Skip to content

Commit

Permalink
added class md_attribute_parser_with_crc
Browse files Browse the repository at this point in the history 
offsetof replaced with variable
  • Loading branch information
@AviaAv
AviaAv committed Dec 13, 2023
1 parent 9efe9cb commit eaf3c15
Show file tree
Hide file tree
Showing 8 changed files with 75 additions and 21 deletions.
4 changes: 2 additions & 2 deletions src/ds/d400/d400-color.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ namespace librealsense
{
if (_separate_color)
{
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

Expand All @@ -207,7 +207,7 @@ namespace librealsense
else
{
// attributes of md_rgb_control
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

Expand Down
10 changes: 5 additions & 5 deletions src/ds/d400/d400-device.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -981,7 +981,7 @@ namespace librealsense
depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_capture_timing);

Expand All @@ -990,14 +990,14 @@ namespace librealsense
make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_capture_stats);

depth_sensor.register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));

// attributes of md_depth_control
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_depth_control);

Expand All @@ -1018,7 +1018,7 @@ namespace librealsense
depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_LED_POWER, make_attribute_parser(&md_depth_control::ledPower, md_depth_control_attributes::led_power_attribute, md_prop_offset));

// md_configuration - will be used for internal validation only
md_prop_offset = offsetof(metadata_raw, mode) + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);
md_prop_offset = metadata_raw_mode_offset + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);

depth_sensor.register_metadata((rs2_frame_metadata_value)RS2_FRAME_METADATA_HW_TYPE, make_attribute_parser(&md_configuration::hw_type, md_configuration_attributes::hw_type_attribute, md_prop_offset));
depth_sensor.register_metadata((rs2_frame_metadata_value)RS2_FRAME_METADATA_SKU_ID, make_attribute_parser(&md_configuration::sku_id, md_configuration_attributes::sku_id_attribute, md_prop_offset));
Expand All @@ -1035,7 +1035,7 @@ namespace librealsense
if (_fw_version >= hdr_firmware_version)
{
// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);
auto md_prop_offset = metadata_raw_mode_offset + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);

depth_sensor.register_metadata(RS2_FRAME_METADATA_SEQUENCE_SIZE,
make_attribute_parser(&md_configuration::sub_preset_info,
Expand Down
2 changes: 1 addition & 1 deletion src/ds/d500/d500-color.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ namespace librealsense
{
auto& color_ep = get_color_sensor();

auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

Expand Down
10 changes: 5 additions & 5 deletions src/ds/d500/d500-device.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -629,7 +629,7 @@ namespace librealsense
}); //group_multiple_fw_calls

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_capture_timing);

Expand All @@ -638,14 +638,14 @@ namespace librealsense
make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_capture_stats);

depth_sensor.register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));

// attributes of md_depth_control
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_depth_mode, depth_y_mode) +
offsetof(md_depth_y_normal_mode, intel_depth_control);

Expand All @@ -665,7 +665,7 @@ namespace librealsense
depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_LED_POWER, make_attribute_parser(&md_depth_control::ledPower, md_depth_control_attributes::led_power_attribute, md_prop_offset));

// md_configuration - will be used for internal validation only
md_prop_offset = offsetof(metadata_raw, mode) + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);
md_prop_offset = metadata_raw_mode_offset + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);

depth_sensor.register_metadata((rs2_frame_metadata_value)RS2_FRAME_METADATA_HW_TYPE, make_attribute_parser(&md_configuration::hw_type, md_configuration_attributes::hw_type_attribute, md_prop_offset));
depth_sensor.register_metadata((rs2_frame_metadata_value)RS2_FRAME_METADATA_SKU_ID, make_attribute_parser(&md_configuration::sku_id, md_configuration_attributes::sku_id_attribute, md_prop_offset));
Expand All @@ -677,7 +677,7 @@ namespace librealsense
depth_sensor.register_metadata(RS2_FRAME_METADATA_GPIO_INPUT_DATA, make_attribute_parser(&md_configuration::gpioInputData, md_configuration_attributes::gpio_input_data_attribute, md_prop_offset));

// attributes of md_capture_timing
md_prop_offset = offsetof(metadata_raw, mode) + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);
md_prop_offset = metadata_raw_mode_offset + offsetof(md_depth_mode, depth_y_mode) + offsetof(md_depth_y_normal_mode, intel_configuration);

depth_sensor.register_metadata(RS2_FRAME_METADATA_SEQUENCE_SIZE,
make_attribute_parser(&md_configuration::sub_preset_info,
Expand Down
8 changes: 4 additions & 4 deletions src/ds/ds-color-common.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ namespace librealsense
_color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, std::make_shared<ds_md_attribute_actual_fps>());

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_capture_timing);

Expand All @@ -83,22 +83,22 @@ namespace librealsense
make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));

// attributes of md_rgb_control
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

_color_ep.register_metadata(RS2_FRAME_METADATA_GAIN_LEVEL, make_attribute_parser(&md_rgb_control::gain, md_rgb_control_attributes::gain_attribute, md_prop_offset));
_color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE, make_attribute_parser(&md_rgb_control::manual_exp, md_rgb_control_attributes::manual_exp_attribute, md_prop_offset));

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_capture_stats);

_color_ep.register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));

// attributes of md_rgb_control
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_rgb_mode, rgb_mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

Expand Down
8 changes: 4 additions & 4 deletions src/ds/ds-motion-common.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -410,7 +410,7 @@ namespace librealsense
_raw_fisheye_ep->register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_additional_data_parser(&frame_additional_data::fisheye_ae_mode));

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
auto md_prop_offset = metadata_raw_mode_offset +
offsetof(md_fisheye_mode, fisheye_mode) +
offsetof(md_fisheye_normal_mode, intel_capture_timing);

Expand All @@ -419,12 +419,12 @@ namespace librealsense
make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_fisheye_mode, fisheye_mode) +
offsetof(md_fisheye_normal_mode, intel_capture_stats);

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_fisheye_mode, fisheye_mode) +
offsetof(md_fisheye_normal_mode, intel_configuration);

Expand All @@ -435,7 +435,7 @@ namespace librealsense
_raw_fisheye_ep->register_metadata((rs2_frame_metadata_value)RS2_FRAME_METADATA_HEIGHT, make_attribute_parser(&md_configuration::height, md_configuration_attributes::height_attribute, md_prop_offset));

// attributes of md_fisheye_control
md_prop_offset = offsetof(metadata_raw, mode) +
md_prop_offset = metadata_raw_mode_offset +
offsetof(md_fisheye_mode, fisheye_mode) +
offsetof(md_fisheye_normal_mode, intel_fisheye_control);

Expand Down
53 changes: 53 additions & 0 deletions src/metadata-parser.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -321,6 +321,59 @@ namespace librealsense
}
};

template<class S, class Attribute, typename Flag>
class md_attribute_parser_with_crc : public md_attribute_parser<S, Attribute, Flag>
{
public:
md_attribute_parser_with_crc(Attribute S::* attribute_name, Flag flag, unsigned long long offset, attrib_modifyer mod, unsigned long long crc_offset)
: md_attribute_parser<S, Attribute, Flag>(attribute_name, flag, offset, mod), _crc_offset(crc_offset) {}

protected:
unsigned long long _crc_offset; // offset of the crc inside the S class
bool is_attribute_valid(const S* s) const override
{
if (!md_attribute_parser<S, Attribute, Flag>::is_attribute_valid(s))
return false;

if (!is_crc_valid(s))
{
LOG_DEBUG("Metadata CRC mismatch");
return false;
}

return true;
}

private:
md_attribute_parser_with_crc() = delete;
md_attribute_parser_with_crc(const md_attribute_parser_with_crc&) = delete;

bool is_crc_valid(const S* md_info) const
{
md_type current_type = md_type_trait< S >::type; // S = type of md info (ex. S is md_safety_info)

if (current_type == md_type::META_DATA_INTEL_SAFETY_ID)
{
Attribute crc = *(Attribute*)(reinterpret_cast<const uint8_t*>(md_info) + _crc_offset); //Attribute = CRC's type (ex. uint32_t)
auto computed_crc32 = rsutils::number::calc_crc32(reinterpret_cast<const uint8_t*>(md_info),
sizeof(S) - sizeof(crc));
return (crc == computed_crc32);
}
LOG_ERROR("No CRC is sent within this stream's metadata");
return false;
}
};

/**\brief A helper function to create a specialized attribute parser.
* Return it as a pointer to a base-class*/
template<class S, class Attribute, typename Flag>
std::shared_ptr<md_attribute_parser_base> make_attribute_parser_with_crc(Attribute S::* attribute, Flag flag, unsigned long long offset, unsigned long long crc_offset, attrib_modifyer mod = nullptr)
{
std::shared_ptr<md_attribute_parser<S, Attribute, Flag>> parser(new md_attribute_parser_with_crc<S, Attribute, Flag>(attribute, flag, offset, mod, crc_offset));
return parser;
}



class ds_md_attribute_actual_fps : public md_attribute_parser_base
{
Expand Down
1 change: 1 addition & 0 deletions src/metadata.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -708,6 +708,7 @@ namespace librealsense
platform::uvc_header header;
md_modes mode;
};
constexpr int metadata_raw_mode_offset = sizeof(metadata_raw::header);

/**\brief metadata_mipi_raw - metadata structure
* layout as transmitted and received by backend */
Expand Down

0 comments on commit eaf3c15

Please sign in to comment.