The device disappear after calling close() for a few seconds.

[hanyazou]

I noticed that the device "Xbox NUI Sensor" disappear after a process calling Freenect2DeviceImpl::stop(). I couldn't open the device even if I invoke new process. To recover that, I must unplug the AC adaptor and the USB cable from the Kinect V2 adaptor to reset that. I must do unplug and plug every time because recent Protonect handles ^C signal to call the stop().

My environment is Kinect sensor which have product ID == 0x02C4 (libfreenect2.hpp says that is "preview"), Mac OS X 10.11.2. and to day's master branch of libfreenect2.

I'm curious to know whether your device show similar behavior because I have only one Kinect and only one Mac.

Someone has same problem? or it's just that my hardware has a problem?

[hanyazou]

Here is a copy of my terminal output.

bash-3.2$ ioreg -p IOUSB
+-o Root <class IORegistryEntry, id 0x100000100, retain 16>
+-o Root Hub Simulation Simulation@1d000000 <class AppleUSBRootHubDevice, id 0x10000030e, registered, matched, active, busy 0 (138 ms), retain 135>
| +-o IOUSBHostDevice@1d100000 <class AppleUSBDevice, id 0x10000030f, registered, matched, active, busy 0 (158 ms), retain 140>
| +-o IOUSBHostDevice@1d180000 <class AppleUSBDevice, id 0x100000334, registered, matched, active, busy 0 (143 ms), retain 140>
| +-o BRCM20702 Hub@1d181000 <class AppleUSBDevice, id 0x10000034e, registered, matched, active, busy 0 (153 ms), retain 396>
| +-o Bluetooth USB Host Controller@1d181300 <class AppleUSBDevice, id 0x100000376, registered, matched, active, busy 0 (3345 ms), retain 274>
+-o Root Hub Simulation Simulation@1a000000 <class AppleUSBRootHubDevice, id 0x100000314, registered, matched, active, busy 0 (95 ms), retain 135>
| +-o IOUSBHostDevice@1a100000 <class AppleUSBDevice, id 0x100000315, registered, matched, active, busy 0 (141 ms), retain 140>
| +-o FaceTime HD Camera (Built-in)@1a110000 <class AppleUSBDevice, id 0x100000830, registered, matched, active, busy 0 (233 ms), retain 277>
+-o Root Hub Simulation Simulation@14000000 <class AppleUSBRootHubDevice, id 0x10000062f, registered, matched, active, busy 0 (99 ms), retain 136>
+-o NuiSensor Adaptor @14700000 <class AppleUSBDevice, id 0x100006180, registered, matched, active, busy 0 (37 ms), retain 72>
| +-o Xbox NUI Sensor@14710000 <class AppleUSBDevice, id 0x100009617, registered, matched, active, busy 0 (12 ms), retain 17>
+-o NuiSensor Adaptor @14300000 <class AppleUSBDevice, id 0x100006193, registered, matched, active, busy 0 (35 ms), retain 71>
bash-3.2$ ./build/bin/Protonect
Environment variables: LOGFILE=<protonect.log>
Usage: ./build/bin/Protonect [gl | cl | cpu] [<device serial>] [-noviewer]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 10 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @20:10 with serial 005697142447
[Info] [Freenect2Impl] found 1 devices
[Info] [OpenCLDepthPacketProcessorImpl] devices:
[Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) Core(TM) i7-3770 CPU @ 3.40GHz^@ (CPU)[Intel^@]
[Info] [OpenCLDepthPacketProcessorImpl] 1: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 9729
[Debug] [Freenect2DeviceImpl] status 0x090000: 9731
[Info] [Freenect2DeviceImpl] enabling usb transfer submission...
[Info] [Freenect2DeviceImpl] submitting usb transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 005697142447
device firmware: 4.0.3912.0
[Debug] [DepthPacketStreamParser] not all subsequences received 0
[Debug] [DepthPacketStreamParser] skipping depth packet
[Info] [DepthPacketStreamParser] 1 packets were lost
The viewer is turned off. Received 100 frames. Ctrl-C to stop.
The viewer is turned off. Received 200 frames. Ctrl-C to stop.
^C[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] disabling usb transfer submission...
[Info] [Freenect2DeviceImpl] canceling usb transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
bash-3.2$ ioreg -p IOUSB
+-o Root <class IORegistryEntry, id 0x100000100, retain 16>
+-o Root Hub Simulation Simulation@1d000000 <class AppleUSBRootHubDevice, id 0x10000030e, registered, matched, active, busy 0 (138 ms), retain 135>
| +-o IOUSBHostDevice@1d100000 <class AppleUSBDevice, id 0x10000030f, registered, matched, active, busy 0 (158 ms), retain 140>
| +-o IOUSBHostDevice@1d180000 <class AppleUSBDevice, id 0x100000334, registered, matched, active, busy 0 (143 ms), retain 140>
| +-o BRCM20702 Hub@1d181000 <class AppleUSBDevice, id 0x10000034e, registered, matched, active, busy 0 (153 ms), retain 396>
| +-o Bluetooth USB Host Controller@1d181300 <class AppleUSBDevice, id 0x100000376, registered, matched, active, busy 0 (3345 ms), retain 274>
+-o Root Hub Simulation Simulation@1a000000 <class AppleUSBRootHubDevice, id 0x100000314, registered, matched, active, busy 0 (95 ms), retain 135>
| +-o IOUSBHostDevice@1a100000 <class AppleUSBDevice, id 0x100000315, registered, matched, active, busy 0 (141 ms), retain 140>
| +-o FaceTime HD Camera (Built-in)@1a110000 <class AppleUSBDevice, id 0x100000830, registered, matched, active, busy 0 (233 ms), retain 277>
+-o Root Hub Simulation Simulation@14000000 <class AppleUSBRootHubDevice, id 0x10000062f, registered, matched, active, busy 0 (99 ms), retain 136>
+-o NuiSensor Adaptor @14700000 <class AppleUSBDevice, id 0x100006180, registered, matched, active, busy 0 (37 ms), retain 71>
+-o NuiSensor Adaptor @14300000 <class AppleUSBDevice, id 0x100006193, registered, matched, active, busy 0 (35 ms), retain 71>
bash-3.2$ ./build/bin/Protonect
Environment variables: LOGFILE=<protonect.log>
Usage: ./build/bin/Protonect [gl | cl | cpu] [<device serial>] [-noviewer]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 9 usb devices connected
[Info] [Freenect2Impl] found 0 devices
no device connected!

[xlz]

@RyanGordon didn't seem to have this behavior.

[hanyazou]

I can reproduce this 100% every time I try this sequence with my device.

I've learned in the net unplugging AC adaptor to recognise Kinect v2 while I can't recall the URL. So, I think someone else have similar problem. It might be a problem which early lot of the device have.

[xlz]

Run ./Protonect and pkill -USR1 Protonect will call stop(). Ctrl-C will call stop() and close(). I expect close() to cause the device to disconnect for a few seconds and reconnect.

What does it do if you pkill -USR1 Protonect only?

[hanyazou]

It seems that the close() does not matter.

on terminal 1

bash-3.2$ ioreg -p IOUSB
+-o Root <class IORegistryEntry, id 0x100000100, retain 16>
+-o Root Hub Simulation Simulation@1d000000 <class AppleUSBRootHubDevice, id 0x10000030e, registered, matched, active, busy 0 (138 ms), retain 135>
| +-o IOUSBHostDevice@1d100000 <class AppleUSBDevice, id 0x10000030f, registered, matched, active, busy 0 (159 ms), retain 140>
| +-o IOUSBHostDevice@1d180000 <class AppleUSBDevice, id 0x100000334, registered, matched, active, busy 0 (143 ms), retain 140>
| +-o BRCM20702 Hub@1d181000 <class AppleUSBDevice, id 0x10000034e, registered, matched, active, busy 0 (153 ms), retain 396>
| +-o Bluetooth USB Host Controller@1d181300 <class AppleUSBDevice, id 0x100000376, registered, matched, active, busy 0 (3345 ms), retain 274>
+-o Root Hub Simulation Simulation@1a000000 <class AppleUSBRootHubDevice, id 0x100000314, registered, matched, active, busy 0 (95 ms), retain 135>
| +-o IOUSBHostDevice@1a100000 <class AppleUSBDevice, id 0x100000315, registered, matched, active, busy 0 (141 ms), retain 140>
| +-o FaceTime HD Camera (Built-in)@1a110000 <class AppleUSBDevice, id 0x100000830, registered, matched, active, busy 0 (234 ms), retain 277>
+-o Root Hub Simulation Simulation@14000000 <class AppleUSBRootHubDevice, id 0x10000062f, registered, matched, active, busy 0 (99 ms), retain 137>
+-o NuiSensor Adaptor @14700000 <class AppleUSBDevice, id 0x100006180, registered, matched, active, busy 0 (38 ms), retain 72>
| +-o Xbox NUI Sensor@14710000 <class AppleUSBDevice, id 0x100009af3, registered, matched, active, busy 0 (11 ms), retain 17>
+-o NuiSensor Adaptor @14300000 <class AppleUSBDevice, id 0x100006193, registered, matched, active, busy 0 (36 ms), retain 71>
+-o Android@14200000 <class AppleUSBDevice, id 0x100009a1a, registered, matched, active, busy 0 (10 ms), retain 15>
bash-3.2$ ./build/bin/Protonect
./build/bin/Protonect
Environment variables: LOGFILE=<protonect.log>
Usage: ./build/bin/Protonect [gl | cl | cpu] [] [-noviewer]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @20:5 with serial 005697142447
[Info] [Freenect2Impl] found 1 devices
[Info] [OpenCLDepthPacketProcessorImpl] devices:
[Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) Core(TM) i7-3770 CPU @ 3.40GHz^@ (CPU)[Intel^@]
[Info] [OpenCLDepthPacketProcessorImpl] 1: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 9729
[Debug] [Freenect2DeviceImpl] status 0x090000: 9731
[Info] [Freenect2DeviceImpl] enabling usb transfer submission...
[Info] [Freenect2DeviceImpl] submitting usb transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 005697142447
device firmware: 4.0.3912.0
[Debug] [DepthPacketStreamParser] not all subsequences received 0
[Debug] [DepthPacketStreamParser] not all subsequences received 512
[Debug] [DepthPacketStreamParser] skipping depth packet
[Info] [DepthPacketStreamParser] 1 packets were lost
The viewer is turned off. Received 100 frames. Ctrl-C to stop.
The viewer is turned off. Received 200 frames. Ctrl-C to stop.
The viewer is turned off. Received 300 frames. Ctrl-C to stop.
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] disabling usb transfer submission...
[Info] [Freenect2DeviceImpl] canceling usb transfers...
[Info] [Freenect2DeviceImpl] stopped

on terminal 2

$ pkill -USR1 Protonect
$ ioreg -p IOUSB
+-o Root <class IORegistryEntry, id 0x100000100, retain 16>
+-o Root Hub Simulation Simulation@1d000000 <class AppleUSBRootHubDevice, id 0x10000030e, registered, matched, active, busy 0 (138 ms), retain 138>
| +-o IOUSBHostDevice@1d100000 <class AppleUSBDevice, id 0x10000030f, registered, matched, active, busy 0 (159 ms), retain 143>
| +-o IOUSBHostDevice@1d180000 <class AppleUSBDevice, id 0x100000334, registered, matched, active, busy 0 (143 ms), retain 143>
| +-o BRCM20702 Hub@1d181000 <class AppleUSBDevice, id 0x10000034e, registered, matched, active, busy 0 (153 ms), retain 399>
| +-o Bluetooth USB Host Controller@1d181300 <class AppleUSBDevice, id 0x100000376, registered, matched, active, busy 0 (3345 ms), retain 277>
+-o Root Hub Simulation Simulation@1a000000 <class AppleUSBRootHubDevice, id 0x100000314, registered, matched, active, busy 0 (95 ms), retain 135>
| +-o IOUSBHostDevice@1a100000 <class AppleUSBDevice, id 0x100000315, registered, matched, active, busy 0 (141 ms), retain 143>
| +-o FaceTime HD Camera (Built-in)@1a110000 <class AppleUSBDevice, id 0x100000830, registered, matched, active, busy 0 (234 ms), retain 280>
+-o Root Hub Simulation Simulation@14000000 <class AppleUSBRootHubDevice, id 0x10000062f, registered, matched, active, busy 0 (99 ms), retain 137>
+-o NuiSensor Adaptor @14700000 <class AppleUSBDevice, id 0x100006180, registered, matched, active, busy 0 (38 ms), retain 74>
+-o NuiSensor Adaptor @14300000 <class AppleUSBDevice, id 0x100006193, registered, matched, active, busy 0 (36 ms), retain 74>
+-o Android@14200000 <class AppleUSBDevice, id 0x100009a1a, registered, matched, active, busy 0 (10 ms), retain 18>
$ pkill -USR1 Protonect

on terminal 1

[Info] [Freenect2DeviceImpl] starting...
[Error] [protocol::UsbControl] failed to set video transfer function state! LIBUSB_ERROR_NO_DEVICE No such device (it may have been disconnected). Try debugging with
environment variable: export LIBUSB_DEBUG=4 .
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_NO_DEVICE No such device (it may have been disconnected)
[Error] [protocol::CommandTransaction] sent number of bytes differs from expected number! expected: 20 got: 0
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_NO_DEVICE No such device (it may have been disconnected)
[Error] [protocol::CommandTransaction] sent number of bytes differs from expected number! expected: 20 got: 0
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_NO_DEVICE No such device (it may have been disconnected)
[Error] [protocol::CommandTransaction] sent number of bytes differs from expected number! expected: 24 got: 0
[Warning] [Freenect2DeviceImpl] serial number reported by libusb 005697142447 differs from serial number in device protocol!
Protonect(97313,0x7fff77b84000) malloc: *** error for object 0x7f9c927921e0: pointer being freed was not allocated
*** set a breakpoint in malloc_error_break to debug

[xlz]

Is this introduced in some recent commits? If it is, it's probably this commit db37864. Can you try bisecting around this commit?

[hanyazou]

I tried 2db187e "Opencv for good on Aug 17, 2015". That seems to have same problem.
I couldn't try older version because of some compile error. I couldn't execute git bisect because I couldn't find any good version.

bash-3.2$ ../bin/Protonect cl
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 10 usb devices connected
[Freenect2Impl] found valid Kinect v2 @20:4 with serial 005697142447
[Freenect2Impl] found 1 devices
[OpenCLDepthPacketProcessor::listDevice] devices:
0: Intel(R) Core(TM) i7-3770 CPU @ 3.40GHz^@ (CPU)[Intel^@]
1: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[OpenCLDepthPacketProcessor::init] selected device: GeForce GTX 675MX^@ (GPU)[NVIDIA^@]
[OpenCLDepthPacketProcessor::buildProgram] building OpenCL program...
[OpenCLDepthPacketProcessor::buildProgram] OpenCL program built successfully
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020: 0a 21 33 55 c2 00 17 20 00 08 00 00 10 00 00 00 2e2133552e2e2e202e2e2e2e2e2e2e2e
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040: 31 33 00 00 00 0b 09 14 47 4d 53 33 30 35 2e 31 31332e2e2e2e2e2e474d533330352e31
0x0050: 58 00 00 00 00 00 00 00 07 00 00 00 582e2e2e2e2e2e2e2e2e2e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 2e262e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 1f 26 00 00 2e262e2e

[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
device serial: 005697142447
device firmware: 4.1.3912.0.7
[DepthPacketStreamParser::onDataReceived] not all subsequences received 0
[DepthPacketStreamParser::onDataReceived] not all subsequences received 1020
[DepthPacketStreamParser::onDataReceived] skipping depth packet
[OpenCLDepthPacketProcessor] avg. time: 7.47684ms -> ~133.746Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.4778ms -> ~64.6085Hz
C-c C-c^C[OpenCLDepthPacketProcessor] avg. time: 5.6253ms -> ~177.768Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.7155ms -> ~63.6315Hz

[OpenCLDepthPacketProcessor] avg. time: 5.588ms -> ~178.955Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.7761ms -> ~63.387Hz
C-c C-c^C

[OpenCLDepthPacketProcessor] avg. time: 5.47193ms -> ~182.751Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.9086ms -> ~62.8591Hz
[Freenect2DeviceImpl] stopping...
[Freenect2DeviceImpl] disabling usb transfer submission...
[Freenect2DeviceImpl] canceling usb transfers...
[Freenect2DeviceImpl] stopped
[Freenect2DeviceImpl] closing...
[Freenect2DeviceImpl] releasing usb interfaces...
[Freenect2DeviceImpl] deallocating usb transfer pools...
[Freenect2DeviceImpl] closing usb device...
[Freenect2DeviceImpl] closed
[Freenect2DeviceImpl] closing...
[Freenect2DeviceImpl] already closed, doing nothing
bash-3.2$ bash-3.2$ ioreg -p IOUSB
ioreg -p IOUSB
+-o Root <class IORegistryEntry, id 0x100000100, retain 16>
+-o Root Hub Simulation Simulation@1d000000 <class AppleUSBRootHubDevice, id 0x10000030e, registered, matched, active, busy 0 (144 ms), retain 135>
| +-o IOUSBHostDevice@1d100000 <class AppleUSBDevice, id 0x10000030f, registered, matched, active, busy 0 (164 ms), retain 140>
| +-o IOUSBHostDevice@1d180000 <class AppleUSBDevice, id 0x100000334, registered, matched, active, busy 0 (148 ms), retain 140>
| +-o BRCM20702 Hub@1d181000 <class AppleUSBDevice, id 0x10000034e, registered, matched, active, busy 0 (159 ms), retain 396>
| +-o Bluetooth USB Host Controller@1d181300 <class AppleUSBDevice, id 0x100000376, registered, matched, active, busy 0 (3349 ms), retain 274>
+-o Root Hub Simulation Simulation@1a000000 <class AppleUSBRootHubDevice, id 0x100000314, registered, matched, active, busy 0 (95 ms), retain 135>
| +-o IOUSBHostDevice@1a100000 <class AppleUSBDevice, id 0x100000315, registered, matched, active, busy 0 (146 ms), retain 140>
| +-o FaceTime HD Camera (Built-in)@1a110000 <class AppleUSBDevice, id 0x100000830, registered, matched, active, busy 0 (244 ms), retain 277>
+-o Root Hub Simulation Simulation@14000000 <class AppleUSBRootHubDevice, id 0x10000062f, registered, matched, active, busy 0 (99 ms), retain 136>
+-o NuiSensor Adaptor @14300000 <class AppleUSBDevice, id 0x100009f3d, registered, matched, active, busy 0 (6 ms), retain 11>
+-o NuiSensor Adaptor @14700000 <class AppleUSBDevice, id 0x100009f51, registered, matched, active, busy 0 (4 ms), retain 11>
bash-3.2$ ../bin/Protonect cl
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 9 usb devices connected
[Freenect2Impl] found 0 devices
no device connected!

[xlz]

But you should have it working at one time in the past, or have you never got it properly restarted?

For example, this commit on Jul 13 by you 5c23927 should work? There are only a few commits between this and Aug 17.

[bellekci]

I have the same problem in Ubuntu 15.04 with libusb 1.0.2.

As a workaround, I reset xhci controller then I can restart.

[hanyazou]

@xlz Sorry, I didn't care about the problem because I didn't alter protonect and libfreenect2 themselves.
I use to test my driver with NiViewer which comes from OpenNI2. I can stop NiViewer with ^C without the problem. NiViewer does not handle the signal and quit immediately without call stop() and close().

@bellekci when did you buy your kinect sensor and adaptor for windows? What are their model numbers?

here are info from mine:
sensor:
model 1520 (purchased 2014/9)
USB product id is 0x02C4 ("preview")
protonect says "device firmware: 4.0.3912.0"
adaptor:
model 1637 (purchased 2015/4)

[xlz]

Which lines here https://github.com/OpenKinect/libfreenect2/blob/master/src/libfreenect2.cpp#L807-L842 effectively make the device disappear?

[xlz]

@bellekci According to your last reports, your errors were LIBUSB_ERROR_NO_DEVICE because the host controller got busted from DMA errors after running for one hour. So you are reporting a new behavior on your hardware?

[hanyazou]

@xlz if you call cancel(), the device will disappear.

LOG_INFO << "disabling usb transfer submission...";
rgb_transfer_pool_.disableSubmission();
ir_transfer_pool_.disableSubmission();
// exit(1); // works well
LOG_INFO << "canceling usb transfers...";
rgb_transfer_pool_.cancel();
ir_transfer_pool_.cancel();
exit(1); // the device will disappear

[hanyazou]

I made a patch 71519cf to fix this problem. It seems that I should learn how usb_control.cpp works. But this patch solve the problem.

Please look at the patch.