fix(c_sync): handle error codes to close #627

Signed-off-by: Benn Snyder <[email protected]>

Author: piedar

wrappers/c_sync/libfreenect_sync.c

@@ -214,15 +214,18 @@ static void *init(void *unused)
 	return NULL;
 }
 
-static void init_thread(void)
+static int init_thread(void)
 {
 	thread_running = 1;
-	freenect_init(&ctx, 0);
+	int ret = freenect_init(&ctx, 0);
+	if (ret != 0) return ret;
 	// We claim both the motor and the camera, because we can't know in advance
 	// which devices the caller will want, and the c_sync interface doesn't
 	// support audio, so there's no reason to claim the device needlessly.
 	freenect_select_subdevices(ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
-	pthread_create(&thread, NULL, init, NULL);
+	ret = pthread_create(&thread, NULL, init, NULL);
+	if (ret != 0) return ret;
+	return 0;
 }
 
 static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
@@ -279,8 +282,10 @@ static int setup_kinect(int index, int res, int fmt, int is_depth)
 	pending_runloop_tasks_inc();
 	pthread_mutex_lock(&runloop_lock);
 	int thread_running_prev = thread_running;
-	if (!thread_running)
-		init_thread();
+	if (!thread_running) {
+		int ret = init_thread();
+		if (ret != 0) return ret;
+	}
 	if (!kinects[index]) {
 		kinects[index] = alloc_kinect(index);
 	}
@@ -334,15 +339,15 @@ static int sync_get(void **data, uint32_t *timestamp, buffer_ring_t *buf)
 }
 
 
-/* 
+/*
   Use this to make sure the runloop is locked and no one is in it. Then you can
   call arbitrary functions from libfreenect.h in a safe way. If the kinect with
-  this index has not been initialized yet, then it will try to set it up. If 
+  this index has not been initialized yet, then it will try to set it up. If
   this function is successful, then you can access kinects[index]. Don't forget
   to unlock the runloop when you're done.
-  
+
   Returns 0 if successful, nonzero if kinect[index] is unvailable
- */ 
+ */
 static int runloop_enter(int index)
 {
 	if (index < 0 || index >= MAX_KINECTS) {
@@ -352,7 +357,7 @@ static int runloop_enter(int index)
 	if (!thread_running || !kinects[index])
 		if (setup_kinect(index, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT, 1))
 			return -1;
-		
+
 	pending_runloop_tasks_inc();
 	pthread_mutex_lock(&runloop_lock);
 	return 0;
@@ -407,7 +412,7 @@ int freenect_sync_get_tilt_state(freenect_raw_tilt_state **state, int index)
 {
 	if (runloop_enter(index)) return -1;
 	freenect_update_tilt_state(kinects[index]->dev);
-	*state = freenect_get_tilt_state(kinects[index]->dev);  
+	*state = freenect_get_tilt_state(kinects[index]->dev);
 	runloop_exit();
 	return 0;
 }