def get_debug_device(serial_no):
ctx = rs.context()
devices = ctx.query_devices()
found_dev = False
for dev in devices:
if len(serial_no) == 0 or serial_no == dev.get_info(
rs.camera_info.serial_number):
found_dev = True
break
if not found_dev:
print('No RealSense device found' +
str('.' if len(serial_no) == 0 else ' with serial number: ' +
serial_no))
return 0
# set to advance mode:
advanced = rs.rs400_advanced_mode(dev)
if not advanced.is_enabled():
advanced.toggle_advanced_mode(True)
# print(a few basic information about the device)
print(' Device PID: ', dev.get_info(rs.camera_info.product_id))
print(' Device name: ', dev.get_info(rs.camera_info.name))
print(' Serial number: ', dev.get_info(rs.camera_info.serial_number))
print(' Firmware version: ',
dev.get_info(rs.camera_info.firmware_version))
debug = rs.debug_protocol(dev)
return debug
def l500_send_command(dev, op_code, param1=0, param2=0, param3=0, param4=0, data=[], retries=1):
for i in range(retries):
try:
debug_device = rs.debug_protocol(dev)
gvd_command_length = 0x14 + len(data)
magic_number1 = 0xab
magic_number2 = 0xcd
buf = bytearray()
buf += bytes(int_to_bytes(gvd_command_length, 2))
#buf += bytes(int_to_bytes(0, 1))
buf += bytes(int_to_bytes(magic_number1, 1))
buf += bytes(int_to_bytes(magic_number2, 1))
buf += bytes(int_to_bytes(op_code))
buf += bytes(int_to_bytes(param1))
buf += bytes(int_to_bytes(param2))
buf += bytes(int_to_bytes(param3))
buf += bytes(int_to_bytes(param4))
buf += bytearray(data)
l = list(buf)
res = debug_device.send_and_receive_raw_data(buf)
if res[0] == op_code:
res1 = res[4:]
return res1
else:
raise Exception("send_command return error", res[0])
except:
if i < retries - 1:
time.sleep(0.1)
else:
raise
def send_hardware_monitor_command(device, command):
command_input = [] # array of uint_8t
# Parsing the command to array of unsigned integers(size should be < 8bits)
# threw out spaces
command = command.lower()
command = command.replace(" ", "")
current_uint8_t_string = ''
for i in range(0, len(command)):
current_uint8_t_string += command[i]
if len(current_uint8_t_string) >= 2:
command_input.append(int('0x' + current_uint8_t_string, 0))
current_uint8_t_string = ''
if current_uint8_t_string != '':
command_input.append(int('0x' + current_uint8_t_string, 0))
# byte_index = -1
raw_result = rs.debug_protocol(device).send_and_receive_raw_data(
command_input)
return raw_result[4:]
def get_debug_device(serial_no):
ctx = rs.context()
devices = ctx.query_devices()
found_dev = False
for dev in devices:
if len(serial_no) == 0 or serial_no == dev.get_info(rs.camera_info.serial_number):
found_dev = True
break
if not found_dev:
print('No RealSense device found' + str('.' if len(serial_no) == 0 else ' with serial number: '+serial_no))
return 0
# set to advance mode:
advanced = rs.rs400_advanced_mode(dev)
if not advanced.is_enabled():
advanced.toggle_advanced_mode(True)
# print(a few basic information about the device)
print(' Device PID: ', dev.get_info(rs.camera_info.product_id))
print(' Device name: ', dev.get_info(rs.camera_info.name))
print(' Serial number: ', dev.get_info(rs.camera_info.serial_number))
print(' Firmware version: ', dev.get_info(rs.camera_info.firmware_version))
debug = rs.debug_protocol(dev)
return debug
