From 3899ff0c5065cd16dd0939f8c86e13df050065b5 Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Sat, 14 Oct 2023 14:23:34 +0300
Subject: [PATCH] librealsense::copy -> std::memcpy

---
 src/ds/d400/d400-private.cpp         |  2 +-
 src/ds/d500/d500-private.cpp         |  4 +++-
 src/ds/ds-calib-parsers.cpp          |  4 ++--
 src/ds/ds-private.cpp                |  2 +-
 src/hw-monitor.cpp                   | 18 ++++++++++--------
 src/hw-monitor.h                     |  4 +++-
 src/mf/mf-uvc.cpp                    |  8 ++++----
 src/proc/color-formats-converter.cpp |  4 ++--
 src/proc/depth-formats-converter.cpp |  6 +++---
 src/proc/motion-transform.cpp        |  2 +-
 src/proc/rotation-transform.cpp      |  2 +-
 src/types.cpp                        |  9 +--------
 src/types.h                          |  2 --
 13 files changed, 32 insertions(+), 35 deletions(-)

diff --git a/src/ds/d400/d400-private.cpp b/src/ds/d400/d400-private.cpp
index 86aca2f1b32..d3cb525b6df 100644
--- a/src/ds/d400/d400-private.cpp
+++ b/src/ds/d400/d400-private.cpp
@@ -256,7 +256,7 @@ namespace librealsense
                 intrin(1, 1) * height / 2.f,
                 RS2_DISTORTION_INVERSE_BROWN_CONRADY  // The coefficients shall be use for undistort
             };
-            librealsense::copy(calc_intrinsic.coeffs, table->distortion, sizeof(table->distortion));
+            std::memcpy(calc_intrinsic.coeffs, table->distortion, sizeof(table->distortion));
             //LOG_DEBUG(endl << array2str((float_4&)(calc_intrinsic.fx, calc_intrinsic.fy, calc_intrinsic.ppx, calc_intrinsic.ppy)) << endl);
 
             static rs2_intrinsics ref{};
diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp
index 3ab924c4fdb..0d604d77f10 100644
--- a/src/ds/d500/d500-private.cpp
+++ b/src/ds/d500/d500-private.cpp
@@ -228,7 +228,9 @@ namespace librealsense
             intrinsics.ppx = rect_params[2];
             intrinsics.ppy = rect_params[3];
             intrinsics.model = table->rgb_coefficients_table.distortion_model;
-            librealsense::copy(intrinsics.coeffs, table->rgb_coefficients_table.distortion_coeffs, sizeof(intrinsics.coeffs));
+            std::memcpy( intrinsics.coeffs,
+                         table->rgb_coefficients_table.distortion_coeffs,
+                         sizeof( intrinsics.coeffs ) );
 
             update_table_to_correct_fisheye_distortion(const_cast<ds::d500_rgb_calibration_table&>(*table), intrinsics);
 
diff --git a/src/ds/ds-calib-parsers.cpp b/src/ds/ds-calib-parsers.cpp
index ec5e6ad7cd7..aa1e478576b 100644
--- a/src/ds/ds-calib-parsers.cpp
+++ b/src/ds/ds-calib-parsers.cpp
@@ -189,7 +189,7 @@ namespace librealsense
         if (_valid_extrinsic)
         {
             // extrinsic from calibration table, by user custom calibration, The extrinsic is stored as array of floats / little-endian
-            librealsense::copy(&_extr, &_calib_table.module_info.dm_v2_calib_table.depth_to_imu, sizeof(rs2_extrinsics));
+            std::memcpy( &_extr, &_calib_table.module_info.dm_v2_calib_table.depth_to_imu, sizeof( rs2_extrinsics ) );
         }
         else
         {
@@ -300,7 +300,7 @@ namespace librealsense
         if (_valid_extrinsic)
         {
             // only in case valid extrinsic is available in calibration data by calibration script in future or user custom calibration
-            librealsense::copy(&_extr, &imu_calib_table.depth_to_imu, sizeof(rs2_extrinsics));
+            std::memcpy( &_extr, &imu_calib_table.depth_to_imu, sizeof( rs2_extrinsics ) );
         }
         else
         {
diff --git a/src/ds/ds-private.cpp b/src/ds/ds-private.cpp
index ed0c8c1e378..e2beb52c39a 100644
--- a/src/ds/ds-private.cpp
+++ b/src/ds/ds-private.cpp
@@ -35,7 +35,7 @@ namespace librealsense
             intrinsics.height = height;
             intrinsics.width = width;
 
-            librealsense::copy(intrinsics.coeffs, table->distortion, sizeof(table->distortion));
+            std::memcpy( intrinsics.coeffs, table->distortion, sizeof( table->distortion ) );
 
             LOG_DEBUG(endl << array2str((float_4&)(intrinsics.fx, intrinsics.fy, intrinsics.ppx, intrinsics.ppy)) << endl);
 
diff --git a/src/hw-monitor.cpp b/src/hw-monitor.cpp
index d835422f18a..b24b7e62372 100644
--- a/src/hw-monitor.cpp
+++ b/src/hw-monitor.cpp
@@ -55,7 +55,7 @@ namespace librealsense
 
         if (dataLength)
         {
-            librealsense::copy(writePtr + cur_index, data, dataLength);
+            std::memcpy( writePtr + cur_index, data, dataLength );
             cur_index += dataLength;
         }
 
@@ -112,7 +112,7 @@ namespace librealsense
             //    throw invalid_value_exception("bulk transfer failed - user buffer too small");
 
             inSize = std::min(res.size(),inSize); // For D457 only
-            librealsense::copy(in, res.data(), inSize);
+            std::memcpy( in, res.data(), inSize );
         }
     }
 
@@ -126,10 +126,10 @@ namespace librealsense
             throw invalid_value_exception("received incomplete response to usb command");
 
         details.receivedCommandDataLength -= 4;
-        librealsense::copy(details.receivedOpcode.data(), outputBuffer, 4);
+        std::memcpy( details.receivedOpcode.data(), outputBuffer, 4 );
 
         if (details.receivedCommandDataLength > 0)
-            librealsense::copy(details.receivedCommandData.data(), outputBuffer + 4, details.receivedCommandDataLength);
+            std::memcpy( details.receivedCommandData.data(), outputBuffer + 4, details.receivedCommandDataLength );
     }
 
     void hw_monitor::send_hw_monitor_command(hwmon_cmd_details& details) const
@@ -182,8 +182,10 @@ namespace librealsense
         if( !newCommand.require_response )
             return std::vector<uint8_t>();
 
-        librealsense::copy(newCommand.receivedOpcode, details.receivedOpcode.data(), 4);
-        librealsense::copy(newCommand.receivedCommandData, details.receivedCommandData.data(), details.receivedCommandDataLength);
+        std::memcpy( newCommand.receivedOpcode, details.receivedOpcode.data(), 4 );
+        std::memcpy( newCommand.receivedCommandData,
+                     details.receivedCommandData.data(),
+                     details.receivedCommandDataLength );
         newCommand.receivedCommandDataLength = details.receivedCommandDataLength;
 
         // endian?
@@ -243,7 +245,7 @@ namespace librealsense
         command command(gvd_cmd);
         auto data = send(command);
         auto minSize = std::min(sz, data.size());
-        librealsense::copy(gvd, data.data(), minSize);
+        std::memcpy( gvd, data.data(), minSize );
     }
 
     bool hw_monitor::is_camera_locked(uint8_t gvd_cmd, uint32_t offset) const
@@ -251,7 +253,7 @@ namespace librealsense
         std::vector<unsigned char> gvd(HW_MONITOR_BUFFER_SIZE);
         get_gvd(gvd.size(), gvd.data(), gvd_cmd);
         bool value;
-        librealsense::copy(&value, gvd.data() + offset, 1);
+        std::memcpy( &value, gvd.data() + offset, 1 );
         return value;
     }
 }
diff --git a/src/hw-monitor.h b/src/hw-monitor.h
index 1d133324e11..91611070497 100644
--- a/src/hw-monitor.h
+++ b/src/hw-monitor.h
@@ -6,6 +6,8 @@
 #include "uvc-sensor.h"
 #include <mutex>
 #include "platform/command-transfer.h"
+#include <string>
+
 
 namespace librealsense
 {
@@ -296,7 +298,7 @@ namespace librealsense
                   require_response(cmd.require_response),
                   receivedCommandDataLength(0)
             {
-                librealsense::copy(data, cmd.data.data(), sizeOfSendCommandData);
+                std::memcpy( data, cmd.data.data(), sizeOfSendCommandData );
             }
         };
 
diff --git a/src/mf/mf-uvc.cpp b/src/mf/mf-uvc.cpp
index da3301a45d5..68122626613 100644
--- a/src/mf/mf-uvc.cpp
+++ b/src/mf/mf-uvc.cpp
@@ -362,13 +362,13 @@ namespace librealsense
 
                 auto pStruct = next_struct;
                 cfg.step.resize(option_range_size);
-                librealsense::copy(cfg.step.data(), pStruct, field_width);
+                std::memcpy( cfg.step.data(), pStruct, field_width );
                 pStruct += length;
                 cfg.min.resize(option_range_size);
-                librealsense::copy(cfg.min.data(), pStruct, field_width);
+                std::memcpy( cfg.min.data(), pStruct, field_width );
                 pStruct += length;
                 cfg.max.resize(option_range_size);
-                librealsense::copy(cfg.max.data(), pStruct, field_width);
+                std::memcpy( cfg.max.data(), pStruct, field_width );
                 return;
             }
             case KSPROPERTY_MEMBER_VALUES:
@@ -386,7 +386,7 @@ namespace librealsense
                     }
 
                     cfg.def.resize(option_range_size);
-                    librealsense::copy(cfg.def.data(), next_struct, field_width);
+                    std::memcpy( cfg.def.data(), next_struct, field_width );
                 }
                 return;
             }
diff --git a/src/proc/color-formats-converter.cpp b/src/proc/color-formats-converter.cpp
index 3e32c385724..77ebea3e717 100644
--- a/src/proc/color-formats-converter.cpp
+++ b/src/proc/color-formats-converter.cpp
@@ -1077,7 +1077,7 @@ namespace librealsense
         if (uncompressed_rgb)
         {
             auto uncompressed_size = w * h * bpp;
-            librealsense::copy(dest[0], uncompressed_rgb, uncompressed_size);
+            std::memcpy( dest[0], uncompressed_rgb, uncompressed_size );
             stbi_image_free(uncompressed_rgb);
         }
         else
@@ -1093,7 +1093,7 @@ namespace librealsense
         auto in = reinterpret_cast<const uint8_t *>(source);
         auto out = reinterpret_cast<uint8_t *>(dest[0]);
 
-        librealsense::copy(out, in, count * 3);
+        std::memcpy( out, in, count * 3 );
         for (auto i = 0; i < count; i++)
         {
             std::swap(out[i * 3], out[i * 3 + 2]);
diff --git a/src/proc/depth-formats-converter.cpp b/src/proc/depth-formats-converter.cpp
index 40e6c235df8..756b3896f1f 100644
--- a/src/proc/depth-formats-converter.cpp
+++ b/src/proc/depth-formats-converter.cpp
@@ -22,7 +22,7 @@ namespace librealsense
 #else
         for (int i = 0; i < count; ++i) *out_ir++ = *in++ >> 2;
 #endif
-        librealsense::copy(dest[0], in, count * 2);
+        std::memcpy( dest[0], in, count * 2 );
     }
 
     void unpack_z16_y16_from_sr300_inzi(byte * const dest[], const byte * source, int width, int height, int actual_size)
@@ -36,7 +36,7 @@ namespace librealsense
 #else
         for (int i = 0; i < count; ++i) *out_ir++ = *in++ << 6;
 #endif
-        librealsense::copy(dest[0], in, count * 2);
+        std::memcpy( dest[0], in, count * 2 );
     }
 
     void unpack_inzi(rs2_format dst_ir_format, byte * const d[], const byte * s, int width, int height, int actual_size)
@@ -83,7 +83,7 @@ namespace librealsense
     void copy_raw10(byte * const dest[], const byte * source, int width, int height, int actual_size)
     {
         auto count = width * height; // num of pixels
-        librealsense::copy(dest[0], source, size_t(5.0 * (count / 4.0)));
+        std::memcpy( dest[0], source, size_t( 5.0 * ( count / 4.0 ) ) );
     }
 
     void unpack_y10bpack(byte * const dest[], const byte * source, int width, int height, int actual_size)
diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp
index edaa004ba1c..f9ef263757b 100644
--- a/src/proc/motion-transform.cpp
+++ b/src/proc/motion-transform.cpp
@@ -26,7 +26,7 @@ namespace librealsense
             res = float3{ float(hid->x), float(hid->y), float(hid->z) } *float(factor);
         }
 
-        librealsense::copy(dest[0], &res, sizeof(float3));
+        std::memcpy( dest[0], &res, sizeof( float3 ) );
     }
 
     // The Accelerometer input format: signed int 16bit. data units 1LSB=0.001g;
diff --git a/src/proc/rotation-transform.cpp b/src/proc/rotation-transform.cpp
index 13e8c1e057a..2780e9eac0c 100644
--- a/src/proc/rotation-transform.cpp
+++ b/src/proc/rotation-transform.cpp
@@ -55,7 +55,7 @@ namespace librealsense
             for (int j = 0; j < width; ++j)
             {
                 auto out_index = (((height_out - j) * width_out) - i - 1) * SIZE;
-                librealsense::copy((void*)(&out[out_index]), &(source[(row_offset + j) * SIZE]), SIZE);
+                std::memcpy( &out[out_index], &( source[( row_offset + j ) * SIZE] ), SIZE );
             }
         }
     }
diff --git a/src/types.cpp b/src/types.cpp
index a866eff2ed4..23bbb3cdfc7 100644
--- a/src/types.cpp
+++ b/src/types.cpp
@@ -9,8 +9,7 @@
 #include <fstream>
 #include <cmath>
 
-#include "core/streaming.h"
-#include "../include/librealsense2/hpp/rs_processing.hpp"
+#include <librealsense2/hpp/rs_processing.hpp>
 
 const double SQRT_DBL_EPSILON = sqrt(std::numeric_limits<double>::epsilon());
 
@@ -220,10 +219,4 @@ namespace librealsense
     {
         return _callback;
     }
-
-    void copy(void* dst, void const* src, size_t size)
-    {
-        auto from = reinterpret_cast<uint8_t const*>(src);
-        std::copy(from, from + size, reinterpret_cast<uint8_t*>(dst));
-    }
 }
diff --git a/src/types.h b/src/types.h
index 0987e7d6a06..6871da5bd0d 100644
--- a/src/types.h
+++ b/src/types.h
@@ -174,8 +174,6 @@ namespace librealsense
         return false;
     }
 
-    void copy(void* dst, void const* src, size_t size);
-
     ///////////////////////
     // Logging mechanism //
     ///////////////////////