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backend-hid.cpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.
#include "metadata.h"
#include "backend-hid.h"
#include "backend.h"
#include "types.h"
#include <rsutils/string/from.h>
#include <thread>
#include <chrono>
#include <ctime>
#include <dirent.h>
#include <fcntl.h>
#include <unistd.h>
#pragma GCC diagnostic ignored "-Woverflow"
const size_t MAX_DEV_PARENT_DIR = 10;
const uint8_t HID_METADATA_SIZE = 8; // bytes
const size_t HID_DATA_ACTUAL_SIZE = 6; // bytes
const std::string IIO_DEVICE_PREFIX("iio:device");
const std::string IIO_ROOT_PATH("/sys/bus/iio/devices");
const std::string HID_CUSTOM_PATH("/sys/bus/platform/drivers/hid_sensor_custom");
//#define DEBUG_HID
#ifdef DEBUG_HID
#define LOG_DEBUG_HID(...) do { CLOG(DEBUG ,LIBREALSENSE_ELPP_ID) << __VA_ARGS__; } while(false)
#else
#define LOG_DEBUG_HID(...)
#endif //DEBUG_HID
namespace librealsense
{
namespace platform
{
hid_input::hid_input(const std::string& iio_device_path, const std::string& input_name)
{
info.device_path = iio_device_path;
static const std::string input_prefix = "in_";
// validate if input includes th "in_" prefix. if it is . remove it.
if (input_name.substr(0,input_prefix.size()) == input_prefix)
{
info.input = input_name.substr(input_prefix.size(), input_name.size());
}
else
{
info.input = input_name;
}
init();
}
hid_input::~hid_input()
{
try
{
enable( false );
}
catch(...)
{
LOG_DEBUG( "Error while disabling a hid device" );
}
}
// enable scan input. doing so cause the input to be part of the data provided in the polling.
void hid_input::enable(bool is_enable)
{
auto input_data = is_enable ? 1 : 0;
// open the element requested and enable and disable.
auto element_path = info.device_path + "/scan_elements/" + "in_" + info.input + "_en";
std::ofstream iio_device_file(element_path);
if (!iio_device_file.is_open())
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open scan_element " << element_path);
}
iio_device_file << input_data;
iio_device_file.close();
info.enabled = is_enable;
}
// initialize the input by reading the input parameters.
void hid_input::init()
{
char buffer[1024] = {};
static const std::string input_suffix = "_en";
// check if input contains the "en" suffix, if it is . remove it.
if (info.input.substr(info.input.size()-input_suffix.size(), input_suffix.size()) == input_suffix) {
info.input = info.input.substr(0, info.input.size()-input_suffix.size());
}
// read scan type.
auto read_scan_type_path = std::string(info.device_path + "/scan_elements/in_" + info.input + "_type");
std::ifstream device_type_file(read_scan_type_path);
if (!device_type_file)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open read_scan_type " << read_scan_type_path);
}
device_type_file.getline(buffer, sizeof(buffer));
uint32_t pad_int;
char sign_char, endia_nchar;
// TODO: parse with regex
auto ret = std::sscanf(buffer,
"%ce:%c%u/%u>>%u",
&endia_nchar,
&sign_char,
&info.bits_used,
&pad_int,
&info.shift);
if (ret < 0)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to parse device_type " << read_scan_type_path);
}
device_type_file.close();
info.big_endian = (endia_nchar == 'b');
info.bytes = pad_int / 8;
info.is_signed = (sign_char == 's');
if (info.bits_used == 64)
info.mask = ~0;
else
info.mask = (1ULL << info.bits_used) - 1;
// read scan index.
auto read_scan_index_path = info.device_path + "/scan_elements/in_" + info.input + "_index";
std::ifstream device_index_file(read_scan_index_path);
if (!device_index_file)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open scan_index " << read_scan_index_path);
}
device_index_file.getline(buffer, sizeof(buffer));
info.index = std::stoi(buffer);
device_index_file.close();
// read enable state.
auto read_enable_state_path = info.device_path + "/scan_elements/in_" + info.input + "_en";
std::ifstream device_enabled_file(read_enable_state_path);
if (!device_enabled_file)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open scan_index " << read_enable_state_path);
}
device_enabled_file.getline(buffer, sizeof(buffer));
info.enabled = (std::stoi(buffer) == 0) ? false : true;
device_enabled_file.close();
}
hid_custom_sensor::hid_custom_sensor(const std::string& device_path, const std::string& sensor_name)
: _fd(0),
_stop_pipe_fd{},
_custom_device_path(device_path),
_custom_sensor_name(sensor_name),
_custom_device_name(""),
_callback(nullptr),
_is_capturing(false),
_hid_thread(nullptr)
{
init();
}
hid_custom_sensor::~hid_custom_sensor()
{
try
{
if (_is_capturing)
stop_capture();
}
catch(...)
{
LOG_ERROR("An error has occurred while hid_custom_sensor dtor()!");
}
}
std::vector<uint8_t> hid_custom_sensor::get_report_data(const std::string& report_name, custom_sensor_report_field report_field)
{
static const std::map<custom_sensor_report_field, std::string> report_fields = {{minimum, "-minimum"},
{maximum, "-maximum"},
{name, "-name"},
{size, "-size"},
{unit_expo, "-unit-expo"},
{units, "-units"},
{value, "-value"}};
try{
auto& report_folder = _reports.at(report_name);
auto report_path = _custom_device_path + "/" + report_folder + "/" + report_folder + report_fields.at(report_field);
return read_report(report_path);
}
catch(std::out_of_range)
{
throw invalid_value_exception(rsutils::string::from() << "report directory name " << report_name << " not found!");
}
}
// start capturing and polling.
void hid_custom_sensor::start_capture(hid_callback sensor_callback)
{
if (_is_capturing)
return;
std::ostringstream device_path;
device_path << "/dev/" << _custom_device_name;
auto read_device_path_str = device_path.str();
std::ifstream device_file(read_device_path_str);
// find device in file system.
if (!device_file.good())
{
throw linux_backend_exception("custom hid device is busy or not found!");
}
device_file.close();
enable(true);
const auto max_retries = 10;
auto retries = 0;
while(++retries < max_retries)
{
if ((_fd = open(read_device_path_str.c_str(), O_RDONLY | O_NONBLOCK)) > 0)
break;
LOG_WARNING("open() failed!");
std::this_thread::sleep_for(std::chrono::milliseconds(5));
}
if ((retries == max_retries) && (_fd <= 0))
{
enable(false);
throw linux_backend_exception("open() failed with all retries!");
}
if (pipe(_stop_pipe_fd) < 0)
{
close(_fd);
enable(false);
throw linux_backend_exception("hid_custom_sensor: Cannot create pipe!");
}
_callback = sensor_callback;
_is_capturing = true;
_hid_thread = std::unique_ptr<std::thread>(new std::thread([this, read_device_path_str](){
const uint32_t channel_size = 24; // TODO: why 24?
std::vector<uint8_t> raw_data(channel_size * hid_buf_len);
do {
fd_set fds;
FD_ZERO(&fds);
FD_SET(_fd, &fds);
FD_SET(_stop_pipe_fd[0], &fds);
int max_fd = std::max(_stop_pipe_fd[0], _fd);
size_t read_size = 0;
struct timeval tv = {5,0};
LOG_DEBUG_HID("HID Select initiated");
auto val = select(max_fd + 1, &fds, nullptr, nullptr, &tv);
LOG_DEBUG_HID("HID Select done, val = " << val);
if (val < 0)
{
// TODO: write to log?
continue;
}
else if (val > 0)
{
if(FD_ISSET(_stop_pipe_fd[0], &fds))
{
if(!_is_capturing)
{
LOG_INFO("hid_custom_sensor: Stream finished");
return;
}
}
else if (FD_ISSET(_fd, &fds))
{
read_size = read(_fd, raw_data.data(), raw_data.size());
if (read_size <= 0 )
continue;
}
else
{
// TODO: write to log?
LOG_WARNING("HID unresolved event : after select->FD_ISSET");
continue;
}
auto sz= read_size / channel_size;
if (sz > 2)
{
LOG_DEBUG("HID: Going to handle " << sz << " packets");
}
for (auto i = 0; i < read_size / channel_size; ++i)
{
auto p_raw_data = raw_data.data() + channel_size * i;
// TODO: code refactoring to reduce latency
sensor_data sens_data{};
sens_data.sensor = hid_sensor{get_sensor_name()};
sens_data.fo = {channel_size, channel_size, p_raw_data, p_raw_data};
this->_callback(sens_data);
}
if (sz > 2)
{
LOG_DEBUG("HID: Finished to handle " << sz << " packets");
}
}
else
{
LOG_WARNING("hid_custom_sensor: Frames didn't arrived within 5 seconds");
}
} while(this->_is_capturing);
}));
}
void hid_custom_sensor::stop_capture()
{
if (!_is_capturing)
{
enable(false);
return;
}
_is_capturing = false;
signal_stop();
_hid_thread->join();
enable(false);
_callback = nullptr;
if(::close(_fd) < 0)
throw linux_backend_exception("hid_custom_sensor: close(_fd) failed");
if(::close(_stop_pipe_fd[0]) < 0)
throw linux_backend_exception("hid_custom_sensor: close(_stop_pipe_fd[0]) failed");
if(::close(_stop_pipe_fd[1]) < 0)
throw linux_backend_exception("hid_custom_sensor: close(_stop_pipe_fd[1]) failed");
_fd = 0;
_stop_pipe_fd[0] = _stop_pipe_fd[1] = 0;
}
std::vector<uint8_t> hid_custom_sensor::read_report(const std::string& name_report_path)
{
auto fd = open(name_report_path.c_str(), O_RDONLY | O_NONBLOCK);
if (fd < 0)
throw linux_backend_exception("Failed to open report!");
std::vector<uint8_t> buffer;
buffer.resize(MAX_INPUT);
auto read_size = read(fd, buffer.data(), buffer.size());
close(fd);
if (read_size <= 0)
throw linux_backend_exception("Failed to read custom report!");
buffer.resize(read_size);
buffer[buffer.size() - 1] = '\0'; // Replace '\n' with '\0'
return buffer;
}
void hid_custom_sensor::init()
{
static const char* prefix_feature_name = "feature";
static const char* prefix_input_name = "input";
static const char* suffix_name_field = "name";
DIR* dir = nullptr;
struct dirent* ent = nullptr;
if ((dir = opendir(_custom_device_path.c_str())) != nullptr)
{
while ((ent = readdir(dir)) != nullptr)
{
auto str = std::string(ent->d_name);
if (str.find(prefix_feature_name) != std::string::npos ||
str.find(prefix_input_name) != std::string::npos)
{
DIR* report_dir = nullptr;
struct dirent* report_ent = nullptr;
auto report_path = _custom_device_path + "/" + ent->d_name;
if ((report_dir = opendir(report_path.c_str())) != nullptr)
{
while ((report_ent = readdir(report_dir)) != nullptr)
{
auto report_str = std::string(report_ent->d_name);
if (report_str.find(suffix_name_field) != std::string::npos)
{
auto name_report_path = report_path + "/" + report_ent->d_name;
auto buffer = read_report(name_report_path);
std::string name_report(reinterpret_cast<char const*>(buffer.data()));
_reports.insert(std::make_pair(name_report, ent->d_name));
}
}
closedir(report_dir);
}
}
}
closedir(dir);
}
// get device name
auto pos = _custom_device_path.find_last_of("/");
if (pos < _custom_device_path.size())
_custom_device_name = _custom_device_path.substr(pos + 1);
}
void hid_custom_sensor::enable(bool state)
{
auto input_data = state ? 1 : 0;
auto element_path = _custom_device_path + "/enable_sensor";
std::ofstream custom_device_file(element_path);
if (!custom_device_file.is_open())
{
throw linux_backend_exception(rsutils::string::from() << "Failed to enable_sensor " << element_path);
}
custom_device_file << input_data;
custom_device_file.close();
// Work-around for the HID custom driver failing to release resources,
// preventing the device to enter idle U3 mode
// reading out the value will refresh the device tree in kernel
// if (!state)
// {
// std::string feat_val("default");
// if(!(std::ifstream(_custom_device_path + "/feature-0-200309/feature-0-200309-value") >> feat_val))
// throw linux_backend_exception("Failed to read feat_val");
// std::cout << "Feat value is " << feat_val << std::endl;
// }
}
void hid_custom_sensor::signal_stop()
{
char buff[1];
buff[0] = 0;
if (write(_stop_pipe_fd[1], buff, 1) < 0)
{
throw linux_backend_exception("hid_custom_sensor: Could not signal video capture thread to stop. Error write to pipe.");
}
}
iio_hid_sensor::iio_hid_sensor(const std::string& device_path, uint32_t frequency)
: _stop_pipe_fd{},
_fd(0),
_iio_device_number(0),
_iio_device_path(device_path),
_sensor_name(""),
_sampling_frequency_name(""),
_callback(nullptr),
_is_capturing(false),
_pm_dispatcher(16) // queue for async power management commands
{
init(frequency);
}
iio_hid_sensor::~iio_hid_sensor()
{
try
{
try {
// Ensure PM sync
_pm_dispatcher.flush();
stop_capture();
} catch(...){}
clear_buffer();
}
catch(...){}
// clear inputs.
_inputs.clear();
}
// start capturing and polling.
void iio_hid_sensor::start_capture(hid_callback sensor_callback)
{
if (_is_capturing)
return;
set_power(true);
std::ostringstream iio_read_device_path;
iio_read_device_path << "/dev/" << IIO_DEVICE_PREFIX << _iio_device_number;
auto iio_read_device_path_str = iio_read_device_path.str();
std::ifstream iio_device_file(iio_read_device_path_str);
// find iio_device in file system.
if (!iio_device_file.good())
{
throw linux_backend_exception("iio hid device is busy or not found!");
}
iio_device_file.close();
// count number of enabled count elements and sort by their index.
create_channel_array();
const auto max_retries = 10;
auto retries = 0;
while(++retries < max_retries)
{
if ((_fd = open(iio_read_device_path_str.c_str(), O_RDONLY | O_NONBLOCK)) > 0)
break;
LOG_WARNING("open() failed!");
std::this_thread::sleep_for(std::chrono::milliseconds(5));
}
if ((retries == max_retries) && (_fd <= 0))
{
_channels.clear();
throw linux_backend_exception("open() failed with all retries!");
}
if (pipe(_stop_pipe_fd) < 0)
{
close(_fd);
_channels.clear();
throw linux_backend_exception("iio_hid_sensor: Cannot create pipe!");
}
_callback = sensor_callback;
_is_capturing = true;
_hid_thread = std::unique_ptr<std::thread>(new std::thread([this](){
const uint32_t channel_size = get_channel_size();
size_t raw_data_size = channel_size*hid_buf_len;
std::vector<uint8_t> raw_data(raw_data_size);
auto metadata = has_metadata();
do {
fd_set fds;
FD_ZERO(&fds);
FD_SET(_fd, &fds);
FD_SET(_stop_pipe_fd[0], &fds);
int max_fd = std::max(_stop_pipe_fd[0], _fd);
ssize_t read_size = 0;
struct timeval tv = {5, 0};
LOG_DEBUG_HID("HID IIO Select initiated");
auto val = select(max_fd + 1, &fds, nullptr, nullptr, &tv);
LOG_DEBUG_HID("HID IIO Select done, val = " << val);
if (val < 0)
{
// TODO: write to log?
LOG_WARNING("iio_hid_sensor: select failed, return val = " << val);
continue;
}
else if (val > 0)
{
if(FD_ISSET(_stop_pipe_fd[0], &fds))
{
if(!_is_capturing)
{
LOG_INFO("iio_hid_sensor: Stream finished");
return;
}
}
else if (FD_ISSET(_fd, &fds))
{
read_size = read(_fd, raw_data.data(), raw_data_size);
if (read_size < 0 )
continue;
}
else
{
// TODO: write to log?
LOG_WARNING("HID IIO unresolved event : after select->FD_ISSET");
continue;
}
auto sz= read_size / channel_size;
if (sz > 2)
{
LOG_DEBUG("HID: Going to handle " << sz << " packets");
}
// TODO: code refactoring to reduce latency
for (auto i = 0; i < sz; ++i)
{
auto now_ts = std::chrono::duration<double, std::milli>(std::chrono::system_clock::now().time_since_epoch()).count();
auto p_raw_data = raw_data.data() + channel_size * i;
sensor_data sens_data{};
sens_data.sensor = hid_sensor{get_sensor_name()};
auto hid_data_size = channel_size - (metadata ? HID_METADATA_SIZE : 0);
// Populate HID IMU data - Header
metadata_hid_raw meta_data{};
meta_data.header.report_type = md_hid_report_type::hid_report_imu;
meta_data.header.length = hid_header_size + metadata_imu_report_size;
meta_data.header.timestamp = *(reinterpret_cast<uint64_t *>(&p_raw_data[16]));
// Payload:
meta_data.report_type.imu_report.header.md_type_id = md_type::META_DATA_HID_IMU_REPORT_ID;
meta_data.report_type.imu_report.header.md_size = metadata_imu_report_size;
// meta_data.report_type.imu_report.flags = static_cast<uint8_t>( md_hid_imu_attributes::custom_timestamp_attirbute |
// md_hid_imu_attributes::imu_counter_attribute |
// md_hid_imu_attributes::usb_counter_attribute);
// meta_data.report_type.imu_report.custom_timestamp = meta_data.header.timestamp;
// meta_data.report_type.imu_report.imu_counter = p_raw_data[30];
// meta_data.report_type.imu_report.usb_counter = p_raw_data[31];
sens_data.fo = {hid_data_size, metadata? meta_data.header.length: uint8_t(0),
p_raw_data, metadata? &meta_data : nullptr, now_ts};
//Linux HID provides timestamps in nanosec. Convert to usec (FW default)
if (metadata)
{
//auto* ts_nsec = reinterpret_cast<uint64_t*>(const_cast<void*>(sens_data.fo.metadata));
//*ts_nsec /=1000;
meta_data.header.timestamp /=1000;
}
// for (auto i=0ul; i<channel_size; i++)
// std::cout << std::hex << int(p_raw_data[i]) << " ";
// std::cout << std::dec << std::endl;
this->_callback(sens_data);
}
if (sz > 2)
{
LOG_DEBUG("HID: Finished to handle " << sz << " packets");
}
}
else
{
LOG_WARNING("iio_hid_sensor: Frames didn't arrived within the predefined interval");
std::this_thread::sleep_for(std::chrono::milliseconds(2));
}
} while(this->_is_capturing);
}));
}
void iio_hid_sensor::stop_capture()
{
if (!_is_capturing)
return;
_is_capturing = false;
set_power(false);
signal_stop();
_hid_thread->join();
_callback = nullptr;
_channels.clear();
if(::close(_fd) < 0)
throw linux_backend_exception("iio_hid_sensor: close(_fd) failed");
if(::close(_stop_pipe_fd[0]) < 0)
throw linux_backend_exception("iio_hid_sensor: close(_stop_pipe_fd[0]) failed");
if(::close(_stop_pipe_fd[1]) < 0)
throw linux_backend_exception("iio_hid_sensor: close(_stop_pipe_fd[1]) failed");
_fd = 0;
_stop_pipe_fd[0] = _stop_pipe_fd[1] = 0;
}
void iio_hid_sensor::clear_buffer()
{
std::ostringstream iio_read_device_path;
iio_read_device_path << "/dev/" << IIO_DEVICE_PREFIX << _iio_device_number;
std::unique_ptr<int, std::function<void(int*)> > fd(
new int (_fd = open(iio_read_device_path.str().c_str(), O_RDONLY | O_NONBLOCK)),
[&](int* d){ if (d && (*d)) { _fd = ::close(*d); } delete d; });
if (!(*fd > 0))
throw linux_backend_exception("open() failed with all retries!");
// count enabled elements and sort by their index.
create_channel_array();
const uint32_t channel_size = get_channel_size();
auto raw_data_size = channel_size*hid_buf_len;
std::vector<uint8_t> raw_data(raw_data_size);
auto read_size = read(_fd, raw_data.data(), raw_data_size);
while(read_size > 0)
read_size = read(_fd, raw_data.data(), raw_data_size);
_channels.clear();
}
void iio_hid_sensor::set_frequency(uint32_t frequency)
{
auto sampling_frequency_path = _iio_device_path + "/" + _sampling_frequency_name;
std::ofstream iio_device_file(sampling_frequency_path);
if (!iio_device_file.is_open())
{
throw linux_backend_exception(rsutils::string::from() << "Failed to set frequency " << frequency <<
". device path: " << sampling_frequency_path);
}
iio_device_file << frequency;
iio_device_file.close();
}
// Asynchronous power management
void iio_hid_sensor::set_power(bool on)
{
auto path = _iio_device_path + "/buffer/enable";
// Enqueue power management change
_pm_dispatcher.invoke([path,on](dispatcher::cancellable_timer /*t*/)
{
//auto st = std::chrono::high_resolution_clock::now();
if (!write_fs_attribute(path, on))
{
LOG_WARNING("HID set_power " << int(on) << " failed for " << path);
}
},true);
}
void iio_hid_sensor::signal_stop()
{
char buff[1];
buff[0] = 0;
if (write(_stop_pipe_fd[1], buff, 1) < 0)
{
throw linux_backend_exception("iio_hid_sensor: Could not signal video capture thread to stop. Error write to pipe.");
}
}
bool iio_hid_sensor::has_metadata()
{
if(get_output_size() == HID_DATA_ACTUAL_SIZE + HID_METADATA_SIZE)
return true;
return false;
}
bool iio_hid_sensor::sort_hids(hid_input* first, hid_input* second)
{
return (second->get_hid_input_info().index >= first->get_hid_input_info().index);
}
void iio_hid_sensor::create_channel_array()
{
// build enabled channels.
for(auto& input : _inputs)
{
if (input->get_hid_input_info().enabled)
{
_channels.push_back(input);
}
}
_channels.sort(sort_hids);
}
// initialize the device sensor. reading its name and all of its inputs.
void iio_hid_sensor::init(uint32_t frequency)
{
std::ifstream iio_device_file(_iio_device_path + "/name");
// find iio_device in file system.
if (!iio_device_file.good())
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open device sensor. " << _iio_device_path);
}
char name_buffer[256] = {};
iio_device_file.getline(name_buffer,sizeof(name_buffer));
_sensor_name = std::string(name_buffer);
iio_device_file.close();
// get IIO device number
static const std::string suffix_iio_device_path("/" + IIO_DEVICE_PREFIX);
auto pos = _iio_device_path.find_last_of(suffix_iio_device_path);
if (pos == std::string::npos)
throw linux_backend_exception(rsutils::string::from() << "Wrong iio device path " << _iio_device_path);
auto substr = _iio_device_path.substr(pos + 1);
if (std::all_of(substr.begin(), substr.end(), ::isdigit))
{
_iio_device_number = atoi(substr.c_str());
}
else
{
throw linux_backend_exception(rsutils::string::from() << "IIO device number is incorrect! Failed to open device sensor. " << _iio_device_path);
}
_pm_dispatcher.start();
// HID iio kernel driver async initialization may fail to map the kernel objects hierarchy (iio triggers) properly
// The patch will rectify this behaviour
std::string current_trigger = _sensor_name + "-dev" + _iio_device_path.back();
std::string path = _iio_device_path + "/trigger/current_trigger";
_pm_thread = std::unique_ptr<std::thread>(new std::thread([path,current_trigger](){
bool retry =true;
while (retry) {
try {
if (write_fs_attribute(path, current_trigger))
break;
else
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
catch(...){} // Device disconnect
retry = false;
}
}));
_pm_thread->detach();
// read all available input of the iio_device
read_device_inputs();
// get the specific name of sampling_frequency
_sampling_frequency_name = get_sampling_frequency_name();
for (auto& input : _inputs)
input->enable(true);
set_frequency(frequency);
write_fs_attribute(_iio_device_path + "/buffer/length", hid_buf_len);
}
// calculate the storage size of a scan
uint32_t iio_hid_sensor::get_channel_size() const
{
assert(!_channels.empty());
auto bytes = 0;
for (auto& elem : _channels)
{
auto input_info = elem->get_hid_input_info();
if (bytes % input_info.bytes == 0)
{
input_info.location = bytes;
}
else
{
input_info.location = bytes - bytes % input_info.bytes
+ input_info.bytes;
}
bytes = input_info.location + input_info.bytes;
}
return bytes;
}
// calculate the actual size of data
uint32_t iio_hid_sensor::get_output_size() const
{
assert(!_channels.empty());
auto bits_used = 0.;
for (auto& elem : _channels)
{
auto input_info = elem->get_hid_input_info();
bits_used += input_info.bits_used;
}
return std::ceil(bits_used / CHAR_BIT);
}
std::string iio_hid_sensor::get_sampling_frequency_name() const
{
std::string sampling_frequency_name = "";
DIR *dir = nullptr;
struct dirent *dir_ent = nullptr;
// start enumerate the scan elemnts dir.
dir = opendir(_iio_device_path.c_str());
if (dir == nullptr)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open scan_element " << _iio_device_path);
}
// verify file format. should include in_ (input) and _en (enable).
while ((dir_ent = readdir(dir)) != nullptr)
{
if (dir_ent->d_type != DT_DIR)
{
std::string file(dir_ent->d_name);
if (file.find("sampling_frequency") != std::string::npos)
{
sampling_frequency_name = file;
}
}
}
closedir(dir);
return sampling_frequency_name;
}
// read the IIO device inputs.
void iio_hid_sensor::read_device_inputs()
{
DIR *dir = nullptr;
struct dirent *dir_ent = nullptr;
auto scan_elements_path = _iio_device_path + "/scan_elements";
// start enumerate the scan elemnts dir.
dir = opendir(scan_elements_path.c_str());
if (dir == nullptr)
{
throw linux_backend_exception(rsutils::string::from() << "Failed to open scan_element " << _iio_device_path);
}
// verify file format. should include in_ (input) and _en (enable).
while ((dir_ent = readdir(dir)) != nullptr)
{
if (dir_ent->d_type != DT_DIR)
{
std::string file(dir_ent->d_name);
std::string prefix = "in_";
std::string suffix = "_en";
if (file.substr(0,prefix.size()) == prefix &&
file.substr(file.size()-suffix.size(),suffix.size()) == suffix) {
// initialize input.
try
{
auto* new_input = new hid_input(_iio_device_path, file);
// push to input list.
_inputs.push_front(new_input);
}
catch(...)
{
// fail to initialize this input. continue to the next one.
continue;
}
}
}
}
closedir(dir);
}
v4l_hid_device::v4l_hid_device(const hid_device_info& info)
{
bool found = false;
v4l_hid_device::foreach_hid_device([&](const hid_device_info& hid_dev_info){
if (hid_dev_info.unique_id == info.unique_id)
{
_hid_device_infos.push_back(hid_dev_info);
found = true;
}
});
if (!found)
throw linux_backend_exception("hid device is no longer connected!");
}
v4l_hid_device::~v4l_hid_device()
{
for (auto& elem : _streaming_iio_sensors)
{
try
{
elem->stop_capture();
}
catch(...)
{
LOG_DEBUG( "Error while stopping capture sensor" );
}
}
for (auto& elem : _streaming_custom_sensors)
{
elem->stop_capture();
}
}
void v4l_hid_device::open(const std::vector<hid_profile>& hid_profiles)
{
_hid_profiles = hid_profiles;
for (auto& device_info : _hid_device_infos)
{
try
{
if (device_info.id == custom_id)
{
auto device = std::unique_ptr<hid_custom_sensor>(new hid_custom_sensor(device_info.device_path,
device_info.id));
_hid_custom_sensors.push_back(std::move(device));
}
else
{
uint32_t frequency = 0;
for (auto& profile : hid_profiles)
{
if (profile.sensor_name == device_info.id)
{
frequency = profile.frequency;