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removing requirement of _all sensors present_ and checking only depth sensor #13232

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merged 1 commit into from
Aug 5, 2024
Merged

removing requirement of _all sensors present_ and checking only depth sensor #13232

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37 changes: 2 additions & 35 deletions src/ds/d400/d400-factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1157,37 +1157,11 @@ namespace librealsense
auto& devices = g.first;
auto& hids = g.second;

bool all_sensors_present = mi_present(devices, 0);
bool is_mi_0_present = mi_present(devices, 0);

// Device with multi sensors can be enabled only if all sensors (RGB + Depth) are present
auto is_pid_of_multisensor_device = [](int pid) { return std::find(std::begin(ds::d400_multi_sensors_pid), std::end(ds::d400_multi_sensors_pid), pid) != std::end(ds::d400_multi_sensors_pid); };
bool is_device_multisensor = false;
auto is_pid_of_mipi_device = [](int pid) { return std::find(std::begin(ds::d400_mipi_device_pid), std::end(ds::d400_mipi_device_pid), pid) != std::end(ds::d400_mipi_device_pid); };
bool is_mipi_device = false;
for (auto&& uvc : devices)
{
if (is_pid_of_multisensor_device(uvc.pid))
is_device_multisensor = true;
if (is_pid_of_mipi_device(uvc.pid))
is_mipi_device = true;
}

if(is_device_multisensor)
{
if(!is_mipi_device)
{
// usb devices: all sensors mi=0, except RGB mi=3
all_sensors_present = all_sensors_present &&
mi_present(devices, 3);
}
else
{
// mipi devices: all sensors mi=0, except Accel/Gyro mi=4
all_sensors_present = all_sensors_present &&
mi_present(devices, 4);
}
}


#if !defined(__APPLE__) // Not supported by macos
auto is_pid_of_hid_sensor_device = [](int pid) { return std::find(std::begin(ds::d400_hid_sensors_pid),
Expand All @@ -1198,16 +1172,9 @@ namespace librealsense
if (is_pid_of_hid_sensor_device(uvc.pid))
is_device_hid_sensor = true;
}

// Device with hids can be enabled only if both hids (gyro and accelerometer) are present
// Assuming that hids amount of 2 and above guarantee that gyro and accelerometer are present
if (is_device_hid_sensor)
{
all_sensors_present &= (hids.size() >= 2);
}
#endif

if (!devices.empty() && all_sensors_present)
if (!devices.empty() && is_mi_0_present)
{
platform::usb_device_info hwm;

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22 changes: 2 additions & 20 deletions src/ds/d500/d500-factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,22 +144,11 @@ class d555_device
auto& devices = g.first;
auto& hids = g.second;

bool all_sensors_present = mi_present(devices, 0);
bool is_mi_0_present = mi_present(devices, 0);

// Device with multi sensors can be enabled only if all sensors (RGB + Depth) are present
auto is_pid_of_multisensor_device = [](int pid) { return std::find(std::begin(ds::d500_multi_sensors_pid),
std::end(ds::d500_multi_sensors_pid), pid) != std::end(ds::d500_multi_sensors_pid); };
bool is_device_multisensor = false;
for (auto&& uvc : devices)
{
if (is_pid_of_multisensor_device(uvc.pid))
is_device_multisensor = true;
}

if(is_device_multisensor)
{
all_sensors_present = all_sensors_present && mi_present(devices, 3);
}


#if !defined(__APPLE__) // Not supported by macos
Expand All @@ -171,16 +160,9 @@ class d555_device
if (is_pid_of_hid_sensor_device(uvc.pid))
is_device_hid_sensor = true;
}

// Device with hids can be enabled only if both hids (gyro and accelerometer) are present
// Assuming that hids amount of 2 and above guarantee that gyro and accelerometer are present
if (is_device_hid_sensor)
{
all_sensors_present &= (hids.size() >= 2);
}
#endif

if (!devices.empty() && all_sensors_present)
if (!devices.empty() && is_mi_0_present)
{
platform::usb_device_info hwm;

Expand Down
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