Add support for opening some subset of the three Kinect devices (moto…

…r, camera, audio).

This allows libfreenect to be used alongside other Kinect drivers more easily,
as well as allows different processes to use libfreenect for different
subdevices.  Examples of things you can do now that you couldn't do before:

1) use libfreenect's audio and motor support alongside OpenNI's camera support
2) use libfreenect's video support in one process while processing audio with
another process

Signed-off-by: Drew Fisher <drew.m.fisher@gmail.com> (zarvox)

examples/glview.c

@@ -411,6 +411,7 @@ int main(int argc, char **argv)
 	}
 
 	freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
+	freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);

examples/hiview.c

@@ -435,6 +435,7 @@ int main(int argc, char **argv)
 	}
 
 	freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
+	freenect_select_subdevices(f_ctx, FREENECT_DEVICE_CAMERA);
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);

examples/micview.c

@@ -157,6 +157,7 @@ int main(int argc, char** argv) {
 		return 1;
 	}
 	freenect_set_log_level(f_ctx, FREENECT_LOG_INFO);
+	freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);

examples/wavrecord.c

@@ -76,6 +76,7 @@ int main(int argc, char** argv) {
 		return 1;
 	}
 	freenect_set_log_level(f_ctx, FREENECT_LOG_SPEW);
+	freenect_select_subdevices(f_ctx, FREENECT_DEVICE_AUDIO);
 
 	int nr_devices = freenect_num_devices (f_ctx);
 	printf ("Number of devices found: %d\n", nr_devices);

fakenect/fakenect.c

@@ -301,6 +301,11 @@ int freenect_init(freenect_context **ctx, freenect_usb_context *usb_ctx)
 	return 0;
 }
 
+void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs) {
+	// Ideally, we'd actually check for MOTOR and CAMERA and AUDIO, but for now
+	// we just ignore them and provide all captured data.
+}
+
 int freenect_set_depth_buffer(freenect_device *dev, void *buf)
 {
 	depth_buffer = buf;

fakenect/record.c

@@ -216,6 +216,9 @@ void init()
 		return;
 	}
 
+	// fakenect doesn't support audio yet, so don't bother claiming the device
+	freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
+
 	if (freenect_open_device(ctx, &dev, 0)) {
 		printf("Error: Cannot get device\n");
 		return;

include/libfreenect.h

@@ -35,6 +35,17 @@ extern "C" {
 
 #define FREENECT_COUNTS_PER_G 819 /**< Ticks per G for accelerometer as set per http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf */
 
+/// Flags representing devices to open when freenect_open_device() is called.
+/// In particular, this allows libfreenect to grab only a subset of the devices
+/// in the Kinect, so you could (for instance) use libfreenect to handle audio
+/// and motor support while letting OpenNI have access to the cameras.
+/// If a device is not supported on a particular platform, its flag will be ignored.
+typedef enum {
+	FREENECT_DEVICE_MOTOR  = 0x01,
+	FREENECT_DEVICE_CAMERA = 0x02,
+	FREENECT_DEVICE_AUDIO  = 0x04,
+} freenect_device_flags;
+
 /// Enumeration of available resolutions.
 /// Not all available resolutions are actually supported for all video formats.
 /// Frame modes may not perfectly match resolutions.  For instance,
@@ -219,6 +230,18 @@ FREENECTAPI int freenect_process_events(freenect_context *ctx);
  */
 FREENECTAPI int freenect_num_devices(freenect_context *ctx);
 
+/**
+ * Set which subdevices any subsequent calls to freenect_open_device()
+ * should open.  This will not affect devices which have already been
+ * opened.  The default behavior, should you choose not to call this
+ * function at all, is to open all supported subdevices - motor, cameras,
+ * and audio, if supported on the platform.
+ *
+ * @param ctx Context to set future subdevice selection for
+ * @param subdevs Flags representing the subdevices to select
+ */
+FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs);
+
 /**
  * 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

src/core.c

@@ -45,6 +45,7 @@ FREENECTAPI int freenect_init(freenect_context **ctx, freenect_usb_context *usb_
 	memset(*ctx, 0, sizeof(freenect_context));
 
 	(*ctx)->log_level = LL_WARNING;
+	(*ctx)->enabled_subdevices = (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_AUDIO);
 	return fnusb_init(&(*ctx)->usb, usb_ctx);
 }
 
@@ -70,6 +71,14 @@ FREENECTAPI int freenect_num_devices(freenect_context *ctx)
 	return fnusb_num_devices(&ctx->usb);
 }
 
+FREENECTAPI void freenect_select_subdevices(freenect_context *ctx, freenect_device_flags subdevs) {
+	ctx->enabled_subdevices = subdevs & (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA
+#ifdef BUILD_AUDIO
+			| FREENECT_DEVICE_AUDIO
+#endif
+			);
+}
+
 FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index)
 {
 	int res;
@@ -87,27 +96,29 @@ FREENECTAPI int freenect_open_device(freenect_context *ctx, freenect_device **de
 		return res;
 	}
 #ifdef BUILD_AUDIO
-	res = fnusb_num_interfaces(&pdev->usb_audio);
-	if (res == 1) {
-		// Upload audio firmware, release devices, and reopen them
-		res = upload_firmware(&pdev->usb_audio);
-		if (res < 0) {
-			FN_ERROR("upload_firmware failed: %d\n", res);
-			free(pdev);
-			return res;
-		}
-
-		res = fnusb_close_subdevices(pdev);
-		if (res < 0) {
-			FN_ERROR("fnusb_close_subdevices failed: %d\n", res);
-			free(pdev);
-			return res;
-		}
-		sleep(1); // Give time for the device to reenumerate before trying to open it
-		res = fnusb_open_subdevices(pdev, index);
-		if (res < 0) {
-			free(pdev);
-			return res;
+	if (pdev->usb_audio.dev) {
+		res = fnusb_num_interfaces(&pdev->usb_audio);
+		if (res == 1) {
+			// Upload audio firmware, release devices, and reopen them
+			res = upload_firmware(&pdev->usb_audio);
+			if (res < 0) {
+				FN_ERROR("upload_firmware failed: %d\n", res);
+				free(pdev);
+				return res;
+			}
+
+			res = fnusb_close_subdevices(pdev);
+			if (res < 0) {
+				FN_ERROR("fnusb_close_subdevices failed: %d\n", res);
+				free(pdev);
+				return res;
+			}
+			sleep(1); // Give time for the device to reenumerate before trying to open it
+			res = fnusb_open_subdevices(pdev, index);
+			if (res < 0) {
+				free(pdev);
+				return res;
+			}
 		}
 	}
 #endif

src/freenect_internal.h

@@ -43,6 +43,7 @@ struct _freenect_context {
 	freenect_loglevel log_level;
 	freenect_log_cb log_cb;
 	fnusb_ctx usb;
+	freenect_device_flags enabled_subdevices;
 	freenect_device *first;
 };
 

src/usb_libusb10.c

@@ -124,7 +124,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 			continue;
 
 		// Search for the camera
-		if (!dev->usb_cam.dev && desc.idProduct == PID_NUI_CAMERA) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && desc.idProduct == PID_NUI_CAMERA) {
 			// If the index given by the user matches our camera index
 			if (nr_cam == index) {
 				res = libusb_open (devs[i], &dev->usb_cam.dev);
@@ -159,7 +159,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 		}
 
 		// Search for the motor
-		if (!dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
 			// If the index given by the user matches our camera index
 			if (nr_mot == index) {
 				res = libusb_open (devs[i], &dev->usb_motor.dev);
@@ -183,7 +183,7 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 #ifdef BUILD_AUDIO
 		// TODO: check that the firmware has already been loaded; if not, upload firmware.
 		// Search for the audio
-		if (!dev->usb_audio.dev && desc.idProduct == PID_NUI_AUDIO) {
+		if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && desc.idProduct == PID_NUI_AUDIO) {
 			// If the index given by the user matches our audio index
 			if (nr_audio == index) {
 				res = libusb_open (devs[i], &dev->usb_audio.dev);
@@ -209,11 +209,13 @@ int fnusb_open_subdevices(freenect_device *dev, int index)
 
 	libusb_free_device_list (devs, 1);  // free the list, unref the devices in it
 
+	// Check that each subdevice is either opened or not enabled.
+	if ( (dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
+		&& (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
 #ifdef BUILD_AUDIO
-	if (dev->usb_cam.dev && dev->usb_motor.dev && dev->usb_audio.dev) {
-#else
-	if (dev->usb_cam.dev && dev->usb_motor.dev) {
+		&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO))
 #endif
+		) {
 		return 0;
 	} else {
 		if (dev->usb_cam.dev) {

wrappers/c_sync/libfreenect_sync.c

@@ -208,6 +208,10 @@ static void init_thread(void)
 {
 	thread_running = 1;
 	freenect_init(&ctx, 0);
+	// We claim both the motor and the camera, because we can't know in advance
+	// which devices the caller will want, and the c_sync interface doesn't
+	// support audio, so there's no reason to claim the device needlessly.
+	freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
 	pthread_create(&thread, NULL, init, NULL);
 }
 

wrappers/cpp/libfreenect.hpp

@@ -164,6 +164,9 @@ namespace Freenect {
 	  public:
 		Freenect() : m_stop(false) {
 			if(freenect_init(&m_ctx, NULL) < 0) throw std::runtime_error("Cannot initialize freenect library");
+			// We claim both the motor and camera devices, since this class exposes both.
+			// It does not support audio, so we do not claim it.
+			freenect_select_subdevices(m_ctx, static_cast<freenect_device_flags>(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
 			if(pthread_create(&m_thread, NULL, pthread_callback, (void*)this) != 0) throw std::runtime_error("Cannot initialize freenect thread");
 		}
 		~Freenect() {

wrappers/python/freenect.pyx

@@ -46,6 +46,9 @@ LED_BLINK_RED_YELLOW = 6
 RESOLUTION_LOW = 0
 RESOLUTION_MEDIUM = 1
 RESOLUTION_HIGH = 2
+DEVICE_MOTOR = 1
+DEVICE_CAMERA = 2
+DEVICE_AUDIO = 4
 
 
 cdef struct freenect_raw_tilt_state:
@@ -91,6 +94,7 @@ cdef extern from "libfreenect.h":
     int freenect_shutdown(void *ctx)
     int freenect_process_events(void *ctx)
     int freenect_num_devices(void *ctx)
+    int freenect_select_subdevices(void *ctx, int subdevs)
     int freenect_open_device(void *ctx, void **dev, int index)
     int freenect_close_device(void *dev)
     void freenect_set_depth_callback(void *dev, freenect_depth_cb cb)
@@ -230,6 +234,11 @@ cdef init():
     cdef void* ctx
     if freenect_init(cython.address(ctx), 0) < 0:
         return
+    # We take both the motor and camera devices here, since we provide access
+    # to both but haven't wrapped the python API for selecting subdevices yet.
+    # Also, we don't support audio in the python wrapper yet, so no sense claiming
+    # the device.
+    freenect_select_subdevices(ctx, DEVICE_MOTOR | DEVICE_CAMERA)
     cdef CtxPtr ctx_out
     ctx_out = CtxPtr()
     ctx_out._ptr = ctx