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Emitter On /Off and Emitter Always On enabling together avoided #7911

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merged 3 commits into from
Dec 14, 2020
Merged

Emitter On /Off and Emitter Always On enabling together avoided #7911

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39b1e84
Emitter On /Off and Emitter Always On enabling together avoided
Dec 3, 2020
525ec12
gated_option and mulit_gated_option merged
Dec 10, 2020
392668a
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Dec 13, 2020
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10 changes: 6 additions & 4 deletions src/ds5/ds5-active.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,17 +48,19 @@ namespace librealsense

if (auto hdr_enabled_option = depth_ep.get_option_handler(RS2_OPTION_HDR_ENABLED))
{
std::vector<std::pair<std::shared_ptr<option>, std::string>> emitter_options_and_reasons = { std::make_pair(hdr_enabled_option,
"Emitter status cannot be set while HDR is enabled")};
depth_ep.register_option(RS2_OPTION_EMITTER_ENABLED,
std::make_shared<gated_option>(
emitter_enabled,
hdr_enabled_option,
"Emitter status cannot be set while HDR is enabled"));
emitter_options_and_reasons));

std::vector<std::pair<std::shared_ptr<option>, std::string>> laser_options_and_reasons = { std::make_pair(hdr_enabled_option,
"Laser Power status cannot be set while HDR is enabled") };
depth_ep.register_option(RS2_OPTION_LASER_POWER,
std::make_shared<gated_option>(
laser_power_auto_disabling,
hdr_enabled_option,
"Laser Power status cannot be set while HDR is enabled"));
laser_options_and_reasons));
}
else
{
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37 changes: 29 additions & 8 deletions src/ds5/ds5-device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -819,11 +819,12 @@ namespace librealsense
exposure_option = hdr_conditional_exposure_option;
gain_option = hdr_conditional_gain_option;

std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(hdr_enabled_option,
"Auto Exposure cannot be set while HDR is enabled") };
depth_sensor.register_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE,
std::make_shared<gated_option>(
enable_auto_exposure,
hdr_enabled_option,
"Auto Exposure cannot be set while HDR is enabled"));
options_and_reasons));
}
else
{
Expand All @@ -850,13 +851,36 @@ namespace librealsense
if ((_fw_version >= firmware_version("5.11.3.0")) && ((_device_capabilities & mask) == mask))
{
auto alternating_emitter_opt = std::make_shared<alternating_emitter_option>(*_hw_monitor, &raw_depth_sensor, is_fw_version_using_id);
auto emitter_always_on_opt = std::make_shared<emitter_always_on_option>(*_hw_monitor, &depth_sensor);

if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
{
std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(alternating_emitter_opt,
"Emitter always ON cannot be set while Emitter ON/OFF is enabled")};
depth_sensor.register_option(RS2_OPTION_EMITTER_ALWAYS_ON,
std::make_shared<gated_option>(
emitter_always_on_opt,
options_and_reasons));
}

if (_fw_version >= hdr_firmware_version)
{
std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(hdr_enabled_option, "Emitter ON/OFF cannot be set while HDR is enabled"),
std::make_pair(emitter_always_on_opt, "Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
std::make_shared<gated_option>(
alternating_emitter_opt,
hdr_enabled_option,
"Emitter ON/OFF cannot be set while HDR is enabled"));
options_and_reasons
));
}
else if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
{
std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(emitter_always_on_opt,
"Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
std::make_shared<gated_option>(
alternating_emitter_opt,
options_and_reasons));
}
else
{
Expand All @@ -869,10 +893,7 @@ namespace librealsense
depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, std::make_shared<emitter_on_and_off_option>(*_hw_monitor, &raw_depth_sensor));
}

if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
{
depth_sensor.register_option(RS2_OPTION_EMITTER_ALWAYS_ON, std::make_shared<emitter_always_on_option>(*_hw_monitor, &depth_sensor));
}


if (_fw_version >= firmware_version("5.12.4.0") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
{
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40 changes: 26 additions & 14 deletions src/option.h
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Original file line number Diff line number Diff line change
Expand Up @@ -592,28 +592,40 @@ namespace librealsense
{
public:
explicit gated_option(std::shared_ptr<option> leading_to_read_only,
std::shared_ptr<option> gated_option, std::string reason = "This option cannot be set right now")
: proxy_option(leading_to_read_only), _gated_option(gated_option), _reason(reason)
{}
std::vector<std::pair<std::shared_ptr<option>, std::string>> gated_options)
: proxy_option(leading_to_read_only)
{
for (auto& gated : gated_options)
{
_gated_options.push_back(gated);
}
}

void set(float value) override
{
auto strong = _gated_option.lock();
if (!strong)
return;
auto val = strong->query();

if (val)
LOG_WARNING(_reason.c_str());
else
_proxy->set(value);

bool gated_set = false;
for (auto& gated : _gated_options)
{
auto strong = gated.first.lock();
if (!strong)
return;
auto val = strong->query();
if (val)
{
gated_set = true;
LOG_WARNING(gated.second.c_str());
}
}

if (!gated_set)
_proxy->set(value);

_recording_function(*this);
}

private:
std::weak_ptr<option> _gated_option;
std::string _reason;
std::vector < std::pair<std::weak_ptr<option>, std::string> > _gated_options;
};

/** \brief class provided a control
Expand Down