usb_libusb10.c

/*
 * This file is part of the OpenKinect Project. http://www.openkinect.org
 *
 * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
 * for details.
 *
 * This code is licensed to you under the terms of the Apache License, version
 * 2.0, or, at your option, the terms of the GNU General Public License,
 * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
 * or the following URLs:
 * http://www.apache.org/licenses/LICENSE-2.0
 * http://www.gnu.org/licenses/gpl-2.0.txt
 *
 * If you redistribute this file in source form, modified or unmodified, you
 * may:
 *   1) Leave this header intact and distribute it under the same terms,
 *      accompanying it with the APACHE20 and GPL20 files, or
 *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
 *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
 * In all cases you must keep the copyright notice intact and include a copy
 * of the CONTRIB file.
 *
 * Binary distributions must follow the binary distribution requirements of
 * either License.
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <libusb.h>
#include "freenect_internal.h"
#include "loader.h"

#ifdef _MSC_VER
	# define sleep(x) Sleep((x)*1000)
#endif


FN_INTERNAL int fnusb_num_devices(freenect_context *ctx)
{
	libusb_device **devs; // pointer to pointer of device, used to retrieve a list of devices
	ssize_t count = libusb_get_device_list (ctx->usb.ctx, &devs);
	if (count < 0)
		return (count >= INT_MIN) ? (int)count : -1;

	int number_found = 0, i = 0;
	struct libusb_device_descriptor desc;
	for (i = 0; i < count; ++i)
	{
		int r = libusb_get_device_descriptor (devs[i], &desc);
		if (r < 0)
		{
			FN_WARNING("Failed to query USB device descriptor.\n");
			continue;
		}

		if (desc.idVendor == VID_MICROSOFT)
		{
			if (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)
			{
				number_found++;
			}
			else if (desc.idProduct == PID_KV2_CAMERA)
			{
				FN_NOTICE("Skipping Kinect v2 device (needs https://github.com/libfreenect2).\n");
			}
		}
	}

	libusb_free_device_list (devs, 1);
	return number_found;
}

// Returns 1 if `pid` identifies K4W audio, 0 otherwise
FN_INTERNAL int fnusb_is_pid_k4w_audio(int pid)
{
	return (pid == PID_K4W_AUDIO || pid == PID_K4W_AUDIO_ALT_1 || pid == PID_K4W_AUDIO_ALT_2);
}

FN_INTERNAL libusb_device * fnusb_find_connected_audio_device(libusb_device * camera, libusb_device ** deviceList, int cnt)
{
	if (cnt <= 0) return NULL;

	int cameraBusNo = libusb_get_bus_number(camera);
	if (cameraBusNo < 0) return NULL;
	libusb_device * cameraParent = libusb_get_parent(camera);

	struct libusb_device_descriptor camdesc;
	int rc = libusb_get_device_descriptor (camera, &camdesc);

	int i = 0;
	for (i = 0; i < cnt; i++)
	{
		struct libusb_device_descriptor desc;
		int res = libusb_get_device_descriptor (deviceList[i], &desc);
		if (res < 0)
		{
			continue;
		}

		if (desc.idVendor == VID_MICROSOFT)
		{
			// make sure its some type of Kinect audio device
			if ((desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
			{

				int audioBusNo = libusb_get_bus_number(deviceList[i]);
				if (audioBusNo == cameraBusNo)
				{
					// we have a match!
					// let's double check
					libusb_device * audioParent = libusb_get_parent(deviceList[i]);
					if (desc.idVendor == camdesc.idVendor)
					{
						return deviceList[i];
					}
				}
			}
		}
	}

	return NULL;
}

FN_INTERNAL int fnusb_list_device_attributes(freenect_context *ctx, struct freenect_device_attributes** attribute_list)
{
	*attribute_list = NULL; // initialize some return value in case the user is careless.
	libusb_device **devs;   // pointer to pointer of device, used to retrieve a list of devices
	ssize_t count = libusb_get_device_list (ctx->usb.ctx, &devs);
	if (count < 0)
	{
		return (count >= INT_MIN) ? (int)count : -1;
	}

	struct freenect_device_attributes** next_attr = attribute_list;

	// Pass over the list.  For each camera seen, if we already have a camera
	// for the newest_camera device, allocate a new one and append it to the list,
	// incrementing num_cams.
	int num_cams = 0;
	int i;
	for (i = 0; i < count; i++)
	{
		libusb_device* camera_device = devs[i];

		struct libusb_device_descriptor desc;
		int res = libusb_get_device_descriptor (camera_device, &desc);
		if (res < 0)
		{
			continue;
		}

		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;
			}

			libusb_device_handle *camera_handle;
			res = libusb_open(camera_device, &camera_handle);
			if (res != 0)
			{
				continue;
			}

			// Read string descriptor referring to serial number.
			unsigned char serial[256]; // String descriptors are at most 256 bytes.
			res = libusb_get_string_descriptor_ascii(camera_handle, desc.iSerialNumber, serial, 256);
			libusb_close(camera_handle);
			if (res < 0)
			{
				continue;
			}

			// K4W and 1473 don't provide a camera serial; use audio serial instead.
			const char* const K4W_1473_SERIAL = "0000000000000000";
			if (strncmp((const char*)serial, K4W_1473_SERIAL, 16) == 0)
			{
				libusb_device* audio_device = fnusb_find_connected_audio_device(camera_device, devs, count);

				if (audio_device != NULL)
				{
					struct libusb_device_descriptor audio_desc;
					res = libusb_get_device_descriptor(audio_device, &audio_desc);
					if (res != 0)
					{
						FN_WARNING("Failed to get audio serial descriptors of K4W or 1473 device: %d\n", res);
					}
					else
					{
						libusb_device_handle * audio_handle = NULL;
						res = libusb_open(audio_device, &audio_handle);
						if (res != 0)
						{
							FN_WARNING("Failed to open audio device for serial of K4W or 1473 device: %d\n", res);
						}
						else
						{
							res = libusb_get_string_descriptor_ascii(audio_handle, audio_desc.iSerialNumber, serial, 256);
							libusb_close(audio_handle);
							if (res != 0)
							{
								FN_WARNING("Failed to get audio serial of K4W or 1473 device: %d\n", res);
							}
						}
					}
				}
			}

			// Add item to linked list.
			struct freenect_device_attributes* current_attr = (struct freenect_device_attributes*)malloc(sizeof(struct freenect_device_attributes));
			memset(current_attr, 0, sizeof(*current_attr));

			current_attr->camera_serial = strdup((char*)serial);
			*next_attr = current_attr;
			next_attr = &(current_attr->next);
			num_cams++;
		}
	}

	libusb_free_device_list(devs, 1);
	return num_cams;
}

FN_INTERNAL int fnusb_init(fnusb_ctx *ctx, freenect_usb_context *usb_ctx)
{
	int res;
	if (!usb_ctx) {
		res = libusb_init(&ctx->ctx);
		if (res >= 0) {
			ctx->should_free_ctx = 1;
			return 0;
		} else {
			ctx->should_free_ctx = 0;
			ctx->ctx = NULL;
			return res;
		}
	} else {
    // explicit cast required: in WIN32, freenect_usb_context* maps to void*
    ctx->ctx = (libusb_context*)usb_ctx;
		ctx->should_free_ctx = 0;
		return 0;
	}
}

FN_INTERNAL int fnusb_shutdown(fnusb_ctx *ctx)
{
	//int res;
	if (ctx->should_free_ctx) {
		libusb_exit(ctx->ctx);
		ctx->ctx = NULL;
	}
	return 0;
}

FN_INTERNAL int fnusb_process_events(fnusb_ctx *ctx)
{
	return libusb_handle_events(ctx->ctx);
}

FN_INTERNAL int fnusb_process_events_timeout(fnusb_ctx *ctx, struct timeval* timeout)
{
	return libusb_handle_events_timeout(ctx->ctx, timeout);
}

FN_INTERNAL int fnusb_claim_camera(freenect_device* dev)
{
	freenect_context *ctx = dev->parent;

	int ret = 0;

#ifndef _WIN32 // todo: necessary?
	// Detach an existing kernel driver for the device
	ret = libusb_kernel_driver_active(dev->usb_cam.dev, 0);
	if (ret == 1)
	{
		ret = libusb_detach_kernel_driver(dev->usb_cam.dev, 0);
		if (ret < 0)
		{
			FN_ERROR("Failed to detach camera kernel driver: %s\n", libusb_error_name(ret));
			libusb_close(dev->usb_cam.dev);
			dev->usb_cam.dev = NULL;
			return ret;
		}
	}
#endif

	ret = libusb_claim_interface(dev->usb_cam.dev, 0);
	if (ret < 0)
	{
		FN_ERROR("Failed to claim camera interface: %s\n", libusb_error_name(ret));
		libusb_close(dev->usb_cam.dev);
		dev->usb_cam.dev = NULL;
		return ret;
	}

	if (dev->usb_cam.PID == PID_K4W_CAMERA)
	{
		ret = libusb_set_interface_alt_setting(dev->usb_cam.dev, 0, 1);
		if (ret != 0)
		{
			FN_ERROR("Failed to set alternate interface #1 for K4W: %s\n", libusb_error_name(ret));
			libusb_close(dev->usb_cam.dev);
			dev->usb_cam.dev = NULL;
			return ret;
		}
	}

	return ret;
}


FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
{
	freenect_context *ctx = dev->parent;

	dev->device_does_motor_control_with_audio = 0;
	dev->motor_control_with_audio_enabled = 0;

	dev->usb_cam.parent = dev;
	dev->usb_cam.dev = NULL;
	dev->usb_motor.parent = dev;
	dev->usb_motor.dev = NULL;
	dev->usb_audio.parent = dev;
	dev->usb_audio.dev = NULL;

	libusb_device **devs; // pointer to pointer of device, used to retrieve a list of devices
	ssize_t cnt = libusb_get_device_list (dev->parent->usb.ctx, &devs); //get the list of devices
	if (cnt < 0)
		return -1;


	if (cnt == 0)
	{
		FN_ERROR("There's only one");
	}

	int i = 0, nr_cam = 0;

	int res;
	struct libusb_device_descriptor desc;

	for (i = 0; i < cnt; i++)
	{
		int r = libusb_get_device_descriptor (devs[i], &desc);
		if (r < 0)
			continue;

		int rc = 0;
		rc = libusb_get_device_descriptor(devs[i], &desc);

		FN_ERROR("Vendor:Device = %04x:%04x\n", desc.idVendor, desc.idProduct);

		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 || desc.idProduct == PID_K4W_CAMERA))
		{
			// If the index given by the user matches our camera index
			if (nr_cam == index)
			{
				dev->usb_cam.VID = desc.idVendor;
				dev->usb_cam.PID = desc.idProduct;

				res = libusb_open (devs[i], &dev->usb_cam.dev);
				if (res < 0 || !dev->usb_cam.dev)
				{
					FN_ERROR("Could not open camera: %d\n", res);
					dev->usb_cam.dev = NULL;
					break;
				}

				libusb_device * camera = libusb_get_device( dev->usb_cam.dev );
				libusb_device * cameraParent = libusb_get_parent(camera);

				if (cameraParent != NULL)
				{
					int rc = 0;
					rc = libusb_get_device_descriptor(cameraParent, &desc);
					FN_ERROR("Vendor:Device = %04x:%04x\n", desc.idVendor, desc.idProduct);
				}

				if (desc.idProduct == PID_K4W_CAMERA || desc.bcdDevice != fn_le32(267))
				{
					freenect_device_flags requested_devices = ctx->enabled_subdevices;

					// Not the 1414 kinect so remove the motor flag, this should preserve the audio flag if set
					ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices & ~FREENECT_DEVICE_MOTOR);

					ctx->zero_plane_res = 334;
					dev->device_does_motor_control_with_audio = 1;

					// set the LED for non 1414 devices to keep the camera alive for some systems which get freezes

					libusb_device * audioDevice = fnusb_find_connected_audio_device(devs[i], devs, cnt);
					if (audioDevice != NULL)
					{
						libusb_device_handle * audioHandle = NULL;
						res = libusb_open(audioDevice, &audioHandle);

						if (res != 0)
						{
							FN_ERROR("Failed to set the LED of K4W or 1473 device: %d\n", res);
						}
						else
						{
							// we need to do this as it is possible that the device was not closed properly in a previous session
							// if we don't do this and the device wasn't closed properly - it can cause infinite hangs on LED and TILT functions
							libusb_reset_device(audioHandle);
							libusb_close(audioHandle);

							res = libusb_open(audioDevice, &audioHandle);
							if (res == 0)
							{
								res = libusb_claim_interface(audioHandle, 0);
								if (res != 0)
								{
									FN_ERROR("Unable to claim interface %d\n", res);
								}
								else
								{
									fnusb_set_led_alt(audioHandle, ctx, LED_GREEN);
									libusb_release_interface(audioHandle, 0);
								}
								libusb_close(audioHandle);
							}
						}
					}
					// for newer devices we need to enable the audio device for motor control
					// we only do this though if motor has been requested.
					if ((requested_devices & FREENECT_DEVICE_MOTOR) && (requested_devices & FREENECT_DEVICE_AUDIO) == 0)
					{
						ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices | FREENECT_DEVICE_AUDIO);
					}
				}
				else
				{
					// The good old kinect that tilts and tweets
					ctx->zero_plane_res = 322;
				}

				res = fnusb_claim_camera(dev);
				if (res < 0)
				{
					break;
				}
			}
			else
			{
				nr_cam++;
			}
		}
	}

	if (ctx->enabled_subdevices == FREENECT_DEVICE_CAMERA || res < 0)
		cnt = 0;

    //FIND MOTOR BASED ON PARENT HUB
    if( (ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && dev->usb_cam.dev != NULL )
    {
        libusb_device * camera = libusb_get_device( dev->usb_cam.dev );
				libusb_device * cameraParent = libusb_get_parent( libusb_get_device( dev->usb_cam.dev ) );

				struct libusb_device_descriptor cam;
				int r = libusb_get_device_descriptor (camera, &cam);

				if( r >= 0 )
        //if( cameraParent != NULL )
        {

            for(i = 0; i < cnt; i++)
            {

							int r = libusb_get_device_descriptor (devs[i], &desc);
							if (r < 0)
								continue;
                // Match audio based on camera parent
								if(cam.idVendor == desc.idVendor)
                //if( cameraParent == libusb_get_parent(devs[i]) )
                {
									FN_ERROR("Possible motor matched");

		if (desc.idVendor != VID_MICROSOFT)
			continue;

                    // This has to be the device we are looking for as it is a Kinect motor device with the same parent as the camera
                    if ( !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR)
			{
				FN_ERROR("Motor matched.");
				dev->usb_motor.VID = desc.idVendor;
				dev->usb_motor.PID = desc.idProduct;

				res = libusb_open (devs[i], &dev->usb_motor.dev);
				if (res < 0 || !dev->usb_motor.dev)
				{
					FN_ERROR("Could not open motor: %d\n", res);
					dev->usb_motor.dev = NULL;
					break;
				}
				res = libusb_claim_interface (dev->usb_motor.dev, 0);
				if (res < 0)
				{
					FN_ERROR("Could not claim interface on motor: %d\n", res);
					libusb_close(dev->usb_motor.dev);
					dev->usb_motor.dev = NULL;
					break;
				}

                        // This has to be the device we need, as it is matched by parent - so don't try any others
                        break;
                    }
                }
            }
        }
    }

    // FIND AUDIO BASED ON PARENT HUB
    if( (ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && dev->usb_cam.dev != NULL )
    {

        libusb_device * camera = libusb_get_device( dev->usb_cam.dev );
        libusb_device * cameraParent = libusb_get_parent( camera );

				if( cameraParent == NULL )
				{
					FN_ERROR("ohno");
				}

				struct libusb_device_descriptor cam;
				int r = libusb_get_device_descriptor (camera, &cam);

				if ( r >= 0 )
        //if( cameraParent != NULL )
        {

            for(i = 0; i < cnt; i++)
            {
							int r = libusb_get_device_descriptor (devs[i], &desc);
							if (r < 0)
									continue;
                // Match audio based on camera parent
                if( cam.idVendor == desc.idVendor )
                {


                    if (desc.idVendor != VID_MICROSOFT)
                        continue;

                    // This has to be the device we are looking for as it is a Kinect audio device with the same parent as the camera
                    if ( !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
			{
				dev->usb_audio.VID = desc.idVendor;
				dev->usb_audio.PID = desc.idProduct;

				res = libusb_open (devs[i], &dev->usb_audio.dev);
				if (res < 0 || !dev->usb_audio.dev)
				{
					FN_ERROR("Could not open audio: %d\n", res);
					dev->usb_audio.dev = NULL;
					break;
				}

				res = libusb_claim_interface (dev->usb_audio.dev, 0);
				if (res < 0)
				{
					FN_ERROR("Could not claim interface on audio: %d\n", res);
					libusb_close(dev->usb_audio.dev);
					dev->usb_audio.dev = NULL;
					break;
				}

				// Using the device handle that we've claimed, see if this
				// device has already uploaded firmware (has 2 interfaces).
				// If not, save the serial number (by reading the appropriate
				// descriptor), upload the firmware, and then enter a loop
				// waiting for a device with the same serial number to
				// reappear.
				int num_interfaces = fnusb_num_interfaces(&dev->usb_audio);

				if (num_interfaces >= 2)
				{
					if (dev->device_does_motor_control_with_audio)
					{
						dev->motor_control_with_audio_enabled = 1;
					}
				}
				else
				{
					// Read the serial number from the string descriptor and save it.
					unsigned char string_desc[256]; // String descriptors are at most 256 bytes
					res = libusb_get_string_descriptor_ascii(dev->usb_audio.dev, desc.iSerialNumber, string_desc, 256);
					if (res < 0)
					{
						FN_ERROR("Failed to retrieve serial number for audio device in bootloader state\n");
						break;
					}
					char* audio_serial = strdup((char*)string_desc);

					FN_SPEW("Uploading firmware to audio device in bootloader state.\n");

					// Check if we can load from memory - otherwise load from disk
					if (desc.idProduct == PID_NUI_AUDIO && ctx->fn_fw_nui_ptr && ctx->fn_fw_nui_size > 0)
					{
						FN_SPEW("loading firmware from memory\n");
						res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_nui_ptr, ctx->fn_fw_nui_size);
					}
					else if (desc.idProduct == PID_K4W_AUDIO && ctx->fn_fw_k4w_ptr && ctx->fn_fw_k4w_size > 0)
					{
						FN_SPEW("loading firmware from memory\n");
						res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_k4w_ptr, ctx->fn_fw_k4w_size);
					}
					else
					{
						res = upload_firmware(&dev->usb_audio, "audios.bin");
					}

					if (res < 0)
					{
						FN_ERROR("upload_firmware failed: %d\n", res);
						break;
					}
					libusb_close(dev->usb_audio.dev);
					dev->usb_audio.dev = NULL;
					// Wait for the device to reappear.
					int loops = 0;
					for (loops = 0; loops < 10; loops++)
					{
						FN_SPEW("Try %d: Looking for new audio device matching serial %s\n", loops, audio_serial);
						// Scan devices.
						libusb_device **new_dev_list;
						int dev_index;
						ssize_t num_new_devs = libusb_get_device_list(ctx->usb.ctx, &new_dev_list);
						for (dev_index = 0; dev_index < num_new_devs; ++dev_index)
						{
							struct libusb_device_descriptor new_dev_desc;
							int r;
							r = libusb_get_device_descriptor (new_dev_list[dev_index], &new_dev_desc);
							if (r < 0)
								continue;
							// If this dev is a Kinect audio device, open device, read serial, and compare.
							if (new_dev_desc.idVendor == VID_MICROSOFT && (new_dev_desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
							{
								FN_SPEW("Matched VID/PID!\n");
								libusb_device_handle* new_dev_handle;
								// Open device
								r = libusb_open(new_dev_list[dev_index], &new_dev_handle);
								if (r < 0)
									continue;
								// Read serial
								r = libusb_get_string_descriptor_ascii(new_dev_handle, new_dev_desc.iSerialNumber, string_desc, 256);
								if (r < 0)
								{
									FN_SPEW("Lost new audio device while fetching serial number.\n");
									libusb_close(new_dev_handle);
									continue;
								}
								// Compare to expected serial
								if (r == strlen(audio_serial) && strcmp((char*)string_desc, audio_serial) == 0)
								{
									// We found it!
									r = libusb_claim_interface(new_dev_handle, 0);
									if (r != 0)
									{
										// Ouch, found the device but couldn't claim the interface.
										FN_SPEW("Device with serial %s reappeared but couldn't claim interface 0\n", audio_serial);
										libusb_close(new_dev_handle);
										continue;
									}
									// Save the device handle.
									dev->usb_audio.dev = new_dev_handle;

									// Verify that we've actually found a device running the right firmware.
									num_interfaces = fnusb_num_interfaces(&dev->usb_audio);

									if (num_interfaces >= 2)
									{
										if (dev->device_does_motor_control_with_audio)
										{
											dev->motor_control_with_audio_enabled = 1;
										}
									}
									else
									{
										FN_SPEW("Opened audio with matching serial but too few interfaces.\n");
										dev->usb_audio.dev = NULL;
										libusb_close(new_dev_handle);
										continue;
									}

									break;
								}
								else
								{
									FN_SPEW("Got serial %s, expected serial %s\n", (char*)string_desc, audio_serial);
								}
							}
						}

						libusb_free_device_list(new_dev_list, 1);
						// If we found the right device, break out of this loop.
						if (dev->usb_audio.dev)
							break;
						// Sleep for a second to give the device more time to reenumerate.
						sleep(1);
					}
					free(audio_serial);
				}

                        // This has to be the device we need, as it is matched by parent - so don't try any others
                        break;
                    }
                }
			}
		}
	}

	libusb_free_device_list (devs, 1);  // free the list, unref the devices in it

	if ((dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
   && (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR)))
		//&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO)))
	{
		// Each requested subdevice is open.
		// Except audio, which may fail if firmware is missing (or because it hates us).
		return 0;
	}

	if (dev->usb_cam.dev != NULL)
	{
		libusb_release_interface(dev->usb_cam.dev, 0);
		libusb_close(dev->usb_cam.dev);
	}
	else
	{
		FN_ERROR("Failed to open camera subdevice or it is not disabled.");
	}

	if (dev->usb_motor.dev != NULL)
	{
		libusb_release_interface(dev->usb_motor.dev, 0);
		libusb_close(dev->usb_motor.dev);
	}
	else
	{
		FN_ERROR("Failed to open motor subddevice or it is not disabled.");
	}

	if (dev->usb_audio.dev != NULL)
	{
		libusb_release_interface(dev->usb_audio.dev, 0);
		libusb_close(dev->usb_audio.dev);
	}
	else
	{
		FN_ERROR("Failed to open audio subdevice or it is not disabled.");
	}

	return -1;
}

FN_INTERNAL int fnusb_close_subdevices(freenect_device *dev)
{
	if (dev->usb_cam.dev) {
		libusb_release_interface(dev->usb_cam.dev, 0);
#ifndef _WIN32
		libusb_attach_kernel_driver(dev->usb_cam.dev, 0);
#endif
		libusb_close(dev->usb_cam.dev);
		dev->usb_cam.dev = NULL;
	}
	if (dev->usb_motor.dev) {
		libusb_release_interface(dev->usb_motor.dev, 0);
		libusb_close(dev->usb_motor.dev);
		dev->usb_motor.dev = NULL;
	}
	if (dev->usb_audio.dev) {
		libusb_release_interface(dev->usb_audio.dev, 0);
		libusb_close(dev->usb_audio.dev);
		dev->usb_audio.dev = NULL;
	}
	return 0;
}

static void LIBUSB_CALL iso_callback(struct libusb_transfer *xfer)
{
	int i;
	fnusb_isoc_stream *strm = (fnusb_isoc_stream*)xfer->user_data;
	freenect_context *ctx = strm->parent->parent->parent;

	if (strm->dead) {
		strm->dead_xfers++;
		FN_SPEW("EP %02x transfer complete, %d left\n", xfer->endpoint, strm->num_xfers - strm->dead_xfers);
		return;
	}

	switch(xfer->status) {
		case LIBUSB_TRANSFER_COMPLETED: // Normal operation.
		{
			uint8_t *buf = (uint8_t*)xfer->buffer;
			for (i=0; i<strm->pkts; i++) {
				strm->cb(strm->parent->parent, buf, xfer->iso_packet_desc[i].actual_length);
				buf += strm->len;
			}
			int res;
			res = libusb_submit_transfer(xfer);
			if (res != 0) {
				FN_ERROR("iso_callback(): failed to resubmit transfer after successful completion: %d\n", res);
				strm->dead_xfers++;
				if (res == LIBUSB_ERROR_NO_DEVICE) {
					strm->parent->device_dead = 1;
				}
			}
			break;
		}
		case LIBUSB_TRANSFER_NO_DEVICE:
		{
			// We lost the device we were talking to.  This is a large problem,
			// and one that we should eventually come up with a way to
			// properly propagate up to the caller.
			if(!strm->parent->device_dead) {
				FN_ERROR("USB device disappeared, cancelling stream %02x :(\n", xfer->endpoint);
			}
			strm->dead_xfers++;
			strm->parent->device_dead = 1;
			break;
		}
		case LIBUSB_TRANSFER_CANCELLED:
		{
			if(strm->dead) {
				FN_SPEW("EP %02x transfer cancelled\n", xfer->endpoint);
			} else {
				// This seems to be a libusb bug on OSX - instead of completing
				// the transfer with LIBUSB_TRANSFER_NO_DEVICE, the transfers
				// simply come back cancelled by the OS.  We can detect this,
				// though - the stream should be marked dead if we're
				// intentionally cancelling transfers.
				if(!strm->parent->device_dead) {
					FN_ERROR("Got cancelled transfer, but we didn't request it - device disconnected?\n");
				}
				strm->parent->device_dead = 1;
			}
			strm->dead_xfers++;
			break;
		}
		default:
		{
			// On other errors, resubmit the transfer - in particular, libusb
			// on OSX tends to hit random errors a lot.  If we don't resubmit
			// the transfers, eventually all of them die and then we don't get
			// any more data from the Kinect.
			FN_WARNING("Isochronous transfer error: %d\n", xfer->status);
			int res;
			res = libusb_submit_transfer(xfer);
			if (res != 0) {
				FN_ERROR("Isochronous transfer resubmission failed after unknown error: %d\n", res);
				strm->dead_xfers++;
				if (res == LIBUSB_ERROR_NO_DEVICE) {
					strm->parent->device_dead = 1;
				}
			}
			break;
		}
	}
}

FN_INTERNAL int fnusb_get_max_iso_packet_size(fnusb_dev *dev, unsigned char endpoint, int default_size)
{
	freenect_context *ctx = dev->parent->parent;

	int size = libusb_get_max_iso_packet_size(libusb_get_device(dev->dev), endpoint);
	if (size <= 0)
	{
		FN_WARNING("libusb_get_max_iso_packet_size() returned %d; using default %d\n", size, default_size);
		size = default_size;
	}
	return size;
}

FN_INTERNAL int fnusb_start_iso(fnusb_dev *dev, fnusb_isoc_stream *strm, fnusb_iso_cb cb, unsigned char endpoint, int xfers, int pkts, int len)
{
	freenect_context *ctx = dev->parent->parent;

	strm->parent = dev;
	strm->cb = cb;
	strm->num_xfers = xfers;
	strm->pkts = pkts;
	strm->len = len;
	strm->buffer = (uint8_t*)malloc(xfers * pkts * len);
	strm->xfers = (struct libusb_transfer**)malloc(sizeof(struct libusb_transfer*) * xfers);
	strm->dead = 0;
	strm->dead_xfers = 0;

	int i;
	uint8_t *bufp = strm->buffer;

	for (i = 0; i < xfers; i++)
	{
		FN_SPEW("Creating endpoint %02x transfer #%d\n", endpoint, i);

		strm->xfers[i] = libusb_alloc_transfer(pkts);
		if (strm->xfers[i] == NULL)
		{
			FN_WARNING("Failed to allocate transfer\n");
			strm->dead_xfers++;
		}
		else
		{
			libusb_fill_iso_transfer(strm->xfers[i], dev->dev, endpoint, bufp, pkts * len, pkts, iso_callback, strm, 0);
			libusb_set_iso_packet_lengths(strm->xfers[i], len);

			printf("%i\n", xfers);
			int ret = libusb_submit_transfer(strm->xfers[i]);
			printf("kek\n");
			if (ret < 0)
			{
				FN_WARNING("Failed to submit isochronous transfer %d: %d\n", i, ret);
				strm->dead_xfers++;
			}
		}

		bufp += pkts*len;
	}

	return 0;
}

FN_INTERNAL int fnusb_stop_iso(fnusb_dev *dev, fnusb_isoc_stream *strm)
{
	freenect_context *ctx = dev->parent->parent;
	int i;

	FN_FLOOD("fnusb_stop_iso() called\n");

	strm->dead = 1;

	for (i=0; i<strm->num_xfers; i++)
		libusb_cancel_transfer(strm->xfers[i]);
	FN_FLOOD("fnusb_stop_iso() cancelled all transfers\n");

	while (strm->dead_xfers < strm->num_xfers) {
		FN_FLOOD("fnusb_stop_iso() dead = %d\tnum = %d\n", strm->dead_xfers, strm->num_xfers);
		libusb_handle_events(ctx->usb.ctx);
	}

	for (i=0; i<strm->num_xfers; i++)
		libusb_free_transfer(strm->xfers[i]);
	FN_FLOOD("fnusb_stop_iso() freed all transfers\n");

	free(strm->buffer);
	free(strm->xfers);

	FN_FLOOD("fnusb_stop_iso() freed buffers and stream\n");
	FN_FLOOD("fnusb_stop_iso() done\n");
	return 0;
}

FN_INTERNAL int fnusb_control(fnusb_dev *dev, uint8_t bmRequestType, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength)
{
	return libusb_control_transfer(dev->dev, bmRequestType, bRequest, wValue, wIndex, data, wLength, 0);
}

FN_INTERNAL int fnusb_bulk(fnusb_dev *dev, uint8_t endpoint, uint8_t *data, int len, int *transferred) {
	*transferred = 0;
	return libusb_bulk_transfer(dev->dev, endpoint, data, len, transferred, 0);
}

FN_INTERNAL int fnusb_num_interfaces(fnusb_dev *dev) {
	int retval = 0;
	int res;
	libusb_device* d = libusb_get_device(dev->dev);
	struct libusb_config_descriptor* config;
	res = libusb_get_active_config_descriptor(d, &config);
	if (res < 0) // Something went wrong
		return res;
	retval = config->bNumInterfaces;
	libusb_free_config_descriptor(config);
	return retval;
}