remove rs2 structs from context.h

src/api.h

@@ -3,7 +3,6 @@
 
 
 #pragma once
-#include "context.h"
 #include "types.h"  // notification
 #include "core/extension.h"
 #include "device.h"

src/backend-device-factory.cpp

@@ -133,17 +133,17 @@ backend_device_factory::backend_device_factory( context & ctx, callback && cb )
               auto old_list = create_devices_from_group( old, RS2_PRODUCT_LINE_ANY );
               auto new_list = create_devices_from_group( curr, RS2_PRODUCT_LINE_ANY );
 
-              std::vector< rs2_device_info > devices_removed;
+              std::vector< std::shared_ptr< device_info > > devices_removed;
               for( auto & device_removed : subtract_sets( old_list, new_list ) )
               {
-                  devices_removed.push_back( { _context.shared_from_this(), device_removed } );
+                  devices_removed.push_back( device_removed );
                   LOG_DEBUG( "Device disconnected: " << device_removed->get_address() );
               }
 
-              std::vector< rs2_device_info > devices_added;
+              std::vector< std::shared_ptr< device_info > > devices_added;
               for( auto & device_added : subtract_sets( new_list, old_list ) )
               {
-                  devices_added.push_back( { _context.shared_from_this(), device_added } );
+                  devices_added.push_back( device_added );
                   LOG_DEBUG( "Device connected: " << device_added->get_address() );
               }
 

src/context.cpp

@@ -34,13 +34,15 @@ namespace librealsense
 
         _factories.push_back( std::make_shared< backend_device_factory >(
             *this,
-            [this]( std::vector< rs2_device_info > const & removed, std::vector< rs2_device_info > const & added )
+            [this]( std::vector< std::shared_ptr< device_info > > const & removed,
+                    std::vector< std::shared_ptr< device_info > > const & added )
             { invoke_devices_changed_callbacks( removed, added ); } ) );
 
 #ifdef BUILD_WITH_DDS
         _factories.push_back( std::make_shared< rsdds_device_factory >(
             *this,
-            [this]( std::vector< rs2_device_info > const & removed, std::vector< rs2_device_info > const & added )
+            [this]( std::vector< std::shared_ptr< device_info > > const & removed,
+                    std::vector< std::shared_ptr< device_info > > const & added )
             { invoke_devices_changed_callbacks( removed, added ); } ) );
 #endif
     }
@@ -94,29 +96,17 @@ namespace librealsense
     }
 
 
-    void context::invoke_devices_changed_callbacks( std::vector< rs2_device_info > const & rs2_devices_info_removed,
-                                                    std::vector< rs2_device_info > const & rs2_devices_info_added )
+    void context::invoke_devices_changed_callbacks(
+        std::vector< std::shared_ptr< device_info > > const & rs2_devices_info_removed,
+        std::vector< std::shared_ptr< device_info > > const & rs2_devices_info_added )
     {
         _devices_changed.raise( rs2_devices_info_removed, rs2_devices_info_added );
     }
 
 
-    rsutils::subscription context::on_device_changes( devices_changed_callback_ptr callback )
+    rsutils::subscription context::on_device_changes( devices_changed_callback && callback )
     {
-        return _devices_changed.subscribe(
-            [ctx = shared_from_this(), callback]( std::vector< rs2_device_info > const & removed,
-                                                  std::vector< rs2_device_info > const & added )
-            {
-                try
-                {
-                    callback->on_devices_changed( new rs2_device_list( { ctx, removed } ),
-                                                  new rs2_device_list( { ctx, added } ) );
-                }
-                catch( std::exception const & e )
-                {
-                    LOG_ERROR( "Exception thrown from user callback handler: " << e.what() );
-                }
-            } );
+        return _devices_changed.subscribe( std::move( callback ) );
     }
 
 
@@ -129,9 +119,8 @@ namespace librealsense
             throw librealsense::invalid_value_exception( "device already in context: " + address );
         _user_devices[address] = dev;
 
-        std::vector< rs2_device_info > rs2_device_info_added{ { shared_from_this(), dev } };
-        std::vector< rs2_device_info > rs2_device_info_removed;
-        invoke_devices_changed_callbacks( rs2_device_info_removed, rs2_device_info_added );
+        std::vector< std::shared_ptr< device_info > > rs2_device_info_added{ dev };
+        invoke_devices_changed_callbacks( {}, rs2_device_info_added );
     }
 
 
@@ -147,9 +136,8 @@ namespace librealsense
 
         if( dev_info )
         {
-            std::vector< rs2_device_info > rs2_device_info_added;
-            std::vector< rs2_device_info > rs2_device_info_removed{ { shared_from_this(), dev_info } };
-            invoke_devices_changed_callbacks( rs2_device_info_removed, rs2_device_info_added );
+            std::vector< std::shared_ptr< device_info > > rs2_device_info_removed{ dev_info };
+            invoke_devices_changed_callbacks( rs2_device_info_removed, {} );
         }
     }
 

src/context.h

@@ -9,38 +9,11 @@
 #include <map>
 
 
-struct rs2_devices_changed_callback;
-
-
 namespace librealsense
 {
-    class context;
+    class device_factory;
     class device_info;
-    class stream_profile_interface;
-}
-
-struct rs2_device_info
-{
-    std::shared_ptr<librealsense::context> ctx;
-    std::shared_ptr<librealsense::device_info> info;
-};
-
-struct rs2_device_list
-{
-    std::shared_ptr<librealsense::context> ctx;
-    std::vector<rs2_device_info> list;
-};
-
-struct rs2_stream_profile
-{
-    librealsense::stream_profile_interface* profile;
-    std::shared_ptr<librealsense::stream_profile_interface> clone;
-};
-
 
-namespace librealsense
-{
-    class device_factory;
 
     class context : public std::enable_shared_from_this<context>
     {
@@ -70,11 +43,13 @@ namespace librealsense
         //
         std::vector< std::shared_ptr< device_info > > query_devices( int mask ) const;
 
-        using devices_changed_callback_ptr = std::shared_ptr< rs2_devices_changed_callback >;
+        using devices_changed_callback
+            = std::function< void( std::vector< std::shared_ptr< device_info > > const & devices_removed,
+                                   std::vector< std::shared_ptr< device_info > > const & devices_added ) >;
 
         // Subscribe to a notification to receive when the device-list changes.
         //
-        rsutils::subscription on_device_changes( devices_changed_callback_ptr callback );
+        rsutils::subscription on_device_changes( devices_changed_callback && );
 
         // Let the context maintain a list of custom devices. These can be anything, like playback devices or devices
         // maintained by the user.
@@ -84,13 +59,13 @@ namespace librealsense
         const nlohmann::json & get_settings() const { return _settings; }
 
     private:
-        void invoke_devices_changed_callbacks( std::vector< rs2_device_info > const & devices_removed,
-                                               std::vector< rs2_device_info > const & devices_added );
+        void invoke_devices_changed_callbacks( std::vector< std::shared_ptr< device_info > > const & devices_removed,
+                                               std::vector< std::shared_ptr< device_info > > const & devices_added );
 
         std::map< std::string /*address*/, std::weak_ptr< device_info > > _user_devices;
 
-        rsutils::signal< std::vector< rs2_device_info > const & /*removed*/,
-                         std::vector< rs2_device_info > const & /*added*/ >
+        rsutils::signal< std::vector< std::shared_ptr< device_info > > const & /*removed*/,
+                         std::vector< std::shared_ptr< device_info > > const & /*added*/ >
             _devices_changed;
 
         nlohmann::json _settings; // Save operation settings

src/dds/rsdds-device-factory.cpp

@@ -111,14 +111,14 @@ rsdds_device_factory::rsdds_device_factory( context & ctx, callback && cb )
         _subscription = _watcher_singleton->subscribe(
             [this, cb = std::move( cb )]( std::shared_ptr< realdds::dds_device > const & dev, bool added )
             {
-                std::vector< rs2_device_info > infos_added;
-                std::vector< rs2_device_info > infos_removed;
+                std::vector< std::shared_ptr< device_info > > infos_added;
+                std::vector< std::shared_ptr< device_info > > infos_removed;
                 auto ctx = _context.shared_from_this();
                 auto dev_info = std::make_shared< dds_device_info >( ctx, dev );
                 if( added )
-                    infos_added.push_back( { ctx, dev_info } );
+                    infos_added.push_back( dev_info );
                 else
-                    infos_removed.push_back( { ctx, dev_info } );
+                    infos_removed.push_back( dev_info );
                 cb( infos_removed, infos_added );
             } );
     }

src/device.cpp

@@ -41,8 +41,9 @@ device::device( std::shared_ptr< const device_info > const & dev_info,
     {
         std::weak_ptr< std::atomic< bool > > weak_alive = _is_alive;
         std::weak_ptr< const device_info > weak_dev_info = _dev_info;
-        auto cb = new devices_changed_callback_internal(
-            [weak_alive, weak_dev_info]( rs2_device_list * removed, rs2_device_list * added )
+        _device_change_subscription = get_context()->on_device_changes(
+            [weak_alive, weak_dev_info]( std::vector< std::shared_ptr< device_info > > const & removed,
+                                         std::vector< std::shared_ptr< device_info > > const & added )
             {
                 // The callback can be called from one thread while the object is being destroyed by another.
                 // Check if members can still be accessed.
@@ -54,21 +55,15 @@ device::device( std::shared_ptr< const device_info > const & dev_info,
                     return;
 
                 // Update is_valid variable when device is invalid
-                for( auto & dev_info : removed->list )
+                for( auto & dev_info : removed )
                 {
-                    if( dev_info.info->is_same_as( this_dev_info ) )
+                    if( dev_info->is_same_as( this_dev_info ) )
                     {
                         *alive = false;
                         return;
                     }
                 }
             } );
-
-        _device_change_subscription = get_context()->on_device_changes( { cb,
-                                                                          []( rs2_devices_changed_callback * p )
-                                                                          {
-                                                                              p->release();
-                                                                          } } );
     }
 }
 

src/device_hub.cpp

@@ -17,25 +17,19 @@ namespace librealsense
     {
         _device_list = _ctx->query_devices(mask);
 
-        auto cb = new hub_devices_changed_callback([&,mask](rs2::event_information&)
-                   {
-                        std::unique_lock<std::mutex> lock(_mutex);
-
-                        _device_list = _ctx->query_devices(mask);
-
-                        // Current device will point to the first available device
-                        _camera_index = 0;
-                        if (_device_list.size() > 0)
-                        {
-                           _cv.notify_all();
-                        }
-                    });
-
-        _device_change_subscription = _ctx->on_device_changes( { cb,
-                                                                 []( rs2_devices_changed_callback * p )
-                                                                 {
-                                                                     p->release();
-                                                                 } } );
+        _device_change_subscription = _ctx->on_device_changes(
+            [&, mask]( std::vector< std::shared_ptr< device_info > > const & /*removed*/,
+                       std::vector< std::shared_ptr< device_info > > const & /*added*/ )
+            {
+                std::unique_lock< std::mutex > lock( _mutex );
+
+                _device_list = _ctx->query_devices( mask );
+
+                // Current device will point to the first available device
+                _camera_index = 0;
+                if( _device_list.size() > 0 )
+                    _cv.notify_all();
+            } );
     }
 
     device_hub::~device_hub()

src/ds/d400/d400-active.cpp

@@ -8,7 +8,6 @@
 #include <cstddef>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 

src/ds/d400/d400-device.cpp

@@ -2,7 +2,6 @@
 // Copyright(c) 2016 Intel Corporation. All Rights Reserved.
 
 #include <src/device.h>
-#include <src/context.h>
 #include <src/image.h>
 #include <src/metadata-parser.h>
 #include <src/metadata.h>

src/ds/d400/d400-factory.cpp

@@ -8,7 +8,6 @@
 #include <cstddef>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 

src/ds/d400/d400-nonmonochrome.cpp

@@ -8,7 +8,6 @@
 #include <cstddef>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 

src/ds/d500/d500-active.cpp

@@ -8,7 +8,6 @@
 #include <cstddef>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 

src/ds/d500/d500-device.cpp

@@ -2,7 +2,6 @@
 // Copyright(c) 2022 Intel Corporation. All Rights Reserved.
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 #include "metadata.h"

src/ds/d500/d500-factory.cpp

@@ -8,7 +8,6 @@
 #include <cstddef>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
 

src/ds/ds-motion-common.cpp

@@ -4,7 +4,6 @@
 #include "ds-motion-common.h"
 
 #include "algo.h"
-#include "context.h"
 #include "hid-sensor.h"
 #include "environment.h"
 #include "metadata.h"

src/ds/ds-timestamp.cpp

@@ -10,7 +10,6 @@
 #include <iterator>
 
 #include "device.h"
-#include "context.h"
 #include "image.h"
 #include "metadata.h"
 

src/fw-update/fw-update-factory.h

@@ -5,10 +5,11 @@
 
 #include "platform/platform-device-info.h"
 #include "core/streaming.h"
-#include "context.h"
 
 namespace librealsense
 {
+    class context;
+
     class fw_update_info : public platform::platform_device_info
     {
         typedef platform::platform_device_info super;

src/gl/pointcloud-gl.cpp

@@ -9,7 +9,7 @@
 #include "pointcloud-gl.h"
 #include "option.h"
 #include "environment.h"
-#include "context.h"
+#include "stream.h"
 
 #include <iostream>
 #include <chrono>

src/gl/upload.cpp

@@ -10,7 +10,6 @@
 #include "colorizer-gl.h"
 #include "upload.h"
 #include "option.h"
-#include "context.h"
 
 #ifndef NOMINMAX
 #define NOMINMAX

src/media/playback/playback_sensor.cpp

@@ -6,7 +6,6 @@
 #include "core/motion.h"
 #include <map>
 #include "types.h"
-#include "context.h"
 #include "ds/d400/d400-options.h"
 #include "media/ros/ros_reader.h"
 

src/pipeline/config.cpp

@@ -5,6 +5,8 @@
 #include "pipeline.h"
 #include "platform/platform-device-info.h"
 #include "media/playback/playback-device-info.h"
+#include "context.h"
+
 
 namespace librealsense
 {