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;
}
// Register USB event callback
#if WIN32
nRetVal = m_SensorIO.SetCallback(NULL, this);
XN_IS_STATUS_OK(nRetVal);
#endif
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::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::InitReading()
{
XnStatus nRetVal = XN_STATUS_OK;
// open data endpoints
nRetVal = m_SensorIO.OpenDataEndPoints((XnSensorUsbInterface)m_Interface.GetValue(), *m_Firmware.GetInfo());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Interface.UnsafeUpdateValue(m_SensorIO.GetCurrentInterface());
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 = xnDumpFileOpen(XN_DUMP_BANDWIDTH, "Bandwidth.csv");
xnDumpFileWriteString(m_DevicePrivateData.BandwidthDump, "Timestamp,Frame Type,Frame ID,Size\n");
m_DevicePrivateData.TimestampsDump = xnDumpFileOpen(XN_DUMP_TIMESTAMPS, "Timestamps.csv");
xnDumpFileWriteString(m_DevicePrivateData.TimestampsDump, "Host Time (us),Stream,Device TS,Time (ms),Comments\n");
m_DevicePrivateData.MiniPacketsDump = xnDumpFileOpen(XN_DUMP_MINI_PACKETS, "MiniPackets.csv");
xnDumpFileWriteString(m_DevicePrivateData.MiniPacketsDump, "HostTS,Type,ID,Size,Timestamp\n");
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::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::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);
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, (XnBool)m_LeanInit.GetValue());
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(), (XnBool)m_LeanInit.GetValue());
XN_IS_STATUS_OK(nRetVal);
m_bInitialized = TRUE;
m_ResetSensorOnStartup.UpdateSetCallback(NULL, NULL);
m_LeanInit.UpdateSetCallback(NULL, NULL);
// update device info properties
nRetVal = m_DeviceName.UnsafeUpdateValue(GetFixedParams()->GetDeviceName());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VendorSpecificData.UnsafeUpdateValue(GetFixedParams()->GetVendorData());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ID.UnsafeUpdateValue(GetFixedParams()->GetSensorSerial());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_PlatformString.UnsafeUpdateValue(GetFixedParams()->GetPlatformString());
XN_IS_STATUS_OK(nRetVal);
// Add supported streams
AddSupportedStream(XN_STREAM_TYPE_DEPTH);
AddSupportedStream(XN_STREAM_TYPE_IR);
if (GetFirmware()->GetInfo()->bImageSupported)
{
AddSupportedStream(XN_STREAM_TYPE_IMAGE);
}
if (GetFirmware()->GetInfo()->bAudioSupported)
{
AddSupportedStream(XN_STREAM_TYPE_AUDIO);
}
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);
// 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;
}
