XN_C_API XnStatus xnNodeQuerySetSupportedMinUserPositions(XnNodeQuery* pQuery, const XnUInt32 nCount)
{
XN_VALIDATE_INPUT_PTR(pQuery);
pQuery->nMinUserPositions = nCount;
return (XN_STATUS_OK);
}
XnStatus XnDeviceBase::DestroyStreamData(XnStreamData** ppStreamData)
{
XN_VALIDATE_INPUT_PTR(ppStreamData);
return XnStreamDataDestroy(ppStreamData);
}
XnStatus XnDeviceBase::UnregisterFromNewStreamData(XnCallbackHandle hCallback)
{
XN_VALIDATE_INPUT_PTR(hCallback);
return m_OnNewStreamDataEvent.Unregister(hCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(UnregisterFromPropertyChange)(const XnDeviceHandle DeviceHandle, const XnChar* Module, const XnChar* PropertyName, XnCallbackHandle hCallback)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.UnregisterFromPropertyChange(pHandle->ActualDevice, Module, PropertyName, hCallback);
}
XnStatus XnDeviceBase::RegisterToStreamsChange(XnDeviceOnStreamsChangedEventHandler Handler, void* pCookie, XnCallbackHandle* phCallback)
{
XN_VALIDATE_INPUT_PTR(Handler);
return m_OnStreamsChangeEvent.Register((StreamCollectionChangedEvent::HandlerPtr)Handler, pCookie, phCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(LoadConfigFromFile)(const XnDeviceHandle DeviceHandle, const XnChar* csINIFilePath, const XnChar* csSectionName)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.LoadConfigFromFile(pHandle->ActualDevice, csINIFilePath, csSectionName);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(GetAllProperties)(const XnDeviceHandle DeviceHandle, XnPropertySet* pPropertySet, XnBool bNoStreams /* = FALSE */, const XnChar* strModule /* = NULL */)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.GetAllProperties(pHandle->ActualDevice, pPropertySet, bNoStreams, strModule);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(GetStreamNames)(const XnDeviceHandle DeviceHandle, const XnChar** pstrNames, XnUInt32* pnNamesCount)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.GetStreamNames(pHandle->ActualDevice, pstrNames, pnNamesCount);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(RegisterToNewStreamData)(const XnDeviceHandle DeviceHandle, XnDeviceOnNewStreamDataEventHandler Handler, void* pCookie, XnCallbackHandle& hCallback)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.RegisterToNewStreamData(pHandle->ActualDevice, Handler, pCookie, hCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(OpenStream)(const XnDeviceHandle DeviceHandle, const XnChar* StreamName)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.OpenStream(pHandle->ActualDevice, StreamName);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(CloseAllStreams)(const XnDeviceHandle DeviceHandle)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.CloseAllStreams(pHandle->ActualDevice);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(CreateStream)(const XnDeviceHandle DeviceHandle, const XnChar* StreamType, const XnChar* StreamName, const XnPropertySet* pInitialValues)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.CreateStream(pHandle->ActualDevice, StreamType, StreamName, pInitialValues);
}
XN_DDK_API XnStatus XnShiftToDepthUpdate(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pConfig);
// check max shift wasn't changed (if so, memory should be re-allocated)
if (pConfig->nDeviceMaxShiftValue > pShiftToDepth->nShiftsCount)
return XN_STATUS_DEVICE_INVALID_MAX_SHIFT;
// check max depth wasn't changed (if so, memory should be re-allocated)
if (pConfig->nDeviceMaxDepthValue > pShiftToDepth->nDepthsCount)
return XN_STATUS_DEVICE_INVALID_MAX_DEPTH;
XnUInt32 nIndex = 0;
XnInt16 nShiftValue = 0;
XnDouble dFixedRefX = 0;
XnDouble dMetric = 0;
XnDouble dDepth = 0;
XnDouble dPlanePixelSize = pConfig->fZeroPlanePixelSize;
XnDouble dPlaneDsr = pConfig->nZeroPlaneDistance;
XnDouble dPlaneDcl = pConfig->fEmitterDCmosDistance;
XnInt32 nConstShift = pConfig->nParamCoeff * pConfig->nConstShift;
dPlanePixelSize *= pConfig->nPixelSizeFactor;
nConstShift /= pConfig->nPixelSizeFactor;
XnDepthPixel* pShiftToDepthTable = pShiftToDepth->pShiftToDepthTable;
XnUInt16* pDepthToShiftTable = pShiftToDepth->pDepthToShiftTable;
xnOSMemSet(pShiftToDepthTable, 0, pShiftToDepth->nShiftsCount * sizeof(XnDepthPixel));
xnOSMemSet(pDepthToShiftTable, 0, pShiftToDepth->nDepthsCount * sizeof(XnUInt16));
XnUInt16 nLastDepth = 0;
XnUInt16 nLastIndex = 0;
for (nIndex = 1; nIndex < pConfig->nDeviceMaxShiftValue; nIndex++)
{
nShiftValue = nIndex;
dFixedRefX = (XnDouble)(nShiftValue - nConstShift) / (XnDouble)pConfig->nParamCoeff;
dFixedRefX -= 0.375;
dMetric = dFixedRefX * dPlanePixelSize;
dDepth = pConfig->nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr);
// check cut-offs
if ((dDepth > pConfig->nDepthMinCutOff) && (dDepth < pConfig->nDepthMaxCutOff))
{
pShiftToDepthTable[nIndex] = (XnUInt16)dDepth;
for (XnUInt16 i = nLastDepth; i < dDepth; i++)
pDepthToShiftTable[i] = nLastIndex;
nLastIndex = nIndex;
nLastDepth = (XnUInt16)dDepth;
}
}
for (XnUInt16 i = nLastDepth; i <= pConfig->nDeviceMaxDepthValue; i++)
pDepthToShiftTable[i] = nLastIndex;
return XN_STATUS_OK;
}
XN_C_API XnStatus XN_C_DECL xnNodeQuerySetNonExistingNodeOnly(XnNodeQuery* pQuery, XnBool bNonExistingNode)
{
XN_VALIDATE_INPUT_PTR(pQuery);
pQuery->bNonExistingNodeOnly = bNonExistingNode;
return (XN_STATUS_OK);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(SetStringProperty)(const XnDeviceHandle DeviceHandle, const XnChar* ModuleName, const XnChar* PropertyName, const XnChar* csValue)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.SetStringProperty(pHandle->ActualDevice, ModuleName, PropertyName, csValue);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(UnregisterFromNewStreamData)(const XnDeviceHandle DeviceHandle, XnCallbackHandle hCallback)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.UnregisterFromNewStreamData(pHandle->ActualDevice, hCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(GetGeneralProperty)(const XnDeviceHandle DeviceHandle, const XnChar* ModuleName, const XnChar* PropertyName, const XnGeneralBuffer* pValue)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.GetGeneralProperty(pHandle->ActualDevice, ModuleName, PropertyName, pValue);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(IsNewDataAvailable)(const XnDeviceHandle DeviceHandle, const XnChar* StreamName, XnBool* pbNewDataAvailable, XnUInt64* pnTimestamp)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.IsNewDataAvailable(pHandle->ActualDevice, StreamName, pbNewDataAvailable, pnTimestamp);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(BatchConfig)(const XnDeviceHandle DeviceHandle, const XnPropertySet* pChangeSet)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.BatchConfig(pHandle->ActualDevice, pChangeSet);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(Write)(const XnDeviceHandle DeviceHandle, XnStreamDataSet* pStreamOutputSet)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.Write(pHandle->ActualDevice, pStreamOutputSet);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(RegisterToPropertyChange)(const XnDeviceHandle DeviceHandle, const XnChar* Module, const XnChar* PropertyName, XnDeviceOnPropertyChangedEventHandler Handler, void* pCookie, XnCallbackHandle& hCallback)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.RegisterToPropertyChange(pHandle->ActualDevice, Module, PropertyName, Handler, pCookie, hCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(Seek)(const XnDeviceHandle DeviceHandle, XnUInt64 nTimestamp)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.Seek(pHandle->ActualDevice, nTimestamp);
}
static XnStatus OpenSharedMemoryImpl(const XnChar* strName, XnUInt32 nAccessFlags, XN_SHARED_MEMORY_HANDLE* phSharedMem, XnUInt32 nSize)
{
XnStatus nRetVal = XN_STATUS_OK;
XN_VALIDATE_INPUT_PTR(strName);
XN_VALIDATE_OUTPUT_PTR(phSharedMem);
// if (nSize) is a number - create, otherwise - open
XnBool bCreate = (nSize != 0);
// convert to local OS types
int prot = 0;
int nCreateFlags = 0;
int nMode = 0;
nRetVal = AccessFlagsToMMapProt(nAccessFlags, &prot);
XN_IS_STATUS_OK(nRetVal);
nRetVal = AccessFlagsToOpenFlags(nAccessFlags, &nCreateFlags);
XN_IS_STATUS_OK(nRetVal);
// allocate handle
XnOSSharedMemory* pHandle;
XN_VALIDATE_CALLOC(pHandle, XnOSSharedMemory, 1);
pHandle->bCreate = bCreate;
NameToFileName(strName, pHandle->strFileName);
if (bCreate)
{
nCreateFlags |= O_CREAT;
nMode |= S_IRWXU | S_IRWXG | S_IRWXO;
}
// open file
int fd = shm_open(pHandle->strFileName, nCreateFlags, nMode);
if (fd == -1)
{
xnOSFree(pHandle);
XN_LOG_WARNING_RETURN(XN_STATUS_OS_FAILED_TO_CREATE_SHARED_MEMORY, XN_MASK_OS, "Could not create file '%s' for shared memory (%d).", pHandle->strFileName, errno);
}
if (bCreate)
{
// set it to the right size
if (-1 == ftruncate(fd, nSize))
{
close(fd);
shm_unlink(pHandle->strFileName);
xnOSFree(pHandle);
XN_LOG_WARNING_RETURN(XN_STATUS_OS_FAILED_TO_CREATE_SHARED_MEMORY, XN_MASK_OS, "Could not seek to position (%d).", pHandle->strFileName, errno);
}
pHandle->nSize = nSize;
}
else
{
// read shared object size
pHandle->nSize = lseek(fd, 0, SEEK_END);
}
// and map it
pHandle->pAddress = mmap(NULL, pHandle->nSize, prot, MAP_SHARED, fd, 0);
if (pHandle->pAddress == MAP_FAILED)
{
close(fd);
shm_unlink(pHandle->strFileName);
xnOSFree(pHandle);
XN_LOG_WARNING_RETURN(XN_STATUS_OS_FAILED_TO_CREATE_SHARED_MEMORY, XN_MASK_OS, "Could not create file mapping object (%d).", errno);
}
close(fd);
*phSharedMem = pHandle;
return (XN_STATUS_OK);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(SeekFrame)(const XnDeviceHandle DeviceHandle, XnUInt32 nFrameID)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.SeekFrame(pHandle->ActualDevice, nFrameID);
}
XnStatus XnDeviceBase::UnregisterFromStreamsChange(XnCallbackHandle hCallback)
{
XN_VALIDATE_INPUT_PTR(hCallback);
return m_OnStreamsChangeEvent.Unregister(hCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(DoesPropertyExist)(const XnDeviceHandle DeviceHandle, const XnChar* ModuleName, const XnChar* PropertyName, XnBool* pbDoesExist)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.DoesPropertyExist(pHandle->ActualDevice, ModuleName, PropertyName, pbDoesExist);
}
XnStatus XnDeviceBase::RegisterToNewStreamData(XnDeviceOnNewStreamDataEventHandler Handler, void* pCookie, XnCallbackHandle* phCallback)
{
XN_VALIDATE_INPUT_PTR(Handler);
return m_OnNewStreamDataEvent.Register(Handler, pCookie, phCallback);
}
XN_DDK_API XnStatus XN_DEVICE_PROXY_PROTO(GetPropertyType)(const XnDeviceHandle DeviceHandle, const XnChar* ModuleName, const XnChar* PropertyName, XnPropertyType* pnType)
{
XN_VALIDATE_INPUT_PTR(DeviceHandle);
XnDeviceProxyDeviceHandle* pHandle = (XnDeviceProxyDeviceHandle*)DeviceHandle;
return pHandle->pDesc->Interface.GetPropertyType(pHandle->ActualDevice, ModuleName, PropertyName, pnType);
}
XN_C_API XnStatus xnOSConnectSocket(XN_SOCKET_HANDLE Socket, XnUInt32 nMillisecsTimeout)
{
// Local function variables
XnInt32 nRetVal = 0;
sockaddr SocketAddress;
fd_set fdWriteHandles;
fd_set fdExceptHandles;
struct timeval selectTimeOut;
struct timeval* pTimeout = xnOSMillisecsToTimeVal(nMillisecsTimeout, &selectTimeOut);
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(Socket);
// Make sure the actual socket handle isn't NULL
XN_RET_IF_NULL(Socket->Socket, XN_STATUS_OS_INVALID_SOCKET);
// Connect to the socket and make sure it succeeded
if (sizeof(SocketAddress) != sizeof(Socket->SocketAddress))
{
return(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED);
}
xnOSMemCopy(&SocketAddress, &Socket->SocketAddress, sizeof(SocketAddress));
// if timeout is XN_SOCKET_DEFAULT_TIMEOUT, leave the socket as a blocking one
if (nMillisecsTimeout != XN_SOCKET_DEFAULT_TIMEOUT)
{
// Make the socket non-blocking temporarily
u_long nNonBlockingSocket = 1;
if (ioctlsocket(Socket->Socket, FIONBIO, &nNonBlockingSocket) != 0)
{
XN_LOG_ERROR_RETURN(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED, XN_MASK_OS, "ioctlsocket() failed with error %d", WSAGetLastError());
return(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED);
}
}
nRetVal = connect(Socket->Socket, &SocketAddress, sizeof(SocketAddress));
if ((nRetVal == SOCKET_ERROR) && (WSAGetLastError() != WSAEWOULDBLOCK))
{
xnLogError(XN_MASK_OS, "connect() failed with winsock error %d", WSAGetLastError());
return(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED);
}
if (nMillisecsTimeout != XN_SOCKET_DEFAULT_TIMEOUT)
{
FD_ZERO(&fdWriteHandles);
FD_SET(Socket->Socket, &fdWriteHandles);
FD_ZERO(&fdExceptHandles);
FD_SET(Socket->Socket, &fdExceptHandles);
nRetVal = select(1 /* ignored */, NULL, &fdWriteHandles, &fdExceptHandles, pTimeout);
// in any case, make the socket blocking again before we check select()'s success
u_long nBlockingSocket = 0;
ioctlsocket(Socket->Socket, FIONBIO, &nBlockingSocket);
if (nRetVal == 0)
{
return (XN_STATUS_OS_NETWORK_TIMEOUT);
}
else if (nRetVal == SOCKET_ERROR)
{
XN_LOG_ERROR_RETURN(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED, XN_MASK_OS, "select() returned WinSock error: %d", WSAGetLastError());
}
else
{
// select returned due to socket state change. Check if an error occurred or everything is OK.
if (FD_ISSET(Socket->Socket, &fdExceptHandles))
{
XnUInt32 nLastError = 0;
XnInt32 nLastErrorSize = sizeof(nLastError);
getsockopt(Socket->Socket, SOL_SOCKET, SO_ERROR, (char*)&nLastError, &nLastErrorSize);
XN_LOG_ERROR_RETURN(XN_STATUS_OS_NETWORK_SOCKET_CONNECT_FAILED, XN_MASK_OS, "Connect failed with error: %u", nLastError);
}
// else, it means it's in the writable state, which means connect succeeded.
XN_ASSERT(FD_ISSET(Socket->Socket, &fdWriteHandles));
}
}
// All is good...
return (XN_STATUS_OK);
}
XN_DDK_API XnStatus XnPropertySetEnumeratorMoveNext(XnPropertySetEnumerator* pEnumerator, XnBool* pbEnd)
{
XnStatus nRetVal = XN_STATUS_OK;
XN_VALIDATE_INPUT_PTR(pEnumerator);
XN_VALIDATE_OUTPUT_PTR(pbEnd);
*pbEnd = TRUE;
if (pEnumerator->strModule[0] != '\0') // single module
{
if (pEnumerator->bFirst)
{
pEnumerator->bFirst = FALSE;
// find this module
nRetVal = pEnumerator->pModules->Find(pEnumerator->strModule, pEnumerator->itModule);
if (nRetVal == XN_STATUS_NO_MATCH)
{
pEnumerator->itModule = pEnumerator->pModules->End();
}
XN_IS_STATUS_OK(nRetVal);
pEnumerator->itProp = pEnumerator->itModule->Value()->Begin();
}
else if (pEnumerator->itProp == pEnumerator->itModule->Value()->End())
{
return XN_STATUS_ILLEGAL_POSITION;
}
else
{
// advance prop iterator
++pEnumerator->itProp;
}
*pbEnd = (pEnumerator->itProp == pEnumerator->itModule->Value()->End());
}
else // all modules
{
if (pEnumerator->bFirst)
{
pEnumerator->bFirst = FALSE;
// search for the first modules that has properties
pEnumerator->itModule = pEnumerator->pModules->Begin();
while (pEnumerator->itModule != pEnumerator->pModules->End() && pEnumerator->itModule->Value()->IsEmpty())
{
pEnumerator->itModule++;
}
// if we found one, take it's first property
if (pEnumerator->itModule != pEnumerator->pModules->End())
{
pEnumerator->itProp = pEnumerator->itModule->Value()->Begin();
*pbEnd = FALSE;
}
else
{
*pbEnd = TRUE;
}
}
else if (pEnumerator->itModule == pEnumerator->pModules->End())
{
return XN_STATUS_ILLEGAL_POSITION;
}
else
{
// move to next one
++pEnumerator->itProp;
// check if we reached end of module
if (pEnumerator->itProp == pEnumerator->itModule->Value()->End())
{
// move to next module with properties
do
{
pEnumerator->itModule++;
}
while (pEnumerator->itModule != pEnumerator->pModules->End() && pEnumerator->itModule->Value()->IsEmpty());
// if we found one, take it's first property
if (pEnumerator->itModule != pEnumerator->pModules->End())
{
pEnumerator->itProp = pEnumerator->itModule->Value()->Begin();
*pbEnd = FALSE;
}
else
{
*pbEnd = TRUE;
}
}
else
{
*pbEnd = FALSE;
}
}
}
return (XN_STATUS_OK);
}