Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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libuvc_internal.h
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1
5#ifndef LIBUVC_INTERNAL_H
6#define LIBUVC_INTERNAL_H
7
8#include <assert.h>
9#include <stdlib.h>
10#include <stdio.h>
11#include <string.h>
12#include <pthread.h>
13#include <signal.h>
14#include "utlist.h"
15
17#define DW_TO_INT(p) ((p)[0] | ((p)[1] << 8) | ((p)[2] << 16) | ((p)[3] << 24))
19#define SW_TO_SHORT(p) ((p)[0] | ((p)[1] << 8))
21#define SHORT_TO_SW(s, p) \
22 (p)[0] = (s); \
23 (p)[1] = (s) >> 8;
25#define INT_TO_DW(i, p) \
26 (p)[0] = (i); \
27 (p)[1] = (i) >> 8; \
28 (p)[2] = (i) >> 16; \
29 (p)[3] = (i) >> 24;
30
32#define DL_NTH(head, out, n) \
33 do { \
34 int dl_nth_i = 0; \
35 LDECLTYPE(head) dl_nth_p = (head); \
36 if ((n) < 0) { \
37 while (dl_nth_p && dl_nth_i > (n)) { \
38 dl_nth_p = dl_nth_p->prev; \
39 dl_nth_i--; \
40 } \
41 } else { \
42 while (dl_nth_p && dl_nth_i < (n)) { \
43 dl_nth_p = dl_nth_p->next; \
44 dl_nth_i++; \
45 } \
46 } \
47 (out) = dl_nth_p; \
48 } while (0);
49
50#ifdef UVC_DEBUGGING
51#include <libgen.h>
52#define UVC_DEBUG(format, ...) fprintf(stderr, "[%s:%d/%s] " format "\n", basename(__FILE__), __LINE__, __FUNCTION__, ##__VA_ARGS__)
53#define UVC_ENTER() fprintf(stderr, "[%s:%d] begin %s\n", basename(__FILE__), __LINE__, __FUNCTION__)
54#define UVC_EXIT(code) fprintf(stderr, "[%s:%d] end %s (%d)\n", basename(__FILE__), __LINE__, __FUNCTION__, code)
55#define UVC_EXIT_VOID() fprintf(stderr, "[%s:%d] end %s\n", basename(__FILE__), __LINE__, __FUNCTION__)
56#else
57#define UVC_DEBUG(format, ...)
58#define UVC_ENTER()
59#define UVC_EXIT_VOID()
60#define UVC_EXIT(code)
61#endif
62
63/* http://stackoverflow.com/questions/19452971/array-size-macro-that-rejects-pointers */
64#define IS_INDEXABLE(arg) (sizeof(arg[0]))
65#define IS_ARRAY(arg) (IS_INDEXABLE(arg) && (((void *) &arg) == ((void *) arg)))
66#define ARRAYSIZE(arr) (sizeof(arr) / (IS_ARRAY(arr) ? sizeof(arr[0]) : 0))
67
69enum uvc_int_subclass_code {
70 UVC_SC_UNDEFINED = 0x00,
71 UVC_SC_VIDEOCONTROL = 0x01,
72 UVC_SC_VIDEOSTREAMING = 0x02,
73 UVC_SC_VIDEO_INTERFACE_COLLECTION = 0x03
74};
75
77enum uvc_int_proto_code {
78 UVC_PC_PROTOCOL_UNDEFINED = 0x00
79};
80
82enum uvc_vc_desc_subtype {
83 UVC_VC_DESCRIPTOR_UNDEFINED = 0x00,
84 UVC_VC_HEADER = 0x01,
85 UVC_VC_INPUT_TERMINAL = 0x02,
86 UVC_VC_OUTPUT_TERMINAL = 0x03,
87 UVC_VC_SELECTOR_UNIT = 0x04,
88 UVC_VC_PROCESSING_UNIT = 0x05,
89 UVC_VC_EXTENSION_UNIT = 0x06
90};
91
93enum uvc_ep_desc_subtype {
94 UVC_EP_UNDEFINED = 0x00,
95 UVC_EP_GENERAL = 0x01,
96 UVC_EP_ENDPOINT = 0x02,
97 UVC_EP_INTERRUPT = 0x03
98};
99
101enum uvc_vc_ctrl_selector {
102 UVC_VC_CONTROL_UNDEFINED = 0x00,
103 UVC_VC_VIDEO_POWER_MODE_CONTROL = 0x01,
104 UVC_VC_REQUEST_ERROR_CODE_CONTROL = 0x02
105};
106
108enum uvc_term_ctrl_selector {
109 UVC_TE_CONTROL_UNDEFINED = 0x00
110};
111
113enum uvc_su_ctrl_selector {
114 UVC_SU_CONTROL_UNDEFINED = 0x00,
115 UVC_SU_INPUT_SELECT_CONTROL = 0x01
116};
117
119enum uvc_xu_ctrl_selector {
120 UVC_XU_CONTROL_UNDEFINED = 0x00
121};
122
124enum uvc_vs_ctrl_selector {
125 UVC_VS_CONTROL_UNDEFINED = 0x00,
126 UVC_VS_PROBE_CONTROL = 0x01,
127 UVC_VS_COMMIT_CONTROL = 0x02,
128 UVC_VS_STILL_PROBE_CONTROL = 0x03,
129 UVC_VS_STILL_COMMIT_CONTROL = 0x04,
130 UVC_VS_STILL_IMAGE_TRIGGER_CONTROL = 0x05,
131 UVC_VS_STREAM_ERROR_CODE_CONTROL = 0x06,
132 UVC_VS_GENERATE_KEY_FRAME_CONTROL = 0x07,
133 UVC_VS_UPDATE_FRAME_SEGMENT_CONTROL = 0x08,
134 UVC_VS_SYNC_DELAY_CONTROL = 0x09
135};
136
138enum uvc_status_type {
139 UVC_STATUS_TYPE_CONTROL = 1,
140 UVC_STATUS_TYPE_STREAMING = 2
141};
142
144#define UVC_STREAM_EOH (1 << 7)
145#define UVC_STREAM_ERR (1 << 6)
146#define UVC_STREAM_STI (1 << 5)
147#define UVC_STREAM_RES (1 << 4)
148#define UVC_STREAM_SCR (1 << 3)
149#define UVC_STREAM_PTS (1 << 2)
150#define UVC_STREAM_EOF (1 << 1)
151#define UVC_STREAM_FID (1 << 0)
152
154#define UVC_CONTROL_CAP_GET (1 << 0)
155#define UVC_CONTROL_CAP_SET (1 << 1)
156#define UVC_CONTROL_CAP_DISABLED (1 << 2)
157#define UVC_CONTROL_CAP_AUTOUPDATE (1 << 3)
158#define UVC_CONTROL_CAP_ASYNCHRONOUS (1 << 4)
159
160struct uvc_streaming_interface;
161struct uvc_device_info;
162
164typedef struct uvc_streaming_interface {
165 struct uvc_device_info *parent;
166 struct uvc_streaming_interface *prev, *next;
168 uint8_t bInterfaceNumber;
170 struct uvc_format_desc *format_descs;
172 uint8_t bEndpointAddress;
173 uint8_t bTerminalLink;
174} uvc_streaming_interface_t;
175
177typedef struct uvc_control_interface {
178 struct uvc_device_info *parent;
179 struct uvc_input_terminal *input_term_descs;
180 // struct uvc_output_terminal *output_term_descs;
181 struct uvc_processing_unit *processing_unit_descs;
182 struct uvc_extension_unit *extension_unit_descs;
183 uint16_t bcdUVC;
184 uint8_t bEndpointAddress;
186 uint8_t bInterfaceNumber;
187} uvc_control_interface_t;
188
189struct uvc_stream_ctrl;
190
191struct uvc_device {
192 struct uvc_context *ctx;
193 int ref;
194 libusb_device *usb_dev;
195};
196
197typedef struct uvc_device_info {
199 struct libusb_config_descriptor *config;
201 uvc_control_interface_t ctrl_if;
203 uvc_streaming_interface_t *stream_ifs;
204
205 /* Store the interface for multiple UVCs on a single VID/PID device (Intel RealSense, VF200, e.g) */
206 int camera_number;
207} uvc_device_info_t;
208
209/*
210 set a high number of transfer buffers. This uses a lot of ram, but
211 avoids problems with scheduling delays on slow boards causing missed
212 transfers. A better approach may be to make the transfer thread FIFO
213 scheduled (if we have root).
214 We could/should change this to allow reduce it to, say, 5 by default
215 and then allow the user to change the number of buffers as required.
216 */
217#define LIBUVC_XFER_BUF_SIZE (64 * 1024 * 1024)
218
219struct uvc_stream_handle {
220 struct uvc_device_handle *devh;
221 struct uvc_stream_handle *prev, *next;
222 struct uvc_streaming_interface *stream_if;
223
225 uint8_t running;
227 struct uvc_stream_ctrl cur_ctrl;
228
229 /* listeners may only access hold*, and only when holding a
230 * lock on cb_mutex (probably signaled with cb_cond) */
231 uint8_t fid;
232 uint32_t seq, hold_seq;
233 uint32_t pts, hold_pts;
234 uint32_t last_scr, hold_last_scr;
235 size_t got_bytes, hold_bytes;
236 uint8_t *outbuf, *holdbuf;
237 pthread_mutex_t cb_mutex;
238 pthread_cond_t cb_cond;
239 pthread_t cb_thread;
240 uint32_t last_polled_seq;
241 uvc_frame_callback_t *user_cb;
242 void *user_ptr;
243 struct libusb_transfer **transfers; // num_transfer_bufs
244 uint8_t **transfer_bufs; // num_transfer_bufs
245 struct uvc_frame frame;
246 uint32_t fourcc;
247 int num_transfer_bufs;
248};
249
254struct uvc_device_handle {
255 struct uvc_device *dev;
256 struct uvc_device_handle *prev, *next;
258 libusb_device_handle *usb_devh;
259 struct uvc_device_info *info;
260 struct libusb_transfer *status_xfer;
261 uint8_t status_buf[32];
263 uvc_status_callback_t *status_cb;
264 void *status_user_ptr;
265
266 uvc_stream_handle_t *streams;
268 uint8_t is_isight;
269};
270
272struct uvc_context {
274 struct libusb_context *usb_ctx;
276 uint8_t own_usb_ctx;
278 uvc_device_handle_t *open_devices;
279 pthread_t handler_thread;
280 uint8_t kill_handler_thread;
281};
282
283uvc_error_t uvc_query_stream_ctrl(
285 uvc_stream_ctrl_t *ctrl,
286 uint8_t probe,
287 enum uvc_req_code req);
288
289void uvc_start_handler_thread(uvc_context_t *ctx);
290uvc_error_t uvc_claim_if(uvc_device_handle_t *devh, int idx);
291uvc_error_t uvc_release_if(uvc_device_handle_t *devh, int idx);
292
293#endif // !def(LIBUVC_INTERNAL_H)
void() uvc_frame_callback_t(struct uvc_frame *frame, void *user_ptr)
Definition: libuvc.h:396
struct uvc_context uvc_context_t
Definition: libuvc.h:253
struct uvc_device_handle uvc_device_handle_t
Definition: libuvc.h:268
void() uvc_status_callback_t(enum uvc_status_class status_class, int event, int selector, enum uvc_status_attribute status_attribute, void *data, size_t data_len, void *user_ptr)
Definition: libuvc.h:335
enum uvc_error uvc_error_t
uvc_req_code
Definition: libuvc.h:152
struct uvc_stream_handle uvc_stream_handle_t
Definition: libuvc.h:276
void config(uvc::device &device, uint8_t gyro_bw, uint8_t gyro_range, uint8_t accel_bw, uint8_t accel_range, uint32_t time_seed)
Definition: libuvc.h:309
Definition: libuvc.h:120
Definition: libuvc.h:364
Definition: libuvc.h:279
Definition: libuvc.h:298
Definition: libuvc.h:401