/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (C) 2010-2012 Ken Tossell
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * 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.
*   * Neither the name of the author nor other 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/**
 * @defgroup device Device handling and enumeration
 */

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

int uvc_already_open(uvc_context_t *ctx, struct libusb_device *usb_dev);

void uvc_free_devh(uvc_device_handle_t *devh);

uvc_error_t uvc_get_device_info(uvc_device_t *dev, uvc_device_info_t **info);

void uvc_free_device_info(uvc_device_info_t *info);

uvc_error_t uvc_scan_control(uvc_device_t *dev, uvc_device_info_t *info);

uvc_error_t uvc_parse_vc(uvc_device_t *dev,
                         uvc_device_info_t *info,
                         const unsigned char *block, size_t block_size);

uvc_error_t uvc_parse_vc_extension_unit(uvc_device_t *dev,
                                        uvc_device_info_t *info,
                                        const unsigned char *block,
                                        size_t block_size);

uvc_error_t uvc_parse_vc_header(uvc_device_t *dev,
                                uvc_device_info_t *info,
                                const unsigned char *block, size_t block_size);

uvc_error_t uvc_parse_vc_input_terminal(uvc_device_t *dev,
                                        uvc_device_info_t *info,
                                        const unsigned char *block,
                                        size_t block_size);

uvc_error_t uvc_parse_vc_processing_unit(uvc_device_t *dev,
                                         uvc_device_info_t *info,
                                         const unsigned char *block,
                                         size_t block_size);

uvc_error_t uvc_scan_streaming(uvc_device_t *dev,
                               uvc_device_info_t *info,
                               int interface_idx);

uvc_error_t uvc_parse_vs(uvc_device_t *dev,
                         uvc_device_info_t *info,
                         uvc_streaming_interface_t *stream_if,
                         const unsigned char *block, size_t block_size);

uvc_error_t uvc_parse_vs_format_uncompressed(uvc_streaming_interface_t *stream_if,
                                             const unsigned char *block,
                                             size_t block_size);

uvc_error_t uvc_parse_vs_format_mjpeg(uvc_streaming_interface_t *stream_if,
                                      const unsigned char *block,
                                      size_t block_size);

uvc_error_t uvc_parse_vs_frame_uncompressed(uvc_streaming_interface_t *stream_if,
                                            const unsigned char *block,
                                            size_t block_size);

uvc_error_t uvc_parse_vs_input_header(uvc_streaming_interface_t *stream_if,
                                      const unsigned char *block,
                                      size_t block_size);

void _uvc_status_callback(struct libusb_transfer *transfer);

/** @internal
 * @brief Test whether the specified USB device has been opened as a UVC device
 * @ingroup device
 *
 * @param ctx Context in which to search for the UVC device
 * @param usb_dev USB device to find
 * @return true if the device is open in this context
 */
int uvc_already_open(uvc_context_t *ctx, struct libusb_device *usb_dev) {
	uvc_device_handle_t *devh;

	DL_FOREACH(ctx->open_devices, devh)
	{
		if (usb_dev == devh->dev->usb_dev)
			return 1;
	}

	return 0;
}

/** @brief Finds a camera identified by vendor, product and/or serial number
 * @ingroup device
 *
 * @param[in] ctx UVC context in which to search for the camera
 * @param[out] dev Reference to the camera, or NULL if not found
 * @param[in] vid Vendor ID number, optional
 * @param[in] pid Product ID number, optional
 * @param[in] sn Serial number or NULL
 * @return Error finding device or UVC_SUCCESS
 */
uvc_error_t uvc_find_device(
		uvc_context_t *ctx, uvc_device_t **dev,
		int vid, int pid, const char *sn) {
	uvc_error_t ret = UVC_SUCCESS;

	uvc_device_t **list;
	uvc_device_t *test_dev;
	int dev_idx;
	int found_dev;

	UVC_ENTER();

	ret = uvc_get_device_list(ctx, &list);

	if (ret != UVC_SUCCESS) {
		UVC_EXIT(ret);
		return ret;
	}

	dev_idx = 0;
	found_dev = 0;

	while (!found_dev && (test_dev = list[dev_idx++]) != NULL) {
		uvc_device_descriptor_t *desc;

		if (uvc_get_device_descriptor(test_dev, &desc) != UVC_SUCCESS)
			continue;

		if ((!vid || desc->idVendor == vid)
		    && (!pid || desc->idProduct == pid)
		    && (!sn || (desc->serialNumber && !strcmp(desc->serialNumber, sn))))
			found_dev = 1;

		uvc_free_device_descriptor(desc);
	}

	if (found_dev)
		uvc_ref_device(test_dev);

	uvc_free_device_list(list, 1);

	if (found_dev) {
		*dev = test_dev;
		UVC_EXIT(UVC_SUCCESS);
		return UVC_SUCCESS;
	} else {
		UVC_EXIT(UVC_ERROR_NO_DEVICE);
		return UVC_ERROR_NO_DEVICE;
	}
}

/** @brief Get the number of the bus to which the device is attached
 * @ingroup device
 */
uint8_t uvc_get_bus_number(uvc_device_t *dev) {
	return libusb_get_bus_number(dev->usb_dev);
}

/** @brief Get the number assigned to the device within its bus
 * @ingroup device
 */
uint8_t uvc_get_device_address(uvc_device_t *dev) {
	return libusb_get_device_address(dev->usb_dev);
}

/** @brief Open a UVC device
 * @ingroup device
 *
 * @param dev Device to open
 * @param[out] devh Handle on opened device
 * @return Error opening device or SUCCESS
 */
uvc_error_t uvc_open(
		uvc_device_t *dev,
		uvc_device_handle_t **devh) {
	uvc_error_t ret;
	struct libusb_device_handle *usb_devh;
	uvc_device_handle_t *internal_devh;
	struct libusb_device_descriptor desc;

	UVC_ENTER();

	ret = libusb_open(dev->usb_dev, &usb_devh);
	UVC_DEBUG("libusb_open() = %d", ret);

	if (ret != UVC_SUCCESS) {
		UVC_EXIT(ret);
		return ret;
	}

	uvc_ref_device(dev);

	internal_devh = calloc(1, sizeof(*internal_devh));
	internal_devh->dev = dev;
	internal_devh->usb_devh = usb_devh;

	ret = uvc_get_device_info(dev, &(internal_devh->info));

	if (ret != UVC_SUCCESS)
		goto fail;

	/* Automatically attach/detach kernel driver on supported platforms */
	libusb_set_auto_detach_kernel_driver(usb_devh, 1);

	UVC_DEBUG("claiming control interface %d", internal_devh->info->ctrl_if.bInterfaceNumber);
	ret = uvc_claim_if(internal_devh, internal_devh->info->ctrl_if.bInterfaceNumber);
	if (ret != UVC_SUCCESS)
		goto fail;

	libusb_get_device_descriptor(dev->usb_dev, &desc);
	internal_devh->is_isight = (desc.idVendor == 0x05ac && desc.idProduct == 0x8501);

	if (internal_devh->info->ctrl_if.bEndpointAddress) {
		internal_devh->status_xfer = libusb_alloc_transfer(0);
		if (!internal_devh->status_xfer) {
			ret = UVC_ERROR_NO_MEM;
			goto fail;
		}

		libusb_fill_interrupt_transfer(internal_devh->status_xfer,
		                               usb_devh,
		                               internal_devh->info->ctrl_if.bEndpointAddress,
		                               internal_devh->status_buf,
		                               sizeof(internal_devh->status_buf),
		                               _uvc_status_callback,
		                               internal_devh,
		                               0);
		ret = libusb_submit_transfer(internal_devh->status_xfer);
		UVC_DEBUG("libusb_submit_transfer() = %d", ret);

		if (ret) {
			fprintf(stderr,
			        "uvc: device has a status interrupt endpoint, but unable to read from it\n");
			goto fail;
		}
	}

	if (dev->ctx->own_usb_ctx && dev->ctx->open_devices == NULL) {
		/* Since this is our first device, we need to spawn the event handler thread */
		uvc_start_handler_thread(dev->ctx);
	}

	DL_APPEND(dev->ctx->open_devices, internal_devh);
	*devh = internal_devh;

	UVC_EXIT(ret);

	return ret;

	fail:
	uvc_release_if(internal_devh, internal_devh->info->ctrl_if.bInterfaceNumber);
	libusb_close(usb_devh);
	uvc_unref_device(dev);
	uvc_free_devh(internal_devh);

	UVC_EXIT(ret);

	return ret;
}

/**
 * @internal
 * @brief Parses the complete device descriptor for a device
 * @ingroup device
 * @note Free *info with uvc_free_device_info when you're done
 *
 * @param dev Device to parse descriptor for
 * @param info Where to store a pointer to the new info struct
 */
uvc_error_t uvc_get_device_info(uvc_device_t *dev,
                                uvc_device_info_t **info) {
	uvc_error_t ret;
	uvc_device_info_t *internal_info;

	UVC_ENTER();

	internal_info = calloc(1, sizeof(*internal_info));
	if (!internal_info) {
		UVC_EXIT(UVC_ERROR_NO_MEM);
		return UVC_ERROR_NO_MEM;
	}

	if (libusb_get_config_descriptor(dev->usb_dev,
	                                 0,
	                                 &(internal_info->config)) != 0) {
		free(internal_info);
		UVC_EXIT(UVC_ERROR_IO);
		return UVC_ERROR_IO;
	}

	ret = uvc_scan_control(dev, internal_info);
	if (ret != UVC_SUCCESS) {
		uvc_free_device_info(internal_info);
		UVC_EXIT(ret);
		return ret;
	}

	*info = internal_info;

	UVC_EXIT(ret);
	return ret;
}

/**
 * @internal
 * @brief Frees the device descriptor for a device
 * @ingroup device
 *
 * @param info Which device info block to free
 */
void uvc_free_device_info(uvc_device_info_t *info) {
	uvc_input_terminal_t *input_term, *input_term_tmp;
	uvc_processing_unit_t *proc_unit, *proc_unit_tmp;
	uvc_extension_unit_t *ext_unit, *ext_unit_tmp;

	uvc_streaming_interface_t *stream_if, *stream_if_tmp;
	uvc_format_desc_t *format, *format_tmp;
	uvc_frame_desc_t *frame, *frame_tmp;

	UVC_ENTER();

	DL_FOREACH_SAFE(info->ctrl_if.input_term_descs, input_term, input_term_tmp)
	{
		DL_DELETE(info->ctrl_if.input_term_descs, input_term);
		free(input_term);
	}

	DL_FOREACH_SAFE(info->ctrl_if.processing_unit_descs, proc_unit, proc_unit_tmp)
	{
		DL_DELETE(info->ctrl_if.processing_unit_descs, proc_unit);
		free(proc_unit);
	}

	DL_FOREACH_SAFE(info->ctrl_if.extension_unit_descs, ext_unit, ext_unit_tmp)
	{
		DL_DELETE(info->ctrl_if.extension_unit_descs, ext_unit);
		free(ext_unit);
	}

	DL_FOREACH_SAFE(info->stream_ifs, stream_if, stream_if_tmp)
	{
		DL_FOREACH_SAFE(stream_if->format_descs, format, format_tmp)
		{
			DL_FOREACH_SAFE(format->frame_descs, frame, frame_tmp)
			{
				if (frame->intervals)
					free(frame->intervals);

				DL_DELETE(format->frame_descs, frame);
				free(frame);
			}

			DL_DELETE(stream_if->format_descs, format);
			free(format);
		}

		DL_DELETE(info->stream_ifs, stream_if);
		free(stream_if);
	}

	if (info->config)
		libusb_free_config_descriptor(info->config);

	free(info);

	UVC_EXIT_VOID();
}

/**
 * @brief Get a descriptor that contains the general information about
 * a device
 * @ingroup device
 *
 * Free *desc with uvc_free_device_descriptor when you're done.
 *
 * @param dev Device to fetch information about
 * @param[out] desc Descriptor structure
 * @return Error if unable to fetch information, else SUCCESS
 */
uvc_error_t uvc_get_device_descriptor(
		uvc_device_t *dev,
		uvc_device_descriptor_t **desc) {
	uvc_device_descriptor_t *desc_internal;
	struct libusb_device_descriptor usb_desc;
	struct libusb_device_handle *usb_devh;
	uvc_error_t ret;

	UVC_ENTER();

	ret = libusb_get_device_descriptor(dev->usb_dev, &usb_desc);

	if (ret != UVC_SUCCESS) {
		UVC_EXIT(ret);
		return ret;
	}

	desc_internal = calloc(1, sizeof(*desc_internal));
	desc_internal->idVendor = usb_desc.idVendor;
	desc_internal->idProduct = usb_desc.idProduct;

	if (libusb_open(dev->usb_dev, &usb_devh) == 0) {
		unsigned char serial_buf[64];

		int serial_bytes = libusb_get_string_descriptor_ascii(
				usb_devh, usb_desc.iSerialNumber, serial_buf, sizeof(serial_buf));

		if (serial_bytes > 0)
			desc_internal->serialNumber = strdup((const char *) serial_buf);

		/** @todo get manufacturer, product names */

		libusb_close(usb_devh);
	} else {
		UVC_DEBUG("can't open device %04x:%04x, not fetching serial",
		          usb_desc.idVendor, usb_desc.idProduct);
	}

	*desc = desc_internal;

	UVC_EXIT(ret);
	return ret;
}

/**
 * @brief Frees a device descriptor created with uvc_get_device_descriptor
 * @ingroup device
 *
 * @param desc Descriptor to free
 */
void uvc_free_device_descriptor(
		uvc_device_descriptor_t *desc) {
	UVC_ENTER();

	if (desc->serialNumber)
		free((void *) desc->serialNumber);

	if (desc->manufacturer)
		free((void *) desc->manufacturer);

	if (desc->product)
		free((void *) desc->product);

	free(desc);

	UVC_EXIT_VOID();
}

/**
 * @brief Get a list of the UVC devices attached to the system
 * @ingroup device
 *
 * @note Free the list with uvc_free_device_list when you're done.
 *
 * @param ctx UVC context in which to list devices
 * @param list List of uvc_device structures
 * @return Error if unable to list devices, else SUCCESS
 */
uvc_error_t uvc_get_device_list(
		uvc_context_t *ctx,
		uvc_device_t ***list) {
	uvc_error_t ret;
	struct libusb_device **usb_dev_list;
	struct libusb_device *usb_dev;
	int num_usb_devices;

	uvc_device_t **list_internal;
	int num_uvc_devices;

	/* per device */
	int dev_idx;
	struct libusb_device_handle *usb_devh;
	struct libusb_config_descriptor *config;
	uint8_t got_interface;

	/* per interface */
	int interface_idx;
	const struct libusb_interface *interface;

	/* per altsetting */
	int altsetting_idx;
	const struct libusb_interface_descriptor *if_desc;

	UVC_ENTER();

	num_usb_devices = libusb_get_device_list(ctx->usb_ctx, &usb_dev_list);

	if (num_usb_devices < 0) {
		UVC_EXIT(UVC_ERROR_IO);
		return UVC_ERROR_IO;
	}

	list_internal = malloc(sizeof(*list_internal));
	*list_internal = NULL;

	num_uvc_devices = 0;
	dev_idx = -1;

	while ((usb_dev = usb_dev_list[++dev_idx]) != NULL) {
		usb_devh = NULL;
		got_interface = 0;

		if (libusb_get_config_descriptor(usb_dev, 0, &config) != 0)
			continue;

		for (interface_idx = 0;
		     !got_interface && interface_idx < config->bNumInterfaces;
		     ++interface_idx) {
			interface = &config->interface[interface_idx];

			for (altsetting_idx = 0;
			     !got_interface && altsetting_idx < interface->num_altsetting;
			     ++altsetting_idx) {
				if_desc = &interface->altsetting[altsetting_idx];

				/* Video, Streaming */
				if (if_desc->bInterfaceClass == 14 && if_desc->bInterfaceSubClass == 2) {
					got_interface = 1;
				}
			}
		}

		libusb_free_config_descriptor(config);

		if (got_interface) {
			uvc_device_t *uvc_dev = malloc(sizeof(*uvc_dev));
			uvc_dev->ctx = ctx;
			uvc_dev->ref = 0;
			uvc_dev->usb_dev = usb_dev;
			uvc_ref_device(uvc_dev);

			num_uvc_devices++;
			list_internal = realloc(list_internal, (num_uvc_devices + 1) * sizeof(*list_internal));

			list_internal[num_uvc_devices - 1] = uvc_dev;
			list_internal[num_uvc_devices] = NULL;

			UVC_DEBUG("    UVC: %d", dev_idx);
		} else {
			UVC_DEBUG("non-UVC: %d", dev_idx);
		}
	}

	libusb_free_device_list(usb_dev_list, 1);

	*list = list_internal;

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/**
 * @brief Frees a list of device structures created with uvc_get_device_list.
 * @ingroup device
 *
 * @param list Device list to free
 * @param unref_devices Decrement the reference counter for each device
 * in the list, and destroy any entries that end up with zero references
 */
void uvc_free_device_list(uvc_device_t **list, uint8_t unref_devices) {
	uvc_device_t *dev;
	int dev_idx = 0;

	UVC_ENTER();

	if (unref_devices) {
		while ((dev = list[dev_idx++]) != NULL) {
			uvc_unref_device(dev);
		}
	}

	free(list);

	UVC_EXIT_VOID();
}

/**
 * @brief Get the uvc_device_t corresponding to an open device
 * @ingroup device
 *
 * @note Unref the uvc_device_t when you're done with it
 *
 * @param devh Device handle to an open UVC device
 */
uvc_device_t *uvc_get_device(uvc_device_handle_t *devh) {
	uvc_ref_device(devh->dev);
	return devh->dev;
}

/**
 * @brief Get the underlying libusb device handle for an open device
 * @ingroup device
 *
 * This can be used to access other interfaces on the same device, e.g.
 * a webcam microphone.
 *
 * @note The libusb device handle is only valid while the UVC device is open;
 * it will be invalidated upon calling uvc_close.
 *
 * @param devh UVC device handle to an open device
 */
libusb_device_handle *uvc_get_libusb_handle(uvc_device_handle_t *devh) {
	return devh->usb_devh;
}

/**
 * @brief Get input terminal descriptors for the open device.
 *
 * @note Do not modify the returned structure.
 * @note The returned structure is part of a linked list. Iterate through
 *       it by using the 'next' pointers.
 *
 * @param devh Device handle to an open UVC device
 */
const uvc_input_terminal_t *uvc_get_input_terminals(uvc_device_handle_t *devh) {
	return devh->info->ctrl_if.input_term_descs;
}

/**
 * @brief Get output terminal descriptors for the open device.
 *
 * @note Do not modify the returned structure.
 * @note The returned structure is part of a linked list. Iterate through
 *       it by using the 'next' pointers.
 *
 * @param devh Device handle to an open UVC device
 */
const uvc_output_terminal_t *uvc_get_output_terminals(uvc_device_handle_t *devh) {
	return NULL; /* @todo */
}

/**
 * @brief Get processing unit descriptors for the open device.
 *
 * @note Do not modify the returned structure.
 * @note The returned structure is part of a linked list. Iterate through
 *       it by using the 'next' pointers.
 *
 * @param devh Device handle to an open UVC device
 */
const uvc_processing_unit_t *uvc_get_processing_units(uvc_device_handle_t *devh) {
	return devh->info->ctrl_if.processing_unit_descs;
}

/**
 * @brief Get extension unit descriptors for the open device.
 *
 * @note Do not modify the returned structure.
 * @note The returned structure is part of a linked list. Iterate through
 *       it by using the 'next' pointers.
 *
 * @param devh Device handle to an open UVC device
 */
const uvc_extension_unit_t *uvc_get_extension_units(uvc_device_handle_t *devh) {
	return devh->info->ctrl_if.extension_unit_descs;
}

/**
 * @brief Increment the reference count for a device
 * @ingroup device
 *
 * @param dev Device to reference
 */
void uvc_ref_device(uvc_device_t *dev) {
	UVC_ENTER();

	dev->ref++;
	libusb_ref_device(dev->usb_dev);

	UVC_EXIT_VOID();
}

/**
 * @brief Decrement the reference count for a device
 * @ingropu device
 * @note If the count reaches zero, the device will be discarded
 *
 * @param dev Device to unreference
 */
void uvc_unref_device(uvc_device_t *dev) {
	UVC_ENTER();

	libusb_unref_device(dev->usb_dev);
	dev->ref--;

	if (dev->ref == 0)
		free(dev);

	UVC_EXIT_VOID();
}

/** @internal
 * Claim a UVC interface, detaching the kernel driver if necessary.
 * @ingroup device
 *
 * @param devh UVC device handle
 * @param idx UVC interface index
 */
uvc_error_t uvc_claim_if(uvc_device_handle_t *devh, int idx) {
	int ret;

	UVC_ENTER();

	UVC_DEBUG("claiming interface %d", idx);
	ret = libusb_claim_interface(devh->usb_devh, idx);

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * Release a UVC interface.
 * @ingroup device
 *
 * @param devh UVC device handle
 * @param idx UVC interface index
 */
uvc_error_t uvc_release_if(uvc_device_handle_t *devh, int idx) {
	int ret;

	UVC_ENTER();
	UVC_DEBUG("releasing interface %d", idx);
	/* libusb_release_interface *should* reset the alternate setting to the first available,
	   but sometimes (e.g. on Darwin) it doesn't. Thus, we do it explicitly here.
	   This is needed to de-initialize certain cameras. */
	libusb_set_interface_alt_setting(devh->usb_devh, idx, 0);
	ret = libusb_release_interface(devh->usb_devh, idx);

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * Find a device's VideoControl interface and process its descriptor
 * @ingroup device
 */
uvc_error_t uvc_scan_control(uvc_device_t *dev, uvc_device_info_t *info) {
	const struct libusb_interface_descriptor *if_desc;
	uvc_error_t parse_ret, ret;
	int interface_idx;
	const unsigned char *buffer;
	size_t buffer_left, block_size;

	UVC_ENTER();

	ret = UVC_SUCCESS;
	if_desc = NULL;

	for (interface_idx = 0; interface_idx < info->config->bNumInterfaces; ++interface_idx) {
		if_desc = &info->config->interface[interface_idx].altsetting[0];

		if (if_desc->bInterfaceClass == 14 && if_desc->bInterfaceSubClass == 1) // Video, Control
			break;

		if_desc = NULL;
	}

	if (if_desc == NULL) {
		UVC_EXIT(UVC_ERROR_INVALID_DEVICE);
		return UVC_ERROR_INVALID_DEVICE;
	}

	info->ctrl_if.bInterfaceNumber = interface_idx;
	if (if_desc->bNumEndpoints != 0) {
		info->ctrl_if.bEndpointAddress = if_desc->endpoint[0].bEndpointAddress;
	}

	buffer = if_desc->extra;
	buffer_left = if_desc->extra_length;

	while (buffer_left >= 3) { // parseX needs to see buf[0,2] = length,type
		block_size = buffer[0];
		parse_ret = uvc_parse_vc(dev, info, buffer, block_size);

		if (parse_ret != UVC_SUCCESS) {
			ret = parse_ret;
			break;
		}

		buffer_left -= block_size;
		buffer += block_size;
	}

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * @brief Parse a VideoControl header.
 * @ingroup device
 */
uvc_error_t uvc_parse_vc_header(uvc_device_t *dev,
                                uvc_device_info_t *info,
                                const unsigned char *block, size_t block_size) {
	size_t i;
	uvc_error_t scan_ret, ret = UVC_SUCCESS;

	UVC_ENTER();

	/*
	int uvc_version;
	uvc_version = (block[4] >> 4) * 1000 + (block[4] & 0x0f) * 100
	  + (block[3] >> 4) * 10 + (block[3] & 0x0f);
	*/

	info->ctrl_if.bcdUVC = SW_TO_SHORT(&block[3]);

	switch (info->ctrl_if.bcdUVC) {
		case 0x0100:
		case 0x010a:
		case 0x0110:
			break;
		default:
			UVC_EXIT(UVC_ERROR_NOT_SUPPORTED);
			return UVC_ERROR_NOT_SUPPORTED;
	}

	for (i = 12; i < block_size; ++i) {
		scan_ret = uvc_scan_streaming(dev, info, block[i]);
		if (scan_ret != UVC_SUCCESS) {
			ret = scan_ret;
			break;
		}
	}

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * @brief Parse a VideoControl input terminal.
 * @ingroup device
 */
uvc_error_t uvc_parse_vc_input_terminal(uvc_device_t *dev,
                                        uvc_device_info_t *info,
                                        const unsigned char *block, size_t block_size) {
	uvc_input_terminal_t *term;
	size_t i;

	UVC_ENTER();

	/* only supporting camera-type input terminals */
	if (SW_TO_SHORT(&block[4]) != UVC_ITT_CAMERA) {
		UVC_EXIT(UVC_SUCCESS);
		return UVC_SUCCESS;
	}

	term = calloc(1, sizeof(*term));

	term->bTerminalID = block[3];
	term->wTerminalType = SW_TO_SHORT(&block[4]);
	term->wObjectiveFocalLengthMin = SW_TO_SHORT(&block[8]);
	term->wObjectiveFocalLengthMax = SW_TO_SHORT(&block[10]);
	term->wOcularFocalLength = SW_TO_SHORT(&block[12]);

	for (i = 14 + block[14]; i >= 15; --i)
		term->bmControls = block[i] + (term->bmControls << 8);

	DL_APPEND(info->ctrl_if.input_term_descs, term);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * @brief Parse a VideoControl processing unit.
 * @ingroup device
 */
uvc_error_t uvc_parse_vc_processing_unit(uvc_device_t *dev,
                                         uvc_device_info_t *info,
                                         const unsigned char *block, size_t block_size) {
	uvc_processing_unit_t *unit;
	size_t i;

	UVC_ENTER();

	unit = calloc(1, sizeof(*unit));
	unit->bUnitID = block[3];
	unit->bSourceID = block[4];

	for (i = 7 + block[7]; i >= 8; --i)
		unit->bmControls = block[i] + (unit->bmControls << 8);

	DL_APPEND(info->ctrl_if.processing_unit_descs, unit);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * @brief Parse a VideoControl extension unit.
 * @ingroup device
 */
uvc_error_t uvc_parse_vc_extension_unit(uvc_device_t *dev,
                                        uvc_device_info_t *info,
                                        const unsigned char *block, size_t block_size) {
	uvc_extension_unit_t *unit = calloc(1, sizeof(*unit));
	const uint8_t *start_of_controls;
	int size_of_controls, num_in_pins;
	int i;

	UVC_ENTER();

	unit->bUnitID = block[3];
	memcpy(unit->guidExtensionCode, &block[4], 16);

	num_in_pins = block[21];
	size_of_controls = block[22 + num_in_pins];
	start_of_controls = &block[23 + num_in_pins];

	for (i = size_of_controls - 1; i >= 0; --i)
		unit->bmControls = start_of_controls[i] + (unit->bmControls << 8);

	DL_APPEND(info->ctrl_if.extension_unit_descs, unit);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * Process a single VideoControl descriptor block
 * @ingroup device
 */
uvc_error_t uvc_parse_vc(
		uvc_device_t *dev,
		uvc_device_info_t *info,
		const unsigned char *block, size_t block_size) {
	int descriptor_subtype;
	uvc_error_t ret = UVC_SUCCESS;

	UVC_ENTER();

	if (block[1] != 36) { // not a CS_INTERFACE descriptor??
		UVC_EXIT(UVC_SUCCESS);
		return UVC_SUCCESS; // UVC_ERROR_INVALID_DEVICE;
	}

	descriptor_subtype = block[2];

	switch (descriptor_subtype) {
		case UVC_VC_HEADER:
			ret = uvc_parse_vc_header(dev, info, block, block_size);
			break;
		case UVC_VC_INPUT_TERMINAL:
			ret = uvc_parse_vc_input_terminal(dev, info, block, block_size);
			break;
		case UVC_VC_OUTPUT_TERMINAL:
			break;
		case UVC_VC_SELECTOR_UNIT:
			break;
		case UVC_VC_PROCESSING_UNIT:
			ret = uvc_parse_vc_processing_unit(dev, info, block, block_size);
			break;
		case UVC_VC_EXTENSION_UNIT:
			ret = uvc_parse_vc_extension_unit(dev, info, block, block_size);
			break;
		default:
			ret = UVC_ERROR_INVALID_DEVICE;
	}

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * Process a VideoStreaming interface
 * @ingroup device
 */
uvc_error_t uvc_scan_streaming(uvc_device_t *dev,
                               uvc_device_info_t *info,
                               int interface_idx) {
	const struct libusb_interface_descriptor *if_desc;
	const unsigned char *buffer;
	size_t buffer_left, block_size;
	uvc_error_t ret, parse_ret;
	uvc_streaming_interface_t *stream_if;

	UVC_ENTER();

	ret = UVC_SUCCESS;

	if_desc = &(info->config->interface[interface_idx].altsetting[0]);
	buffer = if_desc->extra;
	buffer_left = if_desc->extra_length;

	stream_if = calloc(1, sizeof(*stream_if));
	stream_if->parent = info;
	stream_if->bInterfaceNumber = if_desc->bInterfaceNumber;
	DL_APPEND(info->stream_ifs, stream_if);

	while (buffer_left >= 3) {
		block_size = buffer[0];
		parse_ret = uvc_parse_vs(dev, info, stream_if, buffer, block_size);

		if (parse_ret != UVC_SUCCESS) {
			ret = parse_ret;
			break;
		}

		buffer_left -= block_size;
		buffer += block_size;
	}

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * @brief Parse a VideoStreaming header block.
 * @ingroup device
 */
uvc_error_t uvc_parse_vs_input_header(uvc_streaming_interface_t *stream_if,
                                      const unsigned char *block,
                                      size_t block_size) {
	UVC_ENTER();

	stream_if->bEndpointAddress = block[6] & 0x8f;
	stream_if->bTerminalLink = block[8];

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * @brief Parse a VideoStreaming uncompressed format block.
 * @ingroup device
 */
uvc_error_t uvc_parse_vs_format_uncompressed(uvc_streaming_interface_t *stream_if,
                                             const unsigned char *block,
                                             size_t block_size) {
	UVC_ENTER();

	uvc_format_desc_t *format = calloc(1, sizeof(*format));

	format->parent = stream_if;
	format->bDescriptorSubtype = block[2];
	format->bFormatIndex = block[3];
	//format->bmCapabilities = block[4];
	//format->bmFlags = block[5];
	memcpy(format->guidFormat, &block[5], 16);
	format->bBitsPerPixel = block[21];
	format->bDefaultFrameIndex = block[22];
	format->bAspectRatioX = block[23];
	format->bAspectRatioY = block[24];
	format->bmInterlaceFlags = block[25];
	format->bCopyProtect = block[26];

	DL_APPEND(stream_if->format_descs, format);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * @brief Parse a VideoStreaming MJPEG format block.
 * @ingroup device
 */
uvc_error_t uvc_parse_vs_format_mjpeg(uvc_streaming_interface_t *stream_if,
                                      const unsigned char *block,
                                      size_t block_size) {
	UVC_ENTER();

	uvc_format_desc_t *format = calloc(1, sizeof(*format));

	format->parent = stream_if;
	format->bDescriptorSubtype = block[2];
	format->bFormatIndex = block[3];
	memcpy(format->fourccFormat, "MJPG", 4);
	format->bmFlags = block[5];
	format->bBitsPerPixel = 0;
	format->bDefaultFrameIndex = block[6];
	format->bAspectRatioX = block[7];
	format->bAspectRatioY = block[8];
	format->bmInterlaceFlags = block[9];
	format->bCopyProtect = block[10];

	DL_APPEND(stream_if->format_descs, format);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * @brief Parse a VideoStreaming uncompressed frame block.
 * @ingroup device
 */
uvc_error_t uvc_parse_vs_frame_uncompressed(uvc_streaming_interface_t *stream_if,
                                            const unsigned char *block,
                                            size_t block_size) {
	uvc_format_desc_t *format;
	uvc_frame_desc_t *frame;

	const unsigned char *p;
	int i;

	UVC_ENTER();

	format = stream_if->format_descs->prev;
	frame = calloc(1, sizeof(*frame));

	frame->parent = format;

	frame->bDescriptorSubtype = block[2];
	frame->bFrameIndex = block[3];
	frame->bmCapabilities = block[4];
	frame->wWidth = block[5] + (block[6] << 8);
	frame->wHeight = block[7] + (block[8] << 8);
	frame->dwMinBitRate = DW_TO_INT(&block[9]);
	frame->dwMaxBitRate = DW_TO_INT(&block[13]);
	frame->dwMaxVideoFrameBufferSize = DW_TO_INT(&block[17]);
	frame->dwDefaultFrameInterval = DW_TO_INT(&block[21]);
	// frame->bFrameIntervalType = block[25];

	if (block[25] == 0) {
		frame->dwMinFrameInterval = DW_TO_INT(&block[26]);
		frame->dwMaxFrameInterval = DW_TO_INT(&block[30]);
		frame->dwFrameIntervalStep = DW_TO_INT(&block[34]);
	} else {
		frame->intervals = calloc(block[25] + 1, sizeof(frame->intervals[0]));
		p = &block[26];

		for (i = 0; i < block[25]; ++i) {
			frame->intervals[i] = DW_TO_INT(p);
			p += 4;
		}
		frame->intervals[block[25]] = 0;
	}

	DL_APPEND(format->frame_descs, frame);

	UVC_EXIT(UVC_SUCCESS);
	return UVC_SUCCESS;
}

/** @internal
 * Process a single VideoStreaming descriptor block
 * @ingroup device
 */
uvc_error_t uvc_parse_vs(
		uvc_device_t *dev,
		uvc_device_info_t *info,
		uvc_streaming_interface_t *stream_if,
		const unsigned char *block, size_t block_size) {
	uvc_error_t ret;
	int descriptor_subtype;

	UVC_ENTER();

	ret = UVC_SUCCESS;
	descriptor_subtype = block[2];

	switch (descriptor_subtype) {
		case UVC_VS_INPUT_HEADER:
			ret = uvc_parse_vs_input_header(stream_if, block, block_size);
			break;
		case UVC_VS_FORMAT_UNCOMPRESSED:
			ret = uvc_parse_vs_format_uncompressed(stream_if, block, block_size);
			break;
		case UVC_VS_FORMAT_MJPEG:
			ret = uvc_parse_vs_format_mjpeg(stream_if, block, block_size);
			break;
		case UVC_VS_FRAME_UNCOMPRESSED:
		case UVC_VS_FRAME_MJPEG:
			ret = uvc_parse_vs_frame_uncompressed(stream_if, block, block_size);
			break;
		default:
			/** @todo handle JPEG and maybe still frames or even DV... */
			break;
	}

	UVC_EXIT(ret);
	return ret;
}

/** @internal
 * @brief Free memory associated with a UVC device
 * @pre Streaming must be stopped, and threads must have died
 */
void uvc_free_devh(uvc_device_handle_t *devh) {
	UVC_ENTER();

	if (devh->info)
		uvc_free_device_info(devh->info);

	if (devh->status_xfer)
		libusb_free_transfer(devh->status_xfer);

	free(devh);

	UVC_EXIT_VOID();
}

/** @brief Close a device
 *
 * @ingroup device
 *
 * Ends any stream that's in progress.
 *
 * The device handle and frame structures will be invalidated.
 */
void uvc_close(uvc_device_handle_t *devh) {
	UVC_ENTER();
	uvc_context_t *ctx = devh->dev->ctx;

	if (devh->streams)
		uvc_stop_streaming(devh);

	uvc_release_if(devh, devh->info->ctrl_if.bInterfaceNumber);

	/* If we are managing the libusb context and this is the last open device,
	 * then we need to cancel the handler thread. When we call libusb_close,
	 * it'll cause a return from the thread's libusb_handle_events call, after
	 * which the handler thread will check the flag we set and then exit. */
	if (ctx->own_usb_ctx && ctx->open_devices == devh && devh->next == NULL) {
		ctx->kill_handler_thread = 1;
		libusb_close(devh->usb_devh);
		pthread_join(ctx->handler_thread, NULL);
	} else {
		libusb_close(devh->usb_devh);
	}

	DL_DELETE(ctx->open_devices, devh);

	uvc_unref_device(devh->dev);

	uvc_free_devh(devh);

	UVC_EXIT_VOID();
}

/** @internal
 * @brief Get number of open devices
 */
size_t uvc_num_devices(uvc_context_t *ctx) {
	size_t count = 0;

	uvc_device_handle_t *devh;

	UVC_ENTER();

	DL_FOREACH(ctx->open_devices, devh)
	{
		count++;
	}

	UVC_EXIT((int) count);
	return count;
}

void uvc_process_status_xfer(uvc_device_handle_t *devh, struct libusb_transfer *transfer) {
	enum uvc_status_class status_class;
	uint8_t originator = 0, selector = 0, event = 0;
	enum uvc_status_attribute attribute = UVC_STATUS_ATTRIBUTE_UNKNOWN;
	void *data = NULL;
	size_t data_len = 0;

	UVC_ENTER();

	/* printf("Got transfer of aLen = %d\n", transfer->actual_length); */

	if (transfer->actual_length < 4) {
		UVC_DEBUG("Short read of status update (%d bytes)", transfer->actual_length);
		UVC_EXIT_VOID();
		return;
	}

	originator = transfer->buffer[1];

	switch (transfer->buffer[0] & 0x0f) {
		case 1: {  /* VideoControl interface */
			int found_entity = 0;
			struct uvc_input_terminal *input_terminal;
			struct uvc_processing_unit *processing_unit;

			if (transfer->actual_length < 5) {
				UVC_DEBUG("Short read of VideoControl status update (%d bytes)",
				          transfer->actual_length);
				UVC_EXIT_VOID();
				return;
			}

			event = transfer->buffer[2];
			selector = transfer->buffer[3];

			if (originator == 0) {
				UVC_DEBUG("Unhandled update from VC interface");
				UVC_EXIT_VOID();
				return;  /* @todo VideoControl virtual entity interface updates */
			}

			if (event != 0) {
				UVC_DEBUG("Unhandled VC event %d", (int) event);
				UVC_EXIT_VOID();
				return;
			}

			/* printf("bSelector: %d\n", selector); */

			DL_FOREACH(devh->info->ctrl_if.input_term_descs, input_terminal)
			{
				if (input_terminal->bTerminalID == originator) {
					status_class = UVC_STATUS_CLASS_CONTROL_CAMERA;
					found_entity = 1;
					break;
				}
			}

			if (!found_entity) {
				DL_FOREACH(devh->info->ctrl_if.processing_unit_descs, processing_unit)
				{
					if (processing_unit->bUnitID == originator) {
						status_class = UVC_STATUS_CLASS_CONTROL_PROCESSING;
						found_entity = 1;
						break;
					}
				}
			}

			if (!found_entity) {
				UVC_DEBUG("Got status update for unknown VideoControl entity %d",
				          (int) originator);
				UVC_EXIT_VOID();
				return;
			}

			attribute = transfer->buffer[4];
			data = transfer->buffer + 5;
			data_len = transfer->actual_length - 5;
			break;
		}
		case 2:  /* VideoStreaming interface */
			UVC_DEBUG("Unhandled update from VideoStreaming interface");
			UVC_EXIT_VOID();
			return;  /* @todo VideoStreaming updates */
	}

	UVC_DEBUG("Event: class=%d, event=%d, selector=%d, attribute=%d, data_len=%zd",
	          status_class, event, selector, attribute, data_len);

	if (devh->status_cb) {
		UVC_DEBUG("Running user-supplied status callback");
		devh->status_cb(status_class,
		                event,
		                selector,
		                attribute,
		                data, data_len,
		                devh->status_user_ptr);
	}

	UVC_EXIT_VOID();
}

/** @internal
 * @brief Process asynchronous status updates from the device.
 */
void _uvc_status_callback(struct libusb_transfer *transfer) {
	UVC_ENTER();

	uvc_device_handle_t *devh = (uvc_device_handle_t *) transfer->user_data;

	switch (transfer->status) {
		case LIBUSB_TRANSFER_ERROR:
		case LIBUSB_TRANSFER_CANCELLED:
		case LIBUSB_TRANSFER_NO_DEVICE:
			UVC_DEBUG("not processing/resubmitting, status = %d", transfer->status);
			UVC_EXIT_VOID();
			return;
		case LIBUSB_TRANSFER_COMPLETED:
			uvc_process_status_xfer(devh, transfer);
			break;
		case LIBUSB_TRANSFER_TIMED_OUT:
		case LIBUSB_TRANSFER_STALL:
		case LIBUSB_TRANSFER_OVERFLOW:
			UVC_DEBUG("retrying transfer, status = %d", transfer->status);
			break;
	}

	uvc_error_t ret = libusb_submit_transfer(transfer);
	UVC_DEBUG("libusb_submit_transfer() = %d", ret);

	UVC_EXIT_VOID();
}

/** @brief Set a callback function to receive status updates
 *
 * @ingroup device
 */
void uvc_set_status_callback(uvc_device_handle_t *devh,
                             uvc_status_callback_t cb,
                             void *user_ptr) {
	UVC_ENTER();

	devh->status_cb = cb;
	devh->status_user_ptr = user_ptr;

	UVC_EXIT_VOID();
}
