openni_driver.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *    Suat Gedikli <gedikli@willowgarage.com>
 *
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#ifndef OPENNI_OPENNI_H_
#define OPENNI_OPENNI_H_
#include <string>
#include <vector>
#include <map>
#include "openni_exception.h"
#include "openni_device.h"
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <XnCppWrapper.h>

namespace openni_wrapper
{
//class OpenNIDevice;
class OpenNIDriver
{
public:
  ~OpenNIDriver () throw ();

  inline static OpenNIDriver& getInstance () throw (OpenNIException);
  unsigned updateDeviceList () throw ();
  inline unsigned getNumberDevices () const throw ();
  
  boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const throw (OpenNIException);
  boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const throw (OpenNIException);
#ifndef _WIN32
  boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const throw (OpenNIException);
  boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const throw (OpenNIException);
#endif

  const char* getSerialNumber (unsigned index) const throw ();
  const char* getConnectionString (unsigned index) const throw ();

  const char* getVendorName (unsigned index) const throw ();
  const char* getProductName (unsigned index) const throw ();
  unsigned short getVendorID (unsigned index) const throw ();
  unsigned short getProductID (unsigned index) const throw ();
  unsigned char  getBus (unsigned index) const throw ();
  unsigned char  getAddress (unsigned index) const throw ();

  void stopAll () throw (OpenNIException);

  static void getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId);
protected:
  struct DeviceContext
  {
    DeviceContext (const xn::NodeInfo& device_node, xn::NodeInfo* image_node, xn::NodeInfo* depth_node, xn::NodeInfo* ir_node);
    DeviceContext (const xn::NodeInfo& device_node);
    DeviceContext (const DeviceContext&);
    xn::NodeInfo device_node;
    boost::shared_ptr<xn::NodeInfo> image_node;
    boost::shared_ptr<xn::NodeInfo> depth_node;
    boost::shared_ptr<xn::NodeInfo> ir_node;
    boost::weak_ptr<OpenNIDevice> device;
  };

  OpenNIDriver () throw (OpenNIException);
  boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const throw (OpenNIException);

#ifndef _WIN32
  // workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this
  void getDeviceInfos () throw ();
#endif
  
  mutable std::vector<DeviceContext> device_context_;
  mutable xn::Context context_;

  std::map< unsigned char, std::map<unsigned char, unsigned > > bus_map_;
  std::map< std::string, unsigned > serial_map_;
  std::map< std::string, unsigned > connection_string_map_;
};

OpenNIDriver& OpenNIDriver::getInstance () throw (OpenNIException)
{
  static OpenNIDriver driver;
  return driver;
}

unsigned OpenNIDriver::getNumberDevices () const throw ()
{
  return (unsigned)device_context_.size ();
}
} // namespace
#endif