FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index)
{
int res;
freenect_device *pdev = (freenect_device*)malloc(sizeof(freenect_device));
if (!pdev)
return -1;
memset(pdev, 0, sizeof(*pdev));
pdev->parent = ctx;
res = fnusb_open_subdevices(pdev, index);
if (res < 0) {
free(pdev);
return res;
}
if (!ctx->first) {
ctx->first = pdev;
} else {
freenect_device *prev = ctx->first;
while (prev->next)
prev = prev->next;
prev->next = pdev;
}
*dev = pdev;
// Do device-specific initialization
if (pdev->usb_cam.dev) {
if (freenect_camera_init(pdev) < 0) {
return -1;
}
}
return 0;
}
FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index)
{
int res;
freenect_device *pdev = (freenect_device*)malloc(sizeof(freenect_device));
if (!pdev)
return -1;
memset(pdev, 0, sizeof(*pdev));
pdev->parent = ctx;
res = fnusb_open_subdevices(pdev, index);
if (res < 0) {
free(pdev);
return res;
}
#ifdef BUILD_AUDIO
if (pdev->usb_audio.dev) {
res = fnusb_num_interfaces(&pdev->usb_audio);
if (res == 1) {
// Upload audio firmware, release devices, and reopen them
res = upload_firmware(&pdev->usb_audio);
if (res < 0) {
FN_ERROR("upload_firmware failed: %d\n", res);
free(pdev);
return res;
}
res = fnusb_close_subdevices(pdev);
if (res < 0) {
FN_ERROR("fnusb_close_subdevices failed: %d\n", res);
free(pdev);
return res;
}
sleep(1); // Give time for the device to reenumerate before trying to open it
res = fnusb_open_subdevices(pdev, index);
if (res < 0) {
free(pdev);
return res;
}
}
}
#endif
if (!ctx->first) {
ctx->first = pdev;
} else {
freenect_device *prev = ctx->first;
while (prev->next)
prev = prev->next;
prev->next = pdev;
}
*dev = pdev;
// Do device-specific initialization
if (pdev->usb_cam.dev) {
if (freenect_camera_init(pdev) < 0) {
return -1;
}
}
return 0;
}
