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XnSensor.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/>. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnSensor.h"
#include "XnSensorDepthStream.h"
#include "XnSensorImageStream.h"
#include "XnSensorIRStream.h"
#include "XnSensorAudioStream.h"
#include "XnDeviceSensor.h"
#include "XnHostProtocol.h"
#include "XnDeviceSensorInit.h"
#include <XnPsVersion.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define XN_SENSOR_MAX_STREAM_COUNT 5
#define XN_SENSOR_FRAME_SYNC_MAX_DIFF 3
#define XN_SENSOR_DEFAULT_CLOSE_STREAMS_ON_SHUTDOWN TRUE
// --avin mod--
#define XN_GLOBAL_CONFIG_FILE_NAME "GlobalDefaultsKinect.ini"
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
typedef struct XnWaitForSycnhedFrameData
{
XnSensor* pThis;
const XnChar* strDepthStream;
const XnChar* strImageStream;
} XnWaitForSycnhedFrameData;
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnSensor::XnSensor() :
XnDeviceBase(XN_DEVICE_NAME, TRUE),
m_ErrorState(XN_MODULE_PROPERTY_ERROR_STATE, XN_STATUS_OK),
m_ResetSensorOnStartup(XN_MODULE_PROPERTY_RESET_SENSOR_ON_STARTUP, TRUE),
m_Interface(XN_MODULE_PROPERTY_USB_INTERFACE, XN_SENSOR_USB_INTERFACE_DEFAULT),
m_NumberOfBuffers(XN_MODULE_PROPERTY_NUMBER_OF_BUFFERS, 6),
m_ReadFromEP1(XN_MODULE_PROPERTY_READ_ENDPOINT_1, TRUE),
m_ReadFromEP2(XN_MODULE_PROPERTY_READ_ENDPOINT_2, TRUE),
m_ReadFromEP3(XN_MODULE_PROPERTY_READ_ENDPOINT_3, TRUE),
m_ReadData("ReadData", FALSE),
m_FrameSync(XN_MODULE_PROPERTY_FRAME_SYNC, FALSE),
m_FirmwareParam(XN_MODULE_PROPERTY_FIRMWARE_PARAM, NULL),
m_CmosBlankingUnits(XN_MODULE_PROPERTY_CMOS_BLANKING_UNITS, NULL),
m_CmosBlankingTime(XN_MODULE_PROPERTY_CMOS_BLANKING_TIME, NULL),
m_Reset(XN_MODULE_PROPERTY_RESET),
m_FirmwareMode(XN_MODULE_PROPERTY_FIRMWARE_MODE),
m_Version(XN_MODULE_PROPERTY_VERSION, &m_DevicePrivateData.Version, sizeof(m_DevicePrivateData.Version), NULL),
m_FixedParam(XN_MODULE_PROPERTY_FIXED_PARAMS, NULL),
m_CloseStreamsOnShutdown(XN_MODULE_PROPERTY_CLOSE_STREAMS_ON_SHUTDOWN, XN_SENSOR_DEFAULT_CLOSE_STREAMS_ON_SHUTDOWN),
m_ID(XN_MODULE_PROPERTY_ID),
m_pThis(this),
m_InstancePointer(XN_SENSOR_PROPERTY_INSTANCE_POINTER, &m_pThis, sizeof(m_pThis), NULL),
m_USBPath(XN_MODULE_PROPERTY_USB_PATH),
m_DeviceName(XN_MODULE_PROPERTY_PHYSICAL_DEVICE_NAME),
m_VendorSpecificData(XN_MODULE_PROPERTY_VENDOR_SPECIFIC_DATA),
m_Firmware(&m_DevicePrivateData),
m_FixedParams(&m_Firmware, &m_DevicePrivateData),
m_SensorIO(&m_DevicePrivateData.SensorHandle),
m_FPS(),
m_CmosInfo(&m_Firmware, &m_DevicePrivateData),
m_Objects(&m_Firmware, &m_DevicePrivateData, &m_FixedParams, &m_FPS, &m_CmosInfo),
m_FrameSyncDump(XN_DUMP_CLOSED),
m_bInitialized(FALSE)
{
// reset all data
xnOSMemSet(&m_DevicePrivateData, 0, sizeof(XnDevicePrivateData));
m_strGlobalConfigFile[0] = '\0';
m_ResetSensorOnStartup.UpdateSetCallbackToDefault();
m_Interface.UpdateSetCallback(SetInterfaceCallback, this);
m_NumberOfBuffers.UpdateSetCallback(SetNumberOfBuffersCallback, this);
m_ReadFromEP1.UpdateSetCallback(SetReadEndpoint1Callback, this);
m_ReadFromEP2.UpdateSetCallback(SetReadEndpoint2Callback, this);
m_ReadFromEP3.UpdateSetCallback(SetReadEndpoint3Callback, this);
m_ReadData.UpdateSetCallback(SetReadDataCallback, this);
m_FrameSync.UpdateSetCallbackToDefault();
m_FirmwareParam.UpdateSetCallback(SetFirmwareParamCallback, this);
m_FirmwareParam.UpdateGetCallback(GetFirmwareParamCallback, this);
m_CmosBlankingUnits.UpdateSetCallback(SetCmosBlankingUnitsCallback, this);
m_CmosBlankingUnits.UpdateGetCallback(GetCmosBlankingUnitsCallback, this);
m_CmosBlankingTime.UpdateSetCallback(SetCmosBlankingTimeCallback, this);
m_CmosBlankingTime.UpdateGetCallback(GetCmosBlankingTimeCallback, this);
m_Reset.UpdateSetCallback(ResetCallback, this);
m_FirmwareMode.UpdateSetCallback(SetFirmwareModeCallback, this);
m_FirmwareMode.UpdateGetCallback(GetFirmwareModeCallback, this);
m_FixedParam.UpdateGetCallback(GetFixedParamsCallback, this);
m_CloseStreamsOnShutdown.UpdateSetCallbackToDefault();
}
XnSensor::~XnSensor()
{
XnSensor::Destroy();
}
XnStatus XnSensor::GetDefinition(XnDeviceDefinition* pDeviceDefinition)
{
XN_VALIDATE_OUTPUT_PTR(pDeviceDefinition);
pDeviceDefinition->cpName = XN_DEVICE_NAME;
pDeviceDefinition->cpDescription = XN_DEVICE_DESCRIPTION;
pDeviceDefinition->nMajorVersion = XN_DEVICE_MAJORVERSION;
pDeviceDefinition->nMinorVersion = XN_DEVICE_MINORVERSION;
pDeviceDefinition->nXironVersion = XN_PS_MAJOR_VERSION;
return (XN_STATUS_OK);
}
XnStatus XnSensor::Enumerate(XnConnectionString* aConnectionStrings, XnUInt32* pnCount)
{
XnStatus nRetVal = XN_STATUS_OK;
XN_VALIDATE_INPUT_PTR(pnCount);
nRetVal = XnSensorIO::EnumerateSensors(aConnectionStrings, pnCount);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::InitImpl(const XnDeviceConfig *pDeviceConfig)
{
XnStatus nRetVal = XN_STATUS_OK;
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Initializing device sensor...");
// Frame Sync
XnCallbackHandle hCallbackDummy;
nRetVal = m_FrameSync.OnChangeEvent().Register(FrameSyncPropertyChangedCallback, this, &hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetFirmware()->GetParams()->m_Stream0Mode.OnChangeEvent().Register(FrameSyncPropertyChangedCallback, this, &hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetFirmware()->GetParams()->m_Stream1Mode.OnChangeEvent().Register(FrameSyncPropertyChangedCallback, this, &hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
// other stuff
xnDumpInit(&m_FrameSyncDump, XN_DUMP_FRAME_SYNC, "HostTime(us),DepthNewData,DepthTimestamp(ms),ImageNewData,ImageTimestamp(ms),Diff(ms),Action\n", "FrameSync.csv");
nRetVal = XnDeviceBase::InitImpl(pDeviceConfig);
XN_IS_STATUS_OK(nRetVal);
// now that everything is configured, open the sensor
nRetVal = InitSensor(pDeviceConfig);
if (nRetVal != XN_STATUS_OK)
{
Destroy();
return (nRetVal);
}
xnLogInfo(XN_MASK_DEVICE_SENSOR, "Device sensor initialized");
return (XN_STATUS_OK);
}
XnStatus XnSensor::InitSensor(const XnDeviceConfig* pDeviceConfig)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDevicePrivateData* pDevicePrivateData = GetDevicePrivateData();
pDevicePrivateData->pSensor = this;
pDevicePrivateData->nDepthFramePos = 0;
pDevicePrivateData->nImageFramePos = 0;
xnOSMemCopy(&pDevicePrivateData->DeviceConfig, pDeviceConfig, sizeof(XnDeviceConfig));
xnOSMemSet(pDevicePrivateData->cpSensorID, 0, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
pDevicePrivateData->bSyncAudio = TRUE;
switch (pDeviceConfig->DeviceMode)
{
case XN_DEVICE_MODE_READ:
break;
case XN_DEVICE_MODE_WRITE:
return (XN_STATUS_IO_DEVICE_MODE_NOT_SUPPORTED);
default:
return (XN_STATUS_IO_DEVICE_INVALID_MODE);
}
// Register USB event callback
#if WIN32
nRetVal = m_SensorIO.SetCallback(&USBEventCallback, this);
XN_IS_STATUS_OK(nRetVal);
#endif
// open IO
nRetVal = m_SensorIO.OpenDevice(pDeviceConfig->cpConnectionString);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_USBPath.UnsafeUpdateValue(m_SensorIO.GetDevicePath());
XN_IS_STATUS_OK(nRetVal);
// initialize
nRetVal = XnDeviceSensorInit(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
// init firmware
nRetVal = m_Firmware.Init((XnBool)m_ResetSensorOnStartup.GetValue());
XN_IS_STATUS_OK(nRetVal);
m_bInitialized = TRUE;
m_ResetSensorOnStartup.UpdateSetCallback(NULL, NULL);
// Init modules
nRetVal = m_FixedParams.Init();
XN_IS_STATUS_OK(nRetVal);
XnDeviceInformation deviceInfo;
strcpy(deviceInfo.strDeviceName, "PrimeSense Sensor");
strcpy(deviceInfo.strVendorData, "");
// try to take device information (only supported from 5.3.25)
if (pDevicePrivateData->Version.nMajor > 5 ||
(pDevicePrivateData->Version.nMajor == 5 && pDevicePrivateData->Version.nMinor > 3) ||
(pDevicePrivateData->Version.nMajor == 5 && pDevicePrivateData->Version.nMinor == 3 && pDevicePrivateData->Version.nBuild >= 25))
{
nRetVal = XnHostProtocolAlgorithmParams(pDevicePrivateData, XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO,
&deviceInfo, sizeof(deviceInfo), (XnResolutions)0, 0);
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = m_DeviceName.UnsafeUpdateValue(deviceInfo.strDeviceName);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VendorSpecificData.UnsafeUpdateValue(deviceInfo.strVendorData);
XN_IS_STATUS_OK(nRetVal);
// update serial number
nRetVal = m_ID.UnsafeUpdateValue(m_FixedParams.GetSensorSerial());
XN_IS_STATUS_OK(nRetVal);
AddSupportedStream(XN_STREAM_TYPE_DEPTH);
AddSupportedStream(XN_STREAM_TYPE_IMAGE);
AddSupportedStream(XN_STREAM_TYPE_IR);
AddSupportedStream(XN_STREAM_TYPE_AUDIO);
return XN_STATUS_OK;
}
XnStatus XnSensor::Destroy()
{
XnStatus nRetVal = XN_STATUS_OK;
XnDevicePrivateData* pDevicePrivateData = GetDevicePrivateData();
// if needed, close the streams
if (m_bInitialized && m_CloseStreamsOnShutdown.GetValue() == TRUE && m_ReadData.GetValue() == TRUE)
{
nRetVal = m_Firmware.GetParams()->m_Stream0Mode.SetValue(XN_VIDEO_STREAM_OFF);
nRetVal = m_Firmware.GetParams()->m_Stream1Mode.SetValue(XN_VIDEO_STREAM_OFF);
nRetVal = m_Firmware.GetParams()->m_Stream2Mode.SetValue(XN_AUDIO_STREAM_OFF);
}
// close IO (including all reading threads)
m_SensorIO.CloseDevice();
m_bInitialized = FALSE;
// close critical sections
if (pDevicePrivateData->hAudioBufferCriticalSection != NULL)
{
xnOSCloseCriticalSection(&pDevicePrivateData->hAudioBufferCriticalSection);
pDevicePrivateData->hAudioBufferCriticalSection = NULL;
}
if (pDevicePrivateData->hEndPointsCS != NULL)
{
xnOSCloseCriticalSection(&pDevicePrivateData->hEndPointsCS);
pDevicePrivateData->hEndPointsCS = NULL;
}
// free buffers
XnDeviceSensorFreeBuffers(pDevicePrivateData);
if (pDevicePrivateData->hExecuteMutex != NULL)
{
xnOSCloseMutex(&pDevicePrivateData->hExecuteMutex);
pDevicePrivateData->hExecuteMutex = NULL;
}
XnDeviceBase::Destroy();
// close dumps
xnDumpClose(&pDevicePrivateData->TimestampsDump);
xnDumpClose(&pDevicePrivateData->BandwidthDump);
xnDumpClose(&pDevicePrivateData->MiniPacketsDump);
xnDumpClose(&m_FrameSyncDump);
m_Firmware.Free();
return (XN_STATUS_OK);
}
XnStatus XnSensor::CreateDeviceModule(XnDeviceModuleHolder** ppModuleHolder)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnDeviceBase::CreateDeviceModule(ppModuleHolder);
XN_IS_STATUS_OK(nRetVal);
// add sensor properties
XnDeviceModule* pModule = (*ppModuleHolder)->GetModule();
XnProperty* pProps[] =
{
&m_ErrorState, &m_ResetSensorOnStartup, &m_Interface, &m_ReadFromEP1,
&m_ReadFromEP2, &m_ReadFromEP3, &m_ReadData, &m_NumberOfBuffers, &m_FirmwareParam,
&m_CmosBlankingUnits, &m_CmosBlankingTime, &m_Reset, &m_FirmwareMode, &m_Version,
&m_FixedParam, &m_FrameSync, &m_CloseStreamsOnShutdown, &m_InstancePointer, &m_ID,
&m_USBPath, &m_DeviceName, &m_VendorSpecificData,
};
nRetVal = pModule->AddProperties(pProps, sizeof(pProps)/sizeof(XnProperty*));
if (nRetVal != XN_STATUS_OK)
{
DestroyModule(*ppModuleHolder);
*ppModuleHolder = NULL;
return (nRetVal);
}
// configure it from global file
if (m_strGlobalConfigFile[0] != '\0')
{
nRetVal = pModule->LoadConfigFromFile(m_strGlobalConfigFile);
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::CreateStreamImpl(const XnChar* strType, const XnChar* strName, const XnActualPropertiesHash* pInitialSet)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnDeviceBase::CreateStreamImpl(strType, strName, pInitialSet);
XN_IS_STATUS_OK(nRetVal);
// and configure it from global config file
nRetVal = ConfigureModuleFromGlobalFile(strName, strType);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::CreateStreamModule(const XnChar* StreamType, const XnChar* StreamName, XnDeviceModuleHolder** ppStreamHolder)
{
XnStatus nRetVal = XN_STATUS_OK;
// make sure reading from streams is turned on
if (!m_ReadData.GetValue())
{
nRetVal = m_ReadData.SetValue(TRUE);
XN_IS_STATUS_OK(nRetVal);
}
XnDeviceStream* pStream;
XnSensorStreamHelper* pHelper;
// create stream
if (strcmp(StreamType, XN_STREAM_TYPE_DEPTH) == 0)
{
XnSensorDepthStream* pDepthStream;
XN_VALIDATE_NEW(pDepthStream, XnSensorDepthStream, GetUSBPath(), StreamName, &m_Objects, m_NumberOfBuffers.GetValue());
pStream = pDepthStream;
pHelper = pDepthStream->GetHelper();
}
else if (strcmp(StreamType, XN_STREAM_TYPE_IMAGE) == 0)
{
XnSensorImageStream* pImageStream;
XN_VALIDATE_NEW(pImageStream, XnSensorImageStream, GetUSBPath(), StreamName, &m_Objects, m_NumberOfBuffers.GetValue());
pStream = pImageStream;
pHelper = pImageStream->GetHelper();
}
else if (strcmp(StreamType, XN_STREAM_TYPE_IR) == 0)
{
XnSensorIRStream* pIRStream;
XN_VALIDATE_NEW(pIRStream, XnSensorIRStream, GetUSBPath(), StreamName, &m_Objects, m_NumberOfBuffers.GetValue());
pStream = pIRStream;
pHelper = pIRStream->GetHelper();
}
else if (strcmp(StreamType, XN_STREAM_TYPE_AUDIO) == 0)
{
XnSensorAudioStream* pAudioStream;
XN_VALIDATE_NEW(pAudioStream, XnSensorAudioStream, GetUSBPath(), StreamName, &m_Objects);
pStream = pAudioStream;
pHelper = pAudioStream->GetHelper();
}
else
{
XN_LOG_WARNING_RETURN(XN_STATUS_UNSUPPORTED_STREAM, XN_MASK_DEVICE_SENSOR, "Unsupported stream type: %s", StreamType);
}
*ppStreamHolder = XN_NEW(XnSensorStreamHolder, pStream, pHelper);
return (XN_STATUS_OK);
}
void XnSensor::DestroyStreamModule(XnDeviceModuleHolder* pStreamHolder)
{
XN_DELETE(pStreamHolder->GetModule());
XN_DELETE(pStreamHolder);
}
XnStatus XnSensor::OpenAllStreams()
{
XnStatus nRetVal = XN_STATUS_OK;
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Opening all streams...");
// take a list of all the streams
const XnChar* astrStreams[XN_SENSOR_MAX_STREAM_COUNT];
XnUInt32 nStreamCount = XN_SENSOR_MAX_STREAM_COUNT;
XnDeviceStream* apStreams[XN_SENSOR_MAX_STREAM_COUNT];
XnSensorStreamHolder* apSensorStreams[XN_SENSOR_MAX_STREAM_COUNT];
nRetVal = GetStreamNames(astrStreams, &nStreamCount);
XN_IS_STATUS_OK(nRetVal);
for (XnUInt32 i = 0; i < nStreamCount; ++i)
{
XnDeviceModuleHolder* pHolder;
nRetVal = FindStream(astrStreams[i], &pHolder);
XN_IS_STATUS_OK(nRetVal);
apSensorStreams[i] = (XnSensorStreamHolder*)(pHolder);
apStreams[i] = apSensorStreams[i]->GetStream();
}
// NOTE: the following is an ugly patch. When depth and IR both exist, Depth stream MUST be configured
// and opened BEFORE IR stream. So, generally, if one of the streams is depth, we move it to be first.
for (XnUInt32 i = 1; i < nStreamCount; ++i)
{
if (strcmp(apStreams[i]->GetType(), XN_STREAM_TYPE_DEPTH) == 0)
{
// switch it with the one in location 0
const XnChar* strTempName = astrStreams[0];
XnDeviceStream* pTempStream = apStreams[0];
XnSensorStreamHolder* pTempHolder = apSensorStreams[0];
astrStreams[0] = astrStreams[i];
apStreams[0] = apStreams[i];
apSensorStreams[0] = apSensorStreams[i];
astrStreams[i] = strTempName;
apStreams[i] = pTempStream;
apSensorStreams[i] = pTempHolder;
break;
}
}
// now configure them all
for (XnUInt32 i = 0; i < nStreamCount; ++i)
{
if (!apStreams[i]->IsOpen())
{
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Configuring stream %s...", apStreams[i]->GetName());
nRetVal = apSensorStreams[i]->Configure();
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Stream %s is configured", apStreams[i]->GetName());
}
else
{
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Stream %s is already open.", apStreams[i]->GetName());
}
}
// and open them all
for (XnUInt32 i = 0; i < nStreamCount; ++i)
{
if (!apStreams[i]->IsOpen())
{
nRetVal = apSensorStreams[i]->FinalOpen();
XN_IS_STATUS_OK(nRetVal);
}
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::ReadStream(XnStreamData* pStreamOutput)
{
XnStatus nRetVal = XN_STATUS_OK;
// check internal state
nRetVal = CheckIfReadingAllowed();
XN_IS_STATUS_OK(nRetVal);
// call base
nRetVal = XnDeviceBase::ReadStream(pStreamOutput);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetSharedBufferPool(const XnChar* strStream, XnSharedMemoryBufferPool** ppBufferPool)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDeviceModuleHolder* pHolder;
nRetVal = FindStream(strStream, &pHolder);
XN_IS_STATUS_OK(nRetVal);
XnSensorStreamHolder* pSensorStreamHolder = (XnSensorStreamHolder*)(pHolder);
*ppBufferPool = pSensorStreamHolder->GetSharedBufferPool();
return (XN_STATUS_OK);
}
XnBool XnSensor::HasSynchedFrameArrived(const XnChar* strDepthStream, const XnChar* strImageStream)
{
// find both streams
XnDeviceStream* pDepth;
XnDeviceStream* pImage;
if (XN_STATUS_OK != FindStream(strDepthStream, &pDepth))
return FALSE;
if (XN_STATUS_OK != FindStream(strImageStream, &pImage))
return FALSE;
XnUInt32 nThreshold = XN_SENSOR_FRAME_SYNC_MAX_DIFF;
if (IsHighResTimestamps())
nThreshold *= 1000;
// wait for both to advance, and time difference to be less than threshold
XnInt32 nTimestampDiff = XnInt32(pDepth->GetLastTimestamp() - pImage->GetLastTimestamp());
XnBool bConditionMet = (
pDepth->IsNewDataAvailable() &&
pImage->IsNewDataAvailable() &&
(XnUInt32)abs(nTimestampDiff) <= nThreshold
);
if (xnLogIsDumpMaskEnabled(XN_DUMP_FRAME_SYNC))
{
XnUInt64 nNow;
xnOSGetHighResTimeStamp(&nNow);
xnDumpWriteString(m_FrameSyncDump, "%llu,%u,%llu,%u,%llu,%s\n",
nNow,
pDepth->IsNewDataAvailable(),
pDepth->GetLastTimestamp(),
pImage->IsNewDataAvailable(),
pImage->GetLastTimestamp(),
bConditionMet ? "OK" : "Waiting");
}
return bConditionMet;
}
XnBool XnSensor::HasSynchedFrameArrived(void* pCookie)
{
XnWaitForSycnhedFrameData* pData = (XnWaitForSycnhedFrameData*)pCookie;
return pData->pThis->HasSynchedFrameArrived(pData->strDepthStream, pData->strImageStream);
}
XnStatus XnSensor::WaitForPrimaryStream(XN_EVENT_HANDLE hNewDataEvent, XnStreamDataSet* pSet)
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_FrameSync.GetValue() == TRUE)
{
// FrameSync is on. check if we have both the image and the depth stream
XnStreamData* apStreamData[XN_DEVICE_BASE_MAX_STREAMS_COUNT];
XnUInt32 nCount = XN_DEVICE_BASE_MAX_STREAMS_COUNT;
nRetVal = XnStreamDataSetCopyToArray(pSet, apStreamData, &nCount);
XN_IS_STATUS_OK(nRetVal);
const XnChar* strImageName = NULL;
const XnChar* strDepthName = NULL;
XnChar strType[XN_DEVICE_MAX_STRING_LENGTH];
for (XnUInt32 i = 0; i < nCount; ++i)
{
nRetVal = GetProperty(apStreamData[i]->StreamName, XN_STREAM_PROPERTY_TYPE, strType);
XN_IS_STATUS_OK(nRetVal);
if (strcmp(strType, XN_STREAM_TYPE_DEPTH) == 0)
{
strDepthName = apStreamData[i]->StreamName;
}
else if (strcmp(strType, XN_STREAM_TYPE_IMAGE) == 0)
{
strImageName = apStreamData[i]->StreamName;
}
// if both are present, wait for frame sync
if (strImageName != NULL && strDepthName != NULL)
{
XnWaitForSycnhedFrameData WaitData;
WaitData.pThis = this;
WaitData.strDepthStream = strDepthName;
WaitData.strImageStream = strImageName;
nRetVal = xnOSWaitForCondition(hNewDataEvent, XN_DEVICE_READ_FRAME_TIMEOUT, &XnSensor::HasSynchedFrameArrived, &WaitData);
if (nRetVal == XN_STATUS_OS_EVENT_TIMEOUT)
{
xnLogError(XN_MASK_DDK, "Not responding - Didn't get any synced frame");
return (XN_STATUS_DEVICE_FRAMES_NOT_SYNCHED);
}
else
{
XN_IS_STATUS_OK(nRetVal);
}
}
} // for loop
}
// if we reached here, either frame sync is off, or one of the streams is not read from.
// either way, we should just wait for the primary stream.
nRetVal = XnDeviceBase::WaitForPrimaryStream(hNewDataEvent, pSet);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::Read(XnStreamDataSet* pStreamOutputSet)
{
XnStatus nRetVal = XN_STATUS_OK;
// check internal state
nRetVal = CheckIfReadingAllowed();
XN_IS_STATUS_OK(nRetVal);
// call base
nRetVal = XnDeviceBase::Read(pStreamOutputSet);
XN_IS_STATUS_OK(nRetVal);
m_FPS.MarkReadCalled();
return (XN_STATUS_OK);
}
XnStatus XnSensor::WriteStream(const XnStreamData* pStreamOutput)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
XnStatus XnSensor::Write(const XnStreamDataSet* pStreamOutputSet)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
XnStatus XnSensor::Seek(XnUInt64 nTimestamp)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
XnStatus XnSensor::SeekFrame(XnUInt32 nFrameID)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
XnStatus XnSensor::LoadConfigFromFile(const XnChar* csINIFilePath, const XnChar* csSectionName)
{
XnStatus nRetVal = XN_STATUS_OK;
XN_VALIDATE_INPUT_PTR(csINIFilePath);
XN_VALIDATE_INPUT_PTR(csSectionName);
// we first need to configure the USB interface (we want to do so BEFORE creating streams)
nRetVal = m_Interface.ReadValueFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_NumberOfBuffers.ReadValueFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ReadFromEP1.ReadValueFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ReadFromEP2.ReadValueFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ReadFromEP3.ReadValueFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
// now create all streams
nRetVal = CreateStreamsFromFile(csINIFilePath, csSectionName);
XN_IS_STATUS_OK(nRetVal);
// now configure DEVICE module (primary stream, global mirror, etc.)
nRetVal = DeviceModule()->LoadConfigFromFile(csINIFilePath, XN_MODULE_NAME_DEVICE);
XN_IS_STATUS_OK(nRetVal);
// and now configure the streams
XnDeviceModuleHolderList streams;
nRetVal = GetStreamsList(streams);
XN_IS_STATUS_OK(nRetVal);
for (XnDeviceModuleHolderList::Iterator it = streams.begin(); it != streams.end(); ++it)
{
XnDeviceModuleHolder* pHolder = *it;
nRetVal = pHolder->GetModule()->LoadConfigFromFile(csINIFilePath);
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::CheckIfReadingAllowed()
{
return GetErrorState();
}
XnStatus XnSensor::InitReading()
{
XnStatus nRetVal = XN_STATUS_OK;
// open data endpoints
nRetVal = m_SensorIO.OpenDataEndPoints((XnSensorUsbInterface)m_Interface.GetValue());
XN_IS_STATUS_OK(nRetVal);
// take frequency information
XnFrequencyInformation FrequencyInformation;
nRetVal = XnHostProtocolAlgorithmParams(&m_DevicePrivateData, XN_HOST_PROTOCOL_ALGORITHM_FREQUENCY, &FrequencyInformation, sizeof(XnFrequencyInformation), (XnResolutions)0, 0);
if (nRetVal != XN_STATUS_OK)
return nRetVal;
m_DevicePrivateData.fDeviceFrequency = XN_PREPARE_VAR_FLOAT_IN_BUFFER(FrequencyInformation.fDeviceFrequency);
// Init Dumps
m_DevicePrivateData.BandwidthDump = XN_DUMP_CLOSED;
xnDumpInit(&m_DevicePrivateData.BandwidthDump, XN_DUMP_BANDWIDTH, "Timestamp,Frame Type,Frame ID,Size\n", "Bandwidth.csv");
m_DevicePrivateData.TimestampsDump = XN_DUMP_CLOSED;
xnDumpInit(&m_DevicePrivateData.TimestampsDump, XN_DUMP_TIMESTAMPS, "Host Time (us),Stream,Device TS,Time (ms),Comments\n", "Timestamps.csv");
m_DevicePrivateData.MiniPacketsDump = XN_DUMP_CLOSED;
xnDumpInit(&m_DevicePrivateData.MiniPacketsDump, XN_DUMP_MINI_PACKETS, "HostTS,Type,ID,Size,Timestamp\n", "MiniPackets.csv");
m_DevicePrivateData.nGlobalReferenceTS = 0;
nRetVal = xnOSCreateCriticalSection(&m_DevicePrivateData.hEndPointsCS);
XN_IS_STATUS_OK(nRetVal);
// NOTE: when we go up, some streams might be open, and so we'll receive lots of garbage.
// wait till streams are turned off, and then start reading.
// pDevicePrivateData->bIgnoreDataPackets = TRUE;
// open input threads
nRetVal = XnDeviceSensorOpenInputThreads(GetDevicePrivateData(), (XnBool)m_ReadFromEP1.GetValue(), (XnBool)m_ReadFromEP2.GetValue(), (XnBool)m_ReadFromEP3.GetValue());
XN_IS_STATUS_OK(nRetVal);
return XN_STATUS_OK;
}
XnStatus XnSensor::ParseConnectionString(const XnChar* csConnectionString, XnChar* csSensorID, XnUInt32* pnBoardID)
{
XnStatus nRetVal = XN_STATUS_OK;
/* const XnChar* cpSepPos = strstr(csConnectionString, XN_DEVICE_SENSOR_BOARDID_SEP);
if (cpSepPos == NULL)
{
return (XN_STATUS_IO_INVALID_CONNECTION_STRING);
}
XnUInt32 nSepPos = cpSepPos - csConnectionString;
xnOSMemSet(csSensorID, 0, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
nRetVal = xnOSStrNCopy(csSensorID, csConnectionString, nSepPos, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
XN_IS_STATUS_OK(nRetVal);
*pnBoardID = atoi(cpSepPos + 1);
*/
return (XN_STATUS_OK);
}
XnStatus XnSensor::ValidateSensorID(XnChar* csSensorID)
{
XnStatus nRetVal = XN_STATUS_OK;
if (strcmp(csSensorID, XN_DEVICE_SENSOR_DEFAULT_ID) != 0)
{
if (strcmp(csSensorID, GetFixedParams()->GetSensorSerial()) != 0)
{
return (XN_STATUS_IO_DEVICE_WRONG_SERIAL);
}
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::ResolveGlobalConfigFileName(XnChar* strConfigFile, XnUInt32 nBufSize, const XnChar* strConfigDir)
{
XnUInt32 nWritten = 0;
return xnOSStrFormat(strConfigFile, nBufSize, &nWritten, "%s%s%s", strConfigDir, XN_FILE_DIR_SEP, XN_GLOBAL_CONFIG_FILE_NAME);
}
XnStatus XnSensor::SetGlobalConfigFile(const XnChar* strConfigFile)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnOSStrCopy(m_strGlobalConfigFile, strConfigFile, XN_FILE_MAX_PATH);
XN_IS_STATUS_OK(nRetVal);
XnBool bExists;
nRetVal = xnOSDoesFileExist(m_strGlobalConfigFile, &bExists);
XN_IS_STATUS_OK(nRetVal);
if (!bExists)
{
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Global configuration file '%s' was not found.", m_strGlobalConfigFile);
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::ConfigureModuleFromGlobalFile(const XnChar* strModule, const XnChar* strSection /* = NULL */)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDeviceModule* pModule;
nRetVal = FindModule(strModule, &pModule);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pModule->LoadConfigFromFile(m_strGlobalConfigFile, strSection);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetFirmwareParam(XnInnerParamData* pParam)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnHostProtocolGetParam(&m_DevicePrivateData, pParam->nParam, pParam->nValue);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetCmosBlankingUnits(XnCmosBlankingUnits* pBlanking)
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_Firmware.GetInfo()->nFWVer < XN_SENSOR_FW_VER_5_1)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
nRetVal = XnHostProtocolGetCmosBlanking(&m_DevicePrivateData, pBlanking->nCmosID, &pBlanking->nUnits);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetCmosBlankingTime(XnCmosBlankingTime* pBlanking)
{
XnStatus nRetVal = XN_STATUS_OK;
// check version
if (m_Firmware.GetInfo()->nFWVer < XN_SENSOR_FW_VER_5_1)
{
return (XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED);
}
// get value in units
XnCmosBlankingUnits blankingUnits;
blankingUnits.nCmosID = pBlanking->nCmosID;
nRetVal = GetCmosBlankingUnits(&blankingUnits);
XN_IS_STATUS_OK(nRetVal);
// get coefficients
const XnCmosBlankingCoefficients* pCoeffs = m_CmosInfo.GetBlankingCoefficients(pBlanking->nCmosID);
// translate to time
pBlanking->nTimeInMilliseconds = (pCoeffs->fA * blankingUnits.nUnits + pCoeffs->fB)/1000;
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetFirmwareMode(XnParamCurrentMode* pnMode)
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_Firmware.GetInfo()->nFWVer == XN_SENSOR_FW_VER_0_17)
{
*pnMode = m_Firmware.GetInfo()->nCurrMode;
}
else
{
XnUInt16 nMode;
nRetVal = XnHostProtocolGetMode(&m_DevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
switch (nMode)
{
case XN_HOST_PROTOCOL_MODE_PS:
*pnMode = XN_MODE_PS;
break;
case XN_HOST_PROTOCOL_MODE_MAINTENANCE:
*pnMode = XN_MODE_MAINTENANCE;
break;
case XN_HOST_PROTOCOL_MODE_SAFE_MODE:
*pnMode = XN_MODE_SAFE_MODE;
break;
default:
printf("Got Unknown Firmware Mode %d\n", nMode);
return XN_STATUS_DEVICE_BAD_PARAM;
}
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::GetFixedParams(XnDynamicSizeBuffer* pBuffer)
{
XnStatus nRetVal = XN_STATUS_OK;
if (pBuffer->nMaxSize < sizeof(XnFixedParams))
{
return (XN_STATUS_OUTPUT_BUFFER_OVERFLOW);
}
XnFixedParams fixed;
nRetVal = XnHostProtocolGetFixedParams(GetDevicePrivateData(), fixed);
XN_IS_STATUS_OK(nRetVal);
xnOSMemCopy(pBuffer->pData, &fixed, sizeof(XnFixedParams));
pBuffer->nDataSize = sizeof(XnFixedParams);
return (XN_STATUS_OK);
}
XnStatus XnSensor::SetErrorState(XnStatus errorState)
{
XnStatus nRetVal = XN_STATUS_OK;
if (errorState != GetErrorState())
{
if (errorState == XN_STATUS_OK)
{
xnLogInfo(XN_MASK_DEVICE_SENSOR, "Device is back to normal state.");
}
else
{
xnLogError(XN_MASK_DEVICE_SENSOR, "Device has entered error mode: %s", xnGetStatusString(errorState));
}
nRetVal = m_ErrorState.UnsafeUpdateValue((XnUInt64)errorState);
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensor::SetInterface(XnSensorUsbInterface nInterface)
{
XnStatus nRetVal = XN_STATUS_OK;
// we don't allow change if requested value is specific and different than current
if (m_ReadData.GetValue() == TRUE &&
nInterface != XN_SENSOR_USB_INTERFACE_DEFAULT &&
nInterface != m_SensorIO.GetCurrentInterface())
{
return (XN_STATUS_DEVICE_PROPERTY_READ_ONLY);
}
nRetVal = m_Interface.UnsafeUpdateValue(nInterface);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);