Attempt to rework audio/firmware upload.

It turns out being way uglier and longer, but should behave slightly
more correctly in the presence of multiple Kinects.

That said, since there's no reliable way to tell for sure which motor,
camera, and audio device belong to the same physical package, it's still
a little bit of a guessing game.

Signed-off-by: Drew Fisher <[email protected]>

Author: zarvox

src/core.c

@@ -101,33 +101,6 @@ FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **de
 		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;

src/usb_libusb10.c

@@ -28,8 +28,10 @@
 #include <stdbool.h>
 #include <stdlib.h>
 #include <string.h>
+#include <unistd.h>
 #include <libusb-1.0/libusb.h>
 #include "freenect_internal.h"
+#include "loader.h"
 
 int fnusb_num_devices(fnusb_ctx *ctx)
 {
@@ -199,6 +201,95 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 					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 == 1) {
+					// 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");
+					res = upload_firmware(&dev->usb_audio);
+					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++) { // Loop for at most 10 tries.
+						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) {
+								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.
+									if (fnusb_num_interfaces(&dev->usb_audio) != 2) {
+										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);
+				}
 			} else {
 				nr_audio++;
 			}

src/usb_libusb10.h

@@ -27,6 +27,7 @@
 #ifndef USB_LIBUSB10
 #define USB_LIBUSB10
 
+#include "libfreenect.h"
 #include <libusb-1.0/libusb.h>
 
 #if defined(__APPLE__)