Merge pull request #7673 from remibettan/hdr-correct-fps-bug

avoid enabling hdr if is it already enabled
IntelRealSense · Nov 3, 2020 · 20d16c4 · 20d16c4
2 parents 9b0ff86 + 4d96039
commit 20d16c4
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Showing 2 changed files with 40 additions and 27 deletions.
diff --git a/src/hdr-config.cpp b/src/hdr-config.cpp
@@ -27,18 +27,10 @@ namespace librealsense
         _hdr_sequence_params.resize(DEFAULT_HDR_SEQUENCE_SIZE);
 
         // restoring current HDR configuration if such subpreset is active
-        command cmd(ds::GETSUBPRESET);
         bool existing_subpreset_restored = false;
-        try {
-            auto res = _hwm.send(cmd);
-            if (res.size() && is_current_subpreset_hdr(res))
-            {
-                existing_subpreset_restored = configure_hdr_as_in_fw(res);
-            }
-        }
-        catch (std::exception ex) {
-            LOG_WARNING("In hdr_config::hdr_config() - hw command failed: " << ex.what());
-        }
+        std::vector<byte> res;
+        if (is_hdr_enabled_in_device(res))
+            existing_subpreset_restored = configure_hdr_as_in_fw(res);
 
         if (!existing_subpreset_restored)
         {
@@ -55,6 +47,20 @@ namespace librealsense
         }
     }
 
+    bool hdr_config::is_hdr_enabled_in_device(std::vector<byte>& result) const
+    {
+        command cmd(ds::GETSUBPRESET);
+        bool hdr_enabled_in_device = false;
+        try {
+            result = _hwm.send(cmd);
+            hdr_enabled_in_device = (result.size() && is_current_subpreset_hdr(result));
+        }
+        catch (std::exception ex) {
+            LOG_WARNING("In hdr_config::hdr_config() - hw command failed: " << ex.what());
+        }
+        return hdr_enabled_in_device;
+    }
+
     bool hdr_config::is_current_subpreset_hdr(const std::vector<byte>& current_subpreset) const
     {
         bool result = false;
@@ -242,25 +248,30 @@ namespace librealsense
         {
             if (validate_config())
             {
-                // saving status of options that are not compatible with hdr,
-                // so that they could be reenabled after hdr disable
-                set_options_to_be_restored_after_disable();
-
-                if (_use_workaround)
+                std::vector<byte> res;
+                _is_enabled = is_hdr_enabled_in_device(res);
+                if (!_is_enabled)
                 {
-                    try {
-                        // the following statement is needed in order to get/set the UVC exposure 
-                        // instead of one of the hdr's configuration exposure
-                        set_sequence_index(0.f);
-                        _pre_hdr_exposure = _sensor->get_option(RS2_OPTION_EXPOSURE).query();
-                        _sensor->get_option(RS2_OPTION_EXPOSURE).set(PRE_ENABLE_HDR_EXPOSURE);
-                    } catch (...) {
-                        LOG_WARNING("HDR: enforced exposure failed");
+                    // saving status of options that are not compatible with hdr,
+                // so that they could be reenabled after hdr disable
+                    set_options_to_be_restored_after_disable();
+
+                    if (_use_workaround)
+                    {
+                        try {
+                            // the following statement is needed in order to get/set the UVC exposure 
+                            // instead of one of the hdr's configuration exposure
+                            set_sequence_index(0.f);
+                            _pre_hdr_exposure = _sensor->get_option(RS2_OPTION_EXPOSURE).query();
+                            _sensor->get_option(RS2_OPTION_EXPOSURE).set(PRE_ENABLE_HDR_EXPOSURE);
+                        } catch (...) {
+                            LOG_WARNING("HDR: enforced exposure failed");
+                        }
                     }
-                }
 
-                _is_enabled = send_sub_preset_to_fw();
-                _has_config_changed = false;
+                    _is_enabled = send_sub_preset_to_fw();
+                    _has_config_changed = false;
+                }
             }
             else
                 // msg to user to be improved later on
@@ -275,6 +286,7 @@ namespace librealsense
             {
                 // this sleep is needed to let the fw restore the manual exposure
                 std::this_thread::sleep_for(std::chrono::milliseconds(70));
+
                 if (_pre_hdr_exposure >= _exposure_range.min && _pre_hdr_exposure <= _exposure_range.max)
                 {
                     try {

diff --git a/src/hdr-config.h b/src/hdr-config.h
@@ -42,6 +42,7 @@ namespace librealsense
 
     private:
         bool is_hdr_id(int id) const;
+        bool is_hdr_enabled_in_device(std::vector<byte>& result) const;
         bool is_current_subpreset_hdr(const std::vector<byte>& current_subpreset) const;
         bool configure_hdr_as_in_fw(const std::vector<byte>& current_subpreset);
         command prepare_hdr_sub_preset_command() const;