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T20 Device turned off #266

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reyrael opened this issue Mar 4, 2022 · 3 comments
Open

T20 Device turned off #266

reyrael opened this issue Mar 4, 2022 · 3 comments

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@reyrael
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reyrael commented Mar 4, 2022

I originally started with v0.3 on a raspberry pi running the python example code to get the pose from a VIVE Tracker and I upgraded to v1.1.3. I am now getting the T20 Device turned off output below with python full-example.py --lighthouse-gen 2 --force-calibrate 1 --haptic-on-calibrate 1 --lighthousecount 2 --v 1000

Info: T20 IMU bdcc05e4 ( 66.339): +3.927446e-02   +3.942799e-03   +9.839842e-01   +5.320909e-04   +1.388584e-02   -7.711034e-03
Info: T20 IMU 3.757117 66.342851  4
[0.04366503722992034, -0.0014336660514993227, 0.9907743101744418, 0.0037278841913714732, 0.013885842749911503, -0.00558050476389093, 0.0, 0.0, 0.0]
Info: T20 IMU bdcef49b ( 66.343): +4.366504e-02   -1.433666e-03   +9.907743e-01   +3.727884e-03   +1.388584e-02   -5.580505e-03
Warning: 3.760867 T20 Device turned off: 2
Info: Closing device on T20 (nil) (0x1e9c93b0)
Info: Cleaning up interface on 7 T20 IMU (0x1e9cade0)
Info: Cleaning up interface on 11 T20 Lightcap (0x1e9caed0)
Info: Cleaning up interface on 15 T20 Buttons (0x1e9cafc0)
Info: Cleaning up transfer on 15 Buttons
Info: Cleaning up transfer on 7 IMU
Info: Cleaning up transfer on 11 Lightcap
Info: Requesting close for unknown
Info: Closing device T20 Tracker (2018) (0/1)
Info: Disconnecting device T20 at 3.7616900

more output

[0.042201511796128535, 0.002965259935107305, 0.9893192808472523, 0.0026626197553397783, 0.013885842749911503, -0.008776298071986016, 0.0, 0.0, 0.0]
[0.03927446092854493, 0.004920338151376917, 0.9832566586506292, 0.0005320908832763885, 0.01175531387784811, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.039030540022912966, 0.0032096447121410065, 0.9815591244355747, 0.0015973553193080834, 0.01175531387784811, -0.00558050476389093, 0.0, 0.0, 0.0]
[0.0424454327017605, 0.001987720826972499, 0.9820441342113045, 0.0005320908832763885, 0.014951107185943197, -0.0045152403278592365, 0.0, 0.0, 0.0]
[0.04268935360739247, 0.0022321056040062004, 0.9864092221928732, 0.0005320908832763885, 0.012820578313879803, -0.0045152403278592365, 0.0, 0.0, 0.0]
[0.04049406545670477, -0.00045612694336451655, 0.9878642515200627, -0.0005331735527553082, 0.012820578313879803, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.04268935360739247, 0.004920338151376917, 0.9893192808472523, 0.0026626197553397783, 0.013885842749911503, -0.0045152403278592365, 0.0, 0.0, 0.0]
[0.0417136699848646, 0.002476490381039902, 0.9888342710715224, 0.0015973553193080834, 0.014951107185943197, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.0395183818341769, 0.005164722928410618, 0.980589104884115, 0.0005320908832763885, 0.01601637162197489, -0.00558050476389093, 0.0, 0.0, 0.0]
Warning: 2.698042 T20 Device turned off: 2
Info: MPFIT stats for T20:
Info: 	seed runs         0 / 0
Info: 	error failures    0
Info: Adding tracked object T20 from HTC
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: LightcapMode (T20) 1 -> 2 (4)
[0.04342111632428837, 0.004675953374343215, 0.986894231968603, -0.0005331735527553082, 0.013885842749911503, -0.0045152403278592365, 0.0, 0.0, 0.0]
[0.042201511796128535, 0.0032096447121410065, 0.9851966977535486, -0.001598437988787003, 0.013885842749911503, -0.00558050476389093, 0.0, 0.0, 0.0]
[0.04366503722992034, 0.002965259935107305, 0.9849541928656836, 0.0015973553193080834, 0.010690049441816417, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.039030540022912966, 0.00540910770544432, 0.9847116879778187, -0.0005331735527553082, 0.014951107185943197, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.042201511796128535, -0.00021174216633081499, 0.9854392026414135, 0.0005320908832763885, 0.014951107185943197, -0.00558050476389093, 0.0, 0.0, 0.0]
[0.035859568249697396, 0.005164722928410618, 0.9873792417443329, -0.001598437988787003, 0.013885842749911503, -0.006645769199922626, 0.0, 0.0, 0.0]
[0.03781093549475313, 0.0032096447121410065, 0.9847116879778187, 0.0015973553193080834, 0.013885842749911503, -0.0045152403278592365, 0.0, 0.0, 0.0]

api_example

~/libsurvive $ ./bin/api_example 
(  0.001) SimpleApi: Loaded drivers: GlobalSceneSolver, HTCVive
Found 'LH0'
(  0.031) SimpleApi: Adding tracked object T20 from HTC
(1646422733.427387) Found 'LH0'
(1646422733.455947) Found 'T20'
(  0.794) SimpleApi: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
(1646422734.219460) T20 received configuration of length 8070 type 3-7
(  0.820) SimpleApi: Detected LH gen 2 system.
(  0.821) SimpleApi: Adding lighthouse ch 2 (idx: 0, cnt: 1)
(  0.821) SimpleApi: OOTX not set for LH in channel 2; attaching ootx decoder using device T20
(  0.837) SimpleApi: LightcapMode (T20) 1 -> 2 (4)
(  1.824) SimpleApi: 1.823924 T20 Device turned off: 2
(  1.825) SimpleApi: MPFIT stats for T20:
(  1.825) SimpleApi: 	seed runs         0 / 0
(  1.825) SimpleApi: 	error failures    0
(  1.859) SimpleApi: Adding tracked object T20 from HTC
(1646422735.283620) Found 'T20'
(  2.622) SimpleApi: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
(1646422736.046982) T20 received configuration of length 8070 type 3-7
(  2.669) SimpleApi: LightcapMode (T20) 1 -> 2 (4)
(  2.819) SimpleApi: OOTX not set for LH in channel 0; attaching ootx decoder using device T20
( 10.209) SimpleApi: 10.209045 T20 Device turned off: 2
( 10.210) SimpleApi: MPFIT stats for T20:
( 10.210) SimpleApi: 	seed runs         0 / 0
( 10.210) SimpleApi: 	error failures    0
( 10.235) SimpleApi: Adding tracked object T20 from HTC
(1646422743.660215) Found 'T20'
( 11.016) SimpleApi: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
(1646422744.441473) T20 received configuration of length 8070 type 3-7
( 11.061) SimpleApi: LightcapMode (T20) 1 -> 2 (4)
( 20.211) SimpleApi: 20.211197 T20 Device turned off: 2
( 20.212) SimpleApi: MPFIT stats for T20:
( 20.212) SimpleApi: 	seed runs         0 / 0
( 20.212) SimpleApi: 	error failures    0
( 20.249) SimpleApi: Adding tracked object T20 from HTC
@jamuus
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jamuus commented Mar 4, 2022

Try this change see if it fixes the issue:

diff --git a/src/driver_vive.libusb.h b/src/driver_vive.libusb.h
index 9cefd40..2194bb1 100644
--- a/src/driver_vive.libusb.h
+++ b/src/driver_vive.libusb.h
@@ -232,10 +232,6 @@ static void handle_transfer(struct libusb_transfer *transfer) {
 
        iface->last_submit_time = OGGetAbsoluteTimeUS();
 
-       // If we get at least one packet; start applying a timeout
-       if (iface->assoc_obj && iface->assoc_obj->object_type != SURVIVE_OBJECT_TYPE_HMD) {
-               transfer->timeout = 1000;
-       }
        if (libusb_submit_transfer(transfer)) {
                goto shutdown;
        }

@reyrael
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reyrael commented Mar 4, 2022 •
edited

@jamuus Thanks for the quick response. I will try it soon.

@reyrael
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reyrael commented Mar 4, 2022

@jamuus I rebuilt it and i am still getting T20 Device turned off: 2. I tried this with tracker 2 and tracker 3.

~/libsurvive $ ./bin/survive-cli
Info: Loaded drivers: GlobalSceneSolver, HTCVive
Info: Adding tracked object T20 from HTC
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: Detected LH gen 2 system.
Info: OOTX not set for LH in channel 0; attaching ootx decoder using device T20
Info: LightcapMode (T20) 1 -> 2 (4)
Warning: 1.826583 T20 Device turned off: 2
Info: MPFIT stats for T20:
Info: 	seed runs         0 / 0
Info: 	error failures    0
Info: Adding tracked object T20 from HTC
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: LightcapMode (T20) 1 -> 2 (4)
Warning: 10.168991 T20 Device turned off: 2
Info: MPFIT stats for T20:
Info: 	seed runs         0 / 0
Info: 	error failures    0
Info: Adding tracked object T20 from HTC
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: LightcapMode (T20) 1 -> 2 (4)
^CInfo: MPFIT stats for T20:
Info: 	seed runs         0 / 0
Info: 	error failures    0

Here it is with more logging:

~/libsurvive $ ./bin/survive-cli --v 100
Info: libsurvive version v1.01-4-g03190a5 (backend Eigen)
Info: Config file is /home/pi/.config/libsurvive/config.json
Info: Args: 
Info: 	'./bin/survive-cli'
Info: 	'--v'
Info: 	'100'
Info: Adding LH 1 mode: 0 id: 00000000
Info: Available Posers:
Info: 	 Dummy
Info: 	 BaryCentricSVD
Info: 	*MPFIT
Info: 	 KalmanOnly
Info: Totals 4 Posers.
Info: Using 'MPFIT' for poser
Info: Available Disambiguators:
Info: 	*StateBased
Info: Totals 1 Disambiguators.
Info: Using 'StateBased' for disambiguator
Info: libusb version 1.0.24.11584 (log level 2)
Info: Device added 0x5591c3a3b0
Info: Device added 0x5591c39e30
Info: Device added 0x5591c3a120
Info: Device added 0x5591c3b300
Info: Device added 0x5591c3aee0
Info: Enumerating USB device 28de:2300 Tracker (2018)
Info: Successfully enumerated Tracker (2018) (3) 28de:2300 at 0.0433748
Info: Requesting config for Tracker (2018) (nil) 0
Info: Device added 0x5591c58b80
Info: Device added 0x5591c58a90
Info: Loaded drivers: GlobalSceneSolver, HTCVive
Info: Available Posers:
Info: 	 Dummy
Info: 	 BaryCentricSVD
Info: 	*MPFIT
Info: 	 KalmanOnly
Info: Totals 4 Posers.
Info: Using 'MPFIT' for poser
Info: Creating threaded poser for T20
Info: Tracker config for T20 (16 state count)
Info: Adding tracked object T20 from HTC
Info: Config readmode in 0.034074 sec for T20 expected length: 1991
Info: Config done in 0.772800 sec for T20, len 1993
Info: Submitting magic vive_magic_enable_lighthouse at 0.773001 sec for T20 - Tracker (2018) (length 5)
Info: Submitting magic vive_magic_enable_lighthouse_more at 0.775564 sec for T20 - Tracker (2018) (length 5)
Info: Magics done in 0.776300 sec for T20 Tracker (2018)
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: Read config for T20
Info: Version done in 0.798676 sec for T20
Info: Setting T20 gyro scale 3(0.000244) acc scale 2(0.001065)
Info: Cleanup config for T20 Tracker (2018) at 0.865554 0/1
Info: Attaching IMU(0x81) for T20
Info: Attaching Lightcap(0x83) for T20
Info: Attaching Buttons(0x84) for T20
Info: Gen2 reason: T20 Report ID 40
Info: Detected LH gen 2 system.
Info: LightcapMode (T20) 1 -> 2 (4)
Info: Initializing general optimizer:
Info: 	max-error: 0.100000
Info: 	successes-to-reset: -1
Info: 	failures-to-reset: -1
Info: 	seed-poser: BaryCentricSVD
**Warning: 1.868382 T20 Device turned off: 2**
Info: Closing device on T20 (nil) (0x5591c4cd60)
Info: Cleaning up interface on 7 T20 IMU (0x5591c52d10)
Info: Cleaning up interface on 11 T20 Lightcap (0x5591c53a90)
Info: Cleaning up interface on 15 T20 Buttons (0x5591c53bc0)
Info: Requesting close for unknown
Info: Closing device T20 Tracker (2018) (0/1)
Info: Disconnecting device T20 at 1.8692148
Info: MPFIT stats for T20:
Info: 	meas failures     0
Info: 	total iterations  0
Info: 	avg iterations    0.000000
Info: 	total fevals      0
Info: 	avg fevals        0.000000
Info: 	total runs        0
Info: 	avg error         0.0000000000
Info: 	avg orig error    0.0000000000
Info: 	Status  MP_OK_CHI 0
Info: 	Status  MP_OK_PAR 0
Info: 	Status MP_OK_BOTH 0
Info: 	Status  MP_OK_DIR 0
Info: 	Status MP_MAXITER 0
Info: 	Status    MP_FTOL 0
Info: 	Status    MP_XTOL 0
Info: 	Status    MP_GTOL 0
Info: 	Status MP_OK_NORM 0
Info: MPFIT overall stats:
Info: 	meas failures     0
Info: 	total iterations  0
Info: 	avg iterations    0.000000
Info: 	total fevals      0
Info: 	avg fevals        0.000000
Info: 	total runs        0
Info: 	avg error         0.0000000000
Info: 	avg orig error    0.0000000000
Info: 	Status  MP_OK_CHI 0
Info: 	Status  MP_OK_PAR 0
Info: 	Status MP_OK_BOTH 0
Info: 	Status  MP_OK_DIR 0
Info: 	Status MP_MAXITER 0
Info: 	Status    MP_FTOL 0
Info: 	Status    MP_XTOL 0
Info: 	Status    MP_GTOL 0
Info: 	Status MP_OK_NORM 0
Info: 	seed runs         0 / 0
Info: 	error failures    0
Info: Threaded stats:
Info: 	Ran       0
Info: 	New data  0
Info: Statistics for T20 (driver HTC)
Info: 	Extent hits                    0
Info: 	Naive hits                     0
Info: 	Extent misses                  0
Info: 	Extent min                0.0000
Info: 	Extent max                0.0000
Info: IMU T20 tracker statistics:
Info: 	state_cnt                          16   15
Info: 	IMU Correction                   (+1.000000e+00   +1.000000e+00   +1.000000e+00) +1.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	Acc Bias                         +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	Gyro Bias                        +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	avg hz                           nan
Info: 	late imu                         0
Info: 	late light                       0
Info: 	joint model                          nan avg cnt        0 dropped
Info: 	lightcap model                       nan avg cnt        0 dropped
Info: 	Dropped poses                    0 of 0 (nan%)
Info: 	Mean reported variance           +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan
Info: 	Mean dropped variance            +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan
Info: 	Obs error                        nan (      0 integrations,     nanhz) +8.134466e-315   +3.234663e-318   +0.000000e+00   +2.709602e-312   +0.000000e+00   +3.984501e+252   +2.125073e-312
Info: 	IMU error                        nan (      0 integrations,     nanhz) +8.134466e-315   +3.234663e-318   +0.000000e+00   +2.709602e-312   +0.000000e+00   +3.984501e+252
Info: 	IMU acc avg norm                 +nan +nan (      0)
Info: 	Stationary IMU acc avg norm      +nan +nan (      0)
Info: 	No light IMU count                      0
Info: 	Lightcap error                   nan (      0 integrations,     nanhz) +0.000000e+00
Info:  
Info: 	gyro bias                        +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	Lightcap R                       +1.000000e-02
Info: 	Gyro R                           +1.000000e-03   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +1.000000e-03   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +1.000000e-03   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +3.046170e-05   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +3.046170e-05   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +3.046170e-05
Info: 	Observation R                    +1.000000e-07   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +1.000000e-07   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +1.000000e-07   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +1.000000e-07   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +1.000000e-06   +0.000000e+00   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +1.000000e-06   +0.000000e+00
Info: 	                                 +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +1.000000e-06
Info: 	Observed state variance          +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +nan   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00   +0.000000e+00
Info:  
Info: Enumerating USB device 28de:2300 Tracker (2018)
Info: Successfully enumerated Tracker (2018) (3) 28de:2300 at 1.8709610
Info: Requesting config for Tracker (2018) (nil) 0
Info: Available Posers:
Info: 	 Dummy
Info: 	 BaryCentricSVD
Info: 	*MPFIT
Info: 	 KalmanOnly
Info: Totals 4 Posers.
Info: Using 'MPFIT' for poser
Info: Creating threaded poser for T20
Info: Tracker config for T20 (16 state count)
Info: Adding tracked object T20 from HTC
Info: Config readmode in 0.035096 sec for T20 expected length: 1991
Info: Config done in 0.773926 sec for T20, len 1993
Info: Submitting magic vive_magic_enable_lighthouse at 0.774117 sec for T20 - Tracker (2018) (length 5)
Info: Submitting magic vive_magic_enable_lighthouse_more at 0.776680 sec for T20 - Tracker (2018) (length 5)
Info: Magics done in 0.777427 sec for T20 Tracker (2018)
Info: Device T20 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: Read config for T20
Info: Version done in 0.799843 sec for T20
Info: Setting T20 gyro scale 3(0.000244) acc scale 2(0.001065)
Info: Cleanup config for T20 Tracker (2018) at 2.694457 0/1
Info: Attaching IMU(0x81) for T20
Info: Attaching Lightcap(0x83) for T20
Info: Attaching Buttons(0x84) for T20
Info: Initializing general optimizer:
Info: 	max-error: 0.100000
Info: 	successes-to-reset: -1
Info: 	failures-to-reset: -1
Info: 	seed-poser: BaryCentricSVD
**Warning: 3.700190 T20 Device turned off: 2**
Info: Closing device on T20 (nil) (0x5591c4cd60)
Info: Cleaning up interface on 7 T20 IMU (0x5591c554d0)
Info: Cleaning up interface on 11 T20 Lightcap (0x5591c49b80)
Info: Cleaning up interface on 15 T20 Buttons (0x5591c49c70)
Info: Requesting close for unknown
Info: Closing device T20 Tracker (2018) (0/1)
Info: Disconnecting device T20 at 3.7011100

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@reyrael @jamuus