tami/MYNT-EYE-S-SDK
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Merge branch 'develop' of https://code.slightech.com:666/mynteye/mynt-eye-sdk-2 into develop

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This commit is contained in:
Osenberg-Y 2018-09-02 14:50:49 +08:00
commit 4addab5cc0
3 changed files with 25 additions and 12 deletions
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6
src/device/device.cc
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@ -252,7 +252,7 @@ MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
return *motion_intrinsics_; return *motion_intrinsics_;
} else { } else {
*ok = false; *ok = false;
LOG(WARNING) << "Motion intrinsics not found"; VLOG(2) << "Motion intrinsics not found";
return {}; return {};
} }
} }
@ -263,7 +263,7 @@ Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
return motion_from_extrinsics_.at(from); return motion_from_extrinsics_.at(from);
} catch (const std::out_of_range &e) { } catch (const std::out_of_range &e) {
*ok = false; *ok = false;
LOG(WARNING) << "Motion extrinsics from " << from << " not found"; VLOG(2) << "Motion extrinsics from " << from << " not found";
return {}; return {};
} }
} }
@ -580,7 +580,7 @@ void Device::ReadAllInfos() {
VLOG(2) << "Motion extrinsics left to imu: {" VLOG(2) << "Motion extrinsics left to imu: {"
<< GetMotionExtrinsics(Stream::LEFT) << "}"; << GetMotionExtrinsics(Stream::LEFT) << "}";
} else { } else {
LOG(WARNING) << "Motion intrinsics & extrinsics not exist"; VLOG(2) << "Motion intrinsics & extrinsics not exist";
} }
} }

18
src/internal/streams.cc
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@ -50,9 +50,9 @@ bool unpack_stereo_img_data(
// << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum); // << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
if (img_packet.header != 0x3B) { if (img_packet.header != 0x3B) {
LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0') << std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(img_packet.header) << " now"; << static_cast<int>(img_packet.header) << " now";
return false; return false;
} }
@ -61,11 +61,11 @@ bool unpack_stereo_img_data(
checksum = (checksum ^ packet[i]); checksum = (checksum ^ packet[i]);
} }
if (img_packet.checksum != checksum) { if (img_packet.checksum != checksum) {
LOG(WARNING) << "Image packet checksum should be 0x" << std::hex VLOG(2) << "Image packet checksum should be 0x" << std::hex
<< std::uppercase << std::setw(2) << std::setfill('0') << std::uppercase << std::setw(2) << std::setfill('0')
<< static_cast<int>(img_packet.checksum) << ", but 0x" << static_cast<int>(img_packet.checksum) << ", but 0x"
<< std::setw(2) << std::setfill('0') << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
<< static_cast<int>(checksum) << " now"; << " now";
return false; return false;
} }
@ -160,7 +160,7 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
} else { } else {
// discard left // discard left
DiscardStreamData(Stream::LEFT); DiscardStreamData(Stream::LEFT);
LOG(WARNING) << "Image packet is unaccepted, frame dropped"; VLOG(2) << "Image packet is unaccepted, frame dropped";
pushed = false; pushed = false;
} }
} break; } break;

13
src/uvc/uvc-v4l2.cc
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@ -41,6 +41,10 @@ namespace uvc {
LOG(severity) << str << " error " << errno << ", " << strerror(errno); \ LOG(severity) << str << " error " << errno << ", " << strerror(errno); \
} while (0) } while (0)
#define NO_DATA_MAX_COUNT 200
int no_data_count = 0;
/* /*
class device_error : public std::exception { class device_error : public std::exception {
public: public:
@ -194,6 +198,7 @@ struct device {
~device() { ~device() {
VLOG(2) << __func__; VLOG(2) << __func__;
stop_streaming(); stop_streaming();
no_data_count = 0;
if (fd != -1 && close(fd) < 0) { if (fd != -1 && close(fd) < 0) {
LOG_ERROR(WARNING, "close"); LOG_ERROR(WARNING, "close");
} }
@ -386,6 +391,14 @@ struct device {
throw_error("VIDIOC_QBUF"); 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!");
} }
} }