--- /dev/null
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (C) 2010-2012 Ken Tossell
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the author nor other contributors may be
+* used to endorse or promote products derived from this software
+* without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+/**
+ * @defgroup streaming Streaming control functions
+ * @brief Tools for creating, managing and consuming video streams
+ */
+
+#include "libuvc/libuvc.h"
+#include "libuvc/libuvc_internal.h"
+#include "errno.h"
+
+#ifdef _MSC_VER
+
+#define DELTA_EPOCH_IN_MICROSECS 116444736000000000Ui64
+
+// gettimeofday - get time of day for Windows;
+// A gettimeofday implementation for Microsoft Windows;
+// Public domain code, author "ponnada";
+int gettimeofday(struct timeval *tv, struct timezone *tz)
+{
+ FILETIME ft;
+ unsigned __int64 tmpres = 0;
+ static int tzflag = 0;
+ if (NULL != tv)
+ {
+ GetSystemTimeAsFileTime(&ft);
+ tmpres |= ft.dwHighDateTime;
+ tmpres <<= 32;
+ tmpres |= ft.dwLowDateTime;
+ tmpres /= 10;
+ tmpres -= DELTA_EPOCH_IN_MICROSECS;
+ tv->tv_sec = (long)(tmpres / 1000000UL);
+ tv->tv_usec = (long)(tmpres % 1000000UL);
+ }
+ return 0;
+}
+#endif // _MSC_VER
+uvc_frame_desc_t *uvc_find_frame_desc_stream(uvc_stream_handle_t *strmh,
+ uint16_t format_id, uint16_t frame_id);
+uvc_frame_desc_t *uvc_find_frame_desc(uvc_device_handle_t *devh,
+ uint16_t format_id, uint16_t frame_id);
+void *_uvc_user_caller(void *arg);
+void _uvc_populate_frame(uvc_stream_handle_t *strmh);
+
+struct format_table_entry {
+ enum uvc_frame_format format;
+ uint8_t abstract_fmt;
+ uint8_t guid[16];
+ int children_count;
+ enum uvc_frame_format *children;
+};
+
+struct format_table_entry *_get_format_entry(enum uvc_frame_format format) {
+ #define ABS_FMT(_fmt, _num, ...) \
+ case _fmt: { \
+ static enum uvc_frame_format _fmt##_children[] = __VA_ARGS__; \
+ static struct format_table_entry _fmt##_entry = { \
+ _fmt, 0, {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, _num, _fmt##_children }; \
+ return &_fmt##_entry; }
+
+ #define FMT(_fmt, ...) \
+ case _fmt: { \
+ static struct format_table_entry _fmt##_entry = { \
+ _fmt, 0, __VA_ARGS__, 0, NULL }; \
+ return &_fmt##_entry; }
+
+ switch(format) {
+ /* Define new formats here */
+ ABS_FMT(UVC_FRAME_FORMAT_ANY, 2,
+ {UVC_FRAME_FORMAT_UNCOMPRESSED, UVC_FRAME_FORMAT_COMPRESSED})
+
+ ABS_FMT(UVC_FRAME_FORMAT_UNCOMPRESSED, 4,
+ {UVC_FRAME_FORMAT_YUYV, UVC_FRAME_FORMAT_UYVY, UVC_FRAME_FORMAT_GRAY8,
+ UVC_FRAME_FORMAT_GRAY16})
+ FMT(UVC_FRAME_FORMAT_YUYV,
+ {'Y', 'U', 'Y', '2', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_UYVY,
+ {'U', 'Y', 'V', 'Y', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_GRAY8,
+ {'Y', '8', '0', '0', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_GRAY16,
+ {'Y', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_BY8,
+ {'B', 'Y', '8', ' ', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_BA81,
+ {'B', 'A', '8', '1', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_SGRBG8,
+ {'G', 'R', 'B', 'G', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_SGBRG8,
+ {'G', 'B', 'R', 'G', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_SRGGB8,
+ {'R', 'G', 'G', 'B', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ FMT(UVC_FRAME_FORMAT_SBGGR8,
+ {'B', 'G', 'G', 'R', 0x00, 0x00, 0x10, 0x00, 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71})
+ ABS_FMT(UVC_FRAME_FORMAT_COMPRESSED, 1,
+ {UVC_FRAME_FORMAT_MJPEG})
+ FMT(UVC_FRAME_FORMAT_MJPEG,
+ {'M', 'J', 'P', 'G'})
+
+ default:
+ return NULL;
+ }
+
+ #undef ABS_FMT
+ #undef FMT
+}
+
+static uint8_t _uvc_frame_format_matches_guid(enum uvc_frame_format fmt, uint8_t guid[16]) {
+ struct format_table_entry *format;
+ int child_idx;
+
+ format = _get_format_entry(fmt);
+ if (!format)
+ return 0;
+
+ if (!format->abstract_fmt && !memcmp(guid, format->guid, 16))
+ return 1;
+
+ for (child_idx = 0; child_idx < format->children_count; child_idx++) {
+ if (_uvc_frame_format_matches_guid(format->children[child_idx], guid))
+ return 1;
+ }
+
+ return 0;
+}
+
+static enum uvc_frame_format uvc_frame_format_for_guid(uint8_t guid[16]) {
+ struct format_table_entry *format;
+ enum uvc_frame_format fmt;
+
+ for (fmt = 0; fmt < UVC_FRAME_FORMAT_COUNT; ++fmt) {
+ format = _get_format_entry(fmt);
+ if (!format || format->abstract_fmt)
+ continue;
+ if (!memcmp(format->guid, guid, 16))
+ return format->format;
+ }
+
+ return UVC_FRAME_FORMAT_UNKNOWN;
+}
+
+/** @internal
+ * Run a streaming control query
+ * @param[in] devh UVC device
+ * @param[in,out] ctrl Control block
+ * @param[in] probe Whether this is a probe query or a commit query
+ * @param[in] req Query type
+ */
+uvc_error_t uvc_query_stream_ctrl(
+ uvc_device_handle_t *devh,
+ uvc_stream_ctrl_t *ctrl,
+ uint8_t probe,
+ enum uvc_req_code req) {
+ uint8_t buf[34];
+ size_t len;
+ uvc_error_t err;
+
+ memset(buf, 0, sizeof(buf));
+
+ if (devh->info->ctrl_if.bcdUVC >= 0x0110)
+ len = 34;
+ else
+ len = 26;
+
+ /* prepare for a SET transfer */
+ if (req == UVC_SET_CUR) {
+ SHORT_TO_SW(ctrl->bmHint, buf);
+ buf[2] = ctrl->bFormatIndex;
+ buf[3] = ctrl->bFrameIndex;
+ INT_TO_DW(ctrl->dwFrameInterval, buf + 4);
+ SHORT_TO_SW(ctrl->wKeyFrameRate, buf + 8);
+ SHORT_TO_SW(ctrl->wPFrameRate, buf + 10);
+ SHORT_TO_SW(ctrl->wCompQuality, buf + 12);
+ SHORT_TO_SW(ctrl->wCompWindowSize, buf + 14);
+ SHORT_TO_SW(ctrl->wDelay, buf + 16);
+ INT_TO_DW(ctrl->dwMaxVideoFrameSize, buf + 18);
+ INT_TO_DW(ctrl->dwMaxPayloadTransferSize, buf + 22);
+
+ if (len == 34) {
+ INT_TO_DW ( ctrl->dwClockFrequency, buf + 26 );
+ buf[30] = ctrl->bmFramingInfo;
+ buf[31] = ctrl->bPreferredVersion;
+ buf[32] = ctrl->bMinVersion;
+ buf[33] = ctrl->bMaxVersion;
+ /** @todo support UVC 1.1 */
+ }
+ }
+
+ /* do the transfer */
+ err = libusb_control_transfer(
+ devh->usb_devh,
+ req == UVC_SET_CUR ? 0x21 : 0xA1,
+ req,
+ probe ? (UVC_VS_PROBE_CONTROL << 8) : (UVC_VS_COMMIT_CONTROL << 8),
+ ctrl->bInterfaceNumber,
+ buf, len, 0
+ );
+
+ if (err <= 0) {
+ return err;
+ }
+
+ /* now decode following a GET transfer */
+ if (req != UVC_SET_CUR) {
+ ctrl->bmHint = SW_TO_SHORT(buf);
+ ctrl->bFormatIndex = buf[2];
+ ctrl->bFrameIndex = buf[3];
+ ctrl->dwFrameInterval = DW_TO_INT(buf + 4);
+ ctrl->wKeyFrameRate = SW_TO_SHORT(buf + 8);
+ ctrl->wPFrameRate = SW_TO_SHORT(buf + 10);
+ ctrl->wCompQuality = SW_TO_SHORT(buf + 12);
+ ctrl->wCompWindowSize = SW_TO_SHORT(buf + 14);
+ ctrl->wDelay = SW_TO_SHORT(buf + 16);
+ ctrl->dwMaxVideoFrameSize = DW_TO_INT(buf + 18);
+ ctrl->dwMaxPayloadTransferSize = DW_TO_INT(buf + 22);
+
+ if (len == 34) {
+ ctrl->dwClockFrequency = DW_TO_INT ( buf + 26 );
+ ctrl->bmFramingInfo = buf[30];
+ ctrl->bPreferredVersion = buf[31];
+ ctrl->bMinVersion = buf[32];
+ ctrl->bMaxVersion = buf[33];
+ /** @todo support UVC 1.1 */
+ }
+ else
+ ctrl->dwClockFrequency = devh->info->ctrl_if.dwClockFrequency;
+
+ /* fix up block for cameras that fail to set dwMax* */
+ if (ctrl->dwMaxVideoFrameSize == 0) {
+ uvc_frame_desc_t *frame = uvc_find_frame_desc(devh, ctrl->bFormatIndex, ctrl->bFrameIndex);
+
+ if (frame) {
+ ctrl->dwMaxVideoFrameSize = frame->dwMaxVideoFrameBufferSize;
+ }
+ }
+ }
+
+ return UVC_SUCCESS;
+}
+
+/** @brief Reconfigure stream with a new stream format.
+ * @ingroup streaming
+ *
+ * This may be executed whether or not the stream is running.
+ *
+ * @param[in] strmh Stream handle
+ * @param[in] ctrl Control block, processed using {uvc_probe_stream_ctrl} or
+ * {uvc_get_stream_ctrl_format_size}
+ */
+uvc_error_t uvc_stream_ctrl(uvc_stream_handle_t *strmh, uvc_stream_ctrl_t *ctrl) {
+ uvc_error_t ret;
+
+ if (strmh->stream_if->bInterfaceNumber != ctrl->bInterfaceNumber)
+ return UVC_ERROR_INVALID_PARAM;
+
+ /* @todo Allow the stream to be modified without restarting the stream */
+ if (strmh->running)
+ return UVC_ERROR_BUSY;
+
+ ret = uvc_query_stream_ctrl(strmh->devh, ctrl, 0, UVC_SET_CUR);
+ if (ret != UVC_SUCCESS)
+ return ret;
+
+ strmh->cur_ctrl = *ctrl;
+ return UVC_SUCCESS;
+}
+
+/** @internal
+ * @brief Find the descriptor for a specific frame configuration
+ * @param stream_if Stream interface
+ * @param format_id Index of format class descriptor
+ * @param frame_id Index of frame descriptor
+ */
+static uvc_frame_desc_t *_uvc_find_frame_desc_stream_if(uvc_streaming_interface_t *stream_if,
+ uint16_t format_id, uint16_t frame_id) {
+
+ uvc_format_desc_t *format = NULL;
+ uvc_frame_desc_t *frame = NULL;
+
+ DL_FOREACH(stream_if->format_descs, format) {
+ if (format->bFormatIndex == format_id) {
+ DL_FOREACH(format->frame_descs, frame) {
+ if (frame->bFrameIndex == frame_id)
+ return frame;
+ }
+ }
+ }
+
+ return NULL;
+}
+
+uvc_frame_desc_t *uvc_find_frame_desc_stream(uvc_stream_handle_t *strmh,
+ uint16_t format_id, uint16_t frame_id) {
+ return _uvc_find_frame_desc_stream_if(strmh->stream_if, format_id, frame_id);
+}
+
+/** @internal
+ * @brief Find the descriptor for a specific frame configuration
+ * @param devh UVC device
+ * @param format_id Index of format class descriptor
+ * @param frame_id Index of frame descriptor
+ */
+uvc_frame_desc_t *uvc_find_frame_desc(uvc_device_handle_t *devh,
+ uint16_t format_id, uint16_t frame_id) {
+
+ uvc_streaming_interface_t *stream_if;
+ uvc_frame_desc_t *frame;
+
+ DL_FOREACH(devh->info->stream_ifs, stream_if) {
+ frame = _uvc_find_frame_desc_stream_if(stream_if, format_id, frame_id);
+ if (frame)
+ return frame;
+ }
+
+ return NULL;
+}
+
+/** Get a negotiated streaming control block for some common parameters.
+ * @ingroup streaming
+ *
+ * @param[in] devh Device handle
+ * @param[in,out] ctrl Control block
+ * @param[in] format_class Type of streaming format
+ * @param[in] width Desired frame width
+ * @param[in] height Desired frame height
+ * @param[in] fps Frame rate, frames per second
+ */
+uvc_error_t uvc_get_stream_ctrl_format_size(
+ uvc_device_handle_t *devh,
+ uvc_stream_ctrl_t *ctrl,
+ enum uvc_frame_format cf,
+ int width, int height,
+ int fps) {
+ uvc_streaming_interface_t *stream_if;
+
+ /* find a matching frame descriptor and interval */
+ DL_FOREACH(devh->info->stream_ifs, stream_if) {
+ uvc_format_desc_t *format;
+
+ DL_FOREACH(stream_if->format_descs, format) {
+ uvc_frame_desc_t *frame;
+
+ if (!_uvc_frame_format_matches_guid(cf, format->guidFormat))
+ continue;
+
+ DL_FOREACH(format->frame_descs, frame) {
+ if (frame->wWidth != width || frame->wHeight != height)
+ continue;
+
+ uint32_t *interval;
+
+ ctrl->bInterfaceNumber = stream_if->bInterfaceNumber;
+ UVC_DEBUG("claiming streaming interface %d", stream_if->bInterfaceNumber );
+ uvc_claim_if(devh, ctrl->bInterfaceNumber);
+ /* get the max values */
+ uvc_query_stream_ctrl( devh, ctrl, 1, UVC_GET_MAX);
+
+ if (frame->intervals) {
+ for (interval = frame->intervals; *interval; ++interval) {
+ // allow a fps rate of zero to mean "accept first rate available"
+ if (10000000 / *interval == (unsigned int) fps || fps == 0) {
+
+ ctrl->bmHint = (1 << 0); /* don't negotiate interval */
+ ctrl->bFormatIndex = format->bFormatIndex;
+ ctrl->bFrameIndex = frame->bFrameIndex;
+ ctrl->dwFrameInterval = *interval;
+
+ goto found;
+ }
+ }
+ } else {
+ uint32_t interval_100ns = 10000000 / fps;
+ uint32_t interval_offset = interval_100ns - frame->dwMinFrameInterval;
+
+ if (interval_100ns >= frame->dwMinFrameInterval
+ && interval_100ns <= frame->dwMaxFrameInterval
+ && !(interval_offset
+ && (interval_offset % frame->dwFrameIntervalStep))) {
+
+ ctrl->bmHint = (1 << 0);
+ ctrl->bFormatIndex = format->bFormatIndex;
+ ctrl->bFrameIndex = frame->bFrameIndex;
+ ctrl->dwFrameInterval = interval_100ns;
+
+ goto found;
+ }
+ }
+ }
+ }
+ }
+
+ return UVC_ERROR_INVALID_MODE;
+
+found:
+ return uvc_probe_stream_ctrl(devh, ctrl);
+}
+
+/** @internal
+ * Negotiate streaming parameters with the device
+ *
+ * @param[in] devh UVC device
+ * @param[in,out] ctrl Control block
+ */
+uvc_error_t uvc_probe_stream_ctrl(
+ uvc_device_handle_t *devh,
+ uvc_stream_ctrl_t *ctrl) {
+
+ uvc_query_stream_ctrl(
+ devh, ctrl, 1, UVC_SET_CUR
+ );
+
+ uvc_query_stream_ctrl(
+ devh, ctrl, 1, UVC_GET_CUR
+ );
+
+ /** @todo make sure that worked */
+ return UVC_SUCCESS;
+}
+
+/** @internal
+ * @brief Swap the working buffer with the presented buffer and notify consumers
+ */
+void _uvc_swap_buffers(uvc_stream_handle_t *strmh) {
+ uint8_t *tmp_buf;
+
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ /* swap the buffers */
+ tmp_buf = strmh->holdbuf;
+ strmh->hold_bytes = strmh->got_bytes;
+ strmh->holdbuf = strmh->outbuf;
+ strmh->outbuf = tmp_buf;
+ strmh->hold_last_scr = strmh->last_scr;
+ strmh->hold_pts = strmh->pts;
+ strmh->hold_seq = strmh->seq;
+
+ pthread_cond_broadcast(&strmh->cb_cond);
+ pthread_mutex_unlock(&strmh->cb_mutex);
+
+ strmh->seq++;
+ strmh->got_bytes = 0;
+ strmh->last_scr = 0;
+ strmh->pts = 0;
+}
+
+/** @internal
+ * @brief Process a payload transfer
+ *
+ * Processes stream, places frames into buffer, signals listeners
+ * (such as user callback thread and any polling thread) on new frame
+ *
+ * @param payload Contents of the payload transfer, either a packet (isochronous) or a full
+ * transfer (bulk mode)
+ * @param payload_len Length of the payload transfer
+ */
+void _uvc_process_payload(uvc_stream_handle_t *strmh, uint8_t *payload, size_t payload_len) {
+ size_t header_len;
+ uint8_t header_info;
+ size_t data_len;
+
+ /* magic numbers for identifying header packets from some iSight cameras */
+ static uint8_t isight_tag[] = {
+ 0x11, 0x22, 0x33, 0x44,
+ 0xde, 0xad, 0xbe, 0xef, 0xde, 0xad, 0xfa, 0xce
+ };
+
+ /* ignore empty payload transfers */
+ if (payload_len == 0)
+ return;
+
+ /* Certain iSight cameras have strange behavior: They send header
+ * information in a packet with no image data, and then the following
+ * packets have only image data, with no more headers until the next frame.
+ *
+ * The iSight header: len(1), flags(1 or 2), 0x11223344(4),
+ * 0xdeadbeefdeadface(8), ??(16)
+ */
+
+ if (strmh->devh->is_isight &&
+ (payload_len < 14 || memcmp(isight_tag, payload + 2, sizeof(isight_tag))) &&
+ (payload_len < 15 || memcmp(isight_tag, payload + 3, sizeof(isight_tag)))) {
+ /* The payload transfer doesn't have any iSight magic, so it's all image data */
+ header_len = 0;
+ data_len = payload_len;
+ } else {
+ header_len = payload[0];
+
+ if (header_len > payload_len) {
+ UVC_DEBUG("bogus packet: actual_len=%zd, header_len=%zd\n", payload_len, header_len);
+ return;
+ }
+
+ if (strmh->devh->is_isight)
+ data_len = 0;
+ else
+ data_len = payload_len - header_len;
+ }
+
+ if (header_len < 2) {
+ header_info = 0;
+ } else {
+ /** @todo we should be checking the end-of-header bit */
+ size_t variable_offset = 2;
+
+ header_info = payload[1];
+
+ if (header_info & 0x40) {
+ UVC_DEBUG("bad packet: error bit set");
+ return;
+ }
+
+ if (strmh->fid != (header_info & 1) && strmh->got_bytes != 0) {
+ /* The frame ID bit was flipped, but we have image data sitting
+ around from prior transfers. This means the camera didn't send
+ an EOF for the last transfer of the previous frame. */
+ _uvc_swap_buffers(strmh);
+ }
+
+ strmh->fid = header_info & 1;
+
+ if (header_info & (1 << 2)) {
+ strmh->pts = DW_TO_INT(payload + variable_offset);
+ variable_offset += 4;
+ }
+
+ if (header_info & (1 << 3)) {
+ /** @todo read the SOF token counter */
+ strmh->last_scr = DW_TO_INT(payload + variable_offset);
+ variable_offset += 6;
+ }
+ }
+
+ if (data_len > 0) {
+ memcpy(strmh->outbuf + strmh->got_bytes, payload + header_len, data_len);
+ strmh->got_bytes += data_len;
+
+ if (header_info & (1 << 1)) {
+ /* The EOF bit is set, so publish the complete frame */
+ _uvc_swap_buffers(strmh);
+ }
+ }
+}
+
+/** @internal
+ * @brief Stream transfer callback
+ *
+ * Processes stream, places frames into buffer, signals listeners
+ * (such as user callback thread and any polling thread) on new frame
+ *
+ * @param transfer Active transfer
+ */
+void LIBUSB_CALL _uvc_stream_callback(struct libusb_transfer *transfer) {
+ uvc_stream_handle_t *strmh = transfer->user_data;
+
+ int resubmit = 1;
+
+ switch (transfer->status) {
+ case LIBUSB_TRANSFER_COMPLETED:
+ if (transfer->num_iso_packets == 0) {
+ /* This is a bulk mode transfer, so it just has one payload transfer */
+ _uvc_process_payload(strmh, transfer->buffer, transfer->actual_length);
+ } else {
+ /* This is an isochronous mode transfer, so each packet has a payload transfer */
+ int packet_id;
+
+ for (packet_id = 0; packet_id < transfer->num_iso_packets; ++packet_id) {
+ uint8_t *pktbuf;
+ struct libusb_iso_packet_descriptor *pkt;
+
+ pkt = transfer->iso_packet_desc + packet_id;
+
+ if (pkt->status != 0) {
+ UVC_DEBUG("bad packet (isochronous transfer); status: %d", pkt->status);
+ continue;
+ }
+
+ pktbuf = libusb_get_iso_packet_buffer_simple(transfer, packet_id);
+
+ _uvc_process_payload(strmh, pktbuf, pkt->actual_length);
+
+ }
+ }
+ break;
+ case LIBUSB_TRANSFER_CANCELLED:
+ case LIBUSB_TRANSFER_ERROR:
+ case LIBUSB_TRANSFER_NO_DEVICE: {
+ int i;
+ UVC_DEBUG("not retrying transfer, status = %d", transfer->status);
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ /* Mark transfer as deleted. */
+ for(i=0; i < LIBUVC_NUM_TRANSFER_BUFS; i++) {
+ if(strmh->transfers[i] == transfer) {
+ UVC_DEBUG("Freeing transfer %d (%p)", i, transfer);
+ free(transfer->buffer);
+ libusb_free_transfer(transfer);
+ strmh->transfers[i] = NULL;
+ break;
+ }
+ }
+ if(i == LIBUVC_NUM_TRANSFER_BUFS ) {
+ UVC_DEBUG("transfer %p not found; not freeing!", transfer);
+ }
+
+ resubmit = 0;
+
+ pthread_cond_broadcast(&strmh->cb_cond);
+ pthread_mutex_unlock(&strmh->cb_mutex);
+
+ break;
+ }
+ case LIBUSB_TRANSFER_TIMED_OUT:
+ case LIBUSB_TRANSFER_STALL:
+ case LIBUSB_TRANSFER_OVERFLOW:
+ UVC_DEBUG("retrying transfer, status = %d", transfer->status);
+ break;
+ }
+
+ if ( resubmit ) {
+ if ( strmh->running ) {
+ libusb_submit_transfer(transfer);
+ } else {
+ int i;
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ /* Mark transfer as deleted. */
+ for(i=0; i < LIBUVC_NUM_TRANSFER_BUFS; i++) {
+ if(strmh->transfers[i] == transfer) {
+ UVC_DEBUG("Freeing orphan transfer %d (%p)", i, transfer);
+ free(transfer->buffer);
+ libusb_free_transfer(transfer);
+ strmh->transfers[i] = NULL;
+ }
+ }
+ if(i == LIBUVC_NUM_TRANSFER_BUFS ) {
+ UVC_DEBUG("orphan transfer %p not found; not freeing!", transfer);
+ }
+
+ pthread_cond_broadcast(&strmh->cb_cond);
+ pthread_mutex_unlock(&strmh->cb_mutex);
+ }
+ }
+}
+
+/** Begin streaming video from the camera into the callback function.
+ * @ingroup streaming
+ *
+ * @param devh UVC device
+ * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
+ * {uvc_get_stream_ctrl_format_size}
+ * @param cb User callback function. See {uvc_frame_callback_t} for restrictions.
+ * @param flags Stream setup flags, currently undefined. Set this to zero. The lower bit
+ * is reserved for backward compatibility.
+ */
+uvc_error_t uvc_start_streaming(
+ uvc_device_handle_t *devh,
+ uvc_stream_ctrl_t *ctrl,
+ uvc_frame_callback_t *cb,
+ void *user_ptr,
+ uint8_t flags
+) {
+ uvc_error_t ret;
+ uvc_stream_handle_t *strmh;
+
+ ret = uvc_stream_open_ctrl(devh, &strmh, ctrl);
+ if (ret != UVC_SUCCESS)
+ return ret;
+
+ ret = uvc_stream_start(strmh, cb, user_ptr, flags);
+ if (ret != UVC_SUCCESS) {
+ uvc_stream_close(strmh);
+ return ret;
+ }
+
+ return UVC_SUCCESS;
+}
+
+/** Begin streaming video from the camera into the callback function.
+ * @ingroup streaming
+ *
+ * @deprecated The stream type (bulk vs. isochronous) will be determined by the
+ * type of interface associated with the uvc_stream_ctrl_t parameter, regardless
+ * of whether the caller requests isochronous streaming. Please switch to
+ * uvc_start_streaming().
+ *
+ * @param devh UVC device
+ * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
+ * {uvc_get_stream_ctrl_format_size}
+ * @param cb User callback function. See {uvc_frame_callback_t} for restrictions.
+ */
+uvc_error_t uvc_start_iso_streaming(
+ uvc_device_handle_t *devh,
+ uvc_stream_ctrl_t *ctrl,
+ uvc_frame_callback_t *cb,
+ void *user_ptr
+) {
+ return uvc_start_streaming(devh, ctrl, cb, user_ptr, 0);
+}
+
+static uvc_stream_handle_t *_uvc_get_stream_by_interface(uvc_device_handle_t *devh, int interface_idx) {
+ uvc_stream_handle_t *strmh;
+
+ DL_FOREACH(devh->streams, strmh) {
+ if (strmh->stream_if->bInterfaceNumber == interface_idx)
+ return strmh;
+ }
+
+ return NULL;
+}
+
+static uvc_streaming_interface_t *_uvc_get_stream_if(uvc_device_handle_t *devh, int interface_idx) {
+ uvc_streaming_interface_t *stream_if;
+
+ DL_FOREACH(devh->info->stream_ifs, stream_if) {
+ if (stream_if->bInterfaceNumber == interface_idx)
+ return stream_if;
+ }
+
+ return NULL;
+}
+
+/** Open a new video stream.
+ * @ingroup streaming
+ *
+ * @param devh UVC device
+ * @param ctrl Control block, processed using {uvc_probe_stream_ctrl} or
+ * {uvc_get_stream_ctrl_format_size}
+ */
+uvc_error_t uvc_stream_open_ctrl(uvc_device_handle_t *devh, uvc_stream_handle_t **strmhp, uvc_stream_ctrl_t *ctrl) {
+ /* Chosen frame and format descriptors */
+ uvc_stream_handle_t *strmh = NULL;
+ uvc_streaming_interface_t *stream_if;
+ uvc_error_t ret;
+
+ UVC_ENTER();
+
+ if (_uvc_get_stream_by_interface(devh, ctrl->bInterfaceNumber) != NULL) {
+ ret = UVC_ERROR_BUSY; /* Stream is already opened */
+ goto fail;
+ }
+
+ stream_if = _uvc_get_stream_if(devh, ctrl->bInterfaceNumber);
+ if (!stream_if) {
+ ret = UVC_ERROR_INVALID_PARAM;
+ goto fail;
+ }
+
+ strmh = calloc(1, sizeof(*strmh));
+ if (!strmh) {
+ ret = UVC_ERROR_NO_MEM;
+ goto fail;
+ }
+ strmh->devh = devh;
+ strmh->stream_if = stream_if;
+ strmh->frame.library_owns_data = 1;
+
+ ret = uvc_claim_if(strmh->devh, strmh->stream_if->bInterfaceNumber);
+ if (ret != UVC_SUCCESS)
+ goto fail;
+
+ ret = uvc_stream_ctrl(strmh, ctrl);
+ if (ret != UVC_SUCCESS)
+ goto fail;
+
+ // Set up the streaming status and data space
+ strmh->running = 0;
+ /** @todo take only what we need */
+ strmh->outbuf = malloc( LIBUVC_XFER_BUF_SIZE );
+ strmh->holdbuf = malloc( LIBUVC_XFER_BUF_SIZE );
+
+ pthread_mutex_init(&strmh->cb_mutex, NULL);
+ pthread_cond_init(&strmh->cb_cond, NULL);
+
+ DL_APPEND(devh->streams, strmh);
+
+ *strmhp = strmh;
+
+ UVC_EXIT(0);
+ return UVC_SUCCESS;
+
+fail:
+ if(strmh)
+ free(strmh);
+ UVC_EXIT(ret);
+ return ret;
+}
+
+/** Begin streaming video from the stream into the callback function.
+ * @ingroup streaming
+ *
+ * @param strmh UVC stream
+ * @param cb User callback function. See {uvc_frame_callback_t} for restrictions.
+ * @param flags Stream setup flags, currently undefined. Set this to zero. The lower bit
+ * is reserved for backward compatibility.
+ */
+uvc_error_t uvc_stream_start(
+ uvc_stream_handle_t *strmh,
+ uvc_frame_callback_t *cb,
+ void *user_ptr,
+ uint8_t flags
+) {
+ /* USB interface we'll be using */
+ const struct libusb_interface *interface;
+ int interface_id;
+ char isochronous;
+ uvc_frame_desc_t *frame_desc;
+ uvc_format_desc_t *format_desc;
+ uvc_stream_ctrl_t *ctrl;
+ uvc_error_t ret;
+ /* Total amount of data per transfer */
+ size_t total_transfer_size = 0;
+ struct libusb_transfer *transfer;
+ int transfer_id;
+
+ ctrl = &strmh->cur_ctrl;
+
+ UVC_ENTER();
+
+ if (strmh->running) {
+ UVC_EXIT(UVC_ERROR_BUSY);
+ return UVC_ERROR_BUSY;
+ }
+
+ strmh->running = 1;
+ strmh->seq = 1;
+ strmh->fid = 0;
+ strmh->pts = 0;
+ strmh->last_scr = 0;
+
+ frame_desc = uvc_find_frame_desc_stream(strmh, ctrl->bFormatIndex, ctrl->bFrameIndex);
+ if (!frame_desc) {
+ ret = UVC_ERROR_INVALID_PARAM;
+ goto fail;
+ }
+ format_desc = frame_desc->parent;
+
+ strmh->frame_format = uvc_frame_format_for_guid(format_desc->guidFormat);
+ if (strmh->frame_format == UVC_FRAME_FORMAT_UNKNOWN) {
+ ret = UVC_ERROR_NOT_SUPPORTED;
+ goto fail;
+ }
+
+ // Get the interface that provides the chosen format and frame configuration
+ interface_id = strmh->stream_if->bInterfaceNumber;
+ interface = &strmh->devh->info->config->interface[interface_id];
+
+ /* A VS interface uses isochronous transfers iff it has multiple altsettings.
+ * (UVC 1.5: 2.4.3. VideoStreaming Interface) */
+ isochronous = interface->num_altsetting > 1;
+
+ if (isochronous) {
+ /* For isochronous streaming, we choose an appropriate altsetting for the endpoint
+ * and set up several transfers */
+ const struct libusb_interface_descriptor *altsetting = 0;
+ const struct libusb_endpoint_descriptor *endpoint;
+ /* The greatest number of bytes that the device might provide, per packet, in this
+ * configuration */
+ size_t config_bytes_per_packet;
+ /* Number of packets per transfer */
+ size_t packets_per_transfer = 0;
+ /* Size of packet transferable from the chosen endpoint */
+ size_t endpoint_bytes_per_packet = 0;
+ /* Index of the altsetting */
+ int alt_idx, ep_idx;
+
+ config_bytes_per_packet = strmh->cur_ctrl.dwMaxPayloadTransferSize;
+
+ /* Go through the altsettings and find one whose packets are at least
+ * as big as our format's maximum per-packet usage. Assume that the
+ * packet sizes are increasing. */
+ for (alt_idx = 0; alt_idx < interface->num_altsetting; alt_idx++) {
+ altsetting = interface->altsetting + alt_idx;
+ endpoint_bytes_per_packet = 0;
+
+ /* Find the endpoint with the number specified in the VS header */
+ for (ep_idx = 0; ep_idx < altsetting->bNumEndpoints; ep_idx++) {
+ endpoint = altsetting->endpoint + ep_idx;
+
+ if (endpoint->bEndpointAddress == format_desc->parent->bEndpointAddress) {
+ endpoint_bytes_per_packet = endpoint->wMaxPacketSize;
+ // wMaxPacketSize: [unused:2 (multiplier-1):3 size:11]
+ endpoint_bytes_per_packet = (endpoint_bytes_per_packet & 0x07ff) *
+ (((endpoint_bytes_per_packet >> 11) & 3) + 1);
+ break;
+ }
+ }
+
+ if (endpoint_bytes_per_packet >= config_bytes_per_packet) {
+ /* Transfers will be at most one frame long: Divide the maximum frame size
+ * by the size of the endpoint and round up */
+ packets_per_transfer = (ctrl->dwMaxVideoFrameSize +
+ endpoint_bytes_per_packet - 1) / endpoint_bytes_per_packet;
+
+ /* But keep a reasonable limit: Otherwise we start dropping data */
+ if (packets_per_transfer > 32)
+ packets_per_transfer = 32;
+
+ total_transfer_size = packets_per_transfer * endpoint_bytes_per_packet;
+ break;
+ }
+ }
+
+ /* If we searched through all the altsettings and found nothing usable */
+ if (alt_idx == interface->num_altsetting) {
+ ret = UVC_ERROR_INVALID_MODE;
+ goto fail;
+ }
+
+ /* Select the altsetting */
+ ret = libusb_set_interface_alt_setting(strmh->devh->usb_devh,
+ altsetting->bInterfaceNumber,
+ altsetting->bAlternateSetting);
+ if (ret != UVC_SUCCESS) {
+ UVC_DEBUG("libusb_set_interface_alt_setting failed");
+ goto fail;
+ }
+
+ /* Set up the transfers */
+ for (transfer_id = 0; transfer_id < LIBUVC_NUM_TRANSFER_BUFS; ++transfer_id) {
+ transfer = libusb_alloc_transfer(packets_per_transfer);
+ strmh->transfers[transfer_id] = transfer;
+ strmh->transfer_bufs[transfer_id] = malloc(total_transfer_size);
+
+ libusb_fill_iso_transfer(
+ transfer, strmh->devh->usb_devh, format_desc->parent->bEndpointAddress,
+ strmh->transfer_bufs[transfer_id],
+ total_transfer_size, packets_per_transfer, _uvc_stream_callback, (void*) strmh, 5000);
+
+ libusb_set_iso_packet_lengths(transfer, endpoint_bytes_per_packet);
+ }
+ } else {
+ for (transfer_id = 0; transfer_id < LIBUVC_NUM_TRANSFER_BUFS;
+ ++transfer_id) {
+ transfer = libusb_alloc_transfer(0);
+ strmh->transfers[transfer_id] = transfer;
+ strmh->transfer_bufs[transfer_id] = malloc (
+ strmh->cur_ctrl.dwMaxPayloadTransferSize );
+ libusb_fill_bulk_transfer ( transfer, strmh->devh->usb_devh,
+ format_desc->parent->bEndpointAddress,
+ strmh->transfer_bufs[transfer_id],
+ strmh->cur_ctrl.dwMaxPayloadTransferSize, _uvc_stream_callback,
+ ( void* ) strmh, 5000 );
+ }
+ }
+
+ strmh->user_cb = cb;
+ strmh->user_ptr = user_ptr;
+
+ /* If the user wants it, set up a thread that calls the user's function
+ * with the contents of each frame.
+ */
+ if (cb) {
+ pthread_create(&strmh->cb_thread, NULL, _uvc_user_caller, (void*) strmh);
+ }
+
+ for (transfer_id = 0; transfer_id < LIBUVC_NUM_TRANSFER_BUFS;
+ transfer_id++) {
+ ret = libusb_submit_transfer(strmh->transfers[transfer_id]);
+ if (ret != UVC_SUCCESS) {
+ UVC_DEBUG("libusb_submit_transfer failed: %d",ret);
+ break;
+ }
+ }
+
+ if ( ret != UVC_SUCCESS && transfer_id > 0 ) {
+ for ( ; transfer_id < LIBUVC_NUM_TRANSFER_BUFS; transfer_id++) {
+ free ( strmh->transfers[transfer_id]->buffer );
+ libusb_free_transfer ( strmh->transfers[transfer_id]);
+ strmh->transfers[transfer_id] = 0;
+ }
+ ret = UVC_SUCCESS;
+ }
+
+ UVC_EXIT(ret);
+ return ret;
+fail:
+ strmh->running = 0;
+ UVC_EXIT(ret);
+ return ret;
+}
+
+/** Begin streaming video from the stream into the callback function.
+ * @ingroup streaming
+ *
+ * @deprecated The stream type (bulk vs. isochronous) will be determined by the
+ * type of interface associated with the uvc_stream_ctrl_t parameter, regardless
+ * of whether the caller requests isochronous streaming. Please switch to
+ * uvc_stream_start().
+ *
+ * @param strmh UVC stream
+ * @param cb User callback function. See {uvc_frame_callback_t} for restrictions.
+ */
+uvc_error_t uvc_stream_start_iso(
+ uvc_stream_handle_t *strmh,
+ uvc_frame_callback_t *cb,
+ void *user_ptr
+) {
+ return uvc_stream_start(strmh, cb, user_ptr, 0);
+}
+
+/** @internal
+ * @brief User callback runner thread
+ * @note There should be at most one of these per currently streaming device
+ * @param arg Device handle
+ */
+void *_uvc_user_caller(void *arg) {
+ uvc_stream_handle_t *strmh = (uvc_stream_handle_t *) arg;
+
+ uint32_t last_seq = 0;
+
+ do {
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ while (strmh->running && last_seq == strmh->hold_seq) {
+ pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
+ }
+
+ if (!strmh->running) {
+ pthread_mutex_unlock(&strmh->cb_mutex);
+ break;
+ }
+
+ last_seq = strmh->hold_seq;
+ _uvc_populate_frame(strmh);
+
+ pthread_mutex_unlock(&strmh->cb_mutex);
+
+ strmh->user_cb(&strmh->frame, strmh->user_ptr);
+ } while(1);
+
+ return NULL; // return value ignored
+}
+
+/** @internal
+ * @brief Populate the fields of a frame to be handed to user code
+ * must be called with stream cb lock held!
+ */
+void _uvc_populate_frame(uvc_stream_handle_t *strmh) {
+ uvc_frame_t *frame = &strmh->frame;
+ uvc_frame_desc_t *frame_desc;
+
+ /** @todo this stuff that hits the main config cache should really happen
+ * in start() so that only one thread hits these data. all of this stuff
+ * is going to be reopen_on_change anyway
+ */
+
+ frame_desc = uvc_find_frame_desc(strmh->devh, strmh->cur_ctrl.bFormatIndex,
+ strmh->cur_ctrl.bFrameIndex);
+
+ frame->frame_format = strmh->frame_format;
+
+ frame->width = frame_desc->wWidth;
+ frame->height = frame_desc->wHeight;
+
+ switch (frame->frame_format) {
+ case UVC_FRAME_FORMAT_YUYV:
+ frame->step = frame->width * 2;
+ break;
+ case UVC_FRAME_FORMAT_MJPEG:
+ frame->step = 0;
+ break;
+ default:
+ frame->step = 0;
+ break;
+ }
+
+ frame->sequence = strmh->hold_seq;
+ /** @todo set the frame time */
+ // frame->capture_time
+
+ /* copy the image data from the hold buffer to the frame (unnecessary extra buf?) */
+ if (frame->data_bytes < strmh->hold_bytes) {
+ frame->data = realloc(frame->data, strmh->hold_bytes);
+ }
+ frame->data_bytes = strmh->hold_bytes;
+ memcpy(frame->data, strmh->holdbuf, frame->data_bytes);
+
+
+
+}
+
+/** Poll for a frame
+ * @ingroup streaming
+ *
+ * @param devh UVC device
+ * @param[out] frame Location to store pointer to captured frame (NULL on error)
+ * @param timeout_us >0: Wait at most N microseconds; 0: Wait indefinitely; -1: return immediately
+ */
+uvc_error_t uvc_stream_get_frame(uvc_stream_handle_t *strmh,
+ uvc_frame_t **frame,
+ int32_t timeout_us) {
+ time_t add_secs;
+ time_t add_nsecs;
+ struct timespec ts;
+ struct timeval tv;
+
+ if (!strmh->running)
+ return UVC_ERROR_INVALID_PARAM;
+
+ if (strmh->user_cb)
+ return UVC_ERROR_CALLBACK_EXISTS;
+
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ if (strmh->last_polled_seq < strmh->hold_seq) {
+ _uvc_populate_frame(strmh);
+ *frame = &strmh->frame;
+ strmh->last_polled_seq = strmh->hold_seq;
+ } else if (timeout_us != -1) {
+ if (timeout_us == 0) {
+ pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
+ } else {
+ add_secs = timeout_us / 1000000;
+ add_nsecs = (timeout_us % 1000000) * 1000;
+ ts.tv_sec = 0;
+ ts.tv_nsec = 0;
+
+#if _POSIX_TIMERS > 0
+ clock_gettime(CLOCK_REALTIME, &ts);
+#else
+ gettimeofday(&tv, NULL);
+ ts.tv_sec = tv.tv_sec;
+ ts.tv_nsec = tv.tv_usec * 1000;
+#endif
+
+ ts.tv_sec += add_secs;
+ ts.tv_nsec += add_nsecs;
+
+ /* pthread_cond_timedwait FAILS with EINVAL if ts.tv_nsec > 1000000000 (1 billion)
+ * Since we are just adding values to the timespec, we have to increment the seconds if nanoseconds is greater than 1 billion,
+ * and then re-adjust the nanoseconds in the correct range.
+ * */
+ ts.tv_sec += ts.tv_nsec / 1000000000;
+ ts.tv_nsec = ts.tv_nsec % 1000000000;
+
+ int err = pthread_cond_timedwait(&strmh->cb_cond, &strmh->cb_mutex, &ts);
+
+ //TODO: How should we handle EINVAL?
+ switch(err){
+ case EINVAL:
+ *frame = NULL;
+ return UVC_ERROR_OTHER;
+ case ETIMEDOUT:
+ *frame = NULL;
+ return UVC_ERROR_TIMEOUT;
+ }
+ }
+
+ if (strmh->last_polled_seq < strmh->hold_seq) {
+ _uvc_populate_frame(strmh);
+ *frame = &strmh->frame;
+ strmh->last_polled_seq = strmh->hold_seq;
+ } else {
+ *frame = NULL;
+ }
+ } else {
+ *frame = NULL;
+ }
+
+ pthread_mutex_unlock(&strmh->cb_mutex);
+
+ return UVC_SUCCESS;
+}
+
+/** @brief Stop streaming video
+ * @ingroup streaming
+ *
+ * Closes all streams, ends threads and cancels pollers
+ *
+ * @param devh UVC device
+ */
+void uvc_stop_streaming(uvc_device_handle_t *devh) {
+ uvc_stream_handle_t *strmh, *strmh_tmp;
+
+ DL_FOREACH_SAFE(devh->streams, strmh, strmh_tmp) {
+ uvc_stream_close(strmh);
+ }
+}
+
+/** @brief Stop stream.
+ * @ingroup streaming
+ *
+ * Stops stream, ends threads and cancels pollers
+ *
+ * @param devh UVC device
+ */
+uvc_error_t uvc_stream_stop(uvc_stream_handle_t *strmh) {
+ int i;
+
+ if (!strmh->running)
+ return UVC_ERROR_INVALID_PARAM;
+
+ strmh->running = 0;
+
+ pthread_mutex_lock(&strmh->cb_mutex);
+
+ for(i=0; i < LIBUVC_NUM_TRANSFER_BUFS; i++) {
+ if(strmh->transfers[i] != NULL) {
+ int res = libusb_cancel_transfer(strmh->transfers[i]);
+ if(res < 0 && res != LIBUSB_ERROR_NOT_FOUND ) {
+ free(strmh->transfers[i]->buffer);
+ libusb_free_transfer(strmh->transfers[i]);
+ strmh->transfers[i] = NULL;
+ }
+ }
+ }
+
+ /* Wait for transfers to complete/cancel */
+ do {
+ for(i=0; i < LIBUVC_NUM_TRANSFER_BUFS; i++) {
+ if(strmh->transfers[i] != NULL)
+ break;
+ }
+ if(i == LIBUVC_NUM_TRANSFER_BUFS )
+ break;
+ pthread_cond_wait(&strmh->cb_cond, &strmh->cb_mutex);
+ } while(1);
+ // Kick the user thread awake
+ pthread_cond_broadcast(&strmh->cb_cond);
+ pthread_mutex_unlock(&strmh->cb_mutex);
+
+ /** @todo stop the actual stream, camera side? */
+
+ if (strmh->user_cb) {
+ /* wait for the thread to stop (triggered by
+ * LIBUSB_TRANSFER_CANCELLED transfer) */
+ pthread_join(strmh->cb_thread, NULL);
+ }
+
+ return UVC_SUCCESS;
+}
+
+/** @brief Close stream.
+ * @ingroup streaming
+ *
+ * Closes stream, frees handle and all streaming resources.
+ *
+ * @param strmh UVC stream handle
+ */
+void uvc_stream_close(uvc_stream_handle_t *strmh) {
+ if (strmh->running)
+ uvc_stream_stop(strmh);
+
+ uvc_release_if(strmh->devh, strmh->stream_if->bInterfaceNumber);
+
+ if (strmh->frame.data)
+ free(strmh->frame.data);
+
+ free(strmh->outbuf);
+ free(strmh->holdbuf);
+
+ pthread_cond_destroy(&strmh->cb_cond);
+ pthread_mutex_destroy(&strmh->cb_mutex);
+
+ DL_DELETE(strmh->devh->streams, strmh);
+ free(strmh);
+}
projects / rtmpclient.git / blobdiff