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XnHostProtocol.cpp
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/*****************************************************************************
* *
* PrimeSense Sensor 5.0 Alpha *
* Copyright (C) 2010 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Common. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>. *
* *
*****************************************************************************/
#include "XnDeviceSensorProtocol.h"
#include "XnHostProtocol.h"
#include <math.h>
#include <XnLog.h>
#include "XnSensorDepthStream.h"
#include "XnSensor.h"
#include <XnPsVersion.h>
// Control Protocol
#include "XnParams.h"
#define XN_RECEIVE_USB_DATA_TIMEOUT 20000
#define XN_USB_HOST_PROTOCOL_TIMEOUT 5000
#define XN_USB_HOST_PROTOCOL_TIMEOUT_KEEP_ALIVE 5000
#define XN_USB_HOST_PROTOCOL_TIMEOUT_GETVERSION 5000
#define XN_USB_HOST_PROTOCOL_TIMEOUT_SETPARAM 5000
#define XN_USB_HOST_PROTOCOL_SEND_RETRIES 5
#define XN_HOST_PROTOCOL_NOT_READY_RETRIES 3
#define XN_PROTOCOL_MAX_PACKET_SIZE_V5_0 512
#define XN_PROTOCOL_MAX_PACKET_SIZE_V0_17 64
#define MAX_PACKET_SIZE 512
XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnFWVer nFWVer)
{
XnStatus nRetVal = XN_STATUS_OK;
switch (nFWVer)
{
case XN_SENSOR_FW_VER_5_4:
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_3);
XN_IS_STATUS_OK(nRetVal);
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_GET_CMOS_PRESETS;
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
break;
case XN_SENSOR_FW_VER_5_3:
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_2);
XN_IS_STATUS_OK(nRetVal);
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
break;
case XN_SENSOR_FW_VER_5_2:
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_1);
XN_IS_STATUS_OK(nRetVal);
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
break;
case XN_SENSOR_FW_VER_5_1:
nRetVal = XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_0);
XN_IS_STATUS_OK(nRetVal);
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_GET_CMOS_BLANKING;
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
break;
case XN_SENSOR_FW_VER_5_0:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_26;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_26;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV26);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V5_0;
pDevicePrivateData->FWInfo.bAudioSupported = TRUE;
pDevicePrivateData->FWInfo.bMirrorSupported = TRUE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_GET_MODE;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_SET_MODE;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_ALGORITM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_SET_CMOS_BLANKING;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
case XN_SENSOR_FW_VER_4_0:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_26;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_26;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV26);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V0_17;
pDevicePrivateData->FWInfo.bAudioSupported = FALSE;
pDevicePrivateData->FWInfo.bMirrorSupported = FALSE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_V400_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_V400_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_V400_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_V400_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_V400_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_V400_GET_MODE;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_V400_SET_MODE;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_V400_ALGORITM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
case XN_SENSOR_FW_VER_3_0:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_26;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_26;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV26);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V0_17;
pDevicePrivateData->FWInfo.bAudioSupported = TRUE;
pDevicePrivateData->FWInfo.bMirrorSupported = FALSE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_V300_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_V300_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_V300_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_V300_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_V300_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_V300_GET_MODE;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_V300_SET_MODE;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_V300_ALGORITM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
case XN_SENSOR_FW_VER_1_2:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_26;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_26;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV26);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V0_17;
pDevicePrivateData->FWInfo.bAudioSupported = FALSE;
pDevicePrivateData->FWInfo.bMirrorSupported = FALSE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_V110_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_V110_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_V110_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_V110_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_V110_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_V110_GET_MODE;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_V110_SET_MODE;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_V110_ALGORITHM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
case XN_SENSOR_FW_VER_1_1:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_25;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_25;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV25);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V0_17;
pDevicePrivateData->FWInfo.bAudioSupported = FALSE;
pDevicePrivateData->FWInfo.bMirrorSupported = FALSE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_V110_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_V110_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_V110_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_V110_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_V110_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_V110_GET_MODE;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_V110_SET_MODE;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_V110_ALGORITHM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
case XN_SENSOR_FW_VER_0_17:
pDevicePrivateData->FWInfo.nFWVer = nFWVer;
pDevicePrivateData->FWInfo.nFWMagic = XN_FW_MAGIC_25;
pDevicePrivateData->FWInfo.nHostMagic = XN_HOST_MAGIC_25;
pDevicePrivateData->FWInfo.nProtocolHeaderSize = sizeof(XnHostProtocolHeaderV25);
pDevicePrivateData->FWInfo.nProtocolMaxPacketSize = XN_PROTOCOL_MAX_PACKET_SIZE_V0_17;
pDevicePrivateData->FWInfo.bAudioSupported = FALSE;
pDevicePrivateData->FWInfo.bMirrorSupported = FALSE;
pDevicePrivateData->FWInfo.nOpcodeGetVersion = OPCODE_V017_GET_VERSION;
pDevicePrivateData->FWInfo.nOpcodeKeepAlive = OPCODE_V017_KEEP_ALIVE;
pDevicePrivateData->FWInfo.nOpcodeGetParam = OPCODE_V017_GET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeSetParam = OPCODE_V017_SET_PARAM;
pDevicePrivateData->FWInfo.nOpcodeGetFixedParams = OPCODE_V017_GET_FIXED_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeGetMode = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeSetMode = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeAlgorithmParams = OPCODE_V017_ALGORITM_PARAMS;
pDevicePrivateData->FWInfo.nOpcodeReset = OPCODE_V017_RESET;
pDevicePrivateData->FWInfo.nOpcodeSetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosBlanking = OPCODE_INVALID;
pDevicePrivateData->FWInfo.nOpcodeGetCmosPresets = OPCODE_INVALID;
break;
default:
return (XN_STATUS_IO_DEVICE_WRONG_VERSION);
}
pDevicePrivateData->FWInfo.nCurrMode = XN_MODE_PS;
return (XN_STATUS_OK);
}
XnStatus XnHostProtocolInitHeader(XnDevicePrivateData* pDevicePrivateData, void* pBuffer, void* pDataBuf, XnUInt32 nSize, XnUInt16 nOpcode)
{
static XnUInt16 nId = 0;
if (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_1_2)
{
XnHostProtocolHeaderV26* pHeader = (XnHostProtocolHeaderV26*)pBuffer;
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pDevicePrivateData->FWInfo.nHostMagic);
pHeader->nSize = XN_PREPARE_VAR16_IN_BUFFER(XnUInt16(nSize/sizeof(XnUInt16)));
pHeader->nOpcode = XN_PREPARE_VAR16_IN_BUFFER(nOpcode);
pHeader->nId = XN_PREPARE_VAR16_IN_BUFFER(nId++);
}
else
{
XnHostProtocolHeaderV25* pHeader = (XnHostProtocolHeaderV25*)pBuffer;
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pDevicePrivateData->FWInfo.nHostMagic);
pHeader->nSize = XN_PREPARE_VAR16_IN_BUFFER(XnUInt16(nSize/sizeof(XnUInt16)));
pHeader->nOpcode = XN_PREPARE_VAR16_IN_BUFFER(nOpcode);
pHeader->nId = XN_PREPARE_VAR16_IN_BUFFER(nId++);
pHeader->nCRC16 = XN_PREPARE_VAR16_IN_BUFFER(0);
}
return (XN_STATUS_OK);
}
XnStatus XnHostProtocolUSBSend(XnDevicePrivateData* pDevicePrivateData,
XnUChar* pBuffer, XnUInt16 nSize, XnUInt32& nRead, XnUInt32 nTimeOut, XnBool bForceBulk)
{
XnStatus nRetVal;
XnUsbControlConnection* pCtrlConnection = &pDevicePrivateData->SensorHandle.ControlConnection;
XnUInt32 nCounter = XN_USB_HOST_PROTOCOL_SEND_RETRIES;
while (nCounter-- != 0)
{
if (pCtrlConnection->bIsBulk || bForceBulk)
nRetVal = xnUSBWriteEndPoint(pCtrlConnection->ControlOutConnectionEp, pBuffer, nSize, nTimeOut);
else
{
nRetVal = xnUSBSendControl(pDevicePrivateData->SensorHandle.USBDevice, XN_USB_CONTROL_TYPE_VENDOR, 0, 0, 0, pBuffer, nSize, nTimeOut);
}
if (nRetVal != XN_STATUS_USB_TRANSFER_TIMEOUT && nRetVal != XN_STATUS_USB_TRANSFER_STALL)
break;
xnOSSleep(100);
}
return nRetVal;
}
XnStatus XnHostProtocolUSBReceive(XnDevicePrivateData* pDevicePrivateData,
XnUChar* pBuffer, XnUInt nSize, XnUInt32& nRead, XnUInt32 nTimeOut, XnBool bForceBulk, XnUInt32 nFailTimeout)
{
XnStatus nRetVal;
XnUInt64 nMaxTime;
XnUInt64 nCurrTime;
XnUsbControlConnection* pCtrlConnection = &pDevicePrivateData->SensorHandle.ControlConnection;
xnOSGetHighResTimeStamp(&nMaxTime);
nMaxTime += (nTimeOut * 1000);
while (TRUE)
{
xnOSGetHighResTimeStamp(&nCurrTime);
if (nCurrTime > nMaxTime)
{
return (XN_STATUS_USB_TRANSFER_TIMEOUT);
}
if (pCtrlConnection->bIsBulk || bForceBulk)
nRetVal = xnUSBReadEndPoint(pCtrlConnection->ControlInConnectionEp, pBuffer, nSize, &nRead, nTimeOut);
else
nRetVal = xnUSBReceiveControl(pDevicePrivateData->SensorHandle.USBDevice, XN_USB_CONTROL_TYPE_VENDOR, 0, 0, 0, pBuffer, nSize, &nRead, nTimeOut);
if (nRetVal != XN_STATUS_USB_TRANSFER_TIMEOUT && nRetVal != XN_STATUS_USB_TRANSFER_STALL && nRetVal != XN_STATUS_USB_NOT_ENOUGH_DATA)
{
break;
}
if (nFailTimeout != 0)
{
XnUInt64 nNow;
XnUInt64 nNow2;
xnOSGetHighResTimeStamp(&nNow);
xnOSGetHighResTimeStamp(&nNow2);
while (nNow2 - nNow < nFailTimeout)
{
xnOSGetHighResTimeStamp(&nNow2);
}
}
else
{
xnOSSleep(pDevicePrivateData->FWInfo.nUSBDelayReceive);
}
}
return nRetVal;
}
XnStatus ValidateReplyV26(XnDevicePrivateData* pDevicePrivateData, XnUChar* pBuffer, XnUInt32 nBufferSize, XnUInt16 nExpectedOpcode, XnUInt16 nRequestId, XnUInt16& nDataSize, XnUChar** pDataBuf)
{
XnUInt16 nHeaderOffset = 0;
XnHostProtocolHeaderV26* pHeader = (XnHostProtocolHeaderV26*)pBuffer;
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nMagic);
while (pHeader->nMagic != pDevicePrivateData->FWInfo.nFWMagic && nHeaderOffset < nBufferSize-pDevicePrivateData->FWInfo.nProtocolHeaderSize-sizeof(XnHostProtocolReplyHeader))
{
nHeaderOffset++;
pHeader = (XnHostProtocolHeaderV26*)(pBuffer+nHeaderOffset);
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nMagic);
}
pHeader->nId = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nId);
pHeader->nOpcode = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nOpcode);
pHeader->nSize = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nSize);
if (pHeader->nMagic != pDevicePrivateData->FWInfo.nFWMagic)
{
return XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC;
}
if (pHeader->nId != nRequestId)
{
// printf("Response ID (%d) not the same as request id (%d)\n", pHeader->nId, nRequestId);
return XN_STATUS_DEVICE_PROTOCOL_WRONG_ID;
}
if (pHeader->nOpcode != nExpectedOpcode)
{
// printf("Unexpected opcode %d (expected: %d)\n", pHeader->nOpcode, nExpectedOpcode);
return XN_STATUS_DEVICE_PROTOCOL_WRONG_OPCODE;
}
// CRC?
// ...
XnHostProtocolReplyHeader* pReply = (XnHostProtocolReplyHeader*)(pBuffer+nHeaderOffset+pDevicePrivateData->FWInfo.nProtocolHeaderSize);
pReply->nErrorCode = XN_PREPARE_VAR16_IN_BUFFER(pReply->nErrorCode);
if (pReply->nErrorCode != ACK)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL, "Received NACK: %d", pReply->nErrorCode);
switch (pReply->nErrorCode)
{
case NACK_INVALID_COMMAND:
return XN_STATUS_DEVICE_PROTOCOL_INVALID_COMMAND;
case NACK_BAD_PACKET_CRC:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PACKET_CRC;
case NACK_BAD_PACKET_SIZE:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PACKET_SIZE;
case NACK_BAD_PARAMS:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PARAMS;
case NACK_BAD_COMMAND_SIZE:
return XN_STATUS_DEVICE_PROTOCOL_BAD_COMMAND_SIZE;
case NACK_NOT_READY:
return XN_STATUS_DEVICE_PROTOCOL_NOT_READY;
case NACK_UNKNOWN_ERROR:
default:
return XN_STATUS_DEVICE_PROTOCOL_UNKNOWN_ERROR;
}
}
// Check reply length is reasonable for opcode
nDataSize = pHeader->nSize - sizeof(XnHostProtocolReplyHeader)/sizeof(XnUInt16);
if (pDataBuf)
*pDataBuf = pBuffer + nHeaderOffset+pDevicePrivateData->FWInfo.nProtocolHeaderSize+sizeof(XnHostProtocolReplyHeader);
return XN_STATUS_OK;
}
XnStatus ValidateReplyV25(XnDevicePrivateData* pDevicePrivateData, XnUChar* pBuffer, XnUInt32 nBufferSize, XnUInt16 nExpectedOpcode, XnUInt16 nRequestId, XnUInt16& nDataSize, XnUChar** pDataBuf)
{
XnUInt16 nHeaderOffset = 0;
XnHostProtocolHeaderV25* pHeader = (XnHostProtocolHeaderV25*)pBuffer;
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nMagic);
while (pHeader->nMagic != pDevicePrivateData->FWInfo.nFWMagic && nHeaderOffset < nBufferSize-pDevicePrivateData->FWInfo.nProtocolHeaderSize-sizeof(XnHostProtocolReplyHeader))
{
nHeaderOffset++;
pHeader = (XnHostProtocolHeaderV25*)(pBuffer+nHeaderOffset);
pHeader->nMagic = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nMagic);
}
pHeader->nCRC16 = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nCRC16);
pHeader->nId = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nId);
pHeader->nOpcode = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nOpcode);
pHeader->nSize = XN_PREPARE_VAR16_IN_BUFFER(pHeader->nSize);
if (pHeader->nMagic != pDevicePrivateData->FWInfo.nFWMagic)
{
return XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC;
}
if (pHeader->nId != nRequestId)
{
// printf("Response ID (%d) not the same as request id (%d)\n", pHeader->nId, nRequestId);
return XN_STATUS_DEVICE_PROTOCOL_WRONG_ID;
}
if (pHeader->nOpcode != nExpectedOpcode)
{
// printf("Unexpected opcode %d (expected: %d)\n", pHeader->nOpcode, nExpectedOpcode);
return XN_STATUS_DEVICE_PROTOCOL_WRONG_OPCODE;
}
// CRC?
// ...
XnHostProtocolReplyHeader* pReply = (XnHostProtocolReplyHeader*)(pBuffer+nHeaderOffset+pDevicePrivateData->FWInfo.nProtocolHeaderSize);
pReply->nErrorCode = XN_PREPARE_VAR16_IN_BUFFER(pReply->nErrorCode);
if (pReply->nErrorCode != ACK)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL, "Received NACK: %d", pReply->nErrorCode);
switch (pReply->nErrorCode)
{
case NACK_INVALID_COMMAND:
return XN_STATUS_DEVICE_PROTOCOL_INVALID_COMMAND;
case NACK_BAD_PACKET_CRC:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PACKET_CRC;
case NACK_BAD_PACKET_SIZE:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PACKET_SIZE;
case NACK_BAD_PARAMS:
return XN_STATUS_DEVICE_PROTOCOL_BAD_PARAMS;
case NACK_UNKNOWN_ERROR:
default:
return XN_STATUS_DEVICE_PROTOCOL_UNKNOWN_ERROR;
}
}
// Check reply length is reasonable for opcode
nDataSize = pHeader->nSize - sizeof(XnHostProtocolReplyHeader)/sizeof(XnUInt16);
if (pDataBuf)
*pDataBuf = pBuffer + nHeaderOffset+pDevicePrivateData->FWInfo.nProtocolHeaderSize+sizeof(XnHostProtocolReplyHeader);
return XN_STATUS_OK;
}
XnUInt32 XnHostProtocolGetTimeOut(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nOpcode)
{
if (nOpcode == pDevicePrivateData->FWInfo.nOpcodeKeepAlive)
return XN_USB_HOST_PROTOCOL_TIMEOUT_KEEP_ALIVE;
else if (nOpcode == pDevicePrivateData->FWInfo.nOpcodeGetVersion)
return XN_USB_HOST_PROTOCOL_TIMEOUT_GETVERSION;
else if (nOpcode == pDevicePrivateData->FWInfo.nOpcodeSetParam)
return XN_USB_HOST_PROTOCOL_TIMEOUT_SETPARAM;
else
return XN_USB_HOST_PROTOCOL_TIMEOUT;
}
XnUInt32 XnHostProtocolGetSetParamRecvTimeOut(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nParam)
{
if (nParam == PARAM_IMAGE_FLICKER_DETECTION)
return pDevicePrivateData->FWInfo.nUSBDelaySetParamFlicker;
else if (nParam == PARAM_GENERAL_STREAM0_MODE)
return pDevicePrivateData->FWInfo.nUSBDelaySetParamStream0Mode;
else if (nParam == PARAM_GENERAL_STREAM1_MODE)
return pDevicePrivateData->FWInfo.nUSBDelaySetParamStream1Mode;
else if (nParam == PARAM_GENERAL_STREAM2_MODE)
return pDevicePrivateData->FWInfo.nUSBDelaySetParamStream2Mode;
else
return 0;
}
XnStatus XnHostProtocolGetRequestID(XnDevicePrivateData* pDevicePrivateData, XnUChar* pBuffer, XnUInt16* pnRequestId)
{
XnUInt16 nRequestId;
if (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_1_2)
{
nRequestId = ((XnHostProtocolHeaderV26*)(pBuffer))->nId;
}
else
{
nRequestId = ((XnHostProtocolHeaderV25*)(pBuffer))->nId;
}
*pnRequestId = XN_PREPARE_VAR16_IN_BUFFER(nRequestId);
return XN_STATUS_OK;
}
XnStatus XnHostProtocolReceiveReply(XnDevicePrivateData* pDevicePrivateData, XnUChar* pBuffer, XnUInt16 nBufferSize, XnUInt32 nTimeOut, XnUInt16 nOpcode, XnUInt16 nRequestId, XnUInt32* pnReadBytes, XnUInt16* pnDataSize, XnUChar** ppRelevantBuffer, XnBool bForceBulk, XnUInt32 nRecvTimeout, XnUInt32 nFailTimeout)
{
XnStatus rc = XN_STATUS_OK;
XnUInt64 nStartWaitingTime;
xnOSGetTimeStamp(&nStartWaitingTime);
while (TRUE) // loop until timeout expires
{
do // loop until right reply ID is received
{
// receive reply
if (nRecvTimeout != 0)
{
xnOSSleep(nRecvTimeout);
}
rc = XnHostProtocolUSBReceive(pDevicePrivateData, pBuffer, pDevicePrivateData->FWInfo.nProtocolMaxPacketSize, *pnReadBytes, nTimeOut, bForceBulk, nFailTimeout);
XN_IS_STATUS_OK(rc);
// Validate the reply
if (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_1_2)
{
rc = ValidateReplyV26(pDevicePrivateData, pBuffer, *pnReadBytes, nOpcode, nRequestId, *pnDataSize, ppRelevantBuffer);
}
else
{
rc = ValidateReplyV25(pDevicePrivateData, pBuffer, *pnReadBytes, nOpcode, nRequestId, *pnDataSize, ppRelevantBuffer);
}
} while (rc == XN_STATUS_DEVICE_PROTOCOL_WRONG_ID);
XnUInt64 nNow;
xnOSGetTimeStamp(&nNow);
if (rc != XN_STATUS_OK && rc != XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC)
{
return rc;
}
else if (rc == XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC && (nNow-nStartWaitingTime)>XN_RECEIVE_USB_DATA_TIMEOUT)
{
// Timeout expired
return XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC;
}
else if (rc == XN_STATUS_DEVICE_PROTOCOL_BAD_MAGIC)
{
// Timeout not expired yet
xnOSSleep(10);
}
else
{
// OK
break;
}
}
return rc;
}
XnStatus XnHostProtocolExecute(XnDevicePrivateData* pDevicePrivateData,
XnUChar* pBuffer, XnUInt16 nSize, XnUInt16 nOpcode,
XnUChar** ppRelevantBuffer, XnUInt16& nDataSize, XnUInt32 nRecvTimeout = 0)
{
XnStatus rc;
XnUInt32 nRead;
XnUInt32 nFailTimeout = 0;
XnBool bForceBulk = FALSE;
if (nOpcode == OPCODE_INVALID)
{
return (XN_STATUS_DEVICE_PROTOCOL_UNSUPPORTED_OPCODE);
}
XnUInt32 nTimeOut = XnHostProtocolGetTimeOut(pDevicePrivateData, nOpcode);
// store request (in case we need to retry it)
XnUChar request[MAX_PACKET_SIZE];
xnOSMemCopy(request, pBuffer, nSize);
XnUInt16 nRequestId;
rc = XnHostProtocolGetRequestID(pDevicePrivateData, pBuffer, &nRequestId);
XN_IS_STATUS_OK(rc);
XnUInt16 nRetriesLeft = XN_HOST_PROTOCOL_NOT_READY_RETRIES;
while (nRetriesLeft-- > 0) // loop until device is ready
{
rc = xnOSLockMutex(pDevicePrivateData->hExecuteMutex, XN_WAIT_INFINITE);
XN_IS_STATUS_OK(rc);
// Sleep before sending the control
xnOSSleep(pDevicePrivateData->FWInfo.nUSBDelayExecutePreSend);
// Send request
rc = XnHostProtocolUSBSend(pDevicePrivateData, request, nSize, nRead, nTimeOut, bForceBulk);
if (rc != XN_STATUS_OK)
{
xnOSUnLockMutex(pDevicePrivateData->hExecuteMutex);
return rc;
}
// Sleep before trying to read the reply
xnOSSleep(pDevicePrivateData->FWInfo.nUSBDelayExecutePostSend);
// receive reply
rc = XnHostProtocolReceiveReply(pDevicePrivateData, pBuffer, nSize, nTimeOut, nOpcode, nRequestId, &nRead, &nDataSize, ppRelevantBuffer, bForceBulk, nRecvTimeout, nFailTimeout);
if (rc == XN_STATUS_DEVICE_PROTOCOL_NOT_READY || rc == XN_STATUS_OK)
{
XnStatus unlockRC = xnOSUnLockMutex(pDevicePrivateData->hExecuteMutex);
XN_IS_STATUS_OK(unlockRC);
}
else
{
xnOSUnLockMutex(pDevicePrivateData->hExecuteMutex);
return rc;
}
if (rc == XN_STATUS_OK)
break;
xnOSSleep(1000);
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Device not ready. %d more retries...", nRetriesLeft);
}
XN_IS_STATUS_OK(rc);
if (ppRelevantBuffer == NULL)
return XN_STATUS_OK;
// Get rest of data
XnInt32 nDataRead = 0;
XnInt32 nCur = nRead; // Read so far
nRead -= (pDevicePrivateData->FWInfo.nProtocolHeaderSize+sizeof(XnHostProtocolReplyHeader)); // Data read so far
while (nRead < nDataSize*2U)
{
XnUInt32 dummy = 0;
rc = XnHostProtocolUSBReceive(pDevicePrivateData, pBuffer+nCur, pDevicePrivateData->FWInfo.nProtocolMaxPacketSize, dummy, nTimeOut, bForceBulk, 0);
if (rc != XN_STATUS_OK)
{
return rc;
}
nCur += dummy;
nRead += dummy;
}
nDataRead = nRead;
return XN_STATUS_OK;
}
XnInt32 compareVersion(const XnVersions& version, XnInt32 nMajor, XnInt32 nMinor, XnInt32 nBuild)
{
XnInt32 nResult = version.nMajor - nMajor;
if (nResult == 0)
{
nResult = version.nMinor - nMinor;
}
if (nResult == 0)
{
nResult = version.nBuild - nBuild;
}
return nResult;
}
XnStatus XnHostProtocolGetVersion(XnDevicePrivateData* pDevicePrivateData, XnVersions& Version)
{
XnUChar buffer[MAX_PACKET_SIZE] = {0};
XnUChar* pDataBuf = buffer + pDevicePrivateData->FWInfo.nProtocolHeaderSize;
XnUInt16 nDataSize;
XnVersions *pVersion = NULL;
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Getting hardware versions...");
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_1);
XnHostProtocolInitHeader(pDevicePrivateData, buffer, pDataBuf, 0, pDevicePrivateData->FWInfo.nOpcodeGetVersion);
XnStatus rc = XnHostProtocolExecute(pDevicePrivateData,
buffer, pDevicePrivateData->FWInfo.nProtocolHeaderSize, pDevicePrivateData->FWInfo.nOpcodeGetVersion,
(XnUChar**)(&pVersion), nDataSize);
if (rc != XN_STATUS_OK)
{
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_1_1);
XnHostProtocolInitHeader(pDevicePrivateData, buffer, pDataBuf, 0, pDevicePrivateData->FWInfo.nOpcodeGetVersion);
rc = XnHostProtocolExecute(pDevicePrivateData,
buffer, pDevicePrivateData->FWInfo.nProtocolHeaderSize, pDevicePrivateData->FWInfo.nOpcodeGetVersion,
(XnUChar**)(&pVersion), nDataSize);
if (rc != XN_STATUS_OK)
{
xnLogError(XN_MASK_SENSOR_PROTOCOL, "Get version failed: %s", xnGetStatusString(rc));
return rc;
}
}
xnOSMemCopy(&Version, pVersion, sizeof(XnVersions));
Version.nBuild = XN_PREPARE_VAR16_IN_BUFFER(Version.nBuild);
Version.nChip = XN_PREPARE_VAR32_IN_BUFFER(Version.nChip);
Version.nFPGA = XN_PREPARE_VAR16_IN_BUFFER(Version.nFPGA);
Version.nSystemVersion = XN_PREPARE_VAR16_IN_BUFFER(Version.nSystemVersion);
*((XnUInt16*)&Version) = xnOSEndianSwapUINT16(*((XnUInt16*)pVersion));
if (compareVersion(Version, 5, 5, 0) >= 0)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL, "Sensor version %d.%d is newer than latest known. Trying to use 5.4 protocol...", Version.nMajor, Version.nMinor);
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_4);
}
else if (Version.nMajor == 5 && Version.nMinor == 4)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_4);
else if (Version.nMajor == 5 && Version.nMinor == 3)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_3);
else if (Version.nMajor == 5 && Version.nMinor == 2)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_2);
else if (Version.nMajor == 5 && Version.nMinor == 1)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_1);
else if (Version.nMajor == 5 && Version.nMinor == 0)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_5_0);
else if (Version.nMajor >= 4)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_4_0);
else if (Version.nMajor == 3 && Version.nMinor == 0)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_3_0);
else if (Version.nMajor == 1 && Version.nMinor == 2)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_1_2);
else if (Version.nMajor == 1 && Version.nMinor == 1)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_1_1);
else if (Version.nMajor == 0)
XnHostProtocolInitFWParams(pDevicePrivateData, XN_SENSOR_FW_VER_0_17);
Version.SDK.nMajor = XN_PS_MAJOR_VERSION;
Version.SDK.nMinor = XN_PS_MINOR_VERSION;
Version.SDK.nMaintenance = XN_PS_MAINTENANCE_VERSION;
Version.SDK.nBuild = XN_PS_BUILD_VERSION;
if (Version.nFPGA == XN_FPGA_VER_FPDB_26)
{
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_FPDB_10;
}
else if (Version.nFPGA == XN_FPGA_VER_FPDB_25)
{
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_FPDB_10;
}
else if (Version.nFPGA == XN_FPGA_VER_CDB)
{
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_CDB_10;
}
else
{
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_UNKNOWN;
}
if (Version.nChip == XN_CHIP_VER_PS1000)
{
pDevicePrivateData->ChipInfo.nChipVer = XN_SENSOR_CHIP_VER_PS1000;
}
else if (Version.nChip == XN_CHIP_VER_PS1080)
{
pDevicePrivateData->ChipInfo.nChipVer = XN_SENSOR_CHIP_VER_PS1080;
}
else
{
pDevicePrivateData->ChipInfo.nChipVer = XN_SENSOR_CHIP_VER_UNKNOWN;
}
if (pDevicePrivateData->FWInfo.nFWVer == XN_SENSOR_FW_VER_4_0)
{
pDevicePrivateData->SensorInfo.nSensorVer = XN_SENSOR_VER_4_0;
}
else if (pDevicePrivateData->FWInfo.nFWVer == XN_SENSOR_FW_VER_3_0)
{
pDevicePrivateData->SensorInfo.nSensorVer = XN_SENSOR_VER_3_0;
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_RD_3;
}
else if (pDevicePrivateData->FWInfo.nFWVer == XN_SENSOR_FW_VER_5_0 || pDevicePrivateData->FWInfo.nFWVer == XN_SENSOR_FW_VER_5_1)
{
pDevicePrivateData->SensorInfo.nSensorVer = XN_SENSOR_VER_5_0;
pDevicePrivateData->HWInfo.nHWVer = XN_SENSOR_HW_VER_RD_5;
}
else
{
pDevicePrivateData->SensorInfo.nSensorVer = XN_SENSOR_VER_2_0;
}
Version.FWVer = pDevicePrivateData->FWInfo.nFWVer;
Version.HWVer = pDevicePrivateData->HWInfo.nHWVer;
Version.SensorVer = pDevicePrivateData->SensorInfo.nSensorVer;
Version.ChipVer = pDevicePrivateData->ChipInfo.nChipVer;
if (Version.nMajor >= 5)
{
XnChar cpBuffer[XN_MAX_OS_NAME_LENGTH];
sprintf(cpBuffer, "%x", Version.nBuild);
Version.nBuild = atoi(cpBuffer);
}
if (!pDevicePrivateData->pSensor->IsLowBandwidth() &&
compareVersion(Version, 5, 3, 16) >= 0)
{
pDevicePrivateData->FWInfo.nUSBDelayReceive = 1;
pDevicePrivateData->FWInfo.nUSBDelayExecutePreSend = 0;
pDevicePrivateData->FWInfo.nUSBDelayExecutePostSend = 0;
pDevicePrivateData->FWInfo.nUSBDelaySoftReset = 1;
pDevicePrivateData->FWInfo.nUSBDelaySetParamFlicker = 1;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream0Mode = 1;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream1Mode = 1;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream2Mode = 1;
}
else
{
pDevicePrivateData->FWInfo.nUSBDelayReceive = 100;
pDevicePrivateData->FWInfo.nUSBDelayExecutePreSend = 1;
pDevicePrivateData->FWInfo.nUSBDelayExecutePostSend = 10;
pDevicePrivateData->FWInfo.nUSBDelaySoftReset = 800;
pDevicePrivateData->FWInfo.nUSBDelaySetParamFlicker = 3000;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream0Mode = 1;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream1Mode = 300;
pDevicePrivateData->FWInfo.nUSBDelaySetParamStream2Mode = 1;
if (compareVersion(Version, 5, 3, 15) == 0)
{
pDevicePrivateData->FWInfo.nUSBDelaySetParamFlicker = 300;
}
}
xnLogInfo(XN_MASK_SENSOR_PROTOCOL, "Hardware versions: FW=%d.%d.%d (%d) HW=%d Chip=%d Sensor=%d SYS=%d", Version.nMajor, Version.nMinor, Version.nBuild, Version.FWVer, Version.HWVer, Version.ChipVer, Version.SensorVer, Version.nSystemVersion);
return XN_STATUS_OK;
}
XnStatus XnHostProtocolKeepAlive(XnDevicePrivateData* pDevicePrivateData)
{
XnUChar buffer[MAX_PACKET_SIZE] = {0};
XnUChar* pDataBuf = buffer + pDevicePrivateData->FWInfo.nProtocolHeaderSize;
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Requesting KeepAlive...");
XnHostProtocolInitHeader(pDevicePrivateData, buffer, pDataBuf, 0, pDevicePrivateData->FWInfo.nOpcodeKeepAlive);
XnUInt16 nDataSize;
XnStatus rc = XnHostProtocolExecute(pDevicePrivateData,
buffer, pDevicePrivateData->FWInfo.nProtocolHeaderSize, pDevicePrivateData->FWInfo.nOpcodeKeepAlive,
NULL, nDataSize);
if (rc == XN_STATUS_OK)
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Got KeepAlive Reply.");
else
xnLogError(XN_MASK_SENSOR_PROTOCOL, "KeepAlive failed: %s", xnGetStatusString(rc));
return rc;
}
XnStatus XnHostProtocolGetParam(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nParam, XnUInt16& nValue)
{
XnUChar buffer[MAX_PACKET_SIZE] = {0};
XnUChar* pDataBuf = buffer + pDevicePrivateData->FWInfo.nProtocolHeaderSize;
// xnLogInfo(XN_MASK_SENSOR_PROTOCOL, "Getting Parameter [%d]...", nParam);
*(XnUInt16*)pDataBuf = XN_PREPARE_VAR16_IN_BUFFER(nParam);
XnHostProtocolInitHeader(pDevicePrivateData, buffer, pDataBuf, sizeof(XnUInt16), pDevicePrivateData->FWInfo.nOpcodeGetParam);
XnUInt16 nDataSize;
XnUInt16* pValue = NULL;
XnStatus rc = XnHostProtocolExecute(pDevicePrivateData,
buffer, pDevicePrivateData->FWInfo.nProtocolHeaderSize+sizeof(XnUInt16), pDevicePrivateData->FWInfo.nOpcodeGetParam,
(XnUChar**)(&pValue), nDataSize);
if (rc != XN_STATUS_OK)
{
xnLogError(XN_MASK_SENSOR_PROTOCOL, "Failed getting [%d]: %s", nParam, xnGetStatusString(rc));
return rc;
}
// xnLogInfo(XN_MASK_SENSOR_PROTOCOL, "Param[%d] = %d", nParam, *pValue);
nValue = XN_PREPARE_VAR16_IN_BUFFER(*pValue);
return XN_STATUS_OK;
}
XnStatus XnHostProtocolSetParam(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nParam, XnUInt16 nValue)
{
XnUChar buffer[MAX_PACKET_SIZE] = {0};
XnUChar* pDataBuf = buffer + pDevicePrivateData->FWInfo.nProtocolHeaderSize;
// xnLogInfo(XN_MASK_SENSOR_PROTOCOL, "Setting Parameter [%d] to %d", nParam, nValue);
*(XnUInt16*)pDataBuf = XN_PREPARE_VAR16_IN_BUFFER(nParam);
*(((XnUInt16*)pDataBuf)+1) = XN_PREPARE_VAR16_IN_BUFFER(nValue);
XnHostProtocolInitHeader(pDevicePrivateData, buffer, pDataBuf, sizeof(XnUInt16)*2, pDevicePrivateData->FWInfo.nOpcodeSetParam);
XnUInt16 nDataSize;
XnInt32 nTimesLeft = 5;
XnStatus rc = XN_STATUS_ERROR;
while (rc != XN_STATUS_OK && rc != XN_STATUS_DEVICE_PROTOCOL_BAD_PARAMS &&
rc != XN_STATUS_DEVICE_PROTOCOL_INVALID_COMMAND && nTimesLeft > 0)
{
rc = XnHostProtocolExecute(pDevicePrivateData,
buffer, pDevicePrivateData->FWInfo.nProtocolHeaderSize+sizeof(XnUInt16)*2, pDevicePrivateData->FWInfo.nOpcodeSetParam,
NULL, nDataSize, XnHostProtocolGetSetParamRecvTimeOut(pDevicePrivateData, nParam));
nTimesLeft--;
if (rc != XN_STATUS_OK)
{
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Retrying to set the param... rc=%d", rc);
}
}
if (rc != XN_STATUS_OK)
{
xnLogError(XN_MASK_SENSOR_PROTOCOL, "Failed setting [%d] to [%d]: %s", nParam, nValue, xnGetStatusString(rc));
}
else
{
// xnLogInfo(XN_MASK_SENSOR_PROTOCOL, "Done.");
}
return rc;
}
void XnHostPrototcolAdjustFixedParamsV26(XnFixedParamsV26* pFixedParamsV26, XnFixedParams* pFixedParams)
{
// the only difference from V2.6 to V3.0 is the 4 last parameters
xnOSMemCopy(pFixedParams, pFixedParamsV26, sizeof(XnFixedParamsV26));
pFixedParams->nUseExtPhy = pFixedParamsV26->nUseExtPhy;
pFixedParams->bProjectorProtectionEnabled = FALSE;
pFixedParams->nProjectorDACOutputVoltage = FALSE;
pFixedParams->nTecEmitterDelay = pFixedParamsV26->nTecEmitterDelay;
}
void XnHostPrototcolAdjustFixedParamsV20(XnFixedParamsV20* pFixedParamsV20, XnFixedParams* pFixedParams)
{
// the only difference from V2.0 to V2.6 is the addition of nUseExtPhy
XnFixedParamsV26 fixedParamsV26;
xnOSMemCopy(&fixedParamsV26, pFixedParamsV20, sizeof(XnFixedParamsV20));
// now adjust from V2.6 to current
XnHostPrototcolAdjustFixedParamsV26(&fixedParamsV26, pFixedParams);
}
XnStatus XnHostProtocolGetFixedParams(XnDevicePrivateData* pDevicePrivateData, XnFixedParams& FixedParams)
{
XnUChar buffer[MAX_PACKET_SIZE] = {0};
XnUChar* pDataBuf = buffer + pDevicePrivateData->FWInfo.nProtocolHeaderSize;
XnUChar* pRelevantBuffer;
XnUInt16 nFixedParamSize = 0;
XnChar FixedParamsBuffer[2048] = {0};
XnChar* pData = FixedParamsBuffer;
xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Getting the fixed params...");
if (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_3_0)
{
nFixedParamSize = sizeof(XnFixedParams);
}
else if (pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_1_1)
{
nFixedParamSize = sizeof(XnFixedParamsV26);
}
else // v0.17
{