//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
int main(int argc, char* argv[])
{
XnStatus nRetVal = XN_STATUS_OK;
printf("Starting sensor server...\n");
const XnChar* strConfigDir = ".";
if (argc >= 2)
{
strConfigDir = argv[1];
}
XnChar strConfigFile[XN_FILE_MAX_PATH];
nRetVal = XnSensorServerGetGlobalConfigFile(strConfigDir, strConfigFile, XN_FILE_MAX_PATH);
XN_CHECK_RC(nRetVal, "Resolving global config file");
#if (XN_PLATFORM == XN_PLATFORM_LINUX_X86 || XN_PLATFORM == XN_PLATFORM_LINUX_ARM || XN_PLATFORM == XN_PLATFORM_MACOSX)
xnLogSetOutputFolder("/var/log/primesense/XnSensorServer/");
#endif
nRetVal = XnFormatsInitFromINIFile(strConfigFile);
XN_CHECK_RC(nRetVal, "Initializing DDK");
printf("Running...\n");
nRetVal = XnSensorServerRun(strConfigFile);
XN_CHECK_RC(nRetVal, "starting sensor server");
printf("\nShutting down sensor server...\n");
XnDDKShutdown();
return 0;
}
XN_C_API XnStatus xnLogCreateFile(const XnChar* csFileName, XN_FILE_HANDLE* phFile)
{
XnStatus nRetVal = XN_STATUS_OK;
// set log directory
if (g_logData.m_strLogDir[0] == '\0')
{
nRetVal = xnLogSetOutputFolder(XN_LOG_DIR_NAME);
XN_IS_STATUS_OK(nRetVal);
}
if (g_logData.m_strTime[0] == '\0')
{
time_t currtime;
time(&currtime);
strftime(g_logData.m_strTime, sizeof(g_logData.m_strTime)-1, "%Y_%m_%d__%H_%M_%S", localtime(&currtime));
}
XN_PROCESS_ID nProcID = 0;
xnOSGetCurrentProcessID(&nProcID);
// create full path file name - add process start time and process ID
XnChar strFilePath[XN_FILE_MAX_PATH];
sprintf(strFilePath, "%s%s_%u.%s", g_logData.m_strLogDir, g_logData.m_strTime, nProcID, csFileName);
// and open the file
nRetVal = xnOSOpenFile(strFilePath, XN_OS_FILE_WRITE | XN_OS_FILE_TRUNCATE, phFile);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnLogInitFromINIFile(const XnChar* cpINIFileName, const XnChar* cpSectionName)
{
XnStatus nRetVal = XN_STATUS_OK;
XnInt32 nTemp;
// read filters
xnLogReadMasksFromINI(cpINIFileName, cpSectionName, "LogMasks", xnLogBCSetMaskState);
xnLogReadMasksFromINI(cpINIFileName, cpSectionName, "DumpMasks", xnDumpSetMaskState);
//Test if log redirection is needed
XnChar strLogPath[XN_FILE_MAX_PATH] = {0};
nRetVal = xnOSReadStringFromINI(cpINIFileName, cpSectionName, "LogPath", strLogPath, XN_FILE_MAX_PATH);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetOutputFolder(strLogPath);
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = xnOSReadIntFromINI(cpINIFileName, cpSectionName, "Verbosity", &nTemp);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, (XnLogSeverity)nTemp);
XN_IS_STATUS_OK(nRetVal);
}
// configure writers
nRetVal = xnOSReadIntFromINI(cpINIFileName, cpSectionName, "LogToConsole", &nTemp);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetConsoleOutput(nTemp);
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = xnOSReadIntFromINI(cpINIFileName, cpSectionName, "LogToFile", &nTemp);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetFileOutput(nTemp);
XN_IS_STATUS_OK(nRetVal);
}
#if XN_PLATFORM == XN_PLATFORM_ANDROID_ARM
nRetVal = xnOSReadIntFromINI(cpINIFileName, cpSectionName, "LogToAndroidLog", &nTemp);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetAndroidOutput(nTemp);
XN_IS_STATUS_OK(nRetVal);
}
#endif
nRetVal = xnOSReadIntFromINI(cpINIFileName, cpSectionName, "LogLineInfo", &nTemp);
if (nRetVal == XN_STATUS_OK)
{
nRetVal = xnLogSetLineInfo(nTemp);
XN_IS_STATUS_OK(nRetVal);
}
return XN_STATUS_OK;
}
XN_C_API XnStatus XN_C_DECL xnLogCreateNewFile(const XnChar* strName, XnBool bSessionBased, XnChar* csFullPath, XnUInt32 nPathBufferSize, XN_FILE_HANDLE* phFile)
{
XnStatus nRetVal = XN_STATUS_OK;
LogData& logData = LogData::GetInstance();
// set log directory
if (logData.strLogDir[0] == '\0')
{
nRetVal = xnLogSetOutputFolder(XN_LOG_DIR_NAME);
XN_IS_STATUS_OK(nRetVal);
}
if (logData.strSessionTimestamp[0] == '\0')
{
time_t currtime;
time(&currtime);
strftime(logData.strSessionTimestamp, sizeof(logData.strSessionTimestamp)-1, "%Y_%m_%d__%H_%M_%S", localtime(&currtime));
}
XN_PROCESS_ID nProcID = 0;
xnOSGetCurrentProcessID(&nProcID);
// create full path file name - add process start time and process ID
XnUInt32 nPathSize = 0;
XnUInt32 nCharsWritten = 0;
nRetVal = xnOSStrFormat(csFullPath, nPathBufferSize - nPathSize, &nCharsWritten, "%s", logData.strLogDir);
XN_IS_STATUS_OK(nRetVal);
nPathSize += nCharsWritten;
if (bSessionBased)
{
nRetVal = xnOSStrFormat(csFullPath + nPathSize, nPathBufferSize - nPathSize, &nCharsWritten, "%s_%u.", logData.strSessionTimestamp, nProcID);
XN_IS_STATUS_OK(nRetVal);
nPathSize += nCharsWritten;
}
nRetVal = xnOSStrFormat(csFullPath + nPathSize, nPathBufferSize - nPathSize, &nCharsWritten, "%s", strName);
XN_IS_STATUS_OK(nRetVal);
nPathSize += nCharsWritten;
// and open the file
nRetVal = xnOSOpenFile(csFullPath, XN_OS_FILE_WRITE | XN_OS_FILE_TRUNCATE, phFile);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
OniStatus Context::initialize()
{
XnBool repositoryOverridden = FALSE;
XnChar repositoryFromINI[XN_FILE_MAX_PATH] = {0};
m_initializationCounter++;
if (m_initializationCounter > 1)
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Initialize: Already initialized");
return ONI_STATUS_OK;
}
XnStatus rc;
XnChar strModulePath[XN_FILE_MAX_PATH];
rc = xnOSGetModulePathForProcAddress(reinterpret_cast<void*>(&dummyFunctionToTakeAddress), strModulePath);
if (rc != XN_STATUS_OK)
{
m_errorLogger.Append("Couldn't get the OpenNI shared library module's path: %s", xnGetStatusString(rc));
return OniStatusFromXnStatus(rc);
}
XnChar strBaseDir[XN_FILE_MAX_PATH];
rc = xnOSGetDirName(strModulePath, strBaseDir, XN_FILE_MAX_PATH);
if (rc != XN_STATUS_OK)
{
// Very unlikely to happen, but just in case.
m_errorLogger.Append("Couldn't get the OpenNI shared library module's directory: %s", xnGetStatusString(rc));
return OniStatusFromXnStatus(rc);
}
s_valid = TRUE;
// Read configuration file
XnChar strOniConfigurationFile[XN_FILE_MAX_PATH];
XnBool configurationFileExists = FALSE;
// Search the module directory for OpenNI.ini.
xnOSStrCopy(strOniConfigurationFile, strBaseDir, XN_FILE_MAX_PATH);
rc = xnOSAppendFilePath(strOniConfigurationFile, ONI_CONFIGURATION_FILE, XN_FILE_MAX_PATH);
if (rc == XN_STATUS_OK)
{
xnOSDoesFileExist(strOniConfigurationFile, &configurationFileExists);
}
#ifdef ONI_PLATFORM_ANDROID_OS
xnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, (XnLogSeverity)0);
xnLogSetAndroidOutput(TRUE);
#endif
if (configurationFileExists)
{
// First, we should process the log related configuration as early as possible.
XnInt32 nValue;
XnChar strLogPath[XN_FILE_MAX_PATH] = {0};
//Test if log redirection is needed
rc = xnOSReadStringFromINI(strOniConfigurationFile, "Log", "LogPath", strLogPath, XN_FILE_MAX_PATH);
if (rc == XN_STATUS_OK)
{
rc = xnLogSetOutputFolder(strLogPath);
if (rc != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_ONI_CONTEXT, "Failed to set log output folder: %s", xnGetStatusString(rc));
}
else
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Log directory redirected to: %s", strLogPath);
}
}
rc = xnOSReadIntFromINI(strOniConfigurationFile, "Log", "Verbosity", &nValue);
if (rc == XN_STATUS_OK)
{
xnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, (XnLogSeverity)nValue);
}
rc = xnOSReadIntFromINI(strOniConfigurationFile, "Log", "LogToConsole", &nValue);
if (rc == XN_STATUS_OK)
{
xnLogSetConsoleOutput(nValue == 1);
}
rc = xnOSReadIntFromINI(strOniConfigurationFile, "Log", "LogToFile", &nValue);
if (rc == XN_STATUS_OK)
{
xnLogSetFileOutput(nValue == 1);
}
// Then, process the other device configurations.
rc = xnOSReadStringFromINI(strOniConfigurationFile, "Device", "Override", m_overrideDevice, XN_FILE_MAX_PATH);
if (rc != XN_STATUS_OK)
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "No override device in configuration file");
}
rc = xnOSReadStringFromINI(strOniConfigurationFile, "Drivers", "Repository", repositoryFromINI, XN_FILE_MAX_PATH);
if (rc == XN_STATUS_OK)
{
repositoryOverridden = TRUE;
}
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Configuration has been read from '%s'", strOniConfigurationFile);
}
else
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Couldn't find configuration file '%s'", strOniConfigurationFile);
}
xnLogVerbose(XN_MASK_ONI_CONTEXT, "OpenNI %s", ONI_VERSION_STRING);
// Resolve the drive path based on the module's directory.
XnChar strDriverPath[XN_FILE_MAX_PATH];
xnOSStrCopy(strDriverPath, strBaseDir, XN_FILE_MAX_PATH);
if (repositoryOverridden)
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Extending the driver path by '%s', as configured in file '%s'", repositoryFromINI, strOniConfigurationFile);
rc = xnOSAppendFilePath(strDriverPath, repositoryFromINI, XN_FILE_MAX_PATH);
}
else
{
rc = xnOSAppendFilePath(strDriverPath, ONI_DEFAULT_DRIVERS_REPOSITORY, XN_FILE_MAX_PATH);
}
if (rc != XN_STATUS_OK)
{
m_errorLogger.Append("The driver path gets too long");
return OniStatusFromXnStatus(rc);
}
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Using '%s' as driver path", strDriverPath);
rc = loadLibraries(strDriverPath);
if (rc == XN_STATUS_OK)
{
m_errorLogger.Clear();
}
return OniStatusFromXnStatus(rc);
}
