windows/usb_sensor_enumerator.cpp

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/*
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Analog Devices, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    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 HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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#include "connections/usb/usb_sensor_enumerator.h"
#include "connections/usb/usb_depth_sensor.h"
#include "connections/usb/usb_utils.h"
#include "connections/usb/windows/usb_windows_utils.h"
#include "utils.h"
 
#ifdef USE_GLOG
#include <glog/logging.h>
#else
#include <aditof/log.h>
#endif
 
#include <atlstr.h>
#include <memory>
#include <strmif.h>
 
using namespace aditof;
 
UsbSensorEnumerator::~UsbSensorEnumerator() = default;
 
Status UsbSensorEnumerator::searchSensors() {
    using namespace std;
    Status status = Status::OK;
 
    LOG(INFO) << "Looking for USB connected sensors";
 
    HRESULT hr;
 
    hr = CoInitializeEx(NULL, COINIT_MULTITHREADED);
 
    std::string devName("UVC Camera");
 
    ICreateDevEnum *DevEnum = NULL;
 
    hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER,
                          IID_PPV_ARGS(&DevEnum));
    if (FAILED(hr)) {
        LOG(ERROR) << "Create Device Enumeration Failed" << std::endl;
        return Status::GENERIC_ERROR;
    }
 
    IEnumMoniker *EnumMoniker = NULL;
    hr = DevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory,
                                        &EnumMoniker, 0);
 
    if (hr != S_OK) {
        DevEnum->Release();
        LOG(ERROR) << "Device Enumeration Error" << std::endl;
        return Status::GENERIC_ERROR;
    }
 
    IMoniker *Moniker = NULL;
    ULONG cFetched;
    while (EnumMoniker->Next(1, &Moniker, &cFetched) == S_OK) {
        IPropertyBag *PropBag;
        hr = Moniker->BindToStorage(0, 0, IID_PPV_ARGS(&PropBag));
 
        if (SUCCEEDED(hr)) {
            VARIANT varName;
            VariantInit(&varName);
            hr = PropBag->Read(L"FriendlyName", &varName, 0);
 
            if (SUCCEEDED(hr)) {
                std::string str(static_cast<LPCTSTR>(CString(varName.bstrVal)));
                if (str.find(devName) != std::string::npos) {
                    SensorInfo sInfo;
                    sInfo.driverPath = str;
 
                    DLOG(INFO) << "Found USB capture device: " << str;
 
                    std::string advertisedSensorData;
 
                    IBaseFilter *pVideoInputFilter;
 
                    HRESULT hr =
                        Moniker->BindToObject(nullptr, nullptr, IID_IBaseFilter,
                                              (void **)&pVideoInputFilter);
                    if (!SUCCEEDED(hr)) {
                        LOG(WARNING) << "Failed to bind video input filter";
                        return Status::GENERIC_ERROR;
                    }
 
                    // Query the sensors that are available on target
 
                    // Send request
                    usb_payload::ClientRequest requestMsg;
                    requestMsg.set_func_name(
                        usb_payload::FunctionName::SEARCH_SENSORS);
                    requestMsg.add_func_int32_param(
                        1); // TO DO: Check if this is needed. Without it, the serialized string will be empty.
 
                    std::string requestStr;
                    requestMsg.SerializeToString(&requestStr);
                    status = UsbWindowsUtils::uvcExUnitSendRequest(
                        pVideoInputFilter, requestStr);
                    if (status != aditof::Status::OK) {
                        LOG(ERROR) << "Request to search for sensors failed";
                        return status;
                    }
 
                    // Read UVC gadget response
                    std::string responseStr;
                    status = UsbWindowsUtils::uvcExUnitGetResponse(
                        pVideoInputFilter, responseStr);
                    if (status != aditof::Status::OK) {
                        LOG(ERROR) << "Request to search for sensors failed";
                        return status;
                    }
                    usb_payload::ServerResponse responseMsg;
                    bool parsed = responseMsg.ParseFromString(responseStr);
                    if (!parsed) {
                        LOG(ERROR) << "Failed to deserialize string containing "
                                      "UVC gadget response";
                        return aditof::Status::INVALID_ARGUMENT;
                    }
 
                    DLOG(INFO) << "Received the following message with "
                                  "available sensors from target: "
                               << responseMsg.DebugString();
 
                    if (responseMsg.status() != usb_payload::Status::OK) {
                        LOG(ERROR) << "Search for sensors operation failed on "
                                      "UVC gadget";
                        return static_cast<aditof::Status>(
                            responseMsg.status());
                    }
 
                    // If request and response went well, extract data from response
                    m_sensorsInfo.emplace_back(sInfo);
 
                    m_sensorName =
                        responseMsg.sensors_info().image_sensors().name();
 
                    m_kernelVersion =
                        responseMsg.card_image_version().kernelversion();
                    m_sdVersion = responseMsg.card_image_version().sdversion();
                    m_uBootVersion =
                        responseMsg.card_image_version().ubootversion();
                }
            }
            VariantClear(&varName);
            PropBag->Release();
            PropBag = NULL;
        }
 
        Moniker->Release();
        Moniker = NULL;
    }
 
    EnumMoniker->Release();
    DevEnum->Release();
 
    return status;
}
 
Status UsbSensorEnumerator::getDepthSensors(
    std::vector<std::shared_ptr<DepthSensorInterface>> &depthSensors) {
 
    depthSensors.clear();
 
    for (const auto &sInfo : m_sensorsInfo) {
        auto sensor =
            std::make_shared<UsbDepthSensor>(m_sensorName, sInfo.driverPath);
        depthSensors.emplace_back(sensor);
    }
 
    return Status::OK;
}
 
aditof::Status
UsbSensorEnumerator::getUbootVersion(std::string &uBootVersion) const {
    uBootVersion = m_uBootVersion;
    return aditof::Status::OK;
}
 
aditof::Status
UsbSensorEnumerator::getKernelVersion(std::string &kernelVersion) const {
    kernelVersion = m_kernelVersion;
    return aditof::Status::OK;
}
 
aditof::Status
UsbSensorEnumerator::getSdVersion(std::string &sdkVersion) const {
    sdkVersion = m_sdVersion;
    return aditof::Status::OK;
}