obsdk demo：stream_color

ConsoleApplication1/utils_c.c

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+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
+
+#include "utils_c.h"
+#include "utils_types.h"
+#include <stdbool.h>
+#include <stdio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(__linux__) || defined(__APPLE__)
+#ifdef __linux__
+#include <termio.h>
+#else
+#include <termios.h>
+#endif
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+#define gets_s gets
+
+int getch(void) {
+    struct termios tm, tm_old;
+    int            fd = 0, ch;
+
+    if(tcgetattr(fd, &tm) < 0) {  // Save the current terminal settings
+        return -1;
+    }
+
+    tm_old = tm;
+    cfmakeraw(&tm);                        // Change the terminal settings to raw mode, in which all input data is processed in bytes
+    if(tcsetattr(fd, TCSANOW, &tm) < 0) {  // Settings after changes on settings
+        return -1;
+    }
+
+    ch = getchar();
+    if(tcsetattr(fd, TCSANOW, &tm_old) < 0) {  // Change the settings to what they were originally
+        return -1;
+    }
+
+    return ch;
+}
+
+int kbhit(void) {
+    struct termios oldt, newt;
+    int            ch;
+    int            oldf;
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+    ch = getchar();
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+    if(ch != EOF) {
+        ungetc(ch, stdin);
+        return 1;
+    }
+    return 0;
+}
+
+#include <sys/time.h>
+uint64_t ob_smpl_get_current_timestamp_ms(void) {
+    struct timeval te;
+    long long      milliseconds;
+    gettimeofday(&te, NULL);                                // Get the current time
+    milliseconds = te.tv_sec * 1000LL + te.tv_usec / 1000;  // Calculate milliseconds
+    return milliseconds;
+}
+
+char ob_smpl_wait_for_key_press(uint32_t timeout_ms) {  // Get the current time
+    struct timeval te;
+    long long      start_time;
+    gettimeofday(&te, NULL);
+    start_time = te.tv_sec * 1000LL + te.tv_usec / 1000;
+
+    while(true) {
+        long long current_time;
+        if(kbhit()) {
+            return getch();
+        }
+        gettimeofday(&te, NULL);
+        current_time = te.tv_sec * 1000LL + te.tv_usec / 1000;
+        if(timeout_ms > 0 && current_time - start_time > timeout_ms) {
+            return 0;
+        }
+        usleep(100);
+    }
+}
+
+int ob_smpl_support_ansi_escape(void) {
+    if(isatty(fileno(stdout)) == 0) {
+        // unsupport
+        return 0;
+    }
+    return 1;
+}
+
+#else  // Windows
+#include <conio.h>
+#include <windows.h>
+#include <io.h>
+#include <stdio.h>
+
+uint64_t ob_smpl_get_current_timestamp_ms() {
+    FILETIME      ft;
+    LARGE_INTEGER li;
+    GetSystemTimeAsFileTime(&ft);
+    li.LowPart             = ft.dwLowDateTime;
+    li.HighPart            = ft.dwHighDateTime;
+    long long milliseconds = li.QuadPart / 10000LL;
+    return milliseconds;
+}
+
+char ob_smpl_wait_for_key_press(uint32_t timeout_ms) {
+    HANDLE hStdin = GetStdHandle(STD_INPUT_HANDLE);
+    if(hStdin == INVALID_HANDLE_VALUE) {
+        return 0;
+    }
+    DWORD mode = 0;
+    if(!GetConsoleMode(hStdin, &mode)) {
+        return 0;
+    }
+    mode &= ~ENABLE_ECHO_INPUT;
+    if(!SetConsoleMode(hStdin, mode)) {
+        return 0;
+    }
+    DWORD start_time = GetTickCount();
+    while(true) {
+        if(_kbhit()) {
+            char ch = (char)_getch();
+            SetConsoleMode(hStdin, mode);
+            return ch;
+        }
+        if(timeout_ms > 0 && GetTickCount() - start_time > timeout_ms) {
+            SetConsoleMode(hStdin, mode);
+            return 0;
+        }
+        Sleep(1);
+    }
+}
+
+int ob_smpl_support_ansi_escape(void) {
+    if(_isatty(_fileno(stdout)) == 0) {
+        // unsupport
+        return 0;
+    }
+
+    HANDLE hOut = GetStdHandle(STD_OUTPUT_HANDLE);
+    if(hOut == INVALID_HANDLE_VALUE) {
+        return 0;
+    }
+
+    DWORD mode = 0;
+    if(!GetConsoleMode(hOut, &mode)) {
+        return 0;
+    }
+    if((mode & ENABLE_VIRTUAL_TERMINAL_PROCESSING) == 0) {
+        return 0;
+    }
+    return 1;
+}
+
+#endif
+
+bool ob_smpl_is_lidar_device(ob_device *device) {
+    ob_error       *error       = NULL;
+    ob_sensor_list *sensorList  = NULL;
+    uint32_t        sensorCount = 0;
+
+    if(device == NULL) {
+        return false;
+    }
+
+    sensorList = ob_device_get_sensor_list(device, &error);
+    CHECK_OB_ERROR_EXIT(&error);
+
+    sensorCount = ob_sensor_list_get_count(sensorList, &error);
+    CHECK_OB_ERROR_EXIT(&error);
+
+    for(uint32_t index = 0; index < sensorCount; index++) {
+        OBSensorType sensorType = ob_sensor_list_get_sensor_type(sensorList, index, &error);
+        CHECK_OB_ERROR_EXIT(&error);
+
+        if(sensorType == OB_SENSOR_LIDAR) {
+            ob_delete_sensor_list(sensorList, &error);
+            CHECK_OB_ERROR_EXIT(&error);
+            return true;
+        }
+    }
+
+    ob_delete_sensor_list(sensorList, &error);
+    CHECK_OB_ERROR_EXIT(&error);
+
+    return false;
+}
+
+bool ob_smpl_is_gemini305_device(int vid, int pid) {
+    return (vid == OB_DEVICE_VID && (pid == 0x0840 || pid == 0x0841 || pid == 0x0842 || pid == 0x0843));
+}
+
+bool ob_smpl_is_astra_mini_device(int vid, int pid) {
+    return (vid == OB_DEVICE_VID && (pid == 0x069d || pid == 0x065b || pid == 0x065e));
+}
+
+#ifdef __cplusplus
+}
+#endif