Merge pull request #335 from OpenKinect/unstable

libfreenect v0.2.0

examples/CMakeLists.txt

@@ -56,7 +56,7 @@ else()
   find_package(OpenGL REQUIRED)
   find_package(GLUT REQUIRED)
 
-  include_directories(${OPENGL_INCLUDE_DIRS} ${GLUT_INCLUDE_DIRS} ${USB_INCLUDE_DIRS})
+  include_directories(${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${USB_INCLUDE_DIRS})
 
   target_link_libraries(glview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(regview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})

examples/glview.c

@@ -179,6 +179,27 @@ void keyPressed(unsigned char key, int x, int y)
 			freenect_angle = -30;
 		}
 	}
+	if (key == 'e') {
+		static freenect_flag_value auto_exposure = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_AUTO_EXPOSURE, auto_exposure);
+		auto_exposure = !auto_exposure;
+	}
+	if (key == 'b') {
+		static freenect_flag_value white_balance = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_AUTO_WHITE_BALANCE, white_balance);
+		white_balance = !white_balance;
+	}
+	if (key == 'r') {
+		static freenect_flag_value raw_color = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_RAW_COLOR, raw_color);
+		raw_color = !raw_color;
+	}
+	if (key == 'm') {
+		static freenect_flag_value mirror = FREENECT_ON;
+		freenect_set_flag(f_dev, FREENECT_MIRROR_DEPTH, mirror);
+		freenect_set_flag(f_dev, FREENECT_MIRROR_VIDEO, mirror);
+		mirror = !mirror;
+	}
 	if (key == '1') {
 		freenect_set_led(f_dev,LED_GREEN);
 	}
@@ -349,6 +370,7 @@ void *freenect_threadfunc(void *arg)
 	freenect_start_video(f_dev);
 
 	printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format\n");
+	printf("'e' - auto exposure, 'b' - white balance, 'r' - raw color, 'm' - mirror\n");
 
 	while (!die && freenect_process_events(f_ctx) >= 0) {
 		//Throttle the text output

examples/wavrecord.c

@@ -93,6 +93,7 @@ int main(int argc, char** argv) {
 	}
 
 	capture state;
+	state.samples = 0;
 	state.logfiles[0] = fopen("channel1.wav", "wb");
 	state.logfiles[1] = fopen("channel2.wav", "wb");
 	state.logfiles[2] = fopen("channel3.wav", "wb");

include/libfreenect.h

@@ -106,6 +106,23 @@ typedef enum {
 	FREENECT_DEPTH_DUMMY        = 2147483647, /**< Dummy value to force enum to be 32 bits wide */
 } freenect_depth_format;
 
+/// Enumeration of flags to toggle features with freenect_set_flag()
+typedef enum {
+	// values written to the CMOS register
+	FREENECT_AUTO_EXPOSURE      = 1 << 14,
+	FREENECT_AUTO_WHITE_BALANCE = 1 << 1,
+	FREENECT_RAW_COLOR          = 1 << 4,
+	// registers to be written with 0 or 1
+	FREENECT_MIRROR_DEPTH       = 0x0017,
+	FREENECT_MIRROR_VIDEO       = 0x0047,
+} freenect_flag;
+
+/// Possible values for setting each `freenect_flag`
+typedef enum {
+	FREENECT_OFF = 0,
+	FREENECT_ON  = 1,
+} freenect_flag_value;
+
 /// Structure to give information about the width, height, bitrate,
 /// framerate, and buffer size of a frame in a particular mode, as
 /// well as the total number of bytes needed to hold a single frame.
@@ -302,6 +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
@@ -614,6 +640,16 @@ FREENECTAPI freenect_frame_mode freenect_find_depth_mode(freenect_resolution res
  */
 FREENECTAPI int freenect_set_depth_mode(freenect_device* dev, const freenect_frame_mode mode);
 
+/**
+ * Enables or disables the specified flag.
+ * 
+ * @param flag Feature to set
+ * @param value `FREENECT_OFF` or `FREENECT_ON`
+ * 
+ * @return 0 on success, < 0 if error
+ */
+FREENECTAPI int freenect_set_flag(freenect_device *dev, freenect_flag flag, freenect_flag_value value);
+
 #ifdef __cplusplus
 }
 #endif

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/CMakeLists.txt

@@ -8,10 +8,10 @@ set(CMAKE_C_FLAGS "-Wall")
 
 include_directories(${LIBUSB_1_INCLUDE_DIRS})
 IF(WIN32)
-  LIST(APPEND SRC core.c tilt.c cameras.c usb_libusb10.c registration.c ../platform/windows/libusb10emu/libusb-1.0/libusbemu.cpp ../platform/windows/libusb10emu/libusb-1.0/failguard.cpp)
+  LIST(APPEND SRC core.c tilt.c cameras.c flags.c usb_libusb10.c registration.c ../platform/windows/libusb10emu/libusb-1.0/libusbemu.cpp ../platform/windows/libusb10emu/libusb-1.0/failguard.cpp)
   set_source_files_properties(${SRC} PROPERTIES LANGUAGE CXX)
 ELSE(WIN32)
-  LIST(APPEND SRC core.c tilt.c cameras.c usb_libusb10.c registration.c)
+  LIST(APPEND SRC core.c tilt.c cameras.c flags.c usb_libusb10.c registration.c)
 ENDIF(WIN32)
 
 IF(BUILD_AUDIO)

src/cameras.c

@@ -32,6 +32,7 @@
 #include "freenect_internal.h"
 #include "registration.h"
 #include "cameras.h"
+#include "flags.h"
 
 #define MAKE_RESERVED(res, fmt) (uint32_t)(((res & 0xff) << 8) | (((fmt & 0xff))))
 #define RESERVED_TO_RESOLUTION(reserved) (freenect_resolution)((reserved >> 8) & 0xff)
@@ -650,122 +651,6 @@ static void video_process(freenect_device *dev, uint8_t *pkt, int len)
 		dev->video_cb(dev, dev->video.proc_buf, dev->video.timestamp);
 }
 
-typedef struct {
-	uint8_t magic[2];
-	uint16_t len;
-	uint16_t cmd;
-	uint16_t tag;
-} cam_hdr;
-
-static int send_cmd(freenect_device *dev, uint16_t cmd, void *cmdbuf, unsigned int cmd_len, void *replybuf, int reply_len)
-{
-	freenect_context *ctx = dev->parent;
-	int res, actual_len;
-	uint8_t obuf[0x400];
-	uint8_t ibuf[0x200];
-	cam_hdr *chdr = (cam_hdr*)obuf;
-	cam_hdr *rhdr = (cam_hdr*)ibuf;
-
-	if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
-		FN_ERROR("send_cmd: Invalid command length (0x%x)\n", cmd_len);
-		return -1;
-	}
-
-	chdr->magic[0] = 0x47;
-	chdr->magic[1] = 0x4d;
-	chdr->cmd = fn_le16(cmd);
-	chdr->tag = fn_le16(dev->cam_tag);
-	chdr->len = fn_le16(cmd_len / 2);
-
-	memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
-
-	res = fnusb_control(&dev->usb_cam, 0x40, 0, 0, 0, obuf, cmd_len + sizeof(*chdr));
-	FN_SPEW("Control cmd=%04x tag=%04x len=%04x: %d\n", cmd, dev->cam_tag, cmd_len, res);
-	if (res < 0) {
-		FN_ERROR("send_cmd: Output control transfer failed (%d)\n", res);
-		return res;
-	}
-
-	do {
-		actual_len = fnusb_control(&dev->usb_cam, 0xc0, 0, 0, 0, ibuf, 0x200);
-		FN_FLOOD("actual_len: %d\n", actual_len);
-	} while ((actual_len == 0) || (actual_len == 0x200));
-	FN_SPEW("Control reply: %d\n", res);
-	if (actual_len < (int)sizeof(*rhdr)) {
-		FN_ERROR("send_cmd: Input control transfer failed (%d)\n", res);
-		return res;
-	}
-	actual_len -= sizeof(*rhdr);
-
-	if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
-		FN_ERROR("send_cmd: Bad magic %02x %02x\n", rhdr->magic[0], rhdr->magic[1]);
-		return -1;
-	}
-	if (rhdr->cmd != chdr->cmd) {
-		FN_ERROR("send_cmd: Bad cmd %02x != %02x\n", rhdr->cmd, chdr->cmd);
-		return -1;
-	}
-	if (rhdr->tag != chdr->tag) {
-		FN_ERROR("send_cmd: Bad tag %04x != %04x\n", rhdr->tag, chdr->tag);
-		return -1;
-	}
-	if (fn_le16(rhdr->len) != (actual_len/2)) {
-		FN_ERROR("send_cmd: Bad len %04x != %04x\n", fn_le16(rhdr->len), (int)(actual_len/2));
-		return -1;
-	}
-
-	if (actual_len > reply_len) {
-		FN_WARNING("send_cmd: Data buffer is %d bytes long, but got %d bytes\n", reply_len, actual_len);
-		memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
-	} else {
-		memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
-	}
-
-	dev->cam_tag++;
-
-	return actual_len;
-}
-
-static int write_register(freenect_device *dev, uint16_t reg, uint16_t data)
-{
-	freenect_context *ctx = dev->parent;
-	uint16_t reply[2];
-	uint16_t cmd[2];
-	int res;
-
-	cmd[0] = fn_le16(reg);
-	cmd[1] = fn_le16(data);
-
-	FN_DEBUG("Write Reg 0x%04x <= 0x%02x\n", reg, data);
-	res = send_cmd(dev, 0x03, cmd, 4, reply, 4);
-	if (res < 0)
-		return res;
-	if (res != 2) {
-		FN_WARNING("send_cmd returned %d [%04x %04x], 0000 expected\n", res, reply[0], reply[1]);
-	}
-	return 0;
-}
-
-// This function is here for completeness.  We don't actually use it for anything right now.
-static uint16_t read_register(freenect_device *dev, uint16_t reg)
-{
-	freenect_context *ctx = dev->parent;
-	uint16_t reply[2];
-	uint16_t cmd;
-	int res;
-
-	cmd = fn_le16(reg);
-
-	FN_DEBUG("Read Reg 0x%04x =>\n", reg);
-	res = send_cmd(dev, 0x02, &cmd, 2, reply, 4);
-	if (res < 0)
-		FN_ERROR("read_register: send_cmd() failed: %d\n", res);
-	if (res != 4)
-		FN_WARNING("send_cmd returned %d [%04x %04x], 0000 expected\n", res, reply[0], reply[1]);
-
-	return reply[1];
-}
-
 static int freenect_fetch_reg_info(freenect_device *dev)
 {
 	freenect_context *ctx = dev->parent;
@@ -904,9 +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;