Motor::Motor(USB::Context& usbContext,size_t index)
{
/* Get the index-th Kinect motor device from the context: */
USB::DeviceList deviceList(usbContext);
USB::Device::operator=(deviceList.getDevice(0x045e,0x02b0,index));
if(!isValid())
Misc::throwStdErr("Kinect::Motor::Motor: Less than %d Kinect motor devices detected",int(index));
/* Open and prepare the device: */
open();
setConfiguration(1);
claimInterface(0);
}
struct libusb_device_handle*
openUSB(libusb_context *ctx, uint16_t vendor, uint16_t product, int interface, int autoconnect)
{
int ret = 0;
struct libusb_device_handle *handle = NULL;
/* Open USB communication */
ret = libusb_init(&ctx);
if (ret < 0)
{
log_err("libusb_init failed: %i.", ret);
goto error;
}
libusb_set_debug(ctx, 3);
handle = libusb_open_device_with_vid_pid(ctx, vendor, product);
if (!handle)
{
log_err("Unable to open device.");
goto error;
}
if (interface != -1)
{
if (!claimInterface(handle, interface, autoconnect))
{
goto error;
}
}
exit:
return handle;
error:
closeUSB(ctx, handle, interface);
return NULL;
}
bool Communicator::initUsbDevice(libusb_device *device)
{
libusb_device_descriptor desc;
libusb_config_descriptor *config;
const libusb_interface *inter;
const libusb_interface_descriptor *interdesc;
const libusb_endpoint_descriptor *epdesc;
int r;
bool result = false;
if (device != NULL) {
mDevice = device;
r = libusb_open(device, &mHandle);
if (r == 0 && mHandle != NULL) {
syslog(LOG_INFO, "USB device opened");
r = libusb_get_device_descriptor(mDevice, &desc);
if (r == 0) {
r = libusb_get_config_descriptor(mDevice, 0, &config);
if (r == 0) {
int i = 0, j = 0;
while (i < config->bNumInterfaces) {
inter = &config->interface[i];
j = 0;
while (j < inter->num_altsetting) {
interdesc = &inter->altsetting[j];
if (interdesc->bInterfaceClass == 6) {
uint8_t readEp = 129, writeEp = 2;
for (int k = 0; k < (int) interdesc->bNumEndpoints; k++) {
epdesc = &interdesc->endpoint[k];
if ((epdesc->bEndpointAddress == (LIBUSB_ENDPOINT_IN | LIBUSB_TRANSFER_TYPE_ISOCHRONOUS)) || (epdesc->bEndpointAddress == (LIBUSB_ENDPOINT_IN | LIBUSB_TRANSFER_TYPE_BULK))) {
readEp = epdesc->bEndpointAddress;
syslog(LOG_INFO, "Read endpoint adress: %d", readEp);
}
if ((epdesc->bEndpointAddress == (LIBUSB_ENDPOINT_OUT | LIBUSB_TRANSFER_TYPE_ISOCHRONOUS)) || (epdesc->bEndpointAddress == (LIBUSB_ENDPOINT_OUT | LIBUSB_TRANSFER_TYPE_BULK))) {
writeEp = epdesc->bEndpointAddress;
syslog(LOG_INFO, "Write endpoint adress: %d", writeEp);
}
}
result = claimInterface(readEp, writeEp, i);
if (result)
{
mVendorId = desc.idVendor;
mProductId = desc.idProduct;
}
j = inter->num_altsetting;
i = config->bNumInterfaces;
}
j++;
}
i++;
}
libusb_free_config_descriptor(config);
}
else
syslog(LOG_ERR, "Error opening USB device config descriptor: %d", r);
} else
syslog(LOG_ERR, "Failed to get device descriptor: %d", r);
}
else
syslog(LOG_ERR, "Error opening device");
}
return result;
}
