forked from zarvox/libfreenect
-
Notifications
You must be signed in to change notification settings - Fork 5
/
usb_libusb10.c
593 lines (540 loc) · 18.3 KB
/
usb_libusb10.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
* for details.
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified, you
* may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
*
* Binary distributions must follow the binary distribution requirements of
* either License.
*/
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <libusb-1.0/libusb.h>
#include "freenect_internal.h"
#include "loader.h"
FN_INTERNAL int fnusb_num_devices(fnusb_ctx *ctx)
{
libusb_device **devs;
//pointer to pointer of device, used to retrieve a list of devices
ssize_t cnt = libusb_get_device_list (ctx->ctx, &devs);
//get the list of devices
if (cnt < 0)
return (-1);
int nr = 0, i = 0;
struct libusb_device_descriptor desc;
for (i = 0; i < cnt; ++i)
{
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA)
nr++;
}
libusb_free_device_list (devs, 1);
// free the list, unref the devices in it
return nr;
}
FN_INTERNAL int fnusb_list_device_attributes(fnusb_ctx *ctx, struct freenect_device_attributes** attribute_list)
{
*attribute_list = NULL; // initialize some return value in case the user is careless.
libusb_device **devs;
//pointer to pointer of device, used to retrieve a list of devices
ssize_t count = libusb_get_device_list (ctx->ctx, &devs);
if (count < 0)
return -1;
struct freenect_device_attributes** camera_prev_next = attribute_list;
// Pass over the list. For each camera seen, if we already have a camera
// for the newest_camera device, allocate a new one and append it to the list,
// incrementing num_devs. Likewise for each audio device.
struct libusb_device_descriptor desc;
int num_cams = 0;
int i;
for (i = 0; i < count; i++) {
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA) {
// Verify that a serial number exists to query. If not, don't touch the device.
if (desc.iSerialNumber == 0) {
continue;
}
// Open device.
int res;
libusb_device_handle *this_device;
res = libusb_open(devs[i], &this_device);
unsigned char string_desc[256]; // String descriptors are at most 256 bytes.
if (res != 0) {
continue;
}
// Read string descriptor referring to serial number.
res = libusb_get_string_descriptor_ascii(this_device, desc.iSerialNumber, string_desc, 256);
libusb_close(this_device);
if (res < 0) {
continue;
}
// Add item to linked list.
struct freenect_device_attributes* new_dev_attrs = (struct freenect_device_attributes*)malloc(sizeof(struct freenect_device_attributes));
memset(new_dev_attrs, 0, sizeof(*new_dev_attrs));
*camera_prev_next = new_dev_attrs;
// Copy string with serial number
new_dev_attrs->camera_serial = strdup((char*)string_desc);
camera_prev_next = &(new_dev_attrs->next);
// Increment number of cameras found
num_cams++;
}
}
libusb_free_device_list(devs, 1);
return num_cams;
}
FN_INTERNAL int fnusb_init(fnusb_ctx *ctx, freenect_usb_context *usb_ctx)
{
int res;
if (!usb_ctx) {
res = libusb_init(&ctx->ctx);
if (res >= 0) {
ctx->should_free_ctx = 1;
return 0;
} else {
ctx->should_free_ctx = 0;
ctx->ctx = NULL;
return res;
}
} else {
// explicit cast required: in WIN32, freenect_usb_context* maps to void*
ctx->ctx = (libusb_context*)usb_ctx;
ctx->should_free_ctx = 0;
return 0;
}
}
FN_INTERNAL int fnusb_shutdown(fnusb_ctx *ctx)
{
//int res;
if (ctx->should_free_ctx) {
libusb_exit(ctx->ctx);
ctx->ctx = NULL;
}
return 0;
}
FN_INTERNAL int fnusb_process_events(fnusb_ctx *ctx)
{
return libusb_handle_events(ctx->ctx);
}
FN_INTERNAL int fnusb_process_events_timeout(fnusb_ctx *ctx, struct timeval* timeout)
{
return libusb_handle_events_timeout(ctx->ctx, timeout);
}
FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
{
freenect_context *ctx = dev->parent;
dev->usb_cam.parent = dev;
dev->usb_cam.dev = NULL;
dev->usb_motor.parent = dev;
dev->usb_motor.dev = NULL;
#ifdef BUILD_AUDIO
dev->usb_audio.parent = dev;
dev->usb_audio.dev = NULL;
#endif
libusb_device **devs; //pointer to pointer of device, used to retrieve a list of devices
ssize_t cnt = libusb_get_device_list (dev->parent->usb.ctx, &devs); //get the list of devices
if (cnt < 0)
return -1;
int i = 0, nr_cam = 0, nr_mot = 0;
#ifdef BUILD_AUDIO
int nr_audio = 0;
#endif
int res;
struct libusb_device_descriptor desc;
for (i = 0; i < cnt; i++) {
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
// Search for the camera
if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && desc.idProduct == PID_NUI_CAMERA) {
// If the index given by the user matches our camera index
if (nr_cam == index) {
res = libusb_open (devs[i], &dev->usb_cam.dev);
if (res < 0 || !dev->usb_cam.dev) {
FN_ERROR("Could not open camera: %d\n", res);
dev->usb_cam.dev = NULL;
break;
}
#ifndef _WIN32
// Detach an existing kernel driver for the device
res = libusb_kernel_driver_active(dev->usb_cam.dev, 0);
if (res == 1) {
res = libusb_detach_kernel_driver(dev->usb_cam.dev, 0);
if (res < 0) {
FN_ERROR("Could not detach kernel driver for camera: %d\n", res);
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
break;
}
}
#endif
res = libusb_claim_interface (dev->usb_cam.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on camera: %d\n", res);
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
break;
}
} else {
nr_cam++;
}
}
// Search for the motor
if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
// If the index given by the user matches our camera index
if (nr_mot == index) {
res = libusb_open (devs[i], &dev->usb_motor.dev);
if (res < 0 || !dev->usb_motor.dev) {
FN_ERROR("Could not open motor: %d\n", res);
dev->usb_motor.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_motor.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on motor: %d\n", res);
libusb_close(dev->usb_motor.dev);
dev->usb_motor.dev = NULL;
break;
}
} else {
nr_mot++;
}
}
#ifdef BUILD_AUDIO
// TODO: check that the firmware has already been loaded; if not, upload firmware.
// Search for the audio
if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && desc.idProduct == PID_NUI_AUDIO) {
// If the index given by the user matches our audio index
if (nr_audio == index) {
res = libusb_open (devs[i], &dev->usb_audio.dev);
if (res < 0 || !dev->usb_audio.dev) {
FN_ERROR("Could not open audio: %d\n", res);
dev->usb_audio.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_audio.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on audio: %d\n", res);
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
break;
}
// Using the device handle that we've claimed, see if this
// device has already uploaded firmware (has 2 interfaces). If
// not, save the serial number (by reading the appropriate
// descriptor), upload the firmware, and then enter a loop
// waiting for a device with the same serial number to
// reappear.
int num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if (num_interfaces == 1) {
// Read the serial number from the string descriptor and save it.
unsigned char string_desc[256]; // String descriptors are at most 256 bytes
res = libusb_get_string_descriptor_ascii(dev->usb_audio.dev, desc.iSerialNumber, string_desc, 256);
if (res < 0) {
FN_ERROR("Failed to retrieve serial number for audio device in bootloader state\n");
break;
}
char* audio_serial = strdup((char*)string_desc);
FN_SPEW("Uploading firmware to audio device in bootloader state.\n");
res = upload_firmware(&dev->usb_audio);
if (res < 0) {
FN_ERROR("upload_firmware failed: %d\n", res);
break;
}
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
// Wait for the device to reappear.
int loops = 0;
for (loops = 0; loops < 10; loops++) { // Loop for at most 10 tries.
FN_SPEW("Try %d: Looking for new audio device matching serial %s\n", loops, audio_serial);
// Scan devices.
libusb_device **new_dev_list;
int dev_index;
ssize_t num_new_devs = libusb_get_device_list(ctx->usb.ctx, &new_dev_list);
for (dev_index = 0; dev_index < num_new_devs; ++dev_index) {
struct libusb_device_descriptor new_dev_desc;
int r;
r = libusb_get_device_descriptor (new_dev_list[dev_index], &new_dev_desc);
if (r < 0)
continue;
// If this dev is a Kinect audio device, open device, read serial, and compare.
if (new_dev_desc.idVendor == VID_MICROSOFT && new_dev_desc.idProduct == PID_NUI_AUDIO) {
FN_SPEW("Matched VID/PID!\n");
libusb_device_handle* new_dev_handle;
// Open device
r = libusb_open(new_dev_list[dev_index], &new_dev_handle);
if (r < 0)
continue;
// Read serial
r = libusb_get_string_descriptor_ascii(new_dev_handle, new_dev_desc.iSerialNumber, string_desc, 256);
if (r < 0) {
FN_SPEW("Lost new audio device while fetching serial number.\n");
libusb_close(new_dev_handle);
continue;
}
// Compare to expected serial
if (r == strlen(audio_serial) && strcmp((char*)string_desc, audio_serial) == 0) {
// We found it!
r = libusb_claim_interface(new_dev_handle, 0);
if (r != 0) {
// Ouch, found the device but couldn't claim the interface.
FN_SPEW("Device with serial %s reappeared but couldn't claim interface 0\n", audio_serial);
libusb_close(new_dev_handle);
continue;
}
// Save the device handle.
dev->usb_audio.dev = new_dev_handle;
// Verify that we've actually found a device running the right firmware.
if (fnusb_num_interfaces(&dev->usb_audio) != 2) {
FN_SPEW("Opened audio with matching serial but too few interfaces.\n");
dev->usb_audio.dev = NULL;
libusb_close(new_dev_handle);
continue;
}
break;
} else {
FN_SPEW("Got serial %s, expected serial %s\n", (char*)string_desc, audio_serial);
}
}
}
libusb_free_device_list(new_dev_list, 1);
// If we found the right device, break out of this loop.
if (dev->usb_audio.dev)
break;
// Sleep for a second to give the device more time to reenumerate.
sleep(1);
}
free(audio_serial);
}
} else {
nr_audio++;
}
}
#endif
}
libusb_free_device_list (devs, 1); // free the list, unref the devices in it
// Check that each subdevice is either opened or not enabled.
if ( (dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
&& (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
#ifdef BUILD_AUDIO
&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO))
#endif
) {
return 0;
} else {
if (dev->usb_cam.dev) {
libusb_release_interface(dev->usb_cam.dev, 0);
libusb_close(dev->usb_cam.dev);
}
if (dev->usb_motor.dev) {
libusb_release_interface(dev->usb_motor.dev, 0);
libusb_close(dev->usb_motor.dev);
}
#ifdef BUILD_AUDIO
if (dev->usb_audio.dev) {
libusb_release_interface(dev->usb_audio.dev, 0);
libusb_close(dev->usb_audio.dev);
}
#endif
return -1;
}
}
FN_INTERNAL int fnusb_close_subdevices(freenect_device *dev)
{
if (dev->usb_cam.dev) {
libusb_release_interface(dev->usb_cam.dev, 0);
#ifndef _WIN32
libusb_attach_kernel_driver(dev->usb_cam.dev, 0);
#endif
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
}
if (dev->usb_motor.dev) {
libusb_release_interface(dev->usb_motor.dev, 0);
libusb_close(dev->usb_motor.dev);
dev->usb_motor.dev = NULL;
}
#ifdef BUILD_AUDIO
if (dev->usb_audio.dev) {
libusb_release_interface(dev->usb_audio.dev, 0);
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
}
#endif
return 0;
}
static void iso_callback(struct libusb_transfer *xfer)
{
int i;
fnusb_isoc_stream *strm = (fnusb_isoc_stream*)xfer->user_data;
freenect_context *ctx = strm->parent->parent->parent;
if (strm->dead) {
strm->dead_xfers++;
FN_SPEW("EP %02x transfer complete, %d left\n", xfer->endpoint, strm->num_xfers - strm->dead_xfers);
return;
}
switch(xfer->status) {
case LIBUSB_TRANSFER_COMPLETED: // Normal operation.
{
uint8_t *buf = (uint8_t*)xfer->buffer;
for (i=0; i<strm->pkts; i++) {
strm->cb(strm->parent->parent, buf, xfer->iso_packet_desc[i].actual_length);
buf += strm->len;
}
int res;
res = libusb_submit_transfer(xfer);
if (res != 0) {
FN_ERROR("iso_callback(): failed to resubmit transfer after successful completion: %d\n", res);
strm->dead_xfers++;
if (res == LIBUSB_ERROR_NO_DEVICE) {
strm->parent->device_dead = 1;
}
}
break;
}
case LIBUSB_TRANSFER_NO_DEVICE:
{
// We lost the device we were talking to. This is a large problem,
// and one that we should eventually come up with a way to
// properly propagate up to the caller.
if(!strm->parent->device_dead) {
FN_ERROR("USB device disappeared, cancelling stream %02x :(\n", xfer->endpoint);
}
strm->dead_xfers++;
strm->parent->device_dead = 1;
break;
}
case LIBUSB_TRANSFER_CANCELLED:
{
if(strm->dead) {
FN_SPEW("EP %02x transfer cancelled\n", xfer->endpoint);
} else {
// This seems to be a libusb bug on OSX - instead of completing
// the transfer with LIBUSB_TRANSFER_NO_DEVICE, the transfers
// simply come back cancelled by the OS. We can detect this,
// though - the stream should be marked dead if we're
// intentionally cancelling transfers.
if(!strm->parent->device_dead) {
FN_ERROR("Got cancelled transfer, but we didn't request it - device disconnected?\n");
}
strm->parent->device_dead = 1;
}
strm->dead_xfers++;
break;
}
default:
{
// On other errors, resubmit the transfer - in particular, libusb
// on OSX tends to hit random errors a lot. If we don't resubmit
// the transfers, eventually all of them die and then we don't get
// any more data from the Kinect.
FN_WARNING("Isochronous transfer error: %d\n", xfer->status);
int res;
res = libusb_submit_transfer(xfer);
if (res != 0) {
FN_ERROR("Isochronous transfer resubmission failed after unknown error: %d\n", res);
strm->dead_xfers++;
if (res == LIBUSB_ERROR_NO_DEVICE) {
strm->parent->device_dead = 1;
}
}
break;
}
}
}
FN_INTERNAL int fnusb_start_iso(fnusb_dev *dev, fnusb_isoc_stream *strm, fnusb_iso_cb cb, int ep, int xfers, int pkts, int len)
{
freenect_context *ctx = dev->parent->parent;
int ret, i;
strm->parent = dev;
strm->cb = cb;
strm->num_xfers = xfers;
strm->pkts = pkts;
strm->len = len;
strm->buffer = (uint8_t*)malloc(xfers * pkts * len);
strm->xfers = (struct libusb_transfer**)malloc(sizeof(struct libusb_transfer*) * xfers);
strm->dead = 0;
strm->dead_xfers = 0;
uint8_t *bufp = strm->buffer;
for (i=0; i<xfers; i++) {
FN_SPEW("Creating EP %02x transfer #%d\n", ep, i);
strm->xfers[i] = libusb_alloc_transfer(pkts);
libusb_fill_iso_transfer(strm->xfers[i], dev->dev, ep, bufp, pkts * len, pkts, iso_callback, strm, 0);
libusb_set_iso_packet_lengths(strm->xfers[i], len);
ret = libusb_submit_transfer(strm->xfers[i]);
if (ret < 0) {
FN_WARNING("Failed to submit isochronous transfer %d: %d\n", i, ret);
strm->dead_xfers++;
}
bufp += pkts*len;
}
return 0;
}
FN_INTERNAL int fnusb_stop_iso(fnusb_dev *dev, fnusb_isoc_stream *strm)
{
freenect_context *ctx = dev->parent->parent;
int i;
FN_FLOOD("fnusb_stop_iso() called\n");
strm->dead = 1;
for (i=0; i<strm->num_xfers; i++)
libusb_cancel_transfer(strm->xfers[i]);
FN_FLOOD("fnusb_stop_iso() cancelled all transfers\n");
while (strm->dead_xfers < strm->num_xfers) {
FN_FLOOD("fnusb_stop_iso() dead = %d\tnum = %d\n", strm->dead_xfers, strm->num_xfers);
libusb_handle_events(ctx->usb.ctx);
}
for (i=0; i<strm->num_xfers; i++)
libusb_free_transfer(strm->xfers[i]);
FN_FLOOD("fnusb_stop_iso() freed all transfers\n");
free(strm->buffer);
free(strm->xfers);
FN_FLOOD("fnusb_stop_iso() freed buffers and stream\n");
memset(strm, 0, sizeof(*strm));
FN_FLOOD("fnusb_stop_iso() done\n");
return 0;
}
FN_INTERNAL int fnusb_control(fnusb_dev *dev, uint8_t bmRequestType, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength)
{
return libusb_control_transfer(dev->dev, bmRequestType, bRequest, wValue, wIndex, data, wLength, 0);
}
#ifdef BUILD_AUDIO
FN_INTERNAL int fnusb_bulk(fnusb_dev *dev, uint8_t endpoint, uint8_t *data, int len, int *transferred) {
return libusb_bulk_transfer(dev->dev, endpoint, data, len, transferred, 0);
}
FN_INTERNAL int fnusb_num_interfaces(fnusb_dev *dev) {
int retval = 0;
int res;
libusb_device* d = libusb_get_device(dev->dev);
struct libusb_config_descriptor* config;
res = libusb_get_active_config_descriptor(d, &config);
if (res < 0) // Something went wrong
return res;
retval = config->bNumInterfaces;
libusb_free_config_descriptor(config);
return retval;
}
#endif