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Remove memcpy in HWM & command_transfer #12622

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merged 4 commits into from
Jan 31, 2024
Merged

Remove memcpy in HWM & command_transfer #12622

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a2dd334
remove one copy in HWM send_receive
maloel Jan 30, 2024
e6cd0e2
hwm remove 3 copies and many log msgs
maloel Jan 30, 2024
87396d6
remove now-unused hwmon_cmd
maloel Jan 30, 2024
33d46b1
add an error log to rs2_create_error
maloel Jan 30, 2024
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2 changes: 1 addition & 1 deletion src/api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ namespace librealsense



static void translate_exception(const char * name, std::string args, rs2_error ** error)
static void translate_exception(const char * name, std::string const & args, rs2_error ** error)
{
try { throw; }
catch (const librealsense_exception& e) { if (error) *error = rs2_create_error(e.what(), name, args.c_str(), e.get_exception_type() ); }
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2 changes: 1 addition & 1 deletion src/ds/d500/hw_monitor_extended_buffers.cpp
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Expand Up @@ -47,7 +47,7 @@ namespace librealsense
// - no buffer bigger than 1 KB is expected with the current command => work as normal hw_monitor::send method
// - buffer bigger than 1 KB expected to be received => iterate the hw_monitor::send method and append the results
// - buffer bigger than 1 KB expected to be sent => iterate the hw_monitor, while iterating over the input
std::vector<uint8_t> hw_monitor_extended_buffers::send(command cmd, hwmon_response* p_response, bool locked_transfer) const
std::vector<uint8_t> hw_monitor_extended_buffers::send(command const & cmd, hwmon_response* p_response, bool locked_transfer) const
{
hwm_buffer_type buffer_type = get_buffer_type(cmd);
if (buffer_type == hwm_buffer_type::standard)
Expand Down
2 changes: 1 addition & 1 deletion src/ds/d500/hw_monitor_extended_buffers.h
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Expand Up @@ -26,7 +26,7 @@ namespace librealsense
{}

virtual std::vector<uint8_t> send(std::vector<uint8_t> const& data) const override;
virtual std::vector<uint8_t> send(command cmd, hwmon_response* = nullptr, bool locked_transfer = false) const override;
virtual std::vector<uint8_t> send(command const & cmd, hwmon_response* = nullptr, bool locked_transfer = false) const override;

private:
int get_msg_length(command cmd) const;
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24 changes: 17 additions & 7 deletions src/ds/ds-options.cpp
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Expand Up @@ -550,16 +550,26 @@ namespace librealsense
{
float rv = 0.f;
command cmd(ds::GETSUBPRESETID);
// if no subpreset is streaming, the firmware returns "ON_DATA_TO_RETURN" error
try {
auto res = _hwm.send(cmd);
// if a subpreset is streaming, checking this is the alternating emitter sub preset
if (res.size())
rv = (res[0] == ds::ALTERNATING_EMITTER_SUBPRESET_ID) ? 1.0f : 0.f;
try
{
hwmon_response response;
auto res = _hwm.send( cmd, &response ); // avoid the throw
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switch( response )
{
case hwmon_response::hwm_NoDataToReturn:
// If no subpreset is streaming, the firmware returns "NO_DATA_TO_RETURN" error
break;
default:
// if a subpreset is streaming, checking this is the alternating emitter sub preset
if( res.size() )
rv = ( res[0] == ds::ALTERNATING_EMITTER_SUBPRESET_ID ) ? 1.0f : 0.f;
else
LOG_DEBUG( "alternating emitter query: " << hwmon_error_string( cmd, response ) );
break;
}
}
catch (...)
{
rv = 0.f;
}

return rv;
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24 changes: 17 additions & 7 deletions src/hdr-config.cpp
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Expand Up @@ -228,16 +228,26 @@ namespace librealsense
{
float rv = 0.f;
command cmd(ds::GETSUBPRESETID);
// if no subpreset is streaming, the firmware returns "ON_DATA_TO_RETURN" error
try {
auto res = _hwm.send(cmd);
// if a subpreset is streaming, checking this is the current HDR sub preset
if (res.size())
rv = (is_hdr_id(res[0])) ? 1.0f : 0.f;
try
{
hwmon_response response;
auto res = _hwm.send( cmd, &response ); // avoid the throw
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switch( response )
{
case hwmon_response::hwm_NoDataToReturn:
// If no subpreset is streaming, the firmware returns "NO_DATA_TO_RETURN" error
break;
default:
// If a subpreset is streaming, checking this is the current HDR sub preset
if( res.size() )
rv = ( is_hdr_id( res[0] ) ) ? 1.0f : 0.f;
else
LOG_DEBUG( "hdr_config query: " << hwmon_error_string( cmd, response ) );
break;
}
}
catch (...)
{
rv = 0.f;
}

_is_enabled = (rv == 1.f);
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60 changes: 26 additions & 34 deletions src/hw-monitor.cpp
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Expand Up @@ -85,11 +85,10 @@ namespace librealsense
return cmd;
}

void hw_monitor::execute_usb_command(uint8_t *out, size_t outSize, uint32_t & op, uint8_t * in,
void hw_monitor::execute_usb_command(uint8_t const *out, size_t outSize, uint32_t & op, uint8_t * in,
size_t & inSize, bool require_response) const
{
std::vector<uint8_t> out_vec(out, out + outSize);
auto res = _locked_transfer->send_receive(out_vec, 5000, require_response);
auto res = _locked_transfer->send_receive( out, outSize, 5000, require_response );

// read
if (require_response && in && inSize)
Expand Down Expand Up @@ -140,66 +139,59 @@ namespace librealsense

std::vector< uint8_t > hw_monitor::send( std::vector< uint8_t > const & data ) const
{
return _locked_transfer->send_receive(data);
return _locked_transfer->send_receive( data.data(), data.size() );
}

std::vector< uint8_t >
hw_monitor::send( command cmd, hwmon_response * p_response, bool locked_transfer ) const
hw_monitor::send( command const & cmd, hwmon_response * p_response, bool locked_transfer ) const
{
hwmon_cmd newCommand(cmd);
auto opCodeXmit = static_cast<uint32_t>(newCommand.cmd);
uint32_t const opCodeXmit = cmd.cmd;

hwmon_cmd_details details;
details.require_response = newCommand.require_response;
details.timeOut = newCommand.timeOut;

fill_usb_buffer(opCodeXmit,
newCommand.param1,
newCommand.param2,
newCommand.param3,
newCommand.param4,
newCommand.data,
newCommand.sizeOfSendCommandData,
details.sendCommandData.data(),
details.sizeOfSendCommandData);
details.require_response = cmd.require_response;
details.timeOut = cmd.timeout_ms;

fill_usb_buffer( opCodeXmit,
cmd.param1,
cmd.param2,
cmd.param3,
cmd.param4,
cmd.data.data(), // memcpy
std::min( (uint16_t)cmd.data.size(), HW_MONITOR_BUFFER_SIZE ),
details.sendCommandData.data(),
details.sizeOfSendCommandData );

if (locked_transfer)
{
return _locked_transfer->send_receive({ details.sendCommandData.begin(),details.sendCommandData.end() });
return _locked_transfer->send_receive( details.sendCommandData.data(), details.sendCommandData.size() );
}

send_hw_monitor_command(details);

// Error/exit conditions
if (p_response)
*p_response = hwm_Success;
if( !newCommand.require_response )
return std::vector<uint8_t>();

std::memcpy( newCommand.receivedOpcode, details.receivedOpcode.data(), 4 );
std::memcpy( newCommand.receivedCommandData,
details.receivedCommandData.data(),
details.receivedCommandDataLength );
newCommand.receivedCommandDataLength = details.receivedCommandDataLength;
if( ! cmd.require_response )
return {};

// endian?
auto opCodeAsUint32 = pack(details.receivedOpcode[3], details.receivedOpcode[2],
details.receivedOpcode[1], details.receivedOpcode[0]);
if (opCodeAsUint32 != opCodeXmit)
{
auto err_type = static_cast<hwmon_response>(opCodeAsUint32);
std::string err = hwmon_error_string(cmd, err_type);
LOG_DEBUG(err);
if (p_response)
//LOG_DEBUG(err); // too intrusive; may be an expected error
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You removed the line that initialize err

std::string err = hwmon_error_string(cmd, err_type);

Better to keep as comment or remove both, right?

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OK, I'll remove

if( p_response )
{
*p_response = err_type;
return std::vector<uint8_t>();
return {};
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Just to understand, why is this better than before? what happens behind the scene?

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They're exactly the same, except the latter will still work if we change the return type of the function.

}
std::string err = hwmon_error_string( cmd, err_type );
throw invalid_value_exception(err);
}

return std::vector<uint8_t>(newCommand.receivedCommandData,
newCommand.receivedCommandData + newCommand.receivedCommandDataLength);
auto const pb = details.receivedCommandData.data();
return std::vector<uint8_t>( pb, pb + details.receivedCommandDataLength );
}

/*static*/ std::vector<uint8_t> hw_monitor::build_command(uint32_t opcode,
Expand Down
51 changes: 4 additions & 47 deletions src/hw-monitor.h
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Expand Up @@ -204,7 +204,7 @@ namespace librealsense
{}

std::vector<uint8_t> send_receive(
const std::vector<uint8_t>& data,
uint8_t const * pb, size_t cb,
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What pb & cp means?
Don't you prefer meaningful names?

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How PB & CP are data and data_size? :)

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It's pretty common Hungarian notation for "pointer to bytes" and "count of bytes".

int timeout_ms = 5000,
bool require_response = true)
{
Expand All @@ -222,7 +222,7 @@ namespace librealsense
return strong_uvc->invoke_powered([&] ( platform::uvc_device & dev )
{
std::lock_guard<platform::uvc_device> lock(dev);
return _command_transfer->send_receive(data, timeout_ms, require_response);
return _command_transfer->send_receive(pb, cb, timeout_ms, require_response);
});
}

Expand Down Expand Up @@ -271,49 +271,6 @@ namespace librealsense
class hw_monitor
{
protected:
struct hwmon_cmd
{
uint8_t cmd;
int param1;
int param2;
int param3;
int param4;
uint8_t data[HW_MONITOR_BUFFER_SIZE];
int sizeOfSendCommandData;
long timeOut;
bool require_response;
uint8_t receivedCommandData[HW_MONITOR_BUFFER_SIZE];
size_t receivedCommandDataLength;
uint8_t receivedOpcode[4];

explicit hwmon_cmd(uint8_t cmd_id)
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Don't we use it?
Python maybe?

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Nope. No longer in use (I removed the only usage).

: cmd(cmd_id),
param1(0),
param2(0),
param3(0),
param4(0),
sizeOfSendCommandData(0),
timeOut(5000),
require_response(true),
receivedCommandDataLength(0)
{}


explicit hwmon_cmd(const command& cmd)
: cmd(cmd.cmd),
param1(cmd.param1),
param2(cmd.param2),
param3(cmd.param3),
param4(cmd.param4),
sizeOfSendCommandData(std::min((uint16_t)cmd.data.size(), HW_MONITOR_BUFFER_SIZE)),
timeOut(cmd.timeout_ms),
require_response(cmd.require_response),
receivedCommandDataLength(0)
{
std::memcpy( data, cmd.data.data(), sizeOfSendCommandData );
}
};

struct hwmon_cmd_details
{
bool require_response;
Expand All @@ -325,7 +282,7 @@ namespace librealsense
size_t receivedCommandDataLength;
};

void execute_usb_command(uint8_t *out, size_t outSize, uint32_t& op, uint8_t* in,
void execute_usb_command(uint8_t const *out, size_t outSize, uint32_t& op, uint8_t* in,
size_t& inSize, bool require_response) const;
static void update_cmd_details(hwmon_cmd_details& details, size_t receivedCmdLen, unsigned char* outputBuffer);
void send_hw_monitor_command(hwmon_cmd_details& details) const;
Expand All @@ -352,7 +309,7 @@ namespace librealsense
static command build_command_from_data(const std::vector<uint8_t> data);

virtual std::vector<uint8_t> send( std::vector<uint8_t> const & data ) const;
virtual std::vector<uint8_t> send( command cmd, hwmon_response * = nullptr, bool locked_transfer = false ) const;
virtual std::vector<uint8_t> send( command const & cmd, hwmon_response * = nullptr, bool locked_transfer = false ) const;
static std::vector<uint8_t> build_command(uint32_t opcode,
uint32_t param1 = 0,
uint32_t param2 = 0,
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14 changes: 8 additions & 6 deletions src/platform/command-transfer.h
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Expand Up @@ -17,7 +17,8 @@ namespace librealsense
{
public:
virtual std::vector<uint8_t> send_receive(
const std::vector<uint8_t>& data,
uint8_t const * pb,
size_t cb,
int timeout_ms = 5000,
bool require_response = true) = 0;

Expand All @@ -30,10 +31,7 @@ namespace librealsense
command_transfer_usb(const rs_usb_device& device) : _device(device) {}
~command_transfer_usb(){}

std::vector<uint8_t> send_receive(
const std::vector<uint8_t>& data,
int timeout_ms,
bool) override
std::vector< uint8_t > send_receive( uint8_t const * pb, size_t cb, int timeout_ms, bool ) override
{
auto intfs = _device->get_interfaces();
auto it = std::find_if(intfs.begin(), intfs.end(),
Expand All @@ -47,7 +45,11 @@ namespace librealsense
if (const auto& m = _device->open(hwm->get_number()))
{
uint32_t transfered_count = 0;
auto sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE), const_cast<uint8_t*>(data.data()), static_cast<uint32_t>(data.size()), transfered_count, timeout_ms);
auto sts = m->bulk_transfer( hwm->first_endpoint( RS2_USB_ENDPOINT_DIRECTION_WRITE ),
const_cast< uint8_t * >( pb ),
static_cast< uint32_t >( cb ),
transfered_count,
timeout_ms );

if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));
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10 changes: 5 additions & 5 deletions src/platform/uvc-option.cpp
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Expand Up @@ -113,24 +113,24 @@ const char* uvc_pu_option::get_description() const
}


std::vector<uint8_t> command_transfer_over_xu::send_receive(const std::vector<uint8_t>& data, int, bool require_response)
std::vector<uint8_t> command_transfer_over_xu::send_receive( uint8_t const * const pb, size_t const cb, int, bool require_response)
{
return _uvc.invoke_powered([this, &data, require_response]( platform::uvc_device & dev )
return _uvc.invoke_powered([this, pb, cb, require_response]( platform::uvc_device & dev )
{
std::vector<uint8_t> result;

std::lock_guard< platform::uvc_device > lock(dev);

if( data.size() > HW_MONITOR_BUFFER_SIZE )
if( cb > HW_MONITOR_BUFFER_SIZE )
{
LOG_ERROR( "XU command size is invalid" );
throw invalid_value_exception( rsutils::string::from()
<< "Requested XU command size " << std::dec << data.size()
<< "Requested XU command size " << std::dec << cb
<< " exceeds permitted limit " << HW_MONITOR_BUFFER_SIZE );
}

std::vector< uint8_t > transmit_buf( HW_MONITOR_BUFFER_SIZE, 0 );
std::copy( data.begin(), data.end(), transmit_buf.begin() );
std::copy( pb, pb + cb, transmit_buf.begin() );

if( ! dev.set_xu( _xu, _ctrl, transmit_buf.data(), static_cast< int >( transmit_buf.size() ) ) )
throw invalid_value_exception( rsutils::string::from()
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2 changes: 1 addition & 1 deletion src/platform/uvc-option.h
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Expand Up @@ -264,7 +264,7 @@ class command_transfer_over_xu : public platform::command_transfer
uint8_t _ctrl;

public:
std::vector< uint8_t > send_receive( const std::vector< uint8_t > & data, int, bool require_response ) override;
std::vector< uint8_t > send_receive( uint8_t const * pb, size_t cb, int, bool require_response ) override;

command_transfer_over_xu( uvc_sensor & uvc, platform::extension_unit xu, uint8_t ctrl )
: _uvc( uvc )
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1 change: 1 addition & 0 deletions src/rs.cpp
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Expand Up @@ -174,6 +174,7 @@ struct rs2_error

rs2_error *rs2_create_error(const char* what, const char* name, const char* args, rs2_exception_type type) BEGIN_API_CALL
{
LOG_ERROR( "[" << name << "][" << rs2_exception_type_to_string( type ) << "] " << what << ": " << args );
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return new rs2_error{ what, name, args, type };
}
NOEXCEPT_RETURN(nullptr, what, name, args, type)
Expand Down
5 changes: 4 additions & 1 deletion src/types.cpp
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Expand Up @@ -49,7 +49,10 @@ namespace librealsense
rs2_exception_type exception_type) noexcept
: librealsense_exception(msg, exception_type)
{
LOG_DEBUG("recoverable_exception: " << msg);
// This is too intrusive: some throws are completely valid and even expected (options-watcher queries all
// options, some of which may not be queryable) and this just dirties up the logs. It doesn't have the actual
// exception type, either.
//LOG_DEBUG("recoverable_exception: " << msg);
}

}
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