void set_pu_control(device & device, int subdevice, rs_option option, int value)
{
auto handle = device.get_subdevice(subdevice).handle;
int ct_unit = 0, pu_unit = 0;
for(auto ct = uvc_get_input_terminals(handle); ct; ct = ct->next) ct_unit = ct->bTerminalID; // todo - Check supported caps
for(auto pu = uvc_get_processing_units(handle); pu; pu = pu->next) pu_unit = pu->bUnitID; // todo - Check supported caps
switch(option)
{
case RS_OPTION_COLOR_BACKLIGHT_COMPENSATION: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_BACKLIGHT_COMPENSATION_CONTROL, value);
case RS_OPTION_COLOR_BRIGHTNESS: return set_pu<int16_t>(handle, subdevice, pu_unit, UVC_PU_BRIGHTNESS_CONTROL, value);
case RS_OPTION_COLOR_CONTRAST: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_CONTRAST_CONTROL, value);
case RS_OPTION_COLOR_EXPOSURE: return set_pu<uint32_t>(handle, subdevice, ct_unit, UVC_CT_EXPOSURE_TIME_ABSOLUTE_CONTROL, value);
case RS_OPTION_COLOR_GAIN: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_GAIN_CONTROL, value);
case RS_OPTION_COLOR_GAMMA: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_GAMMA_CONTROL, value);
case RS_OPTION_COLOR_HUE: return; // set_pu<int16_t>(handle, subdevice, pu_unit, UVC_PU_HUE_CONTROL, value); // Causes LIBUSB_ERROR_PIPE, may be related to not being able to set UVC_PU_HUE_AUTO_CONTROL
case RS_OPTION_COLOR_SATURATION: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_SATURATION_CONTROL, value);
case RS_OPTION_COLOR_SHARPNESS: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_SHARPNESS_CONTROL, value);
case RS_OPTION_COLOR_WHITE_BALANCE: return set_pu<uint16_t>(handle, subdevice, pu_unit, UVC_PU_WHITE_BALANCE_TEMPERATURE_CONTROL, value);
case RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE: return set_pu<uint8_t>(handle, subdevice, ct_unit, UVC_CT_AE_MODE_CONTROL, value ? 2 : 1); // Modes - (1: manual) (2: auto) (4: shutter priority) (8: aperture priority)
case RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE: return set_pu<uint8_t>(handle, subdevice, pu_unit, UVC_PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL, value);
default: throw std::logic_error("invalid option");
}
}
void set_control(device & device, const extension_unit & xu, uint8_t ctrl, void * data, int len)
{
int status = uvc_set_ctrl(device.get_subdevice(xu.subdevice).handle, xu.unit, ctrl, data, len);
if(status < 0) throw std::runtime_error(to_string() << "uvc_set_ctrl(...) returned " << libusb_error_name(status));
}
void bulk_transfer(device & device, unsigned char endpoint, void * data, int length, int *actual_length, unsigned int timeout)
{
int status = libusb_bulk_transfer(device.get_subdevice(0).handle->usb_devh, endpoint, (unsigned char *)data, length, actual_length, timeout);
if(status < 0) throw std::runtime_error(to_string() << "libusb_bulk_transfer(...) returned " << libusb_error_name(status));
}
void set_subdevice_mode(device & device, int subdevice_index, int width, int height, uint32_t fourcc, int fps, std::function<void(const void * frame)> callback)
{
auto & sub = device.get_subdevice(subdevice_index);
check("get_stream_ctrl_format_size", uvc_get_stream_ctrl_format_size(sub.handle, &sub.ctrl, reinterpret_cast<const big_endian<uint32_t> &>(fourcc), width, height, fps));
sub.callback = callback;
}
void claim_interface(device & device, const guid & interface_guid, int interface_number)
{
int status = libusb_claim_interface(device.get_subdevice(0).handle->usb_devh, interface_number);
if(status < 0) throw std::runtime_error(to_string() << "libusb_claim_interface(...) returned " << libusb_error_name(status));
device.claimed_interfaces.push_back(interface_number);
}