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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. *
* *
*****************************************************************************/
#ifndef _XN_DEVICESENSORPROTOCOL_H_
#define _XN_DEVICESENSORPROTOCOL_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensor.h"
#include "XnHostProtocol.h"
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define XN_SENSOR_PROTOCOL_SENSOR_CLOCK_LENGTH 2
#define XN_SENSOR_PROTOCOL_SENSOR_VER_LENGTH 1
#define XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_START 0x7100
#define XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_BUFFER 0x7200
#define XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_END 0x7500
#define XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_START 0x8100
#define XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_BUFFER 0x8200
#define XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END 0x8500
#define XN_SENSOR_PROTOCOL_RESPONSE_AUDIO_BUFFER 0x9200
#define XN_SENSOR_PROTOCOL_RESPONSE_GMC 0xa200
#define XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG 0xb200
#define XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG_END 0xb500
#define XN_SENSOR_PROTOCOL_RESPONSE_WAVELENGTH_CORRECTION_DEBUG 0xc200
#define XN_SENSOR_PROTOCOL_RESPONSE_TEC_DEBUG 0xd200
#define XN_SENSOR_PROTOCOL_RESPONSE_NESA_DEBUG 0xd201
#define XN_SENSOR_PROTOCOL_RESPONSE_PROJECTOR_FAULT_EVENT 0xdead
#define XN_SENSOR_PROTOCOL_RESPONSE_OVERHEAT 0xf31f
#define XN_SENSOR_PROTOCOL_DEBUG_DATA_EP1 0xdb01
#define XN_SENSOR_PROTOCOL_DEBUG_DATA_EP2 0xdb02
#define XN_SENSOR_PROTOCOL_MAX_BUFFER_SIZE 1024*1024
#define XN_SENSOR_PROTOCOL_USB_BUFFER_SIZE 4*1024*1024
#define XN_SENSOR_PROTOCOL_USB_MAX_ZERO_READ_COUNTER 5
#define XN_SENSOR_PROTOCOL_READ_SLEEP 100
#define XN_SENSOR_PROTOCOL_READ_MAX_TRIES 30
#define XN_SENSOR_PROTOCOL_MAX_RECONFIG_TRIES 10
#define XN_SENSOR_PROTOCOL_START_CAPTURE_TRIES 5
#define XN_SENSOR_PROTOCOL_START_CAPTURE_SLEEP 1000
#define XN_SENSOR_PROTOCOL_GMC_MAX_POINTS_IN_PACKET 100
/** the number of points to accumulate before processing takes place. */
#define XN_GMC_MIN_COUNT_FOR_RUNNING 1000
//---------------------------------------------------------------------------
// Structures
//---------------------------------------------------------------------------
#pragma pack (push, 1)
typedef struct XnSensorProtocolResponseHeader
{
XnUInt16 nMagic;
XnUInt16 nType;
XnUInt16 nPacketID;
XnUInt16 nBufSize;
XnUInt32 nTimeStamp;
} XnSensorProtocolResponseHeader;
#pragma pack (pop) // Undo the pack change...
typedef enum
{
XN_WAITING_FOR_CONFIGURATION,
XN_IGNORING_GARBAGE,
XN_LOOKING_FOR_MAGIC,
XN_PACKET_HEADER,
XN_PACKET_DATA
} XnMiniPacketState;
typedef struct XnSpecificUsbDeviceState
{
XnMiniPacketState State;
XnSensorProtocolResponseHeader CurrHeader;
XnUInt32 nMissingBytesInState;
} XnSpecificUsbDeviceState;
typedef struct XnSpecificUsbDevice
{
XnDevicePrivateData* pDevicePrivateData;
XnUsbConnection* pUsbConnection;
XnUInt32 nIgnoreBytes;
XnUInt32 nChunkReadBytes;
XnUInt32 nNumberOfBuffers;
XnSpecificUsbDeviceState CurrState;
XnUInt32 nTimeout;
} XnSpecificUsbDevice;
//---------------------------------------------------------------------------
// Functions Declaration
//---------------------------------------------------------------------------
XnBool XN_CALLBACK_TYPE XnDeviceSensorProtocolUsbEpCb(XnUChar* pBuffer, XnUInt32 nBufferSize, void* pCallbackData);
XnStatus XnCalculateExpectedImageSize(XnDevicePrivateData* pDevicePrivateData, XnUInt32* pnExpectedSize);
void XnProcessUncompressedDepthPacket(XnSensorProtocolResponseHeader* pCurrHeader, XnUChar* pData, XnUInt32 nDataSize, XnBool bEOP, XnSpecificUsbDevice* pSpecificDevice);
XnStatus XnDeviceSensorProtocolUpdateImageProcessor(XnDevicePrivateData* pDevicePrivateData);
XN_THREAD_PROC XnDeviceSensorProtocolScriptThread(XN_THREAD_PARAM pThreadParam);
#endif //_XN_DEVICESENSORPROTOCOL_H_
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