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/*****************************************************************************
* *
* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensorIO.h"
#include "XnDeviceSensor.h"
#include <XnStringsHash.h>
#include "XnDeviceEnumeration.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnSensorIO::XnSensorIO(XN_SENSOR_HANDLE* pSensorHandle) :
m_pSensorHandle(pSensorHandle),
m_bMiscSupported(FALSE),
m_bIsLowBandwidth(FALSE)
{
}
XnSensorIO::~XnSensorIO()
{
}
XnStatus XnSensorIO::OpenDevice(const XnChar* strPath)
{
XnStatus nRetVal;
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);
// 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)" : "");
strcpy(m_strDeviceName, strPath);
return XN_STATUS_OK;
}
XnStatus XnSensorIO::OpenDataEndPoints(XnSensorUsbInterface nInterface, const XnFirmwareInfo& fwInfo)
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt8 nAlternativeInterface = 0;
// try to set requested interface
if (nInterface != XN_SENSOR_USB_INTERFACE_DEFAULT)
{
switch (nInterface)
{
case XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS:
nAlternativeInterface = fwInfo.nISOAlternativeInterface;
break;
case XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS:
nAlternativeInterface = fwInfo.nBulkAlternativeInterface;
break;
case XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS_LOW_DEPTH:
nAlternativeInterface = fwInfo.nISOLowDepthAlternativeInterface;
break;
default:
XN_ASSERT(FALSE);
XN_LOG_WARNING_RETURN(XN_STATUS_USB_INTERFACE_NOT_SUPPORTED, XN_MASK_DEVICE_IO, "Unknown interface type: %d", nInterface);
}
if (nAlternativeInterface == (XnUInt8)-1)
{
XN_ASSERT(FALSE);
XN_LOG_WARNING_RETURN(XN_STATUS_USB_INTERFACE_NOT_SUPPORTED, XN_MASK_DEVICE_IO, "Interface %d is not supported by firmware", nInterface);
}
xnLogVerbose(XN_MASK_DEVICE_IO, "Setting USB alternative interface to %d...", nAlternativeInterface);
nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, nAlternativeInterface);
XN_IS_STATUS_OK(nRetVal);
}
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoints...");
// up until v3.0/4.0, Image went over 0x82, depth on 0x83, audio on 0x86, and control was using bulk EPs, at 0x4 and 0x85.
// starting v3.0/4.0, Image is at 0x81, depth at 0x82, audio/misc at 0x83, and control is using actual control EPs.
// This means we are using the new Jungo USB Code
XnBool bNewUSB = TRUE;
// Depth
XnBool bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x81 for depth...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
{
bNewUSB = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying old USB: Opening 0x82 for depth...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
XN_IS_STATUS_OK(nRetVal);
}
else
{
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
bIsISO = TRUE;
}
bNewUSB = TRUE;
XN_IS_STATUS_OK(nRetVal);
if (bIsISO)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Depth endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Depth endpoint is bulk.");
}
}
m_pSensorHandle->DepthConnection.bIsOpen = TRUE;
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->DepthConnection.UsbEp, &m_pSensorHandle->DepthConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
// Image
XnUInt16 nImageEP = bNewUSB ? 0x82 : 0x83;
bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x%hx for image...", nImageEP);
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nImageEP, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ImageConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nImageEP, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->ImageConnection.UsbEp);
bIsISO = TRUE;
}
XN_IS_STATUS_OK(nRetVal);
if (bIsISO)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Image endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Image endpoint is bulk.");
}
m_pSensorHandle->ImageConnection.bIsOpen = TRUE;
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->ImageConnection.UsbEp, &m_pSensorHandle->ImageConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
// Misc
XnUInt16 nMiscEP = bNewUSB ? 0x83 : 0x86;
bIsISO = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x%hx for misc...", nMiscEP);
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nMiscEP, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->MiscConnection.UsbEp);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, nMiscEP, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->MiscConnection.UsbEp);
bIsISO = TRUE;
}
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
{
// Firmware does not support misc...
m_pSensorHandle->MiscConnection.bIsOpen = FALSE;
m_bMiscSupported = FALSE;
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is not supported...");
}
else if (nRetVal == XN_STATUS_OK)
{
m_pSensorHandle->MiscConnection.bIsOpen = TRUE;
m_bMiscSupported = TRUE;
if (bIsISO)
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is isochronous.");
}
else
{
xnLogVerbose(XN_MASK_DEVICE_IO, "Misc endpoint is bulk.");
}
}
else
{
return nRetVal;
}
if (m_pSensorHandle->MiscConnection.bIsOpen)
{
nRetVal = xnUSBGetEndPointMaxPacketSize(m_pSensorHandle->MiscConnection.UsbEp, &m_pSensorHandle->MiscConnection.nMaxPacketSize);
XN_IS_STATUS_OK(nRetVal);
}
xnLogInfo(XN_MASK_DEVICE_IO, "Endpoints open");
// All is good...
return (XN_STATUS_OK);
}
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);
}
const XnChar* XnSensorIO::GetDevicePath()
{
return m_strDeviceName;
}
XnSensorUsbInterface XnSensorIO::GetCurrentInterface(const XnFirmwareInfo& fwInfo) const
{
XnUInt8 nActualInterface = 0;
XnUInt8 nAlternativeInterface = 0;
XnStatus nRetVal = xnUSBGetInterface(m_pSensorHandle->USBDevice, &nActualInterface, &nAlternativeInterface);
if (nRetVal != XN_STATUS_OK)
{
XN_ASSERT(FALSE);
return (XnSensorUsbInterface)-1;
}
if (nAlternativeInterface == fwInfo.nISOAlternativeInterface)
{
return XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS;
}
else if (nAlternativeInterface == fwInfo.nBulkAlternativeInterface)
{
return XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS;
}
else if (nAlternativeInterface == fwInfo.nISOLowDepthAlternativeInterface)
{
return XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS_LOW_DEPTH;
}
else
{
XN_ASSERT(FALSE);
xnLogError(XN_MASK_DEVICE_IO, "Unexpected alternative interface: %d", nAlternativeInterface);
return (XnSensorUsbInterface)-1;
}
}
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