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Fix metadata handling with Bionic #5714

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Fix metadata handling with Bionic #5714

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66 changes: 39 additions & 27 deletions src/linux/backend-v4l2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -271,7 +271,7 @@ namespace librealsense
memset((byte*)(get_frame_start()) + metadata_offset, 0, MAX_META_DATA_SIZE);
}

//LOG_DEBUG("Enqueue buf " << _buf.index << " for fd " << fd);
//LOG_DEBUG("Enqueue buf " << std::dec << _buf.index << " for fd " << fd);
if (xioctl(fd, VIDIOC_QBUF, &_buf) < 0)
{
LOG_ERROR("xioctl(VIDIOC_QBUF) failed when requesting new frame! fd: " << fd << " error: " << strerror(errno));
Expand Down Expand Up @@ -564,10 +564,17 @@ namespace librealsense
}
closedir(dir);

// Differenciate and merge video and metadata nodes
// Matching video and metadata nodes
// UVC nodes shall be traversed in ascending order for metadata nodes assignment ("dev/video1, Video2..
std::sort(begin(uvc_nodes),end(uvc_nodes),
[](const node_info& lhs, const node_info& rhs){ return lhs.first.id < rhs.first.id; });
// Replace lexicographic with numeric sort to ensure "video2" is listed before "video11"
std::sort(begin(uvc_nodes),end(uvc_nodes),[](const node_info& lhs, const node_info& rhs)
{
std::stringstream index_l(lhs.first.id.substr(lhs.first.id.find_first_of("0123456789")));
std::stringstream index_r(rhs.first.id.substr(rhs.first.id.find_first_of("0123456789")));
int left_id = 0; index_l >> left_id;
int right_id = 0; index_r >> right_id;
return left_id < right_id;
});

// Assume for each metadata node with index N there is a origin streaming node with index (N-1)
for (auto&& cur_node : uvc_nodes)
Expand Down Expand Up @@ -595,7 +602,7 @@ namespace librealsense

if (uvc_node.first.has_metadata_node)
{
LOG_ERROR( "Metadata node for uvc device: " << std::string(uvc_node.first) << " was already been assigned ");
LOG_ERROR( "Metadata node for uvc device: " << std::string(uvc_node.first) << " was previously assigned ");
continue;
}

Expand Down Expand Up @@ -875,8 +882,6 @@ namespace librealsense
else // Check and acquire data buffers from kernel
{
buffers_mgr buf_mgr(_use_memory_map);
// Read metadata from a node
acquire_metadata(buf_mgr,fds);

if(FD_ISSET(_fd, &fds))
{
Expand All @@ -886,13 +891,13 @@ namespace librealsense
buf.memory = _use_memory_map ? V4L2_MEMORY_MMAP : V4L2_MEMORY_USERPTR;
if(xioctl(_fd, VIDIOC_DQBUF, &buf) < 0)
{
LOG_DEBUG("Dequeued empty buf for fd " << _fd);
//LOG_DEBUG("Dequeued empty buf for fd " << std::dec << _fd);
if(errno == EAGAIN)
return;

throw linux_backend_exception(to_string() << "xioctl(VIDIOC_DQBUF) failed for fd: " << _fd);
}
//LOG_DEBUG("Dequeued buf " << buf.index << " for fd " << _fd);
//LOG_DEBUG("Dequeued buf " << std::dec << buf.index << " for fd " << _fd);

auto buffer = _buffers[buf.index];
buf_mgr.handle_buffer(e_video_buf,_fd, buf,buffer);
Expand Down Expand Up @@ -939,22 +944,21 @@ namespace librealsense
auto timestamp = (double)buf.timestamp.tv_sec*1000.f + (double)buf.timestamp.tv_usec/1000.f;
timestamp = monotonic_to_realtime(timestamp);

// read metadata from the frame appendix
// Read metadata. For metadata note performs a blocking call to ensure video and metadata sync
acquire_metadata(buf_mgr,fds,compressed_format);

if (val > 1)
LOG_INFO("Frame buf ready, md size: " << std::dec << (int)buf_mgr.metadata_size() << " seq. id: " << buf.sequence);
frame_object fo{ std::min(buf.bytesused - buf_mgr.metadata_size(), buffer->get_length_frame_only()), buf_mgr.metadata_size(),
buffer->get_frame_start(), buf_mgr.metadata_start(), timestamp };

buffer->attach_buffer(buf);
buf_mgr.handle_buffer(e_video_buf,-1); // transfer new buffer request to the frame callback
buffer->attach_buffer(buf);
buf_mgr.handle_buffer(e_video_buf,-1); // transfer new buffer request to the frame callback

//Invoke user callback and enqueue next frame
_callback(_profile, fo,
[buf_mgr]() mutable {
buf_mgr.request_next_frame();
});
//Invoke user callback and enqueue next frame
_callback(_profile, fo, [buf_mgr]() mutable {
buf_mgr.request_next_frame();
});
}
}
else
Expand All @@ -964,16 +968,16 @@ namespace librealsense
}
else
{
LOG_INFO("FD_ISSET returned false - video node is not signalled (md only)");
LOG_WARNING("FD_ISSET signal false - no data on video node sink");
}
}
}
else // (val==0)
{
LOG_WARNING("Frames didn't arrived within 5 seconds");
librealsense::notification n = {RS2_NOTIFICATION_CATEGORY_FRAMES_TIMEOUT, 0, RS2_LOG_SEVERITY_WARN, "Frames didn't arrived within 5 seconds"};
librealsense::notification n = {RS2_NOTIFICATION_CATEGORY_FRAMES_TIMEOUT, 0, RS2_LOG_SEVERITY_WARN, "Frames didn't arrived within 5 seconds"};

_error_handler(n);
_error_handler(n);
}
}
}
Expand Down Expand Up @@ -1416,6 +1420,8 @@ namespace librealsense
{
throw linux_backend_exception("xioctl(VIDIOC_S_FMT) failed");
}
else
LOG_DEBUG("Streaming node was successfully configured to " << fourcc_to_string(fmt.fmt.pix.pixelformat) << " format" <<", descriptor " << std::dec << _fd);

LOG_INFO("Trying to configure fourcc " << fourcc_to_string(fmt.fmt.pix.pixelformat));
}
Expand Down Expand Up @@ -1489,7 +1495,11 @@ namespace librealsense
if(_md_fd < 0)
throw linux_backend_exception(to_string() << "Cannot open '" << _md_name);

_fds.push_back(_md_fd);
//The minimal video/metadata nodes syncer will be implemented by using two blocking calls:
// 1. Obtain video node data.
// 2. Obtain metadata
// To revert to multiplexing mode uncomment the next line
// _fds.push_back(_md_fd);
_max_fd = *std::max_element(_fds.begin(),_fds.end());

v4l2_capability cap = {};
Expand Down Expand Up @@ -1542,13 +1552,13 @@ namespace librealsense

if(xioctl(_md_fd, VIDIOC_S_FMT, &fmt) >= 0)
{
LOG_DEBUG("Metadata node was successfully configured to " << fourcc_to_string(request) << " format");
LOG_DEBUG("Metadata node was successfully configured to " << fourcc_to_string(request) << " format" <<", descriptor " << std::dec <<_md_fd);
success =true;
break;
}
else
{
LOG_INFO("Metadata configuration failed for " << fourcc_to_string(request));
LOG_WARNING("Metadata node configuration failed for " << fourcc_to_string(request));
}
}

Expand All @@ -1566,28 +1576,30 @@ namespace librealsense
v4l_uvc_device::prepare_capture_buffers();
}

// retrieve metadata from a dedicated UVC node
// retrieve metadata from a dedicated UVC node. For kernels 4.16+
void v4l_uvc_meta_device::acquire_metadata(buffers_mgr & buf_mgr,fd_set &fds, bool)
{
// Metadata is calculated once per frame
if (buf_mgr.metadata_size())
return;

if(FD_ISSET(_md_fd, &fds))
//Use blocking metadata node polling. Uncomment the next lines to revert to multiplexing I/O mode
//if(FD_ISSET(_md_fd, &fds))
{
FD_CLR(_md_fd,&fds);
//FD_CLR(_md_fd,&fds);
v4l2_buffer buf{};
buf.type = LOCAL_V4L2_BUF_TYPE_META_CAPTURE;
buf.memory = _use_memory_map ? V4L2_MEMORY_MMAP : V4L2_MEMORY_USERPTR;

// W/O multiplexing this will create a blocking call for metadata node
if(xioctl(_md_fd, VIDIOC_DQBUF, &buf) < 0)
{
if(errno == EAGAIN)
return;

throw linux_backend_exception(to_string() << "xioctl(VIDIOC_DQBUF) failed for metadata fd: " << _md_fd);
}
//LOG_DEBUG("Dequeued buf " << buf.index << " for fd " << _md_fd);
//LOG_DEBUG("Dequeued buf " << std::dec << buf.index << " for fd " << _md_fd);

auto buffer = _md_buffers[buf.index];
buf_mgr.handle_buffer(e_metadata_buf,_md_fd, buf,buffer);
Expand Down
4 changes: 2 additions & 2 deletions src/linux/backend-v4l2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -190,13 +190,13 @@ namespace librealsense
{
if (_data_buf && (!_managed))
{
//LOG_DEBUG("Enqueue buf " << _dq_buf.index << " for fd " << _file_desc);
if ((_file_desc > 0) && (xioctl(_file_desc, (int)VIDIOC_QBUF, &_dq_buf) < 0))
{
LOG_INFO("xioctl(VIDIOC_QBUF) guard failed");
LOG_WARNING("xioctl(VIDIOC_QBUF) guard failed for fd " << std::dec << _file_desc);
}
}
}

std::shared_ptr<platform::buffer> _data_buf=nullptr;
v4l2_buffer _dq_buf{};
int _file_desc=-1;
Expand Down