Merge pull request #7272 from ev-mp/stab

Stability enhancemets

common/output-model.cpp

@@ -81,7 +81,9 @@ void output_model::thread_loop()
                         to_string() << "Failed to fetch firmware logs: " << ex.what());
                 }
             }
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        // FW define the logs polling intervals to be no less than 100msec to cope with limited resources.
+        // At the same time 100 msec should guarantee no log drops
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 }
 

src/archive.h

@@ -216,7 +216,7 @@ namespace librealsense
         void keep() override
         {
             auto frames = get_frames();
-            for (int i = 0; i < get_embedded_frames_count(); i++)
+            for (size_t i = 0; i < get_embedded_frames_count(); i++)
                 if (frames[i]) frames[i]->keep();
             frame::keep();
         }

src/ds5/ds5-device.cpp

@@ -755,7 +755,7 @@ namespace librealsense
                     raw_depth_sensor.get_notifications_processor(),
                     std::unique_ptr<notification_decoder>(new ds5_notification_decoder())));
 
-            depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared<polling_errors_disable>(_polling_error_handler.get()));
+            depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared<polling_errors_disable>(_polling_error_handler));
 
             depth_sensor.register_option(RS2_OPTION_ASIC_TEMPERATURE,
                 std::make_shared<asic_and_projector_temperature_options>(raw_depth_sensor,

src/hw-monitor.cpp

@@ -117,7 +117,7 @@ namespace librealsense
         return _locked_transfer->send_receive(data);
     }
 
-    std::vector<uint8_t> hw_monitor::send( command cmd, hwmon_response * p_response ) const
+    std::vector<uint8_t> hw_monitor::send( command cmd, hwmon_response * p_response , bool locked_transfer) const
     {
         hwmon_cmd newCommand(cmd);
         auto opCodeXmit = static_cast<uint32_t>(newCommand.cmd);
@@ -136,6 +136,11 @@ namespace librealsense
             details.sendCommandData.data(),
             details.sizeOfSendCommandData);
 
+        if (locked_transfer)
+        {
+            return _locked_transfer->send_receive({ details.sendCommandData.begin(),details.sendCommandData.end()});
+        }
+
         send_hw_monitor_command(details);
 
         // Error/exit conditions
@@ -150,7 +155,7 @@ namespace librealsense
 
         // endian?
         auto opCodeAsUint32 = pack(details.receivedOpcode[3], details.receivedOpcode[2],
-                                   details.receivedOpcode[1], details.receivedOpcode[0]);
+                                    details.receivedOpcode[1], details.receivedOpcode[0]);
         if (opCodeAsUint32 != opCodeXmit)
         {
             auto err_type = static_cast<hwmon_response>(opCodeAsUint32);

src/hw-monitor.h

@@ -322,7 +322,7 @@ namespace librealsense
         {}
 
         std::vector<uint8_t> send(std::vector<uint8_t> data) const;
-        std::vector<uint8_t> send( command cmd, hwmon_response * = nullptr ) const;
+        std::vector<uint8_t> send( command cmd, hwmon_response * = nullptr, bool locked_transfer = false ) const;
         void get_gvd(size_t sz, unsigned char* gvd, uint8_t gvd_cmd) const;
         static std::string get_firmware_version_string(const std::vector<uint8_t>& buff, size_t index, size_t length = 4);
         static std::string get_module_serial_string(const std::vector<uint8_t>& buff, size_t index, size_t length = 6);

src/l500/l500-depth.cpp

@@ -103,7 +103,7 @@ namespace librealsense
                 raw_depth_sensor.get_notifications_processor(),
                 std::unique_ptr<notification_decoder>(new l500_notification_decoder())));
 
-        depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared<polling_errors_disable>(_polling_error_handler.get()));
+        depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared<polling_errors_disable>(_polling_error_handler));
 
         // option to enable workaround for help weak usb hosts to support L515 devices
         // with improved performance and stability

src/l500/l500-device.cpp

@@ -399,7 +399,8 @@ namespace librealsense
             throw wrong_api_call_sequence_exception("_hw_monitor is not initialized yet");
 
         command cmd(ivcam2::fw_cmd::MRD, ivcam2::REGISTER_CLOCK_0, ivcam2::REGISTER_CLOCK_0 + 4);
-        auto res = _hw_monitor->send(cmd);
+        // Redirect HW Monitor commands to used atomic (UVC) transfers for faster transactions and transfer integrity
+        auto res = _hw_monitor->send(cmd, nullptr, true);
 
         if (res.size() < sizeof(uint32_t))
         {

src/option.cpp

@@ -1,9 +1,8 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
-
 #include "option.h"
 #include "sensor.h"
-#include "error-handling.h"
+
 
 bool librealsense::option_base::is_valid(float value) const
 {
@@ -142,6 +141,12 @@ std::vector<uint8_t> librealsense::command_transfer_over_xu::send_receive(const
         });
 }
 
+librealsense::polling_errors_disable::~polling_errors_disable()
+{
+    if (_polling_error_handler)
+        _polling_error_handler->stop();
+}
+
 void librealsense::polling_errors_disable::set(float value)
 {
     if (value < 0)

src/option.h

@@ -9,7 +9,7 @@
 #include "sensor.h"
 #include "core/streaming.h"
 #include "command_transfer.h"
-
+#include "error-handling.h"
 #include <chrono>
 #include <memory>
 #include <vector>
@@ -452,10 +452,12 @@ namespace librealsense
     class polling_errors_disable : public option
     {
     public:
-        polling_errors_disable(polling_error_handler* handler)
-            : _polling_error_handler(handler), _value(1)
+        polling_errors_disable(std::unique_ptr<polling_error_handler>& handler)
+            : _polling_error_handler(std::move(handler)), _value(1)
         {}
 
+        ~polling_errors_disable();
+
         void set(float value) override;
 
         float query() const override;
@@ -473,7 +475,7 @@ namespace librealsense
             _recording_function = record_action;
         }
     private:
-        polling_error_handler*          _polling_error_handler;
+        std::unique_ptr<polling_error_handler> _polling_error_handler;
         float                           _value;
         std::function<void(const option&)> _recording_function = [](const option&) {};
     };

src/proc/synthetic-stream.h

@@ -220,7 +220,7 @@ namespace librealsense
                 // will only read from the currently selected
                 // block, setting an option will propogate
                 // to all blocks in the group
-                for (int i = 0; i < _parent->_processing_blocks.size(); i++)
+                for (size_t i = 0; i < _parent->_processing_blocks.size(); i++)
                 {
                     if (_parent->_processing_blocks[i]->supports_option(_opt))
                     {