Exteneded cam sync mode to suppoprt full slave mode and genlock mode …

src/ds5/ds5-device.cpp

@@ -765,7 +765,12 @@ namespace librealsense
             depth_sensor.register_option(RS2_OPTION_EMITTER_ALWAYS_ON, std::make_shared<emitter_always_on_option>(*_hw_monitor, &depth_sensor));
         }
 
-        if (_fw_version >= firmware_version("5.9.15.1"))
+        if (_fw_version >= firmware_version("5.12.4.0") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
+        {
+            depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
+                std::make_shared<external_sync_mode2>(*_hw_monitor, &raw_depth_sensor));
+        }
+        else if (_fw_version >= firmware_version("5.9.15.1"))
         {
             depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
                 std::make_shared<external_sync_mode>(*_hw_monitor));

src/ds5/ds5-options.cpp

@@ -377,8 +377,9 @@ namespace librealsense
         _range = [this]()
         {
             return option_range{ ds::inter_cam_sync_mode::INTERCAM_SYNC_DEFAULT,
-                                 ds::inter_cam_sync_mode::INTERCAM_SYNC_MAX - 1,
-                                 ds::inter_cam_sync_mode::INTERCAM_SYNC_DEFAULT, 1 };
+                                 2,
+                                 1, 
+                                 ds::inter_cam_sync_mode::INTERCAM_SYNC_DEFAULT};
         };
     }
 
@@ -406,6 +407,54 @@ namespace librealsense
         return *_range;
     }
 
+    external_sync_mode2::external_sync_mode2(hw_monitor& hwm, sensor_base* ep)
+        : _hwm(hwm), _sensor(ep)
+    {
+        _range = [this]()
+        {
+            return option_range{ ds::inter_cam_sync_mode::INTERCAM_SYNC_DEFAULT,
+                                 ds::inter_cam_sync_mode::INTERCAM_SYNC_MAX,
+                                 1,
+                                 ds::inter_cam_sync_mode::INTERCAM_SYNC_DEFAULT };
+        };
+    }
+
+    void external_sync_mode2::set(float value)
+    {
+        if (_sensor->is_streaming())
+            throw std::runtime_error("Cannot change Inter-camera HW synchronization mode while streaming!");
+
+        command cmd(ds::SET_CAM_SYNC);
+        if (value < 4)
+            cmd.param1 = static_cast<int>(value);
+        else
+        {
+            cmd.param1 = 4;
+            cmd.param1 |= (static_cast<int>(value - 3)) << 8;
+        }
+
+        _hwm.send(cmd);
+        _record_action(*this);
+    }
+
+    float external_sync_mode2::query() const
+    {
+        command cmd(ds::GET_CAM_SYNC);
+        auto res = _hwm.send(cmd);
+        if (res.empty())
+            throw invalid_value_exception("external_sync_mode::query result is empty!");
+
+        if (res.front() < 4)
+            return (res.front());
+        else
+            return (static_cast<float>(res[1]) + 3.0f);
+    }
+
+    option_range external_sync_mode2::get_range() const
+    {
+        return *_range;
+    }
+
     emitter_on_and_off_option::emitter_on_and_off_option(hw_monitor& hwm, sensor_base* ep)
         : _hwm(hwm), _sensor(ep)
     {

src/ds5/ds5-options.h

@@ -229,6 +229,31 @@ namespace librealsense
         hw_monitor& _hwm;
     };
 
+    class external_sync_mode2 : public option
+    {
+    public:
+        external_sync_mode2(hw_monitor& hwm, sensor_base* depth_ep);
+        virtual ~external_sync_mode2() = default;
+        virtual void set(float value) override;
+        virtual float query() const override;
+        virtual option_range get_range() const override;
+        virtual bool is_enabled() const override { return _sensor && !_sensor ->is_streaming(); }
+
+        const char* get_description() const override
+        {
+            return "Inter-camera synchronization mode: 0:Default, 1:Master, 2:Slave, 3:Full Salve, 4-258:Genlock with burst count of 1-255 frames for each trigger";
+        }
+        void enable_recording(std::function<void(const option &)> record_action) override
+        {
+            _record_action = record_action;
+        }
+    private:
+        std::function<void(const option &)> _record_action = [](const option&) {};
+        lazy<option_range> _range;
+        hw_monitor& _hwm;
+        sensor_base* _sensor;
+    };
+
     class emitter_on_and_off_option : public option
     {
     public:

src/ds5/ds5-private.h

@@ -255,10 +255,11 @@ namespace librealsense
 
         enum inter_cam_sync_mode
         {
-            INTERCAM_SYNC_DEFAULT,
-            INTERCAM_SYNC_MASTER,
-            INTERCAM_SYNC_SLAVE,
-            INTERCAM_SYNC_MAX
+            INTERCAM_SYNC_DEFAULT    = 0,
+            INTERCAM_SYNC_MASTER     = 1,
+            INTERCAM_SYNC_SLAVE      = 2,
+            INTERCAM_SYNC_FULL_SLAVE = 3,
+            INTERCAM_SYNC_MAX        = 258 // 4-258 are for Genlock with burst count of 1-255 frames for each trigger
         };
 
         enum class d400_caps : uint16_t