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Detect the new products in the SDK and Viewer: D435f, D435if, D455f, D456 #11399

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merged 5 commits into from
Feb 16, 2023
Merged

Detect the new products in the SDK and Viewer: D435f, D435if, D455f, D456 #11399

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6e50b41
new devices added
Tamir91 Feb 5, 2023
1f79659
new rs devices added
Tamir91 Feb 12, 2023
b8b8ced
A tabs removed
Tamir91 Feb 13, 2023
65c73cd
Unnecessary line removed
Tamir91 Feb 13, 2023
928b5a0
Unnecessary variable removed
Tamir91 Feb 13, 2023
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45 changes: 44 additions & 1 deletion src/ds/d400/d400-device.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2016 Intel Corporation. All Rights Reserved.

#include <regex>
#include <iterator>

#include "device.h"
#include "context.h"
#include "image.h"
Expand Down Expand Up @@ -446,7 +449,10 @@ namespace librealsense
// Option INTER_CAM_SYNC_MODE is not enabled in D405
if (_pid != ds::RS405_PID)
val |= d400_caps::CAP_INTERCAM_HW_SYNC;

if (gvd_buf[ip65_sealed_offset] == 0x1)
val |= d400_caps::CAP_IP65;
if (gvd_buf[ir_filter_offset] == 0x1)
val |= d400_caps::CAP_IR_FILTER;
return val;
}

Expand Down Expand Up @@ -692,6 +698,22 @@ namespace librealsense
std::make_shared<thermal_compensation>(_thermal_monitor,thermal_compensation_toggle));
}

auto ir_filter_mask = d400_caps::CAP_IR_FILTER;
if (val_in_range(_pid, { RS435_RGB_PID, RS435I_PID, RS455_PID }) &&
(_device_capabilities & ir_filter_mask) == ir_filter_mask &&
is_capability_supports(d400_caps::CAP_IR_FILTER, gvd_buff[gvd_version_offset]))
{
update_device_name(device_name, d400_caps::CAP_IR_FILTER);
}

auto ip65_mask = d400_caps::CAP_IP65;
if (val_in_range(_pid, { RS455_PID })&&
(_device_capabilities & ip65_mask) == ip65_mask &&
is_capability_supports(d400_caps::CAP_IP65, gvd_buff[gvd_version_offset]))
{
update_device_name(device_name, d400_caps::CAP_IP65);
}

std::shared_ptr<option> exposure_option = nullptr;
std::shared_ptr<option> gain_option = nullptr;
std::shared_ptr<hdr_option> hdr_enabled_option = nullptr;
Expand Down Expand Up @@ -1081,6 +1103,27 @@ namespace librealsense
//TODO: Implement
}

// Check if need change camera name due to number modifications on one device PID.
void update_device_name(std::string& device_name, const ds::d400_caps cap)
{
std::regex old_name_reg("D455");

switch (cap)
{
case ds::d400_caps::CAP_IR_FILTER:
device_name += "F"; // Adding "F" to end of device name if it has IR filter.
break;

case ds::d400_caps::CAP_IP65:
device_name = std::regex_replace(device_name, old_name_reg, "D456"); // Change device name from D455 to D456.
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Can we remove line 1109 and place here:

device_name = std::regex_replace(device_name, std::regex("D455"), "D456"); // Change device name from D455 to D456.

?
The parameter at line 1109 is only relevant on this case

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Yes, you are absolutely right. I tried your solution and VS marked it like an error, so full of pain I moved it out of "switch".
But now it worked. It happens the second time. Maybe delay in IDE.
Changed according to your suggestion.

break;

default:
throw invalid_value_exception("capability '" + ds::d400_capabilities_names.at(cap) + "' is not supported for device name update");
break;
}
}

platform::usb_spec d400_device::get_usb_spec() const
{
if(!supports_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
Expand Down
3 changes: 2 additions & 1 deletion src/ds/d400/d400-device.h
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Original file line number Diff line number Diff line change
Expand Up @@ -126,5 +126,6 @@ namespace librealsense
friend class ds5u_depth_sensor;
};


// Update device name according capability in it.
void update_device_name(std::string& device_name, const ds::d400_caps cap);
}
13 changes: 13 additions & 0 deletions src/ds/d400/d400-private.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,5 +162,18 @@ namespace librealsense
bool d400_try_fetch_usb_device(std::vector<platform::usb_device_info>& devices,
const platform::uvc_device_info& info, platform::usb_device_info& result);

// Checks if given capability supporting by current gvd (firmware data) version.
static bool is_capability_supports(const ds::d400_caps capability, const uint8_t cur_gvd_version)
{
auto cap = ds::d400_cap_to_min_gvd_version.find(capability);
if (cap == ds::d400_cap_to_min_gvd_version.end())
{
throw invalid_value_exception("Not found capabilty in map of cabability--gvd version.");
}

uint8_t min_gvd_version = cap->second;
return min_gvd_version <= cur_gvd_version;
}

} // namespace ds
} // namespace librealsense
17 changes: 15 additions & 2 deletions src/ds/ds-private.h
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,8 @@ namespace librealsense
CAP_BMI_055 = (1u << 6),
CAP_BMI_085 = (1u << 7),
CAP_INTERCAM_HW_SYNC = (1u << 8),
CAP_IP65 = (1u << 9),
CAP_IR_FILTER = (1u << 10),
CAP_MAX
};

Expand All @@ -186,7 +188,14 @@ namespace librealsense
{ d400_caps::CAP_GLOBAL_SHUTTER, "Global Shutter" },
{ d400_caps::CAP_ROLLING_SHUTTER, "Rolling Shutter" },
{ d400_caps::CAP_BMI_055, "IMU BMI_055" },
{ d400_caps::CAP_BMI_085, "IMU BMI_085" }
{ d400_caps::CAP_BMI_085, "IMU BMI_085" },
{ d400_caps::CAP_IP65, "IP65 Sealed device"},
{ d400_caps::CAP_IR_FILTER, "IR filter" }
};

static const std::map<d400_caps, std::int8_t> d400_cap_to_min_gvd_version = {
{d400_caps::CAP_IP65, 0x4},
{d400_caps::CAP_IR_FILTER, 0x4}
};

inline d400_caps operator &(const d400_caps lhs, const d400_caps rhs)
Expand Down Expand Up @@ -214,7 +223,8 @@ namespace librealsense
for (auto i : { d400_caps::CAP_ACTIVE_PROJECTOR,d400_caps::CAP_RGB_SENSOR,
d400_caps::CAP_FISHEYE_SENSOR, d400_caps::CAP_IMU_SENSOR,
d400_caps::CAP_GLOBAL_SHUTTER, d400_caps::CAP_ROLLING_SHUTTER,
d400_caps::CAP_BMI_055, d400_caps::CAP_BMI_085 })
d400_caps::CAP_BMI_055, d400_caps::CAP_BMI_085,
d400_caps::CAP_IP65, d400_caps::CAP_IR_FILTER })
{
if (i == (i & cap))
stream << d400_capabilities_names.at(i) << "/";
Expand Down Expand Up @@ -519,13 +529,16 @@ namespace librealsense
enum gvd_fields
{
// Keep sorted
gvd_version_offset = 2,
camera_fw_version_offset = 12,
is_camera_locked_offset = 25,
module_serial_offset = 48,
module_asic_serial_offset = 64,
fisheye_sensor_lb = 112,
fisheye_sensor_hb = 113,
imu_acc_chip_id = 124,
ip65_sealed_offset = 161,
ir_filter_offset = 164,
depth_sensor_type = 166,
active_projector = 170,
rgb_sensor = 174,
Expand Down