Bug fixes (claim_interface call, buffer resizing) to get libfreenect C code working in OS X

Patch to libusb-1.0 (repo head 7da756e09fd97efad2b35b5cee0e2b2550aac2cb) for getting libfreenect working in OS X

Integrated by Kyle Machulis <kyle@nonpolynomial.com>

Author: ofTheo

c/examples/glview.c

@@ -11,15 +11,22 @@ This code is licensed to you under the terms of the GNU GPL, version 2 or versio
 
 #include <stdio.h>
 #include <string.h>
-#include <math.h>
 #include <libusb.h>
 #include "libfreenect.h"
 
 #include <pthread.h>
 
+#if defined(__APPLE__)
+#include <GLUT/glut.h>
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#else
 #include <GL/glut.h>
 #include <GL/gl.h>
 #include <GL/glu.h>
+#endif
+
+#include <math.h>
 
 pthread_t gl_thread;
 volatile int die = 0;
@@ -37,11 +44,11 @@ uint8_t gl_depth_back[640*480*4];
 uint8_t gl_rgb_front[640*480*4];
 uint8_t gl_rgb_back[640*480*4];
 
-int gl_depth_tex;
-int gl_rgb_tex;
+GLuint gl_depth_tex;
+GLuint gl_rgb_tex;
 
-pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
 
+pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
 int got_frames = 0;
 
 void DrawGLScene()
@@ -86,7 +93,6 @@ void DrawGLScene()
 	glEnd();
 
 	glutSwapBuffers();
-	printf("Frame %d\n", fcnt++);
 }
 
 void keyPressed(unsigned char key, int x, int y)
@@ -211,6 +217,7 @@ void depthimg(uint16_t *buf, int width, int height)
 
 void rgbimg(uint8_t *buf, int width, int height)
 {
+
 	int i;
 
 	pthread_mutex_lock(&gl_backbuf_mutex);
@@ -236,23 +243,35 @@ int main(int argc, char **argv)
 
 	g_argc = argc;
 	g_argv = argv;
+
+	res = pthread_create(&gl_thread, NULL, gl_threadfunc, NULL);
+
 
 	libusb_init(NULL);
+	//libusb_set_debug(0, 3);
 
 	dev = libusb_open_device_with_vid_pid(NULL, 0x45e, 0x2ae);
 	if (!dev) {
 		printf("Could not open device\n");
 		return 1;
 	}
-
 	res = pthread_create(&gl_thread, NULL, gl_threadfunc, NULL);
 	if (res) {
 		printf("pthread_create failed\n");
 		return 1;
 	}
-
+	
+	libusb_claim_interface(dev, 0);
+		
+	//gl_threadfunc(&none);
+	
+	printf("device is %i\n", libusb_get_device_address(libusb_get_device(dev)));
+	
 	cams_init(dev, depthimg, rgbimg);
-
-	while(!die && libusb_handle_events(NULL) == 0);
+	
+	while(!die && libusb_handle_events(NULL) == 0 );
+	
+	printf("-- done!\n");
+	
 	pthread_exit(NULL);
 }

c/lib/cameras.c

@@ -14,12 +14,19 @@ This code is licensed to you under the terms of the GNU GPL, version 2 or versio
 #include <libusb.h>
 #include "libfreenect.h"
 #include "cameras.h"
-
+#include <unistd.h>
+
+#if defined(__APPLE__)
+#define DEPTH_LEN 2048
+#define RGB_LEN 2048
+#define PKTS_PER_XFER 256
+#define NUM_XFERS 8
+#else
 #define DEPTH_LEN 1760
 #define RGB_LEN 1920
-
 #define PKTS_PER_XFER 16
 #define NUM_XFERS 32
+#endif
 
 static struct libusb_transfer *depth_xfers[NUM_XFERS];
 static struct libusb_transfer *rgb_xfers[NUM_XFERS];
@@ -48,7 +55,12 @@ uint16_t depth_frame[640*480];
 int depth_pos = 0;
 
 uint8_t rgb_buf[2*307200];
+#if defined(__APPLE__)
+uint8_t rgb_frame[640*480*4];
+#else
 uint8_t rgb_frame[640*480*3];
+#endif
+
 int rgb_pos = 0;
 
 extern const struct caminit inits[];

platform/osx/libusb-osx-kinect.diff

@@ -0,0 +1,75 @@
+--- libusb/libusbi.h
++++ libusb/libusbi.h
+@@ -288,13 +288,21 @@ struct libusb_device_handle {
+ 	unsigned char os_priv[0];
+ };
+ 
+-#define USBI_TRANSFER_TIMED_OUT	 			(1<<0)
+-
+ enum {
+   USBI_CLOCK_MONOTONIC,
+   USBI_CLOCK_REALTIME
+ };
+ 
++/* flags for struct usbi_transfer:
++ *  USBI_TRANSFER_TIMED_OUT
++ *  USBI_TRANSFER_OS_HANDLES_TIMEOUT - set in the backend submit_transfer if the os will handle the timeout
++ */
++enum {
++  USBI_TRANSFER_TIMED_OUT          = (1 << 0),
++  USBI_TRANSFER_OS_HANDLES_TIMEOUT = (1 << 1)
++};
++
++
+ /* in-memory transfer layout:
+  *
+  * 1. struct usbi_transfer
+--- libusb/os/darwin_usb.c
++++ libusb/os/darwin_usb.c
+@@ -1137,6 +1137,8 @@ static int submit_bulk_transfer(struct usbi_transfer *itransfer) {
+       ret = (*(cInterface->interface))->WritePipeAsync(cInterface->interface, pipeRef, transfer->buffer,
+ 						       transfer->length, darwin_async_io_callback, itransfer);
+   } else {
++    itransfer->flags |= USBI_TRANSFER_OS_HANDLES_TIMEOUT;
++  
+     if (is_read)
+       ret = (*(cInterface->interface))->ReadPipeAsyncTO(cInterface->interface, pipeRef, transfer->buffer,
+ 							transfer->length, transfer->timeout, transfer->timeout,
+@@ -1200,7 +1202,9 @@ static int submit_iso_transfer(struct usbi_transfer *itransfer) {
+   }
+ 
+   /* schedule for a frame a little in the future */
+-  frame += 2;
++  //printf("scheduling for frame += 2\n");
++  //theo modded += 2 was too short 
++  frame += 64;
+ 
+   /* submit the request */
+   if (is_read)
+@@ -1243,6 +1247,8 @@ static int submit_control_transfer(struct usbi_transfer *itransfer) {
+   tpriv->req.pData             = transfer->buffer + LIBUSB_CONTROL_SETUP_SIZE;
+   tpriv->req.completionTimeout = transfer->timeout;
+   tpriv->req.noDataTimeout     = transfer->timeout;
++  
++  itransfer->flags |= USBI_TRANSFER_OS_HANDLES_TIMEOUT;
+ 
+   /* all transfers in libusb-1.0 are async */
+   kresult = (*(dpriv->device))->DeviceRequestAsyncTO(dpriv->device, &(tpriv->req), darwin_async_io_callback, itransfer);
+@@ -1358,6 +1364,9 @@ static void darwin_async_io_callback (void *refcon, IOReturn result, void *arg0)
+ }
+ 
+ static int darwin_transfer_status (struct usbi_transfer *itransfer, kern_return_t result) {
++	if (itransfer->flags & USBI_TRANSFER_TIMED_OUT)
++		result = kIOUSBTransactionTimeout;
++		
+   switch (result) {
+   case kIOReturnUnderrun:
+   case kIOReturnSuccess:
+@@ -1372,6 +1381,7 @@ static int darwin_transfer_status (struct usbi_transfer *itransfer, kern_return_
+     return LIBUSB_TRANSFER_OVERFLOW;
+   case kIOUSBTransactionTimeout:
+     usbi_err (ITRANSFER_CTX (itransfer), "transfer error: timed out");
++	itransfer->flags |= USBI_TRANSFER_TIMED_OUT;
+     return LIBUSB_TRANSFER_TIMED_OUT;
+   default:
+     usbi_err (ITRANSFER_CTX (itransfer), "transfer error: %s (value = 0x%08x)", darwin_error_str (result), result);