text: /* License: Apache 2.0. See LICENSE file in root directory.
     Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
  
  /** \file rs.h
  * \brief
  * Exposes librealsense functionality for C compilers
  */
  
  #ifndef LIBREALSENSE_RS2_H
  #define LIBREALSENSE_RS2_H
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  #include "rsutil.h"
  #include "h/rs_types.h"
  #include "h/rs_context.h"
  #include "h/rs_device.h"
  #include "h/rs_frame.h"
  #include "h/rs_option.h"
  #include "h/rs_processing.h"
  #include "h/rs_record_playback.h"
  #include "h/rs_sensor.h"
  
  #define RS2_API_MAJOR_VERSION    2
  #define RS2_API_MINOR_VERSION    50
  #define RS2_API_PATCH_VERSION    0
  #define RS2_API_BUILD_VERSION    0
  
  #ifndef STRINGIFY
  #define STRINGIFY(arg) #arg
  #endif
  #ifndef VAR_ARG_STRING
  #define VAR_ARG_STRING(arg) STRINGIFY(arg)
  #endif
  
  /* Versioning rules            : For each release at least one of [MJR/MNR/PTCH] triple is promoted                                             */
  /*                             : Versions that differ by RS2_API_PATCH_VERSION only are interface-compatible, i.e. no user-code changes required */
  /*                             : Versions that differ by MAJOR/MINOR VERSION component can introduce API changes                                */
  /* Version in encoded integer format (1,9,x) -> 01090x. note that each component is limited into [0-99] range by design                         */
  #define RS2_API_VERSION  (((RS2_API_MAJOR_VERSION) * 10000) + ((RS2_API_MINOR_VERSION) * 100) + (RS2_API_PATCH_VERSION))
  /* Return version in "X.Y.Z" format */
  #define RS2_API_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION))
  #define RS2_API_FULL_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION.RS2_API_BUILD_VERSION))
  
  /**
  * get the size of rs2_raw_data_buffer
  * \param[in] buffer  pointer to rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data
  * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
  * \return size of rs2_raw_data_buffer
  */
  int rs2_get_raw_data_size(const rs2_raw_data_buffer* buffer, rs2_error** error);
  
  /**
  * Delete rs2_raw_data_buffer
  * \param[in] buffer        rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data
  */
  void rs2_delete_raw_data(const rs2_raw_data_buffer* buffer);
  
  /**
  * Retrieve char array from rs2_raw_data_buffer
  * \param[in] buffer   rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data
  * \param[out] error   if non-null, receives any error that occurs during this call, otherwise, errors are ignored
  * \return raw data
  */
  const unsigned char* rs2_get_raw_data(const rs2_raw_data_buffer* buffer, rs2_error** error);
  
  /**
   * Retrieve the API version from the source code. Evaluate that the value is conformant to the established policies
   * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
   * \return            the version API encoded into integer value "1.9.3" -> 10903
   */
  int rs2_get_api_version(rs2_error** error);
  
  void rs2_log_to_console(rs2_log_severity min_severity, rs2_error ** error);
  
  void rs2_log_to_file(rs2_log_severity min_severity, const char * file_path, rs2_error ** error);
  
  void rs2_log_to_callback_cpp( rs2_log_severity min_severity, rs2_log_callback * callback, rs2_error ** error );
  
  void rs2_log_to_callback( rs2_log_severity min_severity, rs2_log_callback_ptr callback, void * arg, rs2_error** error );
  
  void rs2_reset_logger( rs2_error ** error);
  
  /**
  * Enable rolling log file when used with rs2_log_to_file:
  * Upon reaching (max_size/2) bytes, the log will be renamed with an ".old" suffix and a new log created. Any
  * previous .old file will be erased.
  * Must have permissions to remove/rename files in log file directory.
  * \param[in] max_size   max file size in megabytes
  * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
  */
  void rs2_enable_rolling_log_file( unsigned max_size, rs2_error ** error );
  
  
  unsigned rs2_get_log_message_line_number( rs2_log_message const * msg, rs2_error** error );
  const char * rs2_get_log_message_filename( rs2_log_message const * msg, rs2_error** error );
  const char * rs2_get_raw_log_message( rs2_log_message const * msg, rs2_error** error );
  const char * rs2_get_full_log_message( rs2_log_message const * msg, rs2_error** error );
  
  /**
   * Add custom message into librealsense log
   * \param[in] severity  The log level for the message to be written under
   * \param[in] message   Message to be logged
   * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
   */
  void rs2_log(rs2_log_severity severity, const char * message, rs2_error ** error);
  
  /**
  * Given the 2D depth coordinate (x,y) provide the corresponding depth in metric units
  * \param[in] frame_ref  2D depth pixel coordinates (Left-Upper corner origin)
  * \param[in] x,y  2D depth pixel coordinates (Left-Upper corner origin)
  * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
  */
  float rs2_depth_frame_get_distance(const rs2_frame* frame_ref, int x, int y, rs2_error** error);
  
  /**
  * return the time at specific time point
  * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
  * \return            the time at specific time point, in live and record mode it will return the system time and in playback mode it will return the recorded time
  */
  rs2_time_t rs2_get_time( rs2_error** error);
  
  #ifdef __cplusplus
  }
  #endif
  #endif
  