Merge pull request IntelRealSense#5043 from ev-mp/raspbian_buster_wip

Raspbian buster - Cleanup
humamamouri · Oct 23, 2019 · fb5dfec · fb5dfec
2 parents 79acc57 + a68ded7
commit fb5dfec
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Showing 17 changed files with 170 additions and 190 deletions.
diff --git a/CMake/android_config.cmake b/CMake/android_config.cmake
@@ -11,7 +11,7 @@ macro(os_set_flags)
     set(BUILD_WITH_OPENMP OFF)    
     set(BUILD_GRAPHICAL_EXAMPLES OFF)
     set(ANDROID_STL "c++_static")
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_BSD_SOURCE")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_DEFAULT_SOURCE")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")

diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
@@ -1,14 +1,14 @@
 message(STATUS "Setting Unix configurations")
 
 macro(os_set_flags)
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_BSD_SOURCE")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_DEFAULT_SOURCE")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security")
 
     execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
     if(${MACHINE} MATCHES "arm-linux-gnueabihf")
-        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
-        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
+        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
     elseif(${MACHINE} MATCHES "aarch64-linux-gnu")
         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mstrict-align -ftree-vectorize")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")

diff --git a/examples/C/depth/rs-depth.c b/examples/C/depth/rs-depth.c
@@ -129,7 +129,7 @@ int main()
         exit(EXIT_FAILURE);
     }
 
-    const rs2_stream_profile* stream_profile = rs2_get_stream_profile(stream_profile_list, 0, &e);
+    rs2_stream_profile* stream_profile = (rs2_stream_profile*)rs2_get_stream_profile(stream_profile_list, 0, &e);
     if (e)
     {
         printf("Failed to create stream profile!\n");

diff --git a/src/ds5/ds5-motion.cpp b/src/ds5/ds5-motion.cpp
@@ -286,7 +286,7 @@ namespace librealsense
         auto hid_ep = create_hid_device(ctx, group.hid_devices, _fw_version);
         if (hid_ep)
         {
-            _motion_module_device_idx = add_sensor(hid_ep);
+            _motion_module_device_idx = static_cast<uint8_t>(add_sensor(hid_ep));
 
             std::function<void(rs2_stream stream, frame_interface* fr, callback_invocation_holder callback)> align_imu_axes  = nullptr;
 

diff --git a/src/hid/hid-device.cpp b/src/hid/hid-device.cpp
@@ -17,8 +17,8 @@ namespace librealsense
                 if(info.cls != RS2_USB_CLASS_HID)
                     continue;
                 platform::hid_device_info device_info;
-                device_info.vid = info.vid;
-                device_info.pid = info.pid;
+                device_info.vid = hexify(info.vid);
+                device_info.pid = hexify(info.pid);
                 device_info.unique_id = info.unique_id;
                 device_info.device_path = info.unique_id;//the device unique_id is the USB port
 
@@ -117,15 +117,15 @@ namespace librealsense
 
         void rs_hid_device::poll_for_interrupt()
         {
-            unsigned char buffer[SIZE_OF_FRAME];
+            unsigned char buffer[SIZE_OF_HID_IMU_FRAME];
             uint32_t bytesRead;
 
             auto ep = get_hid_endpoint();
             auto res = _messenger->bulk_transfer(ep, buffer, sizeof(buffer), bytesRead, 10);
 
             if (res == RS2_USB_STATUS_SUCCESS)
             {
-                REALSENSE_HID_REPORT report = *(REALSENSE_HID_REPORT*)buffer;
+                REALSENSE_HID_REPORT report = *(reinterpret_cast<REALSENSE_HID_REPORT*>(buffer));
                 _queue.enqueue(std::move(report));
             }
         }
@@ -142,10 +142,10 @@ namespace librealsense
 
                 })!= _configured_profiles.end())
                 {
-                    sensor_data data;
+                    sensor_data data{};
                     data.sensor = {_id_to_sensor[report.reportId]};
 
-                    hid_data hid;
+                    hid_data hid{};
                     hid.x = report.x;
                     hid.y = report.y;
                     hid.z = report.z;
@@ -253,4 +253,4 @@ namespace librealsense
             return ep;
         }
     }
-}
+}
diff --git a/src/hid/hid-types.h b/src/hid/hid-types.h
@@ -18,7 +18,7 @@
 #define REPORT_ID_GYROMETER_3D      2
 #define REPORT_ID_CUSTOM            3
 
-#define SIZE_OF_FRAME               32
+const size_t SIZE_OF_HID_IMU_FRAME = 32;
 
 static std::string gyro = "gyro_3d";
 static std::string accel = "accel_3d";
@@ -56,10 +56,10 @@ namespace librealsense
     struct REALSENSE_HID_REPORT {
       unsigned char reportId;
       unsigned char unknown;
-      unsigned long timeStamp;
-      unsigned short x;
-      unsigned short y;
-      unsigned short z;
+      unsigned long long timeStamp;
+      short x;
+      short y;
+      short z;
       unsigned int customValue1;
       unsigned int customValue2;
       unsigned short customValue3;
@@ -68,50 +68,53 @@ namespace librealsense
       unsigned char customValue6;
       unsigned char customValue7;
     };
+
 #pragma pack(pop)
+    static_assert(sizeof(REALSENSE_HID_REPORT) == SIZE_OF_HID_IMU_FRAME, "HID IMU Frame struct expected size is 32 bytes");
 
-        struct hid_device_info
-        {
-            std::string id;
-            std::string vid;
-            std::string pid;
-            std::string unique_id;
-            std::string device_path;
-            std::string serial_number;
-
-            operator std::string()
-            {
-                std::stringstream s;
-                s << "id- " << id <<
-                    "\nvid- " << std::hex << vid <<
-                    "\npid- " << std::hex << pid <<
-                    "\nunique_id- " << unique_id <<
-                    "\npath- " << device_path;
-
-                return s.str();
-            }
-        };
-
-        inline bool operator==(const hid_device_info& a,
-            const hid_device_info& b)
+    struct hid_device_info
+    {
+        std::string id;
+        std::string vid;
+        std::string pid;
+        std::string unique_id;
+        std::string device_path;
+        std::string serial_number;
+
+        operator std::string()
         {
-            return  (a.id == b.id) &&
-                (a.vid == b.vid) &&
-                (a.pid == b.pid) &&
-                (a.unique_id == b.unique_id) &&
-                (a.device_path == b.device_path);
+            std::stringstream s;
+            s << "id- " << id <<
+                "\nvid- " << std::hex << vid <<
+                "\npid- " << std::hex << pid <<
+                "\nunique_id- " << unique_id <<
+                "\npath- " << device_path;
+
+            return s.str();
         }
+    };
+
+    inline bool operator==(const hid_device_info& a,
+        const hid_device_info& b)
+    {
+        return  (a.id == b.id) &&
+            (a.vid == b.vid) &&
+            (a.pid == b.pid) &&
+            (a.unique_id == b.unique_id) &&
+            (a.device_path == b.device_path);
+    }
+
 #pragma pack(push, 1)
-        struct FEATURE_REPORT
-        {
-          unsigned char reportId;
-          unsigned char connectionType;
-          unsigned char sensorState;
-          unsigned char power;
-          unsigned char minReport;
-          unsigned short report;
-          unsigned short unknown;
-        };
+    struct FEATURE_REPORT
+    {
+      unsigned char reportId;
+      unsigned char connectionType;
+      unsigned char sensorState;
+      unsigned char power;
+      unsigned char minReport;
+      unsigned short report;
+      unsigned short unknown;
+    };
 #pragma pack(pop)
     }
 }
diff --git a/src/libusb/device-libusb.cpp b/src/libusb/device-libusb.cpp
@@ -2,14 +2,8 @@
 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
 
 #include "device-libusb.h"
-#include "endpoint-libusb.h"
-#include "interface-libusb.h"
 #include "types.h"
 
-#include <string>
-#include <regex>
-#include <sstream>
-#include <mutex>
 
 namespace librealsense
 {
@@ -18,18 +12,22 @@ namespace librealsense
         usb_device_libusb::usb_device_libusb(libusb_device* device, const libusb_device_descriptor& desc, const usb_device_info& info) :
             _device(device), _usb_device_descriptor(desc), _info(info)
         {
-            for (ssize_t c = 0; c < desc.bNumConfigurations; ++c)
+            for (uint8_t c = 0; c < desc.bNumConfigurations; ++c)
             {
-                libusb_config_descriptor *config;
-                auto rc = libusb_get_config_descriptor(device, c, &config);
-
-                for (ssize_t i = 0; i < config->bNumInterfaces; ++i)
+                libusb_config_descriptor *config{};
+                auto ret = libusb_get_config_descriptor(device, c, &config);
+                if (LIBUSB_SUCCESS==ret)
                 {
-                    auto inf = config->interface[i];
-                    _interfaces.push_back(std::make_shared<usb_interface_libusb>(inf));
-                }
+                    for (uint8_t i = 0; i < config->bNumInterfaces; ++i)
+                    {
+                        auto inf = config->interface[i];
+                        _interfaces.push_back(std::make_shared<usb_interface_libusb>(inf));
+                    }
 
-                libusb_free_config_descriptor(config);
+                    libusb_free_config_descriptor(config);
+                }
+                else
+                    LOG_WARNING("failed to read USB config descriptor: error = " << std::dec << ret);
             }
         }
 

diff --git a/src/libusb/device-libusb.h b/src/libusb/device-libusb.h
@@ -3,16 +3,7 @@
 
 #pragma once
 
-#include "usb/usb-types.h"
 #include "messenger-libusb.h"
-#include "usb/usb-device.h"
-
-#include <string>
-#include <regex>
-#include <sstream>
-#include <mutex>
-
-#include <libusb.h>
 
 namespace librealsense
 {