forked from PrimeSense/Sensor
/
XnDeviceSensorIO.cpp
533 lines (442 loc) · 18.5 KB
/
XnDeviceSensorIO.cpp
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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensorIO.h"
#include "XnDeviceSensor.h"
#include <XnStringsHashT.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define XN_SENSOR_VENDOR_ID 0x1D27
#define XN_SENSOR_MSK_VENDOR_ID 0x045E
//---------------------------------------------------------------------------
// Enums
//---------------------------------------------------------------------------
typedef enum
{
XN_FW_USB_INTERFACE_ISO = 0,
XN_FW_USB_INTERFACE_BULK = 1,
} XnFWUsbInterface;
//---------------------------------------------------------------------------
// Globals
//---------------------------------------------------------------------------
XnUInt16 XnSensorIO::ms_supportedProducts[] =
{
0x0500,
0x0600,
0x0601,
0x02AE,
0x02BF,
};
XnUInt32 XnSensorIO::ms_supportedProductsCount = sizeof(XnSensorIO::ms_supportedProducts) / sizeof(XnSensorIO::ms_supportedProducts[0]);
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnSensorIO::XnSensorIO(XN_SENSOR_HANDLE* pSensorHandle) :
m_pSensorHandle(pSensorHandle),
m_bMiscSupported(FALSE),
m_bIsLowBandwidth(FALSE)
{
}
XnSensorIO::~XnSensorIO()
{
for (XnUInt32 i = 0; i < m_aRegistrationHandles.GetSize(); ++i)
{
xnUSBUnregisterFromConnectivityEvents(m_aRegistrationHandles[i]);
}
}
XnStatus XnSensorIO::OpenDevice(const XnChar* strPath)
{
XnStatus nRetVal;
XnUSBDeviceSpeed DevSpeed;
nRetVal = xnUSBInit();
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_USB_ALREADY_INIT)
return nRetVal;
xnLogVerbose(XN_MASK_DEVICE_IO, "Connecting to USB device...");
if (strPath == NULL || strcmp(strPath, "*:0") == 0)
{
// support old style API
XnConnectionString aConnections[1];
XnUInt32 nCount = 1;
nRetVal = EnumerateSensors(aConnections, &nCount);
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_OUTPUT_BUFFER_OVERFLOW)
{
return nRetVal;
}
strPath = aConnections[0];
}
// try to open the device
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open sensor '%s'...", strPath);
nRetVal = xnUSBOpenDeviceByPath(strPath, &m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnUSBGetDeviceSpeed(m_pSensorHandle->USBDevice, &DevSpeed);
XN_IS_STATUS_OK(nRetVal);
if (DevSpeed != XN_USB_DEVICE_HIGH_SPEED)
{
XN_LOG_WARNING_RETURN(XN_STATUS_USB_UNKNOWN_DEVICE_SPEED, XN_MASK_DEVICE_IO, "Device is not high speed!");
}
// on older firmwares, control was sent over BULK endpoints. Check if this is the case
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open endpoint 0x4 for control out (for old firmwares)...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x4, XN_USB_EP_BULK, XN_USB_DIRECTION_OUT, &m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_DIRECTION)
{
// this is not the case. use regular control endpoint (0)
m_pSensorHandle->ControlConnection.bIsBulk = FALSE;
}
else
{
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x85 for control in...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x85, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.bIsBulk = TRUE;
}
nRetVal = IsSensorLowBandwidth(strPath, &m_bIsLowBandwidth);
XN_IS_STATUS_OK(nRetVal);
xnLogInfo(XN_MASK_DEVICE_IO, "Connected to USB device%s", m_bIsLowBandwidth ? " (LowBand)" : "");
strcpy(m_strDeviceName, strPath);
return XN_STATUS_OK;
}
XnStatus XnSensorIO::OpenDataEndPoints(XnSensorUsbInterface nInterface, const XnFirmwareInfo& fwInfo)
{
XnStatus nRetVal = XN_STATUS_OK;
/*
// try to set requested interface
if (nInterface != XN_SENSOR_USB_INTERFACE_DEFAULT)
{
XnUInt8 nAlternativeInterface = 0;
switch (nInterface)
{
case XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS:
nAlternativeInterface = fwInfo.nISOAlternativeInterface;
xnLogVerbose(XN_MASK_DEVICE_IO, "Setting USB alternative interface to XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS (%d)...", nAlternativeInterface);
break;
case XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS:
nAlternativeInterface = fwInfo.nBulkAlternativeInterface;
xnLogVerbose(XN_MASK_DEVICE_IO, "Setting USB alternative interface to XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS (%d)...", nAlternativeInterface);
break;
default:
XN_ASSERT(FALSE);
XN_LOG_WARNING_RETURN(XN_STATUS_USB_INTERFACE_NOT_SUPPORTED, XN_MASK_DEVICE_IO, "Unknown interface type: %d", nInterface);
}
nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, nAlternativeInterface);
XN_IS_STATUS_OK(nRetVal);
}
*/
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoints...");
// up until v3.0/4.0, Image went over 0x82, depth on 0x83, audio on 0x86, and control was using bulk EPs, at 0x4 and 0x85.
// starting v3.0/4.0, Image is at 0x81, depth at 0x82, audio/misc at 0x83, and control is using actual control EPs.
// This means we are using the new Jungo USB Code
XnBool bNewUSB = TRUE;
// Depth
m_pSensorHandle->DepthConnection.bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x81 for depth...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
{
// Try ISO mode before old USB
m_pSensorHandle->DepthConnection.bIsISO = TRUE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying XN_USB_EP_ISOCHRONOUS (%d)", fwInfo.nBulkAlternativeInterface);
nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, fwInfo.nBulkAlternativeInterface);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
// Try old USB
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
{
m_pSensorHandle->DepthConnection.bIsISO = FALSE;
bNewUSB = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying old USB: Opening 0x82 for depth...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
}
}
else
{
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
m_pSensorHandle->DepthConnection.bIsISO = TRUE;
}
bNewUSB = TRUE;
XN_IS_STATUS_OK(nRetVal);
if (m_pSensorHandle->DepthConnection.bIsISO == TRUE)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Depth endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Depth endpoint is bulk.");
}
}
m_pSensorHandle->DepthConnection.bIsOpen = TRUE;
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->DepthConnection.UsbEp, &m_pSensorHandle->DepthConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
// check this matches requested interface (unless DEFAULT was requested)
if (nInterface == XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS && m_pSensorHandle->DepthConnection.bIsISO ||
nInterface == XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS && !m_pSensorHandle->DepthConnection.bIsISO)
{
return (XN_STATUS_USB_INTERFACE_NOT_SUPPORTED);
}
m_interface = m_pSensorHandle->DepthConnection.bIsISO ? XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS : XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS;
// Image
XnUInt16 nImageEP = bNewUSB ? 0x82 : 0x83;
m_pSensorHandle->ImageConnection.bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x%hx for image...", nImageEP);
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nImageEP, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ImageConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nImageEP, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->ImageConnection.UsbEp);
m_pSensorHandle->ImageConnection.bIsISO = TRUE;
}
XN_IS_STATUS_OK(nRetVal);
if (m_pSensorHandle->ImageConnection.bIsISO == TRUE)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Image endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Image endpoint is bulk.");
}
m_pSensorHandle->ImageConnection.bIsOpen = TRUE;
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->ImageConnection.UsbEp, &m_pSensorHandle->ImageConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
// Misc
XnUInt16 nMiscEP = bNewUSB ? 0x83 : 0x86;
m_pSensorHandle->MiscConnection.bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x%hx for misc...", nMiscEP);
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nMiscEP, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->MiscConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nMiscEP, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->MiscConnection.UsbEp);
m_pSensorHandle->MiscConnection.bIsISO = TRUE;
}
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
{
// Firmware does not support misc...
m_pSensorHandle->MiscConnection.bIsOpen = FALSE;
m_bMiscSupported = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is not supported...");
}
else if (nRetVal == XN_STATUS_OK)
{
m_pSensorHandle->MiscConnection.bIsOpen = TRUE;
m_bMiscSupported = TRUE;
if (m_pSensorHandle->MiscConnection.bIsISO == TRUE)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is bulk.");
}
}
else
{
return nRetVal;
}
if (m_pSensorHandle->MiscConnection.bIsOpen)
{
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->MiscConnection.UsbEp, &m_pSensorHandle->MiscConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
}
xnLogInfo(XN_MASK_DEVICE_IO, "Endpoints open");
// All is good...
return (XN_STATUS_OK);
}
XnStatus XnSensorIO::CloseDevice()
{
XnStatus nRetVal;
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB depth read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->DepthConnection.UsbEp);
if (m_pSensorHandle->DepthConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->DepthConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->DepthConnection.UsbEp = NULL;
}
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB image read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->ImageConnection.UsbEp);
if (m_pSensorHandle->ImageConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ImageConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ImageConnection.UsbEp = NULL;
}
if (m_pSensorHandle->MiscConnection.bIsOpen)
{
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB misc read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->MiscConnection.UsbEp);
if (m_pSensorHandle->MiscConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->MiscConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->MiscConnection.UsbEp = NULL;
}
}
if (m_pSensorHandle->ControlConnection.bIsBulk)
{
if (m_pSensorHandle->ControlConnection.ControlInConnectionEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.ControlInConnectionEp = NULL;
}
if (m_pSensorHandle->ControlConnection.ControlOutConnectionEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.ControlOutConnectionEp = NULL;
}
}
if (m_pSensorHandle->USBDevice != NULL)
{
nRetVal = xnUSBCloseDevice(m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->USBDevice = NULL;
}
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Device closed successfully");
// All is good...
return (XN_STATUS_OK);
}
XnStatus Enumerate(XnUInt16 nVendor, XnUInt16 nProduct, XnStringsSet& devicesSet)
{
XnStatus nRetVal = XN_STATUS_OK;
const XnUSBConnectionString* astrDevicePaths;
XnUInt32 nCount;
nRetVal = xnUSBEnumerateDevices(nVendor, nProduct, &astrDevicePaths, &nCount);
//nRetVal = xnUSBEnumerateDevices(XN_SENSOR_VENDOR_ID, nProduct, &astrDevicePaths, &nCount);
XN_IS_STATUS_OK(nRetVal);
for (XnUInt32 i = 0; i < nCount; ++i)
{
nRetVal = devicesSet.Set(astrDevicePaths[i]);
XN_IS_STATUS_OK(nRetVal);
}
xnUSBFreeDevicesList(astrDevicePaths);
return (XN_STATUS_OK);
}
XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, XnUInt32* pnCount)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnUSBInit();
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_USB_ALREADY_INIT)
return nRetVal;
// Temporary patch: "Cache" the devices since running USB enum on the MacOSX platform takes several seconds due to problems in libusb!
#if (XN_PLATFORM == XN_PLATFORM_MACOSX)
static XnStringsSet devicesSet;
if (devicesSet.Size() == 0)
{
// search for supported devices
for (XnUInt32 i = 0; i < ms_supportedProductsCount; ++i)
{
nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
XN_IS_STATUS_OK(nRetVal);
nRetVal = Enumerate(XN_SENSOR_MSK_VENDOR_ID, ms_supportedProducts[i], devicesSet);
XN_IS_STATUS_OK(nRetVal);
}
}
#else
XnStringsSet devicesSet;
// search for supported devices
for (XnUInt32 i = 0; i < ms_supportedProductsCount; ++i)
{
nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
XN_IS_STATUS_OK(nRetVal);
nRetVal = Enumerate(XN_SENSOR_MSK_VENDOR_ID, ms_supportedProducts[i], devicesSet);
XN_IS_STATUS_OK(nRetVal);
}
#endif
// now copy back
XnUInt32 nCount = 0;
for (XnStringsSet::ConstIterator it = devicesSet.Begin(); it != devicesSet.End(); ++it, ++nCount)
{
if (nCount < *pnCount)
{
strcpy(aConnectionStrings[nCount], it->Key());
}
}
if (nCount > *pnCount)
{
*pnCount = nCount;
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
// All is good...
*pnCount = nCount;
return (XN_STATUS_OK);
}
XnStatus XnSensorIO::IsSensorLowBandwidth(const XnConnectionString connectionString, XnBool* pbIsLowBandwidth)
{
XnConnectionString cpMatchString;
*pbIsLowBandwidth = FALSE;
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
// WAVI Detection:
// Normal USB string: \\?\usb#vid_1d27&pid_0600#6&XXXXXXXX&0&2
// WAVI USB String: \\?\usb#vid_1d27&pid_0600#1&1d270600&2&3
// ^^^^^^^^ - VID/PID is always repeated here with the WAVI.
// Regular USB devices will have the port/hub chain instead.
if ((xnOSStrCaseCmp(connectionString, "\\\\?\\usb#vid_") >= 0) && (xnOSStrLen(connectionString) > 25))
{
strncpy(&cpMatchString[0], &connectionString[12], 4); //VID
strncpy(&cpMatchString[4], &connectionString[21], 4); //PID
cpMatchString[8] = 0;
if (strstr ((char*)connectionString,cpMatchString) != 0)
{
*pbIsLowBandwidth = TRUE;
}
}
#endif
return (XN_STATUS_OK);
}
void XN_CALLBACK_TYPE XnSensorIO::OnConnectivityEvent(XnUSBEventArgs* pArgs, void* pCookie)
{
XnSensorIO* pThis = (XnSensorIO*)pCookie;
if (strcmp(pThis->m_strDeviceName, pArgs->strDevicePath) == 0)
{
pThis->m_pCallbackPtr(pArgs->eventType, const_cast<XnChar*>(pArgs->strDevicePath), pThis->m_pCallbackData);
}
}
XnStatus XnSensorIO::SetCallback(XnUSBEventCallbackFunctionPtr pCallbackPtr, void* pCallbackData)
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_aRegistrationHandles.GetSize() == 0)
{
// register for USB events
for (XnUInt32 i = 0; i < ms_supportedProductsCount; ++i)
{
XnRegistrationHandle hRegistration = NULL;
nRetVal = xnUSBRegisterToConnectivityEvents(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], OnConnectivityEvent, this, &hRegistration);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_aRegistrationHandles.AddLast(hRegistration);
XN_IS_STATUS_OK(nRetVal);
}
}
// set callbacks
m_pCallbackPtr = pCallbackPtr;
m_pCallbackData = pCallbackData;
return nRetVal;
}
const XnChar* XnSensorIO::GetDevicePath()
{
return m_strDeviceName;
}