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d/wmr: Bracemaggedon

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This commit is contained in:
Jakob Bornecrantz 2021-11-20 14:59:52 +00:00
parent 50e0e7783e
commit ea38309c86
1 changed files with 36 additions and 16 deletions
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52
src/xrt/drivers/wmr/wmr_camera.c
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@ -132,8 +132,9 @@ compute_frame_size(struct wmr_camera *cam)
for (i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING)
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
WMR_CAM_DEBUG(cam, "Found head tracking camera index %d width %d height %d", i, config->sensor_width,
config->sensor_height);
@ -153,11 +154,13 @@ compute_frame_size(struct wmr_camera *cam)
F += config->sensor_width * (config->sensor_height + 1);
}
if (cams_found == 0)
if (cams_found == 0) {
return false;
}
if (width < 1280 || height < 480)
if (width < 1280 || height < 480) {
return false;
}
n_packets = F / (0x6000 - 32);
leftover = F - n_packets * (0x6000 - 32);
@ -199,8 +202,9 @@ send_buffer_to_device(struct wmr_camera *cam, uint8_t *buf, uint8_t len)
uint8_t *data;
xfer = libusb_alloc_transfer(0);
if (xfer == NULL)
if (xfer == NULL) {
return LIBUSB_ERROR_NO_MEM;
}
data = malloc(len);
if (data == NULL) {
@ -313,16 +317,19 @@ wmr_camera_open(struct xrt_prober_device *dev_holo, enum u_logging_level ll)
}
res = libusb_init(&cam->ctx);
if (res < 0)
if (res < 0) {
goto fail;
}
cam->dev = libusb_open_device_with_vid_pid(cam->ctx, dev_holo->vendor_id, dev_holo->product_id);
if (cam->dev == NULL)
if (cam->dev == NULL) {
goto fail;
}
res = libusb_claim_interface(cam->dev, 3);
if (res < 0)
if (res < 0) {
goto fail;
}
cam->usb_complete = 0;
if (os_thread_helper_start(&cam->usb_thread, wmr_cam_usb_thread, cam) != 0) {
@ -347,6 +354,7 @@ wmr_camera_open(struct xrt_prober_device *dev_holo, enum u_logging_level ll)
return cam;
fail:
WMR_CAM_ERROR(cam, "Failed to open camera: %s", libusb_error_name(res));
wmr_camera_free(cam);
@ -372,8 +380,9 @@ wmr_camera_free(struct wmr_camera *cam)
cam->usb_complete = 1;
os_thread_helper_unlock(&cam->usb_thread);
if (cam->dev != NULL)
if (cam->dev != NULL) {
libusb_close(cam->dev);
}
os_thread_helper_destroy(&cam->usb_thread);
@ -401,17 +410,20 @@ wmr_camera_start(struct wmr_camera *cam, const struct wmr_camera_config *cam_con
}
res = set_active(cam, false);
if (res < 0)
if (res < 0) {
goto fail;
}
res = set_active(cam, true);
if (res < 0)
if (res < 0) {
goto fail;
}
for (i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING)
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
res = wmr_camera_set_gain(cam, config->location, DEFAULT_GAIN);
if (res < 0) {
@ -427,14 +439,16 @@ wmr_camera_start(struct wmr_camera *cam, const struct wmr_camera_config *cam_con
cam->xfers[i]->flags |= LIBUSB_TRANSFER_FREE_BUFFER;
res = libusb_submit_transfer(cam->xfers[i]);
if (res < 0)
if (res < 0) {
goto fail;
}
}
WMR_CAM_INFO(cam, "WMR camera started");
return true;
fail:
if (res < 0)
WMR_CAM_ERROR(cam, "Error starting camera input: %s", libusb_error_name(res));
@ -447,26 +461,32 @@ wmr_camera_stop(struct wmr_camera *cam)
{
int res, i;
if (!cam->running)
if (!cam->running) {
return true;
}
cam->running = false;
for (i = 0; i < NUM_XFERS; i++) {
if (cam->xfers[i] != NULL)
if (cam->xfers[i] != NULL) {
libusb_cancel_transfer(cam->xfers[i]);
}
}
res = set_active(cam, false);
if (res < 0)
if (res < 0) {
goto fail;
}
WMR_CAM_INFO(cam, "WMR camera stopped");
return true;
fail:
if (res < 0)
if (res < 0) {
WMR_CAM_ERROR(cam, "Error stopping camera input: %s", libusb_error_name(res));
}
return false;
}