204 lines
8.3 KiB
C
204 lines
8.3 KiB
C
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/*******************************************************************************
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* BSD 3-Clause License
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*
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* Copyright (c) 2016-2025, Mech-Mind Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Info: https://www.mech-mind.com/
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*
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******************************************************************************/
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#pragma once
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#include <functional>
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#include "profiler/Profiler.h"
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namespace mmind {
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namespace eye {
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/**
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* @brief Describes the event of profiler.
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* Use @ref ProfilerEvent.registerProfilerEventCallback to register an event of interest.
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*/
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class MMIND_API_EXPORT ProfilerEvent
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{
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public:
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/**
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* @brief Describes the types of Event.
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* @deprecated This enum is deprecated since version 2.5.0. Please use the following method:
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* @ref getSupportedEvents(const Profiler&, std::vector<EventInfo>&) to get supported events.
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*/
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enum Event {
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PROFILER_EVENT_DISCONNECTED = 0x0001, ///< The profiler has disconnected.
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PROFILER_EVENT_ALL = 0xFFFF, ///< All profiler events.
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};
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using EventCallback = std::function<void(Event event, void* pUser)>;
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/**
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* @brief Registers a profiler event of interest.
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* @deprecated This method is deprecated since version 2.5.0. Please use the following method:
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* @ref registerProfilerEventCallback(Profiler&, uint16_t, const ProfilerEventCallback&).
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* @param [in] profiler The profiler handle.
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* @param [in] callback The callback function for responding to profiler events.
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* @param [in] pUser Pointer used by the user.
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* @param [in] events The profiler event. See @ref ProfilerEvent.Event for details.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid profiler handle.\n
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* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Profiler disconnected.\n
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* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Not supported profiler model or firmware
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* version.\n
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*/
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[[deprecated(
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"Please use @ref registerProfilerEventCallback(Profiler& profiler, Event event, const "
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"ProfilerEventCallback& callback) instead.")]] static ErrorStatus
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registerProfilerEventCallback(Profiler& profiler, EventCallback callback, void* pUser,
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unsigned int events);
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/**
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* @brief Describes the event information.
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*/
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struct EventInfo
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{
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std::string eventName{}; ///< The name of the event.
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uint16_t eventId{0x0000}; ///< The ID of the event.
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EventInfo() = default;
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EventInfo(const std::string& eventName, uint16_t eventId)
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: eventName(eventName), eventId(eventId)
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{
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}
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};
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/**
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* @brief Get supported events by the profiler
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*
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* @param profiler The profiler for which to get supported events.
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* @param eventInfos The information of the events supported.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
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* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
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*/
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static ErrorStatus getSupportedEvents(const Profiler& profiler,
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std::vector<EventInfo>& eventInfos);
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struct EventData
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{
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int eventId{0}; ///< Event ID, defined in @ref ProfilerEvent::Event.
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std::string eventName{}; ///< Event name.
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int64_t timestamp{0}; ///< The timestamp of the event occurrence.
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};
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/**
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* @brief Describes the data member of the event's payload
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*/
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struct PayloadMember
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{
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std::string name; ///< Member name
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enum class Type {
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_UInt32,
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_Int32,
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_Int64,
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_Float,
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_Double,
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_Bool,
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_String,
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};
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Type type; ///< Member type
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struct MemberValue
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{
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uint32_t uint32Value;
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int32_t int32Value;
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int64_t int64Value;
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float floatValue;
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double doubleValue;
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bool boolValue;
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std::string stringValue;
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};
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MemberValue value; ///< Member value
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};
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using Payload = std::vector<PayloadMember>;
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/**
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* @brief callback function for a camera event.
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* @param [in] eventData shared data among events.
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* @param [in] extraPayload event-specific data.
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*/
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using ProfilerEventCallback =
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std::function<void(const EventData* eventData, const void* extraPayload)>;
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/**
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* @brief Registers a callback function to be executed when the specified @ref Event occurs on
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the specified @ref Profiler object.
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* @param profiler The profiler for which the callback function is registered.
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* @param event The event for which the callback function is registered.
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* @param callback The callback function to be executed when the specified event occurs.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid profiler handle.\n
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* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Profiler disconnected.\n
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* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported profiler model or firmware
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version.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_CALLBACKFUNC The registered callback function is
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invalid.\n
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* @ref ErrorStatus.MMIND_STATUS_DUPLICATED_REGISTRATION A callback function for this event has
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already been registered.\n
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* @ref ErrorStatus.MMIND_STATUS_MESSAGE_CHANNEL_ERROR Failed to establish the channel for
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delivering the event occurrence.\n
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*/
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static ErrorStatus registerProfilerEventCallback(Profiler& profiler, uint16_t event,
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const ProfilerEventCallback& callback);
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/**
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* @brief Cancels the registration of a callback function for the specified event and @ref
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Profiler object.
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* @param profiler The Profiler for which to cancel the registration of the callback function.
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* @param event The event for which to cancel the registration of the callback function.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid profiler handle.\n
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* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Profiler disconnected.\n
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* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported profiler model or firmware
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version.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_CALLBACKFUNC The registered callback function is
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invalid.\n
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* @ref ErrorStatus.MMIND_STATUS_MESSAGE_CHANNEL_ERROR Failed to close the channel for
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delivering the event occurrence.\n
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*/
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static ErrorStatus unregisterProfilerEventCallback(Profiler& profiler, uint16_t event);
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};
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} // namespace eye
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} // namespace mmind
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