Add option: RS2_OPTION_GLOBAL_TIME_ENABLED. Disable it in unit-test.

ForS1F · May 13, 2019 · 8391341 · 8391341
1 parent 33651ca
commit 8391341
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Showing 13 changed files with 63 additions and 19 deletions.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -74,6 +74,7 @@ extern "C" {
         RS2_OPTION_MC_TEMPERATURE, /**< MC temperature*/
         RS2_OPTION_MA_TEMPERATURE, /**< MA temperature*/
         RS2_OPTION_HARDWARE_PRESET, /**< Hardware stream configuration */
+        RS2_OPTION_GLOBAL_TIME_ENABLED, /**< disable global time  */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

diff --git a/src/ds5/ds5-color.cpp b/src/ds5/ds5-color.cpp
@@ -48,12 +48,13 @@ namespace librealsense
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_backup(new ds5_timestamp_reader(backend.create_time_service()));
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(ds5_timestamp_reader_backup)));
 
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto color_ep = std::make_shared<ds5_color_sensor>(this, backend.create_uvc_device(color_devices_info.front()),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper)));
-
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper, enable_global_time_option)));
 
         _color_device_idx = add_sensor(color_ep);
 
+        color_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         color_ep->register_pixel_format(pf_yuyv);
         color_ep->register_pixel_format(pf_yuy2);
         color_ep->register_pixel_format(pf_bayer16);

diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp
@@ -325,9 +325,11 @@ namespace librealsense
 
         std::unique_ptr<frame_timestamp_reader> timestamp_reader_backup(new ds5_timestamp_reader(backend.create_time_service()));
         std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(timestamp_reader_backup)));
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto depth_ep = std::make_shared<ds5_depth_sensor>(this, std::make_shared<platform::multi_pins_uvc_device>(depth_devices),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper)));
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper, enable_global_time_option)));
 
+        depth_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         depth_ep->register_xu(depth_xu); // make sure the XU is initialized every time we power the camera
 
         depth_ep->register_pixel_format(pf_z16); // Depth
@@ -681,8 +683,12 @@ namespace librealsense
 
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_backup(new ds5_timestamp_reader(backend.create_time_service()));
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(ds5_timestamp_reader_backup)));
+
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto depth_ep = std::make_shared<ds5u_depth_sensor>(this, std::make_shared<platform::multi_pins_uvc_device>(depth_devices),
-                                std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper)));
+                                std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper, enable_global_time_option)));
+
+        depth_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
 
         depth_ep->register_xu(depth_xu); // make sure the XU is initialized every time we power the camera
 

diff --git a/src/ds5/ds5-motion.cpp b/src/ds5/ds5-motion.cpp
@@ -166,12 +166,14 @@ namespace librealsense
 
         std::unique_ptr<frame_timestamp_reader> iio_hid_ts_reader(new iio_hid_timestamp_reader());
         std::unique_ptr<frame_timestamp_reader> custom_hid_ts_reader(new ds5_custom_hid_timestamp_reader());
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto hid_ep = std::make_shared<ds5_hid_sensor>(this, ctx->get_backend().create_hid_device(all_hid_infos.front()),
-                                                        std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(iio_hid_ts_reader), _tf_keeper)),
-                                                        std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(custom_hid_ts_reader), _tf_keeper)),
+                                                        std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(iio_hid_ts_reader), _tf_keeper, enable_global_time_option)),
+                                                        std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(custom_hid_ts_reader), _tf_keeper, enable_global_time_option)),
                                                         fps_and_sampling_frequency_per_rs2_stream,
                                                         sensor_name_and_hid_profiles);
 
+        hid_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         hid_ep->register_pixel_format(pf_accel_axes);
         hid_ep->register_pixel_format(pf_gyro_axes);
 
@@ -381,9 +383,11 @@ namespace librealsense
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_backup(new ds5_timestamp_reader(environment::get_instance().get_time_service()));
         auto&& backend = ctx->get_backend();
         std::unique_ptr<frame_timestamp_reader> ds5_timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(ds5_timestamp_reader_backup)));
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto fisheye_ep = std::make_shared<ds5_fisheye_sensor>(this, backend.create_uvc_device(fisheye_infos.front()),
-                                std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper)));
+                                std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper, enable_global_time_option)));
 
+        fisheye_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         fisheye_ep->register_xu(fisheye_xu); // make sure the XU is initialized everytime we power the camera
         fisheye_ep->register_pixel_format(pf_raw8);
         fisheye_ep->register_pixel_format(pf_fe_raw8_unpatched_kernel); // W/O for unpatched kernel

diff --git a/src/global_timestamp_reader.cpp b/src/global_timestamp_reader.cpp
@@ -187,9 +187,12 @@ namespace librealsense
         return _coefs.calc_value(crnt_hw_time);
     }
 
-    global_timestamp_reader::global_timestamp_reader(std::unique_ptr<frame_timestamp_reader> device_timestamp_reader, std::shared_ptr<time_diff_keeper> timediff) :
+    global_timestamp_reader::global_timestamp_reader(std::unique_ptr<frame_timestamp_reader> device_timestamp_reader, 
+                                                     std::shared_ptr<time_diff_keeper> timediff,
+                                                     std::shared_ptr<global_time_option> enable_option) :
         _device_timestamp_reader(std::move(device_timestamp_reader)),
-        _time_diff_keeper(timediff)
+        _time_diff_keeper(timediff),
+        _option_is_enabled(enable_option)
     {
         LOG_DEBUG("global_timestamp_reader created");
     }
@@ -198,7 +201,7 @@ namespace librealsense
     {
         double frame_time = _device_timestamp_reader->get_frame_timestamp(mode, fo);
         rs2_timestamp_domain ts_domain = _device_timestamp_reader->get_frame_timestamp_domain(mode, fo);
-        if (ts_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
+        if (_option_is_enabled->is_true() && ts_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
         {
             auto sp = _time_diff_keeper.lock();
             if (sp)
@@ -218,13 +221,11 @@ namespace librealsense
     rs2_timestamp_domain global_timestamp_reader::get_frame_timestamp_domain(const request_mapping& mode, const platform::frame_object& fo) const
     {
         rs2_timestamp_domain ts_domain = _device_timestamp_reader->get_frame_timestamp_domain(mode, fo);
-        return (ts_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) ? RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME : ts_domain;
+        return (_option_is_enabled->is_true() && ts_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) ? RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME : ts_domain;
     }
 
     void global_timestamp_reader::reset()
     {
         _device_timestamp_reader->reset();
     }
-
-
 }
diff --git a/src/global_timestamp_reader.h b/src/global_timestamp_reader.h
@@ -10,6 +10,14 @@
 
 namespace librealsense
 {
+    class LRS_EXTENSION_API global_time_option : public bool_option
+    {
+    public:
+        global_time_option() {}
+        // TODO: expose this outwards
+        const char* get_description() const override { return "Enable/Disable global timestamp."; }
+    };
+
     class CSample
     {
     public:
@@ -69,7 +77,9 @@ namespace librealsense
     class global_timestamp_reader : public frame_timestamp_reader
     {
     public:
-        global_timestamp_reader(std::unique_ptr<frame_timestamp_reader> device_timestamp_reader, std::shared_ptr<time_diff_keeper> timediff);
+        global_timestamp_reader(std::unique_ptr<frame_timestamp_reader> device_timestamp_reader, 
+                                std::shared_ptr<time_diff_keeper> timediff,
+                                std::shared_ptr<global_time_option>);
 
         rs2_time_t get_frame_timestamp(const request_mapping& mode, const platform::frame_object& fo) override;
         unsigned long long get_frame_counter(const request_mapping& mode, const platform::frame_object& fo) const override;
@@ -80,5 +90,6 @@ namespace librealsense
         std::unique_ptr<frame_timestamp_reader> _device_timestamp_reader;
         std::weak_ptr<time_diff_keeper> _time_diff_keeper;
         mutable std::recursive_mutex _mtx;
+        std::shared_ptr<global_time_option> _option_is_enabled;
     };
 }
diff --git a/src/l500/l500-color.cpp b/src/l500/l500-color.cpp
@@ -14,10 +14,12 @@ namespace librealsense
         auto&& backend = ctx->get_backend();
 
         std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new ivcam2::l500_timestamp_reader_from_metadata(backend.create_time_service()));
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto color_ep = std::make_shared<l500_color_sensor>(this, ctx->get_backend().create_uvc_device(color_devices_info.front()),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper)),
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper, enable_global_time_option)),
             ctx);
 
+        color_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         color_ep->register_pixel_format(pf_yuy2);
         color_ep->register_pixel_format(pf_yuyv);
 

diff --git a/src/l500/l500-device.cpp b/src/l500/l500-device.cpp
@@ -85,9 +85,11 @@ namespace librealsense
             depth_devices.push_back(backend.create_uvc_device(info));
 
         std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new l500_timestamp_reader_from_metadata(backend.create_time_service()));
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto depth_ep = std::make_shared<l500_depth_sensor>(this, std::make_shared<platform::multi_pins_uvc_device>(depth_devices),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper)));
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper, enable_global_time_option)));
 
+        depth_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         depth_ep->register_xu(depth_xu);
         depth_ep->register_pixel_format(pf_z16_l500);
         depth_ep->register_pixel_format(pf_confidence_l500);

diff --git a/src/l500/l500-motion.cpp b/src/l500/l500-motion.cpp
@@ -108,12 +108,14 @@ namespace librealsense
 
         std::unique_ptr<frame_timestamp_reader> iio_hid_ts_reader(new iio_hid_timestamp_reader());
         std::unique_ptr<frame_timestamp_reader> custom_hid_ts_reader(new iio_hid_timestamp_reader());
+        auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
         auto hid_ep = std::make_shared<l500_hid_sensor>(this, ctx->get_backend().create_hid_device(all_hid_infos.front()),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(iio_hid_ts_reader), _tf_keeper)),
-            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(custom_hid_ts_reader), _tf_keeper)),
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(iio_hid_ts_reader), _tf_keeper, enable_global_time_option)),
+            std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(custom_hid_ts_reader), _tf_keeper, enable_global_time_option)),
             l500_fps_and_sampling_frequency_per_rs2_stream,
             l500_sensor_name_and_hid_profiles);
 
+        hid_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
         hid_ep->register_pixel_format(pf_accel_axes);
         hid_ep->register_pixel_format(pf_gyro_axes);
 

diff --git a/src/option.h b/src/option.h
@@ -169,10 +169,19 @@ namespace librealsense
         bool is_enabled() const override { return true; }
         // TODO: expose this outwards
         const char* get_description() const override { return "A simple custom option for a processing block"; }
-    private:
+    protected:
         float _value;
     };
 
+    class LRS_EXTENSION_API bool_option : public float_option
+    {
+    public:
+        bool_option() : float_option(option_range{ 0, 1, 1, 1 }) {}
+        bool is_true() { return (_value > _opt_range.min); }
+        // TODO: expose this outwards
+        const char* get_description() const override { return "A simple custom option for a processing block"; }
+    };
+
     class uvc_pu_option : public option
     {
     public:

diff --git a/src/types.cpp b/src/types.cpp
@@ -284,6 +284,7 @@ namespace librealsense
             CASE(MC_TEMPERATURE)
             CASE(MA_TEMPERATURE)
             CASE(HARDWARE_PRESET)
+            CASE(GLOBAL_TIME_ENABLED)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE

diff --git a/unit-tests/unit-tests-common.h b/unit-tests/unit-tests-common.h
@@ -213,6 +213,9 @@ inline void disable_sensitive_options_for(rs2::sensor& sen)
         REQUIRE_NOTHROW(range = sen.get_option_range(RS2_OPTION_EXPOSURE)); // TODO: fails sometimes with "Element Not Found!"
         REQUIRE_NOTHROW(sen.set_option(RS2_OPTION_EXPOSURE, range.def));
     }
+
+    if (sen.supports(RS2_OPTION_GLOBAL_TIME_ENABLED))
+        REQUIRE_NOTHROW(sen.set_option(RS2_OPTION_GLOBAL_TIME_ENABLED, 0));
 }
 
 inline void disable_sensitive_options_for(rs2::device& dev)

diff --git a/wrappers/python/pybackend.cpp b/wrappers/python/pybackend.cpp
@@ -139,6 +139,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("filter_smooth_delta", RS2_OPTION_FILTER_SMOOTH_DELTA)
         .value("filter_holes_fill", RS2_OPTION_HOLES_FILL)
         .value("stereo_baseline", RS2_OPTION_STEREO_BASELINE)
+        .value("global_time_enabled", RS2_OPTION_GLOBAL_TIME_ENABLED)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");