void ClientUSBInDataEndpoint::Shutdown()
{
Disconnect();
xnUSBCloseEndPoint(m_hEndpoint);
m_hEndpoint = NULL;
m_hUSBDevice = NULL;
}
XnStatus XnSensorIO::CloseDevice()
{
XnStatus nRetVal;
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB depth read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->DepthConnection.UsbEp);
if (m_pSensorHandle->DepthConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->DepthConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->DepthConnection.UsbEp = NULL;
}
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB image read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->ImageConnection.UsbEp);
if (m_pSensorHandle->ImageConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ImageConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ImageConnection.UsbEp = NULL;
}
if (m_pSensorHandle->MiscConnection.bIsOpen)
{
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Shutting down USB misc read thread...");
xnUSBShutdownReadThread(m_pSensorHandle->MiscConnection.UsbEp);
if (m_pSensorHandle->MiscConnection.UsbEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->MiscConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->MiscConnection.UsbEp = NULL;
}
}
if (m_pSensorHandle->ControlConnection.bIsBulk)
{
if (m_pSensorHandle->ControlConnection.ControlInConnectionEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.ControlInConnectionEp = NULL;
}
if (m_pSensorHandle->ControlConnection.ControlOutConnectionEp != NULL)
{
nRetVal = xnUSBCloseEndPoint(m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.ControlOutConnectionEp = NULL;
}
}
if (m_pSensorHandle->USBDevice != NULL)
{
nRetVal = xnUSBCloseDevice(m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->USBDevice = NULL;
}
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Device closed successfully");
// All is good...
return (XN_STATUS_OK);
}
XnStatus XnSensorIO::OpenDevice(const XnChar* strPath, XnBool bLeanInit)
{
XnStatus nRetVal;
XnUSBDeviceSpeed DevSpeed;
xnLogVerbose(XN_MASK_DEVICE_IO, "Connecting to USB device...");
// try to open the device
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open sensor '%s'...", strPath);
nRetVal = xnUSBOpenDeviceByPath(strPath, &m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
if (!bLeanInit)
{
nRetVal = xnUSBGetDeviceSpeed(m_pSensorHandle->USBDevice, &DevSpeed);
XN_IS_STATUS_OK(nRetVal);
if (DevSpeed != XN_USB_DEVICE_HIGH_SPEED)
{
XN_LOG_WARNING_RETURN(XN_STATUS_USB_UNKNOWN_DEVICE_SPEED, XN_MASK_DEVICE_IO, "Device is not high speed!");
}
}
// on older firmwares, control was sent over BULK endpoints. Check if this is the case
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open endpoint 0x4 for control out (for old firmwares)...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x4, XN_USB_EP_BULK, XN_USB_DIRECTION_OUT, &m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_DIRECTION)
{
// this is not the case. use regular control endpoint (0)
m_pSensorHandle->ControlConnection.bIsBulk = FALSE;
}
else
{
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x85 for control in...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x85, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.bIsBulk = TRUE;
}
nRetVal = XnDeviceEnumeration::IsSensorLowBandwidth(strPath, &m_bIsLowBandwidth);
XN_IS_STATUS_OK(nRetVal);
xnLogInfo(XN_MASK_DEVICE_IO, "Connected to USB device%s", m_bIsLowBandwidth ? " (LowBand)" : "");
// check if we're currently on BULK interfaces or ISO ones
XN_USB_EP_HANDLE hEP;
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &hEP);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
m_interface = XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS;
}
else
{
m_interface = XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS;
xnUSBCloseEndPoint(hEP);
}
strcpy(m_strDeviceName, strPath);
return XN_STATUS_OK;
}
