FN_INTERNAL libusb_device * fnusb_find_connected_audio_device(libusb_device * camera, libusb_device ** deviceList, int cnt){
int cameraBusNo = libusb_get_bus_number(camera);
libusb_device * cameraParent = libusb_get_parent(camera);
if( cameraBusNo < 0 ) return NULL;
if( cnt <= 0 ) return NULL;
int i = 0;
struct libusb_device_descriptor desc;
for (i = 0; i < cnt; i++) {
int r = libusb_get_device_descriptor (deviceList[i], &desc);
if (r < 0) continue;
if (desc.idVendor != VID_MICROSOFT) continue;
//make sure its some type of Kinect audio device
if( (desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct) ) ){
int audioBusNo = libusb_get_bus_number(deviceList[i]);
if( audioBusNo == cameraBusNo ){
//we have a match!
//lets double check
libusb_device * audioParent = libusb_get_parent(deviceList[i]);
if( cameraParent == audioParent ){
return deviceList[i];
}
}
}
}
return NULL;
}
static int get_hub_number(libusb_device *dev) {
struct libusb_device *parent;
struct libusb_device_descriptor parent_device_desc;
uint16_t dev_vid, dev_pid;
int ret;
parent = libusb_get_parent(dev);
ret = libusb_get_device_descriptor(parent, &parent_device_desc);
if (ret)
return -1;
dev_vid = libusb_le16_to_cpu(parent_device_desc.idVendor);
dev_pid = libusb_le16_to_cpu(parent_device_desc.idProduct);
if (dev_vid == 0x1d6b && dev_pid == 0x0002) {
// If parent is "Linux Foundation 2.0 root hub", this is upstream hub
return 1;
}
if (dev_vid == 0x05e3 && dev_pid == 0x0614) {
// If parent is another hub ...
if (libusb_get_port_number(dev) == 4) {
// and we're connected to port #4...
if (get_hub_number(parent) == 1) {
// And it's upstream hub, then we're downstream one
return 2;
}
}
}
return 3;
}
static void foreach_usb_device(libusb_context* usb_context, std::function<void(
const usb_device_info&,
libusb_device*)> action)
{
// Obtain libusb_device_handle for each device
libusb_device ** list = nullptr;
int status = libusb_get_device_list(usb_context, &list);
if(status < 0)
throw linux_backend_exception(to_string() << "libusb_get_device_list(...) returned " << libusb_error_name(status));
for(int i=0; list[i]; ++i)
{
libusb_device * usb_device = list[i];
libusb_config_descriptor *config;
status = libusb_get_active_config_descriptor(usb_device, &config);
if(status == 0)
{
auto parent_device = libusb_get_parent(usb_device);
//if (parent_device)
{
usb_device_info info{};
std::stringstream ss;
info.unique_id = get_usb_port_id(usb_device);
info.mi = config->bNumInterfaces - 1; // The hardware monitor USB interface is expected to be the last one
action(info, usb_device);
}
libusb_free_config_descriptor(config);
}
}
libusb_free_device_list(list, 1);
}
FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
{
freenect_context *ctx = dev->parent;
dev->device_does_motor_control_with_audio = 0;
dev->motor_control_with_audio_enabled = 0;
dev->usb_cam.parent = dev;
dev->usb_cam.dev = NULL;
dev->usb_motor.parent = dev;
dev->usb_motor.dev = NULL;
dev->usb_audio.parent = dev;
dev->usb_audio.dev = NULL;
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;
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;
res = 0;
// Search for the camera
if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA))
{
// If the index given by the user matches our camera index
if (nr_cam == index)
{
dev->usb_cam.VID = desc.idVendor;
dev->usb_cam.PID = desc.idProduct;
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;
}
if (desc.idProduct == PID_K4W_CAMERA || desc.bcdDevice != fn_le32(267))
{
freenect_device_flags requested_devices = ctx->enabled_subdevices;
// Not the 1414 kinect so remove the motor flag, this should preserve the audio flag if set
ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices & ~FREENECT_DEVICE_MOTOR);
ctx->zero_plane_res = 334;
dev->device_does_motor_control_with_audio = 1;
// set the LED for non 1414 devices to keep the camera alive for some systems which get freezes
libusb_device * audioDevice = fnusb_find_connected_audio_device(devs[i], devs, cnt);
if (audioDevice != NULL)
{
libusb_device_handle * audioHandle = NULL;
res = libusb_open(audioDevice, &audioHandle);
if (res != 0)
{
FN_ERROR("Failed to set the LED of K4W or 1473 device: %d\n", res);
}
else
{
// we need to do this as it is possible that the device was not closed properly in a previous session
// if we don't do this and the device wasn't closed properly - it can cause infinite hangs on LED and TILT functions
libusb_reset_device(audioHandle);
libusb_close(audioHandle);
res = libusb_open(audioDevice, &audioHandle);
if (res == 0)
{
res = libusb_claim_interface(audioHandle, 0);
if (res != 0)
{
FN_ERROR("Unable to claim interface %d\n", res);
}
else
{
fnusb_set_led_alt(audioHandle, ctx, LED_GREEN);
libusb_release_interface(audioHandle, 0);
}
libusb_close(audioHandle);
}
}
}
// for newer devices we need to enable the audio device for motor control
// we only do this though if motor has been requested.
if ((requested_devices & FREENECT_DEVICE_MOTOR) && (requested_devices & FREENECT_DEVICE_AUDIO) == 0)
{
ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices | FREENECT_DEVICE_AUDIO);
}
}
else
{
// The good old kinect that tilts and tweets
ctx->zero_plane_res = 322;
}
res = fnusb_claim_camera(dev);
if (res < 0)
{
break;
}
}
else
{
nr_cam++;
}
}
}
if (ctx->enabled_subdevices == FREENECT_DEVICE_CAMERA || res < 0)
cnt = 0;
//FIND MOTOR BASED ON PARENT HUB
if( (ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && dev->usb_cam.dev != NULL )
{
libusb_device * camera = libusb_get_device( dev->usb_cam.dev );
libusb_device * cameraParent = libusb_get_parent( camera );
if( cameraParent != NULL )
{
for(i = 0; i < cnt; i++)
{
// Match audio based on camera parent
if( cameraParent == libusb_get_parent(devs[i]) )
{
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
// This has to be the device we are looking for as it is a Kinect motor device with the same parent as the camera
if ( !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR)
{
dev->usb_motor.VID = desc.idVendor;
dev->usb_motor.PID = desc.idProduct;
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;
}
// This has to be the device we need, as it is matched by parent - so don't try any others
break;
}
}
}
}
}
// FIND AUDIO BASED ON PARENT HUB
if( (ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && dev->usb_cam.dev != NULL )
{
libusb_device * camera = libusb_get_device( dev->usb_cam.dev );
libusb_device * cameraParent = libusb_get_parent( camera );
if( cameraParent != NULL )
{
for(i = 0; i < cnt; i++)
{
// Match audio based on camera parent
if( cameraParent == libusb_get_parent(devs[i]) )
{
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
// This has to be the device we are looking for as it is a Kinect audio device with the same parent as the camera
if ( !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
{
dev->usb_audio.VID = desc.idVendor;
dev->usb_audio.PID = desc.idProduct;
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 >= 2)
{
if (dev->device_does_motor_control_with_audio)
{
dev->motor_control_with_audio_enabled = 1;
}
}
else
{
// 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");
// Check if we can load from memory - otherwise load from disk
if (desc.idProduct == PID_NUI_AUDIO && ctx->fn_fw_nui_ptr && ctx->fn_fw_nui_size > 0)
{
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_nui_ptr, ctx->fn_fw_nui_size);
}
else if (desc.idProduct == PID_K4W_AUDIO && ctx->fn_fw_k4w_ptr && ctx->fn_fw_k4w_size > 0)
{
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_k4w_ptr, ctx->fn_fw_k4w_size);
}
else
{
res = upload_firmware(&dev->usb_audio, "audios.bin");
}
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++)
{
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 || fnusb_is_pid_k4w_audio(desc.idProduct)))
{
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.
num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if (num_interfaces >= 2)
{
if (dev->device_does_motor_control_with_audio)
{
dev->motor_control_with_audio_enabled = 1;
}
}
else
{
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);
}
// This has to be the device we need, as it is matched by parent - so don't try any others
break;
}
}
}
}
}
libusb_free_device_list (devs, 1); // free the list, unref the devices in it
if ((dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
&& (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR)))
//&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO)))
{
// Each requested subdevice is open.
// Except audio, which may fail if firmware is missing (or because it hates us).
return 0;
}
if (dev->usb_cam.dev != NULL)
{
libusb_release_interface(dev->usb_cam.dev, 0);
libusb_close(dev->usb_cam.dev);
}
else
{
FN_ERROR("Failed to open camera subdevice or it is not disabled.");
}
if (dev->usb_motor.dev != NULL)
{
libusb_release_interface(dev->usb_motor.dev, 0);
libusb_close(dev->usb_motor.dev);
}
else
{
FN_ERROR("Failed to open motor subddevice or it is not disabled.");
}
if (dev->usb_audio.dev != NULL)
{
libusb_release_interface(dev->usb_audio.dev, 0);
libusb_close(dev->usb_audio.dev);
}
else
{
FN_ERROR("Failed to open audio subdevice or it is not disabled.");
}
return -1;
}
