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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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corelib/include/rtabmap/core/CameraThread.h
+1
View File
@@ -62,6 +62,7 @@ public:
private: private:
virtual void mainLoop(); virtual void mainLoop();
virtual void mainLoopKill();
private: private:
Camera * _camera; Camera * _camera;
corelib/src/CameraRGBD.cpp
+5 -6
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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/frame_listener_impl.h>
#include <libfreenect2/registration.h> #include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h> #include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/config.h>
#endif #endif
#ifdef WITH_DC1394 #ifdef WITH_DC1394
@@ -1249,16 +1250,14 @@ SensorData CameraFreenect2::captureImage()
{ {
libfreenect2::FrameMap frames; libfreenect2::FrameMap frames;
#ifndef LIBFREENECT2_THREADING_STDLIB #ifndef LIBFREENECT2_THREADING_STDLIB
UDEBUG("Waiting for new frames... If it is stalled here, rtabmap should link on libusb of " UDEBUG("Waiting for new frames... If it is stalled here, rtabmap should link on libusb of libfreenect2. "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to " "Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
"\"libfreenect2/depends/libusb/lib\"");
listener_->waitForNewFrame(frames); listener_->waitForNewFrame(frames);
#else #else
if(!listener_->waitForNewFrame(frames, 1000)) if(!listener_->waitForNewFrame(frames, 1000))
{ {
UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of " UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of libfreenect2. "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to " "Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
"\"libfreenect2/depends/libusb/lib\"");
} }
else else
#endif #endif
corelib/src/CameraThread.cpp
+26
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraThread.h" #include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h" #include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraEvent.h" #include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/CameraRGBD.h"
#include <rtabmap/utilite/UTimer.h> #include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h> #include <rtabmap/utilite/ULogger.h>
@@ -106,4 +107,29 @@ void CameraThread::mainLoop()
} }
} }
void CameraThread::mainLoopKill()
{
if(dynamic_cast<CameraFreenect2*>(_camera) != 0)
{
int i=20;
while(i-->0)
{
uSleep(100);
if(!this->isKilled())
{
break;
}
}
if(this->isKilled())
{
//still in killed state, maybe a deadlock
UERROR("CameraFreenect2: Failed to kill normally the Freenect2 driver! The thread is locked "
"on waitForNewFrame() method of libfreenect2. This maybe caused by not linking on the right libusb. "
"Note that rtabmap should link on libusb of libfreenect2. "
"Tip before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
}
}
}
} // namespace rtabmap } // namespace rtabmap