PR IntelRealSense#11034 from remibettan: D4 xx emitter on off

kirkoman · Oct 27, 2022 · dee61e5 · dee61e5
2 parents e45b1fa + 1414e05
commit dee61e5
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Showing 2 changed files with 22 additions and 25 deletions.
diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp
@@ -1050,31 +1050,28 @@ namespace librealsense
                             options_and_reasons));
                 }
 
-                if (!mipi_sensor)
+                if (_fw_version >= hdr_firmware_version)
                 {
-                    if (_fw_version >= hdr_firmware_version)
-                    {
-                        std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(hdr_enabled_option, "Emitter ON/OFF cannot be set while HDR is enabled"),
-                                std::make_pair(emitter_always_on_opt, "Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
-                        depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
-                            std::make_shared<gated_option>(
-                                alternating_emitter_opt,
-                                options_and_reasons
-                                ));
-                    }
-                    else if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
-                    {
-                        std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(emitter_always_on_opt,
-                            "Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
-                        depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
-                            std::make_shared<gated_option>(
-                                alternating_emitter_opt,
-                                options_and_reasons));
-                    }
-                    else
-                    {
-                        depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, alternating_emitter_opt);
-                    }
+                    std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(hdr_enabled_option, "Emitter ON/OFF cannot be set while HDR is enabled"),
+                            std::make_pair(emitter_always_on_opt, "Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
+                    depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
+                        std::make_shared<gated_option>(
+                            alternating_emitter_opt,
+                            options_and_reasons
+                            ));
+                }
+                else if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
+                {
+                    std::vector<std::pair<std::shared_ptr<option>, std::string>> options_and_reasons = { std::make_pair(emitter_always_on_opt,
+                        "Emitter ON/OFF cannot be set while Emitter always ON is enabled") };
+                    depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF,
+                        std::make_shared<gated_option>(
+                            alternating_emitter_opt,
+                            options_and_reasons));
+                }
+                else
+                {
+                    depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, alternating_emitter_opt);
                 }
 
             }

diff --git a/src/option.h b/src/option.h
@@ -651,7 +651,7 @@ namespace librealsense
             {
                 auto strong = gated.first.lock();
                 if (!strong)
-                    return;
+                    continue;  // if gated option is not available, step over it
                 auto val = strong->query();
                 if (val)
                 {