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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 "XnSensorFirmware.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnSensorFirmware::XnSensorFirmware(XnDevicePrivateData* pDevicePrivateData) :
m_pInfo(&pDevicePrivateData->FWInfo),
m_Commands(pDevicePrivateData),
m_Params(m_pInfo, &m_Commands),
m_Streams(pDevicePrivateData),
m_pDevicePrivateData(pDevicePrivateData)
{
}
XnStatus XnSensorFirmware::Init(XnBool bReset)
{
XnStatus nRetVal = XN_STATUS_OK;
// check current mode
XnUInt16 nMode;
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
if (bReset)
{
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
// check if device is alive
XnUInt32 nCounter = 5;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
}
else
nCounter = 0;
}
if (nRetVal != XN_STATUS_OK)
{
printf("Keep alive failed!\n");
return nRetVal;
}
// perform a soft reset (to start clean)
nRetVal = XnHostProtocolReset(m_pDevicePrivateData, XN_RESET_TYPE_SOFT_FIRST);
if (nRetVal != XN_STATUS_OK)
{
printf("Couldn't reset the device!\n");
return nRetVal;
}
// wait for sensor to recover from reset
xnOSSleep(m_pDevicePrivateData->FWInfo.nUSBDelaySoftReset);
// send keep alive again to see sensor is up
nCounter = 10;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
xnOSSleep(10);
}
else
break;
}
if (nCounter == 0)
{
printf("10 keep alives is too much - stopping\n");
return nRetVal;
}
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
}
nRetVal = m_Params.Init();
XN_IS_STATUS_OK(nRetVal);
if (nMode == XN_HOST_PROTOCOL_MODE_PS)
{
nRetVal = m_Params.UpdateAllProperties();
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = m_Streams.Init();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
void XnSensorFirmware::Free()
{
m_Params.Free();
}
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