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Fix exceptions when closing the viewer #12554

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merged 3 commits into from
Jan 7, 2024
Merged

Fix exceptions when closing the viewer #12554

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8bea652
Cancel on_options_changed subscription on destruction
OhadMeir Jan 4, 2024
9cef6b7
Options hold weak pointer to sensor, not direct reference
OhadMeir Jan 4, 2024
f811560
Handle exceptions setting UVC power while resetting or disconnecting …
OhadMeir Jan 7, 2024
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30 changes: 15 additions & 15 deletions common/subdevice-model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,26 +69,23 @@ namespace rs2
return ss.str();
}

void subdevice_model::populate_options(std::map<int, option_model>& opt_container,
const std::string& opt_base_label,
subdevice_model* model,
std::shared_ptr<options> options,
bool* options_invalidated,
std::string& error_message)
void subdevice_model::populate_options( const std::string & opt_base_label,
bool * options_invalidated,
std::string & error_message )
{
for (auto&& i : options->get_supported_options())
for (auto&& i : s->get_supported_options())
{
auto opt = static_cast<rs2_option>(i);

opt_container[opt] = create_option_model(opt, opt_base_label, model, options, options_invalidated, error_message);
options_metadata[opt] = create_option_model(opt, opt_base_label, this, s, options_invalidated, error_message);
try
{
model->s->on_options_changed( [model]( const options_list & list )
s->on_options_changed( [this]( const options_list & list )
{
for( auto opt_id : list )
{
auto it = model->options_metadata.find( opt_id );
if( it != model->options_metadata.end() )
auto it = options_metadata.find( opt_id );
if( it != options_metadata.end() && ! _destructing ) // Callback runs in different context, check options_metadata still valid
{
it->second.value = it->second.endpoint->get_option( opt_id );
}
Expand All @@ -97,8 +94,8 @@ namespace rs2
}
catch( const std::exception & e )
{
if( model->viewer.not_model )
model->viewer.not_model->add_log( e.what(), RS2_LOG_SEVERITY_WARN );
if( viewer.not_model )
viewer.not_model->add_log( e.what(), RS2_LOG_SEVERITY_WARN );
}
}
}
Expand Down Expand Up @@ -150,7 +147,8 @@ namespace rs2
yuy2rgb(std::make_shared<rs2::gl::yuy_decoder>()),
y411(std::make_shared<rs2::gl::y411_decoder>()),
viewer(viewer),
detected_objects(device_detected_objects)
detected_objects(device_detected_objects),
_destructing( false )
{
supported_options = s->get_supported_options();
restore_processing_block("colorizer", depth_colorizer);
Expand Down Expand Up @@ -484,12 +482,14 @@ namespace rs2
{
error_message = error_to_string(e);
}
populate_options(options_metadata, ss.str().c_str(), this, s, &_options_invalidated, error_message);
populate_options(ss.str().c_str(), &_options_invalidated, error_message);

}

subdevice_model::~subdevice_model()
{
_destructing = true;
s->on_options_changed( []( const options_list & list ) {} );
}

void subdevice_model::sort_resolutions(std::vector<std::pair<int, int>>& resolutions) const
Expand Down
8 changes: 2 additions & 6 deletions common/subdevice-model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,12 +75,7 @@ namespace rs2
class subdevice_model
{
public:
static void populate_options(std::map<int, option_model>& opt_container,
const std::string& opt_base_label,
subdevice_model* model,
std::shared_ptr<options> options,
bool* options_invalidated,
std::string& error_message);
void populate_options( const std::string & opt_base_label, bool * options_invalidated, std::string & error_message );

subdevice_model(device& dev, std::shared_ptr<sensor> s, std::shared_ptr< atomic_objects_in_frame > objects, std::string& error_message, viewer_model& viewer, bool new_device_connected = true);
~subdevice_model();
Expand Down Expand Up @@ -231,5 +226,6 @@ namespace rs2

const float SHORT_RANGE_MIN_DISTANCE = 0.05f; // 5 cm
const float SHORT_RANGE_MAX_DISTANCE = 4.0f; // 4 meters
std::atomic_bool _destructing;
};
}
6 changes: 3 additions & 3 deletions include/librealsense2/h/rs_option.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,11 @@ extern "C" {
RS2_OPTION_ASIC_TEMPERATURE, /**< Current Asic Temperature */
RS2_OPTION_ERROR_POLLING_ENABLED, /**< disable error handling */
RS2_OPTION_PROJECTOR_TEMPERATURE, /**< Current Projector Temperature */
RS2_OPTION_OUTPUT_TRIGGER_ENABLED, /**< Enable / disable trigger to be outputed from the camera to any external device on every depth frame */
RS2_OPTION_OUTPUT_TRIGGER_ENABLED, /**< Enable / disable trigger to be outputted from the camera to any external device on every depth frame */
RS2_OPTION_MOTION_MODULE_TEMPERATURE, /**< Current Motion-Module Temperature */
RS2_OPTION_DEPTH_UNITS, /**< Number of meters represented by a single depth unit */
RS2_OPTION_ENABLE_MOTION_CORRECTION, /**< Enable/Disable automatic correction of the motion data */
RS2_OPTION_AUTO_EXPOSURE_PRIORITY, /**< Allows sensor to dynamically ajust the frame rate depending on lighting conditions */
RS2_OPTION_AUTO_EXPOSURE_PRIORITY, /**< Allows sensor to dynamically adjust the frame rate depending on lighting conditions */
RS2_OPTION_COLOR_SCHEME, /**< Color scheme for data visualization */
RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, /**< Perform histogram equalization post-processing on the depth data */
RS2_OPTION_MIN_DISTANCE, /**< Minimal distance to the target */
Expand All @@ -62,7 +62,7 @@ extern "C" {
RS2_OPTION_FILTER_SMOOTH_DELTA, /**< 2D-filter range/validity threshold*/
RS2_OPTION_HOLES_FILL, /**< Enhance depth data post-processing with holes filling where appropriate*/
RS2_OPTION_STEREO_BASELINE, /**< The distance in mm between the first and the second imagers in stereo-based depth cameras*/
RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, /**< Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm*/
RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, /**< Allows dynamically adjust the converge step value of the target exposure in Auto-Exposure algorithm*/
RS2_OPTION_INTER_CAM_SYNC_MODE, /**< Impose Inter-camera HW synchronization mode. Applicable for D400/L500/Rolling Shutter SKUs */
RS2_OPTION_STREAM_FILTER, /**< Select a stream to process */
RS2_OPTION_STREAM_FORMAT_FILTER, /**< Select a stream format to process */
Expand Down
8 changes: 1 addition & 7 deletions src/ds/d400/d400-active.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,6 @@ namespace librealsense
//PROJECTOR TEMPERATURE OPTION
auto pid = this->_pid;
auto& depth_ep = get_depth_sensor();
auto &raw_depth_ep = get_raw_depth_sensor();

if( pid == ds::RS457_PID )
{
Expand All @@ -44,13 +43,8 @@ namespace librealsense
}
else
{
auto uvc_s = std::dynamic_pointer_cast< uvc_sensor >( raw_depth_ep.shared_from_this() );
if( ! uvc_s )
throw std::runtime_error( "Sensor base is not a uvc sensor" );

depth_ep.register_option( RS2_OPTION_PROJECTOR_TEMPERATURE,
std::make_shared< asic_and_projector_temperature_options >(
std::move( uvc_s ),
std::make_shared< asic_and_projector_temperature_options >( get_raw_depth_sensor(),
RS2_OPTION_PROJECTOR_TEMPERATURE ) );
}
}
Expand Down
7 changes: 3 additions & 4 deletions src/ds/d400/d400-color.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ namespace librealsense
void d400_color::init()
{
auto& color_ep = get_color_sensor();
auto& raw_color_ep = get_raw_color_sensor();
auto raw_color_ep = get_raw_color_sensor();

_ds_color_common = std::make_shared<ds_color_common>(raw_color_ep, color_ep, _fw_version, _hw_monitor, this);

Expand All @@ -151,7 +151,6 @@ namespace librealsense
void d400_color::register_options()
{
auto& color_ep = get_color_sensor();
auto& raw_color_ep = get_raw_color_sensor();

if (!val_in_range(_pid, { ds::RS457_PID }))
{
Expand Down Expand Up @@ -222,7 +221,7 @@ namespace librealsense
// attributes of md_capture_stats
auto& color_ep = get_color_sensor();
// attributes of md_rgb_control
auto& raw_color_ep = get_raw_color_sensor();
auto raw_color_ep = get_raw_color_sensor();

if (_pid != ds::RS457_PID)
{
Expand All @@ -231,7 +230,7 @@ namespace librealsense
}
else
{
auto uvc_dev = raw_color_ep.get_uvc_device();
auto uvc_dev = raw_color_ep->get_uvc_device();
if (uvc_dev->is_platform_jetson())
{
// Work-around for discrepancy between the RGB YUYV descriptor and the parser . Use UYUV parser instead
Expand Down
6 changes: 3 additions & 3 deletions src/ds/d400/d400-color.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,10 @@ namespace librealsense
return dynamic_cast<synthetic_sensor&>(get_sensor(_color_device_idx));
}

uvc_sensor& get_raw_color_sensor()
std::shared_ptr< uvc_sensor > get_raw_color_sensor()
{
synthetic_sensor& color_sensor = get_color_sensor();
return dynamic_cast<uvc_sensor&>(*color_sensor.get_raw_sensor());
synthetic_sensor & color_sensor = get_color_sensor();
return std::dynamic_pointer_cast< uvc_sensor >( color_sensor.get_raw_sensor() );
}

protected:
Expand Down
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