Freenect2Device *Freenect2::openDevice(int idx)
{
int num_devices = impl_->getNumDevices();
Freenect2DeviceImpl *device = 0;
if(idx < num_devices)
{
Freenect2Impl::UsbDeviceWithSerial &dev = impl_->enumerated_devices_[idx];
libusb_device_handle *dev_handle;
if(!impl_->tryGetDevice(dev.dev, &device))
{
int r = libusb_open(dev.dev, &dev_handle);
if(r == LIBUSB_SUCCESS)
{
r = libusb_reset_device(dev_handle);
if(r == LIBUSB_SUCCESS)
{
device = new Freenect2DeviceImpl(impl_, dev.dev, dev_handle, dev.serial);
impl_->addDevice(device);
if(!device->open())
{
delete device;
device = 0;
std::cout << "[Freenect2DeviceImpl] failed to open Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
}
}
else
{
std::cout << "[Freenect2Impl] failed to reset Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
}
}
else
{
std::cout << "[Freenect2Impl] failed to open Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
}
}
}
else
{
std::cout << "[Freenect2Impl] requested device " << idx << " is not connected!" << std::endl;
}
return device;
}
Freenect2Device *Freenect2::openDevice(int idx, bool attempting_reset)
{
int num_devices = impl_->getNumDevices();
Freenect2DeviceImpl *device = 0;
if(idx >= num_devices)
{
std::cout << "[Freenect2Impl] requested device " << idx << " is not connected!" << std::endl;
return device;
}
Freenect2Impl::UsbDeviceWithSerial &dev = impl_->enumerated_devices_[idx];
libusb_device_handle *dev_handle;
if(impl_->tryGetDevice(dev.dev, &device))
{
std::cout << "[Freenect2Impl] failed to get device " << PrintBusAndDevice(dev.dev)
<< " (the device may already be open)" << std::endl;
return device;
}
int r = libusb_open(dev.dev, &dev_handle);
if(r != LIBUSB_SUCCESS)
{
std::cout << "[Freenect2Impl] failed to open Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
return device;
}
if(attempting_reset)
{
r = libusb_reset_device(dev_handle);
if(r == LIBUSB_ERROR_NOT_FOUND)
{
// From libusb documentation:
// "If the reset fails, the descriptors change, or the previous state
// cannot be restored, the device will appear to be disconnected and
// reconnected. This means that the device handle is no longer valid (you
// should close it) and rediscover the device. A return code of
// LIBUSB_ERROR_NOT_FOUND indicates when this is the case."
// be a good citizen
libusb_close(dev_handle);
// HACK: wait for the planets to align... (When the reset fails it may
// take a short while for the device to show up on the bus again. In the
// absence of hotplug support, we just wait a little. If this code path
// is followed there will already be a delay opening the device fully so
// adding a little more is tolerable.)
libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(1000));
// reenumerate devices
std::cout << "[Freenect2Impl] re-enumerating devices after reset" << std::endl;
impl_->clearDeviceEnumeration();
impl_->enumerateDevices();
// re-open without reset
return openDevice(idx, false);
}
else if(r != LIBUSB_SUCCESS)
{
std::cout << "[Freenect2Impl] failed to reset Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
return device;
}
}
device = new Freenect2DeviceImpl(impl_, dev.dev, dev_handle, dev.serial);
impl_->addDevice(device);
if(!device->open())
{
delete device;
device = 0;
std::cout << "[Freenect2DeviceImpl] failed to open Kinect v2 " << PrintBusAndDevice(dev.dev) << "!" << std::endl;
}
return device;
}