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rs-enumerate-devices and libusb handling fixes #5716

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merged 4 commits into from
Feb 4, 2020
Merged

rs-enumerate-devices and libusb handling fixes #5716

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0f9d322
Check libusb return value to prevent null dereferencing and segfault.…
ev-mp Jan 22, 2020
81dfccf
rs-enumerate-behavior fixes and enhancements:
ev-mp Feb 2, 2020
a10b64d
rs-enumerate-devices doc. update
ev-mp Feb 2, 2020
10a248f
Code Review fixes
ev-mp Feb 4, 2020
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23 changes: 13 additions & 10 deletions src/command_transfer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,21 +42,24 @@ namespace librealsense
throw std::runtime_error("can't find VENDOR_SPECIFIC interface of device: " + _device->get_info().id);

auto hwm = *it;
const auto& m = _device->open(hwm->get_number());

uint32_t transfered_count = 0;
auto sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE), const_cast<uint8_t*>(data.data()), static_cast<uint32_t>(data.size()), transfered_count, timeout_ms);
std::vector<uint8_t> output;
if (const auto& m = _device->open(hwm->get_number()))
{
uint32_t transfered_count = 0;
auto sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE), const_cast<uint8_t*>(data.data()), static_cast<uint32_t>(data.size()), transfered_count, timeout_ms);

if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));
if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));

std::vector<uint8_t> output(DEFAULT_BUFFER_SIZE);
sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_READ), output.data(), static_cast<uint32_t>(output.size()), transfered_count, timeout_ms);
output.resize(DEFAULT_BUFFER_SIZE);
sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_READ), output.data(), static_cast<uint32_t>(output.size()), transfered_count, timeout_ms);

if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));
if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));

output.resize(transfered_count);
output.resize(transfered_count);
}
return output;
}

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4 changes: 2 additions & 2 deletions src/ds5/ds5-motion.cpp
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Expand Up @@ -458,9 +458,9 @@ namespace librealsense
calib_id = *reinterpret_cast<uint16_t*>(raw.data());
valid = true;
}
catch(const std::exception& exc)
catch(const std::exception&)
{
LOG_INFO("IMU EEPROM Read error: " << exc.what());
LOG_WARNING("IMU Calibration is not available, see the previous message");
}

std::shared_ptr<mm_calib_parser> prs = nullptr;
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27 changes: 14 additions & 13 deletions src/tm2/tm-boot.h
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Expand Up @@ -22,21 +22,22 @@ namespace librealsense {
LOG_INFO("Found a T265 to boot");
found = true;
auto dev = usb_enumerator::create_usb_device(device_info);
const auto& m = dev->open(0);
if (const auto& m = dev->open(0))
{
// transfer the firmware data
int size{};
auto target_hex = fw_get_target(size);

// transfer the firmware data
int size;
auto target_hex = fw_get_target(size);
if(!target_hex)
LOG_ERROR("librealsense failed to get T265 FW resource");

if(!target_hex)
LOG_ERROR("librealsense failed to get T265 FW resource");

auto iface = dev->get_interface(0);
auto endpoint = iface->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE);
uint32_t transfered = 0;
auto status = m->bulk_transfer(endpoint, const_cast<uint8_t*>(target_hex), static_cast<uint32_t>(size), transfered, 1000);
if(status != RS2_USB_STATUS_SUCCESS)
LOG_ERROR("Error booting T265");
auto iface = dev->get_interface(0);
auto endpoint = iface->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE);
uint32_t transfered = 0;
auto status = m->bulk_transfer(endpoint, const_cast<uint8_t*>(target_hex), static_cast<uint32_t>(size), transfered, 1000);
if(status != RS2_USB_STATUS_SUCCESS)
LOG_ERROR("Error booting T265");
}
}
}
return found;
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44 changes: 31 additions & 13 deletions tools/enumerate-devices/readme.md
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Original file line number Diff line number Diff line change
@@ -1,27 +1,45 @@
# rs-enumerate-devices Tool

## Goal
`rs-enumerate-devices` tool is a console application providing information about connected devices.
`rs-enumerate-devices` tool is a console application providing information about Realsense devices.

## Usage
After installing `librealsense` run ` rs-enumerate-devices` to launch the tool.
An example for output for a D415 camera is:
An example output for a D415 camera (using `-S` option) is:

```
Name : Intel RealSense 415
Serial Number : 725112060346
Firmware Version : 05.08.14.00
Physical Port : /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video1
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0AD3
Device Name Serial Number Firmware Version
Intel RealSense D415 725112060411 05.12.02.100
Device info:
Name : Intel RealSense D415
Serial Number : 725112060411
Firmware Version : 05.12.02.100
Recommended Firmware Version : 05.12.02.100
Physical Port : \\?\usb#vid_8086&pid_0ad3&mi_00#6&2a371216&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0AD3
Camera Locked : NO
Usb Type Descriptor : 3.2
Product Line : D400
Asic Serial Number : 012345678901
Firmware Update Id : 012345678901

```

## Command Line Parameters

|Flag |Description |
|---|---|
|`-s`|Provide short summary, one line per device|
|`-o`|List supported device controls and options|
|`-c`|Provide calibration (Intrinsic/Extrinsic) information|
| None| List supported streaming modes|
|`-s`|Generate a one-line info for each connected device|
|`-S`|Extends `-s` by providing a short summary per device|
|`-o`|List supported device controls, options and streaming modes|
|`-c`|Provide calibration (Intrinsic/Extrinsic) and streaming modes information|
|`-p`|Enumerate streams contained in ROSBag record file. Usage `-p <rosbag_full_path_name>`.|
| None| The default mode. Equivalent to `-S` plus the list of all the supported streaming profiles|

The options `-o`, `-c` and `-p` are additive and can be combined, e.g. call
`rs-enumerate-devices -o -c -p rosbag.rec` to print the camera info, streaming modes, supported options and the calibration data both for the live cameras and the prerecorded `rosbag.rec` file.

The options `-S`, `-s` are restrictive and therefore incompatible with `-o` and `-c`,
but still can be used with `-p <file_name>`.
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