RobotKernal-UESTC/Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl.c

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/**
 * @defgroup ctrl Video capture and processing controls
 * @brief Functions for manipulating device settings and stream parameters
 *
 * The `uvc_get_*` and `uvc_set_*` functions are used to read and write the settings associated
 * with the device's input, processing and output units.
 */

#include "libuvc/libuvc.h"
#include "libuvc/libuvc_internal.h"

static const int REQ_TYPE_SET = 0x21;
static const int REQ_TYPE_GET = 0xa1;

/***** GENERIC CONTROLS *****/
/**
 * @brief Get the length of a control on a terminal or unit.
 * 
 * @param devh UVC device handle
 * @param unit Unit or Terminal ID; obtain this from the uvc_extension_unit_t describing the extension unit
 * @param ctrl Vendor-specific control number to query
 * @return On success, the length of the control as reported by the device. Otherwise,
 *   a uvc_error_t error describing the error encountered.
 * @ingroup ctrl
 */
int uvc_get_ctrl_len(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl) {
  unsigned char buf[2];

  int ret = libusb_control_transfer(
    devh->usb_devh,
    REQ_TYPE_GET, UVC_GET_LEN,
    ctrl << 8,
    unit << 8 | devh->info->ctrl_if.bInterfaceNumber,		// XXX saki
    buf,
    2,
    0 /* timeout */);

  if (ret < 0)
    return ret;
  else
    return (unsigned short)SW_TO_SHORT(buf);
}

/**
 * @brief Perform a GET_* request from an extension unit.
 * 
 * @param devh UVC device handle
 * @param unit Unit ID; obtain this from the uvc_extension_unit_t describing the extension unit
 * @param ctrl Control number to query
 * @param data Data buffer to be filled by the device
 * @param len Size of data buffer
 * @param req_code GET_* request to execute
 * @return On success, the number of bytes actually transferred. Otherwise,
 *   a uvc_error_t error describing the error encountered.
 * @ingroup ctrl
 */
int uvc_get_ctrl(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl, void *data, int len, enum uvc_req_code req_code) {
  return libusb_control_transfer(
    devh->usb_devh,
    REQ_TYPE_GET, req_code,
    ctrl << 8,
    unit << 8 | devh->info->ctrl_if.bInterfaceNumber,		// XXX saki
    data,
    len,
    0 /* timeout */);
}

/**
 * @brief Perform a SET_CUR request to a terminal or unit.
 * 
 * @param devh UVC device handle
 * @param unit Unit or Terminal ID
 * @param ctrl Control number to set
 * @param data Data buffer to be sent to the device
 * @param len Size of data buffer
 * @return On success, the number of bytes actually transferred. Otherwise,
 *   a uvc_error_t error describing the error encountered.
 * @ingroup ctrl
 */
int uvc_set_ctrl(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl, void *data, int len) {
  return libusb_control_transfer(
    devh->usb_devh,
    REQ_TYPE_SET, UVC_SET_CUR,
    ctrl << 8,
    unit << 8 | devh->info->ctrl_if.bInterfaceNumber,		// XXX saki
    data,
    len,
    0 /* timeout */);
}

/***** INTERFACE CONTROLS *****/
uvc_error_t uvc_get_power_mode(uvc_device_handle_t *devh, enum uvc_device_power_mode *mode, enum uvc_req_code req_code) {
  uint8_t mode_char;
  uvc_error_t ret;

  ret = libusb_control_transfer(
    devh->usb_devh,
    REQ_TYPE_GET, req_code,
    UVC_VC_VIDEO_POWER_MODE_CONTROL << 8,
    devh->info->ctrl_if.bInterfaceNumber,	// XXX saki
    &mode_char,
    sizeof(mode_char),
    0);

  if (ret == 1) {
    *mode = mode_char;
    return UVC_SUCCESS;
  } else {
    return ret;
  }
}

uvc_error_t uvc_set_power_mode(uvc_device_handle_t *devh, enum uvc_device_power_mode mode) {
  uint8_t mode_char = mode;
  uvc_error_t ret;

  ret = libusb_control_transfer(
    devh->usb_devh,
    REQ_TYPE_SET, UVC_SET_CUR,
    UVC_VC_VIDEO_POWER_MODE_CONTROL << 8,
    devh->info->ctrl_if.bInterfaceNumber,	// XXX saki
    &mode_char,
    sizeof(mode_char),
    0);

  if (ret == 1)
    return UVC_SUCCESS;
  else
    return ret;
}

/** @todo Request Error Code Control (UVC 1.5, 4.2.1.2) */