Protonect: Add timeout arg for waitForNewFrame()

[hanyazou]

From #598 (Protonect ignores ^C)

Add timeout argument for waitForNewFrames() in the Protonect main loop. The Protonect exit if no frames come from the Kinect sensor for 10 seconds. This works only with c++11 option.

Tested on Mac OS X and ubuntu.

• Mac OS X 10.11 with ENABLE_CXX11=ON
  • run "Protonect -frames 1" 40,000 times (about 100 hours)
  • Timeout in waitForNewFrames() occurred 26 times
• Mac OS X 10.11 with ENABLE_CXX11=OFF
  • build and run "Protonect" normally
• ubuntu 15.10 (Intel Mac) with ENABLE_CXX11=ON
  • build and run "Protonect -frames 1" 10,000 times. (no timeout occurred)
• ubuntu 15.10 (Intel Mac) with ENABLE_CXX11=OFF
  • build and run "Protonect -frames 1" 10,000 times. (no timeout occurred)

There are some remaining issues.

ISSUE 1:
Protonect exit abnormally with "Abort trap: 6" in Freenect2DeviceImpl::~Freenect2DeviceImpl() when the timeout fired. The probability is 5/26. (i.e. 5/40,000)
I think we can ignore this issue because the probability is very low.

& ./bin/Protonect -frames 1
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/Protonect [-gpu=] [gl | cl | cuda | cpu] []
[-noviewer] [-norgb | -nodepth] [-help] [-version]
[-frames ]
To pause and unpause: pkill -USR1 Protonect
[Info] [OpenCLDepthPacketProcessorImpl] devices:
[Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) Core(TM) i7-3770 CPU @ 3.40GHz (CPU)[Intel]
[Info] [OpenCLDepthPacketProcessorImpl] 1: GeForce GTX 675MX (GPU)[NVIDIA]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 675MX (GPU)[NVIDIA]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 13 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @20:16 with serial 005697142447
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 1024
[Debug] [Freenect2DeviceImpl] status 0x090000: 9729
[Debug] [Freenect2DeviceImpl] status 0x090000: 9731
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 005697142447
device firmware: 4.0.3912.0
[Info] [VTRgbPacketProcessor] avg. time: 16.7513ms -> ~59.6968Hz
[Info] [VTRgbPacketProcessor] avg. time: 16.6441ms -> ~60.0814Hz
timeout!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
libc++abi.dylib: terminating with uncaught exception of type std::__1::system_error: mutex lock failed: Invalid argument
82471 Abort trap: 6 ./bin/Protonect cl -frames 1

ISSUE2:
Protonect message end with "status 0x090000: 1024" and does not show the window and images. The probability is 4,586/40,000. I will report this issue later separately.

& ./bin/Protonect -frames 1
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/Protonect [-gpu=] [gl | cl | cuda | cpu] []
[-noviewer] [-norgb | -nodepth] [-help] [-version]
[-frames ]
To pause and unpause: pkill -USR1 Protonect
[Info] [OpenCLDepthPacketProcessorImpl] devices:
[Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) Core(TM) i7-3770 CPU @ 3.40GHz (CPU)[Intel]
[Info] [OpenCLDepthPacketProcessorImpl] 1: GeForce GTX 675MX (GPU)[NVIDIA]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 675MX (GPU)[NVIDIA]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 13 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @20:31 with serial 005697142447
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 1024

[floe]

Now also in 0.1 branch, anyone care to re-test 0.1 on MacOS X?

[hanyazou]

The -frames option 664ff3c is required to execute my long-run test of these fixes. Will you cherry pick the change to v1.0 branch? Or should I pick it locally to execute my test?

[floe]

Ah, OK, I will also pick that one.

[hanyazou]

I had no problem to patch that change locally. I started my long-run test. I will update tomorrow.

[hanyazou]

I've run ./bin/Protonect cl -frames 1 10,000 times. (It took for about 20 hours.)

• Add 5 seconds limit to the status 0x90000 checking loop #614 usb: Add 5 seconds limit to the status 0x90000 checking loop 9d06c84
  fired 3 times and took effect expectedly.
• Protonect: Add timeout arg for waitForNewFrame() #612 Protonect: Add timeout arg for waitForNewFrame() 27e376c
  fired 2 times and took effect expectedly.
• Issue reboot command on Mac OS X #594 usb: Issue reboot command on Mac OS X bd08eb6
  the sensor device disappeared 2 times. Possibility 2/10,000 is low enough. I think we can ignore this.

You can see the full test log at https://github.com/hanyazou/libfreenect2/blob/254fe1d6b21bdca084a6798d2ed41c5bea098647/test-logs/test.sh-20160325-070241.txt

[floe]

Great, thanks.