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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 "XnDataProcessor.h"
#include <XnProfiling.h>
#include "XnSensor.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnDataProcessor::XnDataProcessor(XnDevicePrivateData* pDevicePrivateData, const XnChar* csName) :
m_pDevicePrivateData(pDevicePrivateData),
m_csName(csName),
m_nLastPacketID(0),
m_nBytesReceived(0)
{
m_TimeStampData.csStreamName = csName;
m_TimeStampData.bFirst = TRUE;
}
XnDataProcessor::~XnDataProcessor()
{}
XnStatus XnDataProcessor::Init()
{
return (XN_STATUS_OK);
}
void XnDataProcessor::ProcessData(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnDataProcessor::ProcessData")
// count these bytes
m_nBytesReceived += nDataSize;
// check if we start a new packet
if (nDataOffset == 0)
{
// make sure no packet was lost
if (pHeader->nPacketID != m_nLastPacketID+1 && pHeader->nPacketID != 0)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL, "%s: Expected %x, got %x", m_csName, m_nLastPacketID+1, pHeader->nPacketID);
OnPacketLost();
}
m_nLastPacketID = pHeader->nPacketID;
// log packet arrival
XnUInt64 nNow;
xnOSGetHighResTimeStamp(&nNow);
xnDumpFileWriteString(m_pDevicePrivateData->MiniPacketsDump, "%llu,0x%hx,0x%hx,0x%hx,%u\n", nNow, pHeader->nType, pHeader->nPacketID, pHeader->nBufSize, pHeader->nTimeStamp);
}
ProcessPacketChunk(pHeader, pData, nDataOffset, nDataSize);
XN_PROFILING_END_SECTION
}
void XnDataProcessor::OnPacketLost()
{}
XnUInt64 XnDataProcessor::GetTimeStamp(XnUInt32 nDeviceTimeStamp)
{
const XnUInt64 nWrapPoint = ((XnUInt64)XN_MAX_UINT32) + 1;
XnUInt64 nResultInTicks;
XnUInt64 nNow;
xnOSGetHighResTimeStamp(&nNow);
const XnUInt32 nDumpCommentMaxLength = 200;
XnChar csDumpComment[nDumpCommentMaxLength] = "";
XnBool bCheckSanity = TRUE;
// we register the first TS calculated as time-zero. Every stream's TS data will be
// synchronized with it
if (m_pDevicePrivateData->nGlobalReferenceTS == 0)
{
xnOSEnterCriticalSection(&m_pDevicePrivateData->hEndPointsCS);
if (m_pDevicePrivateData->nGlobalReferenceTS == 0)
{
m_pDevicePrivateData->nGlobalReferenceTS = nDeviceTimeStamp;
m_pDevicePrivateData->nGlobalReferenceOSTime = nNow;
}
xnOSLeaveCriticalSection(&m_pDevicePrivateData->hEndPointsCS);
}
if (m_TimeStampData.bFirst)
{
/*
This is a bit tricky, as we need to synchronize the first timestamp of different streams.
We somehow need to translate 32-bit tick counts to 64-bit timestamps. The device timestamps
wrap-around every ~71.5 seconds (for PS1080 @ 60 MHz).
Lets assume the first packet of the first stream got timestamp X. Now we get the first packet of another
stream with a timestamp Y.
We need to figure out what is the relation between X and Y.
We do that by analyzing the following scenarios:
1. Y is after X, in the same period (no wraparound yet).
2. Y is after X, in a different period (one or more wraparounds occurred).
3. Y is before X, in the same period (might happen due to race condition).
4. Y is before X, in a different period (this can happen if X is really small, and Y is almost at wraparound).
The following code tried to handle all those cases. It uses an OS timer to try and figure out how
many wraparounds occurred.
*/
// estimate the number of wraparound that occurred using OS time
XnUInt64 nOSTime = nNow - m_pDevicePrivateData->nGlobalReferenceOSTime;
// calculate wraparound length
XnDouble fWrapAroundInMicroseconds = nWrapPoint / (XnDouble)m_pDevicePrivateData->fDeviceFrequency;
// perform a rough estimation
XnInt32 nWraps = (XnInt32)(nOSTime / fWrapAroundInMicroseconds);
// now fix the estimation by clipping TS to the correct wraparounds
XnInt64 nEstimatedTicks =
nWraps * nWrapPoint + // wraps time
nDeviceTimeStamp - m_pDevicePrivateData->nGlobalReferenceTS;
XnInt64 nEstimatedTime = (XnInt64)(nEstimatedTicks / (XnDouble)m_pDevicePrivateData->fDeviceFrequency);
if (nEstimatedTime < nOSTime - 0.5 * fWrapAroundInMicroseconds)
nWraps++;
else if (nEstimatedTime > nOSTime + 0.5 * fWrapAroundInMicroseconds)
nWraps--;
// handle the two special cases - 3 & 4 in which we get a timestamp which is
// *before* global TS (meaning before time 0)
if (nWraps < 0 || // case 4
(nWraps == 0 && nDeviceTimeStamp < m_pDevicePrivateData->nGlobalReferenceTS)) // case 3
{
nDeviceTimeStamp = m_pDevicePrivateData->nGlobalReferenceTS;
nWraps = 0;
}
m_TimeStampData.nReferenceTS = m_pDevicePrivateData->nGlobalReferenceTS;
m_TimeStampData.nTotalTicksAtReferenceTS = nWrapPoint * nWraps;
m_TimeStampData.nLastDeviceTS = 0;
m_TimeStampData.bFirst = FALSE;
nResultInTicks = 0;
bCheckSanity = FALSE; // no need.
sprintf(csDumpComment, "Init. Total Ticks in Ref TS: %llu", m_TimeStampData.nTotalTicksAtReferenceTS);
}
if (nDeviceTimeStamp > m_TimeStampData.nLastDeviceTS) // this is the normal case
{
nResultInTicks = m_TimeStampData.nTotalTicksAtReferenceTS + nDeviceTimeStamp - m_TimeStampData.nReferenceTS;
}
else // wrap around occurred
{
// add the passed time to the reference time
m_TimeStampData.nTotalTicksAtReferenceTS += (nWrapPoint + nDeviceTimeStamp - m_TimeStampData.nReferenceTS);
// mark reference timestamp
m_TimeStampData.nReferenceTS = nDeviceTimeStamp;
sprintf(csDumpComment, "Wrap around. Refernce TS: %u / TotalTicksAtReference: %llu", m_TimeStampData.nReferenceTS, m_TimeStampData.nTotalTicksAtReferenceTS);
nResultInTicks = m_TimeStampData.nTotalTicksAtReferenceTS;
}
m_TimeStampData.nLastDeviceTS = nDeviceTimeStamp;
// calculate result in microseconds
// NOTE: Intel compiler does too much optimization, and we loose up to 5 milliseconds. We perform
// the entire calculation in XnDouble as a workaround
XnDouble dResultTimeMicroSeconds = (XnDouble)nResultInTicks / (XnDouble)m_pDevicePrivateData->fDeviceFrequency;
XnUInt64 nResultTimeMilliSeconds = (XnUInt64)(dResultTimeMicroSeconds / 1000.0);
XnBool bIsSane = TRUE;
// perform sanity check
if (bCheckSanity && (nResultTimeMilliSeconds > (m_TimeStampData.nLastResultTime + XN_SENSOR_TIMESTAMP_SANITY_DIFF*1000)))
{
bIsSane = FALSE;
xnOSStrAppend(csDumpComment, ",Didn't pass sanity. Will try to re-sync.", nDumpCommentMaxLength);
}
// calc result
XnUInt64 nResult = (m_pDevicePrivateData->pSensor->IsHighResTimestamps() ? (XnUInt64)dResultTimeMicroSeconds : nResultTimeMilliSeconds);
// dump it
xnDumpFileWriteString(m_pDevicePrivateData->TimestampsDump, "%llu,%s,%u,%llu,%s\n", nNow, m_TimeStampData.csStreamName, nDeviceTimeStamp, nResult, csDumpComment);
if (bIsSane)
{
m_TimeStampData.nLastResultTime = nResultTimeMilliSeconds;
return (nResult);
}
else
{
// sanity failed. We lost sync. restart
m_TimeStampData.bFirst = TRUE;
return GetTimeStamp(nDeviceTimeStamp);
}
}
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