add rs2_device_is_connected, rs2::device::is_connected

maloel · Sep 30, 2023 · f67dbc4 · f67dbc4
1 parent e6acbee
commit f67dbc4
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Showing 4 changed files with 24 additions and 1 deletion.
diff --git a/include/librealsense2/h/rs_device.h b/include/librealsense2/h/rs_device.h
@@ -54,6 +54,12 @@ rs2_device* rs2_create_device(const rs2_device_list* info_list, int index, rs2_e
 */
 void rs2_delete_device(rs2_device* device);
 
+/**
+* \param[in]  device    Realsense device to query
+* \return               True if device is still present in the system
+*/
+int rs2_device_is_connected( const rs2_device * device, rs2_error ** error );
+
 /**
 * Retrieve camera specific information, like versions of various internal components.
 * \param[in]  device    The RealSense device

diff --git a/include/librealsense2/hpp/rs_device.hpp b/include/librealsense2/hpp/rs_device.hpp
@@ -91,7 +91,6 @@ namespace rs2
         void hardware_reset()
         {
             rs2_error* e = nullptr;
-
             rs2_hardware_reset(_dev.get(), &e);
             error::handle(e);
         }
@@ -110,6 +109,8 @@ namespace rs2
         }
         device() : _dev(nullptr) {}
 
+        // Note: this checks the validity of rs2::device (i.e., if it's connected to a realsense device), and does
+        // NOT reflect the current condition (connected/disconnected). Use is_connected() for that.
         operator bool() const
         {
             return _dev != nullptr;
@@ -125,6 +126,14 @@ namespace rs2
                 < 0 );
         }
 
+        bool is_connected() const
+        {
+            rs2_error * e = nullptr;
+            bool connected = rs2_device_is_connected( _dev.get(), &e );
+            error::handle( e );
+            return connected;
+        }
+
         template<class T>
         bool is() const
         {

diff --git a/src/realsense.def b/src/realsense.def
@@ -18,6 +18,7 @@ EXPORTS
     rs2_delete_device_list
     rs2_create_device
     rs2_delete_device
+    rs2_device_is_connected
 
     rs2_query_sensors
     rs2_get_sensors_count

diff --git a/src/rs.cpp b/src/rs.cpp
@@ -308,6 +308,13 @@ void rs2_delete_device(rs2_device* device) BEGIN_API_CALL
 }
 NOEXCEPT_RETURN(, device)
 
+int rs2_device_is_connected( const rs2_device * device, rs2_error ** error ) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL( device );
+    return device->device->is_valid();
+}
+HANDLE_EXCEPTIONS_AND_RETURN( 0, device )
+
 rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error) BEGIN_API_CALL
 {
     VALIDATE_NOT_NULL(list);