Merge pull request #338 from Sensing-Dev/feature/skip-invalid-framecount

skip a single invalid framecount
fixstars · Oct 30, 2024 · 5f89cb7 · 5f89cb7
2 parents e531a2b + f627245
commit 5f89cb7
Showing 1 changed file with 45 additions and 0 deletions.
diff --git a/src/bb/image-io/rt_u3v.h b/src/bb/image-io/rt_u3v.h
@@ -898,6 +898,43 @@ class U3V {
         }
     }
 
+    uint32_t skip_invalid_framecount_0xFFFFFFFF(std::vector<ArvBuffer *> &bufs, uint32_t latest_cnt, int32_t timeout_us) {
+
+        uint32_t new_latest_cnt = 0;
+
+        int32_t tmp_sig = 0;
+        ;
+        memcpy(&tmp_sig, ((char *)arv_buffer_get_data(bufs[device_idx_], nullptr)), sizeof(int32_t));
+
+        if (tmp_sig == 0xFFFFFFFF) {
+            log::trace("GNDC signature with framecount 0xFFFFFFFF: {} ... let's take it again", tmp_sig);
+            bufs[device_idx_] = arv_stream_timeout_pop_buffer(devices_[device_idx_].stream_, timeout_us);
+            if (bufs[device_idx_] == nullptr) {
+                log::error("pop_buffer(L11) failed due to timeout ({}s)", timeout_us * 1e-6f);
+                throw ::std::runtime_error("buffer is null");
+            }
+            devices_[device_idx_].frame_count_ = frame_count_method_ == FrameCountMethod::TYPESPECIFIC3 ? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[device_idx_], devices_[device_idx_])) : frame_count_method_ == FrameCountMethod::TIMESTAMP ? static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[device_idx_]) & 0x00000000FFFFFFFF) :
+                                                                                                                                                                                                                                                                        -1;
+            new_latest_cnt = devices_[device_idx_].frame_count_;
+            device_idx_ == 0 ?
+                log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[device_idx_].frame_count_, "") :
+                log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[device_idx_].frame_count_);
+            tmp_sig = 0;
+            ;
+            memcpy(&tmp_sig, ((char *)arv_buffer_get_data(bufs[device_idx_], nullptr)), sizeof(int32_t));
+
+            if (new_latest_cnt == 0xFFFFFFFF) {
+                log::error("pop_buffer(L12) failed due to sequential invalid framecount {}", latest_cnt, tmp_sig);
+                throw ::std::runtime_error("buffer is null");
+            }
+
+            return new_latest_cnt;
+        } else {
+            log::error("pop_buffer(L13) failed due to invalid framecount {} with signature {}", latest_cnt, tmp_sig);
+            throw ::std::runtime_error("buffer is null");
+        }
+    }
+
     g_object_unref_t g_object_unref;
 
     arv_get_major_version_t arv_get_major_version;
@@ -1139,6 +1176,10 @@ class U3VRealCam : public U3V {
                     log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[device_idx_].frame_count_, "") :
                     log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[device_idx_].frame_count_);
 
+                if (latest_cnt == 0xFFFFFFFF && frame_count_method_ == FrameCountMethod::TYPESPECIFIC3) {
+                    latest_cnt = skip_invalid_framecount_0xFFFFFFFF(bufs, latest_cnt, timeout_us);
+                }
+
                 int internal_count = 0;
                 int max_internal_count = 1000;
 
@@ -1288,6 +1329,10 @@ class U3VGenDC : public U3V {
                 log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[device_idx_].frame_count_, "") :
                 log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[device_idx_].frame_count_);
 
+            if (latest_cnt == 0xFFFFFFFF && frame_count_method_ == FrameCountMethod::TYPESPECIFIC3) {
+                latest_cnt = skip_invalid_framecount_0xFFFFFFFF(bufs, latest_cnt, timeout_us);
+            }
+
             int internal_count = 0;
             int max_internal_count = 1000;