execution gets stuck after calling TofiCompute

[meetgandhi-dev]

Hi,

I'm using SDK Release v4.1.1. We have created a test application based on first-frame example application to calculate FPS we received from ToF on NXP board. We observed that in some random scenario the execution of our application gets stuck. We added some logs into the SDK to determine the place and found that it gets stuck inside TofiCompute and never comes out of it.

We are using the pre-built libraries present in lib folder. The following are sha256 hashes for the same:

analog@aditof:~/Workspace/libs$ sha256sum ./*
48faff46c51b4ddc15d5c5f8c9795810c0b9ec7b6bf0eda19ecce24f6561ea03  ./libtofi_compute.so
3338039beca91b20992175a52f47a96372be0dedf564f76abadc4fa81862faf0  ./libtofi_config.so
002b0d97b888dbf85655b976e280cf861b2b5faf8ac29f152265996beb7a09dd  ./tofi_compute_depth

Below is the content of config files that we are using:

config_crosby_old_modes.json

{
    "VAUX_POWER_VOLTAGE": "18",
    "DEPTH_INI": "./config/RawToDepthAdsd3500_mp.ini;./config/RawToDepthAdsd3500_qmp.ini",
    "FPS": "30",
    "FSYNC_MODE": "1"
}

RawToDepthAdsd3500_mp.ini

abThreshMin=1.0
abSumThresh=25.0
confThresh=25.0
radialThreshMin=100.0
radialThreshMax=10000.0
jblfApplyFlag=1
jblfWindowSize=5
jblfGaussianSigma=10.0
jblfExponentialTerm=5.0
jblfMaxEdge=12.0
jblfABThreshold=10.0
headerSize=0
deltaCompEnable=0
inputFormat=raw16_bits12_shift4
depthComputeIspEnable=1
partialDepthEnable=1
interleavingEnable=0
bitsInPhaseOrDepth=12
bitsInConf=0
bitsInAB=12
phaseInvalid=0
xyzEnable=1

RawToDepthAdsd3500_qmp.ini

abThreshMin=1.0
abSumThresh=25.0
confThresh=25.0
radialThreshMin=100.0
radialThreshMax=10000.0
jblfApplyFlag=1
jblfWindowSize=5
jblfGaussianSigma=10.0
jblfExponentialTerm=5.0
jblfMaxEdge=12.0
jblfABThreshold=10.0
headerSize=0
deltaCompEnable=0
inputFormat=raw8
depthComputeIspEnable=1
partialDepthEnable=0
interleavingEnable=1
bitsInPhaseOrDepth=16
bitsInConf=8
bitsInAB=16
phaseInvalid=0
xyzEnable=1

Here are the power-on logs of application from the SDK:

I20230602 07:02:53.295928   712 system_impl.cpp:90] SDK built with websockets version:3.1.0
I20230602 07:02:53.296499   712 sensor_enumerator_imx.cpp:116] Looking for sensors on the target
I20230602 07:02:53.297179   712 sensor_enumerator_imx.cpp:137] Looking at: /dev/media0 for an eligible TOF camera
I20230602 07:02:53.312410   712 sensor_enumerator_imx.cpp:153] Considering: /dev/media0 an eligible TOF camera
I20230602 07:02:53.316262   712 camera_itof.cpp:143] Initializing camera
sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied
sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied
I20230602 07:03:00.422422   712 adsd3500_sensor.cpp:220] Opening device
I20230602 07:03:00.422609   712 adsd3500_sensor.cpp:238] Looking for the following cards:
I20230602 07:03:00.422658   712 adsd3500_sensor.cpp:240] mxc-isi-cap
I20230602 07:03:00.422717   712 adsd3500_sensor.cpp:252] device: /dev/video0    subdevice: /dev/v4l-subdev1
W20230602 07:03:00.438637   712 adsd3500_sensor.cpp:1417] Failed to read imager type and CCB version (command 0x0032). Possibly command is not implemented on the current adsd3500 firmware.
W20230602 07:03:00.438735   712 adsd3500_sensor.cpp:1425] Since the image type is unknown, fall back on compile flag to determine imager type
I20230602 07:03:00.447700   712 mode_info.cpp:129] Using old modes table.
I20230602 07:03:00.447890   712 mode_info.cpp:129] Using old modes table.
I20230602 07:03:00.504799   712 camera_itof.cpp:347] Current adsd3500 firmware version is: 3.1.1.0
I20230602 07:03:00.504911   712 camera_itof.cpp:350] Current adsd3500 firmware git hash is: 7e9902fd27bda6747d898db19fef7d9faf361a69
I20230602 07:03:00.508042   712 camera_itof.cpp:1716] Found Depth ini file: ./config/RawToDepthAdsd3500_mp.ini
I20230602 07:03:00.508263   712 camera_itof.cpp:1716] Found Depth ini file: ./config/RawToDepthAdsd3500_qmp.ini
I20230602 07:03:00.508327   712 camera_itof.cpp:1727] Current Depth ini file is: ./config/RawToDepthAdsd3500_mp.ini
I20230602 07:03:00.512357   712 camera_itof.cpp:441] Camera FPS set from Json file at: 30
I20230602 07:03:00.513356   712 camera_itof.cpp:453] Camera initialized
I20230602 07:03:00.513540   712 main.cpp:123] SD card image version: microsd-93635899.img
I20230602 07:03:00.513586   712 main.cpp:124] Kernel version: lf-5.10.72-2.2.0
I20230602 07:03:00.513665   712 main.cpp:125] U-Boot version: imx_v2020.04_5.4.70_2.3.0
I20230602 07:03:00.513753   712 main.cpp:135] Availble frame types:
I20230602 07:03:00.513799   712 main.cpp:138] qmp
I20230602 07:03:00.513842   712 main.cpp:138] mp
I20230602 07:03:00.519964   712 camera_itof.cpp:530] Chosen mode: qmp
I20230602 07:03:00.520061   712 camera_itof.cpp:569] Using ini file: ./config/RawToDepthAdsd3500_qmp.ini
I20230602 07:03:00.525203   712 adsd3500_sensor.cpp:220] Opening device
I20230602 07:03:00.525285   712 adsd3500_sensor.cpp:238] Looking for the following cards:
I20230602 07:03:00.525319   712 adsd3500_sensor.cpp:240] mxc-isi-cap
I20230602 07:03:00.525355   712 adsd3500_sensor.cpp:252] device: /dev/video0    subdevice: /dev/v4l-subdev1
I20230602 07:03:00.525549   712 adsd3500_sensor.cpp:428] Setting camera mode to qmp
I20230602 07:03:00.532475   712 camera_itof.cpp:913] initComputeLibrary
I20230602 07:03:00.888823   712 adsd3500_sensor.cpp:341] Starting device 0

Let me know if any additional information is required.

[meetgandhi-dev]

Here is the output of top command:

analog@aditof:~$ top -H -p 623 -bn1
top - 07:49:11 up 11 min,  2 users,  load average: 0.12, 0.36, 0.22
Threads:   5 total,   0 running,   5 sleeping,   0 stopped,   0 zombie
%Cpu(s):  0.0 us,  0.0 sy,  0.0 ni,100.0 id,  0.0 wa,  0.0 hi,  0.0 si,  0.0 st
MiB Mem :   2690.3 total,   2117.3 free,    364.3 used,    208.7 buff/cache
MiB Swap:      0.0 total,      0.0 free,      0.0 used.   2256.5 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
    623 analog    20   0  334420  25716   8400 S   0.0   0.9   1:28.18 tof-ros-node
    628 analog    20   0  334420  25716   8400 S   0.0   0.9   0:24.39 tof-ros-node
    629 analog    20   0  334420  25716   8400 S   0.0   0.9   0:14.78 tof-ros-node
    630 analog    20   0  334420  25716   8400 S   0.0   0.9   0:14.36 tof-ros-node
    631 analog    20   0  334420  25716   8400 S   0.0   0.9   0:17.07 tof-ros-node

[andrestraker]

Try running data_collect with sudo. From this in the log that does not seem to be the case now:

I20230602 07:02:53.316262 712 camera_itof.cpp:143] Initializing camera sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied sh: 1: cannot create /sys/class/gpio/gpio122/value: Permission denied

[andrestraker]

Also, what is the serial number of you device? I want to make sure you are using the correct JSON file.

[meetgandhi-dev]

I'm not sure from where to get the serial number. Below are some details which might help:

Model:

analog@aditof:~$ cat /proc/device-tree/model
NXP i.MX8MPlus ADI TOF carrier + ADSD3500

Serial Number from dmesg running on host:

[520949.222919] usb 2-4: new SuperSpeed Gen 1 USB device number 3 using xhci_hcd
[520949.243309] usb 2-4: New USB device found, idVendor=0456, idProduct=a4a2, bcdDevice= 1.00
[520949.243312] usb 2-4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[520949.243314] usb 2-4: Product: ADI TOF USB Gadget
[520949.243315] usb 2-4: Manufacturer: Analog Devices Inc.
[520949.243316] usb 2-4: SerialNumber: 12345678

[andrestraker]

The serial number is usually on the device.

For example:

[meetgandhi-dev]

I'm still trying to look for the serial number (The sticker is not there on the device). However, I found one instead of DV11-163 my device has CR-413.

[meetgandhi-dev]

outraw.bin.zip I tried to capture the "raw data" of the last captured frame before ToFI compute gets stuck. Attaching it here in the zip.

[andrestraker]

@meetgandhi-eic Are you referring to the call in the code or the command line tool tofi compute depth? If the latter, can you also send the command line parameters you used.

[meetgandhi-dev]

I'm referring to the call in the code.

[andrestraker]

@meetgandhi-eic Let's start by aligning the firmware version with SDK version. Given that you are using SDK version 4.1.1, I would suggest updating the firmware to version 4.1.5. See the eval kit 4.1.1 release to get the firmware: https://github.com/analogdevicesinc/ToF/releases/tag/v4.1.1

Note, version v4.2.0 eval kit has also been released.

How did you save the data that was sent?

[meetgandhi-dev]

The serial number is usually on the device.

For example:

Okay. I get the mode table information from here According to the same, the current ToF serial number is starting from CR-xxx.

[meetgandhi-dev]

@meetgandhi-eic Let's start by aligning the firmware version with SDK version. Given that you are using SDK version 4.1.1, I would suggest updating the firmware to version 4.1.5. See the eval kit 4.1.1 release to get the firmware: https://github.com/analogdevicesinc/ToF/releases/tag/v4.1.1

Note, version v4.2.0 eval kit has also been released.

How did you save the data that was sent?

Hi, I have switched to SDK v4.2.0 and FW version 4.2.4. Here are some details for the same:

SHA256 for FW:

analog@aditof:~$ sha256sum Fw_Update_4.2.4.bin 
d7a4c4c406080c9ecfb7760cadf626d2c3e5835dae70579e469fdfaa6a075613  Fw_Update_4.2.4.bin

SHA256 for libs: (~/Workspace/libs directory)

analog@aditof:~/Workspace/libs$ sha256sum *
48faff46c51b4ddc15d5c5f8c9795810c0b9ec7b6bf0eda19ecce24f6561ea03  libtofi_compute.so
3338039beca91b20992175a52f47a96372be0dedf564f76abadc4fa81862faf0  libtofi_config.so
002b0d97b888dbf85655b976e280cf861b2b5faf8ac29f152265996beb7a09dd  tofi_compute_depth

SDK release:

analog@aditof:~/Workspace/ToF$ git status
HEAD detached at v4.2.0
nothing to commit, working tree clean
analog@aditof:~/Workspace/ToF$ git log -n 1
commit b260ad465698f38809b7114c05504a5d4bf2569b (HEAD, tag: v4.2.0)
Author: Dan Nechita <dan.nechita@analog.com>
Date:   Fri May 26 17:16:20 2023 +0300

    sdk: Swap expected values for width, height of mixed modes

    Signed-off-by: Dan Nechita <dan.nechita@analog.com>

Here is the application code:

#include "aditof/aditof.h"
#include "aditof/sensor_enumerator_factory.h"
#include "aditof/sensor_enumerator_interface.h"
#include "aditof/camera.h"

#include <iostream>
#include <linux/videodev2.h>
#include <map>
#include <string>
#include <sys/time.h>
#include <vector>
#include <memory>
#include <chrono>
#include <fstream>
#include <glog/logging.h>
#include <thread>
#include <queue>
#include <mutex>
#include <stdlib.h>
#include <signal.h>

using std::chrono::duration_cast;
using std::chrono::milliseconds;
using std::chrono::steady_clock;
using std::chrono::time_point;
using std::chrono::time_point_cast;

using TimePoint = time_point<steady_clock, milliseconds>;
static inline TimePoint current_timepoint()
{
    return (time_point_cast<milliseconds>(steady_clock::now()));
}

/* Available sensors */
using namespace aditof;
aditof::System tofSystem;
std::vector<std::shared_ptr<aditof::Camera>> cameras;
std::shared_ptr<aditof::Camera> depthCam;
std::queue<aditof::Frame *> framequeue;
std::mutex m_mtxQueue;
bool sensorStarted = false;
bool captureTimedout = false;

Status save_frame(aditof::Frame &frame, std::string frameType)
{

    uint16_t *data1;
    FrameDataDetails fDetails;
    Status status = Status::OK;

    status = frame.getData(frameType, &data1);
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not get frame data " + frameType + "!";
        return status;
    }

    if (!data1)
    {
        LOG(ERROR) << "no memory allocated in frame";
        return status;
    }

    std::ofstream g("out_" + frameType + "_" + fDetails.type + ".bin",
                    std::ios::binary);
    frame.getDataDetails(frameType, fDetails);
    g.write((char *)data1, fDetails.width * fDetails.height * sizeof(uint16_t));
    g.close();

    return status;
}

static void sig_alarm_handler(int sig)
{
    std::cerr << "inside Signal" << std::endl;
    captureTimedout = true;
    throw sig;
}

static void cleanup_sensors()
{
    if (sensorStarted)
    {
        depthCam->stop();
        sensorStarted = false;
    }
    cameras.clear();
}

static bool init_sensors(const std::string &configFile)
{
    aditof::Status status;
    tofSystem.getCameraList(cameras);
    if (cameras.empty())
    {
        LOG(WARNING) << "No cameras found";
        return false;
    }

    depthCam = cameras.front();

    status = depthCam->setControl("initialization_config", configFile);
    if (status != Status::OK)
    {
        LOG(ERROR) << "Failed to set control!";
        return false;
    }

    status = depthCam->initialize();
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not initialize camera!";
        return false;
    }

    aditof::CameraDetails cameraDetails;
    depthCam->getDetails(cameraDetails);

    LOG(INFO) << "SD card image version: " << cameraDetails.sdCardImageVersion;
    LOG(INFO) << "Kernel version: " << cameraDetails.kernelVersion;
    LOG(INFO) << "U-Boot version: " << cameraDetails.uBootVersion;

    std::vector<std::string> frameTypes;
    depthCam->getAvailableFrameTypes(frameTypes);
    if (frameTypes.empty())
    {
        LOG(ERROR) << "no frame type available!";
        return false;
    }

    LOG(INFO) << "Availble frame types:";
    for (auto item : frameTypes)
    {
        LOG(INFO) << item;
    }

    status = depthCam->setFrameType(frameTypes.at(0));
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not set camera frame type!";
        return false;
    }

    status = depthCam->start();
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not start the camera!";
        return false;
    }
    sensorStarted = true;
    signal(SIGALRM, sig_alarm_handler);
    return true;
}

void get_frames()
{
    aditof::Status status;
    aditof::Frame frame;
    FrameDataDetails fDetails;
    uint16_t *pData;

    uint32_t nFrames = 0;
    auto fpsTimeStamp = current_timepoint();

    while (1)
    {
        try
        {
            alarm(5);
            status = depthCam->requestFrame(&frame);
            if (status != Status::OK)
            {
                LOG(ERROR) << "Could not request frame!";
                return;
            }
        }
        catch (...)
        {
            LOG(ERROR) << "signal caught";
            save_frame(frame, "raw");
            return;
        }
        ++nFrames;
        auto curTimeStamp = current_timepoint();
        int32_t tExpiredTicks = duration_cast<milliseconds>(curTimeStamp - fpsTimeStamp).count();
        if (tExpiredTicks > 1000)
        {
            LOG(ERROR) << "Fps " << nFrames;
            fpsTimeStamp = curTimeStamp;
            nFrames = 0;
        }
    }
}

int main(int argc, char *pArgv[])
{
    google::InitGoogleLogging(pArgv[0]);

    FLAGS_logtostderr = 1;

    init_sensors(pArgv[1]);
    get_frames();
    cleanup_sensors();
    return false;
}

logic: I'm setting an alarm of 5 seconds (chosen randomly) before invoking depthCam->requestFrame(&frame). So, if the frame is successfully retrieved, it will try to capture the next frame which will cancel the previous timer and start a new.

Now, when it comes to a point where the execution gets stuck, the alarm will get triggered which will call the signal handler sig_alarm_handler. From the signal handler, we are throwing an exception which forces the execution to come out of blockage and return it's control to catch block.

By the time we reach this point LOG(ERROR) << "signal caught"; we already have the raw frame captured and stored in the aditof::Frame frame; variable. The same we are dumping in the file using save_frame API.

Here are the logs which are coming from the application which is running:

root@aditof:/home/analog/multi-threaded-ros/build# ./tof-ros-node config/config_crosby_old_modes.json
I20230621 10:21:58.262485  2142 system_impl.cpp:90] SDK built with websockets version:3.1.0
I20230621 10:21:58.262882  2142 sensor_enumerator_imx.cpp:116] Looking for sensors on the target
I20230621 10:21:58.263294  2142 sensor_enumerator_imx.cpp:137] Looking at: /dev/media0 for an eligible TOF camera
I20230621 10:21:58.269107  2142 sensor_enumerator_imx.cpp:153] Considering: /dev/media0 an eligible TOF camera
W20230621 10:21:58.270377  2142 adsd3500_interrupt_notifier.cpp:57] Failed to open the debug sysfs. Interrupts support will not be available!
I20230621 10:21:58.271415  2142 camera_itof.cpp:146] Initializing camera
I20230621 10:21:58.271569  2142 adsd3500_sensor.cpp:207] Opening device
I20230621 10:21:58.271638  2142 adsd3500_sensor.cpp:225] Looking for the following cards:
I20230621 10:21:58.271672  2142 adsd3500_sensor.cpp:227] mxc-isi-cap
I20230621 10:21:58.271716  2142 adsd3500_sensor.cpp:239] device: /dev/video0    subdevice: /dev/v4l-subdev1
I20230621 10:21:58.281687  2142 adsd3500_sensor.cpp:335] ADSD3500 is ready to communicate with.
W20230621 10:21:58.291468  2142 adsd3500_sensor.cpp:1508] Failed to read imager type and CCB version (command 0x0032). Possibly command is not implemented on the current adsd3500 firmware.
W20230621 10:21:58.291568  2142 adsd3500_sensor.cpp:1516] Since the image type is unknown, fall back on compile flag to determine imager type
I20230621 10:21:58.300521  2142 mode_info.cpp:156] Using old modes table.
I20230621 10:21:58.300741  2142 mode_info.cpp:156] Using old modes table.
I20230621 10:21:58.366457  2142 camera_itof.cpp:355] Current adsd3500 firmware version is: 3.1.1.0
I20230621 10:21:58.366575  2142 camera_itof.cpp:357] Current adsd3500 firmware git hash is: 7e9902fd27bda6747d898db19fef7d9faf361a69
I20230621 10:21:58.366993  2142 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_mp.ini
I20230621 10:21:58.367125  2142 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_qmp.ini
I20230621 10:21:58.367185  2142 camera_itof.cpp:1777] Current Depth ini file is: ./config/RawToDepthAdsd3500_mp.ini
I20230621 10:21:58.369479  2142 camera_itof.cpp:450] Camera FPS set from Json file at: 30
I20230621 10:21:58.370474  2142 camera_itof.cpp:462] Camera initialized
I20230621 10:21:58.370609  2142 main.cpp:119] SD card image version: microsd-93635899.img
I20230621 10:21:58.370651  2142 main.cpp:120] Kernel version: lf-5.10.72-2.2.0
I20230621 10:21:58.370687  2142 main.cpp:121] U-Boot version: imx_v2020.04_5.4.70_2.3.0
I20230621 10:21:58.370769  2142 main.cpp:131] Availble frame types:
I20230621 10:21:58.370806  2142 main.cpp:134] qmp
I20230621 10:21:58.370841  2142 main.cpp:134] mp
I20230621 10:21:58.376678  2142 camera_itof.cpp:539] Chosen mode: qmp
I20230621 10:21:58.376785  2142 camera_itof.cpp:593] Using ini file: ./config/RawToDepthAdsd3500_qmp.ini
I20230621 10:21:58.382022  2142 adsd3500_sensor.cpp:207] Opening device
I20230621 10:21:58.382165  2142 adsd3500_sensor.cpp:225] Looking for the following cards:
I20230621 10:21:58.382220  2142 adsd3500_sensor.cpp:227] mxc-isi-cap
I20230621 10:21:58.382261  2142 adsd3500_sensor.cpp:239] device: /dev/video0    subdevice: /dev/v4l-subdev1
I20230621 10:21:58.382611  2142 adsd3500_sensor.cpp:463] Setting camera mode to qmp
I20230621 10:21:58.389932  2142 camera_itof.cpp:924] initComputeLibrary
I20230621 10:21:58.746026  2142 adsd3500_sensor.cpp:376] Starting device 0
E20230621 10:22:00.122727  2142 main.cpp:188] Fps 32
E20230621 10:22:01.147651  2142 main.cpp:188] Fps 31
E20230621 10:22:02.170399  2142 main.cpp:188] Fps 31
E20230621 10:22:03.193943  2142 main.cpp:188] Fps 31
E20230621 10:22:04.218647  2142 main.cpp:188] Fps 31
E20230621 10:22:05.240669  2142 main.cpp:188] Fps 31
inside Signal
E20230621 10:22:11.133399  2142 main.cpp:179] signal caught
I20230621 10:22:11.149775  2142 adsd3500_sensor.cpp:418] Stopping device

Observation:

• The behaviour is not consistent, sometimes it runs for 10~15 minutes and sometimes it takes only a few seconds to re-produce the issue.

[andrestraker]

@meetgandhi-eic just one note, the firmware is still: 3.1.1.0

I20230621 10:21:58.366457 2142 camera_itof.cpp:355] Current adsd3500 firmware version is: 3.1.1.0

Please also update the SD card image to the 4.2.0 image.

[meetgandhi-dev]

@meetgandhi-eic just one note, the firmware is still: 3.1.1.0

I20230621 10:21:58.366457 2142 camera_itof.cpp:355] Current adsd3500 firmware version is: 3.1.1.0

Please also update the SD card image to the 4.2.0 image.

Hi @andrestraker , I have received the ToF kit with newer version support. I tried running the application in "lr-qnative" mode. But got the same results. Here are the insights for the same for further debugging:

Application source code:

#include "aditof/aditof.h"
#include "aditof/sensor_enumerator_factory.h"
#include "aditof/sensor_enumerator_interface.h"
#include "aditof/camera.h"

#include <iostream>
#include <linux/videodev2.h>
#include <map>
#include <string>
#include <sys/time.h>
#include <vector>
#include <memory>
#include <chrono>
#include <fstream>
#include <glog/logging.h>
#include <thread>
#include <queue>
#include <mutex>
#include <stdlib.h>
#include <signal.h>

using std::chrono::duration_cast;
using std::chrono::milliseconds;
using std::chrono::steady_clock;
using std::chrono::time_point;
using std::chrono::time_point_cast;

using TimePoint = time_point<steady_clock, milliseconds>;
static inline TimePoint current_timepoint()
{
    return (time_point_cast<milliseconds>(steady_clock::now()));
}

/* Available sensors */
using namespace aditof;
aditof::System tofSystem;
std::vector<std::shared_ptr<aditof::Camera>> cameras;
std::shared_ptr<aditof::Camera> depthCam;
std::queue<aditof::Frame *> framequeue;
std::mutex m_mtxQueue;
bool sensorStarted = false;
bool captureTimedout = false;

Status save_frame(aditof::Frame &frame, std::string frameType)
{

    uint16_t *data1;
    FrameDataDetails fDetails;
    Status status = Status::OK;

    status = frame.getData(frameType, &data1);
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not get frame data " + frameType + "!";
        return status;
    }

    if (!data1)
    {
        LOG(ERROR) << "no memory allocated in frame";
        return status;
    }

    std::ofstream g("out_" + frameType + "_" + fDetails.type + ".bin",
                    std::ios::binary);
    frame.getDataDetails(frameType, fDetails);
    g.write((char *)data1, fDetails.width * fDetails.height * sizeof(uint16_t));
    g.close();

    return status;
}

static void sig_alarm_handler(int sig)
{
    std::cerr << "inside Signal" << std::endl;
    captureTimedout = true;
    throw sig;
}

static void cleanup_sensors()
{
    if (sensorStarted)
    {
        depthCam->stop();
        sensorStarted = false;
    }
    LOG(WARNING) << __func__;
    cameras.clear();
    LOG(WARNING) << __func__;
}

static bool init_sensors(const std::string &configFile)
{
    aditof::Status status;
    tofSystem.getCameraList(cameras);
    if (cameras.empty())
    {
        LOG(WARNING) << "No cameras found";
        return false;
    }

    depthCam = cameras.front();

    status = depthCam->setControl("initialization_config", configFile);
    if (status != Status::OK)
    {
        LOG(ERROR) << "Failed to set control!";
        return false;
    }

    status = depthCam->initialize();
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not initialize camera!";
        return false;
    }

    aditof::CameraDetails cameraDetails;
    depthCam->getDetails(cameraDetails);

    LOG(INFO) << "SD card image version: " << cameraDetails.sdCardImageVersion;
    LOG(INFO) << "Kernel version: " << cameraDetails.kernelVersion;
    LOG(INFO) << "U-Boot version: " << cameraDetails.uBootVersion;

    std::vector<std::string> frameTypes;
    depthCam->getAvailableFrameTypes(frameTypes);
    if (frameTypes.empty())
    {
        LOG(ERROR) << "no frame type available!";
        return false;
    }

    LOG(INFO) << "Availble frame types:";
    for (auto item : frameTypes)
    {
        LOG(INFO) << item;
    }

    LOG(INFO) << "setting frame type " << frameTypes.at(3);
    status = depthCam->setFrameType(frameTypes.at(3));
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not set camera frame type!";
        return false;
    }

    status = depthCam->start();
    if (status != Status::OK)
    {
        LOG(ERROR) << "Could not start the camera!";
        return false;
    }
    sensorStarted = true;
    return true;
}

void get_frames()
{
    aditof::Status status;
    aditof::Frame frame;
    FrameDataDetails fDetails;
    uint16_t *pData;

    uint32_t nFrames = 0;
    auto fpsTimeStamp = current_timepoint();

    while (1)
    {
        try
        {
            alarm(2);
            status = depthCam->requestFrame(&frame);
            if (status != Status::OK)
            {
                LOG(ERROR) << "Could not request frame!";
                return;
            }
        }
        catch (...)
        {
            LOG(ERROR) << "signal caught";
            save_frame(frame, "raw");
            return;
        }
        ++nFrames;
        auto curTimeStamp = current_timepoint();
        int32_t tExpiredTicks = duration_cast<milliseconds>(curTimeStamp - fpsTimeStamp).count();
        if (tExpiredTicks > 1000)
        {
            LOG(ERROR) << "Fps " << nFrames;
            fpsTimeStamp = curTimeStamp;
            nFrames = 0;
        }
    }
}

int main(int argc, char *pArgv[])
{
    google::InitGoogleLogging(pArgv[0]);

    FLAGS_logtostderr = 1;

    signal(SIGALRM, sig_alarm_handler);
    init_sensors(pArgv[1]);
    get_frames();
    cleanup_sensors();
    return 0;
}

Logs coming after running the application on i.MX8:

analog@aditof:~/multi-threaded-ros/build$ ./tof-ros-node config/config_crosby_adsd3500_new_modes.json 
I20230315 15:11:25.791796   995 system_impl.cpp:90] SDK built with websockets version:3.1.0
I20230315 15:11:25.792229   995 sensor_enumerator_imx.cpp:116] Looking for sensors on the target
I20230315 15:11:25.792629   995 sensor_enumerator_imx.cpp:137] Looking at: /dev/media0 for an eligible TOF camera
I20230315 15:11:25.804083   995 sensor_enumerator_imx.cpp:153] Considering: /dev/media0 an eligible TOF camera
W20230315 15:11:25.805563   995 adsd3500_interrupt_notifier.cpp:57] Failed to open the debug sysfs. Interrupts support will not be available!
I20230315 15:11:25.807426   995 camera_itof.cpp:146] Initializing camera
I20230315 15:11:25.807543   995 adsd3500_sensor.cpp:207] Opening device
I20230315 15:11:25.807619   995 adsd3500_sensor.cpp:225] Looking for the following cards:
I20230315 15:11:25.807659   995 adsd3500_sensor.cpp:227] mxc-isi-cap
I20230315 15:11:25.807711   995 adsd3500_sensor.cpp:239] device: /dev/video0    subdevice: /dev/v4l-subdev1
I20230315 15:11:25.818082   995 adsd3500_sensor.cpp:335] ADSD3500 is ready to communicate with.
I20230315 15:11:25.829485   995 mode_info.cpp:148] Using new modes table for adsd3500.
I20230315 15:11:25.838388   995 mode_info.cpp:144] Using new mixed modes table for adsd3500.
I20230315 15:11:25.838527   995 mode_info.cpp:144] Using new mixed modes table for adsd3500.
I20230315 15:11:26.067943   995 camera_itof.cpp:355] Current adsd3500 firmware version is: 4.2.4.0
I20230315 15:11:26.068078   995 camera_itof.cpp:357] Current adsd3500 firmware git hash is: 5ecd368683f2b49f6af7c872deaf04d5696206c4
I20230315 15:11:26.068621   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_lr-qnative.ini
I20230315 15:11:26.068756   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_lr-native.ini
I20230315 15:11:26.068814   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_sr-qnative.ini
I20230315 15:11:26.068861   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_sr-native.ini
I20230315 15:11:26.068912   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_sr-mixed.ini
I20230315 15:11:26.068959   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd3500_lr-mixed.ini
I20230315 15:11:26.069015   995 camera_itof.cpp:1766] Found Depth ini file: ./config/RawToDepthAdsd_pcm-native.ini
I20230315 15:11:26.069070   995 camera_itof.cpp:1777] Current Depth ini file is: ./config/RawToDepthAdsd3500_lr-mixed.ini
I20230315 15:11:26.071703   995 camera_itof.cpp:450] Camera FPS set from Json file at: 30
I20230315 15:11:26.072748   995 camera_itof.cpp:462] Camera initialized
I20230315 15:11:26.072893   995 main.cpp:121] SD card image version: microsd-4.2.0-b260ad46.img
I20230315 15:11:26.072942   995 main.cpp:122] Kernel version: lf-5.10.72-2.2.0
I20230315 15:11:26.072983   995 main.cpp:123] U-Boot version: imx_v2020.04_5.4.70_2.3.0
I20230315 15:11:26.073072   995 main.cpp:133] Availble frame types:
I20230315 15:11:26.073115   995 main.cpp:136] sr-native
I20230315 15:11:26.073156   995 main.cpp:136] lr-native
I20230315 15:11:26.073196   995 main.cpp:136] sr-qnative
I20230315 15:11:26.073235   995 main.cpp:136] lr-qnative
I20230315 15:11:26.073274   995 main.cpp:136] pcm-native
I20230315 15:11:26.073313   995 main.cpp:136] sr-mixed
I20230315 15:11:26.073352   995 main.cpp:136] lr-mixed
I20230315 15:11:26.073395   995 main.cpp:139] setting frame type lr-qnative
I20230315 15:11:26.078999   995 camera_itof.cpp:539] Chosen mode: lr-qnative
I20230315 15:11:26.079098   995 camera_itof.cpp:593] Using ini file: ./config/RawToDepthAdsd3500_lr-qnative.ini
I20230315 15:11:26.084233   995 adsd3500_sensor.cpp:207] Opening device
I20230315 15:11:26.084319   995 adsd3500_sensor.cpp:225] Looking for the following cards:
I20230315 15:11:26.084350   995 adsd3500_sensor.cpp:227] mxc-isi-cap
I20230315 15:11:26.084381   995 adsd3500_sensor.cpp:239] device: /dev/video0    subdevice: /dev/v4l-subdev1
I20230315 15:11:26.084568   995 adsd3500_sensor.cpp:463] Setting camera mode to lr-qnative
I20230315 15:11:26.091243   995 camera_itof.cpp:924] initComputeLibrary
I20230315 15:11:26.451723   995 adsd3500_sensor.cpp:376] Starting device 0
E20230315 15:11:27.819129   995 main.cpp:190] Fps 31
E20230315 15:11:28.842587   995 main.cpp:190] Fps 31
E20230315 15:11:29.866875   995 main.cpp:190] Fps 31
E20230315 15:11:30.886827   995 main.cpp:190] Fps 31
E20230315 15:11:31.911239   995 main.cpp:190] Fps 31
E20230315 15:11:32.934468   995 main.cpp:190] Fps 31
E20230315 15:11:33.958351   995 main.cpp:190] Fps 31
E20230315 15:11:34.980616   995 main.cpp:190] Fps 31
E20230315 15:11:36.003803   995 main.cpp:190] Fps 31
E20230315 15:11:37.029127   995 main.cpp:190] Fps 31
E20230315 15:11:38.051384   995 main.cpp:190] Fps 31
inside Signal
E20230315 15:11:40.382778   995 main.cpp:181] signal caught
I20230315 15:11:40.395229   995 adsd3500_sensor.cpp:418] Stopping device
W20230315 15:11:40.396850   995 main.cpp:87] cleanup_sensors
W20230315 15:11:40.396951   995 main.cpp:89] cleanup_sensors

config file content:

analog@aditof:~/multi-threaded-ros/build$ cat config/config_crosby_adsd3500_new_modes.json 
{
    "VAUX_POWER_VOLTAGE": "18",
    "DEPTH_INI": "./config/RawToDepthAdsd3500_lr-qnative.ini;./config/RawToDepthAdsd3500_lr-native.ini;./config/RawToDepthAdsd3500_sr-qnative.ini;./config/RawToDepthAdsd3500_sr-native.ini;./config/RawToDepthAdsd3500_sr-mixed.ini;./config/RawToDepthAdsd3500_lr-mixed.ini;./config/RawToDepthAdsd_pcm-native.ini",
    "FPS": "30",
    "FSYNC_MODE": "1"
}

SHA256 sum for librarires:

analog@aditof:~/Workspace/libs$ sha256sum *
1fa67a96aa1ba73a05af9e9e568a5bd95d451ab4679b1ac28d3e4a04d43b1336  libtofi_compute.so
76ee21b4d6c9e2edd051fce04ad7315e7817cbacb59d568e9d11462a91666b4f  libtofi_config.so
8b6c353d2090d012cedff1cfa056a98601ecdef9ff16ce54856894df0b73b375  tofi_compute_depth

As I mentioned earlier, it gets stuck on random interval. The current log indicates it got stuck after ~15 seconds of run.

Steps to reproduce the issue:

1. Flash SD-card with v4.2.0 release firmware.
2. ssh into ToF kit and run following commands:

   cd /home/analog/Workspace/ToF/build
   cmake -DUSE_DEPTH_COMPUTE_STUBS=OFF ..
   make
   sudo make install

3. Build above application using cmake file using following commands (assuming the source has been kept as main.cpp file in some direcotry):

   cd <above_direcotry>
   mkdir build
   cd build
   cmake ..
   make

4. 4 will build tof-ros-node application. Run the same with following command:

   export LD_LIBRARY_PATH=/opt/websockets/lib:/usr/local/lib:/home/analog/Workspace/libs
   ./tof-ros-node config/config_crosby_adsd3500_new_modes.json 

Here is the cmakelist to build the binrary:

project(tof-ros)
cmake_minimum_required(VERSION 3.5)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD_EXTENSIONS OFF)

set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall -Werror -Wpedantic")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall -Werror -Wpedantic")

list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib;/opt/glog;/opt/protobuf;/opt/websockets")
set(CMAKE_INSTALL_RPATH "/usr/local/lib;/opt/glog/lib;/opt/websockets/lib;/home/einfochips/data/cam_sync/libs")

add_executable(tof-ros-node)

link_directories(/home/einfochips/data/cam_sync/libs)

FILE(GLOB SRC_FILES *.cpp *.hpp *.c *.h)
target_sources(tof-ros-node PRIVATE ${SRC_FILES})

find_package(aditof REQUIRED)
find_package(Libwebsockets REQUIRED)
find_package(glog REQUIRED)
find_package(Protobuf REQUIRED)

target_include_directories(tof-ros-node PUBLIC "${ADITOF_INCLUDE_DIRS}")
target_include_directories(tof-ros-node PUBLIC "${LIBWEBSOCKETS_INCLUDE_DIRS}")
target_link_libraries(tof-ros-node "${ADITOF_LIBRARIES}")
target_link_libraries(tof-ros-node aditof)
target_link_libraries(tof-ros-node /home/analog/Workspace/libs/libtofi_compute.so)
target_link_libraries(tof-ros-node /home/analog/Workspace/libs/libtofi_config.so)
target_link_libraries(tof-ros-node websockets_shared)
target_link_libraries(tof-ros-node glog::glog)
target_link_libraries(tof-ros-node pthread)

Let me know if you need any additional infomration.