Merge pull request IntelRealSense#1101 from icarpis/rs-term

Fixing rs-terminal device_id parameter. Fix handling of empty frames in v4l backend
k-okada · Jan 31, 2018 · 2e9295e · 2e9295e
2 parents 1e66580 + fa244f7
commit 2e9295e
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Showing 2 changed files with 45 additions and 20 deletions.
diff --git a/src/linux/backend-v4l2.cpp b/src/linux/backend-v4l2.cpp
@@ -199,7 +199,7 @@ namespace librealsense
                                                     PROT_READ | PROT_WRITE, MAP_SHARED,
                                                     fd, buf.m.offset));
                 if(_start == MAP_FAILED)
-                    linux_backend_exception("mmap failed");
+                    throw linux_backend_exception("mmap failed");
             }
             else
             {
@@ -781,7 +781,7 @@ namespace librealsense
 
                             _error_handler(n);
                         }
-                        else
+                        else if (buf.bytesused > 0)
                         {
                             void* md_start = nullptr;
                             uint8_t md_size = 0;
@@ -794,20 +794,17 @@ namespace librealsense
                             frame_object fo{ buffer->get_length_frame_only(), md_size,
                                 buffer->get_frame_start(), md_start };
 
-                             if (buf.bytesused > 0)
-                             {
-                                 buffer->attach_buffer(buf);
-                                 moved_qbuff = true;
-                                 auto fd = _fd;
-                                 _callback(_profile, fo,
-                                           [fd, buffer]() mutable {
-                                     buffer->request_next_frame(fd);
-                                 });
-                             }
-                             else
-                             {
-                                 LOG_WARNING("Empty frame has arrived.");
-                             }
+                             buffer->attach_buffer(buf);
+                             moved_qbuff = true;
+                             auto fd = _fd;
+                             _callback(_profile, fo,
+                                       [fd, buffer]() mutable {
+                                 buffer->request_next_frame(fd);
+                             });
+                        }
+                        else
+                        {
+                            LOG_WARNING("Empty frame has arrived.");
                         }
                     }
 

diff --git a/tools/terminal/rs-terminal.cpp b/tools/terminal/rs-terminal.cpp
@@ -142,11 +142,16 @@ void read_script_file(const string& full_file_path, vector<string>& hex_lines)
     throw runtime_error("Script file not found!");
 }
 
-rs2::device wait_for_device(const rs2::device_hub& hub)
+rs2::device wait_for_device(const rs2::device_hub& hub, bool print_info = true)
 {
-    cout << "\nWaiting for RealSense device to connect...\n";
+    if (print_info)
+        cout << "\nWaiting for RealSense device to connect...\n";
+
     auto dev = hub.wait_for_device();
-    cout << "RealSense device has connected...\n";
+
+    if (print_info)
+        cout << "RealSense device has connected...\n";
+
     return dev;
 }
 
@@ -196,9 +201,32 @@ int main(int argc, char** argv)
     }
     auto auto_comp = get_auto_complete_obj(is_application_in_hex_mode, cmd_xml.commands);
 
+    rs2::device dev;
     while (true)
     {
-        auto dev = wait_for_device(hub);
+        if (device_id_arg.isSet())
+        {
+            auto dev_id = device_id_arg.getValue();
+            auto num_of_devices = ctx.query_devices().size();
+            if (num_of_devices < (dev_id + 1))
+            {
+                std::cout << "\nGiven device_id doesn't exist! device_id=" <<
+                             dev_id << " ; connected devices=" << num_of_devices << std::endl;
+                return EXIT_FAILURE;
+            }
+
+            for (int i = 0; i < (num_of_devices - 1); ++i)
+            {
+                wait_for_device(hub, false);
+            }
+            dev = wait_for_device(hub, false);
+            std::cout << "\nDevice ID " << dev_id << " has loaded.\n";
+        }
+        else
+        {
+            dev = wait_for_device(hub);
+        }
+
         fflush(nullptr);
 
         if (hex_cmd_arg.isSet())