val = unsafe {
let mut checker = ErrorChecker::new();
let val = sys::rs2_supports_device_info(
self.ptr.as_ptr(),
kind as sys::rs2_camera_info,
checker.inner_mut_ptr(),
);
checker.check()?;
val
};
Ok(val != 0)
}
pub fn into_raw(self) -> *mut sys::rs2_device {
let ptr = self.ptr;
mem::forget(self);
ptr.as_ptr()
}
pub unsafe fn from_raw(ptr: *mut sys::rs2_device) -> Self {
Self {
ptr: NonNull::new(ptr).unwrap(),
}
}
}
impl Drop for Device {
fn drop(&mut self) {
unsafe {
sys::rs2_delete_device(self.ptr.as_ptr());
}
}
}
unsafe impl Send for Device {}