Discovery aids for Gate in USB EP by TheMutta · Pull Request #96 · luxonis/XLink

TheMutta · 2025-09-03T13:54:21Z

Purpose

This patch gets the state and the platform from gate dynamically.

Specification

Inside the USB EP device discovery functions, once the device is found a request is sent to Gate to get discovery information, and that is used to determine the device state and platform

Dependencies & Potential Impact

This must be paired with the Gate update to make it function correctly.

Deployment Plan

First, the Gate patch must be released to allow for this to work and to allow for testing.

Testing & Validation

For correct testing, first DepthAI Gate must be merged

Develop gadget

Added USB EP discovery

…adget

This reverts commit 4e42afb.

This reverts commit aa476c7.

themarpe · 2025-09-24T10:08:12Z

src/pc/protocols/usb_host_ep.cpp

 #include <fcntl.h>
 #endif

+#include <stdint.h>


Suggested change

#include <stdint.h>

#include <cstdint>

themarpe · 2025-09-24T10:36:54Z

src/pc/PlatformDeviceControl.c

 #endif
+
+    if (usbEpInitialize() != 0) {
+	xlinkSetProtocolInitialized(X_LINK_USB_EP, 0);


themarpe · 2025-09-24T10:40:38Z

src/pc/protocols/usb_host_ep.cpp

+        return error;
+    }
+
+    // Try claiming interface 0 to test if it's in use


We need to go directly to INTERFACE_XLINK & INTERFACE_GATE by interface index, instead of searching for it

themarpe · 2025-09-24T11:08:09Z

src/pc/protocols/usb_host_ep.cpp

+
+
+int usbEpPlatformGateRead(void *data, int size)
+{


Has to be mutex'd

Each R/W opening & closing USB device - lets leave it for now, for initial DAI impl.
But, we might want to move that DeviceGate session has a "opened device" as well

themarpe · 2025-10-06T11:12:03Z

src/pc/protocols/usb_host.cpp

+    char *serialStr = (char*)malloc(serialStrLen + 1);
+    memcpy(serialStr, (const char*)&respBuffer[0], serialStrLen);
+    serialStr[serialStrLen] = '\0';
+    serial = serialStr;
+    free(serialStr);
+    outSerial = serial;


Suggested change

char *serialStr = (char*)malloc(serialStrLen + 1);

memcpy(serialStr, (const char*)&respBuffer[0], serialStrLen);

serialStr[serialStrLen] = '\0';

serial = serialStr;

free(serialStr);

outSerial = serial;

serial.resize(serialStrLen);

for(int i = 0; i < serialStrLen; i++){

serial[i] = ...

}

src/pc/PlatformDeviceSearch.c

themarpe · 2025-10-06T11:32:11Z

src/pc/PlatformDeviceSearch.c

 	    }
            return getLocalShdmemDevices(in_deviceRequirements, out_foundDevices, sizeFoundDevices, out_amountOfFoundDevices);
 #endif
-


unnecessary whitespace diff

themarpe · 2025-10-06T11:32:29Z

src/pc/PlatformDeviceSearch.c

            }
-
-
+


unnecessary whitespace diff

themarpe · 2025-10-06T11:33:32Z

src/pc/protocols/usb_host.cpp

    {
        mvLog(MVLOG_DEBUG, "cannot open device: %s\n", xlink_libusb_strerror(res));
-        return (libusb_error) res;
+return (libusb_error) res;


unnecessary whitespace diff

src/pc/protocols/usb_host.cpp

themarpe · 2025-10-06T11:52:04Z

src/pc/protocols/usb_host.cpp

+    int rc = 0;
+
+    /* Get our device */
+    libusb_device_handle *gate_dev_handle = libusb_open_device_with_vid_pid(context, 0x05C6, 0x4321);


Use: usbPlatformConnect, usbPlatformClose

(if not at all possible, then usbLinkOpen or refLibusbDeviceByName)

themarpe · 2025-10-06T11:52:24Z

src/pc/protocols/usb_host.cpp

    return rc;
 }

+int usbPlatformGateRead(void *data, int size, int timeout)


Suggested change

int usbPlatformGateRead(void *data, int size, int timeout)

int usbPlatformGateRead(name or deviceInfo, void *data, int size, int timeout)

themarpe · 2025-10-07T10:11:00Z

src/pc/PlatformDeviceControl.c

        case X_LINK_USB_VSC:
        case X_LINK_USB_CDC:
-            return usbPlatformClose(deviceHandle->xLinkFD);
+	case X_LINK_USB_EP:


Suggested change

case X_LINK_USB_EP:

case X_LINK_USB_EP:

src/pc/protocols/usb_host.cpp

themarpe · 2025-10-07T10:13:17Z

src/pc/protocols/usb_host.cpp

            memset(out_foundDevices[numDevicesFound].mxid, 0, sizeof(out_foundDevices[numDevicesFound].mxid));
            strncpy(out_foundDevices[numDevicesFound].mxid, mxId.c_str(), sizeof(out_foundDevices[numDevicesFound].mxid));
            numDevicesFound++;
-


themarpe · 2025-10-07T10:33:49Z

cmake/XLinkDependencies.cmake

        add_subdirectory("${XLINK_LIBUSB_LOCAL}" "${CMAKE_CURRENT_BINARY_DIR}/libusb" EXCLUDE_FROM_ALL)
+    elseif(XLINK_LIBUSB_SYSTEM)
+        find_package(PkgConfig REQUIRED)
+	pkg_check_modules(LIBUSB REQUIRED libusb-1.0)


whitespace - use spaces: 4 on vscode

src/pc/protocols/usb_host.cpp

themarpe

Added my comments that have to be addressed

src/pc/protocols/usb_host.cpp

themarpe · 2026-01-16T09:42:05Z

src/pc/protocols/usb_host.cpp

-    libusb_release_interface(f, 0);
+
+    if (protocol == X_LINK_USB_EP){
+        libusb_release_interface(f, 1);


Might have to be interface 2, todo

themarpe · 2026-01-16T09:43:34Z

src/pc/protocols/usb_host.cpp


-    rc = usb_read(usbHandle, data, size);
+        if(protocol == X_LINK_USB_EP) {
+            rc = usb_read(usbHandle, data, size, USB_ENDPOINT_IN + 1);


Suggested change

rc = usb_read(usbHandle, data, size, USB_ENDPOINT_IN + 1);

rc = usb_read(usbHandle, data, size, USB_ENDPOINT_IN + 2);

Interface 2 likely, TODO -> expose const

themarpe · 2026-01-16T09:45:12Z

src/pc/protocols/usb_host.cpp

+    libusb_device* dev = libusb_get_device(gate_dev_handle);
+
+    /* Now we claim our ffs interfaces */
+    rc = libusb_claim_interface(gate_dev_handle, 0);


check - interface should be 1 probably

# Conflicts: # src/pc/protocols/usb_host.cpp

Filippo Mutta and others added 30 commits July 1, 2025 08:11

Added gadgets

e6f7b24

Removed binary files

58edff5

Merge branch 'develop_server' into develop_gadget

f486e90

Added comments for EPs offsets

30093ee

Set correct offsets.

6dbba16

Merge pull request #91 from luxonis/develop_gadget

0de2e87

Develop gadget

Merge branch 'develop_server' into no_hunter

1958f31

Added discovery

7538a46

Recognition of the USB EP interface via strings

6ab310d

Set correct PRODUCT_ID in USB EP

5c220ed

Using first unused device in USB EP.

ca49e53

Finalised USB EPs

d20978d

Merge pull request #92 from luxonis/develop_gadget

30f184d

Added USB EP discovery

Merge branch 'develop_server' into no_hunter

1f1ade0

Initialising usb ctx.

0e2e7d1

Fixed wrong protocol in discovery for USB EP

8423b90

Set priority for USB_EP during discovery

11538f3

Removed ctx deinitialisation

fdc7ca6

Brainstorm

9909f6d

Merge remote-tracking branch 'origin/usb_ep_discovery' into develop_g…

077bb1c

…adget

Added GATE read and write functions.

4891a88

Changed XLinkGateReadData to behave like XLinkReadMoveData

e519b86

Set state to gate

4e42afb

Revert "Set state to gate"

aa476c7

This reverts commit 4e42afb.

Revert "Set state to gate"

5968190

This reverts commit 4e42afb.

Reapply "Set state to gate"

fd7e65f

This reverts commit aa476c7.

Merge branch 'develop_gadget' into no_hunter

1b68e19

Set gate state.

4126554

Changed XLinkPlatformGate functions to not require device handle

7d9d6b9

Removed dispatched implementation.

d46c049

Filippo Mutta added 4 commits October 6, 2025 12:07

usb_host: Added correct handling in Read/Write for VSC/EP

7cf6eb7

usb_host: Remove read/write mutexes for testing.

68a9933

usb_host: Added server setting for EPs.

cdeb969

usb_host: Disabled mutex in read/write due to scheduler.

2164106

themarpe reviewed Oct 6, 2025

View reviewed changes

Whitespace tweaks

9c0193b

themarpe reviewed Oct 6, 2025

View reviewed changes

Filippo Mutta added 4 commits October 6, 2025 18:26

usb_host: Formatting changes.

4e33b55

usb_host: Added explicit dev path for Gate Read/Write

18d6dee

usb_host: Fixed missing else case.

72e6b7e

usb_host: Explicit ep assignment in read/write

deaedf5

themarpe requested changes Oct 7, 2025

View reviewed changes

Filippo Mutta and others added 6 commits October 7, 2025 12:37

usb_host: Reset VIDPID to pre-testing.

79d268b

usb_host: Fixed formatting.

e8c3654

usb_host: Fixed serial.

8db8777

Fixed formatting.

eadd24d

Fixed formatting.

b83a8c3

Rearranged some format & fixed an if statement misassignment bug

7ea6780

themarpe requested changes Oct 8, 2025

View reviewed changes

src/pc/protocols/usb_host.cpp Outdated Show resolved Hide resolved

src/pc/protocols/usb_host.cpp Show resolved Hide resolved

src/pc/protocols/usb_host.cpp Show resolved Hide resolved

Filippo Mutta added 3 commits October 8, 2025 16:33

usb_host: Added atomic bool for isServer.

b5f63da

Merge branch 'v3_develop' into discovery_gate_usb_ep

03b94f9

usb_host: Added missing bracket.

e56ec8a

themarpe reviewed Jan 16, 2026

View reviewed changes

alex-luxonis added 7 commits February 2, 2026 06:19

usb_host: cleanup a few whitespaces

fccbec0

usb_host: USB_EP adapt to latest RVC4 OS USB interfaces

d061873

Merge 'origin/v3_develop' into discovery_gate_usb_ep

6949d8d

# Conflicts: # src/pc/protocols/usb_host.cpp

Rename /dev/usb-ffs/xlink -> /dev/usb-ffs/device

32fefff

usb_host: fix build on Windows, guard XLink server read()/write()

618523d

usb_host: fix large transfers (16MiB+), chunk by 15MiB

b897d2e

usb_host: fix build on Windows, use of designated initializers

ae988ab

	int usbPlatformGateRead(void *data, int size, int timeout)
	int usbPlatformGateRead(name or deviceInfo, void *data, int size, int timeout)

	rc = usb_read(usbHandle, data, size, USB_ENDPOINT_IN + 1);
	rc = usb_read(usbHandle, data, size, USB_ENDPOINT_IN + 2);

Conversation

TheMutta commented Sep 3, 2025

Purpose

Specification

Dependencies & Potential Impact

Deployment Plan

Testing & Validation

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

themarpe left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants