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replaced libusb0.1 with libusb1.0
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Suat Gedikli committed Feb 25, 2011
1 parent 3a1e5f3 commit 8e1891a
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Showing 3 changed files with 72 additions and 79 deletions.
2 changes: 1 addition & 1 deletion openni_camera/manifest.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
<depend package="opencv2" />
<depend package="eigen" />

<rosdep name="libusb0.1" />
<rosdep name="libusb1.0" />
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lopenni_driver -lopenni_nodelet -lusb" />
<nodelet plugin="${prefix}/openni_nodelets.xml" />
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147 changes: 71 additions & 76 deletions openni_camera/src/openni_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
#include <algorithm>
#include <locale>
#include <cctype>
#include <usb.h>
#include <libusb-1.0/libusb.h>
#include <map>

using namespace std;
Expand Down Expand Up @@ -71,7 +71,7 @@ OpenNIDriver::OpenNIDriver () throw (OpenNIException)
THROW_OPENNI_EXCEPTION ("enumerating devices failed. Reason: %s", xnGetStatusString (status));
else if (node_info_list.Begin () == node_info_list.End ())
return; // no exception
//THROW_OPENNI_EXCEPTION ("no compatible device found");
//THROW_OPENNI_EXCEPTION ("no compatible device found");

vector<xn::NodeInfo> device_info;
for (xn::NodeInfoList::Iterator nodeIt = node_info_list.Begin (); nodeIt != node_info_list.End (); ++nodeIt)
Expand Down Expand Up @@ -112,7 +112,7 @@ OpenNIDriver::OpenNIDriver () throw (OpenNIException)
for (unsigned deviceIdx = 0; deviceIdx < device_info.size (); ++deviceIdx)
{
// add context object for device
device_context_.push_back (DeviceContext(device_info[deviceIdx], image_info[deviceIdx], depth_info[deviceIdx]));
device_context_.push_back (DeviceContext (device_info[deviceIdx], image_info[deviceIdx], depth_info[deviceIdx]));

// register bus@address to the corresponding context object
unsigned short vendor_id;
Expand All @@ -130,7 +130,7 @@ OpenNIDriver::OpenNIDriver () throw (OpenNIException)
for (unsigned deviceIdx = 0; deviceIdx < device_info.size (); ++deviceIdx)
{
string serial_number = getSerialNumber (deviceIdx);
if (!serial_number.empty () )
if (!serial_number.empty ())
serial_map_[serial_number] = deviceIdx;
}
}
Expand All @@ -150,37 +150,38 @@ OpenNIDriver::~OpenNIDriver () throw ()
stopAll ();
}
catch (...)
{}
{
}

context_.Shutdown ();
}

shared_ptr<OpenNIDevice> OpenNIDriver::getDeviceByIndex (unsigned index) const throw (OpenNIException)
{
if (index > device_context_.size ())
THROW_OPENNI_EXCEPTION ("device index out of range. only %d devices connected but device %d requested.", device_context_.size (), index );
THROW_OPENNI_EXCEPTION ("device index out of range. only %d devices connected but device %d requested.", device_context_.size (), index);

shared_ptr<OpenNIDevice> device = device_context_[index].device.lock ();
if (!device)
{
string connection_string = device_context_[index].device_node.GetCreationInfo ();
transform (connection_string.begin (), connection_string.end (), connection_string.begin (), std::towlower);
if (connection_string.substr (0,4) == "045e")
if (connection_string.substr (0, 4) == "045e")
{
device = boost::shared_ptr<OpenNIDevice > (new DeviceKinect (context_, device_context_[index].device_node,
device_context_[index].image_node, device_context_[index].depth_node));
device_context_[index].image_node, device_context_[index].depth_node));
device_context_[index].device = device;
}
else if (connection_string.substr (0,4) == "1d27")
else if (connection_string.substr (0, 4) == "1d27")
{
device = boost::shared_ptr<OpenNIDevice > (new DevicePrimesense (context_, device_context_[index].device_node,
device_context_[index].image_node, device_context_[index].depth_node));
device_context_[index].image_node, device_context_[index].depth_node));
device_context_[index].device = device;
}
else
{
THROW_OPENNI_EXCEPTION ("vendor %s (%s) known by primesense driver, but not by ros driver. Contact maintainer of the ros driver.",
getVendorName (index), connection_string.substr (0,4).c_str ());
getVendorName (index), connection_string.substr (0, 4).c_str ());
}
}
return device;
Expand All @@ -194,11 +195,11 @@ shared_ptr<OpenNIDevice> OpenNIDriver::getDeviceBySerialNumber (const string& se
{
return getDeviceByIndex (it->second);
}

THROW_OPENNI_EXCEPTION ("No device with serial number \'%s\' found", serial_number.c_str ());

// because of warnings!!!
return shared_ptr<OpenNIDevice>( (OpenNIDevice*) NULL);
return shared_ptr<OpenNIDevice > ((OpenNIDevice*)NULL);
}

shared_ptr<OpenNIDevice> OpenNIDriver::getDeviceByAddress (unsigned char bus, unsigned char address) const throw (OpenNIException)
Expand All @@ -213,89 +214,83 @@ shared_ptr<OpenNIDevice> OpenNIDriver::getDeviceByAddress (unsigned char bus, un
}
}

THROW_OPENNI_EXCEPTION ("No device on bus: %d @ %d found", (int)bus, (int)address );
THROW_OPENNI_EXCEPTION ("No device on bus: %d @ %d found", (int)bus, (int)address);

// because of warnings!!!
return shared_ptr<OpenNIDevice>( (OpenNIDevice*) NULL);
return shared_ptr<OpenNIDevice > ((OpenNIDevice*)NULL);
}

void OpenNIDriver::getDeviceInfos () throw ()
{
struct usb_bus *bus;
struct usb_device *dev;

/* Initialize libusb */
usb_init ();
libusb_context *context = NULL;
int result;
result = libusb_init (&context); //initialize a library session

/* Find all USB busses on system */
usb_find_busses ();
if (result < 0)
return;

/* Find all devices on all USB devices */
usb_find_devices ();
libusb_device **devices;
int count = libusb_get_device_list (context, &devices);
if (count < 0)
return;

for (bus = usb_busses; bus; bus = bus->next)
for (int devIdx = 0; devIdx < count; ++devIdx)
{
unsigned char busId = atoi (bus->dirname);
libusb_device* device = devices[devIdx];
uint8_t busId = libusb_get_bus_number (device);
map<unsigned char, map<unsigned char, unsigned> >::const_iterator busIt = bus_map_.find (busId);
if (busIt == bus_map_.end ())
continue;

for (dev = bus->devices; dev; dev = dev->next)
uint8_t address = libusb_get_device_address (device);
map<unsigned char, unsigned>::const_iterator addressIt = busIt->second.find (address);
if (addressIt == busIt->second.end ())
continue;

unsigned nodeIdx = addressIt->second;
xn::NodeInfo& current_node = device_context_[nodeIdx].device_node;
XnProductionNodeDescription& description = const_cast<XnProductionNodeDescription&>(current_node.GetDescription ());

libusb_device_descriptor descriptor;
result = libusb_get_device_descriptor (devices[devIdx], &descriptor);

if (result < 0)
{
unsigned char devId = atoi (dev->filename);
map<unsigned char, unsigned>::const_iterator addressIt = busIt->second.find (devId);
if (addressIt == busIt->second.end ())
continue;

unsigned nodeIdx = addressIt->second;
xn::NodeInfo& current_node = device_context_[nodeIdx].device_node;
XnProductionNodeDescription& description = const_cast<XnProductionNodeDescription&> (current_node.GetDescription());

int ret;
char buffer[256];
usb_dev_handle *udev;

/* Opens a USB device */
udev = usb_open (dev);
if (udev)
strcpy (description.strVendor, "unknown");
strcpy (description.strName, "unknown");
current_node.SetInstanceName ("");
}
else
{
libusb_device_handle* dev_handle;
result = libusb_open (device, &dev_handle);
if (result < 0)
{
if (dev->descriptor.iManufacturer)
{
// Retrieves a string descriptor from a device using the first language
ret = usb_get_string_simple(udev, dev->descriptor.iManufacturer, buffer, sizeof (buffer));
if (ret > 0)
strcpy( description.strVendor, buffer );
else
strcpy( description.strVendor, "unknown" );
}

if (dev->descriptor.iProduct)
{
ret = usb_get_string_simple(udev, dev->descriptor.iProduct, buffer, sizeof (buffer));
if (ret > 0)
strcpy( description.strName, buffer );
else
strcpy( description.strName, "unknown" );
}

if (dev->descriptor.iSerialNumber)
{
ret = usb_get_string_simple (udev, dev->descriptor.iSerialNumber, buffer, sizeof (buffer));
if (ret > 0)
{
current_node.SetInstanceName (buffer);
}
else
current_node.SetInstanceName ("");
}
strcpy (description.strVendor, "unknown");
strcpy (description.strName, "unknown");
current_node.SetInstanceName ("");
}
else
{
unsigned char buffer[1024];
libusb_get_string_descriptor_ascii (dev_handle, descriptor.iManufacturer, buffer, 1024);
strcpy (description.strVendor, (char*)buffer);

libusb_get_string_descriptor_ascii (dev_handle, descriptor.iProduct, buffer, 1024);
strcpy (description.strName, (char*)buffer);

int len = libusb_get_string_descriptor_ascii (dev_handle, descriptor.iSerialNumber, buffer, 1024);
if (len > 4)
current_node.SetInstanceName ((char*)buffer);
else
current_node.SetInstanceName ("");

/* Closes a USB device */
usb_close (udev);
libusb_close (dev_handle);
}
}
}
libusb_free_device_list (devices, 1);
libusb_exit (context);
}

const char* OpenNIDriver::getSerialNumber (unsigned index) const throw ()
Expand Down Expand Up @@ -340,7 +335,7 @@ unsigned short OpenNIDriver::getProductID (unsigned index) const throw ()
return product_id;
}

unsigned char OpenNIDriver::getBus (unsigned index) const throw ()
unsigned char OpenNIDriver::getBus (unsigned index) const throw ()
{
unsigned short vendor_id;
unsigned short product_id;
Expand All @@ -351,7 +346,7 @@ unsigned char OpenNIDriver::getBus (unsigned index) const throw ()
return bus;
}

unsigned char OpenNIDriver::getAddress (unsigned index) const throw ()
unsigned char OpenNIDriver::getAddress (unsigned index) const throw ()
{
unsigned short vendor_id;
unsigned short product_id;
Expand Down
2 changes: 0 additions & 2 deletions rosdep.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
libusb1.0:
ubuntu: libusb-1.0-0-dev
libusb0.1:
ubuntu: libusb-dev
git:
ubuntu: git-core
debian: git-core
Expand Down

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