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UVC device power #13082

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UVC device power #13082

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f1a4038
Power counter per device not sensor. 2 sensor instances can release d…
OhadMeir Jun 4, 2024
7efb0a3
XU list saved in uvc_device not uvc_sensor. Lock in uvc_device if nee…
OhadMeir Jun 5, 2024
2d05791
Use single uvc_device per UID
OhadMeir Jun 9, 2024
57cc588
WIP - add prints for debug
OhadMeir Jun 9, 2024
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7 changes: 6 additions & 1 deletion src/ds/d400/d400-color.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,12 @@ namespace librealsense
info = color_devs_info[1];
else
info = color_devs_info.front();
auto uvcd = get_backend()->create_uvc_device( info );
auto & uvcd = environment::get_instance().get_uvc_device( info.unique_id );
if( ! uvcd )
{
uvcd = get_backend()->create_uvc_device( info );
environment::get_instance().set_uvc_device( info.unique_id, uvcd );
}
//auto ftr = std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(d400_timestamp_reader_metadata), _tf_keeper, enable_global_time_option));
auto raw_color_ep = std::make_shared<uvc_sensor>("Raw RGB Camera",
uvcd,
Expand Down
12 changes: 10 additions & 2 deletions src/ds/d400/d400-device.cpp
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Expand Up @@ -473,8 +473,16 @@ namespace librealsense
using namespace ds;

std::vector<std::shared_ptr<platform::uvc_device>> depth_devices;
for (auto&& info : filter_by_mi(all_device_infos, 0)) // Filter just mi=0, DEPTH
depth_devices.push_back( get_backend()->create_uvc_device( info ) );
for( auto && info : filter_by_mi( all_device_infos, 0 ) ) // Filter just mi=0, DEPTH
{
auto & dev = environment::get_instance().get_uvc_device( info.unique_id );
if( !dev )
{
dev = get_backend()->create_uvc_device( info );
environment::get_instance().set_uvc_device( info.unique_id, dev );
}
depth_devices.push_back( dev );
}

std::unique_ptr< frame_timestamp_reader > timestamp_reader_backup( new ds_timestamp_reader() );
frame_timestamp_reader* timestamp_reader_from_metadata;
Expand Down
12 changes: 10 additions & 2 deletions src/ds/d400/d400-motion.cpp
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Expand Up @@ -49,8 +49,16 @@ namespace librealsense
}

std::vector<std::shared_ptr<platform::uvc_device>> imu_devices;
for (auto&& info : filter_by_mi(all_uvc_infos, 4)) // Filter just mi=4, IMU
imu_devices.push_back( get_backend()->create_uvc_device( info ) );
for( auto && info : filter_by_mi( all_uvc_infos, 4 ) ) // Filter just mi=4, IMU
{
auto & dev = environment::get_instance().get_uvc_device( info.unique_id );
if( ! dev )
{
dev = get_backend()->create_uvc_device( info );
environment::get_instance().set_uvc_device( info.unique_id, dev );
}
imu_devices.push_back( dev );
}

std::unique_ptr< frame_timestamp_reader > timestamp_reader_backup( new ds_timestamp_reader() );
std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new ds_timestamp_reader_from_metadata_mipi_motion(std::move(timestamp_reader_backup)));
Expand Down
8 changes: 7 additions & 1 deletion src/ds/d500/d500-color.cpp
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Expand Up @@ -66,9 +66,15 @@ namespace librealsense
std::unique_ptr<frame_timestamp_reader> ds_timestamp_reader_metadata(new ds_timestamp_reader_from_metadata(std::move(ds_timestamp_reader_backup)));

auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
auto & dev = environment::get_instance().get_uvc_device( color_devs_info.front().unique_id );
if( ! dev )
{
dev = get_backend()->create_uvc_device( color_devs_info.front() );
environment::get_instance().set_uvc_device( color_devs_info.front().unique_id, dev );
}
auto raw_color_ep = std::make_shared< uvc_sensor >(
"Raw RGB Camera",
get_backend()->create_uvc_device( color_devs_info.front() ),
dev,
std::unique_ptr< frame_timestamp_reader >(
new global_timestamp_reader( std::move( ds_timestamp_reader_metadata ),
_tf_keeper,
Expand Down
10 changes: 9 additions & 1 deletion src/ds/d500/d500-device.cpp
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Expand Up @@ -333,7 +333,15 @@ namespace librealsense

std::vector<std::shared_ptr<platform::uvc_device>> depth_devices;
for( auto & info : filter_by_mi( all_device_infos, 0 ) ) // Filter just mi=0, DEPTH
depth_devices.push_back( get_backend()->create_uvc_device( info ) );
{
auto & dev = environment::get_instance().get_uvc_device( info.unique_id );
if( ! dev )
{
dev = get_backend()->create_uvc_device( info );
environment::get_instance().set_uvc_device( info.unique_id, dev );
}
depth_devices.push_back( dev );
}

std::unique_ptr< frame_timestamp_reader > timestamp_reader_backup( new ds_timestamp_reader() );
std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new ds_timestamp_reader_from_metadata(std::move(timestamp_reader_backup)));
Expand Down
21 changes: 21 additions & 0 deletions src/environment.h
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Expand Up @@ -98,6 +98,10 @@ namespace librealsense

};

namespace platform
{
class uvc_device;
}

class environment
{
Expand All @@ -108,6 +112,21 @@ namespace librealsense

int generate_stream_id() { return _stream_id.fetch_add(1); }

std::atomic< int > & get_device_power_counter( const std::string & uid )
{
return _uvc_device_to_power_counter[uid];
}

std::shared_ptr< platform::uvc_device > & get_uvc_device( const std::string & uvc_device_info_uid )
{
return _device_info_uid_to_uvc_device[uvc_device_info_uid];
}

void set_uvc_device( const std::string & uvc_device_info_uid, std::shared_ptr< platform::uvc_device > & device )
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This looks OK but the device is NEVER removed! I don't think that's what we want.
We want it to be removed when the last reference to it is gone.

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Note that not only is it never removed but if we have new info with the same ID then we'll use the old one. I don't know if this will ever happen - but it'd be worth checking.

{
_device_info_uid_to_uvc_device[uvc_device_info_uid] = device;
}

environment(const environment&) = delete;
environment(const environment&&) = delete;
environment operator=(const environment&) = delete;
Expand All @@ -116,6 +135,8 @@ namespace librealsense
private:
extrinsics_graph _extrinsics;
std::atomic<int> _stream_id;
std::map< std::string /*uid*/, std::atomic< int > /*counter*/ > _uvc_device_to_power_counter;
std::map< std::string /*uid*/, std::shared_ptr< platform::uvc_device > > _device_info_uid_to_uvc_device;

environment();
};
Expand Down
5 changes: 5 additions & 0 deletions src/linux/backend-v4l2.cpp
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Expand Up @@ -2167,6 +2167,11 @@ namespace librealsense
_named_mtx->unlock();
}

std::string v4l_uvc_device::get_device_unique_id() const
{
return std::to_string( _info.mi ) + _info.unique_id;
}

uint32_t v4l_uvc_device::get_cid(rs2_option option) const
{
switch(option)
Expand Down
4 changes: 3 additions & 1 deletion src/linux/backend-v4l2.h
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Expand Up @@ -355,7 +355,8 @@ namespace librealsense
void set_power_state(power_state state) override;
power_state get_power_state() const override { return _state; }

void init_xu(const extension_unit&) override {}
void register_xu( platform::extension_unit && xu ) override {}
void init_xu( const extension_unit & ) override {}
bool set_xu(const extension_unit& xu, uint8_t control, const uint8_t* data, int size) override;
bool get_xu(const extension_unit& xu, uint8_t control, uint8_t* data, int size) const override;
control_range get_xu_range(const extension_unit& xu, uint8_t control, int len) const override;
Expand All @@ -372,6 +373,7 @@ namespace librealsense
void unlock() const override;

std::string get_device_location() const override { return _device_path; }
virtual std::string get_device_unique_id() const override;
usb_spec get_usb_specification() const override { return _device_usb_spec; }

bool is_platform_jetson() const override {return false;}
Expand Down
72 changes: 63 additions & 9 deletions src/mf/mf-uvc.cpp
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Expand Up @@ -261,6 +261,9 @@ namespace librealsense

void wmf_uvc_device::init_xu(const extension_unit& xu)
{
LOG_ERROR( "wmf_uvc_device::init_xu start. UID = " << get_device_unique_id() << " this = " << this );
std::lock_guard< std::recursive_mutex > lock( _source_lock );
LOG_ERROR( "wmf_uvc_device::init_xu got lock" );
if (!_source)
throw std::runtime_error("Could not initialize extensions controls!");

Expand All @@ -280,11 +283,15 @@ namespace librealsense
CHECK_HR(unknown->QueryInterface(__uuidof(IKsControl),
reinterpret_cast<void **>(&ks_control)));
_ks_controls[xu.node] = ks_control;

LOG_ERROR( "wmf_uvc_device::init_xu finished. _ks_controls[" << xu.node << "] = " << ks_control );
}

bool wmf_uvc_device::set_xu(const extension_unit& xu, uint8_t ctrl, const uint8_t* data, int len)
{
auto ks_control = get_ks_control(xu);
LOG_ERROR( "wmf_uvc_device::set_xu start. UID = " << get_device_unique_id() << " this = " << this );
auto ks_control = get_ks_control( xu );
LOG_ERROR( "wmf_uvc_device::set_xu got ks_control " << ks_control << " for xu.node " << xu.node );

KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
Expand All @@ -306,7 +313,9 @@ namespace librealsense

bool wmf_uvc_device::get_xu(const extension_unit& xu, uint8_t ctrl, uint8_t* data, int len) const
{
auto ks_control = get_ks_control(xu);
LOG_ERROR( "wmf_uvc_device::get_xu start. UID = " << get_device_unique_id() << " this = " << this );
auto ks_control = get_ks_control( xu );
LOG_ERROR( "wmf_uvc_device::get_xu got ks_control " << ks_control << " for xu.node " << xu.node );

KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
Expand Down Expand Up @@ -397,7 +406,9 @@ namespace librealsense

control_range wmf_uvc_device::get_xu_range(const extension_unit& xu, uint8_t ctrl, int len) const
{
auto ks_control = get_ks_control(xu);
LOG_ERROR( "wmf_uvc_device::get_xu_range start. UID = " << get_device_unique_id() << " this = " << this );
auto ks_control = get_ks_control( xu );
LOG_ERROR( "wmf_uvc_device::get_xu_range got ks_control " << ks_control << " for xu.node " << xu.node );

/* get step, min and max values*/
KSP_NODE node;
Expand Down Expand Up @@ -502,11 +513,15 @@ namespace librealsense

bool wmf_uvc_device::get_pu(rs2_option opt, int32_t& value) const
{
LOG_ERROR( "wmf_uvc_device::get_pu for option " << opt << ". UID = " << get_device_unique_id() << " this = " << this );
long val = 0, flags = 0;
if ((opt == RS2_OPTION_EXPOSURE) || (opt == RS2_OPTION_ENABLE_AUTO_EXPOSURE))
{
auto hr = get_camera_control()->Get(CameraControl_Exposure, &val, &flags);
if (hr == DEVICE_NOT_READY_ERROR)
auto cam = get_camera_control();
LOG_ERROR( "wmf_uvc_device::get_pu get_camera_control returned " << cam );
auto hr = cam->Get(CameraControl_Exposure, &val, &flags);
LOG_ERROR( "wmf_uvc_device::get_pu Get result = " << std::hex << hr );
if( hr == DEVICE_NOT_READY_ERROR )
return false;

value = (opt == RS2_OPTION_EXPOSURE) ? to_100micros(val) : (flags == CameraControl_Flags_Auto);
Expand Down Expand Up @@ -549,6 +564,7 @@ namespace librealsense

bool wmf_uvc_device::set_pu(rs2_option opt, int value)
{
LOG_ERROR( "wmf_uvc_device::set_pu for option " << opt << ". UID = " << get_device_unique_id() << " this = " << this );
if (opt == RS2_OPTION_EXPOSURE)
{
auto hr = get_camera_control()->Set(CameraControl_Exposure, from_100micros(value), CameraControl_Flags_Manual);
Expand Down Expand Up @@ -684,6 +700,7 @@ namespace librealsense

control_range wmf_uvc_device::get_pu_range(rs2_option opt) const
{
LOG_ERROR( "wmf_uvc_device::get_pu_range for option " << opt << ". UID = " << get_device_unique_id() << " this = " << this );
if (opt == RS2_OPTION_ENABLE_AUTO_EXPOSURE ||
opt == RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE)
{
Expand Down Expand Up @@ -789,7 +806,8 @@ namespace librealsense
_systemwide_lock(info.unique_id.c_str(), WAIT_FOR_MUTEX_TIME_OUT),
_location(""), _device_usb_spec(usb3_type)
{
if (!is_connected(info))
LOG_ERROR( "wmf_uvc_device::wmf_uvc_device. this = " << this );
if( ! is_connected( info ) )
{
throw std::runtime_error("Camera not connected!");
}
Expand Down Expand Up @@ -818,7 +836,9 @@ namespace librealsense

wmf_uvc_device::~wmf_uvc_device()
{
try {
LOG_ERROR( "wmf_uvc_device::~wmf_uvc_device. this = " << this );
try
{
if (_streaming)
{
flush(MF_SOURCE_READER_ALL_STREAMS);
Expand Down Expand Up @@ -862,6 +882,10 @@ namespace librealsense

void wmf_uvc_device::set_d0()
{
LOG_ERROR( "wmf_uvc_device::set_d0 start. UID = " << get_device_unique_id() << " this = " << this );
std::lock_guard< std::recursive_mutex > lock( _source_lock );
LOG_ERROR( "wmf_uvc_device::set_d0 got lock" );

if (!_device_attrs)
_device_attrs = create_device_attrs();

Expand All @@ -872,9 +896,11 @@ namespace librealsense
//enable source
CHECK_HR(MFCreateDeviceSource(_device_attrs, &_source));
LOG_HR(_source->QueryInterface(__uuidof(IAMCameraControl), reinterpret_cast<void **>(&_camera_control)));
LOG_ERROR( "wmf_uvc_device::set_d0 _camera_control = " << _camera_control << " _camera_control.p = " << _camera_control.p);
// The IAMVideoProcAmp interface adjusts the qualities of an incoming video signal, such as brightness,
// contrast, hue, saturation, gamma, and sharpness.
auto hr = _source->QueryInterface( __uuidof( IAMVideoProcAmp ), reinterpret_cast< void ** >( &_video_proc ) );
LOG_ERROR( "wmf_uvc_device::set_d0 _video_proc = " << _video_proc << " _video_proc.p = " << _video_proc.p);
// E_NOINTERFACE is expected... especially when no video camera
if( hr != E_NOINTERFACE )
LOG_HR_STR( "QueryInterface(IAMVideoProcAmp)", hr );
Expand All @@ -883,10 +909,19 @@ namespace librealsense
CHECK_HR(MFCreateSourceReaderFromMediaSource(_source, _reader_attrs, &_reader));
CHECK_HR(_reader->SetStreamSelection(static_cast<DWORD>(MF_SOURCE_READER_ALL_STREAMS), TRUE));
_power_state = D0;

for( auto && xu : _xus )
init_xu( xu );

LOG_ERROR( "wmf_uvc_device::set_d0 finished" );
}

void wmf_uvc_device::set_d3()
{
LOG_ERROR( "wmf_uvc_device::set_d3 start. UID = " << get_device_unique_id() << " this = " << this );
std::lock_guard< std::recursive_mutex > lock( _source_lock );
LOG_ERROR( "wmf_uvc_device::set_d3 got lock" );

safe_release(_camera_control);
safe_release(_video_proc);
safe_release(_reader);
Expand All @@ -895,6 +930,8 @@ namespace librealsense
for (auto& elem : _streams)
elem.callback = nullptr;
_power_state = D3;

LOG_ERROR( "wmf_uvc_device::set_d3 finished" );
}

void wmf_uvc_device::foreach_profile(std::function<void(const mf_profile& profile, CComPtr<IMFMediaType> media_type, bool& quit)> action) const
Expand Down Expand Up @@ -1053,8 +1090,14 @@ namespace librealsense
_frame_callbacks.push_back(callback);
}

std::string wmf_uvc_device::get_device_unique_id() const
{
return std::to_string( _info.mi ) + _info.unique_id;
}

IAMVideoProcAmp* wmf_uvc_device::get_video_proc() const
{
LOG_ERROR( "wmf_uvc_device::get_video_proc _video_proc = " << _video_proc << " _video_proc.p = " << _video_proc.p);
if (get_power_state() != D0)
throw std::runtime_error("Device must be powered to query video_proc!");
if (!_video_proc.p)
Expand All @@ -1064,6 +1107,8 @@ namespace librealsense

IAMCameraControl* wmf_uvc_device::get_camera_control() const
{
LOG_ERROR( "wmf_uvc_device::get_camera_control _camera_control = " << _camera_control << " _camera_control.p = " << _camera_control.p);

if (get_power_state() != D0)
throw std::runtime_error("Device must be powered to query camera_control!");
if (!_camera_control.p)
Expand Down Expand Up @@ -1202,5 +1247,14 @@ namespace librealsense
_profiles.clear();
_frame_callbacks.clear();
}
}
}

power_state wmf_uvc_device::get_power_state() const
{
LOG_ERROR( "wmf_uvc_device::get_power_state start. UID = " << get_device_unique_id() << " this = " << this );
std::lock_guard< std::recursive_mutex > lock( _source_lock );
std::string tmp = _source ? "D0" : "D3";
LOG_ERROR( "wmf_uvc_device::get_power_state got lock. power state is " << tmp );
return _source ? D0 : D3;
}
} //namespace platform
} //namespace librealsense
9 changes: 6 additions & 3 deletions src/mf/mf-uvc.h
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Expand Up @@ -73,13 +73,14 @@ namespace librealsense
void stop_callbacks() override;
void close(stream_profile profile) override;
void set_power_state(power_state state) override;
power_state get_power_state() const override { return _power_state; }
power_state get_power_state() const override;
std::vector<stream_profile> get_profiles() const override;

static bool is_connected(const uvc_device_info& info);
static void foreach_uvc_device(enumeration_callback action);

void init_xu(const extension_unit& xu) override;
void register_xu( platform::extension_unit && xu ) override { _xus.push_back( std::move( xu ) ); }
void init_xu( const extension_unit & xu ) override;
bool set_xu(const extension_unit& xu, uint8_t ctrl, const uint8_t* data, int len) override;
bool get_xu(const extension_unit& xu, uint8_t ctrl, uint8_t* data, int len) const override;
control_range get_xu_range(const extension_unit& xu, uint8_t ctrl, int len) const override;
Expand All @@ -94,6 +95,7 @@ namespace librealsense
bool is_platform_jetson() const override { return false;}

std::string get_device_location() const override { return _location; }
std::string get_device_unique_id() const override;
usb_spec get_usb_specification() const override { return _device_usb_spec; }
IAMVideoProcAmp* get_video_proc() const;
IAMCameraControl* get_camera_control() const;
Expand Down Expand Up @@ -136,7 +138,7 @@ namespace librealsense
uint16_t _streamIndex;
std::vector<profile_and_callback> _streams;
std::mutex _streams_mutex;

mutable std::recursive_mutex _source_lock;
named_mutex _systemwide_lock;
std::string _location;
usb_spec _device_usb_spec;
Expand All @@ -146,6 +148,7 @@ namespace librealsense
bool _streaming = false;
std::atomic<bool> _is_started = false;
std::wstring _device_id;
std::vector< platform::extension_unit > _xus;
};

class source_reader_callback : public IMFSourceReaderCallback
Expand Down
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