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Better support for V4L2
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@sgorsten
sgorsten committed Oct 20, 2015
1 parent 6ea9eeb commit 69fd75b
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Showing 3 changed files with 114 additions and 31 deletions.
2 changes: 1 addition & 1 deletion librealsense.qtcreator/v4l2-test.pro
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ CONFIG += console
CONFIG -= app_bundle
CONFIG -= qt
QMAKE_CXXFLAGS += -std=c++11
PKGCONFIG += glfw3 gl
PKGCONFIG += glfw3 gl libusb-1.0
CONFIG += link_pkgconfig
INCLUDEPATH += ../include
LIBS += -pthread
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73 changes: 55 additions & 18 deletions src/backends/uvc-v4l2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@
#include <linux/uvcvideo.h>
#include <linux/videodev2.h>

#include <libusb.h>

// debug
#include <iostream>

Expand Down Expand Up @@ -62,7 +64,7 @@ namespace rsimpl
struct subdevice
{
std::string dev_name;
int vid, pid;
int vid, pid, mi;
int fd;
std::vector<buffer> buffers;

Expand All @@ -79,17 +81,21 @@ namespace rsimpl
}
if(!S_ISCHR(st.st_mode)) throw std::runtime_error(dev_name + " is no device");

std::string path = "/sys/class/video4linux/" + name + "/device/input";
DIR * dir = opendir(path.c_str());
if(!dir) throw std::runtime_error("Could not access " + path);
while(dirent * entry = readdir(dir))
{
std::string inputName = entry->d_name;
if(inputName.size() < 5 || inputName.substr(0,5) != "input") continue;
if(!(std::ifstream(path + "/" + inputName + "/id/vendor") >> std::hex >> vid)) throw std::runtime_error("Failed to read vendor ID");
if(!(std::ifstream(path + "/" + inputName + "/id/product") >> std::hex >> pid)) throw std::runtime_error("Failed to read product ID");
}
closedir(dir);
std::string modalias;
if(!(std::ifstream("/sys/class/video4linux/" + name + "/device/modalias") >> modalias))
throw std::runtime_error("Failed to read modalias");
if(modalias.size() < 14 || modalias.substr(0,5) != "usb:v" || modalias[9] != 'p')
throw std::runtime_error("Not a usb format modalias");
if(!(std::istringstream(modalias.substr(5,4)) >> std::hex >> vid))
throw std::runtime_error("Failed to read vendor ID");
if(!(std::istringstream(modalias.substr(10,4)) >> std::hex >> pid))
throw std::runtime_error("Failed to read product ID");
if(!(std::ifstream("/sys/class/video4linux/" + name + "/device/bInterfaceNumber") >> std::hex >> mi))
throw std::runtime_error("Failed to read interface number");

std::cout << dev_name << " has vendor id " << std::hex << vid << std::endl;
std::cout << dev_name << " has product id " << std::hex << pid << std::endl;
std::cout << dev_name << " provides interface number " << std::dec << mi << std::endl;

fd = open(dev_name.c_str(), O_RDWR | O_NONBLOCK, 0);
if(fd < 0)
Expand Down Expand Up @@ -155,6 +161,7 @@ namespace rsimpl

int get_vid() const { return vid; }
int get_pid() const { return pid; }
int get_mi() const { return mi; }

void get_control(int control, void * data, size_t size)
{
Expand Down Expand Up @@ -289,16 +296,35 @@ namespace rsimpl
std::thread thread;
volatile bool stop;

//uint32_t serialNumber;
libusb_device * usb_device;
libusb_device_handle * usb_handle;
std::vector<int> claimed_interfaces;

device(std::shared_ptr<context> parent) : parent(parent), stop() {} // TODO: Init
device(std::shared_ptr<context> parent) : parent(parent), stop(), usb_device(), usb_handle() {} // TODO: Init
~device()
{
if(thread.joinable())
{
stop = true;
thread.join();
}

for(auto interface_number : claimed_interfaces)
{
int status = libusb_release_interface(usb_handle, interface_number);
if(status < 0) DEBUG_ERR("libusb_release_interface(...) returned " << libusb_error_name(status));
}
if(usb_handle) libusb_close(usb_handle);
if(usb_device) libusb_unref_device(usb_device);
}

bool has_mi(int mi) const
{
for(auto & sub : subdevices)
{
if(sub->get_mi() == mi) return true;
}
return false;
}
};

Expand All @@ -319,8 +345,18 @@ namespace rsimpl
device.subdevices[subdevice]->set_control(ctrl, data, len);
}

void claim_interface(device & device, const guid & interface_guid, int interface_number) {}
void bulk_transfer(device & device, unsigned char endpoint, void * data, int length, int *actual_length, unsigned int timeout) {}
void claim_interface(device & device, const guid & interface_guid, int interface_number)
{
int status = libusb_claim_interface(device.usb_handle, interface_number);
if(status < 0) throw std::runtime_error(to_string() << "libusb_claim_interface(...) returned " << libusb_error_name(status));
device.claimed_interfaces.push_back(interface_number);
}

void bulk_transfer(device & device, unsigned char endpoint, void * data, int length, int *actual_length, unsigned int timeout)
{
int status = libusb_bulk_transfer(device.usb_handle, endpoint, (unsigned char *)data, length, actual_length, timeout);
if(status < 0) throw std::runtime_error(to_string() << "libusb_bulk_transfer(...) returned " << libusb_error_name(status));
}

void set_subdevice_mode(device & device, int subdevice_index, int width, int height, uint32_t fourcc, int fps, std::function<void(const void * frame)> callback)
{
Expand Down Expand Up @@ -381,11 +417,12 @@ namespace rsimpl
}
closedir(dir);

// Group subdevices by vid/pid (note that this will currently see two DS4s/IVCAMs as one single device)
// Group subdevices by vid/pid, and start a new device if we encounter a duplicate mi
std::vector<std::shared_ptr<device>> devices;
for(auto & sub : subdevices)
{
if(devices.empty() || sub->get_vid() != get_vendor_id(*devices.back()) || sub->get_pid() != get_product_id(*devices.back()))
if(devices.empty() || sub->get_vid() != get_vendor_id(*devices.back())
|| sub->get_pid() != get_product_id(*devices.back()) || devices.back()->has_mi(sub->mi))
{
devices.push_back(std::make_shared<device>(context));
}
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70 changes: 58 additions & 12 deletions src/hack/v4l2-test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@
#include <linux/uvcvideo.h>
#include <linux/videodev2.h>

#include <libusb.h>

static int xioctl(int fh, int request, void *arg)
{
int r;
Expand Down Expand Up @@ -55,7 +57,7 @@ void warn_error(const char * s)
class subdevice
{
std::string dev_name;
int vid, pid;
int vid, pid, mi;
int fd;
std::vector<buffer> buffers;
std::function<void(const void *, size_t)> callback;
Expand All @@ -70,17 +72,21 @@ class subdevice
}
if(!S_ISCHR(st.st_mode)) throw std::runtime_error(dev_name + " is no device");

std::string path = "/sys/class/video4linux/" + name + "/device/input";
DIR * dir = opendir(path.c_str());
if(!dir) throw std::runtime_error("Could not access " + path);
while(dirent * entry = readdir(dir))
{
std::string inputName = entry->d_name;
if(inputName.size() < 5 || inputName.substr(0,5) != "input") continue;
if(!(std::ifstream(path + "/" + inputName + "/id/vendor") >> std::hex >> vid)) throw std::runtime_error("Failed to read vendor ID");
if(!(std::ifstream(path + "/" + inputName + "/id/product") >> std::hex >> pid)) throw std::runtime_error("Failed to read product ID");
}
closedir(dir);
std::string modalias;
if(!(std::ifstream("/sys/class/video4linux/" + name + "/device/modalias") >> modalias))
throw std::runtime_error("Failed to read modalias");
if(modalias.size() < 14 || modalias.substr(0,5) != "usb:v" || modalias[9] != 'p')
throw std::runtime_error("Not a usb format modalias");
if(!(std::istringstream(modalias.substr(5,4)) >> std::hex >> vid))
throw std::runtime_error("Failed to read vendor ID");
if(!(std::istringstream(modalias.substr(10,4)) >> std::hex >> pid))
throw std::runtime_error("Failed to read product ID");
if(!(std::ifstream("/sys/class/video4linux/" + name + "/device/bInterfaceNumber") >> std::hex >> mi))
throw std::runtime_error("Failed to read interface number");

std::cout << dev_name << " has vendor id " << std::hex << vid << std::endl;
std::cout << dev_name << " has product id " << std::hex << pid << std::endl;
std::cout << dev_name << " provides interface number " << std::dec << mi << std::endl;

fd = open(dev_name.c_str(), O_RDWR | O_NONBLOCK, 0);
if(fd < 0)
Expand Down Expand Up @@ -290,8 +296,48 @@ class texture
}
};

bool check_usb(const char * call, int code)
{
if(code < 0)
{
std::cout << "\n" << call << "(...) returned " << std::dec << code << " (" << libusb_error_name(code) << ")" << std::endl;
return false;
}
return true;
}

#define CHECK(C, ...) check_usb(#C, C(__VA_ARGS__))

#include <iomanip>

int main(int argc, char * argv[])
{
libusb_context * ctx;
if(!CHECK(libusb_init, &ctx)) return EXIT_FAILURE;

libusb_device ** devices;
if(!CHECK(libusb_get_device_list, ctx, &devices)) return EXIT_FAILURE;

for(int i=0; devices[i]; ++i)
{
auto dev = devices[i];
libusb_device_descriptor desc;

if(!CHECK(libusb_get_device_descriptor, dev, &desc)) continue;
if(desc.idVendor != 0x8086) continue;

libusb_device_handle * handle;
if(!CHECK(libusb_open, dev, &handle)) continue;

unsigned char buffer[1024];
if(!CHECK(libusb_get_string_descriptor_ascii, handle, desc.iSerialNumber, buffer, 1024)) continue;
std::cout << std::hex << desc.idVendor << ":" << desc.idProduct;
std::cout << ":" << buffer << std::endl;

libusb_close(handle);
}
libusb_free_device_list(devices, 1);

std::vector<std::unique_ptr<subdevice>> subdevices;

DIR * dir = opendir("/sys/class/video4linux");
Expand Down

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