[bmusb] / bmusb.cpp

// Intensity Shuttle USB3 prototype capture driver, v0.3
// Can download 8-bit and 10-bit UYVY/v210 frames from HDMI, quite stable
// (can do captures for hours at a time with no drops), except during startup
// 576p60/720p60/1080i60 works, 1080p60 does not work (firmware limitation)
// Audio comes out as 8-channel 24-bit raw audio.

#include <assert.h>
#include <errno.h>
#include <libusb.h>
#include <netinet/in.h>
#include <sched.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef __SSE4_1__
#include <immintrin.h>
#endif
#include "bmusb.h"

#include <algorithm>
#include <atomic>
#include <condition_variable>
#include <cstddef>
#include <cstdint>
#include <deque>
#include <functional>
#include <memory>
#include <mutex>
#include <stack>
#include <thread>

using namespace std;
using namespace std::placeholders;

#define WIDTH 1280
#define HEIGHT 750  /* 30 lines ancillary data? */
//#define WIDTH 1920
//#define HEIGHT 1125  /* ??? lines ancillary data? */
#define HEADER_SIZE 44
//#define HEADER_SIZE 0
#define AUDIO_HEADER_SIZE 4

//#define FRAME_SIZE (WIDTH * HEIGHT * 2 + HEADER_SIZE)  // UYVY
//#define FRAME_SIZE (WIDTH * HEIGHT * 2 * 4 / 3 + HEADER_SIZE)  // v210
#define FRAME_SIZE (8 << 20)

FILE *audiofp;

thread usb_thread;
atomic<bool> should_quit;

FrameAllocator::~FrameAllocator() {}

// Audio is more important than video, and also much cheaper.
// By having many more audio frames available, hopefully if something
// starts to drop, we'll have CPU load go down (from not having to
// process as much video) before we have to drop audio.
#define NUM_QUEUED_VIDEO_FRAMES 16
#define NUM_QUEUED_AUDIO_FRAMES 64

class MallocFrameAllocator : public FrameAllocator {
public:
        MallocFrameAllocator(size_t frame_size, size_t num_queued_frames);
        Frame alloc_frame() override;
        void release_frame(Frame frame) override;

private:
        size_t frame_size;

        mutex freelist_mutex;
        stack<unique_ptr<uint8_t[]>> freelist;  // All of size <frame_size>.
};

MallocFrameAllocator::MallocFrameAllocator(size_t frame_size, size_t num_queued_frames)
        : frame_size(frame_size)
{
        for (size_t i = 0; i < num_queued_frames; ++i) {
                freelist.push(unique_ptr<uint8_t[]>(new uint8_t[frame_size]));
        }
}

FrameAllocator::Frame MallocFrameAllocator::alloc_frame()
{
        Frame vf;
        vf.owner = this;

        unique_lock<mutex> lock(freelist_mutex);  // Meh.
        if (freelist.empty()) {
                printf("Frame overrun (no more spare frames of size %ld), dropping frame!\n",
                        frame_size);
        } else {
                vf.data = freelist.top().release();
                vf.size = frame_size;
                freelist.pop();  // Meh.
        }
        return vf;
}

void MallocFrameAllocator::release_frame(Frame frame)
{
        if (frame.overflow > 0) {
                printf("%d bytes overflow after last (malloc) frame\n", int(frame.overflow));
        }
        unique_lock<mutex> lock(freelist_mutex);
        freelist.push(unique_ptr<uint8_t[]>(frame.data));
}

bool uint16_less_than_with_wraparound(uint16_t a, uint16_t b)
{
        if (a == b) {
                return false;
        } else if (a < b) {
                return (b - a < 0x8000);
        } else {
                int wrap_b = 0x10000 + int(b);
                return (wrap_b - a < 0x8000);
        }
}

void BMUSBCapture::queue_frame(uint16_t format, uint16_t timecode, FrameAllocator::Frame frame, deque<QueuedFrame> *q)
{
        if (!q->empty() && !uint16_less_than_with_wraparound(q->back().timecode, timecode)) {
                printf("Blocks going backwards: prev=0x%04x, cur=0x%04x (dropped)\n",
                        q->back().timecode, timecode);
                frame.owner->release_frame(frame);
                return;
        }

        QueuedFrame qf;
        qf.format = format;
        qf.timecode = timecode;
        qf.frame = frame;

        {
                unique_lock<mutex> lock(queue_lock);
                q->push_back(move(qf));
        }
        queues_not_empty.notify_one();  // might be spurious
}

void dump_frame(const char *filename, uint8_t *frame_start, size_t frame_len)
{
        FILE *fp = fopen(filename, "wb");
        if (fwrite(frame_start + HEADER_SIZE, frame_len - HEADER_SIZE, 1, fp) != 1) {
                printf("short write!\n");
        }
        fclose(fp);
}

void dump_audio_block(uint8_t *audio_start, size_t audio_len)
{
        fwrite(audio_start + AUDIO_HEADER_SIZE, 1, audio_len - AUDIO_HEADER_SIZE, audiofp);
}

void BMUSBCapture::dequeue_thread_func()
{
        if (has_dequeue_callbacks) {
                dequeue_init_callback();
        }
        while (!dequeue_thread_should_quit) {
                unique_lock<mutex> lock(queue_lock);
                queues_not_empty.wait(lock, [this]{ return dequeue_thread_should_quit || (!pending_video_frames.empty() && !pending_audio_frames.empty()); });

                uint16_t video_timecode = pending_video_frames.front().timecode;
                uint16_t audio_timecode = pending_audio_frames.front().timecode;
                if (uint16_less_than_with_wraparound(video_timecode, audio_timecode)) {
                        printf("Video block 0x%04x without corresponding audio block, dropping.\n",
                                video_timecode);
                        video_frame_allocator->release_frame(pending_video_frames.front().frame);
                        pending_video_frames.pop_front();
                } else if (uint16_less_than_with_wraparound(audio_timecode, video_timecode)) {
                        printf("Audio block 0x%04x without corresponding video block, sending blank frame.\n",
                                audio_timecode);
                        QueuedFrame audio_frame = pending_audio_frames.front();
                        pending_audio_frames.pop_front();
                        lock.unlock();
                        frame_callback(audio_timecode,
                                       FrameAllocator::Frame(), 0, 0x0000,
                                       audio_frame.frame, AUDIO_HEADER_SIZE, audio_frame.format);
                } else {
                        QueuedFrame video_frame = pending_video_frames.front();
                        QueuedFrame audio_frame = pending_audio_frames.front();
                        pending_audio_frames.pop_front();
                        pending_video_frames.pop_front();
                        lock.unlock();

#if 0
                        char filename[255];
                        snprintf(filename, sizeof(filename), "%04x%04x.uyvy", video_frame.format, video_timecode);
                        dump_frame(filename, video_frame.frame.data, video_frame.data_len);
                        dump_audio_block(audio_frame.frame.data, audio_frame.data_len); 
#endif

                        frame_callback(video_timecode,
                                       video_frame.frame, HEADER_SIZE, video_frame.format,
                                       audio_frame.frame, AUDIO_HEADER_SIZE, audio_frame.format);
                }
        }
        if (has_dequeue_callbacks) {
                dequeue_cleanup_callback();
        }
}

void BMUSBCapture::start_new_frame(const uint8_t *start)
{
        uint16_t format = (start[3] << 8) | start[2];
        uint16_t timecode = (start[1] << 8) | start[0];

        if (current_video_frame.len > 0) {
                // If format is 0x0800 (no signal), add a fake (empty) audio
                // frame to get it out of the queue.
                // TODO: Figure out if there are other formats that come with
                // no audio, and treat them the same.
                if (format == 0x0800) {
                        FrameAllocator::Frame fake_audio_frame = audio_frame_allocator->alloc_frame();
                        if (fake_audio_frame.data == nullptr) {
                                // Oh well, it's just a no-signal frame anyway.
                                printf("Couldn't allocate fake audio frame, also dropping no-signal video frame.\n");
                                current_video_frame.owner->release_frame(current_video_frame);
                                current_video_frame = video_frame_allocator->alloc_frame();
                                return;
                        }
                        queue_frame(format, timecode, fake_audio_frame, &pending_audio_frames);
                }
                //dump_frame();
                queue_frame(format, timecode, current_video_frame, &pending_video_frames);
        }
        //printf("Found frame start, format 0x%04x timecode 0x%04x, previous frame length was %d/%d\n",
        //      format, timecode,
        //      //start[7], start[6], start[5], start[4],
        //      read_current_frame, FRAME_SIZE);

        current_video_frame = video_frame_allocator->alloc_frame();
        //if (current_video_frame.data == nullptr) {
        //      read_current_frame = -1;
        //} else {
        //      read_current_frame = 0;
        //}
}

void BMUSBCapture::start_new_audio_block(const uint8_t *start)
{
        uint16_t format = (start[3] << 8) | start[2];
        uint16_t timecode = (start[1] << 8) | start[0];
        if (current_audio_frame.len > 0) {
                //dump_audio_block();
                queue_frame(format, timecode, current_audio_frame, &pending_audio_frames);
        }
        //printf("Found audio block start, format 0x%04x timecode 0x%04x, previous block length was %d\n",
        //      format, timecode, read_current_audio_block);
        current_audio_frame = audio_frame_allocator->alloc_frame();
}

#if 0
static void dump_pack(const libusb_transfer *xfr, int offset, const libusb_iso_packet_descriptor *pack)
{
        //      printf("ISO pack%u length:%u, actual_length:%u, offset:%u\n", i, pack->length, pack->actual_length, offset);
        for (unsigned j = 0; j < pack->actual_length; j++) {
        //for (int j = 0; j < min(pack->actual_length, 16u); j++) {
                printf("%02x", xfr->buffer[j + offset]);
                if ((j % 16) == 15)
                        printf("\n");
                else if ((j % 8) == 7)
                        printf("  ");
                else
                        printf(" ");
        }
}
#endif

void memcpy_interleaved(uint8_t *dest1, uint8_t *dest2, const uint8_t *src, size_t n)
{
        assert(n % 2 == 0);
        uint8_t *dptr1 = dest1;
        uint8_t *dptr2 = dest2;

        for (size_t i = 0; i < n; i += 2) {
                *dptr1++ = *src++;
                *dptr2++ = *src++;
        }
}

void add_to_frame(FrameAllocator::Frame *current_frame, const char *frame_type_name, const uint8_t *start, const uint8_t *end)
{
        if (current_frame->data == nullptr ||
            current_frame->len > current_frame->size ||
            start == end) {
                return;
        }

        int bytes = end - start;
        if (current_frame->len + bytes > current_frame->size) {
                current_frame->overflow = current_frame->len + bytes - current_frame->size;
                current_frame->len = current_frame->size;
                if (current_frame->overflow > 1048576) {
                        printf("%d bytes overflow after last %s frame\n",
                                int(current_frame->overflow), frame_type_name);
                        current_frame->overflow = 0;
                }
                //dump_frame();
        } else {
                if (current_frame->interleaved) {
                        uint8_t *data = current_frame->data + current_frame->len / 2;
                        uint8_t *data2 = current_frame->data2 + current_frame->len / 2;
                        if (current_frame->len % 2 == 1) {
                                ++data;
                                swap(data, data2);
                        }
                        if (bytes % 2 == 1) {
                                *data++ = *start++;
                                swap(data, data2);
                                ++current_frame->len;
                                --bytes;
                        }
                        memcpy_interleaved(data, data2, start, bytes);
                        current_frame->len += bytes;
                } else {
                        memcpy(current_frame->data + current_frame->len, start, bytes);
                        current_frame->len += bytes;
                }
        }
}

#ifdef __SSE4_1__

#if 0
void avx2_dump(const char *name, __m256i n)
{
        printf("%-10s:", name);
        printf(" %02x", _mm256_extract_epi8(n, 0));
        printf(" %02x", _mm256_extract_epi8(n, 1));
        printf(" %02x", _mm256_extract_epi8(n, 2));
        printf(" %02x", _mm256_extract_epi8(n, 3));
        printf(" %02x", _mm256_extract_epi8(n, 4));
        printf(" %02x", _mm256_extract_epi8(n, 5));
        printf(" %02x", _mm256_extract_epi8(n, 6));
        printf(" %02x", _mm256_extract_epi8(n, 7));
        printf(" ");
        printf(" %02x", _mm256_extract_epi8(n, 8));
        printf(" %02x", _mm256_extract_epi8(n, 9));
        printf(" %02x", _mm256_extract_epi8(n, 10));
        printf(" %02x", _mm256_extract_epi8(n, 11));
        printf(" %02x", _mm256_extract_epi8(n, 12));
        printf(" %02x", _mm256_extract_epi8(n, 13));
        printf(" %02x", _mm256_extract_epi8(n, 14));
        printf(" %02x", _mm256_extract_epi8(n, 15));
        printf(" ");
        printf(" %02x", _mm256_extract_epi8(n, 16));
        printf(" %02x", _mm256_extract_epi8(n, 17));
        printf(" %02x", _mm256_extract_epi8(n, 18));
        printf(" %02x", _mm256_extract_epi8(n, 19));
        printf(" %02x", _mm256_extract_epi8(n, 20));
        printf(" %02x", _mm256_extract_epi8(n, 21));
        printf(" %02x", _mm256_extract_epi8(n, 22));
        printf(" %02x", _mm256_extract_epi8(n, 23));
        printf(" ");
        printf(" %02x", _mm256_extract_epi8(n, 24));
        printf(" %02x", _mm256_extract_epi8(n, 25));
        printf(" %02x", _mm256_extract_epi8(n, 26));
        printf(" %02x", _mm256_extract_epi8(n, 27));
        printf(" %02x", _mm256_extract_epi8(n, 28));
        printf(" %02x", _mm256_extract_epi8(n, 29));
        printf(" %02x", _mm256_extract_epi8(n, 30));
        printf(" %02x", _mm256_extract_epi8(n, 31));
        printf("\n");
}
#endif

// Does a memcpy and memchr in one to reduce processing time.
// Note that the benefit is somewhat limited if your L3 cache is small,
// as you'll (unfortunately) spend most of the time loading the data
// from main memory.
//
// Complicated cases are left to the slow path; it basically stops copying
// up until the first instance of "sync_char" (usually a bit before, actually).
// This is fine, since 0x00 bytes shouldn't really show up in normal picture
// data, and what we really need this for is the 00 00 ff ff marker in video data.
const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const uint8_t *start, const uint8_t *limit, const char sync_char)
{
        if (current_frame->data == nullptr ||
            current_frame->len > current_frame->size ||
            start == limit) {
                return start;
        }
        size_t orig_bytes = limit - start;
        if (orig_bytes < 128) {
                // Don't bother.
                return start;
        }

        // Don't read more bytes than we can write.
        limit = min(limit, start + (current_frame->size - current_frame->len));

        // Align end to 32 bytes.
        limit = (const uint8_t *)(intptr_t(limit) & ~31);

        if (start >= limit) {
                return start;
        }

        // Process [0,31] bytes, such that start gets aligned to 32 bytes.
        const uint8_t *aligned_start = (const uint8_t *)(intptr_t(start + 31) & ~31);
        if (aligned_start != start) {
                const uint8_t *sync_start = (const uint8_t *)memchr(start, sync_char, aligned_start - start);
                if (sync_start == nullptr) {
                        add_to_frame(current_frame, "", start, aligned_start);
                } else {
                        add_to_frame(current_frame, "", start, sync_start);
                        return sync_start;
                }
        }

        // Make the length a multiple of 64.
        if (current_frame->interleaved) {
                if (((limit - aligned_start) % 64) != 0) {
                        limit -= 32;
                }
                assert(((limit - aligned_start) % 64) == 0);
        }

#if __AVX2__
        const __m256i needle = _mm256_set1_epi8(sync_char);

        const __restrict __m256i *in = (const __m256i *)aligned_start;
        if (current_frame->interleaved) {
                __restrict __m256i *out1 = (__m256i *)(current_frame->data + (current_frame->len + 1) / 2);
                __restrict __m256i *out2 = (__m256i *)(current_frame->data2 + current_frame->len / 2);
                if (current_frame->len % 2 == 1) {
                        swap(out1, out2);
                }

                __m256i shuffle_cw = _mm256_set_epi8(
                        15, 13, 11, 9, 7, 5, 3, 1, 14, 12, 10, 8, 6, 4, 2, 0,
                        15, 13, 11, 9, 7, 5, 3, 1, 14, 12, 10, 8, 6, 4, 2, 0);
                while (in < (const __m256i *)limit) {
                        // Note: For brevity, comments show lanes as if they were 2x64-bit (they're actually 2x128).
                        __m256i data1 = _mm256_stream_load_si256(in);         // AaBbCcDd EeFfGgHh
                        __m256i data2 = _mm256_stream_load_si256(in + 1);     // IiJjKkLl MmNnOoPp

                        __m256i found1 = _mm256_cmpeq_epi8(data1, needle);
                        __m256i found2 = _mm256_cmpeq_epi8(data2, needle);
                        __m256i found = _mm256_or_si256(found1, found2);

                        data1 = _mm256_shuffle_epi8(data1, shuffle_cw);       // ABCDabcd EFGHefgh
                        data2 = _mm256_shuffle_epi8(data2, shuffle_cw);       // IJKLijkl MNOPmnop
                
                        data1 = _mm256_permute4x64_epi64(data1, 0b11011000);  // ABCDEFGH abcdefgh
                        data2 = _mm256_permute4x64_epi64(data2, 0b11011000);  // IJKLMNOP ijklmnop

                        __m256i lo = _mm256_permute2x128_si256(data1, data2, 0b00100000);
                        __m256i hi = _mm256_permute2x128_si256(data1, data2, 0b00110001);

                        _mm256_storeu_si256(out1, lo);  // Store as early as possible, even if the data isn't used.
                        _mm256_storeu_si256(out2, hi);

                        if (!_mm256_testz_si256(found, found)) {
                                break;
                        }

                        in += 2;
                        ++out1;
                        ++out2;
                }
                current_frame->len += (uint8_t *)in - aligned_start;
        } else {
                __m256i *out = (__m256i *)(current_frame->data + current_frame->len);
                while (in < (const __m256i *)limit) {
                        __m256i data = _mm256_load_si256(in);
                        _mm256_storeu_si256(out, data);  // Store as early as possible, even if the data isn't used.
                        __m256i found = _mm256_cmpeq_epi8(data, needle);
                        if (!_mm256_testz_si256(found, found)) {
                                break;
                        }

                        ++in;
                        ++out;
                }
                current_frame->len = (uint8_t *)out - current_frame->data;
        }
#else
        const __m128i needle = _mm_set1_epi8(sync_char);

        const __m128i *in = (const __m128i *)aligned_start;
        if (current_frame->interleaved) {
                __m128i *out1 = (__m128i *)(current_frame->data + (current_frame->len + 1) / 2);
                __m128i *out2 = (__m128i *)(current_frame->data2 + current_frame->len / 2);
                if (current_frame->len % 2 == 1) {
                        swap(out1, out2);
                }

                __m128i mask_lower_byte = _mm_set1_epi16(0x00ff);
                while (in < (const __m128i *)limit) {
                        __m128i data1 = _mm_load_si128(in);
                        __m128i data2 = _mm_load_si128(in + 1);
                        __m128i data1_lo = _mm_and_si128(data1, mask_lower_byte);
                        __m128i data2_lo = _mm_and_si128(data2, mask_lower_byte);
                        __m128i data1_hi = _mm_srli_epi16(data1, 8);
                        __m128i data2_hi = _mm_srli_epi16(data2, 8);
                        __m128i lo = _mm_packus_epi16(data1_lo, data2_lo);
                        _mm_storeu_si128(out1, lo);  // Store as early as possible, even if the data isn't used.
                        __m128i hi = _mm_packus_epi16(data1_hi, data2_hi);
                        _mm_storeu_si128(out2, hi);
                        __m128i found1 = _mm_cmpeq_epi8(data1, needle);
                        __m128i found2 = _mm_cmpeq_epi8(data2, needle);
                        if (!_mm_testz_si128(found1, found1) ||
                            !_mm_testz_si128(found2, found2)) {
                                break;
                        }

                        in += 2;
                        ++out1;
                        ++out2;
                }
                current_frame->len += (uint8_t *)in - aligned_start;
        } else {
                __m128i *out = (__m128i *)(current_frame->data + current_frame->len);
                while (in < (const __m128i *)limit) {
                        __m128i data = _mm_load_si128(in);
                        _mm_storeu_si128(out, data);  // Store as early as possible, even if the data isn't used.
                        __m128i found = _mm_cmpeq_epi8(data, needle);
                        if (!_mm_testz_si128(found, found)) {
                                break;
                        }

                        ++in;
                        ++out;
                }
                current_frame->len = (uint8_t *)out - current_frame->data;
        }
#endif

        //printf("managed to fastpath %ld/%ld bytes\n", (const uint8_t *)in - (const uint8_t *)aligned_start, orig_bytes);

        return (const uint8_t *)in;
}
#endif

void decode_packs(const libusb_transfer *xfr,
                  const char *sync_pattern,
                  int sync_length,
                  FrameAllocator::Frame *current_frame,
                  const char *frame_type_name,
                  function<void(const uint8_t *start)> start_callback)
{
        int offset = 0;
        for (int i = 0; i < xfr->num_iso_packets; i++) {
                const libusb_iso_packet_descriptor *pack = &xfr->iso_packet_desc[i];

                if (pack->status != LIBUSB_TRANSFER_COMPLETED) {
                        fprintf(stderr, "Error: pack %u/%u status %d\n", i, xfr->num_iso_packets, pack->status);
                        continue;
//exit(5);
                }

                const uint8_t *start = xfr->buffer + offset;
                const uint8_t *limit = start + pack->actual_length;
                while (start < limit) {  // Usually runs only one iteration.
#ifdef __SSE4_1__
                        start = add_to_frame_fastpath(current_frame, start, limit, sync_pattern[0]);
                        if (start == limit) break;
                        assert(start < limit);
#endif

                        const unsigned char* start_next_frame = (const unsigned char *)memmem(start, limit - start, sync_pattern, sync_length);
                        if (start_next_frame == nullptr) {
                                // add the rest of the buffer
                                add_to_frame(current_frame, frame_type_name, start, limit);
                                break;
                        } else {
                                add_to_frame(current_frame, frame_type_name, start, start_next_frame);
                                start = start_next_frame + sync_length;  // skip sync
                                start_callback(start);
                        }
                }
#if 0
                dump_pack(xfr, offset, pack);
#endif
                offset += pack->length;
        }
}

void BMUSBCapture::cb_xfr(struct libusb_transfer *xfr)
{
        if (xfr->status != LIBUSB_TRANSFER_COMPLETED) {
                fprintf(stderr, "transfer status %d\n", xfr->status);
                libusb_free_transfer(xfr);
                exit(3);
        }

        assert(xfr->user_data != nullptr);
        BMUSBCapture *usb = static_cast<BMUSBCapture *>(xfr->user_data);

        if (xfr->type == LIBUSB_TRANSFER_TYPE_ISOCHRONOUS) {
                if (xfr->endpoint == 0x84) {
                        decode_packs(xfr, "DeckLinkAudioResyncT", 20, &usb->current_audio_frame, "audio", bind(&BMUSBCapture::start_new_audio_block, usb, _1));
                } else {
                        decode_packs(xfr, "\x00\x00\xff\xff", 4, &usb->current_video_frame, "video", bind(&BMUSBCapture::start_new_frame, usb, _1));
                }
        }
        if (xfr->type == LIBUSB_TRANSFER_TYPE_CONTROL) {
                //const libusb_control_setup *setup = libusb_control_transfer_get_setup(xfr);
                uint8_t *buf = libusb_control_transfer_get_data(xfr);
#if 0
                if (setup->wIndex == 44) {
                        printf("read timer register: 0x%02x%02x%02x%02x\n", buf[0], buf[1], buf[2], buf[3]);
                } else {
                        printf("read register %2d:                      0x%02x%02x%02x%02x\n",
                                setup->wIndex, buf[0], buf[1], buf[2], buf[3]);
                }
#else
                memcpy(usb->register_file + usb->current_register, buf, 4);
                usb->current_register = (usb->current_register + 4) % NUM_BMUSB_REGISTERS;
                if (usb->current_register == 0) {
                        // read through all of them
                        printf("register dump:");
                        for (int i = 0; i < NUM_BMUSB_REGISTERS; i += 4) {
                                printf(" 0x%02x%02x%02x%02x", usb->register_file[i], usb->register_file[i + 1], usb->register_file[i + 2], usb->register_file[i + 3]);
                        }
                        printf("\n");
                }
                libusb_fill_control_setup(xfr->buffer,
                    LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_IN, /*request=*/214, /*value=*/0,
                        /*index=*/usb->current_register, /*length=*/4);
#endif
        }

#if 0
        printf("length:%u, actual_length:%u\n", xfr->length, xfr->actual_length);
        for (i = 0; i < xfr->actual_length; i++) {
                printf("%02x", xfr->buffer[i]);
                if (i % 16)
                        printf("\n");
                else if (i % 8)
                        printf("  ");
                else
                        printf(" ");
        }
#endif

        if (libusb_submit_transfer(xfr) < 0) {
                fprintf(stderr, "error re-submitting URB\n");
                exit(1);
        }
}

void BMUSBCapture::usb_thread_func()
{
        sched_param param;
        memset(&param, 0, sizeof(param));
        param.sched_priority = 1;
        if (sched_setscheduler(0, SCHED_RR, &param) == -1) {
                printf("couldn't set realtime priority for USB thread: %s\n", strerror(errno));
        }
        while (!should_quit) {
                int rc = libusb_handle_events(nullptr);
                if (rc != LIBUSB_SUCCESS)
                        break;
        }
}

struct USBCardDevice {
        uint16_t product;
        uint8_t bus, port;
        libusb_device *device;
};

libusb_device_handle *open_card(int card_index)
{       
        libusb_device **devices;
        ssize_t num_devices = libusb_get_device_list(nullptr, &devices);
        if (num_devices == -1) {
                fprintf(stderr, "Error finding USB devices\n");
                exit(1);
        }
        vector<USBCardDevice> found_cards;
        for (ssize_t i = 0; i < num_devices; ++i) {
                libusb_device_descriptor desc;
                if (libusb_get_device_descriptor(devices[i], &desc) < 0) {
                        fprintf(stderr, "Error getting device descriptor for device %d\n", int(i));
                        exit(1);
                }

                uint8_t bus = libusb_get_bus_number(devices[i]);
                uint8_t port = libusb_get_port_number(devices[i]);

                if (!(desc.idVendor == 0x1edb && desc.idProduct == 0xbd3b) &&
                    !(desc.idVendor == 0x1edb && desc.idProduct == 0xbd4f)) {
                        libusb_unref_device(devices[i]);
                        continue;
                }

                found_cards.push_back({ desc.idProduct, bus, port, devices[i] });
        }
        libusb_free_device_list(devices, 0);

        // Sort the devices to get a consistent ordering.
        sort(found_cards.begin(), found_cards.end(), [](const USBCardDevice &a, const USBCardDevice &b) {
                if (a.product != b.product)
                        return a.product < b.product;
                if (a.bus != b.bus)
                        return a.bus < b.bus;
                return a.port < b.port;
        });

        for (size_t i = 0; i < found_cards.size(); ++i) {
                fprintf(stderr, "Card %d: Bus %03u Device %03u ", int(i), found_cards[i].bus, found_cards[i].port);
                if (found_cards[i].product == 0xbd3b) {
                        fprintf(stderr, "Intensity Shuttle\n");
                } else if (found_cards[i].product == 0xbd4f) {
                        fprintf(stderr, "UltraStudio SDI\n");
                } else {
                        assert(false);
                }
        }

        if (size_t(card_index) >= found_cards.size()) {
                fprintf(stderr, "Could not open card %d (only %d found)\n", card_index, int(found_cards.size()));
                exit(1);
        }

        libusb_device_handle *devh;
        int rc = libusb_open(found_cards[card_index].device, &devh);
        if (rc < 0) {
                fprintf(stderr, "Error opening card %d: %s\n", card_index, libusb_error_name(rc));
                exit(1);
        }

        for (size_t i = 0; i < found_cards.size(); ++i) {
                libusb_unref_device(found_cards[i].device);
        }

        return devh;
}

void BMUSBCapture::configure_card()
{
        if (video_frame_allocator == nullptr) {
                set_video_frame_allocator(new MallocFrameAllocator(FRAME_SIZE, NUM_QUEUED_VIDEO_FRAMES));  // FIXME: leak.
        }
        if (audio_frame_allocator == nullptr) {
                set_audio_frame_allocator(new MallocFrameAllocator(65536, NUM_QUEUED_AUDIO_FRAMES));  // FIXME: leak.
        }
        dequeue_thread_should_quit = false;
        dequeue_thread = thread(&BMUSBCapture::dequeue_thread_func, this);

        int rc;
        struct libusb_transfer *xfr;

        rc = libusb_init(nullptr);
        if (rc < 0) {
                fprintf(stderr, "Error initializing libusb: %s\n", libusb_error_name(rc));
                exit(1);
        }

        libusb_device_handle *devh = open_card(card_index);
        if (!devh) {
                fprintf(stderr, "Error finding USB device\n");
                exit(1);
        }

        libusb_config_descriptor *config;
        rc = libusb_get_config_descriptor(libusb_get_device(devh), /*config_index=*/0, &config);
        if (rc < 0) {
                fprintf(stderr, "Error getting configuration: %s\n", libusb_error_name(rc));
                exit(1);
        }
        printf("%d interface\n", config->bNumInterfaces);
        for (int interface_number = 0; interface_number < config->bNumInterfaces; ++interface_number) {
                printf("  interface %d\n", interface_number);
                const libusb_interface *interface = &config->interface[interface_number];
                for (int altsetting = 0; altsetting < interface->num_altsetting; ++altsetting) {
                        const libusb_interface_descriptor *interface_desc = &interface->altsetting[altsetting];
                        printf("    alternate setting %d\n", interface_desc->bAlternateSetting);
                        for (int endpoint_number = 0; endpoint_number < interface_desc->bNumEndpoints; ++endpoint_number) {
                                const libusb_endpoint_descriptor *endpoint = &interface_desc->endpoint[endpoint_number];
                                printf("        endpoint address 0x%02x\n", endpoint->bEndpointAddress);
                        }
                }
        }

        rc = libusb_set_configuration(devh, /*configuration=*/1);
        if (rc < 0) {
                fprintf(stderr, "Error setting configuration 1: %s\n", libusb_error_name(rc));
                exit(1);
        }

        rc = libusb_claim_interface(devh, 0);
        if (rc < 0) {
                fprintf(stderr, "Error claiming interface 0: %s\n", libusb_error_name(rc));
                exit(1);
        }

        // Alternate setting 1 is output, alternate setting 2 is input.
        // Card is reset when switching alternates, so the driver uses
        // this “double switch” when it wants to reset.
        //
        // There's also alternate settings 3 and 4, which seem to be
        // like 1 and 2 except they advertise less bandwidth needed.
        rc = libusb_set_interface_alt_setting(devh, /*interface=*/0, /*alternate_setting=*/1);
        if (rc < 0) {
                fprintf(stderr, "Error setting alternate 1: %s\n", libusb_error_name(rc));
                exit(1);
        }
        rc = libusb_set_interface_alt_setting(devh, /*interface=*/0, /*alternate_setting=*/2);
        if (rc < 0) {
                fprintf(stderr, "Error setting alternate 2: %s\n", libusb_error_name(rc));
                exit(1);
        }
#if 0
        rc = libusb_set_interface_alt_setting(devh, /*interface=*/0, /*alternate_setting=*/1);
        if (rc < 0) {
                fprintf(stderr, "Error setting alternate 1: %s\n", libusb_error_name(rc));
                exit(1);
        }
#endif

#if 0
        rc = libusb_claim_interface(devh, 3);
        if (rc < 0) {
                fprintf(stderr, "Error claiming interface 3: %s\n", libusb_error_name(rc));
                exit(1);
        }
#endif

        // theories:
        //   44 is some kind of timer register (first 16 bits count upwards)
        //   24 is some sort of watchdog?
        //      you can seemingly set it to 0x73c60001 and that bit will eventually disappear
        //      (or will go to 0x73c60010?), also seen 0x73c60100
        //   12 also changes all the time, unclear why  
        //   16 seems to be autodetected mode somehow
        //      --    this is e00115e0 after reset?
        //                    ed0115e0 after mode change [to output?]
        //                    2d0015e0 after more mode change [to input]
        //                    ed0115e0 after more mode change
        //                    2d0015e0 after more mode change
        //
        //                    390115e0 seems to indicate we have signal
        //         changes to 200115e0 when resolution changes/we lose signal, driver resets after a while
        //
        //                    200015e0 on startup
        //         changes to 250115e0 when we sync to the signal
        //
        //    so only first 16 bits count, and 0x0100 is a mask for ok/stable signal?
        //
        //    Bottom 16 bits of this register seem to be firmware version number (possibly not all all of them).
        //
        //    28 and 32 seems to be analog audio input levels (one byte for each of the eight channels).
        //    however, if setting 32 with HDMI embedded audio, it is immediately overwritten back (to 0xe137002a).
        //
        //    4, 8, 20 are unclear. seem to be some sort of bitmask, but we can set them to 0 with no apparent effect.
        //    perhaps some of them are related to analog output?
        //
        //    36 can be set to 0 with no apparent effect (all of this tested on both video and audio),
        //    but the driver sets it to 0x8036802a at some point.
        //
        //    all of this is on request 214/215. other requests (192, 219,
        //    222, 223, 224) are used for firmware upgrade. Probably best to
        //    stay out of it unless you know what you're doing.
        //
        //
        // register 16:
        // first byte is 0x39 for a stable 576p60 signal, 0x2d for a stable 720p60 signal, 0x20 for no signal
        //
        // theories:
        //   0x01 - stable signal
        //   0x04 - deep color
        //   0x08 - unknown (audio??)
        //   0x20 - 720p??
        //   0x30 - 576p??

        struct ctrl {
                int endpoint;
                int request;
                int index;
                uint32_t data;
        };
        static const ctrl ctrls[] = {
                { LIBUSB_ENDPOINT_IN,  214, 16, 0 },
                { LIBUSB_ENDPOINT_IN,  214,  0, 0 },

                // seems to capture on HDMI, clearing the 0x20000000 bit seems to activate 10-bit
                // capture (v210).
                // clearing the 0x08000000 bit seems to change the capture format (other source?)
                // 0x10000000 = analog audio instead of embedded audio, it seems
                // 0x3a000000 = component video? (analog audio)
                // 0x3c000000 = composite video? (analog audio)
                // 0x3e000000 = s-video? (analog audio)
                { LIBUSB_ENDPOINT_OUT, 215,  0, 0x29000000 },
                //{ LIBUSB_ENDPOINT_OUT, 215,  0, 0x80000100 },
                //{ LIBUSB_ENDPOINT_OUT, 215,  0, 0x09000000 },
                { LIBUSB_ENDPOINT_OUT, 215, 24, 0x73c60001 },  // latch for frame start?
                { LIBUSB_ENDPOINT_IN,  214, 24, 0 },  // 
        };

        for (unsigned req = 0; req < sizeof(ctrls) / sizeof(ctrls[0]); ++req) {
                uint32_t flipped = htonl(ctrls[req].data);
                static uint8_t value[4];
                memcpy(value, &flipped, sizeof(flipped));
                int size = sizeof(value);
                //if (ctrls[req].request == 215) size = 0;
                rc = libusb_control_transfer(devh, LIBUSB_REQUEST_TYPE_VENDOR | ctrls[req].endpoint,
                        /*request=*/ctrls[req].request, /*value=*/0, /*index=*/ctrls[req].index, value, size, /*timeout=*/0);
                if (rc < 0) {
                        fprintf(stderr, "Error on control %d: %s\n", ctrls[req].index, libusb_error_name(rc));
                        exit(1);
                }
                
                printf("rc=%d: ep=%d@%d %d -> 0x", rc, ctrls[req].endpoint, ctrls[req].request, ctrls[req].index);
                for (int i = 0; i < rc; ++i) {
                        printf("%02x", value[i]);
                }
                printf("\n");
        }

#if 0
        // DEBUG
        for ( ;; ) {
                static int my_index = 0;
                static uint8_t value[4];
                int size = sizeof(value);
                rc = libusb_control_transfer(devh, LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_IN,
                        /*request=*/214, /*value=*/0, /*index=*/my_index, value, size, /*timeout=*/0);
                if (rc < 0) {
                        fprintf(stderr, "Error on control\n");
                        exit(1);
                }
                printf("rc=%d index=%d: 0x", rc, my_index);
                for (int i = 0; i < rc; ++i) {
                        printf("%02x", value[i]);
                }
                printf("\n");
        }
#endif

#if 0
        // set up an asynchronous transfer of the timer register
        static uint8_t cmdbuf[LIBUSB_CONTROL_SETUP_SIZE + 4];
        static int completed = 0;

        xfr = libusb_alloc_transfer(0);
        libusb_fill_control_setup(cmdbuf,
            LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_IN, /*request=*/214, /*value=*/0,
                /*index=*/44, /*length=*/4);
        libusb_fill_control_transfer(xfr, devh, cmdbuf, cb_xfr, &completed, 0);
        xfr->user_data = this;
        libusb_submit_transfer(xfr);

        // set up an asynchronous transfer of register 24
        static uint8_t cmdbuf2[LIBUSB_CONTROL_SETUP_SIZE + 4];
        static int completed2 = 0;

        xfr = libusb_alloc_transfer(0);
        libusb_fill_control_setup(cmdbuf2,
            LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_IN, /*request=*/214, /*value=*/0,
                /*index=*/24, /*length=*/4);
        libusb_fill_control_transfer(xfr, devh, cmdbuf2, cb_xfr, &completed2, 0);
        xfr->user_data = this;
        libusb_submit_transfer(xfr);
#endif

        // set up an asynchronous transfer of the register dump
        static uint8_t cmdbuf3[LIBUSB_CONTROL_SETUP_SIZE + 4];
        static int completed3 = 0;

        xfr = libusb_alloc_transfer(0);
        libusb_fill_control_setup(cmdbuf3,
            LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_IN, /*request=*/214, /*value=*/0,
                /*index=*/current_register, /*length=*/4);
        libusb_fill_control_transfer(xfr, devh, cmdbuf3, cb_xfr, &completed3, 0);
        xfr->user_data = this;
        //libusb_submit_transfer(xfr);

        audiofp = fopen("audio.raw", "wb");

        // set up isochronous transfers for audio and video
        for (int e = 3; e <= 4; ++e) {
                //int num_transfers = (e == 3) ? 6 : 6;
                int num_transfers = 6;
                for (int i = 0; i < num_transfers; ++i) {
                        int num_iso_pack, size;
                        if (e == 3) {
                                // Video seems to require isochronous packets scaled with the width; 
                                // seemingly six lines is about right, rounded up to the required 1kB
                                // multiple.
                                size = WIDTH * 2 * 6;
                                // Note that for 10-bit input, you'll need to increase size accordingly.
                                //size = size * 4 / 3;
                                if (size % 1024 != 0) {
                                        size &= ~1023;
                                        size += 1024;
                                }
                                num_iso_pack = (2 << 18) / size;  // 512 kB.
                                printf("Picking %d packets of 0x%x bytes each\n", num_iso_pack, size);
                        } else {
                                size = 0xc0;
                                num_iso_pack = 80;
                        }
                        int num_bytes = num_iso_pack * size;
                        uint8_t *buf = new uint8_t[num_bytes];

                        xfr = libusb_alloc_transfer(num_iso_pack);
                        if (!xfr) {
                                fprintf(stderr, "oom\n");
                                exit(1);
                        }

                        int ep = LIBUSB_ENDPOINT_IN | e;
                        libusb_fill_iso_transfer(xfr, devh, ep, buf, num_bytes,
                                num_iso_pack, cb_xfr, nullptr, 0);
                        libusb_set_iso_packet_lengths(xfr, size);
                        xfr->user_data = this;
                        iso_xfrs.push_back(xfr);
                }
        }
}

void BMUSBCapture::start_bm_capture()
{
        printf("starting capture\n");
        int i = 0;
        for (libusb_transfer *xfr : iso_xfrs) {
                printf("submitting transfer...\n");
                int rc = libusb_submit_transfer(xfr);
                ++i;
                if (rc < 0) {
                        //printf("num_bytes=%d\n", num_bytes);
                        fprintf(stderr, "Error submitting iso to endpoint 0x%02x, number %d: %s\n",
                                xfr->endpoint, i, libusb_error_name(rc));
                        exit(1);
                }
        }


#if 0
        libusb_release_interface(devh, 0);
out:
        if (devh)
                libusb_close(devh);
        libusb_exit(nullptr);
        return rc;
#endif
}

void BMUSBCapture::stop_dequeue_thread()
{
        dequeue_thread_should_quit = true;
        queues_not_empty.notify_all();
        dequeue_thread.join();
}

void BMUSBCapture::start_bm_thread()
{
        should_quit = false;
        usb_thread = thread(&BMUSBCapture::usb_thread_func);
}

void BMUSBCapture::stop_bm_thread()
{
        should_quit = true;
        usb_thread.join();
}