Feature/sync upstream 023502

.gitignore

@@ -4,8 +4,12 @@ lib/
 ubuntu-xenial/
 ubuntu-xenial-hwe/
 
+# Docs
+doc/doxygen/html/
+*.html.lnk
+
 # CMake
-build/
+build*/
 connectivity_check
 
 # XCode
@@ -84,3 +88,4 @@ librealsense-log.txt
 *.ini
 *.cxx
 
+.vscode/*

.travis.yml

@@ -9,20 +9,20 @@ matrix:
       language: cpp
       env: VS15=false RS_CPP_TEST=true
       script:
-        - cmake .. -G "Visual Studio 15 2017 Win64" -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DBUILD_WITH_TM2=false -DFORCE_WINUSB_UVC=true
+        - cmake .. -G "Visual Studio 15 2017 Win64" -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DBUILD_WITH_TM2=false -DFORCE_RSUSB_BACKEND=true -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_RUN_CONFIG -- -m
         - cd $LRS_RUN_CONFIG
         - ls
         - ./live-test.exe -d yes -i [software-device]
-        - for i in ../records/single_cam/*; do ./live-test -d yes -i ~[multicam] from "$i"; done
-        - for i in ../records/multi_cam/*; do ./live-test -d yes -i [multicam] from "$i"; done
+        - unset LRS_LOG_LEVEL
+        - C:/Python38/python.exe ../../unit-tests/run-unit-tests.py --verbose .
 
     - name: "Windows - cpp"
       os: windows
       language: cpp
       env: VS15=true
       script:
-        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true
+        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -m
         - ls $LRS_BUILD_CONFIG
 
@@ -31,7 +31,7 @@ matrix:
       language: cpp
       env: VS15=true
       script:
-        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=false -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5"
+        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=false -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5" -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -m
         - ls $LRS_BUILD_CONFIG
 
@@ -42,22 +42,22 @@ matrix:
       dist: xenial
       env: RS_CPP_TEST=true
       script:
-        - cmake .. -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_WITH_TM2=false
+        - cmake .. -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_RUN_CONFIG -- -j4
         - ./unit-tests/live-test -d yes -i [software-device]
         - for i in ./records/single_cam/*; do ./unit-tests/live-test -d yes -i ~[multicam] from "$i"; done
         - for i in ./records/multi_cam/*; do ./unit-tests/live-test -d yes -i [multicam] from "$i"; done
 
-    - name: "Linux - cpp"
+    - name: "Linux - cpp - static"
       os: linux
       language: cpp
       sudo: required
       dist: xenial
       script:
         - cd ../scripts && ./pr_check.sh && cd ../build
-        - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true
+        - cmake .. -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DBUILD_SHARED_LIBS=false -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -j4
-        - ls
+        - python3 ../unit-tests/run-unit-tests.py --verbose .
 
     - name: "Linux - python & nodejs"
       os: linux
@@ -68,19 +68,21 @@ matrix:
       node_js: "6"
       env: LRS_BUILD_NODEJS=true
       script:
-        - cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYBIND11_PYTHON_VERSION=2.7
+        - cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYBIND11_PYTHON_VERSION=2.7 -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -j4
-        - cd ../wrappers/nodejs/test
-        - wget http://realsense-hw-public.s3.amazonaws.com/rs-tests/nodejs_record.rec
-        - mocha test-functional.js --playback nodejs_record.rec
+        - cd ../wrappers/nodejs/
+        - npm install
+        - cd test
+        - wget http://realsense-hw-public.s3.amazonaws.com/rs-tests/nodejs_records.rec
+        - mocha test-functional.js --playback nodejs_records.rec
 
     - name: "Mac - cpp"
       os: osx
       language: cpp
       sudo: required
       osx_image: xcode7
       script:
-        - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false
+        - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -j4
         - ls
 
@@ -91,7 +93,7 @@ matrix:
       dist: xenial
       env: LRS_BUILD_ANDROID=true
       script:
-        - cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r16b/build/cmake/android.toolchain.cmake
+        - cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r16b/build/cmake/android.toolchain.cmake  -DCHECK_FOR_UPDATES=true
         - cmake --build . --config $LRS_BUILD_CONFIG -- -j4
         - ls
 
@@ -115,7 +117,7 @@ before_install:
   - if [[ "$RS_CPP_TEST" == "true" ]]; then
       export LRS_LOG_LEVEL="DEBUG";
       url_records_path="http://realsense-hw-public.s3.amazonaws.com/rs-tests/lrs_2.8.3/";
-      records_name="records.txt";
+      records_name="records_test.txt";
       url_records_list=$url_records_path$records_name;
       wget $url_records_path$records_name;
       tests_list=`cat $records_name`;
@@ -135,14 +137,15 @@ install:
     fi
 
   - if [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
+      choco install -y python3 --version 3.8.1;
       if [[ "$VS15" == "true" ]]; then
         choco install -y vcbuildtools --version 2015.4 --force;
-      fi
+      fi;
     fi
 
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
       brew uninstall xctool;
       brew install xctool --HEAD;
       brew install homebrew/core/glfw3;
       brew list libusb || brew install libusb;
-    fi
+    fi

CMake/android_config.cmake

@@ -11,17 +11,16 @@ macro(os_set_flags)
     set(BUILD_WITH_OPENMP OFF)    
     set(BUILD_GRAPHICAL_EXAMPLES OFF)
     set(ANDROID_STL "c++_static")
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_BSD_SOURCE")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_DEFAULT_SOURCE")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
-
-    if(ANDROID_USB_HOST_UVC)
-        set(FORCE_LIBUVC OFF)
+    set(HWM_OVER_XU ON)
+	
+    if(FORCE_RSUSB_BACKEND)
         set(BACKEND RS2_USE_ANDROID_BACKEND)
-        set(HWM_OVER_XU ON)
+        set(IMPORT_DEPTH_CAM_FW OFF)
     else()
-        set(FORCE_LIBUVC ON)
         set(BACKEND RS2_USE_V4L2_BACKEND)
     endif()
 endmacro()

CMake/connectivity_check.cmake

@@ -0,0 +1,11 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2019 Intel Corporation. All Rights Reserved.message(STATUS "Checking internet connection...")
+file(DOWNLOAD "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/connectivity_check" "${CMAKE_CURRENT_SOURCE_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status)
+list (FIND status "\"No error\"" _index)
+if (${_index} EQUAL -1)
+    message(STATUS "Failed to identify Internet connection")
+    set(INTERNET_CONNECTION OFF)
+else()
+    message(STATUS "Internet connection identified")
+    set(INTERNET_CONNECTION ON)
+endif()

CMake/embedd_udev_rules.cmake

@@ -0,0 +1,28 @@
+file(READ "config/99-realsense-libusb.rules" contents HEX)
+
+set(UDEV_HEADER "${CMAKE_CURRENT_BINARY_DIR}/udev-rules.h")
+
+file(WRITE "${UDEV_HEADER}" "#ifndef __UDEV_RULES_H__\n")
+file(APPEND "${UDEV_HEADER}" "#define __UDEV_RULES_H__\n")
+file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
+file(APPEND "${UDEV_HEADER}" "extern \"C\" {\n")
+file(APPEND "${UDEV_HEADER}" "#endif\n")
+
+file(APPEND "${UDEV_HEADER}" "const char "
+  "realsense_udev_rules[] = {")
+
+string(LENGTH "${contents}" contents_length)
+math(EXPR contents_length "${contents_length} - 1")
+
+foreach(iter RANGE 0 ${contents_length} 2)
+  string(SUBSTRING ${contents} ${iter} 2 line)
+  file(APPEND "${UDEV_HEADER}" "0x${line},")
+endforeach()
+
+file(APPEND "${UDEV_HEADER}" "};\n")
+
+file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
+file(APPEND "${UDEV_HEADER}" "}\n")
+file(APPEND "${UDEV_HEADER}" "#endif\n")
+
+file(APPEND "${UDEV_HEADER}" "#endif//\n")

CMake/external_libcurl.cmake

@@ -0,0 +1,47 @@
+if(CHECK_FOR_UPDATES)
+    include(ExternalProject)
+    message(STATUS "Building libcurl enabled")
+
+    set(CURL_FLAGS -DBUILD_CURL_EXE=OFF -DBUILD_SHARED_LIBS=OFF -DUSE_WIN32_LDAP=OFF -DHTTP_ONLY=ON -DCURL_ZLIB=OFF -DCURL_DISABLE_CRYPTO_AUTH=ON -DCMAKE_USE_OPENSSL=OFF -DCMAKE_USE_LIBSSH2=OFF -DBUILD_TESTING=OFF )
+    if (WIN32)
+        set(CURL_FLAGS ${CURL_FLAGS} -DCURL_STATIC_CRT=ON )
+    endif()
+
+    ExternalProject_Add(
+        libcurl
+        PREFIX libcurl
+        GIT_REPOSITORY "https://github.com/curl/curl.git"
+        GIT_TAG "53cdc2c963e33bc0cc1a51ad2df79396202e07f8" # curl-7_70_0
+        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/libcurl
+        TEST_COMMAND ""
+        CMAKE_ARGS  -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}
+                    -DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
+                    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                    -DCMAKE_C_FLAGS_DEBUG=${CMAKE_C_FLAGS_DEBUG}
+                    -DCMAKE_C_FLAGS_MINSIZEREL=${CMAKE_C_FLAGS_MINSIZEREL}
+                    -DCMAKE_C_FLAGS_RELEASE=${CMAKE_C_FLAGS_RELEASE}
+                    -DCMAKE_C_FLAGS_RELWITHDEBINFO=${CMAKE_C_FLAGS_RELWITHDEBINFO}
+                    -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
+                    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install
+                    -DCMAKE_INSTALL_LIBDIR=lib
+                    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+                    -DANDROID_ABI=${ANDROID_ABI}
+                    -DANDROID_STL=${ANDROID_STL} ${CURL_FLAGS}
+    )
+
+    set(CURL_DEBUG_TARGET_NAME "libcurl-d")
+    set(CURL_RELEASE_TARGET_NAME "libcurl")
+    add_library(curl INTERFACE)
+    add_definitions(-DCURL_STATICLIB) # Mandatory for building libcurl as static lib
+
+    target_include_directories(curl INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/include>)
+
+    # libcurl require ws2_32.lib for windows only
+    if (WIN32)
+        target_link_libraries(curl INTERFACE ws2_32.lib)
+    endif()
+
+    target_link_libraries(curl INTERFACE debug ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_DEBUG_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
+    target_link_libraries(curl INTERFACE optimized ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_RELEASE_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
+
+endif() #CHECK_FOR_UPDATES

CMake/global_config.cmake

@@ -8,7 +8,6 @@ include(GNUInstallDirs)
 # include librealsense helper macros
 include(CMake/lrs_macros.cmake)
 include(CMake/version_config.cmake)
-include(CMake/lrs_options.cmake)
 
 if(ENABLE_CCACHE)
   find_program(CCACHE_FOUND ccache)
@@ -25,6 +24,11 @@ macro(global_set_flags)
     add_definitions(-DELPP_THREAD_SAFE)
     add_definitions(-DELPP_NO_DEFAULT_LOG_FILE)
 
+    if (BUILD_GLSL_EXTENSIONS)
+        set(LRS_GL_TARGET realsense2-gl)
+        set(LRS_GL_LIB_NAME ${LRS_GL_TARGET})
+    endif()
+
     if (ENABLE_ZERO_COPY)
         add_definitions(-DZERO_COPY)
     endif()
@@ -49,15 +53,32 @@ macro(global_set_flags)
         add_definitions(-DRS2_USE_CUDA)
     endif()
 
-    if(FORCE_LIBUVC)
-        set(BACKEND RS2_USE_LIBUVC_BACKEND)
-        message(STATUS "Using libuvc (by force)")
+    if (BUILD_SHARED_LIBS)
+        add_definitions(-DBUILD_SHARED_LIBS)
+    endif()
+
+    if (BUILD_INTERNAL_UNIT_TESTS)
+        add_definitions(-DBUILD_INTERNAL_UNIT_TESTS)
     endif()
 
     if (BUILD_WITH_CUDA)
         include(CMake/cuda_config.cmake)
     endif()
 
+    if(BUILD_PYTHON_BINDINGS)
+        include(libusb_config)
+    endif()
+
+    if(BUILD_NETWORK_DEVICE)
+        add_definitions(-DNET_DEVICE)
+        set(LRS_NET_TARGET realsense2-net)
+    endif()
+
+    if(CHECK_FOR_UPDATES)
+        include(CMake/external_libcurl.cmake)
+        add_definitions(-DCHECK_FOR_UPDATES)
+    endif()
+
     add_definitions(-D${BACKEND} -DUNICODE)
 endmacro()
 
@@ -79,15 +100,17 @@ macro(global_target_config)
             $<INSTALL_INTERFACE:include>
             PRIVATE ${USB_INCLUDE_DIRS}
     )
+
+
+
 endmacro()
 
 macro(add_tm2)
     message(STATUS "Building with TM2")
-    add_subdirectory(third-party/libtm)
     include(libusb_config)
+    target_link_libraries(${LRS_TARGET} PRIVATE usb)
     if(USE_EXTERNAL_USB)
-        add_dependencies(tm libusb)
+        add_dependencies(${LRS_TARGET} libusb)
     endif()
-    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1 BUILD_STATIC=1)
-    target_link_libraries(${LRS_TARGET} PRIVATE tm ${CMAKE_THREAD_LIBS_INIT})
+    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1)
 endmacro()

CMake/install_config.cmake

@@ -43,9 +43,9 @@ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
         DESTINATION ${CMAKECONFIG_INSTALL_DIR}
 )
 
-install(CODE "execute_process(COMMAND ldconfig)")
-
 # Set library pkgconfig file for facilitating 3rd party integration
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config/realsense2.pc"
         DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
 )
+
+install(CODE "execute_process(COMMAND ldconfig)")

CMake/libusb_config.cmake

@@ -3,7 +3,7 @@ if (NOT TARGET usb)
     find_path(LIBUSB_INC libusb.h HINTS PATH_SUFFIXES libusb-1.0)
     include(FindPackageHandleStandardArgs)
     find_package_handle_standard_args(usb "libusb not found; using internal version" LIBUSB_LIB LIBUSB_INC)
-    if (USB_FOUND)
+    if (USB_FOUND AND NOT USE_EXTERNAL_USB)
         add_library(usb INTERFACE)
         target_include_directories(usb INTERFACE ${LIBUSB_INC})
         target_link_libraries(usb INTERFACE ${LIBUSB_LIB})