T265 query devices fix #3515

ev-mp · 2019-03-17T17:06:38Z

T265: make context::query_devices to discover and enumerate device in a robust and deterministic manner.

Changes:

Implement device discovery and proper enumeration flow:

Invoke device discovery events
Wait for a predefined amount of time.
For each discovered DFU-mode device:
- extend the timeout ( bounded by global max timeout)
- Track DFU vs FW-Loaded devices.
Stop when all DFU-devices have been loaded, or alternatively a timeout occurred.

Device_hub to use internal device event callback instead of overriding user-defined callback
Examples utils - add support pose and motion data render (pose as text). Adjust demos affected by the change: rs-record-playback, rs-align, rs-measure.
4 Reorder query_devices to prioritize D400 over T265
rs-multicam:

Rework to handle hw events in the main thread instead of callback.
Adapt for high-fps rate devices

rs-enumerate-devices - to provide a robust enumeration of all the connected T265 devices on startup (tested with up to four units)

Optimizations& Bug fixes:

Reducing TM2 initialization time by 500 msec
Device_hub to track TM2 connect events
T265 logger initialization to prevent race condition with the FSM thread startup logs
T265 6DOF Pose frame rate - 200fps and not as previously stated
Uninitialized T265 intrinsic parameter
TM2 Header compilation dependency
GCC/Cland-proposed fixes

Addresses #3488, #3465, #3361, also related to #3437, #3434
Tracked on: TM2-4235

Refactor TM2 Header compilation dependency Device_hub to track TM2 connect events Modify example rendered to support pose and motion data. Adjust demos affected by the change. Fix constness management Change-Id: Ieb8652bc95bb167e4522888c5fef5db346f75d4b

tm2_query_device shall be blocking awaiting T265 discovery and firmware load to take place Flow: - Invoke device discovery events - Wait for a predefined amount of time. - For each discovered DFU-mode device: - extend the timeout ( bounded by global max timeout) - Track cound of DFU vs FW-Loaded devices. - Stop when all DFU-devices have been loaded, or alternatively a timeout occurred. Bug fixes: - Reducing TM2 initialization time by 500 msec - The logger must be initialized before the FSM thread, otherwise it looses FSM startup messages due to race - Fix Pose frame rate - 200fps and not as previously stated - Fix uninitialized intrinsic parameter - Optimization refactoring Change-Id: Ide54a54c8dcf00369b1dd097dbf3ff8a6d53e629

Device_hub to use internal device event callback instead of overriding user-defined callback Multicam - handle hw event in the main thread instead of callback Change-Id: I46b5ae75483f1b078d0f623262a0ef285f849069

Explicit specialization in non-namespace scope Enforce explicit renderer assignment

TM2 Logger to report errors GCC/Cland fixes/enhancement: fix atomic load/store, remove unused variables, -wpedantic rs-multicam: Remove debug messages & code cleanup

Change-Id: I7b0281b4085017455f14014d8f65bbd16032b464

- Simplify rs-multicam by removing dynamic device enumeration - Renderer to use implicit conversion - Fix T265 log verbosity level - Remove templatized rendering - Update the rs-multicam example documentation Change-Id: I9fc5632f04482715a085f0721c76078a4d54442f

dorodnic · 2019-03-21T06:57:43Z

examples/example.hpp

+    // Provide textual representation only
+    void put_text(const std::string& msg, float norm_x_pos, float norm_y_pos, const rect& r)
+    {
+        if (!_gl_handle)


Why do you need _gl_handle?

dorodnic · 2019-03-21T06:58:11Z

examples/example.hpp

+    }
+
+private:
+


dorodnic · 2019-03-21T07:01:44Z

src/context.h

@@ -106,6 +103,9 @@ namespace librealsense

    typedef std::vector<std::shared_ptr<device_info>> devices_info;

+    //FW Decl


dorodnic · 2019-03-21T07:03:19Z

src/device_hub.cpp

            {
                if (uvc.vid == vid || vid == 0)
                {
                    result.push_back(dev);
                    break;
                }
            }
+
+            if (data.tm2_devices.size() && (0== vid))


Why vid==0?

vid-based filtering is currently not supported for T265. Backend changes in tm2_info are required.
I made a semantic change to improve maintainability, also marked a TODO

dorodnic · 2019-03-21T07:05:00Z

third-party/libtm/libtm/src/Manager.h

@@ -44,6 +44,9 @@ namespace perc
        static std::mutex instanceExistMutex;
        static bool instanceExist;

+        // Await USB device discovery completion


The comment is somewhat confusing

- Make hub_device filtering more explicit, add TODO for tm2_info missing part - Fix/Amend comments Change-Id: I94d87798d2205cf6692416a03a5ab3453e721660

…e wait anymore (avoid low power state)

ev-mp force-pushed the tm2_query_devices branch 3 times, most recently from 1b1abbd to 53086d3 Compare March 18, 2019 10:36

ev-mp added 2 commits March 18, 2019 14:09

TM2 Core fixes:

e815418

Refactor TM2 Header compilation dependency Device_hub to track TM2 connect events Modify example rendered to support pose and motion data. Adjust demos affected by the change. Fix constness management Change-Id: Ieb8652bc95bb167e4522888c5fef5db346f75d4b

ev-mp force-pushed the tm2_query_devices branch 2 times, most recently from 99f2c77 to 8c79a52 Compare March 18, 2019 20:30

ev-mp and others added 2 commits March 18, 2019 22:41

Multicam demo adaptation to T265 with a shared context:

057cf32

Device_hub to use internal device event callback instead of overriding user-defined callback Multicam - handle hw event in the main thread instead of callback Change-Id: I46b5ae75483f1b078d0f623262a0ef285f849069

Rework MSVC non-compliency:

a13f824

Explicit specialization in non-namespace scope Enforce explicit renderer assignment

ev-mp force-pushed the tm2_query_devices branch 3 times, most recently from d03df6c to 79a503e Compare March 18, 2019 22:52

Reorder query_devices to prioritize D400 over T265.

e50f067

TM2 Logger to report errors GCC/Cland fixes/enhancement: fix atomic load/store, remove unused variables, -wpedantic rs-multicam: Remove debug messages & code cleanup

ev-mp force-pushed the tm2_query_devices branch from 79a503e to e50f067 Compare March 18, 2019 23:20

Clean log messages

d83b9a0

Change-Id: I7b0281b4085017455f14014d8f65bbd16032b464

ev-mp mentioned this pull request Mar 19, 2019

wait for T265 to enumerate #3439

Closed

dorodnic added this to the v2.19.2 milestone Mar 19, 2019

dorodnic added the T260 series Intel® T265 library label Mar 19, 2019

CodeReview fixes:

49a05f1

- Simplify rs-multicam by removing dynamic device enumeration - Renderer to use implicit conversion - Fix T265 log verbosity level - Remove templatized rendering - Update the rs-multicam example documentation Change-Id: I9fc5632f04482715a085f0721c76078a4d54442f

ev-mp force-pushed the tm2_query_devices branch from 6c9b144 to 49a05f1 Compare March 20, 2019 14:50

ev-mp and others added 2 commits March 20, 2019 17:00

Documentation fixes

c379a46

rs-multicam: fix GCC build

7b68dce

dorodnic reviewed Mar 21, 2019

View reviewed changes

CodeReview:

4455f4f

- Make hub_device filtering more explicit, add TODO for tm2_info missing part - Fix/Amend comments Change-Id: I94d87798d2205cf6692416a03a5ab3453e721660

ev-mp merged commit 0cd79ad into IntelRealSense:development Mar 21, 2019

This was referenced Mar 22, 2019

rs2::pipeline can't open T265 given the serial number #3434

Closed

Detection issues with T265 #3488

Closed

dorodnic mentioned this pull request Mar 24, 2019

T265: Log connection errors to the console #3520

Closed

schmidtp1 added a commit to schmidtp1/librealsense that referenced this pull request Apr 2, 2019

synchronous TM2 query devices (PR IntelRealSense#3515) doesn't requir…

5a0670c

…e wait anymore (avoid low power state)

ogoshen mentioned this pull request Apr 3, 2019

Unity editor hangs running SLAM demo scene a second time w/2.19.2 #3655

Closed

ev-mp deleted the tm2_query_devices branch April 18, 2019 08:46

ev-mp mentioned this pull request May 2, 2019

Multi device connection problems #3892

Closed

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T265 query devices fix #3515

T265 query devices fix #3515

ev-mp commented Mar 17, 2019 •

edited

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dorodnic Mar 21, 2019

ev-mp Mar 21, 2019

dorodnic Mar 21, 2019

ev-mp Mar 21, 2019

dorodnic Mar 21, 2019

dorodnic Mar 21, 2019

ev-mp Mar 21, 2019

dorodnic Mar 21, 2019

ev-mp Mar 21, 2019

		@@ -106,6 +103,9 @@ namespace librealsense

		typedef std::vector<std::shared_ptr<device_info>> devices_info;

		//FW Decl

		}

		private:

T265 query devices fix #3515

T265 query devices fix #3515

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ev-mp commented Mar 17, 2019 • edited Loading

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ev-mp commented Mar 17, 2019 •

edited

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