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added error message when freenect2 is not linked on the right libusb (causing a deadlock when killing the camera)

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matlabbe
2015-07-09 10:55:54 -04:00
parent 3b226a0d92
commit bf295c4274
3 changed files with 32 additions and 6 deletions
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11
corelib/src/CameraRGBD.cpp
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@@ -55,6 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/config.h>
#endif
#ifdef WITH_DC1394
@@ -1249,16 +1250,14 @@ SensorData CameraFreenect2::captureImage()
{
libfreenect2::FrameMap frames;
#ifndef LIBFREENECT2_THREADING_STDLIB
UDEBUG("Waiting for new frames... If it is stalled here, rtabmap should link on libusb of "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to "
"\"libfreenect2/depends/libusb/lib\"");
UDEBUG("Waiting for new frames... If it is stalled here, rtabmap should link on libusb of libfreenect2. "
"Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
listener_->waitForNewFrame(frames);
#else
if(!listener_->waitForNewFrame(frames, 1000))
{
UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to "
"\"libfreenect2/depends/libusb/lib\"");
UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of libfreenect2. "
"Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
}
else
#endif

26
corelib/src/CameraThread.cpp
View File

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/CameraRGBD.h"
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
@@ -106,4 +107,29 @@ void CameraThread::mainLoop()
}
}
void CameraThread::mainLoopKill()
{
if(dynamic_cast<CameraFreenect2*>(_camera) != 0)
{
int i=20;
while(i-->0)
{
uSleep(100);
if(!this->isKilled())
{
break;
}
}
if(this->isKilled())
{
//still in killed state, maybe a deadlock
UERROR("CameraFreenect2: Failed to kill normally the Freenect2 driver! The thread is locked "
"on waitForNewFrame() method of libfreenect2. This maybe caused by not linking on the right libusb. "
"Note that rtabmap should link on libusb of libfreenect2. "
"Tip before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
}
}
}
} // namespace rtabmap