Boot-up sequence
The system can take some time to be fully booted, especially in cases when a new camera is connected and an update needs to be performed. To ensure that the system is operational after a boot-up sequence, there are two things to verify:
Once the system is responsive to a
Get()command, check the JSON configuration. In the device configuration, a specific variable tracks the initialization stages:/device/diagnostic/confInitStages. When the device is fully initialized and ready to be used, the variable will contain the list['device', 'ports', 'applications'].Check the diagnostic for active errors. Refer to the diagnostic documentation on how to check the diagnostic using the ifm3d API or the ifm Vision Assistant.
For a complete example on how to monitor the boot-up sequence, refer to the ifm3d examples:
/*
* Copyright 2022-present ifm electronic, gmbh
* SPDX-License-Identifier: Apache-2.0
*/
#include <chrono>
#include <cstring>
#include <ifm3d/device/err.h>
#include <ifm3d/device/o3r.h>
#include <iostream>
#include <stdexcept>
#include <string>
#include <thread>
using namespace std::chrono_literals;
using namespace ifm3d::literals;
class BootupMonitor {
public:
static std::tuple<bool, std::string>
MonitorVPUBootup(ifm3d::O3R::Ptr o3r, int timeout = 25, int wait_time = 1) {
BootupMonitor monitor(o3r, timeout, wait_time);
try {
bool success = monitor.Monitor();
return std::make_tuple(success, "");
} catch (const std::runtime_error &e) {
return std::make_tuple(false, e.what());
}
}
private:
ifm3d::O3R::Ptr o3r_;
const int timeout_; // in seconds
const int wait_time_; // in seconds
BootupMonitor(ifm3d::O3R::Ptr o3r, int timeout = 25, int wait_time = 1)
: o3r_(o3r), timeout_(timeout), wait_time_(wait_time) {}
bool Monitor() {
std::clog << "Monitoring bootup sequence: ready to connect." << std::endl;
auto start = std::chrono::steady_clock::now();
ifm3d::json config;
do {
try {
config = o3r_->Get();
std::clog << "Connected." << std::endl;
} catch (ifm3d::Error &e) {
std::clog << "Awaiting data from VPU..." << std::endl;
}
if (!config.empty()) {
std::clog << "Checking the init stages." << std::endl;
auto conf_init_stages =
config["/device/diagnostic/confInitStages"_json_pointer];
std::clog << conf_init_stages << std::endl;
for (auto it : conf_init_stages) {
if (it == "applications") {
std::clog << "Applications recognized" << std::endl
<< "VPU fully booted." << std::endl;
RetrieveBootDiagnostic();
return true;
}
if (it == "ports") {
std::clog << "Ports recognized." << std::endl;
} else if (it == "device") {
std::clog << "Device recognized." << std::endl;
}
}
}
std::this_thread::sleep_for(std::chrono::seconds(wait_time_));
} while (std::chrono::steady_clock::now() - start <
std::chrono::seconds(timeout_));
throw std::runtime_error(
"VPU bootup sequence timed out, or connection failed.");
}
void RetrieveBootDiagnostic() {
auto active_diag = o3r_->GetDiagnosticFiltered(
ifm3d::json::parse(R"({"state": "active"})"))["/events"_json_pointer];
for (auto error = active_diag.begin(); error != active_diag.end();
++error) {
std::clog << "\n//////////////////////////////////" << std::endl;
std::clog << *error << std::endl;
}
}
};