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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensor.h"
#include "XnDeviceSensorInit.h"
#include "XnDeviceSensorProtocol.h"
#include "Bayer.h"
#include "Registration.h"
#include "XnHostProtocol.h"
#include <XnLog.h>
#include "XnSensor.h"
#define XN_HOST_PROTOCOL_MUTEX_NAME_PREFIX "HostProtocolMutex"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnStatus XnDeviceSensorInit(XnDevicePrivateData* pDevicePrivateData)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnDeviceSensorAllocateBuffers(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
#if XN_PLATFORM == XN_PLATFORM_ANDROID_ARM
nRetVal = xnOSCreateMutex(&pDevicePrivateData->hExecuteMutex);
XN_IS_STATUS_OK(nRetVal);
#else
XnChar strMutexName[XN_FILE_MAX_PATH];
XnUInt32 nCharsWritten = 0;
nRetVal = xnOSStrFormat(strMutexName, XN_FILE_MAX_PATH, &nCharsWritten, "%s%s", XN_HOST_PROTOCOL_MUTEX_NAME_PREFIX, pDevicePrivateData->pSensor->GetUSBPath());
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnOSCreateNamedMutex(&pDevicePrivateData->hExecuteMutex, strMutexName);
XN_IS_STATUS_OK(nRetVal);
#endif
nRetVal = XnDeviceSensorConfigureVersion(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
BayerUpdateGamma(1.0);
nRetVal = xnOSCreateCriticalSection(&pDevicePrivateData->hAudioBufferCriticalSection);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnDeviceSensorOpenInputThreads(XnDevicePrivateData* pDevicePrivateData, XnBool bOpen1, XnBool bOpen2, XnBool bOpen3)
{
if (bOpen2)
{
// Depth
pDevicePrivateData->pSpecificDepthUsb = (XnSpecificUsbDevice*)xnOSMallocAligned(sizeof(XnSpecificUsbDevice), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->pSpecificDepthUsb->pDevicePrivateData = pDevicePrivateData;
pDevicePrivateData->pSpecificDepthUsb->pUsbConnection = &pDevicePrivateData->SensorHandle.DepthConnection;
pDevicePrivateData->pSpecificDepthUsb->CurrState.State = XN_WAITING_FOR_CONFIGURATION;
if (pDevicePrivateData->pSpecificDepthUsb->pUsbConnection->bIsISO == TRUE)
{
if (pDevicePrivateData->pSensor->IsLowBandwidth())
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
}
else
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
}
pDevicePrivateData->pSpecificDepthUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
}
else
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificDepthUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
}
pDevicePrivateData->pSpecificDepthUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes;
}
if (bOpen1)
{
// Image
pDevicePrivateData->pSpecificImageUsb = (XnSpecificUsbDevice*)xnOSMallocAligned(sizeof(XnSpecificUsbDevice), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->pSpecificImageUsb->pDevicePrivateData = pDevicePrivateData;
pDevicePrivateData->pSpecificImageUsb->pUsbConnection = &pDevicePrivateData->SensorHandle.ImageConnection;
pDevicePrivateData->pSpecificImageUsb->CurrState.State = XN_WAITING_FOR_CONFIGURATION;
if (pDevicePrivateData->pSpecificImageUsb->pUsbConnection->bIsISO == TRUE)
{
if (pDevicePrivateData->pSensor->IsLowBandwidth())
{
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
}
else
{
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
}
pDevicePrivateData->pSpecificImageUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
}
else
{
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificImageUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
}
pDevicePrivateData->pSpecificImageUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes;
}
// Misc
if (bOpen3 && pDevicePrivateData->pSensor->IsMiscSupported())
{
pDevicePrivateData->pSpecificMiscUsb = (XnSpecificUsbDevice*)xnOSMallocAligned(sizeof(XnSpecificUsbDevice), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->pSpecificMiscUsb->pDevicePrivateData = pDevicePrivateData;
pDevicePrivateData->pSpecificMiscUsb->pUsbConnection = &pDevicePrivateData->SensorHandle.MiscConnection;
pDevicePrivateData->pSpecificMiscUsb->CurrState.State = XN_WAITING_FOR_CONFIGURATION;
if (pDevicePrivateData->pSpecificMiscUsb->pUsbConnection->bIsISO == TRUE)
{
if (pDevicePrivateData->pSensor->IsLowBandwidth())
{
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
}
else
{
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
}
pDevicePrivateData->pSpecificMiscUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
}
else
{
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificMiscUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
}
pDevicePrivateData->pSpecificMiscUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes;
}
// Switch depth & image EPs for older FWs
if (pDevicePrivateData->FWInfo.nFWVer <= XN_SENSOR_FW_VER_5_1)
{
XnSpecificUsbDevice* pTempUsbDevice = pDevicePrivateData->pSpecificDepthUsb;
pDevicePrivateData->pSpecificDepthUsb = pDevicePrivateData->pSpecificImageUsb;
pDevicePrivateData->pSpecificImageUsb = pTempUsbDevice;
}
return XN_STATUS_OK;
}
XnStatus XnDeviceSensorAllocateBuffers(XnDevicePrivateData* pDevicePrivateData)
{
pDevicePrivateData->SensorHandle.DepthConnection.pUSBBuffer = (XnUInt8*)xnOSCallocAligned(XN_SENSOR_PROTOCOL_USB_BUFFER_SIZE, sizeof(XnUInt8), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->SensorHandle.DepthConnection.nUSBBufferReadOffset = 0;
pDevicePrivateData->SensorHandle.DepthConnection.nUSBBufferWriteOffset = 0;
pDevicePrivateData->SensorHandle.ImageConnection.pUSBBuffer = (XnUInt8*)xnOSCallocAligned(XN_SENSOR_PROTOCOL_USB_BUFFER_SIZE, sizeof(XnUInt8), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->SensorHandle.ImageConnection.nUSBBufferReadOffset = 0;
pDevicePrivateData->SensorHandle.ImageConnection.nUSBBufferWriteOffset = 0;
if (pDevicePrivateData->pSensor->IsMiscSupported())
{
pDevicePrivateData->SensorHandle.MiscConnection.pUSBBuffer = (XnUInt8*)xnOSCallocAligned(XN_SENSOR_PROTOCOL_USB_BUFFER_SIZE, sizeof(XnUInt8), XN_DEFAULT_MEM_ALIGN);
pDevicePrivateData->SensorHandle.MiscConnection.nUSBBufferReadOffset = 0;
pDevicePrivateData->SensorHandle.MiscConnection.nUSBBufferWriteOffset = 0;
}
else
{
pDevicePrivateData->SensorHandle.MiscConnection.pUSBBuffer = NULL;
}
return (XN_STATUS_OK);
}
XnStatus XnDeviceSensorFreeBuffers(XnDevicePrivateData* pDevicePrivateData)
{
if (pDevicePrivateData->pTempDepth1 != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->pTempDepth1);
}
if (pDevicePrivateData->pTempImage1 != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->pTempImage1);
}
if (pDevicePrivateData->SensorHandle.DepthConnection.pUSBBuffer != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->SensorHandle.DepthConnection.pUSBBuffer);
}
if (pDevicePrivateData->SensorHandle.ImageConnection.pUSBBuffer != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->SensorHandle.ImageConnection.pUSBBuffer);
}
if (pDevicePrivateData->SensorHandle.MiscConnection.pUSBBuffer != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->SensorHandle.MiscConnection.pUSBBuffer);
}
if (pDevicePrivateData->pSpecificDepthUsb != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->pSpecificDepthUsb);
}
if (pDevicePrivateData->pSpecificImageUsb != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->pSpecificImageUsb);
}
if (pDevicePrivateData->pSpecificMiscUsb != NULL)
{
XN_ALIGNED_FREE_AND_NULL(pDevicePrivateData->pSpecificMiscUsb);
}
return (XN_STATUS_OK);
}
XnStatus XnDeviceSensorConfigureVersion(XnDevicePrivateData* pDevicePrivateData)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnHostProtocolGetVersion(pDevicePrivateData, pDevicePrivateData->Version);
// Strange bug: sometimes, when sending first command to device, no reply is received, so try again
if (nRetVal == XN_STATUS_USB_TRANSFER_TIMEOUT)
{
xnOSSleep(2000);
nRetVal = XnHostProtocolGetVersion(pDevicePrivateData, pDevicePrivateData->Version);
}
if (nRetVal != XN_STATUS_OK)
{
return nRetVal;
}
// Sensor HW Version is always 1.0 now...
pDevicePrivateData->SensorInfo.nSensorVer = XN_SENSOR_VER_2_0;
return (XN_STATUS_OK);
}
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