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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 "XnFirmwareStreams.h"
#include <XnProfiling.h>
#include "XnSensor.h"
#include "XnWavelengthCorrectionDebugProcessor.h"
#include "XnGMCDebugProcessor.h"
#include "XnTecDebugProcessor.h"
#include "XnNesaDebugProcessor.h"
#include "XnGeneralDebugProcessor.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnFirmwareStreams::XnFirmwareStreams(XnDevicePrivateData* pDevicePrivateData) :
m_pDevicePrivateData(pDevicePrivateData)
{
}
XnFirmwareStreams::~XnFirmwareStreams()
{
}
XnStatus XnFirmwareStreams::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
XnFirmwareStreamData tempData;
xnOSMemSet(&tempData, 0, sizeof(XnFirmwareStreamData));
// Depth
nRetVal = m_DepthProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
tempData.pProcessorHolder = &m_DepthProcessor;
tempData.strType = XN_STREAM_TYPE_DEPTH;
nRetVal = m_FirmwareStreams.Set(XN_STREAM_TYPE_DEPTH, tempData);
XN_IS_STATUS_OK(nRetVal);
// Image
nRetVal = m_ImageProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
tempData.pProcessorHolder = &m_ImageProcessor;
tempData.strType = XN_STREAM_TYPE_IMAGE;
nRetVal = m_FirmwareStreams.Set(XN_STREAM_TYPE_IMAGE, tempData);
XN_IS_STATUS_OK(nRetVal);
// IR (currently uses the same processor
tempData.pProcessorHolder = &m_ImageProcessor;
tempData.strType = XN_STREAM_TYPE_IR;
nRetVal = m_FirmwareStreams.Set(XN_STREAM_TYPE_IR, tempData);
XN_IS_STATUS_OK(nRetVal);
// Audio
nRetVal = m_AudioProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
tempData.pProcessorHolder = &m_AudioProcessor;
tempData.strType = XN_STREAM_TYPE_AUDIO;
nRetVal = m_FirmwareStreams.Set(XN_STREAM_TYPE_AUDIO, tempData);
XN_IS_STATUS_OK(nRetVal);
// GMC debug processor
nRetVal = m_GMCDebugProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
XnDataProcessor* pProcessor;
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnGMCDebugProcessor, m_pDevicePrivateData);
m_GMCDebugProcessor.Replace(pProcessor);
// Wave length debug processor
nRetVal = m_WavelengthCorrectionDebugProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnWavelengthCorrectionDebugProcessor, m_pDevicePrivateData);
m_WavelengthCorrectionDebugProcessor.Replace(pProcessor);
// Tec Debug processor
nRetVal = m_TecDebugProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnTecDebugProcessor, m_pDevicePrivateData);
m_TecDebugProcessor.Replace(pProcessor);
// NESA Debug processor
nRetVal = m_NesaDebugProcessor.Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnNesaDebugProcessor, m_pDevicePrivateData);
m_NesaDebugProcessor.Replace(pProcessor);
// General Debug processors
nRetVal = m_GeneralDebugProcessor1.Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnGeneralDebugProcessor, m_pDevicePrivateData);
m_GeneralDebugProcessor1.Replace(pProcessor);
nRetVal = m_GeneralDebugProcessor2.Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_NEW_AND_INIT(pProcessor, XnGeneralDebugProcessor, m_pDevicePrivateData);
m_GeneralDebugProcessor2.Replace(pProcessor);
return (XN_STATUS_OK);
}
XnStatus XnFirmwareStreams::CheckClaimStream(const XnChar* strType, XnResolutions nRes, XnUInt32 nFPS, XnDeviceStream* pOwner)
{
XnStatus nRetVal = XN_STATUS_OK;
// first of all, make sure this stream isn't claimed already
XnFirmwareStreamData* pStreamData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pStreamData);
XN_IS_STATUS_OK(nRetVal);
if (pStreamData->pOwner != NULL && pStreamData->pOwner != pOwner)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot open more than one %s stream at a time!", strType);
}
if (strcmp(strType, XN_STREAM_TYPE_DEPTH) == 0)
{
// check if IR stream is configured
XnFirmwareStreamData* pIRStreamData = NULL;
nRetVal = m_FirmwareStreams.Get(XN_STREAM_TYPE_IR, pIRStreamData);
XN_IS_STATUS_OK(nRetVal);
if (pIRStreamData->pOwner != NULL)
{
// check res
if (pIRStreamData->nRes != nRes && (pIRStreamData->nRes != XN_RESOLUTION_SXGA || nRes != XN_RESOLUTION_VGA))
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set depth stream to resolution %d when IR is set to resolution %d!", nRes, pIRStreamData->nRes);
}
// check FPS
if (pIRStreamData->nFPS != nFPS)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
}
}
}
else if (strcmp(strType, XN_STREAM_TYPE_IR) == 0)
{
// check if image is configured
XnFirmwareStreamData* pImageStreamData = NULL;
nRetVal = m_FirmwareStreams.Get(XN_STREAM_TYPE_IMAGE, pImageStreamData);
XN_IS_STATUS_OK(nRetVal);
if (pImageStreamData->pOwner != NULL)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot open IR stream when image stream is on!");
}
// check if depth is configured
XnFirmwareStreamData* pDepthStreamData = NULL;
nRetVal = m_FirmwareStreams.Get(XN_STREAM_TYPE_DEPTH, pDepthStreamData);
XN_IS_STATUS_OK(nRetVal);
if (pDepthStreamData->pOwner != NULL)
{
// check res
if (pDepthStreamData->nRes != nRes && (nRes != XN_RESOLUTION_SXGA || pDepthStreamData->nRes != XN_RESOLUTION_VGA))
{
if (m_pDevicePrivateData->FWInfo.nFWVer < XN_SENSOR_FW_VER_5_6)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set IR stream to resolution %d when Depth is set to resolution %d!", nRes, pDepthStreamData->nRes);
}
}
// check FPS
if (pDepthStreamData->nFPS != nFPS)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
}
}
}
else if (strcmp(strType, XN_STREAM_TYPE_IMAGE) == 0)
{
// check if IR is configured
XnFirmwareStreamData* pIRStreamData;
nRetVal = m_FirmwareStreams.Get(XN_STREAM_TYPE_IR, pIRStreamData);
XN_IS_STATUS_OK(nRetVal);
if (pIRStreamData->pOwner != NULL)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot open Image stream when IR stream is on!");
}
}
return (XN_STATUS_OK);
}
XnStatus XnFirmwareStreams::ClaimStream(const XnChar* strType, XnResolutions nRes, XnUInt32 nFPS, XnDeviceStream* pOwner)
{
XnStatus nRetVal = XN_STATUS_OK;
// check constraints
nRetVal = CheckClaimStream(strType, nRes, nFPS, pOwner);
XN_IS_STATUS_OK(nRetVal);
// get stream data
XnFirmwareStreamData* pData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pData);
XN_IS_STATUS_OK(nRetVal);
// update stream
pData->nRes = nRes;
pData->nFPS = nFPS;
pData->pOwner = pOwner;
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "FW Stream %s was claimed by %s", strType, pOwner->GetName());
return (XN_STATUS_OK);
}
XnStatus XnFirmwareStreams::ReleaseStream(const XnChar* strType, XnDeviceStream* pOwner)
{
XnStatus nRetVal = XN_STATUS_OK;
// get stream data
XnFirmwareStreamData* pData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pData);
XN_IS_STATUS_OK(nRetVal);
if (pData->pOwner == NULL || pData->pOwner != pOwner)
{
return XN_STATUS_ERROR;
}
// release it
pData->pOwner = NULL;
pData->pProcessorHolder->Replace(NULL);
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Stream %s released FW Stream %s", pOwner->GetName(), strType);
return (XN_STATUS_OK);
}
XnStatus XnFirmwareStreams::LockStreamProcessor(const XnChar* strType, XnDeviceStream* pOwner)
{
XnStatus nRetVal = XN_STATUS_OK;
// get stream data
XnFirmwareStreamData* pData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pData);
XN_IS_STATUS_OK(nRetVal);
if (pData->pOwner != pOwner)
{
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Internal error: Trying to lock a processor for a non-owned stream!");
}
pData->pProcessorHolder->Lock();
return XN_STATUS_OK;
}
XnStatus XnFirmwareStreams::UnlockStreamProcessor(const XnChar* strType, XnDeviceStream* pOwner)
{
XnStatus nRetVal = XN_STATUS_OK;
// get stream data
XnFirmwareStreamData* pData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pData);
XN_IS_STATUS_OK(nRetVal);
if (pData->pOwner != pOwner)
{
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Internal error: Trying to unlock a processor for a non-owned stream!");
}
pData->pProcessorHolder->Unlock();
return XN_STATUS_OK;
}
XnStatus XnFirmwareStreams::ReplaceStreamProcessor(const XnChar* strType, XnDeviceStream* pOwner, XnDataProcessor* pProcessor)
{
XnStatus nRetVal = XN_STATUS_OK;
// get stream data
XnFirmwareStreamData* pData = NULL;
nRetVal = m_FirmwareStreams.Get(strType, pData);
XN_IS_STATUS_OK(nRetVal);
if (pData->pOwner != pOwner)
{
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Internal error: Trying to replace a processor for a non-owned stream!");
}
pData->pProcessorHolder->Replace(pProcessor);
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Firmware stream '%s' processor was replaced.", strType);
return (XN_STATUS_OK);
}
XnBool XnFirmwareStreams::IsClaimed(const XnChar* strType, XnDeviceStream* pStream)
{
XnFirmwareStreamData* pData = NULL;
if (XN_STATUS_OK == m_FirmwareStreams.Get(strType, pData) && pData->pOwner == pStream)
return TRUE;
else
return FALSE;
}
void XnFirmwareStreams::ProcessPacketChunk(XnSensorProtocolResponseHeader* pHeader, XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_MT_SECTION("XnFirmwareStreams::ProcessPacketChunk")
XnDataProcessorHolder* pStreamProcessor = NULL;
switch (pHeader->nType)
{
case XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_START:
case XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_BUFFER:
case XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_END:
pStreamProcessor = &m_DepthProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_START:
case XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_BUFFER:
case XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END:
pStreamProcessor = &m_ImageProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_AUDIO_BUFFER:
pStreamProcessor = &m_AudioProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG:
case XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG_END:
pStreamProcessor = &m_GMCDebugProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_WAVELENGTH_CORRECTION_DEBUG:
pStreamProcessor = &m_WavelengthCorrectionDebugProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_TEC_DEBUG:
pStreamProcessor = &m_TecDebugProcessor;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_NESA_DEBUG:
pStreamProcessor = &m_NesaDebugProcessor;
break;
case XN_SENSOR_PROTOCOL_DEBUG_DATA_EP1:
pStreamProcessor = &m_GeneralDebugProcessor1;
break;
case XN_SENSOR_PROTOCOL_DEBUG_DATA_EP2:
pStreamProcessor = &m_GeneralDebugProcessor2;
break;
case XN_SENSOR_PROTOCOL_RESPONSE_PROJECTOR_FAULT_EVENT:
m_pDevicePrivateData->pSensor->SetErrorState(XN_STATUS_DEVICE_PROJECTOR_FAULT);
break;
case XN_SENSOR_PROTOCOL_RESPONSE_OVERHEAT:
m_pDevicePrivateData->pSensor->SetErrorState(XN_STATUS_DEVICE_OVERHEAT);
break;
default:
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL, "Unknown packet type (0x%x)!!!", pHeader->nType);
}
}
if (pStreamProcessor != NULL)
{
if (m_pDevicePrivateData->pSensor->GetErrorState() != XN_STATUS_OK)
{
// all OK now.
m_pDevicePrivateData->pSensor->SetErrorState(XN_STATUS_OK);
}
pStreamProcessor->ProcessData(pHeader, pData, nDataOffset, nDataSize);
}
XN_PROFILING_END_SECTION
}
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