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PR #9394 from Nir: fix playback deadlock on live tests (Git Actions C…
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…I fail)
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@maloel
maloel authored Jul 15, 2021
2 parents e0972d9 + c4192df commit 1b87d4b
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Showing 3 changed files with 85 additions and 45 deletions.
39 changes: 27 additions & 12 deletions src/media/playback/playback_device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,16 +83,23 @@ std::map<uint32_t, std::shared_ptr<playback_sensor>> playback_device::create_pla

auto action = [this, id]()
{
std::lock_guard<std::mutex> locker(_active_sensors_mutex);
auto it = m_active_sensors.find(id);
if (it != m_active_sensors.end())
bool need_to_stop_device = false;
{
m_active_sensors.erase(it);
if (m_active_sensors.size() == 0)
std::lock_guard<std::mutex> locker(_active_sensors_mutex);
auto it = m_active_sensors.find(id);
if (it != m_active_sensors.end())
{
stop_internal();
m_active_sensors.erase(it);
if (m_active_sensors.size() == 0)
{
need_to_stop_device = true;
}
}
}
if (need_to_stop_device)
{
stop_internal();
}
};
if (invoke_required)
{
Expand Down Expand Up @@ -151,14 +158,19 @@ rs2_extrinsics playback_device::calc_extrinsic(const rs2_extrinsics& from, const

playback_device::~playback_device()
{
std::vector< std::shared_ptr< playback_sensor > > playback_sensors_copy;
{
std::lock_guard<std::mutex> locker(_active_sensors_mutex);
for (auto&& sensor : m_active_sensors)
std::lock_guard< std::mutex > locker(_active_sensors_mutex);
for (auto s : m_active_sensors)
playback_sensors_copy.push_back(s.second);
}


for (auto&& sensor : playback_sensors_copy)
{
if (sensor)
{
if (sensor.second != nullptr)
{
sensor.second->stop();
}
sensor->stop();
}
}

Expand Down Expand Up @@ -469,6 +481,7 @@ void playback_device::stop()
void playback_device::stop_internal()
{
//stop_internal() is called from within the reading thread
LOG_DEBUG("stop_internal() called");
if (m_is_started == false)
return; //nothing to do

Expand All @@ -480,6 +493,7 @@ void playback_device::stop_internal()
m_prev_timestamp = std::chrono::nanoseconds(0);
catch_up();
playback_status_changed(RS2_PLAYBACK_STATUS_STOPPED);
LOG_DEBUG("stop_internal() end");
}

template <typename T>
Expand Down Expand Up @@ -514,6 +528,7 @@ void playback_device::do_loop(T action)
{
if( psc )
{
psc->flush_pending_frames();
psc->stop( false );
}
}
Expand Down
13 changes: 10 additions & 3 deletions src/media/playback/playback_sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -115,20 +115,27 @@ namespace librealsense
auto pf = std::make_shared<frame_holder>(std::move(frame));

auto callback = [this, is_real_time, stream_id, pf, calc_sleep, is_paused, update_last_pushed_frame](dispatcher::cancellable_timer t)
{
{
device_serializer::nanoseconds sleep_for = calc_sleep();
if (sleep_for.count() > 0)
t.try_sleep( sleep_for );

LOG_DEBUG("callback--> "<< frame_holder_to_string(*pf));
if(is_paused())
return;

frame_interface* pframe = nullptr;

if (!is_streaming())
return;

if (is_paused())
return;

std::swap((*pf).frame, pframe);


m_user_callback->on_frame((rs2_frame*)pframe);
update_last_pushed_frame();

};
m_dispatchers.at(stream_id)->invoke(callback, !is_real_time);
}
Expand Down
78 changes: 48 additions & 30 deletions unit-tests/unit-tests-live.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5238,6 +5238,12 @@ TEST_CASE("Projection from recording", "[software-device][using_pipeline][projec
const double MAX_ERROR_PERCENTAGE = 0.1;
CAPTURE(count);
REQUIRE(count * 100 / (depth_intrin.width * depth_intrin.height) < MAX_ERROR_PERCENTAGE);

for (auto s : sensors)
{
s.stop();
s.close();
}
}

TEST_CASE("software-device pose stream", "[software-device]")
Expand Down Expand Up @@ -5304,45 +5310,54 @@ TEST_CASE("Record software-device", "[software-device][record][!mayfail]")
std::string folder_name = get_folder_path(special_folder::temp_folder);
const std::string filename = folder_name + "recording.bag";

rs2_software_video_frame video_frame;
rs2_software_motion_frame motion_frame;
rs2_software_pose_frame pose_frame;

std::vector<uint8_t> pixels(W * H * BPP, 100);
float motion_data[3] = { 1, 1, 1 };
rs2_software_pose_frame::pose_frame_info pose_info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
//Software device, streams and frames definition
rs2::software_device dev;
{
rs2::software_device dev;

auto sensor = dev.add_sensor("Synthetic");
rs2_intrinsics depth_intrinsics = { W, H, (float)W / 2, H / 2, (float)W, (float)H,
RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
rs2_video_stream video_stream = { RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, depth_intrinsics };
auto depth_stream_profile = sensor.add_video_stream(video_stream);
auto sensor = dev.add_sensor("Synthetic");
rs2_intrinsics depth_intrinsics = { W, H, (float)W / 2, H / 2, (float)W, (float)H,
RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
rs2_video_stream video_stream = { RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, depth_intrinsics };
auto depth_stream_profile = sensor.add_video_stream(video_stream);

rs2_motion_device_intrinsic motion_intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
rs2_motion_stream motion_stream = { RS2_STREAM_ACCEL, 0, 1, 200, RS2_FORMAT_MOTION_RAW, motion_intrinsics };
auto motion_stream_profile = sensor.add_motion_stream(motion_stream);
rs2_motion_device_intrinsic motion_intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
rs2_motion_stream motion_stream = { RS2_STREAM_ACCEL, 0, 1, 200, RS2_FORMAT_MOTION_RAW, motion_intrinsics };
auto motion_stream_profile = sensor.add_motion_stream(motion_stream);

rs2_pose_stream pose_stream = { RS2_STREAM_POSE, 0, 2, 200, RS2_FORMAT_6DOF };
auto pose_stream_profile = sensor.add_pose_stream(pose_stream);
rs2_pose_stream pose_stream = { RS2_STREAM_POSE, 0, 2, 200, RS2_FORMAT_6DOF };
auto pose_stream_profile = sensor.add_pose_stream(pose_stream);

rs2::syncer sync;
std::vector<stream_profile> stream_profiles;
stream_profiles.push_back(depth_stream_profile);
stream_profiles.push_back(motion_stream_profile);
stream_profiles.push_back(pose_stream_profile);
rs2::syncer sync;
std::vector<stream_profile> stream_profiles;
stream_profiles.push_back(depth_stream_profile);
stream_profiles.push_back(motion_stream_profile);
stream_profiles.push_back(pose_stream_profile);

std::vector<uint8_t> pixels(W * H * BPP, 100);
rs2_software_video_frame video_frame = { pixels.data(), [](void*) {},W*BPP, BPP, 10000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, depth_stream_profile };
float motion_data[3] = { 1, 1, 1 };
rs2_software_motion_frame motion_frame = { motion_data, [](void*) {}, 20000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, motion_stream_profile };
rs2_software_pose_frame::pose_frame_info pose_info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
rs2_software_pose_frame pose_frame = { &pose_info, [](void*) {}, 30000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, pose_stream_profile };
video_frame = { pixels.data(), [](void*) {},W * BPP, BPP, 10000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, depth_stream_profile };
motion_frame = { motion_data, [](void*) {}, 20000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, motion_stream_profile };
pose_frame = { &pose_info, [](void*) {}, 30000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, pose_stream_profile };

//Record software device
{
recorder recorder(filename, dev);
sensor.open(stream_profiles);
sensor.start(sync);
sensor.on_video_frame(video_frame);
sensor.on_motion_frame(motion_frame);
sensor.on_pose_frame(pose_frame);
//Record software device
{
recorder recorder(filename, dev);
sensor.open(stream_profiles);
sensor.start(sync);
sensor.on_video_frame(video_frame);
sensor.on_motion_frame(motion_frame);
sensor.on_pose_frame(pose_frame);
sensor.stop();
sensor.close();
}
}


//Playback software device
rs2::context ctx;

Expand Down Expand Up @@ -5385,6 +5400,9 @@ TEST_CASE("Record software-device", "[software-device][record][!mayfail]")
pose_frame.frame_number == recorded_pose.get_frame_number() &&
pose_frame.domain == recorded_pose.get_frame_timestamp_domain() &&
pose_frame.timestamp == recorded_pose.get_timestamp()));

s.stop();
s.close();
}

void compare(filter first, filter second)
Expand Down

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