XN_C_API XnStatus xnOSCreateProcess(const XnChar* strExecutable, XnUInt32 nArgs, const XnChar** pstrArgs, XN_PROCESS_ID* pProcID)
{
XnStatus nRetVal = XN_STATUS_OK;
STARTUPINFO si;
ZeroMemory(&si, sizeof(si));
PROCESS_INFORMATION pi;
ZeroMemory(&pi, sizeof(pi));
const XnUInt32 nSize = 1024;
XnChar strArguments[nSize] = "";
XnUInt32 nDummy = 0;
xnOSStrFormat(strArguments, nSize, &nDummy, "\"%s\"", strExecutable);
for (XnUInt i = 0; i < nArgs; ++i)
{
XN_VALIDATE_STR_APPEND(strArguments, " \"", nSize, nRetVal);
XN_VALIDATE_STR_APPEND(strArguments, pstrArgs[i], nSize, nRetVal);
XN_VALIDATE_STR_APPEND(strArguments, "\"", nSize, nRetVal);
}
// let it start in the executable dir
XnChar strDirName[XN_FILE_MAX_PATH];
nRetVal = xnOSGetDirName(strExecutable, strDirName, XN_FILE_MAX_PATH);
XN_IS_STATUS_OK(nRetVal);
if (0 == CreateProcess(strExecutable, strArguments, NULL, NULL, FALSE, CREATE_NO_WINDOW, NULL, strDirName, &si, &pi))
{
xnLogWarning(XN_MASK_OS, "Failed to start process! Win32 error code is %d.", GetLastError());
return XN_STATUS_OS_PROCESS_CREATION_FAILED;
}
*pProcID = pi.dwProcessId;
return (XN_STATUS_OK);
}
XnStatus XnDeviceManagerLoadAllDevices(const XnChar* strDir)
{
XnStatus nRetVal = XN_STATUS_OK;
XnChar cpSearchString[XN_FILE_MAX_PATH] = "";
if (strDir == NULL)
{
strDir = XN_FILE_LOCAL_DIR;
}
// Build the search pattern string
XN_VALIDATE_STR_APPEND(cpSearchString, strDir, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_DIR_SEP, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_PREFIX, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_DEVICE_FILE_PREFIX, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_ALL_WILDCARD, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_POSTFIX, XN_FILE_MAX_PATH, nRetVal);
// Get a file list of Xiron devices
XnChar acsFileList[XN_DEVICE_MANAGER_MAX_NUMBER_OF_DEVICES][XN_FILE_MAX_PATH];
XnUInt32 nFileCount = 0;
xnLogVerbose(XN_MASK_DEVICE_MANAGER, "Searching for %s...", cpSearchString);
nRetVal = xnOSGetFileList(cpSearchString, NULL, acsFileList, XN_DEVICE_MANAGER_MAX_NUMBER_OF_DEVICES, &nFileCount);
if ((nRetVal != XN_STATUS_OS_FILE_NOT_FOUND) && (nRetVal != XN_STATUS_OK))
{
return (nRetVal);
}
// now try to load each file
for (XnUInt32 nIndex = 0; nIndex < nFileCount; ++nIndex)
{
xnLogVerbose(XN_MASK_DEVICE_MANAGER, "Trying to load a device '%s'...", acsFileList[nIndex]);
nRetVal = XnDeviceManagerLoadDevice(acsFileList[nIndex], &g_pDeviceManager->aDevices[g_pDeviceManager->nDevicesCount]);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_DEVICE_MANAGER, "'%s' is not a valid device: %s", acsFileList[nIndex], xnGetStatusString(nRetVal));
}
else
{
xnLogInfo(XN_MASK_DEVICE_MANAGER, "device '%s' loaded.", acsFileList[nIndex]);
g_pDeviceManager->nDevicesCount++;
}
}
return (XN_STATUS_OK);
}
XnStatus XnSensorClient::StartServerProcess()
{
XnStatus nRetVal = XN_STATUS_OK;
const XnChar* strServerDir;
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
strServerDir = ms_strDir;
#elif (XN_PLATFORM == XN_PLATFORM_LINUX_X86 || XN_PLATFORM == XN_PLATFORM_LINUX_ARM)
strServerDir = "/Users/nick/ros/other/ni/ni/ps_engine/bin";
#endif
// we'll start it in it's directory
XnChar strCurrDir[XN_FILE_MAX_PATH];
nRetVal = xnOSGetCurrentDir(strCurrDir, XN_FILE_MAX_PATH);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnOSSetCurrentDir(strServerDir);
XN_IS_STATUS_OK(nRetVal);
XnChar strProcessName[XN_FILE_MAX_PATH];
sprintf(strProcessName, "%s%sXnSensorServer", strServerDir, XN_FILE_DIR_SEP);
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
XN_VALIDATE_STR_APPEND(strProcessName, ".exe", XN_FILE_MAX_PATH, nRetVal);
#endif
const XnChar* strArguments[] = { m_strConfigDir };
XN_PROCESS_ID procID;
nRetVal = xnOSCreateProcess(strProcessName, 1, strArguments, &procID);
// in any case, return to working dir
xnOSSetCurrentDir(strCurrDir);
// now check for errors
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XN_DDK_API XnStatus XnDDKInitFromINIFile(const XnChar* cpINIFileName)
{
XnStatus nRetVal = XN_STATUS_OK;
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(cpINIFileName);
// Was the DDK subsystem already initialized?
if (g_XnDDKWasInit == FALSE)
{
// Init the Formats library
nRetVal = XnFormatsInitFromINIFile(cpINIFileName);
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_ALREADY_INIT)
return nRetVal;
// read devices directory
XnChar strDevicesDirectory[XN_INI_MAX_LEN] = "";
XnChar* pDir = NULL;
if (XN_STATUS_OK == xnOSReadStringFromINI(cpINIFileName, "DDK", "DevicesDir", strDevicesDirectory, XN_INI_MAX_LEN))
{
XN_VALIDATE_STR_APPEND(strDevicesDirectory, XN_FILE_DIR_SEP, XN_INI_MAX_LEN, nRetVal);
pDir = strDevicesDirectory;
}
// Init DeviceManager
nRetVal = XnDeviceManagerInit(pDir);
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_ALREADY_INIT)
return nRetVal;
g_XnDDKWasInit = TRUE;
}
else
{
// Trying to init twice...
return (XN_STATUS_DDK_ALREADY_INIT);
}
// All is good...
return (XN_STATUS_OK);
}
XnStatus Context::loadLibraries(const char* directoryName)
{
XnStatus nRetVal;
// Get a file list of Xiron devices
XnInt32 nFileCount = 0;
typedef XnChar FileName[XN_FILE_MAX_PATH];
FileName* acsFileList = NULL;
#if (ONI_PLATFORM != ONI_PLATFORM_ANDROID_ARM)
XnChar cpSearchString[XN_FILE_MAX_PATH] = "";
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Looking for drivers in drivers repository '%s'", directoryName);
// Build the search pattern string
XN_VALIDATE_STR_APPEND(cpSearchString, directoryName, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_DIR_SEP, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_PREFIX, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_ALL_WILDCARD, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_POSTFIX, XN_FILE_MAX_PATH, nRetVal);
nRetVal = xnOSCountFiles(cpSearchString, &nFileCount);
if (nRetVal != XN_STATUS_OK || nFileCount == 0)
{
xnLogError(XN_MASK_ONI_CONTEXT, "Found no drivers matching '%s'", cpSearchString);
m_errorLogger.Append("Found no files matching '%s'", cpSearchString);
return XN_STATUS_NO_MODULES_FOUND;
}
acsFileList = XN_NEW_ARR(FileName, nFileCount);
nRetVal = xnOSGetFileList(cpSearchString, NULL, acsFileList, nFileCount, &nFileCount);
#else
// Android
nFileCount = 3;
acsFileList = XN_NEW_ARR(FileName, nFileCount);
strcpy(acsFileList[0], "libPS1080.so");
strcpy(acsFileList[1], "libOniFile.so");
strcpy(acsFileList[2], "libPSLink.so");
#endif
// Save directory
XnChar workingDir[XN_FILE_MAX_PATH];
xnOSGetCurrentDir(workingDir, XN_FILE_MAX_PATH);
// Change directory
xnOSSetCurrentDir(directoryName);
for (int i = 0; i < nFileCount; ++i)
{
DeviceDriver* pDeviceDriver = XN_NEW(DeviceDriver, acsFileList[i], m_frameManager, m_errorLogger);
if (pDeviceDriver == NULL || !pDeviceDriver->isValid())
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Couldn't use file '%s' as a device driver", acsFileList[i]);
m_errorLogger.Append("Couldn't understand file '%s' as a device driver", acsFileList[i]);
XN_DELETE(pDeviceDriver);
continue;
}
OniCallbackHandle dummy;
pDeviceDriver->registerDeviceConnectedCallback(deviceDriver_DeviceConnected, this, dummy);
pDeviceDriver->registerDeviceDisconnectedCallback(deviceDriver_DeviceDisconnected, this, dummy);
pDeviceDriver->registerDeviceStateChangedCallback(deviceDriver_DeviceStateChanged, this, dummy);
if (!pDeviceDriver->initialize())
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Couldn't use file '%s' as a device driver", acsFileList[i]);
m_errorLogger.Append("Couldn't initialize device driver from file '%s'", acsFileList[i]);
XN_DELETE(pDeviceDriver);
continue;
}
m_cs.Lock();
m_deviceDrivers.AddLast(pDeviceDriver);
m_cs.Unlock();
}
// Return to directory
xnOSSetCurrentDir(workingDir);
if (m_deviceDrivers.Size() == 0)
{
xnLogError(XN_MASK_ONI_CONTEXT, "Found no valid drivers");
m_errorLogger.Append("Found no valid drivers in '%s'", directoryName);
return XN_STATUS_NO_MODULES_FOUND;
}
XN_DELETE_ARR(acsFileList);
return XN_STATUS_OK;
}
