text: /* usbreset -- send a USB port reset to a USB device */
  
  /*
   * Copyright (c) 2014, JSK Robotics Lab, Inc.
   * 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 Willow Garage, Inc. nor the names of its
   *       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.
   *
   *      Author: Ryohei Ueda (ueda@jsk.t.u-tokyo.ac.jp)
   */
  
  #include <errno.h>
  #include <fcntl.h>
  #include <stdio.h>
  #include <sys/ioctl.h>
  #include <unistd.h>
  
  #include <linux/usbdevice_fs.h>
  
  int main(int argc, char** argv)
     {
     const char* filename;
     int fd;
     int rc;
  
     if (argc != 2)
        {
        fprintf(stderr, "Usage: usb_reset device-filename\n");
        fprintf(stderr, "\n");
        fprintf(stderr,
                "For instance if lsusb shows 'Bus 002 "
                "Device 013' for your camera\n");
        fprintf(stderr, "You would call with:\n");
        fprintf(stderr,
                "  ros2 run openni2_camera usb_reset "
                "/dev/bus/usb/002/013\n");
        return 1;
        }
  
     filename = argv[1];
  
     fd = open(filename, O_WRONLY);
     if (fd < 0)
        {
        perror("Error opening output file");
        return 1;
        }
  
     printf("Resetting USB device %s\n", filename);
     rc = ioctl(fd, USBDEVFS_RESET, 0);
     if (rc < 0)
        {
        perror("Error in ioctl");
        return 1;
        }
  
     printf("Reset successful\n");
     close(fd);
  
     return 0;
     }
  