Read error code from command response

CMakeLists.txt

@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 SET(PROJECT_VER_MAJOR 0)
 SET(PROJECT_VER_MINOR 2)
@@ -133,6 +133,7 @@ SET(SOURCES
   include/internal/libfreenect2/rgb_packet_stream_parser.h
   include/internal/libfreenect2/threading.h
 
+  src/status_codes.cpp
   src/transfer_pool.cpp
   src/event_loop.cpp
   src/usb_control.cpp

examples/CMakeLists.txt

@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 if(WIN32 AND NOT MINGW)
   if(NOT DEFINED CMAKE_DEBUG_POSTFIX)

include/internal/libfreenect2/protocol/command_transaction.h

@@ -30,6 +30,7 @@
 #include <vector>
 #include <libusb.h>
 #include <libfreenect2/protocol/command.h>
+#include <libfreenect2/protocol/response.h>
 
 namespace libfreenect2
 {
@@ -48,10 +49,12 @@ class CommandTransaction
   ~CommandTransaction();
 
   bool execute(const CommandBase& command, Result& result);
+
+  SensorStatusCode getCommandStatus();
 private:
   libusb_device_handle *handle_;
   int inbound_endpoint_, outbound_endpoint_, timeout_;
-  Result response_complete_result_;
+  ResponseFooter response_complete_result_;
 
   bool send(const CommandBase& command);
 

include/internal/libfreenect2/protocol/response.h

@@ -34,12 +34,22 @@
 #include <algorithm>
 #include <libfreenect2/config.h>
 #include <libfreenect2/libfreenect2.hpp>
+#include <libfreenect2/status_codes.h>
 
 namespace libfreenect2
 {
 namespace protocol
 {
 
+// Original struct name: NUISENSOR_USB_PACKET_RESPONSE
+LIBFREENECT2_PACK(struct ResponseFooter
+{
+  uint32_t PacketType;  // Magic number: 0x0A6FE000
+  uint32_t TransactionId;
+  SensorStatusCode Status;
+  uint32_t Reserved;
+});
+
 class SerialNumberResponse
 {
 private:
@@ -328,7 +338,7 @@ LIBFREENECT2_PACK(struct P0TablesResponse
 LIBFREENECT2_PACK(struct ColorSettingResponse
 {
   uint32_t NumStatus;
-  uint32_t CommandListStatus;
+  uint32_t CommandListStatus; // value from SensorStatusCode
   // Result of the first command -- we only send one at a time for now.
   // Equivalent of a fixed-length array of NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY_STATUS in NuiSensorLib.h
   uint32_t Status;

include/libfreenect2/status_codes.h

@@ -0,0 +1,291 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2026 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#ifndef STATUS_CODES_H_
+#define STATUS_CODES_H_
+
+namespace libfreenect2
+{
+
+// The following information was found by using the library released by Microsoft under MIT license,
+// https://github.com/Microsoft/MixedRealityCompanionKit/tree/master/KinectIPD/NuiSensor
+// Debugging the library assembly shows the original enum name was _PETRA_STATUS.
+//
+// Note: There may be other status codes returned by the sensor than these, 
+// and some of these may never be returned by the sensor.
+enum SensorStatusCode {
+	STATUS_CODE_SUCCESS = 0,
+	STATUS_CODE_UNKNOWN_COMMAND = 1,
+	STATUS_CODE_INVALID_PARAMETER = 3,
+	STATUS_CODE_UART_RX_OVERFLOW = 4,
+	STATUS_CODE_BAD_COMMAND_HANDLER = 5,
+	STATUS_CODE_ABORT = 6,
+	STATUS_CODE_COMMAND_BUSY = 7,
+	STATUS_CODE_NOT_IMPLEMENTED = 8,
+	STATUS_CODE_OUT_OF_MEMORY = 9,
+	STATUS_CODE_BIST_NOT_SUPPORTED = 10,
+	STATUS_CODE_NO_MORE_DATA = 11,
+	STATUS_CODE_ACCESS_DENIED = 12,
+	STATUS_CODE_PARAM_BAD_TAG = 13,
+	STATUS_CODE_PARAM_BAD_VALUE = 14,
+	STATUS_CODE_DATA_TRUNCATED = 15,
+	STATUS_CODE_IO_PENDING = 16,
+	STATUS_CODE_DATA_TOO_BIG = 17,
+	STATUS_CODE_INVALID_PAYLOAD_SIZE = 18,
+	STATUS_CODE_INVALID_COMMAND_PACKET = 19,
+	STATUS_CODE_UNEXPECTED_DATA_PHASE = 20,
+	STATUS_CODE_DATA_PHASE_ERROR = 21,
+	STATUS_CODE_FAILED = 99,
+	STATUS_CODE_I2C_NO_RESOURCES = 100,
+	STATUS_CODE_I2C_INVALID_HANDLE = 101,
+	STATUS_CODE_I2C_DEVICE_NOT_SUPPORTED = 102,
+	STATUS_CODE_I2C_PENDING = 103,
+	STATUS_CODE_I2C_IDLE_TIMEOUT = 104,
+	STATUS_CODE_I2C_READ_TIMEOUT = 105,
+	STATUS_CODE_I2C_WRITE_TIMEOUT = 106,
+	STATUS_CODE_I2C_STOP_TIMEOUT = 107,
+	STATUS_CODE_I2C_TX_ABORT = 108,
+	STATUS_CODE_I2C_RX_ABORT = 109,
+	STATUS_CODE_NAND_RESET_ERROR = 300,
+	STATUS_CODE_NAND_NOT_READY = 301,
+	STATUS_CODE_NAND_READ_ID_FAILED = 302,
+	STATUS_CODE_NAND_ERASE_FAILED = 303,
+	STATUS_CODE_NAND_ECC_CALC_TIMEOUT = 304,
+	STATUS_CODE_NAND_ECC_CORRECTION_ERROR = 305,
+	STATUS_CODE_NAND_PAGE_PROGRAM_FAILED = 306,
+	STATUS_CODE_NAND_NOT_INITIALIZED = 307,
+	STATUS_CODE_NAND_ADDR_OUT_OF_RANGE = 308,
+	STATUS_CODE_NAND_BBT_BAD_MAGIC = 309,
+	STATUS_CODE_NAND_TOO_MANY_BAD_BLOCKS = 310,
+	STATUS_CODE_NAND_BAD_BLOCK_FOUND = 311,
+	STATUS_CODE_DDR_TRAINING_NO_VALID_VALUE = 350,
+	STATUS_CODE_MUTEX_OUT_OF_MEMORY = 400,
+	STATUS_CODE_MUTEX_NOT_ACQUIRED = 401,
+	STATUS_CODE_MUTEX_NOT_RELEASED = 402,
+	STATUS_CODE_NOR_OPERATION_TIMEOUT = 500,
+	STATUS_CODE_NOR_FLASH_NOT_IDENTIFIED = 501,
+	STATUS_CODE_NOR_NOT_INITIALIZED = 502,
+	STATUS_CODE_NOR_WRITE_ERROR = 503,
+	STATUS_CODE_NOR_OUT_OF_MEMORY = 504,
+	STATUS_CODE_NOR_BUSY = 505,
+	STATUS_CODE_NOR_PURGE_FIFO_TIMEOUT = 506,
+	STATUS_CODE_NOR_SET_MODE_TIMEOUT = 507,
+	STATUS_CODE_NOR_READ_FIFO_TIMEOUT = 508,
+	STATUS_CODE_NOR_READ_STATUS_ERROR = 509,
+	STATUS_CODE_NOR_WAIT_SEQ_DONE_TIMEOUT = 510,
+	STATUS_CODE_NOR_FLASH_NOT_READY = 511,
+	STATUS_CODE_NOR_BAD_DEVICE_ID = 512,
+	STATUS_CODE_NOR_ERASE_TIMEOUT = 513,
+	STATUS_CODE_NOR_READ_DATA_LOSS = 514,
+	STATUS_CODE_NOR_WRITE_STATUS_ERROR = 515,
+	STATUS_CODE_NOR_READ_TIMEOUT = 516,
+	STATUS_CODE_NOR_WRITE_TIMEOUT = 517,
+	STATUS_CODE_NOR_SET_STATUS_TIMEOUT = 518,
+	STATUS_CODE_SSP_TX_FIFO_OVERFLOW = 600,
+	STATUS_CODE_SSP_RX_TIMEOUT = 601,
+	STATUS_CODE_SSP_TRANSFER_COMPLETE_TIMEOUT = 602,
+	STATUS_CODE_FPGA_BAD_MAGIC_HEADER = 650,
+	STATUS_CODE_FPGA_FLASH_DATA_MISMATCH = 651,
+	STATUS_CODE_GZIP_UNEXPECTED_EOF = 652,
+	STATUS_CODE_GZIP_MORE_DATA = 653,
+	STATUS_CODE_GZIP_CRC_ERROR = 654,
+	STATUS_CODE_PMC_ERROR = 700,
+	STATUS_CODE_PMC_BUSY = 701,
+	STATUS_CODE_PMC_DATA_MISMATCH = 702,
+	STATUS_CODE_PMC_TIMEOUT = 703,
+	STATUS_CODE_PMC_COMMAND_EXECUTING = 704,
+	STATUS_CODE_PMC_COMMAND_ABORTED = 705,
+	STATUS_CODE_PMC_CANNOT_UPDATE = 706,
+	STATUS_CODE_IR_SEQ_VERIFICATION_FAILED = 800,
+	STATUS_CODE_IR_FIFO_OVERRUN = 801,
+	STATUS_CODE_IR_D02_WRITE_ERROR = 802,
+	STATUS_CODE_IR_CAPTURE_FAILED = 803,
+	STATUS_CODE_IR_POWERED_DOWN = 804,
+	STATUS_CODE_IR_OSC_ERROR = 805,
+	STATUS_CODE_IR_ACCESS_ERROR = 806,
+	STATUS_CODE_FW_UPDATE_CRC_ERROR = 900,
+	STATUS_CODE_FW_UPDATE_INVALID_SIZE = 901,
+	STATUS_CODE_FW_UPDATE_INVALID_STATE = 902,
+	STATUS_CODE_FW_UPDATE_BAD_TAG = 903,
+	STATUS_CODE_FW_UPDATE_BAD_IMAGE = 904,
+	STATUS_CODE_FW_UPDATE_IMAGE_TOO_BIG = 905,
+	STATUS_CODE_FW_UPDATE_VERIFY_FAILED = 906,
+	STATUS_CODE_FW_UPDATE_ABORTED = 907,
+	STATUS_CODE_FW_UPDATE_BAD_PLATFORM = 908,
+	STATUS_CODE_FW_UPDATE_BLOCKED = 909,
+	STATUS_CODE_FW_UPDATE_SIGNATURE_FAULT = 910,
+	STATUS_CODE_CAL_OPEN_FAILED = 1000,
+	STATUS_CODE_CAL_CREATE_CONFIG_FAILED = 1001,
+	STATUS_CODE_CAL_SET_CUR_CONFIG_FAILED = 1002,
+	STATUS_CODE_CAL_SET_D02_FAILED = 1003,
+	STATUS_CODE_CAL_START_STREAM_FAILED = 1004,
+	STATUS_CODE_CAL_DMA_ALLOC_NO_MEMORY = 1005,
+	STATUS_CODE_CAL_JPEG_SETTING_FAILED = 1006,
+	STATUS_CODE_CAL_GET_RGB_FRAME_FAILED = 1007,
+	STATUS_CODE_CAL_STATE_NOT_IDLE = 1008,
+	STATUS_CODE_CAL_OS_REGISTER_FAILED = 1009,
+	STATUS_CODE_CAL_UNEXPECTED_STATE = 1010,
+	STATUS_CODE_CAL_FRAME_BUFFER_TOO_SMALL = 1011,
+	STATUS_CODE_CAL_USB_TX_OPEN_FAILED = 1012,
+	STATUS_CODE_CAL_USB_NO_FREE_REQ_BUFFER = 1013,
+	STATUS_CODE_CAL_USB_NOT_INITIALIZED = 1014,
+	STATUS_CODE_CAL_USB_WRITE_FAILED = 1015,
+	STATUS_CODE_CAL_DEVICE_NOT_READY = 1016,
+	STATUS_CODE_CAL_DMA_MOVE_TIMEOUT = 1017,
+	STATUS_CODE_CAL_CAL_ERROR_NONE = 1018,
+	STATUS_CODE_CAL_CAL_ERROR_UNKNOWN = 1019,
+	STATUS_CODE_CAL_CAL_ERROR_NOT_IMPL = 1020,
+	STATUS_CODE_CAL_CAL_ERROR_TIMEOUT = 1021,
+	STATUS_CODE_CAL_CAL_ERROR_CTRL_IFACE = 1022,
+	STATUS_CODE_CAL_CAL_ERROR_SENSOR_IFACE = 1023,
+	STATUS_CODE_CAL_CAL_ERROR_OUTPUT_IFACE = 1024,
+	STATUS_CODE_CAL_CAL_ERROR_MEMORY = 1025,
+	STATUS_CODE_CAL_CAL_ERROR_COMPRESSION = 1026,
+	STATUS_CODE_CAL_CAL_ERROR_ZOOM = 1027,
+	STATUS_CODE_CAL_CAL_ERROR_SYNC = 1028,
+	STATUS_CODE_CAL_CAL_ERROR_INVALID_PARAM = 1029,
+	STATUS_CODE_CAL_CAL_ERROR_INVALID_CMD = 1030,
+	STATUS_CODE_CAL_CAL_ERROR_CONFIG = 1031,
+	STATUS_CODE_CAL_CAL_ERROR_CONFIG_NOT_SUPPORTED = 1032,
+	STATUS_CODE_CAL_CAL_ERROR_CONFIG_NOT_EXIST = 1033,
+	STATUS_CODE_CAL_CAL_ERROR_CONFIG_ALREADY_EXIST = 1034,
+	STATUS_CODE_CAL_CAL_ERROR_CONFIG_INDEX_OUT_OF_RANGE = 1035,
+	STATUS_CODE_CAL_USB_MDLS_BACKED_UP = 1036,
+	STATUS_CODE_CAL_DMA_OVERRUN = 1037,
+	STATUS_CODE_VSYNC_STREAM_NOT_STARTED = 1100,
+	STATUS_CODE_VSYNC_PARAM_BAD_VALUE = 1105,
+	STATUS_CODE_VSYNC_RGB_SLAVE_MODE_FAILED = 1110,
+	STATUS_CODE_ADC_INVALID_CHANNEL = 1200,
+	STATUS_CODE_ADC_INCORRECT_CHANNEL = 1201,
+	STATUS_CODE_ADC_TIMEOUT = 1202,
+	STATUS_CODE_ADC_UNKNOWN_DEVICE = 1203,
+	STATUS_CODE_ADC_UNSUPPORTED_DEVICE = 1204,
+	STATUS_CODE_ADC_UNSUPPORTED_SIGNAL = 1205,
+	STATUS_CODE_ADC_INVALID_INPUT = 1206,
+	STATUS_CODE_ADC_DATA_NOT_AVAILABLE = 1207,
+	STATUS_CODE_JNFU_ERROR = 1300,
+	STATUS_CODE_JNFU_NOR_WRITE_FAILED = 1305,
+	STATUS_CODE_JNFU_NOR_READ_FAILED = 1310,
+	STATUS_CODE_JNFU_NOR_VERIFY_FAILED = 1315,
+	STATUS_CODE_JNFU_MEM_ALLOC_FAILED = 1320,
+	STATUS_CODE_JNFU_BAD_CONFIG_DATA = 1325,
+	STATUS_CODE_POWER_STATE_CHANGE_FAILED = 1400,
+	STATUS_CODE_POWER_PG_TIMEOUT = 1401,
+	STATUS_CODE_POWER_SHUTDOWN_TIMEOUT = 1402,
+	STATUS_CODE_POWER_1V6_TIMEOUT = 1403,
+	STATUS_CODE_POWER_INVALID_STATE = 1404,
+	STATUS_CODE_LDD_UNKNOWN_REGISTER = 1500,
+	STATUS_CODE_LDD_NV_SIZE_MISMATCH = 1501,
+	STATUS_CODE_LDD_FAULT = 1502,
+	STATUS_CODE_LDD_WRITE_VERIFY_FAIL = 1503,
+	STATUS_CODE_USB_CORE_REVISION_MISMATCH = 1600,
+	STATUS_CODE_USB_DEVICE_NOT_INT = 1601,
+	STATUS_CODE_USB_DEVICE_INIT = 1602,
+	STATUS_CODE_USB_DEVICE_RESET_TIMEOUT = 1603,
+	STATUS_CODE_USB_DEVICE_NOT_CONFIGURED = 1604,
+	STATUS_CODE_USB_DEVICE_SUSPENDED = 1605,
+	STATUS_CODE_USB_INVALID_DESCRIPTOR = 1606,
+	STATUS_CODE_USB_DISCONNECTED = 1607,
+	STATUS_CODE_USB_DEVICE_ACTIVE = 1608,
+	STATUS_CODE_USB_RE_CONFIG_STACK = 1609,
+	STATUS_CODE_USB_STACK_CONFIGED = 1610,
+	STATUS_CODE_USB_SETPHY_FAILED = 1611,
+	STATUS_CODE_USB_BUF_ALLOC_FAILED = 1612,
+	STATUS_CODE_USB_INVALID_CALLBACK = 1613,
+	STATUS_CODE_USB_STACK_UNCONFIG = 1614,
+	STATUS_CODE_USB_EP_ACTIVE = 1615,
+	STATUS_CODE_USB_EP_NOT_ACTIVE = 1616,
+	STATUS_CODE_USB_INTERFACE_NO_EP = 1617,
+	STATUS_CODE_USB_EP_STALL = 1618,
+	STATUS_CODE_USB_BUF_FULL = 1619,
+	STATUS_CODE_USB_BUF_EMPTY = 1620,
+	STATUS_CODE_USB_REQUEST_SCHEDULED = 1621,
+	STATUS_CODE_USB_EP_INVALID_REQUEST = 1622,
+	STATUS_CODE_USB_EP_MISSED_ISOC = 1623,
+	STATUS_CODE_USB_EP_NOFFN_ISOC = 1624,
+	STATUS_CODE_USB_NULL_POINTER = 1625,
+	STATUS_CODE_USB_INVALID_HANDLE = 1626,
+	STATUS_CODE_USB_INVALID_REQUEST = 1627,
+	STATUS_CODE_USB_EP_PIPE_NOTOPEN = 1628,
+	STATUS_CODE_USB_END_TRANSFER = 1629,
+	STATUS_CODE_USB_EP_WRITE_FAILED = 1630,
+	STATUS_CODE_USB_EVT_BUFFER_OVERFLOW = 1631,
+	STATUS_CODE_USB_ERRATIC_ERROR = 1632,
+	STATUS_CODE_USB_SUSPEND = 1633,
+	STATUS_CODE_USB_REMOTE_WAKEUP = 1634,
+	STATUS_CODE_USB_EP_RESETPIPE = 1635,
+	STATUS_CODE_USB_EXPIRY_ISOC_BUS_TIME = 1636,
+	STATUS_CODE_USB_RESET = 1637,
+	STATUS_CODE_USB_SETINTERFACE = 1638,
+	STATUS_CODE_USB_NO_TRB_AVAILABLE = 1639,
+	STATUS_CODE_USB_DEVICE_RESUME = 1640,
+	STATUS_CODE_USB_RESUME_TIMEOUT = 1641,
+	STATUS_CODE_SECURITY_COMMAND_TIMEOUT = 1700,
+	STATUS_CODE_SECURITY_OTP_TIMEOUT = 1701,
+	STATUS_CODE_SECURITY_BAD_KEY = 1702,
+	STATUS_CODE_OS_REGISTER_FAILED = 1800,
+	STATUS_CODE_OS_STACK_OVERFLOW = 1801,
+	STATUS_CODE_OS_STACK_UNDERFLOW = 1802,
+	STATUS_CODE_ACCEL_INIT_FAILED = 1900,
+	STATUS_CODE_ACCEL_READ_FAILED = 1905,
+	STATUS_CODE_ACCEL_GET_CALIB_FAILED = 1910,
+	STATUS_CODE_INSTR_COMMAND_EXECUTING = 2000,
+	STATUS_CODE_LSTB_NOT_READY = 2100,
+	STATUS_CODE_LSTB_INVALID_BLOCK_IDX = 2105,
+	STATUS_CODE_LSTB_INVALID_SETTINGS = 2110,
+	STATUS_CODE_WOV_DMA_ALLOC_NO_MEMORY = 2200,
+	STATUS_CODE_WOV_AUDIO_LENGTH_ERROR = 2201,
+	STATUS_CODE_WOV_STATUS_INVALID = 2202,
+	STATUS_CODE_WOV_RECO_BIT_ERROR = 2203,
+	STATUS_CODE_WOV_DATA_NOT_READY = 2204,
+	STATUS_CODE_WOV_NOT_ACTIVE = 2205,
+	STATUS_CODE_WOV_WRITE_ERROR = 2206,
+	STATUS_CODE_WOV_INVALID_PARAM = 2207,
+	STATUS_CODE_WOV_NV_RECOVERY_MISSING = 2208,
+	STATUS_CODE_WOV_NV_OUT_OF_SPACE = 2209,
+	STATUS_CODE_WOV_FLASH_SECTOR_TOO_BIG = 2210,
+	STATUS_CODE_WOV_WRAP_BIT_ERROR = 2211,
+	STATUS_CODE_AUDIO_DEVICE_NOT_READY = 2300,
+	STATUS_CODE_AUDIO_ADC_ENABLE_FAILED = 2301,
+	STATUS_CODE_AUDIO_ADC_DISABLE_FAILED = 2302,
+	STATUS_CODE_AUDIO_ADC_RESET_FAILED = 2303,
+	STATUS_CODE_AUDIO_ADC_INIT_FAILED = 2304,
+	STATUS_CODE_AUDIO_USB_TX_OPEN_FAILED = 2305,
+	STATUS_CODE_AUDIO_USB_NOT_INITIALIZED = 2306,
+	STATUS_CODE_AUDIO_USB_NO_FREE_REQ_BUF = 2307,
+	STATUS_CODE_AUDIO_I2S_DMA_NO_MEMORY = 2308,
+
+	STATUS_CODE_COUNT,
+
+	// Not from Microsoft's library; included in case of a problem on our end
+	STATUS_CODE_NONE = -1
+};
+
+const char *KinectStatusCodeString(unsigned int code);
+
+} /* namespace libfreenect2 */
+
+#endif /* STATUS_CODES_H_ */