From 4f30e9a03f649c8ce49d23b58846211b1128f41e Mon Sep 17 00:00:00 2001
From: Josh Villbrandt <josh@javconcepts.com>
Date: Mon, 25 Jan 2016 23:32:14 -0800
Subject: [PATCH] Implement missing index select behavior
---
libuvc_camera/src/camera_driver.cpp | 31 +++++++++++++++++++++++------
1 file changed, 25 insertions(+), 6 deletions(-)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index 3494fa2..f112f53 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -309,19 +309,38 @@ void CameraDriver::OpenCamera(UVCCameraConfig &new_config) {
ROS_INFO("Opening camera with vendor=0x%x, product=0x%x, serial=\"%s\", index=%d",
vendor_id, product_id, new_config.serial.c_str(), new_config.index);
- uvc_error_t find_err = uvc_find_device(
- ctx_, &dev_,
+ uvc_device_t **devs;
+
+ uvc_error_t find_err = uvc_find_devices(
+ ctx_, &devs,
vendor_id,
product_id,
new_config.serial.empty() ? NULL : new_config.serial.c_str());
- // TODO: index
-
if (find_err != UVC_SUCCESS) {
uvc_perror(find_err, "uvc_find_device");
return;
}
+ // select device by index
+ dev_ = NULL;
+ int dev_idx = 0;
+ while (devs[dev_idx] != NULL) {
+ if(dev_idx == new_config.index) {
+ dev_ = devs[dev_idx];
+ }
+ else {
+ uvc_unref_device(devs[dev_idx]);
+ }
+
+ dev_idx++;
+ }
+
+ if(dev_ == NULL) {
+ ROS_ERROR("Unable to find device at index %d", new_config.index);
+ return;
+ }
+
uvc_error_t open_err = uvc_open(dev_, &devh_);
if (open_err != UVC_SUCCESS) {
@@ -370,10 +389,10 @@ void CameraDriver::OpenCamera(UVCCameraConfig &new_config) {
return;
}
- uvc_error_t stream_err = uvc_start_iso_streaming(devh_, &ctrl, &CameraDriver::ImageCallbackAdapter, this);
+ uvc_error_t stream_err = uvc_start_streaming(devh_, &ctrl, &CameraDriver::ImageCallbackAdapter, this, 0);
if (stream_err != UVC_SUCCESS) {
- uvc_perror(stream_err, "uvc_start_iso_streaming");
+ uvc_perror(stream_err, "uvc_start_streaming");
uvc_close(devh_);
uvc_unref_device(dev_);
return;
--
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