Update OrbbecSDK version to 2.6.2

orbbec_camera/SDK/include/libobsensor/h/Context.h

@@ -111,6 +111,8 @@ OB_EXPORT ob_device *ob_create_net_device_ex(ob_context *context, const char *ad
 /**
  * @brief Set a device plug-in callback function
  * 
+ * @deprecated This function is deprecated. Please use ob_register_device_changed_callback() instead.
+ *
  * @attention The added and removed device lists returned through the callback interface need to be released manually
  * @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
  *
@@ -121,6 +123,36 @@ OB_EXPORT ob_device *ob_create_net_device_ex(ob_context *context, const char *ad
  */
 OB_EXPORT void ob_set_device_changed_callback(ob_context *context, ob_device_changed_callback callback, void *user_data, ob_error **error);
 
+/**
+ * @brief Register a device plug-in callback function.
+ *
+ * This function registers a callback that will be triggered whenever a device is plugged in or unplugged.
+ *
+ * @attention The added and removed device lists returned through the callback interface need to be released manually.
+ * @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
+ *
+ * @param[in] context Pointer to the context object.
+ * @param[in] callback Pointer to the callback function triggered when a device is plugged or unplugged.
+ * @param[in] user_data Pointer to user data that can be passed to and retrieved from the callback function.
+ * @param[out] error Pointer to an error object that will be populated if an error occurs during callback function setting.
+ *
+ * @return A ob_callback_id that uniquely identifies the registered callback.
+ *         This ID can be used later to unregister the callback with ob_unregister_device_changed_callback().
+ *         Returns INVALID_DEVICE_CHANGED_CALLBACK_ID if the registration fails.
+ */
+OB_EXPORT ob_callback_id ob_register_device_changed_callback(ob_context *context, ob_device_changed_callback callback, void *user_data, ob_error **error);
+
+/**
+ * @brief Unregister a previously registered device plug-in callback function.
+ *
+ * This function removes a callback that was registered by ob_register_device_changed_callback().
+ *
+ * @param[in] context Pointer to the context object.
+ * @param[in] callback_id The callback ID returned by ob_register_device_changed_callback().
+ * @param[out] error Pointer to an error object that will be populated if an error occurs during callback function setting.
+ */
+OB_EXPORT void ob_unregister_device_changed_callback(ob_context *context, ob_callback_id callback_id, ob_error **error);
+
 /**
  * @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
  *

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -260,26 +260,27 @@ typedef enum {
  * @brief Enumeration value describing the firmware upgrade status
  */
 typedef enum {
-    STAT_DONE_WITH_DUPLICATES = 6,   /**< update completed, but some files were duplicated and ignored */
+    STAT_DONE_REBOOT_AND_REUPDATE = 7,   /**< update completed and device requires manual reboot and a second update*/
-    STAT_VERIFY_SUCCESS       = 5,   /**< Image file verifify success */
+    STAT_DONE_WITH_DUPLICATES     = 6,   /**< update completed, but some files were duplicated and ignored */
-    STAT_FILE_TRANSFER        = 4,   /**< file transfer */
+    STAT_VERIFY_SUCCESS           = 5,   /**< Image file verifify success */
-    STAT_DONE                 = 3,   /**< update completed */
+    STAT_FILE_TRANSFER            = 4,   /**< file transfer */
-    STAT_IN_PROGRESS          = 2,   /**< upgrade in process */
+    STAT_DONE                     = 3,   /**< update completed */
-    STAT_START                = 1,   /**< start the upgrade */
+    STAT_IN_PROGRESS              = 2,   /**< upgrade in process */
-    STAT_VERIFY_IMAGE         = 0,   /**< Image file verification */
+    STAT_START                    = 1,   /**< start the upgrade */
-    ERR_VERIFY                = -1,  /**< Verification failed */
+    STAT_VERIFY_IMAGE             = 0,   /**< Image file verification */
-    ERR_PROGRAM               = -2,  /**< Program execution failed */
+    ERR_VERIFY                    = -1,  /**< Verification failed */
-    ERR_ERASE                 = -3,  /**< Flash parameter failed */
+    ERR_PROGRAM                   = -2,  /**< Program execution failed */
-    ERR_FLASH_TYPE            = -4,  /**< Flash type error */
+    ERR_ERASE                     = -3,  /**< Flash parameter failed */
-    ERR_IMAGE_SIZE            = -5,  /**< Image file size error */
+    ERR_FLASH_TYPE                = -4,  /**< Flash type error */
-    ERR_OTHER                 = -6,  /**< other errors */
+    ERR_IMAGE_SIZE                = -5,  /**< Image file size error */
-    ERR_DDR                   = -7,  /**< DDR access error */
+    ERR_OTHER                     = -6,  /**< other errors */
-    ERR_TIMEOUT               = -8,  /**< timeout error */
+    ERR_DDR                       = -7,  /**< DDR access error */
-    ERR_MISMATCH              = -9,  /**< Mismatch firmware error */
+    ERR_TIMEOUT                   = -8,  /**< timeout error */
-    ERR_UNSUPPORT_DEV         = -10, /**< Unsupported device error */
+    ERR_MISMATCH                  = -9,  /**< Mismatch firmware error */
-    ERR_INVALID_COUNT         = -11, /**< invalid firmware/preset count */
+    ERR_UNSUPPORT_DEV             = -10, /**< Unsupported device error */
-    ERR_FILE_READ             = -12, /**< Read image file error */
+    ERR_INVALID_COUNT             = -11, /**< invalid firmware/preset count */
-    ERR_TRANSFER              = -13  /**< Transfer failed */
+    ERR_FILE_READ                 = -12, /**< Read image file error */
+    ERR_TRANSFER                  = -13  /**< Transfer failed */
 } OBUpgradeState,
     OBFwUpdateState, ob_upgrade_state, ob_fw_update_state;
 
@@ -1925,6 +1926,13 @@ typedef void(ob_frame_destroy_callback)(uint8_t *buffer, void *user_data);
 typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
 
 typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
+
+/**
+ * @brief Callback Id
+ */
+typedef uint64_t OBCallbackId, ob_callback_id;
+#define INVALID_CALLBACK_ID (0)
+
 /**
  * @brief Check if the sensor_type is a video sensor
  *

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -16,6 +16,8 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <unordered_map>
+#include <mutex>
 
 namespace ob {
 
@@ -42,9 +44,20 @@ public:
      */
     typedef std::function<void(OBLogSeverity severity, const char *logMsg)> LogCallback;
 
+    struct DeviceChangedCallbackContext {
+        Context              *ctx;
+        uint64_t              callbackId;
+        DeviceChangedCallback callback;
+    };
+
 private:
-    ob_context           *impl_ = nullptr;
+    ob_context *impl_ = nullptr;
-    DeviceChangedCallback deviceChangedCallback_;
+    std::mutex  callbackMtx_;
+
+    std::mutex   legacyCallbackMtx_;
+    OBCallbackId legacyCallbackId_ = INVALID_CALLBACK_ID;
+
+    std::unordered_map<OBCallbackId, std::unique_ptr<DeviceChangedCallbackContext>> devChangedCallbacks_;
     // static LogCallback    logCallback_;
 
 public:
@@ -66,6 +79,7 @@ public:
      * @brief Context destructor.
      */
     ~Context() noexcept {
+        // delete contex of C API, which will auto unregister all callbacks
         ob_error *error = nullptr;
         ob_delete_context(impl_, &error);
         Error::handle(&error, false);
@@ -136,14 +150,45 @@ public:
 
     /**
      * @brief Set the device plug-in callback function.
+     *
+     * @deprecated This function is deprecated. Please use registerDeviceChangedCallback() instead.
+     *
      * @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
      *
      * @param[in] callback The function triggered when the device is plugged and unplugged.
      */
     void setDeviceChangedCallback(DeviceChangedCallback callback) {
-        deviceChangedCallback_ = callback;
+        std::lock_guard<std::mutex> lock(legacyCallbackMtx_);
-        ob_error *error        = nullptr;
+        // remove the last callback first
-        ob_set_device_changed_callback(impl_, &Context::deviceChangedCallback, this, &error);
+        unregisterDeviceChangedCallback(legacyCallbackId_);
+        // register the new callback
+        legacyCallbackId_ = registerDeviceChangedCallback(callback);
+    }
+
+    OBCallbackId registerDeviceChangedCallback(DeviceChangedCallback callback) {
+        ob_error *error       = nullptr;
+        auto      cbCtxHolder = std::unique_ptr<DeviceChangedCallbackContext>(new DeviceChangedCallbackContext({ this, 0, nullptr }));
+        auto      id          = ob_register_device_changed_callback(impl_, &Context::deviceChangedCallback, (void *)cbCtxHolder.get(), &error);
+        Error::handle(&error);
+
+        cbCtxHolder->callbackId = id;
+        cbCtxHolder->callback   = callback;
+        {
+            std::unique_lock<std::mutex> lock(callbackMtx_);
+            devChangedCallbacks_[id] = std::move(cbCtxHolder);
+        }
+        return id;
+    }
+
+    void unregisterDeviceChangedCallback(OBCallbackId id) {
+        ob_error *error       = nullptr;
+        ob_unregister_device_changed_callback(impl_, id, &error);
+        {
+            std::unique_lock<std::mutex> lock(callbackMtx_);
+            if(devChangedCallbacks_.count(id)) {
+                devChangedCallbacks_.erase(id);
+            }
+        }
         Error::handle(&error);
     }
 
@@ -277,11 +322,19 @@ public:
 
 private:
     static void deviceChangedCallback(ob_device_list *removedList, ob_device_list *addedList, void *userData) {
-        auto ctx = static_cast<Context *>(userData);
+        auto cbCtx = static_cast<DeviceChangedCallbackContext *>(userData);
-        if(ctx && ctx->deviceChangedCallback_) {
+        if(cbCtx && cbCtx->ctx && cbCtx->callbackId != INVALID_CALLBACK_ID) {
+            DeviceChangedCallback callbackCopy;
+            {
+                // preventing the captured variables from being released.
+                std::unique_lock<std::mutex> lock(cbCtx->ctx->callbackMtx_);
+                if(cbCtx->ctx->devChangedCallbacks_.count(cbCtx->callbackId)) {
+                    callbackCopy = cbCtx->callback;
+                }
+            }
             auto removed = std::make_shared<DeviceList>(removedList);
             auto added   = std::make_shared<DeviceList>(addedList);
-            ctx->deviceChangedCallback_(removed, added);
+            callbackCopy(removed, added);
         }
     }
 

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.6.1")
+set(PACKAGE_VERSION "2.6.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.6.1" MATCHES "^([0-9]+)\\.")
+  if("2.6.2" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.6.1")
+    set(CVF_VERSION_MAJOR "2.6.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.6.1
+libOrbbecSDK.so.2.6.2

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.6.1")
+set(PACKAGE_VERSION "2.6.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.6.1" MATCHES "^([0-9]+)\\.")
+  if("2.6.2" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.6.1")
+    set(CVF_VERSION_MAJOR "2.6.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.6.1
+libOrbbecSDK.so.2.6.2

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -12,7 +12,7 @@
         <!-- Console log output level -->
         <ConsoleLogLevel>3</ConsoleLogLevel>
         <!-- Default log output file path, string type. If this item is not configured, the default
-        path will be used: Win/Linux: "./Log"; Android: "/sdcard/3DCamera/Log" -->
+        path will be used: Win/Linux: "./Log"; Android: "/sdcard/orbbec/Log" -->
         <!-- <OutputDir>./log</OutputDir> -->
         <!-- Default log output file size, int type, unit: MB -->
         <MaxFileSize>100</MaxFileSize>