Merge pull request #6006 from daversintel/emitter_always_on_with_warp…

…pers Added emmitter always on option and the missing warpper part for free…
IntelRealSense · Mar 10, 2020 · c7c9813 · c7c9813
2 parents 5014b46 + 51db1d5
commit c7c9813
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Showing 13 changed files with 89 additions and 1 deletion.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -85,6 +85,7 @@ extern "C" {
         RS2_OPTION_ZERO_ORDER_ENABLED, /**< Toggle Zero-Order mode */
         RS2_OPTION_ENABLE_MAP_PRESERVATION, /**< Preserve previous map when starting */
         RS2_OPTION_FREEFALL_DETECTION_ENABLED, /**< Enable/disable sensor shutdown when a free-fall is detected (on by default) */
+        RS2_OPTION_EMITTER_ALWAYS_ON, /**< Enable Laser On constantly (GS SKU Only) */
         RS2_OPTION_AVALANCHE_PHOTO_DIODE, /**< Changes the exposure time of Avalanche Photo Diode in the receiver */
         RS2_OPTION_POST_PROCESSING_SHARPENING,  /**< Changes the amount of sharpening in the post-processed image */
         RS2_OPTION_PRE_PROCESSING_SHARPENING, /**< Changes the amount of sharpening in the pre-processed image */

diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp
@@ -757,6 +757,11 @@ namespace librealsense
             depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, std::make_shared<emitter_on_and_off_option>(*_hw_monitor, &raw_depth_sensor));
         }
 
+        if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
+        {
+            depth_sensor.register_option(RS2_OPTION_EMITTER_ALWAYS_ON, std::make_shared<emitter_always_on_option>(*_hw_monitor, &depth_sensor));
+        }
+
         if (_fw_version >= firmware_version("5.9.15.1"))
         {
             depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,

diff --git a/src/ds5/ds5-options.cpp b/src/ds5/ds5-options.cpp
@@ -473,4 +473,39 @@ namespace librealsense
         static std::vector<uint8_t> alt_emitter_name(ds::alternating_emitter_pattern.begin()+2,ds::alternating_emitter_pattern.begin()+22);
         return (alt_emitter_name == res);
     }
+
+    emitter_always_on_option::emitter_always_on_option(hw_monitor& hwm, sensor_base* ep)
+        : _hwm(hwm), _sensor(ep)
+    {
+        _range = [this]()
+        {
+            return option_range{ 0, 1, 1, 0 };
+        };
+    }
+
+    void emitter_always_on_option::set(float value)
+    {
+        command cmd(ds::LASERONCONST);
+        cmd.param1 = static_cast<int>(value);
+
+        _hwm.send(cmd);
+        _record_action(*this);
+    }
+
+    float emitter_always_on_option::query() const
+    {
+        command cmd(ds::LASERONCONST);
+        cmd.param1 = 2;
+
+        auto res = _hwm.send(cmd);
+        if (res.empty())
+            throw invalid_value_exception("emitter_always_on_option::query result is empty!");
+
+        return (res.front());
+    }
+
+    option_range emitter_always_on_option::get_range() const
+    {
+        return *_range;
+    }
 }
diff --git a/src/ds5/ds5-options.h b/src/ds5/ds5-options.h
@@ -272,4 +272,26 @@ namespace librealsense
         hw_monitor& _hwm;
         sensor_base* _sensor;
     };
+
+    class emitter_always_on_option : public option
+    {
+    public:
+        emitter_always_on_option(hw_monitor& hwm, sensor_base* depth_ep);
+        virtual ~emitter_always_on_option() = default;
+        virtual void set(float value) override;
+        virtual float query() const override;
+        virtual option_range get_range() const override;
+        virtual bool is_enabled() const override { return true; }
+        virtual const char* get_description() const override
+        {
+            return "Emitter always on mode: 0:disabled(default), 1:enabled.";
+        }
+        virtual void enable_recording(std::function<void(const option &)> record_action) override { _record_action = record_action; }
+
+    private:
+        std::function<void(const option &)> _record_action = [](const option&) {};
+        lazy<option_range> _range;
+        hw_monitor& _hwm;
+        sensor_base* _sensor;
+    };
 }
diff --git a/src/ds5/ds5-private.h b/src/ds5/ds5-private.h
@@ -206,6 +206,7 @@ namespace librealsense
             GETSUBPRESET    = 0x7C,     // Upload the current sub-preset
             GETSUBPRESETNAME= 0x7D,     // Retrieve sub-preset's name
             RECPARAMSGET    = 0x7E,     // Retrieve depth calibration table in new format (fw >= 5.11.12.100)
+            LASERONCONST    = 0x7F,     // Enable Laser On constantly (GS SKU Only)
             AUTO_CALIB      = 0x80      // auto calibration commands
         };
 

diff --git a/src/types.cpp b/src/types.cpp
@@ -320,6 +320,7 @@ namespace librealsense
             CASE(ZERO_ORDER_ENABLED)
             CASE(ENABLE_MAP_PRESERVATION)
             CASE(FREEFALL_DETECTION_ENABLED)
+            CASE(EMITTER_ALWAYS_ON)
             CASE(AVALANCHE_PHOTO_DIODE)
             CASE(POST_PROCESSING_SHARPENING)
             CASE(PRE_PROCESSING_SHARPENING)

diff --git a/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java b/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java
@@ -65,6 +65,7 @@ public enum Option {
     ZERO_ORDER_ENABLED(61),
     ENABLE_MAP_PRESERVATION(62),
     FREEFALL_DETECTION_ENABLED(63);
+    EMITTER_ALWAYS_ON(64);
 
     private final int mValue;
 

diff --git a/wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs b/wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs
@@ -199,5 +199,11 @@ public enum Option
 
         /// <summary>Preserve previous map when starting</summary>
         EnableMapPreservation = 62,
+
+        /// <summary>Enable/disable sensor shutdown when a free-fall is detected (on by default)</summary>
+        FreeFallDetectionEnabled = 63,
+
+        /// <summary>Enable Laser On constantly (GS SKU Only)</summary>
+        EmitterAlwaysOn = 64,
     }
 }
diff --git a/wrappers/matlab/option.m b/wrappers/matlab/option.m
@@ -63,6 +63,8 @@
         led_power                       (60)
         zero_order_enabled              (61)
         enable_map_preservation         (62)
-        count                           (63)
+        freefall_detection_enabled      (63)
+        emitter_always_on               (64)
+        count                           (65)
     end
 end
diff --git a/wrappers/nodejs/index.js b/wrappers/nodejs/index.js
@@ -4925,6 +4925,13 @@ const option = {
   OPTION_LED_POWER: RS2.RS2_OPTION_LED_POWER,
   OPTION_ZERO_ORDER_ENABLED: RS2.RS2_OPTION_ZERO_ORDER_ENABLED,
   OPTION_ENABLE_MAP_PRESERVATION: RS2.RS2_OPTION_ENABLE_MAP_PRESERVATION,
+  OPTION_FREEFALL_DETECTION_ENABLED: RS2.RS2_OPTION_FREEFALL_DETECTION_ENABLED,
+  /**
+   * Enable Laser On constantly (GS SKU Only)
+   * <br>Equivalent to its lowercase counterpart
+   * @type {Integer}
+   */
+  OPTION_EMITTER_ALWAYS_ON: RS2.RS2_OPTION_EMITTER_ALWAYS_ON,
   /**
    * Number of enumeration values. Not a valid input: intended to be used in for-loops.
    * @type {Integer}
@@ -5067,6 +5074,10 @@ const option = {
         return this.option_zero_order_enabled;
       case this.OPTION_ENABLE_MAP_PRESERVATION:
         return this.option_enable_map_preservation;
+      case this.OPTION_FREEFALL_DETECTION_ENABLED:
+        return this.option_freefall_detection_enabled;
+      case this.OPTION_EMITTER_ALWAYS_ON:
+        return this.option_emitter_always_on;
       default:
         throw new TypeError(
             'option.optionToString(option) expects a valid value as the 1st argument');

diff --git a/wrappers/nodejs/src/addon.cpp b/wrappers/nodejs/src/addon.cpp
@@ -4690,6 +4690,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_OPTION_ZERO_ORDER_ENABLED);
   _FORCE_SET_ENUM(RS2_OPTION_ENABLE_MAP_PRESERVATION);
   _FORCE_SET_ENUM(RS2_OPTION_FREEFALL_DETECTION_ENABLED);
+  _FORCE_SET_ENUM(RS2_OPTION_EMITTER_ALWAYS_ON);
   _FORCE_SET_ENUM(RS2_OPTION_COUNT);
 
   // rs2_camera_info

diff --git a/wrappers/python/pybackend.cpp b/wrappers/python/pybackend.cpp
@@ -163,6 +163,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("zero_order_enabled", RS2_OPTION_ZERO_ORDER_ENABLED)
         .value("enable_map_preservation", RS2_OPTION_ENABLE_MAP_PRESERVATION)
         .value("enable_freefall_detection", RS2_OPTION_FREEFALL_DETECTION_ENABLED)
+        .value("emiiter_always_on", RS2_OPTION_EMITTER_ALWAYS_ON)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");

diff --git a/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h b/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h
@@ -117,6 +117,7 @@ enum class ERealSenseOptionType : uint8
     ZERO_ORDER_ENABLED                         , /**< Zero-order mode */
     ENABLE_MAP_PRESERVATION                    , /**< Preserve map from the previous run */
     FREEFALL_DETECTION_ENABLED                 , /**< Enable/disable sensor shutdown when a free-fall is detected (on by default) */
+    EMITTER_ALWAYS_ON                          , /**< Enable Laser On constantly (GS SKU Only) */
 };
 
 UENUM(Blueprintable)