From d80d506360adab30cee64a4e2ec61c96075527bb Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 1 Sep 2018 20:47:35 +0800
Subject: [PATCH 1/3] Throw error in v4l2 when time out

---
 src/uvc/uvc-v4l2.cc | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index a064552..b530cb4 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -41,6 +41,9 @@ namespace uvc {
     LOG(severity) << str << " error " << errno << ", " << strerror(errno); \
   } while (0)
 
+#define NO_DATA_MAX_COUNT 200
+
+int no_data_count = 0;
 /*
 class device_error : public std::exception {
  public:
@@ -194,6 +197,7 @@ struct device {
   ~device() {
     VLOG(2) << __func__;
     stop_streaming();
+    no_data_count = 0;
     if (fd != -1 && close(fd) < 0) {
       LOG_ERROR(WARNING, "close");
     }
@@ -386,6 +390,14 @@ struct device {
             throw_error("VIDIOC_QBUF");
         });
       }
+
+      no_data_count = 0;
+    } else {
+      no_data_count++;
+    }
+
+    if (no_data_count > NO_DATA_MAX_COUNT) {
+      throw_error("v4l2 get stream time out!");
     }
   }
 

From 54f01eec1a45ec09e61ed890f25b3c25ea8438d2 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 1 Sep 2018 20:51:14 +0800
Subject: [PATCH 2/3] Miss blank line

---
 src/uvc/uvc-v4l2.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/uvc/uvc-v4l2.cc b/src/uvc/uvc-v4l2.cc
index b530cb4..06fc8fc 100755
--- a/src/uvc/uvc-v4l2.cc
+++ b/src/uvc/uvc-v4l2.cc
@@ -44,6 +44,7 @@ namespace uvc {
 #define NO_DATA_MAX_COUNT 200
 
 int no_data_count = 0;
+
 /*
 class device_error : public std::exception {
  public:

From 92585a3b8d220373bb570c3f5eec7fb8e31901d4 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Sat, 1 Sep 2018 21:03:28 +0800
Subject: [PATCH 3/3] Replace LOG(WARNING) with VLOG(2) When get imu params
 failed or image packet is unaccepted

---
 src/device/device.cc    |  6 +++---
 src/internal/streams.cc | 18 +++++++++---------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/device/device.cc b/src/device/device.cc
index e6a2542..cc4d2b8 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -252,7 +252,7 @@ MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
     return *motion_intrinsics_;
   } else {
     *ok = false;
-    LOG(WARNING) << "Motion intrinsics not found";
+    VLOG(2) << "Motion intrinsics not found";
     return {};
   }
 }
@@ -263,7 +263,7 @@ Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
     return motion_from_extrinsics_.at(from);
   } catch (const std::out_of_range &e) {
     *ok = false;
-    LOG(WARNING) << "Motion extrinsics from " << from << " not found";
+    VLOG(2) << "Motion extrinsics from " << from << " not found";
     return {};
   }
 }
@@ -580,7 +580,7 @@ void Device::ReadAllInfos() {
     VLOG(2) << "Motion extrinsics left to imu: {"
             << GetMotionExtrinsics(Stream::LEFT) << "}";
   } else {
-    LOG(WARNING) << "Motion intrinsics & extrinsics not exist";
+    VLOG(2) << "Motion intrinsics & extrinsics not exist";
   }
 }
 
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index 4b049e3..97ae970 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -50,9 +50,9 @@ bool unpack_stereo_img_data(
   //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
 
   if (img_packet.header != 0x3B) {
-    LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
-                 << std::uppercase << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(img_packet.header) << " now";
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
     return false;
   }
 
@@ -61,11 +61,11 @@ bool unpack_stereo_img_data(
     checksum = (checksum ^ packet[i]);
   }
   if (img_packet.checksum != checksum) {
-    LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
-                 << std::uppercase << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(img_packet.checksum) << ", but 0x"
-                 << std::setw(2) << std::setfill('0')
-                 << static_cast<int>(checksum) << " now";
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
     return false;
   }
 
@@ -160,7 +160,7 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
       } else {
         // discard left
         DiscardStreamData(Stream::LEFT);
-        LOG(WARNING) << "Image packet is unaccepted, frame dropped";
+        VLOG(2) << "Image packet is unaccepted, frame dropped";
         pushed = false;
       }
     } break;