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XnLinuxUSB.cpp
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/*****************************************************************************
* *
* PrimeSense PSCommon Library *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of PSCommon. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnUSB.h>
#if (XN_PLATFORM == XN_PLATFORM_ANDROID_ARM) || defined(XN_PLATFORM_MACOSX_XCODE) || defined(XN_PLATFORM_IOS)
#include <libusb.h>
#else
#include <libusb-1.0/libusb.h>
#endif
#include "XnLinuxUSB.h"
#include "../XnUSBInternal.h"
#include <XnOS.h>
#include <XnLog.h>
#include <XnOSCpp.h>
#include <XnList.h>
#if (XN_PLATFORM == XN_PLATFORM_LINUX_X86 || XN_PLATFORM == XN_PLATFORM_LINUX_ARM)
#include <libudev.h>
#define XN_USE_UDEV
#endif
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
typedef struct XnUSBEventCallback
{
XnUSBDeviceCallbackFunctionPtr pFunc;
void* pCookie;
// What kind of device are we hooking on
XnUInt16 nVendorID;
XnUInt16 nProductID;
} XnUSBEventCallback;
typedef xnl::List<XnUSBEventCallback*> XnUSBEventCallbackList;
XnUSBEventCallbackList g_connectivityEvent;
#ifdef XN_USE_UDEV
typedef struct XnUSBConnectedDevice
{
XnUInt16 nVendorID;
XnUInt16 nProductID;
XnUInt8 nBusNum;
XnUInt8 nDevNum;
// /dev/bus/usb/001/016
XnChar strNode[XN_FILE_MAX_PATH + 1];
// id27/0601@1/16
XnChar strDevicePath[XN_FILE_MAX_PATH + 1];
} XnUSBConnectedDevice;
typedef xnl::List<XnUSBConnectedDevice*> XnUSBConnectedDeviceList;
XnUSBConnectedDeviceList g_connectedDevices;
XN_THREAD_HANDLE g_hUDEVThread = NULL;
XnBool g_bShouldRunUDEVThread = false;
#endif
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define MAX_DEVPATH_LENGTH 256
#define USB_TYPE_STANDARD (0x00 << 5)
#define USB_TYPE_CLASS (0x01 << 5)
#define USB_TYPE_VENDOR (0x02 << 5)
#define USB_ENDPOINT_IN 0x80
#define XN_MASK_USB "xnUSB"
#define XN_USB_HANDLE_EVENTS_TIMEOUT 500
#define XN_VALIDATE_DEVICE_HANDLE(x) \
if (x == NULL) \
return (XN_STATUS_USB_DEVICE_NOT_VALID);
#define XN_VALIDATE_EP_HANDLE(x) \
if (x == NULL) \
return (XN_STATUS_USB_ENDPOINT_NOT_VALID);
struct xnUSBInitData
{
libusb_context* pContext;
XN_THREAD_HANDLE hThread;
XnBool bShouldThreadRun;
XnUInt32 nOpenDevices;
XN_CRITICAL_SECTION_HANDLE hLock;
} g_InitData = {NULL, NULL, FALSE, 0, NULL};
XnStatus xnUSBPlatformSpecificShutdown();
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
#ifdef XN_USE_UDEV
void xnUSBDeviceConnected(struct udev_device *dev)
{
XnUSBConnectedDevice *pConnected;
pConnected = XN_NEW(XnUSBConnectedDevice);
pConnected->nVendorID = strtoul(udev_device_get_sysattr_value(dev,"idVendor"), NULL, 16);
pConnected->nProductID = strtoul(udev_device_get_sysattr_value(dev,"idProduct"), NULL, 16);
pConnected->nBusNum = strtoul(udev_device_get_sysattr_value(dev,"busnum"), NULL, 10);
pConnected->nDevNum = strtoul(udev_device_get_sysattr_value(dev,"devnum"), NULL, 10);
// copy the device node path aside, to be used upon removal
xnOSStrCopy(pConnected->strNode, udev_device_get_devnode(dev), XN_FILE_MAX_PATH);
// generate our unique URI
snprintf(pConnected->strDevicePath, XN_FILE_MAX_PATH,
"%04hx/%04hx@%hhu/%hhu",
pConnected->nVendorID,
pConnected->nProductID,
pConnected->nBusNum,
pConnected->nDevNum);
// add the device to the connectedDevices List
g_connectedDevices.AddLast(pConnected);
// notify the proper events of the connection
for (XnUSBEventCallbackList::Iterator it = g_connectivityEvent.Begin(); it != g_connectivityEvent.End(); ++it)
{
XnUSBEventCallback* pCallback = *it;
if(pCallback->nVendorID == pConnected->nVendorID && pCallback->nProductID == pConnected->nProductID)
{
XnUSBEventArgs args;
args.strDevicePath = pConnected->strDevicePath;
args.eventType = XN_USB_EVENT_DEVICE_CONNECT;
pCallback->pFunc(&args, pCallback->pCookie);
}
}
}
void xnUSBDeviceDisconnected(struct udev_device *dev)
{
// find dev in the connected devices' list
XnUSBConnectedDevice *pConnected = NULL;
for (XnUSBConnectedDeviceList::Iterator it = g_connectedDevices.Begin(); it != g_connectedDevices.End(); ++it)
{
if (!xnOSStrCmp(((XnUSBConnectedDevice *)*it)->strNode, udev_device_get_devnode(dev)))
{
pConnected = *it;
break;
}
}
if(!pConnected)
{
// got disconnection of an unknown device. not good.
xnLogWarning(XN_MASK_USB, "Got device disconnection event - for an unknown device!");
return;
}
// notify the proper events of the disconnection
for (XnUSBEventCallbackList::Iterator it = g_connectivityEvent.Begin(); it != g_connectivityEvent.End(); ++it)
{
XnUSBEventCallback* pCallback = *it;
if(pCallback->nVendorID == pConnected->nVendorID && pCallback->nProductID == pConnected->nProductID)
{
XnUSBEventArgs args;
args.strDevicePath = pConnected->strDevicePath;
args.eventType = XN_USB_EVENT_DEVICE_DISCONNECT;
pCallback->pFunc(&args, pCallback->pCookie);
}
}
// remove the device from connectedDevices List
g_connectedDevices.Remove(pConnected);
XN_DELETE(pConnected);
}
XN_THREAD_PROC xnUSBUDEVEventsThread(XN_THREAD_PARAM pThreadParam)
{
struct udev *udev;
struct udev_device *dev;
struct udev_monitor *mon;
int fd;
/* Create the udev object */
udev = udev_new();
if (!udev) {
printf("Can't create udev\n");
exit(1);
}
/* This section sets up a monitor which will report events when
devices attached to the system change. Events include "add",
"remove", "change", "online", and "offline".
This section sets up and starts the monitoring. Events are
polled for (and delivered) later on.
It is important that the monitor be set up before the call to
udev_enumerate_scan_devices() so that events (and devices) are
not missed. For example, if enumeration happened first, there
would be no event generated for a device which was attached after
enumeration but before monitoring began.
Note that a filter is added so that we only get events for
"usb/usb_device" devices. */
/* Set up a monitor to monitor "usb_device" devices */
mon = udev_monitor_new_from_netlink(udev, "udev");
udev_monitor_filter_add_match_subsystem_devtype(mon, "usb", "usb_device");
udev_monitor_enable_receiving(mon);
/* Get the file descriptor (fd) for the monitor.
This fd will get passed to select() */
fd = udev_monitor_get_fd(mon);
//////////////////////////////////////////////////////////////////////////
/* Enumerate the currently connected devices and store them,
so we can notify of their disconnection */
struct udev_enumerate *enumerate;
struct udev_list_entry *devices, *dev_list_entry;
enumerate = udev_enumerate_new(udev);
/* Create a list of the devices.
Note that it's not possible to match by "devtype="usb_device"",
as in monitor filter, but this filter combination seems to do the job... */
udev_enumerate_add_match_subsystem(enumerate, "usb");
udev_enumerate_add_match_sysattr(enumerate, "idVendor", NULL);
udev_enumerate_add_match_sysattr(enumerate, "idProduct", NULL);
udev_enumerate_add_match_sysattr(enumerate, "busnum", NULL);
udev_enumerate_add_match_sysattr(enumerate, "devnum", NULL);
udev_enumerate_scan_devices(enumerate);
devices = udev_enumerate_get_list_entry(enumerate);
/* udev_list_entry_foreach is a macro which expands to
a loop. The loop will be executed for each member in
devices, setting dev_list_entry to a list entry
which contains the device's path in /sys. */
udev_list_entry_foreach(dev_list_entry, devices) {
const char *path;
/* Get the filename of the /sys entry for the device
and create a udev_device object (dev) representing it */
path = udev_list_entry_get_name(dev_list_entry);
dev = udev_device_new_from_syspath(udev, path);
/* Notify as if it was just connected */
// note - it's better that connectivity events register AFTER this point,
// so they don't get notified of already connected devices.
xnUSBDeviceConnected(dev);
udev_device_unref(dev);
}
/* Free the enumerator object */
udev_enumerate_unref(enumerate);
//////////////////////////////////////////////////////////////////////////
/* Begin polling for udev events. Events occur when devices
attached to the system are added, removed, or change state.
udev_monitor_receive_device() will return a device
object representing the device which changed and what type of
change occured.
The select() system call is used to ensure that the call to
udev_monitor_receive_device() will not block.
The monitor was set up earler in this file, and monitoring is
already underway.
This section will run continuously, calling usleep() at the end
of each pass. This is to demonstrate how to use a udev_monitor
in a non-blocking way. */
while (g_bShouldRunUDEVThread)
{
/* Set up the call to select(). In this case, select() will
only operate on a single file descriptor, the one
associated with our udev_monitor. Note that the timeval
object is set to 0, which will cause select() to not
block. */
fd_set fds;
struct timeval tv;
int ret;
FD_ZERO(&fds);
FD_SET(fd, &fds);
tv.tv_sec = 0;
tv.tv_usec = 250 * 1000;
ret = select(fd+1, &fds, NULL, NULL, &tv);
/* Check if our file descriptor has received data. */
if (ret > 0 && FD_ISSET(fd, &fds)) {
/* Make the call to receive the device.
select() ensured that this will not block. */
dev = udev_monitor_receive_device(mon);
if (dev) {
/*
printf(" Node: %s\n", udev_device_get_devnode(dev));
printf(" Subsystem: %s\n", udev_device_get_subsystem(dev));
printf(" Devtype: %s\n", udev_device_get_devtype(dev));
printf(" Action: %s\n", udev_device_get_action(dev));
printf(" VID/PID: %s %s\n",
udev_device_get_sysattr_value(dev,"idVendor"),
udev_device_get_sysattr_value(dev,"idProduct"));
printf(" %s\n %s\n",
udev_device_get_sysattr_value(dev,"manufacturer"),
udev_device_get_sysattr_value(dev,"product"));
fflush(stdout);
*/
const XnChar *action = udev_device_get_action(dev);
if (!xnOSStrCmp(action, "add"))
{
xnUSBDeviceConnected(dev);
}
else if (!xnOSStrCmp(action, "remove"))
{
xnUSBDeviceDisconnected(dev);
}
//note - handle the other events? "change" event might be useful...
// now release dev
udev_device_unref(dev);
}
else {
xnLogWarning(XN_MASK_USB, "No Device from udev_monitor_receive_device(). An error occured.");
}
}
}
udev_monitor_unref(mon);
udev_unref(udev);
XN_THREAD_PROC_RETURN(XN_STATUS_OK);
}
#endif
XN_THREAD_PROC xnUSBHandleEventsThread(XN_THREAD_PARAM pThreadParam)
{
// init timeout
struct timeval timeout;
timeout.tv_sec = XN_USB_HANDLE_EVENTS_TIMEOUT / 1000;
timeout.tv_usec = XN_USB_HANDLE_EVENTS_TIMEOUT % 1000;
while (g_InitData.bShouldThreadRun)
{
// let libusb process its asynchronous events
libusb_handle_events_timeout(g_InitData.pContext, &timeout);
}
XN_THREAD_PROC_RETURN(XN_STATUS_OK);
}
XnStatus xnUSBPlatformSpecificInit()
{
xnLogVerbose(XN_MASK_USB, "Initializing USB...");
// initialize the library
int rc = libusb_init(&g_InitData.pContext);
if (rc != 0)
{
return (XN_STATUS_USB_INIT_FAILED);
}
XnStatus nRetVal = xnOSCreateCriticalSection(&g_InitData.hLock);
XN_IS_STATUS_OK(nRetVal);
#ifdef XN_USE_UDEV
// initialize the UDEV Events thread
g_bShouldRunUDEVThread = true;
nRetVal = xnOSCreateThread(xnUSBUDEVEventsThread, NULL, &g_hUDEVThread);
if (nRetVal != XN_STATUS_OK)
{
g_hUDEVThread = NULL;
g_bShouldRunUDEVThread = false;
// clean-up
xnUSBPlatformSpecificShutdown();
return nRetVal;
}
#endif
//libusb_set_debug(g_InitData.pContext, 3);
xnLogInfo(XN_MASK_USB, "USB is initialized.");
return (XN_STATUS_OK);
}
XnStatus xnUSBAsynchThreadAddRef()
{
XnStatus nRetVal = XN_STATUS_OK;
xnl::AutoCSLocker locker(g_InitData.hLock);
++g_InitData.nOpenDevices;
if (g_InitData.hThread == NULL)
{
xnLogVerbose(XN_MASK_USB, "Starting libusb asynch thread...");
// mark thread should run
g_InitData.bShouldThreadRun = TRUE;
// and start thread
nRetVal = xnOSCreateThread(xnUSBHandleEventsThread, NULL, &g_InitData.hThread);
if (nRetVal != XN_STATUS_OK)
{
// clean-up
xnUSBPlatformSpecificShutdown();
return nRetVal;
}
// set thread priority to critical
nRetVal = xnOSSetThreadPriority(g_InitData.hThread, XN_PRIORITY_CRITICAL);
if (nRetVal != 0)
{
xnLogWarning(XN_MASK_USB, "USB events thread: Failed to set thread priority to critical. This might cause loss of data...");
printf("Warning: USB events thread - failed to set priority. This might cause loss of data...\n");
}
}
return (XN_STATUS_OK);
}
void xnUSBAsynchThreadStop()
{
if (g_InitData.hThread != NULL)
{
// mark for thread to exit
g_InitData.bShouldThreadRun = FALSE;
// wait for it to exit
xnLogVerbose(XN_MASK_USB, "Shutting down USB events thread...");
XnStatus nRetVal = xnOSWaitForThreadExit(g_InitData.hThread, XN_USB_HANDLE_EVENTS_TIMEOUT * 2);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_USB, "USB events thread didn't shutdown. Terminating it...");
xnOSTerminateThread(&g_InitData.hThread);
}
else
{
xnOSCloseThread(&g_InitData.hThread);
}
g_InitData.hThread = NULL;
}
}
void xnUSBAsynchThreadRelease()
{
xnl::AutoCSLocker locker(g_InitData.hLock);
--g_InitData.nOpenDevices;
if (g_InitData.nOpenDevices == 0)
{
xnUSBAsynchThreadStop();
}
}
XnStatus xnUSBPlatformSpecificShutdown()
{
xnUSBAsynchThreadStop();
#ifdef XN_USE_UDEV
g_bShouldRunUDEVThread = false;
xnOSWaitAndTerminateThread(&g_hUDEVThread, 2 * 1000);
g_hUDEVThread = NULL;
#endif
if (g_InitData.hLock != NULL)
{
xnOSCloseCriticalSection(&g_InitData.hLock);
g_InitData.hLock = NULL;
}
if (g_InitData.pContext != NULL)
{
// close the library
libusb_exit(g_InitData.pContext);
g_InitData.pContext = NULL;
}
return (XN_STATUS_OK);
}
/*
* Finds a USB device.
* the returned device must be unreferenced when it is no longer needed using libusb_unref_device.
*/
XnStatus FindDevice(XnUInt16 nVendorID, XnUInt16 nProductID, void* pExtraParam, libusb_device** ppDevice)
{
*ppDevice = NULL;
// get device list
libusb_device** ppDevices;
ssize_t nDeviceCount = libusb_get_device_list(g_InitData.pContext, &ppDevices);
// check for error
if (nDeviceCount < 0)
{
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// enumerate over the devices
for (ssize_t i = 0; i < nDeviceCount; ++i)
{
libusb_device* pDevice = ppDevices[i];
// get device descriptor
libusb_device_descriptor desc;
int rc = libusb_get_device_descriptor(pDevice, &desc);
if (rc != 0)
{
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// check if this is the requested device
if (desc.idVendor == nVendorID && desc.idProduct == nProductID)
{
// add a reference to the device (so it won't be destroyed when list is freed)
libusb_ref_device(pDevice);
*ppDevice = pDevice;
break;
}
}
// free the list (also dereference each device)
libusb_free_device_list(ppDevices, 1);
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBIsDevicePresent(XnUInt16 nVendorID, XnUInt16 nProductID, void* pExtraParam, XnBool* pbDevicePresent)
{
XnStatus nRetVal = XN_STATUS_OK;
// make sure library was initialized
XN_VALIDATE_USB_INIT();
// Validate parameters
XN_VALIDATE_OUTPUT_PTR(pbDevicePresent);
*pbDevicePresent = FALSE;
libusb_device* pDevice;
nRetVal = FindDevice(nVendorID, nProductID, pExtraParam, &pDevice);
XN_IS_STATUS_OK(nRetVal);
if (pDevice != NULL)
{
*pbDevicePresent = TRUE;
// unref device
libusb_unref_device(pDevice);
}
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBEnumerateDevices(XnUInt16 nVendorID, XnUInt16 nProductID, const XnUSBConnectionString** pastrDevicePaths, XnUInt32* pnCount)
{
// get device list
libusb_device** ppDevices;
ssize_t nDeviceCount = libusb_get_device_list(g_InitData.pContext, &ppDevices);
// check for error
if (nDeviceCount < 0)
{
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// first enumeration - count
XnUInt32 nCount = 0;
for (ssize_t i = 0; i < nDeviceCount; ++i)
{
libusb_device* pDevice = ppDevices[i];
// get device descriptor
libusb_device_descriptor desc;
int rc = libusb_get_device_descriptor(pDevice, &desc);
if (rc != 0)
{
libusb_free_device_list(ppDevices, 1);
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// check if this is the requested device
if (desc.idVendor == nVendorID && desc.idProduct == nProductID)
{
++nCount;
}
}
// allocate array
XnUSBConnectionString* aResult = (XnUSBConnectionString*)xnOSCalloc(nCount, sizeof(XnUSBConnectionString));
if (aResult == NULL)
{
libusb_free_device_list(ppDevices, 1);
return XN_STATUS_ALLOC_FAILED;
}
// second enumeration - fill
XnUInt32 nCurrent = 0;
for (ssize_t i = 0; i < nDeviceCount; ++i)
{
libusb_device* pDevice = ppDevices[i];
// get device descriptor
libusb_device_descriptor desc;
int rc = libusb_get_device_descriptor(pDevice, &desc);
if (rc != 0)
{
libusb_free_device_list(ppDevices, 1);
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// check if this is the requested device
if (desc.idVendor == nVendorID && desc.idProduct == nProductID)
{
sprintf(aResult[nCurrent], "%04hx/%04hx@%hhu/%hhu", nVendorID, nProductID, libusb_get_bus_number(pDevice), libusb_get_device_address(pDevice));
nCurrent++;
}
}
*pastrDevicePaths = aResult;
*pnCount = nCount;
// free the list (also dereference each device)
libusb_free_device_list(ppDevices, 1);
return XN_STATUS_OK;
}
XN_C_API void xnUSBFreeDevicesList(const XnUSBConnectionString* astrDevicePaths)
{
xnOSFree(astrDevicePaths);
}
XN_C_API XnStatus xnUSBOpenDeviceImpl(libusb_device* pDevice, XN_USB_DEV_HANDLE* pDevHandlePtr)
{
XnStatus nRetVal = XN_STATUS_OK;
if (pDevice == NULL)
{
return (XN_STATUS_USB_DEVICE_NOT_FOUND);
}
// allocate device handle
libusb_device_handle* handle;
// open device
int rc = libusb_open(pDevice, &handle);
// in any case, unref the device (we don't need it anymore)
libusb_unref_device(pDevice);
pDevice = NULL;
// now check if open failed
if (rc != 0)
{
return (XN_STATUS_USB_DEVICE_OPEN_FAILED);
}
/*
// set for the first (and only) configuration (this will perform a light-weight reset)
rc = libusb_set_configuration(handle, 1);
if (rc != 0)
{
libusb_close(handle);
return (XN_STATUS_USB_SET_CONFIG_FAILED);
}
*/
// claim the interface (you cannot open any end point before claiming the interface)
rc = libusb_claim_interface(handle, 0);
if (rc != 0)
{
libusb_close(handle);
return (XN_STATUS_USB_SET_INTERFACE_FAILED);
}
/*
// set the alternate setting to default
rc = libusb_set_interface_alt_setting(handle, 0, 0);
if (rc != 0)
{
libusb_close(handle);
return (XN_STATUS_USB_SET_INTERFACE_FAILED);
}
*/
XN_VALIDATE_ALLOC(*pDevHandlePtr, XnUSBDeviceHandle);
XN_USB_DEV_HANDLE pDevHandle = *pDevHandlePtr;
pDevHandle->hDevice = handle;
pDevHandle->nInterface = 0;
pDevHandle->nAltSetting = 0;
// mark the device is of high-speed
pDevHandle->nDevSpeed = XN_USB_DEVICE_HIGH_SPEED;
nRetVal = xnUSBAsynchThreadAddRef();
if (nRetVal != XN_STATUS_OK)
{
xnOSFree(*pDevHandlePtr);
return (nRetVal);
}
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBOpenDevice(XnUInt16 nVendorID, XnUInt16 nProductID, void* pExtraParam, void* pExtraParam2, XN_USB_DEV_HANDLE* pDevHandlePtr)
{
XnStatus nRetVal = XN_STATUS_OK;
// make sure library was initialized
XN_VALIDATE_USB_INIT();
// Validate parameters
XN_VALIDATE_OUTPUT_PTR(pDevHandlePtr);
libusb_device* pDevice;
nRetVal = FindDevice(nVendorID, nProductID, pExtraParam, &pDevice);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnUSBOpenDeviceImpl(pDevice, pDevHandlePtr);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBOpenDeviceByPath(const XnUSBConnectionString strDevicePath, XN_USB_DEV_HANDLE* pDevHandlePtr)
{
XnStatus nRetVal = XN_STATUS_OK;
// parse connection string
XnUInt16 nVendorID = 0;
XnUInt16 nProductID = 0;
XnUInt8 nBus = 0;
XnUInt8 nAddress = 0;
sscanf(strDevicePath, "%hx/%hx@%hhu/%hhu", &nVendorID, &nProductID, &nBus, &nAddress);
if (nVendorID == 0 || nProductID == 0 || nBus == 0 || nAddress == 0)
{
XN_LOG_WARNING_RETURN(XN_STATUS_USB_DEVICE_OPEN_FAILED, "Invalid connection string: %s", strDevicePath);
}
// find device
libusb_device** ppDevices;
ssize_t nDeviceCount = libusb_get_device_list(g_InitData.pContext, &ppDevices);
// check for error
if (nDeviceCount < 0)
{
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
libusb_device* pRequestedDevice = NULL;
for (ssize_t i = 0; i < nDeviceCount; ++i)
{
libusb_device* pDevice = ppDevices[i];
// get device descriptor
libusb_device_descriptor desc;
int rc = libusb_get_device_descriptor(pDevice, &desc);
if (rc != 0)
{
libusb_free_device_list(ppDevices, 1);
return (XN_STATUS_USB_ENUMERATE_FAILED);
}
// check if this is the requested device
if (desc.idVendor == nVendorID && desc.idProduct == nProductID && libusb_get_bus_number(pDevice) == nBus && libusb_get_device_address(pDevice) == nAddress)
{
// add a reference to the device (so it won't be destroyed when list is freed)
libusb_ref_device(pDevice);
pRequestedDevice = pDevice;
break;
}
}
libusb_free_device_list(ppDevices, 1);
nRetVal = xnUSBOpenDeviceImpl(pRequestedDevice, pDevHandlePtr);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBCloseDevice(XN_USB_DEV_HANDLE pDevHandle)
{
// validate parameters
XN_VALIDATE_USB_INIT();
XN_VALIDATE_DEVICE_HANDLE(pDevHandle);
int rc = libusb_release_interface(pDevHandle->hDevice, pDevHandle->nInterface);
if (0 != rc)
{
return (XN_STATUS_USB_DEVICE_CLOSE_FAILED);
}
libusb_close(pDevHandle->hDevice);
XN_FREE_AND_NULL(pDevHandle);
xnUSBAsynchThreadRelease();
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBGetDeviceSpeed(XN_USB_DEV_HANDLE pDevHandle, XnUSBDeviceSpeed* pDevSpeed)
{
// validate parameters
XN_VALIDATE_USB_INIT();
XN_VALIDATE_DEVICE_HANDLE(pDevHandle);
XN_VALIDATE_OUTPUT_PTR(pDevSpeed);
*pDevSpeed = pDevHandle->nDevSpeed;
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBSetConfig(XN_USB_DEV_HANDLE pDevHandle, XnUInt8 nConfig)
{
return (XN_STATUS_OS_UNSUPPORTED_FUNCTION);
}
XN_C_API XnStatus xnUSBGetConfig(XN_USB_DEV_HANDLE pDevHandle, XnUInt8* pnConfig)
{
return (XN_STATUS_OS_UNSUPPORTED_FUNCTION);
}
XN_C_API XnStatus xnUSBSetInterface(XN_USB_DEV_HANDLE pDevHandle, XnUInt8 nInterface, XnUInt8 nAltInterface)
{
// validate parameters
XN_VALIDATE_USB_INIT();
XN_VALIDATE_DEVICE_HANDLE(pDevHandle);
int rc = libusb_set_interface_alt_setting(pDevHandle->hDevice, nInterface, nAltInterface);
if (rc != 0)
{
return (XN_STATUS_USB_SET_INTERFACE_FAILED);
}
pDevHandle->nInterface = nInterface;
pDevHandle->nAltSetting = nAltInterface;
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBGetInterface(XN_USB_DEV_HANDLE pDevHandle, XnUInt8* pnInterface, XnUInt8* pnAltInterface)
{
XnUInt8 nAltInterface;
int rc = libusb_control_transfer(pDevHandle->hDevice,
LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_STANDARD | LIBUSB_RECIPIENT_INTERFACE,
LIBUSB_REQUEST_GET_INTERFACE, 0, 0, &nAltInterface, 1, 1000);
if (rc != 1)
{
return (XN_STATUS_USB_GET_INTERFACE_FAILED);
}
*pnInterface = 0;
*pnAltInterface = nAltInterface;
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnUSBOpenEndPoint(XN_USB_DEV_HANDLE pDevHandle, XnUInt16 nEndPointID, XnUSBEndPointType nEPType, XnUSBDirectionType nDirType, XN_USB_EP_HANDLE* pEPHandlePtr)
{
// validate parameters
XN_VALIDATE_USB_INIT();
XN_VALIDATE_DEVICE_HANDLE(pDevHandle);
XN_VALIDATE_OUTPUT_PTR(pEPHandlePtr);
// get the device from the handle
libusb_device* pDevice = libusb_get_device(pDevHandle->hDevice);
// get the configuration descriptor
libusb_config_descriptor* pConfig;
int rc = libusb_get_active_config_descriptor(pDevice, &pConfig);
if (rc != 0)
{
return (XN_STATUS_USB_CONFIG_QUERY_FAILED);
}
// make sure configuration contains the interface we need
if (pConfig->bNumInterfaces <= pDevHandle->nInterface)
{
libusb_free_config_descriptor(pConfig);
return (XN_STATUS_USB_INTERFACE_QUERY_FAILED);
}
// take that interface
const libusb_interface* pInterface = &pConfig->interface[pDevHandle->nInterface];
// make sure interface contains the alternate setting we work with
if (pInterface->num_altsetting <= pDevHandle->nAltSetting)
{
libusb_free_config_descriptor(pConfig);
return (XN_STATUS_USB_INTERFACE_QUERY_FAILED);
}
// take that setting
const libusb_interface_descriptor* pInterfaceDesc = &pInterface->altsetting[pDevHandle->nAltSetting];
// search for the requested endpoint
const libusb_endpoint_descriptor* pEndpointDesc = NULL;
for (uint8_t i = 0; i < pInterfaceDesc->bNumEndpoints; ++i)
{
if (pInterfaceDesc->endpoint[i].bEndpointAddress == nEndPointID)
{
pEndpointDesc = &pInterfaceDesc->endpoint[i];
break;
}
}
if (pEndpointDesc == NULL)
{
libusb_free_config_descriptor(pConfig);
return (XN_STATUS_USB_ENDPOINT_NOT_FOUND);
}
libusb_transfer_type transfer_type = (libusb_transfer_type)(pEndpointDesc->bmAttributes & 0x3); // lower 2-bits
// calculate max packet size
// NOTE: we do not use libusb functions (libusb_get_max_packet_size/libusb_get_max_iso_packet_size) because
// they hace a bug and does not consider alternative interface
XnUInt32 nMaxPacketSize = 0;
if (transfer_type == LIBUSB_TRANSFER_TYPE_ISOCHRONOUS)
{
XnUInt32 wMaxPacketSize = pEndpointDesc->wMaxPacketSize;
// bits 11 and 12 mark the number of additional transactions, bits 0-10 mark the size
XnUInt32 nAdditionalTransactions = wMaxPacketSize >> 11;
XnUInt32 nPacketSize = wMaxPacketSize & 0x7FF;
nMaxPacketSize = (nAdditionalTransactions + 1) * (nPacketSize);
}
else
{
nMaxPacketSize = pEndpointDesc->wMaxPacketSize;
}
// free the configuration descriptor. no need of it anymore
libusb_free_config_descriptor(pConfig);
pConfig = NULL;
// Make sure the endpoint matches the required endpoint type
if (nEPType == XN_USB_EP_BULK)
{
if (transfer_type != LIBUSB_TRANSFER_TYPE_BULK)
{
return (XN_STATUS_USB_WRONG_ENDPOINT_TYPE);
}
}
else if (nEPType == XN_USB_EP_INTERRUPT)
{
if (transfer_type != LIBUSB_TRANSFER_TYPE_INTERRUPT)
{
return (XN_STATUS_USB_WRONG_ENDPOINT_TYPE);
}
}
else if (nEPType == XN_USB_EP_ISOCHRONOUS)
{
if (transfer_type != LIBUSB_TRANSFER_TYPE_ISOCHRONOUS)
{
return (XN_STATUS_USB_WRONG_ENDPOINT_TYPE);
}
}
else
{
return (XN_STATUS_USB_UNKNOWN_ENDPOINT_TYPE);
}
// Make sure the endpoint matches the required direction
libusb_endpoint_direction direction = (libusb_endpoint_direction)(nEndPointID & 0x80); // 8th bit
if (nDirType == XN_USB_DIRECTION_IN)
{
if (direction != LIBUSB_ENDPOINT_IN)