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/*****************************************************************************
* *
* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensor.h"
#include "XnDeviceSensorInit.h"
#include "XnDeviceSensorProtocol.h"
#include "Bayer.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);
return (XN_STATUS_OK);
}
XnStatus XnDeviceSensorOpenInputThreads(XnDevicePrivateData* pDevicePrivateData)
{
XnSensorUsbInterface usbInterface = pDevicePrivateData->pSensor->GetCurrentUsbInterface();
// common stuff
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;
pDevicePrivateData->pSpecificDepthUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes;
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;
pDevicePrivateData->pSpecificImageUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes;
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;
pDevicePrivateData->pSpecificMiscUsb->nIgnoreBytes = (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_0) ? 0 : pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes;
// timeout
if (usbInterface == XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS || usbInterface == XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS_LOW_DEPTH)
{
pDevicePrivateData->pSpecificDepthUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
pDevicePrivateData->pSpecificImageUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
pDevicePrivateData->pSpecificMiscUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_ISO;
}
else
{
pDevicePrivateData->pSpecificDepthUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
pDevicePrivateData->pSpecificImageUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
pDevicePrivateData->pSpecificMiscUsb->nTimeout = XN_SENSOR_READ_THREAD_TIMEOUT_BULK;
}
// buffer size
if (usbInterface == XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS)
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_BULK * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
}
else if (pDevicePrivateData->pSensor->IsLowBandwidth())
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_LOWBAND_ISO * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
}
else
{
pDevicePrivateData->pSpecificDepthUsb->nChunkReadBytes = XN_SENSOR_USB_DEPTH_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.DepthConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificImageUsb->nChunkReadBytes = XN_SENSOR_USB_IMAGE_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.ImageConnection.nMaxPacketSize;
pDevicePrivateData->pSpecificMiscUsb->nChunkReadBytes = XN_SENSOR_USB_MISC_BUFFER_SIZE_MULTIPLIER_ISO * pDevicePrivateData->SensorHandle.MiscConnection.nMaxPacketSize;
}
// number of buffers
pDevicePrivateData->pSpecificImageUsb->nNumberOfBuffers = XN_SENSOR_USB_IMAGE_BUFFERS;
pDevicePrivateData->pSpecificMiscUsb->nNumberOfBuffers = XN_SENSOR_USB_MISC_BUFFERS;
if (usbInterface == XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS_LOW_DEPTH)
{
pDevicePrivateData->pSpecificDepthUsb->nNumberOfBuffers = XN_SENSOR_USB_DEPTH_BUFFERS_LOW_ISO;
}
else
{
pDevicePrivateData->pSpecificDepthUsb->nNumberOfBuffers = XN_SENSOR_USB_DEPTH_BUFFERS;
}
// 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->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;
// GetVersion is exactly the same in all versions, except a change that was made in version 5.1.
// so, we'll start with that, and if doesn't work we'll try previous protocols
XnHostProtocolUsbCore usb = XN_USB_CORE_JANGO;
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, 5, 1, 0, usb, TRUE);
XN_IS_STATUS_OK(nRetVal);
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 command failed for any reason, try again with older protocol
if (nRetVal != XN_STATUS_OK)
{
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, 5, 0, 0, usb, TRUE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnHostProtocolGetVersion(pDevicePrivateData, pDevicePrivateData->Version);
}
// if it still fails, give up
XN_IS_STATUS_OK(nRetVal);
// check which usb core is used (don't check error code. If this fails, assume JANGO
if (XN_STATUS_OK != XnHostProtocolGetUsbCoreType(pDevicePrivateData, usb))
{
usb = XN_USB_CORE_JANGO;
}
// Now that we have the actual version, configure protocol accordingly
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, pDevicePrivateData->Version.nMajor, pDevicePrivateData->Version.nMinor, pDevicePrivateData->Version.nBuild, usb, FALSE);
XN_IS_STATUS_OK(nRetVal);
pDevicePrivateData->HWInfo.nHWVer = pDevicePrivateData->Version.HWVer;
pDevicePrivateData->ChipInfo.nChipVer = pDevicePrivateData->Version.ChipVer;
return (XN_STATUS_OK);
}
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