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rs usb api and implementations added #3828

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merged 3 commits into from
May 16, 2019
Merged

rs usb api and implementations added #3828

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d19b987
rsusb api, implementation and tests added
matkatz May 1, 2019
a0d7362
rsusb - code review fix
matkatz May 8, 2019
880b097
rsusb libusb - avoid releasing interface if open failed
matkatz May 8, 2019
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2 changes: 1 addition & 1 deletion CMake/external_libusb.cmake
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Expand Up @@ -7,7 +7,7 @@ ExternalProject_Add(
GIT_TAG "2a7372db54094a406a755f0b8548b614ba8c78ec" # "v1.0.22" + Mac get_device_list hang fix

UPDATE_COMMAND ${CMAKE_COMMAND} -E copy_if_different
${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
${CMAKE_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
PATCH_COMMAND ""

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2 changes: 1 addition & 1 deletion CMake/libusb_config.cmake
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Expand Up @@ -8,7 +8,7 @@ if (NOT TARGET usb)
target_include_directories(usb INTERFACE ${LIBUSB_INC})
target_link_libraries(usb INTERFACE ${LIBUSB_LIB})
else()
include(CMake/external_libusb.cmake)
include(${CMAKE_SOURCE_DIR}/CMake/external_libusb.cmake)
endif()
install(TARGETS usb EXPORT realsense2Targets)
endif()
1 change: 1 addition & 0 deletions CMake/lrs_options.cmake
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Expand Up @@ -12,6 +12,7 @@ option(TRACE_API "Log all C API calls" OFF)
option(HWM_OVER_XU "Send HWM commands over UVC XU control" ON)
option(BUILD_SHARED_LIBS "Build shared library" ON)
option(BUILD_UNIT_TESTS "Build realsense unit tests. Note that when enabled, additional tests data set will be downloaded from a web server and stored in a temp directory" OFF)
option(BUILD_INTERNAL_UNIT_TESTS "Test package for components under librealsense namespace, requires BUILD_SHARED_LIBS=OFF and BUILD_UNIT_TESTS=ON" OFF)
option(BUILD_EXAMPLES "Build realsense examples and tools." ON)
option(ENFORCE_METADATA "Require WinSDK with Metadata support during compilation. Windows OS Only" OFF)
option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
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7 changes: 6 additions & 1 deletion CMake/unix_config.cmake
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@@ -1,7 +1,6 @@
message(STATUS "Setting Unix configurations")

macro(os_set_flags)
set(BACKEND RS2_USE_V4L2_BACKEND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -pedantic -g -D_BSD_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat-security")
Expand All @@ -28,6 +27,12 @@ macro(os_set_flags)
set(FORCE_LIBUVC ON)
set(BUILD_WITH_TM2 ON)
endif()

if(FORCE_LIBUVC)
set(BACKEND RS2_USE_LIBUVC_BACKEND)
else()
set(BACKEND RS2_USE_V4L2_BACKEND)
endif()
endmacro()

macro(os_target_config)
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12 changes: 4 additions & 8 deletions CMake/windows_config.cmake
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Expand Up @@ -10,18 +10,14 @@ macro(os_set_flags)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})

## Check for Windows Version ##
if( (${CMAKE_SYSTEM_VERSION} EQUAL 6.1) OR (FORCE_WINUSB_UVC) ) # Windows 7
message(STATUS "Build for Win7")
set(BUILD_FOR_WIN7 ON)
if(${CMAKE_SYSTEM_VERSION} EQUAL 6.1) # Windows 7
set(FORCE_WINUSB_UVC ON)
else() # Some other windows version
message(STATUS "Build for Windows > Win7")
set(BUILD_FOR_OTHER_WIN ON)
set(BACKEND RS2_USE_WMF_BACKEND)
endif()

if(FORCE_WINUSB_UVC)
set(BACKEND RS2_USE_WINUSB_UVC_BACKEND)
else()
set(BACKEND RS2_USE_WMF_BACKEND)
endif()

if(MSVC)
Expand Down Expand Up @@ -59,7 +55,7 @@ macro(os_target_config)
)
endif()

if(BUILD_FOR_WIN7)
if(FORCE_WINUSB_UVC)
if (NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
message("Preparing Windows 7 drivers" )
make_directory(${CMAKE_CURRENT_BINARY_DIR}/drivers/)
Expand Down
42 changes: 29 additions & 13 deletions src/CMakeLists.txt
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Expand Up @@ -10,31 +10,46 @@ include(${_rel_path}/mock/CMakeLists.txt)
include(${_rel_path}/proc/CMakeLists.txt)
include(${_rel_path}/res/CMakeLists.txt)
include(${_rel_path}/pipeline/CMakeLists.txt)
include(${_rel_path}/usb/CMakeLists.txt)

if(FORCE_LIBUVC)
include(${_rel_path}/libuvc/CMakeLists.txt)
endif()
message(STATUS "using ${BACKEND}")

if (BUILD_WITH_TM2)
include(${_rel_path}/tm2/CMakeLists.txt)
if(UNIX OR FORCE_LIBUVC)
include(${_rel_path}/libusb/CMakeLists.txt)
endif()

if(BUILD_WITH_CUDA)
include(${_rel_path}/cuda/CMakeLists.txt)

if(WIN32)
include(${_rel_path}/win/CMakeLists.txt)
include(${_rel_path}/winusb/CMakeLists.txt)
endif()

if(ANDROID_USB_HOST_UVC)
if(${BACKEND} STREQUAL RS2_USE_ANDROID_BACKEND)
include(${_rel_path}/usbhost/CMakeLists.txt)
include(${_rel_path}/android/CMakeLists.txt)
else()
endif()

if(${BACKEND} STREQUAL RS2_USE_V4L2_BACKEND)
include(${_rel_path}/linux/CMakeLists.txt)
endif()

if(BUILD_FOR_WIN7)
if(${BACKEND} STREQUAL RS2_USE_WMF_BACKEND)
include(${_rel_path}/mf/CMakeLists.txt)
endif()

if(${BACKEND} STREQUAL RS2_USE_WINUSB_UVC_BACKEND)
include(${_rel_path}/win7/CMakeLists.txt)
endif()

if(BUILD_FOR_OTHER_WIN)
include(${_rel_path}/win/CMakeLists.txt)
if(${BACKEND} STREQUAL RS2_USE_LIBUVC_BACKEND)
include(${_rel_path}/libuvc/CMakeLists.txt)
endif()

if (BUILD_WITH_TM2)
include(${_rel_path}/tm2/CMakeLists.txt)
endif()

if(BUILD_WITH_CUDA)
include(${_rel_path}/cuda/CMakeLists.txt)
endif()

if(LRS_TRY_USE_AVX)
Expand Down Expand Up @@ -92,4 +107,5 @@ target_sources(${LRS_TARGET}
"${CMAKE_CURRENT_LIST_DIR}/stream.h"
"${CMAKE_CURRENT_LIST_DIR}/sync.h"
"${CMAKE_CURRENT_LIST_DIR}/types.h"
"${CMAKE_CURRENT_LIST_DIR}/command_transfer.h"
)
17 changes: 2 additions & 15 deletions src/android/CMakeLists.txt
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Expand Up @@ -3,31 +3,18 @@

target_sources(${LRS_TARGET}
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usbhost.c"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usbhost.h"

"${CMAKE_CURRENT_LIST_DIR}/android-uvc.cpp"
"${CMAKE_CURRENT_LIST_DIR}/android-uvc.h"
"${CMAKE_CURRENT_LIST_DIR}/android-hid.cpp"
"${CMAKE_CURRENT_LIST_DIR}/android-hid.h"
"${CMAKE_CURRENT_LIST_DIR}/android-backend.cpp"
"${CMAKE_CURRENT_LIST_DIR}/android-backend.h"
"${CMAKE_CURRENT_LIST_DIR}/device_watcher.h"
"${CMAKE_CURRENT_LIST_DIR}/device_watcher.cpp"

"${CMAKE_CURRENT_LIST_DIR}/usb_host/android_uvc.cpp"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/android_uvc.h"

"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_endpoint.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_interface.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_interface_association.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_configuration.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_pipe.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_pipe.cpp"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_device.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/usb_device.cpp"

"${CMAKE_CURRENT_LIST_DIR}/usb_host/device_watcher.h"
"${CMAKE_CURRENT_LIST_DIR}/usb_host/device_watcher.cpp"

"${CMAKE_CURRENT_LIST_DIR}/jni/error.h"
"${CMAKE_CURRENT_LIST_DIR}/jni/error.cpp"
"${CMAKE_CURRENT_LIST_DIR}/jni/context.cpp"
Expand Down
28 changes: 20 additions & 8 deletions src/android/android-backend.cpp
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Expand Up @@ -7,7 +7,8 @@
#include "android-uvc.h"
#include "android-hid.h"
#include "../types.h"
#include "usb_host/device_watcher.h"
#include "device_watcher.h"
#include "../usb/usb-enumerator.h"
#include <chrono>
#include <cctype> // std::tolower

Expand Down Expand Up @@ -38,18 +39,29 @@ namespace librealsense {
}

std::vector<uvc_device_info> android_backend::query_uvc_devices() const {
return usb_host::device_watcher::query_uvc_devices();
return device_watcher_usbhost::instance()->query_uvc_devices();
}

std::shared_ptr<usb_device> android_backend::create_usb_device(usb_device_info info) const {
throw std::runtime_error("create_usb_device Not supported");
std::shared_ptr<command_transfer> android_backend::create_usb_device(usb_device_info info) const {
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The method create_usb_device returns command_transfer ?
If so - please use "_dev" suffix as command_transfer is too vague
Also is this intended to work with non-Realsense devices, such as platform cam ?

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the original usb_device was an empty class which inherited command_transfer, since I removed usb_device I needed to replace it with command_transfer but I don't want to make more changes to the backend API in this PR unless it is necessary .

auto devices = usb_enumerator::query_devices();
for(auto&& dev : devices){
auto curr = dev->get_info();
if(info.id == curr.id)
return std::make_shared<platform::command_transfer_usb>(dev);
}
return nullptr;
}

std::vector<usb_device_info> android_backend::query_usb_devices() const {
std::vector<usb_device_info> results;
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Pls change the name to query_usb_devices_**info** for consistency

auto devices = usb_enumerator::query_devices();

std::vector<usb_device_info> result;
// Not supported
return result;
for(auto&& dev : devices)
{
auto infos = dev->get_subdevices_infos();
results.insert(results.end(), infos.begin(), infos.end());
}
return results;
}

std::shared_ptr<hid_device> android_backend::create_hid_device(hid_device_info info) const {
Expand All @@ -68,7 +80,7 @@ namespace librealsense {


std::shared_ptr<device_watcher> android_backend::create_device_watcher() const {
return std::make_shared<usb_host::device_watcher>();
return device_watcher_usbhost::instance();
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There should be no need to wrap a singleton with shared_ptr.

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I need to implement the backend API:
std::shared_ptr<device_watcher> create_device_watcher() const override;

}
}
}
Expand Down
3 changes: 2 additions & 1 deletion src/android/android-backend.h
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Expand Up @@ -4,6 +4,7 @@
#pragma once

#include "../backend.h"
#include "../command_transfer.h"

namespace librealsense
{
Expand All @@ -20,7 +21,7 @@ namespace librealsense


// don't change
std::shared_ptr<usb_device> create_usb_device(usb_device_info info) const override;
std::shared_ptr<command_transfer> create_usb_device(usb_device_info info) const override;
std::vector<usb_device_info> query_usb_devices() const override;

// Not supported
Expand Down
72 changes: 37 additions & 35 deletions src/android/android-uvc.cpp
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Expand Up @@ -7,7 +7,7 @@
#include "android-uvc.h"
#include "../types.h"
#include "libuvc/utlist.h"
#include "usb_host/device_watcher.h"
#include "../usb/usb-enumerator.h"
#include "../libuvc/utlist.h"


Expand All @@ -19,6 +19,7 @@

namespace librealsense {
namespace platform {

bool android_uvc_device::is_connected(const uvc_device_info &info) {
auto result = true;

Expand Down Expand Up @@ -308,53 +309,54 @@ namespace librealsense {
return result;
}

void android_uvc_device::set_power_state(power_state state) {
std::lock_guard<std::mutex> lock(_power_mutex);

if (state == D0 && _power_state == D3) {
uint16_t vid = _info.vid, pid = _info.pid, mi = _info.mi;

std::vector<std::shared_ptr<usbhost_uvc_device>> uvc_devices;
for(auto&& dev : usb_host::device_watcher::get_device_list())
std::shared_ptr<usbhost_uvc_device> android_uvc_device::open_uvc_device(uint16_t mi)
{
for(auto&& dev : usb_enumerator::query_devices())
{
for(auto&& in : dev->get_interfaces(USB_SUBCLASS_CONTROL))
{
if(in->get_number() != mi)
continue;
std::shared_ptr<usbhost_uvc_device> uvc(new usbhost_uvc_device(),
[](usbhost_uvc_device *ptr) {usbhost_close(ptr); });
uvc->device = dev;
uvc->vid = dev->get_vid();
uvc->pid = dev->get_pid();
uvc_devices.push_back(uvc);
uvc->device = std::static_pointer_cast<usb_device_usbhost>(dev);
uvc->vid = dev->get_info().vid;
uvc->pid = dev->get_info().pid;
usbhost_open(uvc.get(), mi);
return uvc;
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This function will open the first device with matched MI. How can one query the 2nd or 3rd device ?

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done

}
}
return nullptr;
}

for (auto device : uvc_devices) {

usbhost_open(device.get(), mi);
void android_uvc_device::set_power_state(power_state state) {
std::lock_guard<std::mutex> lock(_power_mutex);

if (device->deviceData.ctrl_if.bInterfaceNumber == mi) {
_device = device;
if (state == D0 && _power_state == D3) {
uint16_t vid = _info.vid, pid = _info.pid, mi = _info.mi;
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vid/pid seem unused in this segment - pls recheck

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will remove


for (auto ct = _device->deviceData.ctrl_if.input_term_descs;
ct; ct = ct->next) {
_input_terminal = ct->bTerminalID;
}
_device = open_uvc_device(mi);

for (auto pu = _device->deviceData.ctrl_if.processing_unit_descs;
pu; pu = pu->next) {
_processing_unit = pu->bUnitID;
}
if(!_device)
throw std::runtime_error("Device not found!");

for (auto eu = _device->deviceData.ctrl_if.extension_unit_descs;
eu; eu = eu->next) {
_extension_unit = eu->bUnitID;
}
for (auto ct = _device->deviceData.ctrl_if.input_term_descs;
ct; ct = ct->next) {
_input_terminal = ct->bTerminalID;
}

_device->device->claim_interface(mi);
for (auto pu = _device->deviceData.ctrl_if.processing_unit_descs;
pu; pu = pu->next) {
_processing_unit = pu->bUnitID;
}

_power_state = D0;
return;
}
for (auto eu = _device->deviceData.ctrl_if.extension_unit_descs;
eu; eu = eu->next) {
_extension_unit = eu->bUnitID;
}

throw std::runtime_error("Device not found!");
_power_state = D0;

}
if (state == D3 && _power_state == D0) {
_device.reset();
Expand Down
4 changes: 2 additions & 2 deletions src/android/android-uvc.h
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Expand Up @@ -70,6 +70,7 @@ namespace librealsense
private:
friend class source_reader_callback;

std::shared_ptr<usbhost_uvc_device> open_uvc_device(uint16_t mi);
int32_t rs2_value_translate(uvc_req_code action, rs2_option option, int32_t value) const;
void play_profile(stream_profile profile, frame_callback callback);
void stop_stream_cleanup(const stream_profile& profile, std::vector<profile_and_callback>::iterator& elem);
Expand All @@ -87,8 +88,7 @@ namespace librealsense
std::vector<profile_and_callback> _streams;
std::mutex _streams_mutex;

std::shared_ptr<const android_backend> _backend;

std::shared_ptr<const android_backend> _backend;
std::string _location;
std::vector<stream_profile> _profiles;
std::vector<frame_callback> _frame_callbacks;
Expand Down
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