PR realsenseai#14316 from AviaAv: sensor start after open, other simplifications

Author: Nir-Az

tools/data-collect/rs-data-collect.cpp

@@ -141,9 +141,9 @@ void data_collector::save_data_to_file(const string& out_filename)
     }
 }
 
-void data_collector::collect_frame_attributes(rs2::frame f, std::chrono::time_point<std::chrono::high_resolution_clock> start_time)
+void data_collector::collect_frame_attributes(rs2::frame f)
 {
-    auto arrival_time = std::chrono::duration<double, std::milli>(chrono::high_resolution_clock::now() - start_time);
+    auto arrival_time = std::chrono::duration<double, std::milli>(chrono::high_resolution_clock::now() - _start_time);
     auto stream_uid = std::make_pair(f.get_profile().stream_type(), f.get_profile().stream_index());
 
     if (data_collection[stream_uid].size() < _max_frames)
@@ -173,13 +173,13 @@ void data_collector::collect_frame_attributes(rs2::frame f, std::chrono::time_po
     }
 }
 
-bool data_collector::collecting(std::chrono::time_point<std::chrono::high_resolution_clock> start_time)
+bool data_collector::collecting()
 {
     bool timed_out = false;
 
     if (_time_out_sec > 0)
     {
-        timed_out = (chrono::high_resolution_clock::now() - start_time) > std::chrono::seconds(_time_out_sec);
+        timed_out = (chrono::high_resolution_clock::now() - _start_time) > std::chrono::seconds(_time_out_sec);
         // When the timeout is the only option is specified, disregard frame number
         if (stop_on_timeout == _stop_cond)
             return !timed_out;
@@ -234,6 +234,7 @@ bool data_collector::parse_configuration(const std::string& line, const std::vec
 // Assign the user configuration to the selected device
 bool data_collector::configure_sensors()
 {
+    _start_time = chrono::high_resolution_clock::now();
     bool succeed = false;
     requests_to_go = user_requests;
     std::vector<rs2::stream_profile> matches;
@@ -278,6 +279,7 @@ bool data_collector::configure_sensors()
         {
             std::copy(matches.begin(), matches.end(), std::back_inserter(selected_stream_profiles));
             sensor.open(matches);
+            sensor.start([this](rs2::frame f) { collect_frame_attributes(f); }); // start right after open sensor, required on DDS to avoid reverting to default
             active_sensors.emplace_back(sensor);
             matches.clear();
         }
@@ -361,28 +363,18 @@ int main(int argc, char** argv) try
 
         dc.parse_and_configure(config_file);
 
-        //data_collection buffer;
-        auto start_time = chrono::high_resolution_clock::now();
-
-        // Start streaming
-        for (auto&& sensor : dc.selected_sensors())
-            sensor.start([&dc,&start_time](rs2::frame f)
-        {
-            dc.collect_frame_attributes(f,start_time);
-        });
-
         std::cout << "\nData collection started.... \n" << std::endl;
 
-        while (dc.collecting(start_time))
+        while (dc.collecting())
         {
             std::this_thread::sleep_for(std::chrono::seconds(1));
             std::cout << "Collecting data for "
-                    << chrono::duration_cast<chrono::seconds>(chrono::high_resolution_clock::now() - start_time).count()
+                    << dc.time_passed()
                     << " sec" << std::endl;
         }
 
         // Stop & flush all active sensors
-        for (auto&& sensor : dc.selected_sensors())
+        for (auto&& sensor : dc.active_sensors)
         {
             sensor.stop();
             sensor.close();

tools/data-collect/rs-data-collect.h

@@ -183,10 +183,17 @@ namespace rs_data_collect
 
         void parse_and_configure(rs2::cli::value<string>& config_file);
         void save_data_to_file(const string& out_filename);
-        void collect_frame_attributes(rs2::frame f, std::chrono::time_point<std::chrono::high_resolution_clock> start_time);
-        bool collecting(std::chrono::time_point<std::chrono::high_resolution_clock> start_time);
+        void collect_frame_attributes(rs2::frame f);
+        bool collecting();
+        auto time_passed() const
+        {
+            return std::chrono::duration_cast< std::chrono::seconds >(
+                       std::chrono::high_resolution_clock::now() - _start_time )
+                .count();
+        }
+
 
-        const std::vector<rs2::sensor>& selected_sensors() const { return active_sensors; };
+        std::vector<rs2::sensor> active_sensors;
 
         struct frame_record
         {
@@ -238,11 +245,11 @@ namespace rs_data_collect
         std::shared_ptr<rs2::device>        _dev;
         std::map<std::pair<rs2_stream, int>, std::vector<frame_record>> data_collection;
         std::vector<stream_request>         requests_to_go, user_requests;
-        std::vector<rs2::sensor>            active_sensors;
         std::vector<rs2::stream_profile>    selected_stream_profiles;
         uint64_t                            _max_frames;
         int64_t                             _time_out_sec;
         application_stop                    _stop_cond;
+        std::chrono::high_resolution_clock::time_point _start_time;
 
         bool parse_configuration(const std::string& line, const std::vector<std::string>& tokens,
             rs2_stream& type, int& width, int& height, rs2_format& format, int& fps, int& index);