XnStatus XnSensorFirmware::Init(XnBool bReset, XnBool bLeanInit)
{
XnStatus nRetVal = XN_STATUS_OK;
// check current mode
XnUInt16 nMode;
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
if (bReset)
{
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
// check if device is alive
XnUInt32 nCounter = 5;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
}
else
nCounter = 0;
}
if (nRetVal != XN_STATUS_OK)
{
printf("Keep alive failed!\n");
return nRetVal;
}
// perform a soft reset (to start clean)
nRetVal = XnHostProtocolReset(m_pDevicePrivateData, XN_RESET_TYPE_SOFT_FIRST);
if (nRetVal != XN_STATUS_OK)
{
printf("Couldn't reset the device!\n");
return nRetVal;
}
// wait for sensor to recover from reset
xnOSSleep(m_pDevicePrivateData->FWInfo.nUSBDelaySoftReset);
// send keep alive again to see sensor is up
nCounter = 10;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
xnOSSleep(10);
}
else
break;
}
if (nCounter == 0)
{
printf("10 keep alives is too much - stopping\n");
return nRetVal;
}
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
}
if (!bLeanInit)
{
nRetVal = m_FixedParams.Init();
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Params.Init();
XN_IS_STATUS_OK(nRetVal);
if (nMode == XN_HOST_PROTOCOL_MODE_PS)
{
nRetVal = m_Params.UpdateAllProperties();
XN_IS_STATUS_OK(nRetVal);
}
// Check if image is supported
if (m_pInfo->bGetImageCmosTypeSupported)
{
m_pInfo->bImageSupported = (m_FixedParams.GetImageCmosType() != 0);
}
else
{
// This is an ugly patch to find out if this sensor has an image CMOS. It will be fixed
// in future firmwares so we can just ask.
XnUInt16 nLines;
nRetVal = XnHostProtocolGetCmosBlanking(m_pDevicePrivateData, XN_CMOS_TYPE_IMAGE, &nLines);
m_pInfo->bImageSupported = (nRetVal == XN_STATUS_OK && nLines > 0);
}
nRetVal = m_Streams.Init();
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorFirmware::Init(XnBool bReset)
{
XnStatus nRetVal = XN_STATUS_OK;
// check current mode
XnUInt16 nMode;
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
if (bReset)
{
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
// check if device is alive
XnUInt32 nCounter = 5;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
}
else
nCounter = 0;
}
if (nRetVal != XN_STATUS_OK)
{
printf("Keep alive failed!\n");
return nRetVal;
}
// perform a soft reset (to start clean)
nRetVal = XnHostProtocolReset(m_pDevicePrivateData, XN_RESET_TYPE_SOFT_FIRST);
if (nRetVal != XN_STATUS_OK)
{
printf("Couldn't reset the device!\n");
return nRetVal;
}
// wait for sensor to recover from reset
xnOSSleep(m_pDevicePrivateData->FWInfo.nUSBDelaySoftReset);
// send keep alive again to see sensor is up
nCounter = 10;
while (nCounter)
{
nRetVal = XnHostProtocolKeepAlive(m_pDevicePrivateData);
if (nRetVal != XN_STATUS_OK)
{
nCounter--;
xnOSSleep(10);
}
else
break;
}
if (nCounter == 0)
{
printf("10 keep alives is too much - stopping\n");
return nRetVal;
}
nRetVal = XnHostProtocolGetMode(m_pDevicePrivateData, nMode);
XN_IS_STATUS_OK(nRetVal);
// check if safe mode
if (nMode == XN_HOST_PROTOCOL_MODE_SAFE_MODE)
{
XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_SAFE_MODE, XN_MASK_DEVICE_SENSOR, "Device is in safe mode. Cannot start any stream!");
}
}
nRetVal = m_Params.Init();
XN_IS_STATUS_OK(nRetVal);
if (nMode == XN_HOST_PROTOCOL_MODE_PS)
{
nRetVal = m_Params.UpdateAllProperties();
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = m_Streams.Init();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
