Merge pull request #5780 from maloel/freefall

Add RS2_OPTION_FREEFALL_DETECTION_ENABLED
IntelRealSense · Feb 6, 2020 · a2f4808 · a2f4808
2 parents d363eb9 + 0d1bab8
commit a2f4808
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Showing 9 changed files with 54 additions and 2 deletions.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -84,6 +84,7 @@ extern "C" {
         RS2_OPTION_LED_POWER, /**< Power of the LED (light emitting diode), with 0 meaning LED off*/
         RS2_OPTION_ZERO_ORDER_ENABLED, /**< Toggle Zero-Order mode */
         RS2_OPTION_ENABLE_MAP_PRESERVATION, /**< Preserve previous map when starting */
+        RS2_OPTION_FREEFALL_DETECTION_ENABLED, /**< Enable/disable sensor shutdown when a free-fall is detected (on by default) */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

diff --git a/src/l500/l500-device.cpp b/src/l500/l500-device.cpp
@@ -118,6 +118,14 @@ namespace librealsense
         register_info(RS2_CAMERA_INFO_PRODUCT_ID, pid_hex_str);
         register_info(RS2_CAMERA_INFO_PRODUCT_LINE, "L500");
         register_info(RS2_CAMERA_INFO_CAMERA_LOCKED, _is_locked ? "YES" : "NO");
+
+        if( _fw_version >= firmware_version( "1.3.5.0" ) )
+        {
+            depth_sensor.register_option(
+                RS2_OPTION_FREEFALL_DETECTION_ENABLED,
+                std::make_shared< freefall_option >( *_hw_monitor )
+            );
+        }
     }
 
     std::shared_ptr<synthetic_sensor> l500_device::create_depth_device(std::shared_ptr<context> ctx,

diff --git a/src/l500/l500-private.cpp b/src/l500/l500-private.cpp
@@ -147,5 +147,21 @@ namespace librealsense
 
             return rv;
         }
+
+        freefall_option::freefall_option( hw_monitor & hwm )
+            : _hwm( hwm )
+        {
+            // bool_option initializes with def=true, which is what we want
+            assert( is_true() );
+        }
+
+        void freefall_option::set( float value )
+        {
+            bool_option::set( value );
+
+            command cmd{ FALL_DETECT_ENABLE, is_true() };
+            auto res = _hwm.send( cmd );
+            _record_action( *this );
+        }
     } // librealsense::ivcam2
 } // namespace librealsense
diff --git a/src/l500/l500-private.h b/src/l500/l500-private.h
@@ -54,7 +54,8 @@ namespace librealsense
             TEMPERATURES_GET            = 0x6A,
             DPT_INTRINSICS_FULL_GET     = 0x7F,
             RGB_INTRINSIC_GET           = 0x81,
-            RGB_EXTRINSIC_GET           = 0x82
+            RGB_EXTRINSIC_GET           = 0x82,
+            FALL_DETECT_ENABLE          = 0x9D  // Enable (by default) free-fall sensor shutoff (0=disable; 1=enable)
         };
 
         enum gvd_fields
@@ -318,5 +319,24 @@ namespace librealsense
             rs2_timestamp_domain get_frame_timestamp_domain(const std::shared_ptr<frame_interface>& frame) const override;
         };
 
+        /* For RS2_OPTION_FREEFALL_DETECTION_ENABLED */
+        class freefall_option : public bool_option
+        {
+        public:
+            freefall_option( hw_monitor & hwm );
+
+            virtual void set( float value ) override;
+            virtual const char * get_description() const override
+            {
+                return "When enabled (default), the sensor will turn off if a free-fall is detected";
+            }
+            virtual void enable_recording( std::function<void( const option& )> record_action ) override { _record_action = record_action; }
+
+        private:
+            std::function<void( const option& )> _record_action = []( const option& ) {};
+            hw_monitor & _hwm;
+        };
+
+
     } // librealsense::ivcam2
 } // namespace librealsense
diff --git a/src/types.cpp b/src/types.cpp
@@ -294,6 +294,7 @@ namespace librealsense
             CASE(LED_POWER)
             CASE(ZERO_ORDER_ENABLED)
             CASE(ENABLE_MAP_PRESERVATION)
+            CASE(FREEFALL_DETECTION_ENABLED)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE

diff --git a/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java b/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java
@@ -61,7 +61,10 @@ public enum Option {
     ENABLE_POSE_JUMPING(57),
     ENABLE_DYNAMIC_CALIBRATION(58),
     DEPTH_OFFSET(59),
-    LED_POWER(60);
+    LED_POWER(60),
+    ZERO_ORDER_ENABLED(61),
+    ENABLE_MAP_PRESERVATION(62),
+    FREEFALL_DETECTION_ENABLED(63);
 
     private final int mValue;
 

diff --git a/wrappers/nodejs/src/addon.cpp b/wrappers/nodejs/src/addon.cpp
@@ -4689,6 +4689,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_OPTION_LED_POWER);
   _FORCE_SET_ENUM(RS2_OPTION_ZERO_ORDER_ENABLED);
   _FORCE_SET_ENUM(RS2_OPTION_ENABLE_MAP_PRESERVATION);
+  _FORCE_SET_ENUM(RS2_OPTION_FREEFALL_DETECTION_ENABLED);
   _FORCE_SET_ENUM(RS2_OPTION_COUNT);
 
   // rs2_camera_info

diff --git a/wrappers/python/pybackend.cpp b/wrappers/python/pybackend.cpp
@@ -162,6 +162,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("enable_led_power", RS2_OPTION_LED_POWER)
         .value("zero_order_enabled", RS2_OPTION_ZERO_ORDER_ENABLED)
         .value("enable_map_preservation", RS2_OPTION_ENABLE_MAP_PRESERVATION)
+        .value("enable_freefall_detection", RS2_OPTION_FREEFALL_DETECTION_ENABLED)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");

diff --git a/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h b/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h
@@ -116,6 +116,7 @@ enum class ERealSenseOptionType : uint8
     LED_POWER                                  , /**< Power of the LED (light emitting diode), with 0 meaning LED off */
     ZERO_ORDER_ENABLED                         , /**< Zero-order mode */
     ENABLE_MAP_PRESERVATION                    , /**< Preserve map from the previous run */
+    FREEFALL_DETECTION_ENABLED                 , /**< Enable/disable sensor shutdown when a free-fall is detected (on by default) */
 };
 
 UENUM(Blueprintable)