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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_SENSOR_H__
#define __XN_SENSOR_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <DDK/XnDeviceBase.h>
#include "XnDeviceSensorIO.h"
#include "XnParams.h"
#include "XnDeviceSensor.h"
#include "XnSensorFixedParams.h"
#include "XnSensorFirmwareParams.h"
#include <DDK/XnDeviceStream.h>
#include "XnSensorFirmware.h"
#include "XnCmosInfo.h"
#include "IXnSensorStream.h"
#include <DDK/XnIntPropertySynchronizer.h>
#include "XnArray.h"
//---------------------------------------------------------------------------
// XnSensor class
//---------------------------------------------------------------------------
class XnSensor : public XnDeviceBase
{
friend class XnServerSensorInvoker;
public:
XnSensor(XnBool bResetOnStartup = TRUE, XnBool bLeanInit = FALSE);
~XnSensor();
virtual XnStatus InitImpl(const XnDeviceConfig* pDeviceConfig);
virtual XnStatus Destroy();
virtual XnStatus OpenAllStreams();
virtual XnStatus LoadConfigFromFile(const XnChar* csINIFilePath, const XnChar* csSectionName);
public:
inline XnSensorFixedParams* GetFixedParams() { return GetFirmware()->GetFixedParams(); }
inline XnSensorFirmware* GetFirmware() { return &m_Firmware; }
inline XnSensorFPS* GetFPSCalculator() { return &m_FPS; }
XnStatus SetCmosConfiguration(XnCMOSType nCmos, XnResolutions nRes, XnUInt32 nFPS);
inline XnDevicePrivateData* GetDevicePrivateData() { return &m_DevicePrivateData; }
XnStatus ConfigPropertyFromFile(XnStringProperty* pProperty, const XnChar* csINIFilePath, const XnChar* csSectionName);
XnStatus ConfigPropertyFromFile(XnIntProperty* pProperty, const XnChar* csINIFilePath, const XnChar* csSectionName);
inline XnBool IsMiscSupported() const { return m_SensorIO.IsMiscEndpointSupported(); }
inline XnBool IsLowBandwidth() const { return m_SensorIO.IsLowBandwidth(); }
inline XnSensorUsbInterface GetCurrentUsbInterface() const { return m_SensorIO.GetCurrentInterface(*m_Firmware.GetInfo()); }
XnStatus GetStream(const XnChar* strStream, XnDeviceStream** ppStream);
inline XnStatus GetErrorState() { return (XnStatus)m_ErrorState.GetValue(); }
XnStatus SetErrorState(XnStatus errorState);
/**
* Resolves the config file's path.
* Specify NULL to strConfigDir to resolve it based on the driver's directory.
*/
static XnStatus ResolveGlobalConfigFileName(XnChar* strConfigFile, XnUInt32 nBufSize, const XnChar* strConfigDir);
XnStatus SetGlobalConfigFile(const XnChar* strConfigFile);
XnStatus ConfigureModuleFromGlobalFile(const XnChar* strModule, const XnChar* strSection = NULL);
const XnChar* GetUSBPath() { return m_SensorIO.GetDevicePath(); }
XnBool ShouldUseHostTimestamps() { return (m_HostTimestamps.GetValue() == TRUE); }
XnBool HasReadingStarted() { return (m_ReadData.GetValue() == TRUE); }
inline XnBool IsTecDebugPring() const { return (XnBool)m_FirmwareTecDebugPrint.GetValue(); }
XnStatus SetFrameSyncStreamGroup(XnDeviceStream** ppStreamList, XnUInt32 numStreams);
protected:
virtual XnStatus CreateStreamImpl(const XnChar* strType, const XnChar* strName, const XnActualPropertiesHash* pInitialSet);
XnStatus CreateDeviceModule(XnDeviceModuleHolder** ppModuleHolder);
XnStatus CreateStreamModule(const XnChar* StreamType, const XnChar* StreamName, XnDeviceModuleHolder** ppStream);
void DestroyStreamModule(XnDeviceModuleHolder* pStreamHolder);
virtual void OnNewStreamData(XnDeviceStream* pStream, OniFrame* pFrame);
private:
XnStatus InitSensor(const XnDeviceConfig* pDeviceConfig);
XnStatus ValidateSensorID(XnChar* csSensorID);
XnStatus SetMirrorForModule(XnDeviceModule* pModule, XnUInt64 nValue);
XnStatus FindSensorStream(const XnChar* StreamName, IXnSensorStream** ppStream);
XnStatus InitReading();
XnStatus OnFrameSyncPropertyChanged();
static XnStatus XN_CALLBACK_TYPE GetInstanceCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
XnStatus ChangeTaskInterval(XnScheduledTask** ppTask, XnTaskCallbackFuncPtr pCallback, XnUInt32 nInterval);
void ReadFirmwareLog();
void ReadFirmwareCPU();
//---------------------------------------------------------------------------
// Getters
//---------------------------------------------------------------------------
XnStatus GetFirmwareParam(XnInnerParamData* pParam);
XnStatus GetCmosBlankingUnits(XnCmosBlankingUnits* pBlanking);
XnStatus GetCmosBlankingTime(XnCmosBlankingTime* pBlanking);
XnStatus GetFirmwareMode(XnParamCurrentMode* pnMode);
XnStatus GetLastRawFrame(const XnChar* strStream, XnUChar* pBuffer, XnUInt32 nDataSize);
XnStatus GetFixedParams(XnDynamicSizeBuffer* pBuffer);
XnStatus GetDepthCmosRegister(XnControlProcessingData* pRegister);
XnStatus GetImageCmosRegister(XnControlProcessingData* pRegister);
XnStatus ReadAHB(XnAHBData* pData);
XnStatus GetI2C(XnI2CReadData* pI2CReadData);
XnStatus GetTecStatus(XnTecData* pTecData);
XnStatus GetTecFastConvergenceStatus(XnTecFastConvergenceData* pTecData);
XnStatus GetEmitterStatus(XnEmitterData* pEmitterData);
XnStatus ReadFlashFile(const XnParamFileData* pFile);
XnStatus ReadFlashChunk(XnParamFlashData* pFlash);
XnStatus GetFirmwareLog(XnChar* csLog, XnUInt32 nSize);
XnStatus GetFileList(XnFlashFileList* pFileList);
//---------------------------------------------------------------------------
// Setters
//---------------------------------------------------------------------------
XnStatus SetInterface(XnSensorUsbInterface nInterface);
XnStatus SetHostTimestamps(XnBool bHostTimestamps);
XnStatus SetNumberOfBuffers(XnUInt32 nCount);
XnStatus SetReadData(XnBool bRead);
XnStatus SetFirmwareParam(const XnInnerParamData* pParam);
XnStatus SetCmosBlankingUnits(const XnCmosBlankingUnits* pBlanking);
XnStatus SetCmosBlankingTime(const XnCmosBlankingTime* pBlanking);
XnStatus Reset(XnParamResetType nType);
XnStatus SetFirmwareMode(XnParamCurrentMode nMode);
XnStatus SetDepthCmosRegister(const XnControlProcessingData* pRegister);
XnStatus SetImageCmosRegister(const XnControlProcessingData* pRegister);
XnStatus WriteAHB(const XnAHBData* pData);
XnStatus SetLedState(XnUInt16 nLedId, XnUInt16 nState);
XnStatus SetEmitterState(XnBool bActive);
XnStatus SetFirmwareFrameSync(XnBool bOn);
XnStatus SetI2C(const XnI2CWriteData* pI2CWriteData);
XnStatus SetFirmwareLogFilter(XnUInt32 nFilter);
XnStatus SetFirmwareLogInterval(XnUInt32 nMilliSeconds);
XnStatus SetFirmwareLogPrint(XnBool bPrint);
XnStatus SetFirmwareCPUInterval(XnUInt32 nMilliSeconds);
XnStatus SetAPCEnabled(XnBool bEnabled);
XnStatus DeleteFile(XnUInt16 nFileID);
XnStatus SetTecSetPoint(XnUInt16 nSetPoint);
XnStatus SetEmitterSetPoint(XnUInt16 nSetPoint);
XnStatus SetFileAttributes(const XnFileAttributes* pAttributes);
XnStatus WriteFlashFile(const XnParamFileData* pFile);
XnStatus SetProjectorFault(XnProjectorFaultData* pProjectorFaultData);
XnStatus RunBIST(XnUInt32 nTestsMask, XnUInt32* pnFailures);
//---------------------------------------------------------------------------
// Callbacks
//---------------------------------------------------------------------------
static void XN_CALLBACK_TYPE OnDeviceDisconnected(const OniDeviceInfo& deviceInfo, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetInterfaceCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetHostTimestampsCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetNumberOfBuffersCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetReadDataCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareParamCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetCmosBlankingUnitsCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetCmosBlankingTimeCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE ResetCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareModeCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetFixedParamsCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE FrameSyncPropertyChangedCallback(const XnProperty* pSender, void* pCookie);
static XnBool XN_CALLBACK_TYPE HasSynchedFrameArrived(void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetFirmwareParamCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetCmosBlankingUnitsCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetCmosBlankingTimeCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetFirmwareModeCallback(const XnIntProperty* pSender, XnUInt64* pnValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetAudioSupportedCallback(const XnIntProperty* pSender, XnUInt64* pnValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetImageSupportedCallback(const XnIntProperty* pSender, XnUInt64* pnValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetDepthCmosRegisterCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetImageCmosRegisterCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetDepthCmosRegisterCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetImageCmosRegisterCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE ReadAHBCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE WriteAHBCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetLedStateCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetEmitterStateCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareFrameSyncCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareLogFilterCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareLogIntervalCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareLogPrintCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFirmwareCPUIntervalCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetAPCEnabledCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetI2CCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE DeleteFileCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetTecSetPointCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetEmitterSetPointCallback(XnIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetFileAttributesCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE WriteFlashFileCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetProjectorFaultCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE RunBISTCallback(XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetFileListCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static void XN_CALLBACK_TYPE ExecuteFirmwareLogTask(void* pCookie);
static void XN_CALLBACK_TYPE ExecuteFirmwareCPUTask(void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetI2CCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetTecStatusCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetTecFastConvergenceStatusCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetEmitterStatusCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE ReadFlashFileCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetFirmwareLogCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE ReadFlashChunkCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
//---------------------------------------------------------------------------
// Members
//---------------------------------------------------------------------------
XnCallbackHandle m_hDisconnectedCallback;
XnActualIntProperty m_ErrorState;
XnActualIntProperty m_ResetSensorOnStartup;
XnActualIntProperty m_LeanInit;
XnActualIntProperty m_Interface;
XnActualIntProperty m_ReadData;
XnActualIntProperty m_FrameSync;
XnActualIntProperty m_FirmwareFrameSync;
XnActualIntProperty m_CloseStreamsOnShutdown;
XnActualIntProperty m_HostTimestamps;
XnGeneralProperty m_FirmwareParam;
XnGeneralProperty m_CmosBlankingUnits;
XnGeneralProperty m_CmosBlankingTime;
XnIntProperty m_Reset;
XnVersions m_VersionData;
XnActualGeneralProperty m_Version;
XnGeneralProperty m_FixedParam;
XnActualStringProperty m_ID;
XnActualStringProperty m_DeviceName;
XnActualStringProperty m_VendorSpecificData;
XnActualStringProperty m_PlatformString;
XnIntProperty m_AudioSupported;
XnIntProperty m_ImageSupported;
XnGeneralProperty m_ImageControl;
XnGeneralProperty m_DepthControl;
XnGeneralProperty m_AHB;
XnGeneralProperty m_LedState;
XnIntProperty m_EmitterEnabled;
XnActualIntProperty m_FirmwareLogFilter;
XnActualIntProperty m_FirmwareLogInterval;
XnActualIntProperty m_FirmwareLogPrint;
XnActualIntProperty m_FirmwareCPUInterval;
XnActualIntProperty m_APCEnabled;
XnActualIntProperty m_FirmwareTecDebugPrint;
XnGeneralProperty m_I2C;
XnIntProperty m_DeleteFile;
XnIntProperty m_TecSetPoint;
XnGeneralProperty m_TecStatus;
XnGeneralProperty m_TecFastConvergenceStatus;
XnIntProperty m_EmitterSetPoint;
XnGeneralProperty m_EmitterStatus;
XnGeneralProperty m_FileAttributes;
XnGeneralProperty m_FlashFile;
XnGeneralProperty m_FirmwareLog;
XnGeneralProperty m_FlashChunk;
XnGeneralProperty m_FileList;
XnGeneralProperty m_BIST;
XnGeneralProperty m_ProjectorFault;
XnSensorFirmware m_Firmware;
XnDevicePrivateData m_DevicePrivateData;
XnSensorFPS m_FPS;
XnCmosInfo m_CmosInfo;
XnSensorIO m_SensorIO;
XnSensorObjects m_Objects;
/** A scheduler to be used for performing periodic tasks. */
XnScheduler* m_pScheduler;
XnScheduledTask* m_pLogTask;
XnScheduledTask* m_pCPUTask;
XnDumpFile* m_FirmwareLogDump;
XnDumpFile* m_FrameSyncDump;
XnBool m_nFrameSyncEnabled;
typedef struct
{
XnDeviceStream* pStream;
OniFrame* pFrame;
} FrameSyncedStream;
xnl::Array<FrameSyncedStream> m_FrameSyncedStreams;
int m_nFrameSyncLastFrameID;
xnl::CriticalSection m_frameSyncCs;
XnBool m_bInitialized;
XnIntPropertySynchronizer m_PropSynchronizer;
XnChar m_strGlobalConfigFile[XN_FILE_MAX_PATH];
};
#endif //__XN_SENSOR_H__
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