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);
}
int changeDirectory(char* arg0)
{
// get dir name
XnChar strDirName[XN_FILE_MAX_PATH];
XnStatus nRetVal = xnOSGetDirName(arg0, strDirName, XN_FILE_MAX_PATH);
XN_IS_STATUS_OK(nRetVal);
// now set current directory to it
nRetVal = xnOSSetCurrentDir(strDirName);
XN_IS_STATUS_OK(nRetVal);
return 0;
}
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;
}
