Merge branch 'master' of git://github.com/wizgrav/libfreenect into unstable

Reviewed-by: Benn Snyder <[email protected]>

Author: piedar

include/libfreenect.h

@@ -319,6 +319,15 @@ FREENECTAPI int freenect_supported_subdevices(void);
  */
 FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs);
 
+/**
+ * Returns the devices that are enabled after calls to freenect_open_device()
+ * On newer kinects the motor and audio are automatically disabled for now
+ *
+ * @param ctx Context to set future subdevice selection for
+ * @return Flags representing the subdevices that were actually opened (see freenect_device_flags)
+ */
+FREENECTAPI freenect_device_flags freenect_enabled_subdevices(freenect_context *ctx);
+
 /**
  * Opens a kinect device via a context. Index specifies the index of
  * the device on the current state of the bus. Bus resets may cause

platform/windows/libusb10emu/libusb-1.0/libusb.h

@@ -77,6 +77,7 @@ int libusb_get_string_descriptor(libusb_device_handle *dev_handle, uint8_t desc_
 int libusb_get_string_descriptor_ascii(libusb_device_handle *dev_handle, uint8_t desc_index, unsigned char *data, int length);
 
 int libusb_set_configuration(libusb_device_handle *dev, int configuration);
+int libusb_set_interface_alt_setting(libusb_device_handle *dev,int interface_number,int alternate_setting);	
 int libusb_claim_interface(libusb_device_handle* dev, int interface_number);
 int libusb_release_interface(libusb_device_handle* dev, int interface_number);
 

platform/windows/libusb10emu/libusb-1.0/libusbemu.cpp

@@ -302,6 +302,17 @@ int libusb_set_configuration(libusb_device_handle *dev, int configuration)
   return 0;
 }
 
+int libusb_set_interface_alt_setting(libusb_device_handle *dev, int interface_number,int alternate_setting){
+  RAIIMutex lock (dev->dev->ctx->mutex);
+  if (0 != usb_set_altinterface(dev->handle, alternate_setting))
+  {
+    LIBUSBEMU_ERROR_LIBUSBWIN32();
+    return(LIBUSB_ERROR_OTHER);
+  }
+	
+  return(0);	
+}	
+
 int libusb_claim_interface(libusb_device_handle* dev, int interface_number)
 {
   RAIIMutex lock (dev->dev->ctx->mutex);

src/cameras.c

@@ -789,9 +789,9 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
 	uint16_t cmd[5] = {0}; // Offset is the only field in this command, and it's 0
 
 	int res;
-	res = send_cmd(dev, 0x04, cmd, 10, reply, 322); //OPCODE_GET_FIXED_PARAMS = 4,
-	if (res != 322) {
-		FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 322)\n", res);
+	res = send_cmd(dev, 0x04, cmd, 10, reply, ctx->zero_plane_res); //OPCODE_GET_FIXED_PARAMS = 4,
+	if (res != ctx->zero_plane_res) {
+		FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected %d)\n", res,ctx->zero_plane_res);
 		return -1;
 	}
 

src/core.c

@@ -148,6 +148,10 @@ FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_devi
 			));
 }
 
+FREENECTAPI freenect_device_flags freenect_enabled_subdevices(freenect_context *ctx) {
+	return ctx->enabled_subdevices;
+}
+
 FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index)
 {
 	int res;

src/freenect_internal.h

@@ -52,6 +52,7 @@ struct _freenect_context {
 	fnusb_ctx usb;
 	freenect_device_flags enabled_subdevices;
 	freenect_device *first;
+	int zero_plane_res;
 };
 
 #define LL_FATAL FREENECT_LOG_FATAL
@@ -131,6 +132,8 @@ static inline int32_t fn_le32s(int32_t s)
 #define PID_NUI_AUDIO 0x02ad
 #define PID_NUI_CAMERA 0x02ae
 #define PID_NUI_MOTOR 0x02b0
+#define PID_K4W_CAMERA 0x02bf
+#define PID_K4W_AUDIO 0x02be
 
 typedef struct {
 	int running;

src/tilt.c

@@ -47,6 +47,8 @@ freenect_raw_tilt_state* freenect_get_tilt_state(freenect_device *dev)
 int freenect_update_tilt_state(freenect_device *dev)
 {
 	freenect_context *ctx = dev->parent;
+	if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
+		return 0;
 	uint8_t buf[10];
 	uint16_t ux, uy, uz;
 	int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
@@ -70,6 +72,9 @@ int freenect_update_tilt_state(freenect_device *dev)
 
 int freenect_set_tilt_degs(freenect_device *dev, double angle)
 {
+	freenect_context *ctx = dev->parent;
+	if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
+		return 0;
 	int ret;
 	uint8_t empty[0x1];
 
@@ -82,6 +87,9 @@ int freenect_set_tilt_degs(freenect_device *dev, double angle)
 
 int freenect_set_led(freenect_device *dev, freenect_led_options option)
 {
+	freenect_context *ctx = dev->parent;
+	if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
+		return 0;
 	int ret;
 	uint8_t empty[0x1];
 	ret = fnusb_control(&dev->usb_motor, 0x40, 0x06, (uint16_t)option, 0x0, empty, 0x0);

src/usb_libusb10.c

@@ -47,7 +47,7 @@ FN_INTERNAL int fnusb_num_devices(fnusb_ctx *ctx)
 		int r = libusb_get_device_descriptor (devs[i], &desc);
 		if (r < 0)
 			continue;
-		if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA)
+		if (desc.idVendor == VID_MICROSOFT && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA))
 			nr++;
 	}
 	libusb_free_device_list (devs, 1);
@@ -76,7 +76,7 @@ FN_INTERNAL int fnusb_list_device_attributes(fnusb_ctx *ctx, struct freenect_dev
 		int r = libusb_get_device_descriptor (devs[i], &desc);
 		if (r < 0)
 			continue;
-		if (desc.idVendor == VID_MICROSOFT && desc.idProduct == PID_NUI_CAMERA) {
+		if (desc.idVendor == VID_MICROSOFT && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)) {
 			// Verify that a serial number exists to query.  If not, don't touch the device.
 			if (desc.iSerialNumber == 0) {
 				continue;
@@ -188,9 +188,9 @@ FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
 
 		if (desc.idVendor != VID_MICROSOFT)
 			continue;
-
+		res = 0;
 		// Search for the camera
-		if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && desc.idProduct == PID_NUI_CAMERA) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)) {
 			// If the index given by the user matches our camera index
 			if (nr_cam == index) {
 				res = libusb_open (devs[i], &dev->usb_cam.dev);
@@ -199,6 +199,15 @@ FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
 					dev->usb_cam.dev = NULL;
 					break;
 				}
+				if(desc.idProduct == PID_K4W_CAMERA || desc.bcdDevice != fn_le32(267)){
+					/* Not the old kinect so we only set up the camera*/ 
+					ctx->enabled_subdevices = FREENECT_DEVICE_CAMERA;
+					ctx->zero_plane_res = 334;
+				}else{
+					/* The good old kinect that tilts and tweets */
+					ctx->zero_plane_res = 322;
+				}
+				
 #ifndef _WIN32
 				// Detach an existing kernel driver for the device
 				res = libusb_kernel_driver_active(dev->usb_cam.dev, 0);
@@ -219,12 +228,33 @@ FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
 					dev->usb_cam.dev = NULL;
 					break;
 				}
+				if(desc.idProduct == PID_K4W_CAMERA){
+					res = libusb_set_interface_alt_setting(dev->usb_cam.dev, 0, 1);
+         				if (res != 0) {
+           					FN_ERROR("Failed to set alternate interface #1 for K4W: %d\n", res);
+           					libusb_close(dev->usb_cam.dev);
+          					dev->usb_cam.dev = NULL;
+           					break;
+          				}
+					
+				}
 			} else {
 				nr_cam++;
 			}
 		}
-
+	}
+	
+	if(ctx->enabled_subdevices == FREENECT_DEVICE_CAMERA || res < 0) cnt = 0;
+	
 		// Search for the motor
+	
+	for (i = 0; i < cnt; i++) {
+		int r = libusb_get_device_descriptor (devs[i], &desc);
+		if (r < 0)
+			continue;
+
+		if (desc.idVendor != VID_MICROSOFT)
+			continue;
 		if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
 			// If the index given by the user matches our camera index
 			if (nr_mot == index) {
@@ -249,7 +279,7 @@ FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
 #ifdef BUILD_AUDIO
 		// TODO: check that the firmware has already been loaded; if not, upload firmware.
 		// Search for the audio
-		if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && desc.idProduct == PID_NUI_AUDIO) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || desc.idProduct == PID_K4W_AUDIO)) {
 			// If the index given by the user matches our audio index
 			if (nr_audio == index) {
 				res = libusb_open (devs[i], &dev->usb_audio.dev);

wrappers/cpp/libfreenect.hpp

@@ -134,6 +134,9 @@ namespace Freenect {
 		freenect_resolution getDepthResolution() {
 			return m_depth_resolution;
 		}
+		const freenect_device *getDevice() {
+			return m_dev;
+		}
 		// Do not call directly even in child
 		virtual void VideoCallback(void *video, uint32_t timestamp) = 0;
 		// Do not call directly even in child