Add error propagation for processors

The new internal API policy:

Packet processors should report internal errors by setting
good() to false, and pass the last frame to the user with
status set to 1.

Currently CUDA, OpenCL, Tegra, and VAAPI have been added
with the error propagation. CPU, OpenGL, and VT have no
error checking in place so they do not report errors.
TurboJPEG seems to produce non-fatal errors so it also
does not propagate errors.

The user should check the received frame's status
for errors. If there are errors, the user should stop the
device and exit.

When good() is false, the processor->process()
will no longer be called, and if the user continues to
call waitForNewFrame(), it will hang.

Author: xlz

include/internal/libfreenect2/async_packet_processor.h

@@ -135,7 +135,8 @@ class AsyncPacketProcessor : public PacketProcessor<PacketT>
       if(current_packet_available_)
       {
         // invoke process impl
-        processor_->process(current_packet_);
+        if (processor_->good())
+          processor_->process(current_packet_);
         /*
          * The stream parser passes the buffer asynchronously to processors so
          * it can not wait after process() finishes and free the buffer.  In

src/cuda_depth_packet_processor.cu

@@ -937,11 +937,6 @@ void CudaDepthPacketProcessor::process(const DepthPacket &packet)
   if (listener_ == NULL)
     return;
 
-  if (!impl_->good) {
-    LOG_ERROR << "CUDA in error state";
-    return;
-  }
-
   impl_->startTiming();
 
   impl_->ir_frame->timestamp = packet.timestamp;
@@ -953,12 +948,15 @@ void CudaDepthPacketProcessor::process(const DepthPacket &packet)
 
   impl_->stopTiming(LOG_INFO);
 
-  if (impl_->good) {
-    if (listener_->onNewFrame(Frame::Ir, impl_->ir_frame))
-      impl_->newIrFrame();
-    if (listener_->onNewFrame(Frame::Depth, impl_->depth_frame))
-      impl_->newDepthFrame();
+  if (!impl_->good) {
+    impl_->ir_frame->status = 1;
+    impl_->depth_frame->status = 1;
   }
+
+  if (listener_->onNewFrame(Frame::Ir, impl_->ir_frame))
+    impl_->newIrFrame();
+  if (listener_->onNewFrame(Frame::Depth, impl_->depth_frame))
+    impl_->newDepthFrame();
 }
 
 Allocator *CudaDepthPacketProcessor::getAllocator()

src/opencl_depth_packet_processor.cpp

@@ -223,6 +223,7 @@ class OpenCLDepthPacketProcessorImpl: public WithPerfLogging
   bool deviceInitialized;
   bool programBuilt;
   bool programInitialized;
+  bool runtimeOk;
   std::string sourceCode;
 
 #ifdef LIBFREENECT2_WITH_PROFILING_CL
@@ -234,6 +235,7 @@ class OpenCLDepthPacketProcessorImpl: public WithPerfLogging
     : deviceInitialized(false)
     , programBuilt(false)
     , programInitialized(false)
+    , runtimeOk(true)
   {
 #if _BSD_SOURCE || _POSIX_C_SOURCE >= 200112L || _XOPEN_SOURCE >= 600
     setenv("OCL_IGNORE_SELF_TEST", "1", 0);
@@ -773,15 +775,17 @@ void OpenCLDepthPacketProcessor::loadLookupTable(const short *lut)
 
 bool OpenCLDepthPacketProcessor::good()
 {
-  return impl_->deviceInitialized;
+  return impl_->deviceInitialized && impl_->runtimeOk;
 }
 
 void OpenCLDepthPacketProcessor::process(const DepthPacket &packet)
 {
-  bool has_listener = this->listener_ != 0;
+  if (!listener_)
+    return;
 
   if(!impl_->programInitialized && !impl_->initProgram())
   {
+    impl_->runtimeOk = false;
     LOG_ERROR << "could not initialize OpenCLDepthPacketProcessor";
     return;
   }
@@ -793,22 +797,20 @@ void OpenCLDepthPacketProcessor::process(const DepthPacket &packet)
   impl_->ir_frame->sequence = packet.sequence;
   impl_->depth_frame->sequence = packet.sequence;
 
-  bool r = impl_->run(packet);
+  impl_->runtimeOk = impl_->run(packet);
 
   impl_->stopTiming(LOG_INFO);
 
-  if(has_listener && r)
+  if (!impl_->runtimeOk)
   {
-    if(this->listener_->onNewFrame(Frame::Ir, impl_->ir_frame))
-    {
-      impl_->newIrFrame();
-    }
-
-    if(this->listener_->onNewFrame(Frame::Depth, impl_->depth_frame))
-    {
-      impl_->newDepthFrame();
-    }
+    impl_->ir_frame->status = 1;
+    impl_->depth_frame->status = 1;
   }
+
+  if(listener_->onNewFrame(Frame::Ir, impl_->ir_frame))
+    impl_->newIrFrame();
+  if(listener_->onNewFrame(Frame::Depth, impl_->depth_frame))
+    impl_->newDepthFrame();
 }
 
 Allocator *OpenCLDepthPacketProcessor::getAllocator()

src/opengl_depth_packet_processor.cpp

@@ -955,7 +955,8 @@ void OpenGLDepthPacketProcessor::loadLookupTable(const short *lut)
 
 void OpenGLDepthPacketProcessor::process(const DepthPacket &packet)
 {
-  bool has_listener = this->listener_ != 0;
+  if (!listener_)
+    return;
   Frame *ir = 0, *depth = 0;
 
   impl_->startTiming();
@@ -964,34 +965,22 @@ void OpenGLDepthPacketProcessor::process(const DepthPacket &packet)
 
   std::copy(packet.buffer, packet.buffer + packet.buffer_length/10*9, impl_->input_data.data);
   impl_->input_data.upload();
-  impl_->run(has_listener ? &ir : 0, has_listener ? &depth : 0);
+  impl_->run(&ir, &depth);
 
   if(impl_->do_debug) glfwSwapBuffers(impl_->opengl_context_ptr);
 
   impl_->stopTiming(LOG_INFO);
 
-  if(has_listener)
-  {
-    ir->timestamp = packet.timestamp;
-    depth->timestamp = packet.timestamp;
-    ir->sequence = packet.sequence;
-    depth->sequence = packet.sequence;
-
-    if(!this->listener_->onNewFrame(Frame::Ir, ir))
-    {
-      delete ir;
-    }
+  ir->timestamp = packet.timestamp;
+  depth->timestamp = packet.timestamp;
+  ir->sequence = packet.sequence;
+  depth->sequence = packet.sequence;
 
-    if(!this->listener_->onNewFrame(Frame::Depth, depth))
-    {
-      delete depth;
-    }
-  }
-  else
-  {
+  if(!listener_->onNewFrame(Frame::Ir, ir))
     delete ir;
+
+  if(!listener_->onNewFrame(Frame::Depth, depth))
     delete depth;
-  }
 }
 
 } /* namespace libfreenect2 */

src/tegra_jpeg_rgb_packet_processor.cpp

@@ -283,11 +283,6 @@ void TegraJpegRgbPacketProcessor::process(const RgbPacket &packet)
   if (listener_ == NULL)
     return;
 
-  if (!impl_->good) {
-    LOG_ERROR << "Tegra jpeg is in error state";
-    return;
-  }
-
   impl_->startTiming();
 
   impl_->frame->timestamp = packet.timestamp;
@@ -300,9 +295,10 @@ void TegraJpegRgbPacketProcessor::process(const RgbPacket &packet)
 
   impl_->stopTiming(LOG_INFO);
 
-  if (impl_->good) {
-    if (listener_->onNewFrame(Frame::Color, impl_->frame))
-      impl_->newFrame();
-  }
+  if (!impl_->good)
+    impl_->frame->status = 1;
+
+  if (listener_->onNewFrame(Frame::Color, impl_->frame))
+    impl_->newFrame();
 }
 } /* namespace libfreenect2 */

src/vaapi_rgb_packet_processor.cpp

@@ -464,11 +464,6 @@ void VaapiRgbPacketProcessor::process(const RgbPacket &packet)
   if (listener_ == 0)
     return;
 
-  if (!impl_->good) {
-    LOG_ERROR << "libva in error state";
-    return;
-  }
-
   impl_->startTiming();
 
   impl_->frame->timestamp = packet.timestamp;
@@ -484,10 +479,11 @@ void VaapiRgbPacketProcessor::process(const RgbPacket &packet)
 
   impl_->stopTiming(LOG_INFO);
 
-  if (impl_->good) {
-    if (listener_->onNewFrame(Frame::Color, impl_->frame))
-      impl_->newFrame();
-  }
+  if (!impl_->good)
+    impl_->frame->status = 1;
+
+  if (listener_->onNewFrame(Frame::Color, impl_->frame))
+    impl_->newFrame();
 }
 
 Allocator *VaapiRgbPacketProcessor::getAllocator()