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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 "XnDeviceSensorProtocol.h"
#include "XnDeviceSensorIO.h"
#include "Uncomp.h"
#include "XnHostProtocol.h"
#include <XnLog.h>
#include <XnProfiling.h>
#include "XnStreamProcessor.h"
#include "XnSensor.h"
#include <XnOS.h>
FILE* g_fUSBDump;
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnBool XN_CALLBACK_TYPE XnDeviceSensorProtocolUsbEpCb(XnUChar* pBuffer, XnUInt32 nBufferSize, void* pCallbackData)
{
XN_PROFILING_START_MT_SECTION("XnDeviceSensorProtocolUsbEpCb");
XnUInt32 nReadBytes;
XnUInt16 nMagic;
XnSpecificUsbDevice* pDevice = (XnSpecificUsbDevice*)pCallbackData;
XnDevicePrivateData* pDevicePrivateData = pDevice->pDevicePrivateData;
XnUChar* pBufEnd = pBuffer + nBufferSize;
XnSpecificUsbDeviceState* pCurrState = &pDevice->CurrState;
while (pBuffer < pBufEnd)
{
switch (pCurrState->State)
{
case XN_WAITING_FOR_CONFIGURATION:
if (pDevicePrivateData->bIgnoreDataPackets)
{
// ignore this packet
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "ignoring %d bytes - device requested to ignore!", nBufferSize);
pBuffer = pBufEnd;
}
else
{
pCurrState->State = XN_IGNORING_GARBAGE;
pCurrState->nMissingBytesInState = pDevice->nIgnoreBytes;
}
break;
case XN_IGNORING_GARBAGE:
// ignore first bytes on this endpoint. NOTE: due to a bug in the firmware, the first data received
// on each endpoint is corrupt, causing wrong timestamp calculation, causing future (true) timestamps
// to be calculated wrongly. By ignoring the first data received on each endpoint we hope to get
// only valid data.
nReadBytes = XN_MIN((XnUInt32)(pBufEnd - pBuffer), pCurrState->nMissingBytesInState);
if (nReadBytes > 0)
{
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "ignoring %d bytes - ignore garbage phase!", nReadBytes);
pCurrState->nMissingBytesInState -= nReadBytes;
pBuffer += nReadBytes;
}
if (pCurrState->nMissingBytesInState == 0)
{
pCurrState->State = XN_LOOKING_FOR_MAGIC;
pCurrState->nMissingBytesInState = sizeof(XnUInt16);
}
break;
case XN_LOOKING_FOR_MAGIC:
nMagic = XN_PREPARE_VAR16_IN_BUFFER(pDevicePrivateData->FWInfo.nFWMagic);
if (pCurrState->nMissingBytesInState == sizeof(XnUInt8) && // first byte already found
pBuffer[0] == ((XnUInt8*)&nMagic)[1]) // we have here second byte
{
// move to next byte
pBuffer++;
// move to next state
pCurrState->CurrHeader.nMagic = nMagic;
pCurrState->State = XN_PACKET_HEADER;
pCurrState->nMissingBytesInState = sizeof(XnSensorProtocolResponseHeader);
break;
}
while (pBuffer < pBufEnd)
{
if (nMagic == *(XnUInt16*)(pBuffer))
{
pCurrState->CurrHeader.nMagic = nMagic;
pCurrState->State = XN_PACKET_HEADER;
pCurrState->nMissingBytesInState = sizeof(XnSensorProtocolResponseHeader);
break;
}
else
pBuffer++;
}
if (pBuffer == pBufEnd && // magic wasn't found
pBuffer[-1] == ((XnUInt8*)&nMagic)[0]) // last byte in buffer is first in magic
{
// mark that we found first one
pCurrState->nMissingBytesInState--;
}
break;
case XN_PACKET_HEADER:
nReadBytes = XN_MIN((XnUInt32)(pBufEnd - pBuffer), pCurrState->nMissingBytesInState);
xnOSMemCopy((XnUChar*)&pCurrState->CurrHeader + sizeof(XnSensorProtocolResponseHeader) - pCurrState->nMissingBytesInState,
pBuffer, nReadBytes);
pCurrState->nMissingBytesInState -= nReadBytes;
pBuffer += nReadBytes;
if (pCurrState->nMissingBytesInState == 0)
{
// we have entire header. Fix it
pCurrState->CurrHeader.nBufSize = XN_PREPARE_VAR16_IN_BUFFER(pCurrState->CurrHeader.nBufSize);
pCurrState->CurrHeader.nMagic = XN_PREPARE_VAR16_IN_BUFFER(pCurrState->CurrHeader.nMagic);
pCurrState->CurrHeader.nPacketID = XN_PREPARE_VAR16_IN_BUFFER(pCurrState->CurrHeader.nPacketID);
pCurrState->CurrHeader.nTimeStamp = XN_PREPARE_VAR32_IN_BUFFER(pCurrState->CurrHeader.nTimeStamp);
pCurrState->CurrHeader.nType = XN_PREPARE_VAR16_IN_BUFFER(pCurrState->CurrHeader.nType);
pCurrState->CurrHeader.nBufSize = xnOSEndianSwapUINT16(pCurrState->CurrHeader.nBufSize);
pCurrState->CurrHeader.nBufSize -= sizeof(XnSensorProtocolResponseHeader);
pCurrState->State = XN_PACKET_DATA;
pCurrState->nMissingBytesInState = pCurrState->CurrHeader.nBufSize;
}
break;
case XN_PACKET_DATA:
nReadBytes = XN_MIN((XnUInt32)(pBufEnd - pBuffer), pCurrState->nMissingBytesInState);
pDevicePrivateData->pSensor->GetFirmware()->GetStreams()->ProcessPacketChunk(&pCurrState->CurrHeader, pBuffer, pCurrState->CurrHeader.nBufSize - pCurrState->nMissingBytesInState, nReadBytes);
pBuffer += nReadBytes;
pCurrState->nMissingBytesInState -= nReadBytes;
if (pCurrState->nMissingBytesInState == 0)
{
pCurrState->State = XN_LOOKING_FOR_MAGIC;
pCurrState->nMissingBytesInState = sizeof(XnUInt16);
}
break;
}
}
XN_PROFILING_END_SECTION;
return TRUE;
}
XnStatus XnDeviceSensorProtocolFindStreamOfType(XnDevicePrivateData* pDevicePrivateData, const XnChar* strType, const XnChar** ppStreamName)
{
XnStatus nRetVal = XN_STATUS_OK;
const XnChar* strNames[100];
XnUInt32 nCount = 100;
nRetVal = pDevicePrivateData->pSensor->GetStreamNames(strNames, &nCount);
XN_IS_STATUS_OK(nRetVal);
for (XnUInt32 i = 0; i < nCount; ++i)
{
XnChar strCurType[XN_DEVICE_MAX_STRING_LENGTH];
nRetVal = pDevicePrivateData->pSensor->GetProperty(strNames[i], XN_STREAM_PROPERTY_TYPE, strCurType);
XN_IS_STATUS_OK(nRetVal);
if (strcmp(strType, strCurType) == 0)
{
*ppStreamName = strNames[i];
return (XN_STATUS_OK);
}
}
*ppStreamName = NULL;
return (XN_STATUS_NO_MATCH);
}
XnStatus XnDeviceSensorProtocolDumpLastRawFrameImpl(XnDevicePrivateData* pDevicePrivateData, const XnChar* strType, const XnChar* strFileName)
{
XnStatus nRetVal = XN_STATUS_OK;
const XnChar* strName;
nRetVal = XnDeviceSensorProtocolFindStreamOfType(pDevicePrivateData, strType, &strName);
XN_IS_STATUS_OK(nRetVal);
XnUInt64 nMaxDataSize;
nRetVal = pDevicePrivateData->pSensor->GetProperty(strName, XN_STREAM_PROPERTY_REQUIRED_DATA_SIZE, &nMaxDataSize);
XN_IS_STATUS_OK(nRetVal);
XnDynamicSizeBuffer dsb;
dsb.nMaxSize = (XnUInt32)nMaxDataSize;
dsb.pData = xnOSMallocAligned((XnUInt32)nMaxDataSize, XN_DEFAULT_MEM_ALIGN);
XN_VALIDATE_ALLOC_PTR(dsb.pData);
nRetVal = pDevicePrivateData->pSensor->GetProperty(strName, XN_STREAM_PROPERTY_LAST_RAW_FRAME, XN_PACK_GENERAL_BUFFER(dsb));
if (nRetVal != XN_STATUS_OK)
{
xnOSFreeAligned(dsb.pData);
return (nRetVal);
}
xnOSSaveFile(strFileName, dsb.pData, dsb.nDataSize);
xnOSFreeAligned(dsb.pData);
return (XN_STATUS_OK);
}
XnStatus XnDeviceSensorProtocolDumpLastRawFrame(XnDevicePrivateData* pDevicePrivateData, const XnChar* strType, const XnChar* strFileName)
{
XnStatus nRetVal = XN_STATUS_OK;
printf("* Dumping %s...\n", strType);
nRetVal = XnDeviceSensorProtocolDumpLastRawFrameImpl(pDevicePrivateData, strType, strFileName);
if (nRetVal != XN_STATUS_OK)
{
printf("** Failed! %s\n", xnGetStatusString(nRetVal));
}
else
{
printf ("** Saved %s to %s\n", strType, strFileName);
}
return (XN_STATUS_OK);
}
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