Merge pull request #5879 from ev-mp/d455

Establish 0x0B5B, 0xB5C SKUs
IntelRealSense · Mar 5, 2020 · 97229b7 · 97229b7
2 parents 99dbab0 + 999401c
commit 97229b7
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Showing 7 changed files with 178 additions and 35 deletions.
diff --git a/common/viewer.cpp b/common/viewer.cpp
@@ -689,17 +689,30 @@ namespace rs2
                     udev_fname = udev_rules_deb;
                 }
 
-                std::string str((std::istreambuf_iterator<char>(f)),
+                const std::string str((std::istreambuf_iterator<char>(f)),
                                  std::istreambuf_iterator<char>());
 
-                std::string udev = realsense_udev_rules;
-                udev.erase(udev.find_last_of("\n") + 1);
+                std::string tmp = realsense_udev_rules;
+                tmp.erase(tmp.find_last_of("\n") + 1);
+                const std::string udev = tmp;
+                float udev_file_ver{}, built_in_file_ver{};
 
-                if (udev != str)
+                // The udev-rules file shall start with version token expressed as ##Version=xx.yy##
+                std::regex udev_ver_regex("^##Version=(\\d+\\.\\d+)##");
+                std::smatch match;
+
+                if (std::regex_search(udev.begin(), udev.end(), match, udev_ver_regex))
+                    built_in_file_ver = std::stof(std::string(match[1]));
+
+                if (std::regex_search(str.begin(), str.end(), match, udev_ver_regex))
+                    udev_file_ver = std::stof(std::string(match[1]));
+
+                if (built_in_file_ver > udev_file_ver)
                 {
-                    message = "RealSense UDEV-Rules file:\n " + udev_fname +"\n is not up-to date!\n" + message;
+                    std::stringstream s;
+                    s << "RealSense UDEV-Rules file:\n " << udev_fname <<"\n is not up-to date! Version " << built_in_file_ver << " can be applied\n";
                     not_model.add_notification({ 
-                        message,
+                        s.str() + message,
                         RS2_LOG_SEVERITY_WARN,
                         RS2_NOTIFICATION_CATEGORY_COUNT });
                 }

diff --git a/config/99-realsense-libusb.rules b/config/99-realsense-libusb.rules
@@ -1,4 +1,5 @@
-# Intel RealSense UVC cameras (R200, F200, SR300 LR200, ZR300, D400, L500)
+##Version=1.1##
+# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev"
@@ -29,6 +30,8 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev"
 
 # Intel RealSense recovery devices (DFU)
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev"
@@ -61,3 +64,7 @@ KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777",
 DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
 KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
 DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
+KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
+DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
+KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
+DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
diff --git a/src/ds5/advanced_mode/advanced_mode.cpp b/src/ds5/advanced_mode/advanced_mode.cpp
@@ -80,9 +80,11 @@ namespace librealsense
             case ds::RS435_RGB_PID:
             case ds::RS435I_PID:
             case ds::RS465_PID:
+            case ds::RS405_PID:
+            case ds::RS455_PID:
                 default_430(p);
                 break;
-            case ds::RS405_PID:
+            case ds::RS405U_PID:
                 default_405(p);
                 break;
             case ds::RS400_PID:

diff --git a/src/ds5/ds5-factory.cpp b/src/ds5/ds5-factory.cpp
@@ -59,11 +59,11 @@ namespace librealsense
     };
 
     // DS5U_S
-    class rs405_device : public ds5u_device,
+    class rs405u_device : public ds5u_device,
         public ds5_advanced_mode_base
     {
     public:
-        rs405_device(std::shared_ptr<context> ctx,
+        rs405u_device(std::shared_ptr<context> ctx,
             const platform::backend_device_group& group,
             bool register_device_notifications)
             : device(ctx, group, register_device_notifications),
@@ -823,6 +823,92 @@ namespace librealsense
         };
     };
 
+    class rs405_device  :      public ds5_active,
+                                public ds5_color,
+                                public ds5_motion,
+                                public ds5_advanced_mode_base
+    {
+    public:
+        rs405_device(std::shared_ptr<context> ctx,
+                    const platform::backend_device_group group,
+                    bool register_device_notifications)
+            : device(ctx, group, register_device_notifications),
+              ds5_device(ctx, group),
+              ds5_active(ctx, group),
+              ds5_color(ctx,  group),
+              ds5_motion(ctx, group),
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())
+        {}
+
+        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
+
+        std::vector<tagged_profile> get_profiles_tags() const override
+        {
+            std::vector<tagged_profile> tags;
+            auto usb_spec = get_usb_spec();
+            bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);
+
+            uint32_t depth_width  = usb3mode ?      848 : 640;
+            uint32_t depth_height = usb3mode ?      480 : 480;
+            uint32_t color_width = usb3mode ?       1280 : 640;
+            uint32_t color_height = usb3mode ?      720 : 480;
+            uint32_t fps    = usb3mode ?            30 :  15;
+
+            tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({ RS2_STREAM_INFRARED, -1, depth_width, depth_height, RS2_FORMAT_Y8, fps, profile_tag::PROFILE_TAG_SUPERSET });
+            tags.push_back({RS2_STREAM_GYRO, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_200, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_63, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+
+            return tags;
+        }
+
+        bool compress_while_record() const override { return false; }
+    };
+
+    class rs455_device  :      public ds5_active,
+                                public ds5_color,
+                                public ds5_motion,
+                                public ds5_advanced_mode_base
+    {
+    public:
+        rs455_device(std::shared_ptr<context> ctx,
+                    const platform::backend_device_group group,
+                    bool register_device_notifications)
+            : device(ctx, group, register_device_notifications),
+              ds5_device(ctx, group),
+              ds5_active(ctx, group),
+              ds5_color(ctx,  group),
+              ds5_motion(ctx, group),
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())
+        {}
+
+        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
+
+        std::vector<tagged_profile> get_profiles_tags() const override
+        {
+            std::vector<tagged_profile> tags;
+            auto usb_spec = get_usb_spec();
+            bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);
+
+            uint32_t depth_width  = usb3mode ?      848 : 640;
+            uint32_t depth_height = usb3mode ?      480 : 480;
+            uint32_t color_width = usb3mode ?       1280 : 640;
+            uint32_t color_height = usb3mode ?      720 : 480;
+            uint32_t fps    = usb3mode ?            30 :  15;
+
+            tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({ RS2_STREAM_INFRARED, -1, depth_width, depth_height, RS2_FORMAT_Y8, fps, profile_tag::PROFILE_TAG_SUPERSET });
+            tags.push_back({RS2_STREAM_GYRO, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_200, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_63, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+
+            return tags;
+        }
+
+        bool compress_while_record() const override { return false; }
+    };
+
     std::shared_ptr<device_interface> ds5_info::create(std::shared_ptr<context> ctx,
                                                        bool register_device_notifications) const
     {
@@ -836,8 +922,8 @@ namespace librealsense
         {
         case RS400_PID:
             return std::make_shared<rs400_device>(ctx, group, register_device_notifications);
-        case RS405_PID:
-            return std::make_shared<rs405_device>(ctx, group, register_device_notifications);
+        case RS405U_PID:
+            return std::make_shared<rs405u_device>(ctx, group, register_device_notifications);
         case RS410_PID:
         case RS460_PID:
             return std::make_shared<rs410_device>(ctx, group, register_device_notifications);
@@ -869,6 +955,10 @@ namespace librealsense
             return std::make_shared<rs410_device>(ctx, group, register_device_notifications);
         case RS400_IMU_PID:
             return std::make_shared<rs400_imu_device>(ctx, group, register_device_notifications);
+        case ds::RS405_PID:
+            return std::make_shared<rs405_device>(ctx, group, register_device_notifications);
+        case ds::RS455_PID:
+            return std::make_shared<rs455_device>(ctx, group, register_device_notifications);
         default:
             throw std::runtime_error(to_string() << "Unsupported RS400 model! 0x"
                 << std::hex << std::setw(4) << std::setfill('0') <<(int)pid);
@@ -966,7 +1056,7 @@ namespace librealsense
         return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
     }
 
-    std::shared_ptr<matcher> rs405_device::create_matcher(const frame_holder& frame) const
+    std::shared_ptr<matcher> rs405u_device::create_matcher(const frame_holder& frame) const
     {
         std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};
         return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
@@ -1086,4 +1176,20 @@ namespace librealsense
         std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get()};
         return matcher_factory::create(RS2_MATCHER_DEFAULT, mm_streams);
     }
+
+    std::shared_ptr<matcher> rs405_device::create_matcher(const frame_holder& frame) const
+    {
+        std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
+        std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get()};
+        streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
+        return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
+    }
+
+    std::shared_ptr<matcher> rs455_device::create_matcher(const frame_holder& frame) const
+    {
+        std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
+        std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get()};
+        streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
+        return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
+    }
 }
diff --git a/src/ds5/ds5-motion.cpp b/src/ds5/ds5-motion.cpp
@@ -245,7 +245,8 @@ namespace librealsense
 
         uint16_t pid = static_cast<uint16_t>(strtoul(all_hid_infos.front().pid.data(), nullptr, 16));
 
-        if ((camera_fw_version >= firmware_version(custom_sensor_fw_ver)) && (!val_in_range(pid, { ds::RS400_IMU_PID, ds::RS435I_PID, ds::RS430I_PID, ds::RS465_PID })))
+        if ((camera_fw_version >= firmware_version(custom_sensor_fw_ver)) &&
+                (!val_in_range(pid, { ds::RS400_IMU_PID, ds::RS435I_PID, ds::RS430I_PID, ds::RS465_PID, ds::RS405_PID, ds::RS455_PID })))
         {
             hid_ep->register_option(RS2_OPTION_MOTION_MODULE_TEMPERATURE,
                                     std::make_shared<motion_module_temperature_option>(*raw_hid_ep));

diff --git a/src/ds5/ds5-private.cpp b/src/ds5/ds5-private.cpp
@@ -270,7 +270,7 @@ namespace librealsense
                     {
                     case RS_USB2_PID:
                     case RS400_PID:
-                    case RS405_PID:
+                    case RS405U_PID:
                     case RS410_PID:
                     case RS416_PID:
                     case RS460_PID:
@@ -285,6 +285,8 @@ namespace librealsense
                     case RS430_MM_PID:
                     case RS420_MM_PID:
                     case RS435I_PID:
+                    case RS405_PID:
+                    case RS455_PID:
                         found = (result.mi == 6);
                         break;
                     case RS415_PID:

diff --git a/src/ds5/ds5-private.h b/src/ds5/ds5-private.h
@@ -31,12 +31,14 @@ namespace librealsense
         const uint16_t RS430_MM_RGB_PID     = 0x0b01; // AWGCT
         const uint16_t RS460_PID            = 0x0b03; // DS5U
         const uint16_t RS435_RGB_PID        = 0x0b07; // AWGC
-        const uint16_t RS405_PID            = 0x0b0c; // DS5U
+        const uint16_t RS405U_PID           = 0x0b0c; // DS5U
         const uint16_t RS435I_PID           = 0x0b3a; // D435i
         const uint16_t RS416_PID            = 0x0b49; // F416
         const uint16_t RS430I_PID           = 0x0b4b; // D430i
         const uint16_t RS465_PID            = 0x0b4d; // D465
         const uint16_t RS416_RGB_PID        = 0x0B52; // F416 RGB
+        const uint16_t RS405_PID            = 0x0B5B; // D405
+        const uint16_t RS455_PID            = 0x0B5C; // D455
 
         // DS5 depth XU identifiers
         const uint8_t DS5_HWMONITOR                       = 1;
@@ -56,10 +58,7 @@ namespace librealsense
             ds::RS400_PID,
             ds::RS410_PID,
             ds::RS415_PID,
-            ds::RS416_PID,
-            ds::RS416_RGB_PID,
             ds::RS430_PID,
-            ds::RS430I_PID,
             ds::RS430_MM_PID,
             ds::RS_USB2_PID,
             ds::RS400_IMU_PID,
@@ -70,9 +69,14 @@ namespace librealsense
             ds::RS430_MM_RGB_PID,
             ds::RS460_PID,
             ds::RS435_RGB_PID,
-            ds::RS405_PID,
+            ds::RS405U_PID,
             ds::RS435I_PID,
+            ds::RS416_RGB_PID,
+            ds::RS430I_PID,
             ds::RS465_PID,
+            ds::RS416_PID,
+            ds::RS405_PID,
+            ds::RS455_PID,
         };
 
         static const std::set<std::uint16_t> multi_sensors_pid = {
@@ -85,17 +89,23 @@ namespace librealsense
             ds::RS435_RGB_PID,
             ds::RS435I_PID,
             ds::RS465_PID,
+            ds::RS405_PID,
+            ds::RS455_PID,
         };
 
         static const std::set<std::uint16_t> hid_sensors_pid = {
             ds::RS435I_PID,
             ds::RS430I_PID,
-            ds::RS465_PID
+            ds::RS465_PID,
+            ds::RS405_PID,
+            ds::RS455_PID,
         };
 
         static const std::set<std::uint16_t> hid_bmi_055_pid = {
             ds::RS435I_PID,
-            ds::RS430I_PID
+            ds::RS430I_PID,
+            ds::RS405_PID,
+            ds::RS455_PID
         };
 
         static const std::set<std::uint16_t> hid_bmi_085_pid = {
@@ -111,28 +121,30 @@ namespace librealsense
         };
 
         static const std::map<std::uint16_t, std::string> rs400_sku_names = {
-            { RS_RECOVERY_PID,      "Intel RealSense D4xx Recovery"},
-            { RS_USB2_RECOVERY_PID, "Intel RealSense USB2 D4xx Recovery"},
             { RS400_PID,            "Intel RealSense D400"},
-            { RS400_MM_PID,         "Intel RealSense D400 with Tracking Module"},
             { RS410_PID,            "Intel RealSense D410"},
-            { RS410_MM_PID,         "Intel RealSense D410 with Tracking Module"},
             { RS415_PID,            "Intel RealSense D415"},
-            { RS416_PID,            "Intel RealSense F416"},
-            { RS416_RGB_PID,        "Intel RealSense F416 with RGB Module"},
-            { RS420_PID,            "Intel RealSense D420"},
-            { RS420_MM_PID,         "Intel RealSense D420 with Tracking Module"},
             { RS430_PID,            "Intel RealSense D430"},
-            { RS430I_PID,           "Intel RealSense D430I"},
             { RS430_MM_PID,         "Intel RealSense D430 with Tracking Module"},
+            { RS_USB2_PID,          "Intel RealSense USB2" },
+            { RS_RECOVERY_PID,      "Intel RealSense D4xx Recovery"},
+            { RS_USB2_RECOVERY_PID, "Intel RealSense USB2 D4xx Recovery"},
+            { RS400_IMU_PID,        "Intel RealSense IMU" },
+            { RS420_PID,            "Intel RealSense D420"},
+            { RS420_MM_PID,         "Intel RealSense D420 with Tracking Module"},
+            { RS410_MM_PID,         "Intel RealSense D410 with Tracking Module"},
+            { RS400_MM_PID,         "Intel RealSense D400 with Tracking Module"},
             { RS430_MM_RGB_PID,     "Intel RealSense D430 with Tracking and RGB Modules"},
-            { RS435_RGB_PID,        "Intel RealSense D435"},
             { RS460_PID,            "Intel RealSense D460" },
-            { RS405_PID,            "Intel RealSense D405" },
+            { RS435_RGB_PID,        "Intel RealSense D435"},
+            { RS405U_PID,           "Intel RealSense DS5U" },
             { RS435I_PID,           "Intel RealSense D435I" },
+            { RS416_PID,            "Intel RealSense F416"},
+            { RS430I_PID,           "Intel RealSense D430I"},
             { RS465_PID,            "Intel RealSense D465" },
-            { RS_USB2_PID,          "Intel RealSense USB2" },
-            { RS400_IMU_PID,        "Intel RealSense IMU" }
+            { RS416_RGB_PID,        "Intel RealSense F416 with RGB Module"},
+            { RS405_PID,            "Intel RealSense D405" },
+            { RS455_PID,            "Intel RealSense D455" },
         };
 
         // DS5 fisheye XU identifiers