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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 "XnGMCDebugProcessor.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnGMCDebugProcessor::XnGMCDebugProcessor(XnDevicePrivateData* pDevicePrivateData) :
XnWholePacketProcessor(pDevicePrivateData, "GMCDebug", XN_SENSOR_PROTOCOL_GMC_MAX_POINTS_IN_PACKET*sizeof(XnHostProtocolGMCPoint_1080)),
m_DumpTxt(NULL),
m_DumpBin(NULL),
m_nGMCTime(0)
{
}
XnGMCDebugProcessor::~XnGMCDebugProcessor()
{
xnDumpFileClose(m_DumpTxt);
xnDumpFileClose(m_DumpBin);
}
void XnGMCDebugProcessor::ProcessWholePacket(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData)
{
XN_PROFILING_START_SECTION("XnGMCDebugProcessor::ProcessPacketChunk")
m_DumpTxt = xnDumpFileOpenEx("GMCDebug", TRUE, TRUE, "GMC_Points.%d.txt", m_nGMCTime);
xnDumpFileWriteString(m_DumpTxt, "X,Y,DX,DY\n");
if (pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG)
{
m_DumpBin = xnDumpFileOpenEx("GMCDebug", TRUE, TRUE, "GMC_Points.%d.xydxdy.bin", m_nGMCTime);
XnUInt32 nNumOfPoints = pHeader->nBufSize / sizeof(XnHostProtocolGMCPoint_1080);
// Dump points
for (XnUInt32 nIndex = 0; nIndex < nNumOfPoints; ++nIndex)
{
XnDeviceSensorGMCPoint* pGMCPoint = (XnDeviceSensorGMCPoint*)pData;
xnDumpFileWriteString(m_DumpTxt, "%d,%d,%d,%d\n", pGMCPoint->m_X, pGMCPoint->m_Y, pGMCPoint->m_DX, pGMCPoint->m_DY);
XnDouble aDoubles[4];
aDoubles[0] = pGMCPoint->m_X;
aDoubles[1] = pGMCPoint->m_Y;
aDoubles[2] = pGMCPoint->m_DX;
aDoubles[3] = pGMCPoint->m_DY;
xnDumpFileWriteBuffer(m_DumpBin, aDoubles, sizeof(aDoubles));
pData += sizeof(XnHostProtocolGMCPoint_1080);
}
}
else if (pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_GMC_DEBUG_END)
{
XnHostProtocolGMCLastPacketData* pGMCLastPacketData = (XnHostProtocolGMCLastPacketData*)pData;
if (m_pDevicePrivateData->FWInfo.nFWVer < XN_SENSOR_FW_VER_5_2)
{
// we should fill the last field ourselves
pGMCLastPacketData->m_FlashStoredRefOffset = -1000; // not written
}
xnDumpFileWriteString(m_DumpTxt, "\nMode,%hd\nCoverage Pass:%d\n", pGMCLastPacketData->m_GMCMode,pGMCLastPacketData->m_CoveragePass);
xnDumpFileWriteString(m_DumpTxt, "Last Configuration:\nN,%hd\nRICC,%hu\nRICC IIR,%f\n\n",
pGMCLastPacketData->m_LastConfData.nLast, pGMCLastPacketData->m_LastConfData.nRICCLast, pGMCLastPacketData->m_LastConfData.fRICC_IIR);
xnDumpFileWriteString(m_DumpTxt, "New Configuration:\nA,%f\nB,%f\nC,%f\nN,%hd\nRICC,%hu\nStartB,%u\nDeltaB,%u\n",
pGMCLastPacketData->m_A, pGMCLastPacketData->m_B, pGMCLastPacketData->m_C, pGMCLastPacketData->m_N, pGMCLastPacketData->m_RICC, pGMCLastPacketData->m_StartB, pGMCLastPacketData->m_DeltaB);
if (pGMCLastPacketData->m_FlashStoredRefOffset == -1000)
{
xnDumpFileWriteString(m_DumpTxt, "Flash was not updated.");
}
else
{
xnDumpFileWriteString(m_DumpTxt, "Flash was updated with new reference offset: %hd", pGMCLastPacketData->m_FlashStoredRefOffset);
}
xnDumpFileClose(m_DumpTxt);
xnDumpFileClose(m_DumpBin);
m_nGMCTime++;
}
XN_PROFILING_END_SECTION
}
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