OniDriverAPI.h

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/*****************************************************************************
*                                                                            *
*  OpenNI 2.x Alpha                                                          *
*  Copyright (C) 2012 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of OpenNI.                                              *
*                                                                            *
*  Licensed under the Apache License, Version 2.0 (the "License");           *
*  you may not use this file except in compliance with the License.          *
*  You may obtain a copy of the License at                                   *
*                                                                            *
*      http://www.apache.org/licenses/LICENSE-2.0                            *
*                                                                            *
*  Unless required by applicable law or agreed to in writing, software       *
*  distributed under the License is distributed on an "AS IS" BASIS,         *
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  *
*  See the License for the specific language governing permissions and       *
*  limitations under the License.                                            *
*                                                                            *
*****************************************************************************/
#ifndef ONIDRIVERAPI_H
#define ONIDRIVERAPI_H

#include "OniPlatform.h"
#include "OniCTypes.h"
#include "OniCProperties.h"
#include "OniDriverTypes.h"
#include <stdarg.h>

namespace oni { namespace driver {

class DeviceBase;
class StreamBase;

typedef void (ONI_CALLBACK_TYPE* DeviceConnectedCallback)(const OniDeviceInfo*, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* DeviceDisconnectedCallback)(const OniDeviceInfo*, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* DeviceStateChangedCallback)(const OniDeviceInfo* deviceId, int errorState, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* NewFrameCallback)(StreamBase* streamId, OniFrame*, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* PropertyChangedCallback)(void* sender, int propertyId, const void* data, int dataSize, void* pCookie);

class StreamServices : public OniStreamServices
{
public:
        int getDefaultRequiredFrameSize()
        {
                return OniStreamServices::getDefaultRequiredFrameSize(streamServices);
        }

        OniFrame* acquireFrame()
        {
                return OniStreamServices::acquireFrame(streamServices);
        }

        void addFrameRef(OniFrame* pFrame)
        {
                OniStreamServices::addFrameRef(streamServices, pFrame);
        }

        void releaseFrame(OniFrame* pFrame)
        {
                OniStreamServices::releaseFrame(streamServices, pFrame);
        }
};

class StreamBase
{
public:
        StreamBase() : m_newFrameCallback(NULL), m_propertyChangedCallback(NULL) {}
        virtual ~StreamBase() {}

        virtual void setServices(StreamServices* pStreamServices) { m_pServices = pStreamServices; }

        virtual OniStatus setProperty(int /*propertyId*/, const void* /*data*/, int /*dataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniStatus getProperty(int /*propertyId*/, void* /*data*/, int* /*pDataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniBool isPropertySupported(int /*propertyId*/) {return FALSE;}
        virtual OniStatus invoke(int /*commandId*/, void* /*data*/, int /*dataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniBool isCommandSupported(int /*commandId*/) {return FALSE;}

        virtual int getRequiredFrameSize() { return getServices().getDefaultRequiredFrameSize(); }

        virtual OniStatus start() = 0;
        virtual void stop() = 0;

        virtual void setNewFrameCallback(NewFrameCallback handler, void* pCookie) { m_newFrameCallback = handler; m_newFrameCallbackCookie = pCookie; }
        virtual void setPropertyChangedCallback(PropertyChangedCallback handler, void* pCookie) { m_propertyChangedCallback = handler; m_propertyChangedCookie = pCookie; }

        virtual void notifyAllProperties() { return; }

        virtual OniStatus convertDepthToColorCoordinates(StreamBase* /*colorStream*/, int /*depthX*/, int /*depthY*/, OniDepthPixel /*depthZ*/, int* /*pColorX*/, int* /*pColorY*/) { return ONI_STATUS_NOT_SUPPORTED; }

        virtual OniStatus convertC2DCoordinates(int /*depthX*/, int /*depthY*/, OniDepthPixel /*depthZ*/, int* /*pColorX*/, int* /*pColorY*/) { return ONI_STATUS_NOT_SUPPORTED; }

        virtual OniStatus convertD2CCoordinates(int /*depthX*/, int /*depthY*/, OniDepthPixel /*depthZ*/, int* /*pColorX*/, int* /*pColorY*/) { return ONI_STATUS_NOT_SUPPORTED; }
protected:
        void raiseNewFrame(OniFrame* pFrame) { (*m_newFrameCallback)(this, pFrame, m_newFrameCallbackCookie); }
        void raisePropertyChanged(int propertyId, const void* data, int dataSize) { (*m_propertyChangedCallback)(this, propertyId, data, dataSize, m_propertyChangedCookie); }

        StreamServices& getServices() { return *m_pServices; }

private:
        StreamServices* m_pServices;
        NewFrameCallback m_newFrameCallback;
        void* m_newFrameCallbackCookie;
        PropertyChangedCallback m_propertyChangedCallback;
        void* m_propertyChangedCookie;
};

class DeviceBase
{
public:
        DeviceBase() {}
        virtual ~DeviceBase() {}

        virtual OniStatus getSensorInfoList(OniSensorInfo** pSensorInfos, int* numSensors) = 0;

        virtual StreamBase* createStream(OniSensorType) = 0;
        virtual void destroyStream(StreamBase* pStream) = 0;

        virtual OniStatus setProperty(int /*propertyId*/, const void* /*data*/, int /*dataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniStatus getProperty(int /*propertyId*/, void* /*data*/, int* /*pDataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniBool isPropertySupported(int /*propertyId*/) {return FALSE;}
        virtual OniStatus invoke(int /*commandId*/, void* /*data*/, int /*dataSize*/) {return ONI_STATUS_NOT_IMPLEMENTED;}
        virtual OniBool isCommandSupported(int /*commandId*/) {return FALSE;}
        virtual OniStatus tryManualTrigger() {return ONI_STATUS_OK;}

        virtual void setPropertyChangedCallback(PropertyChangedCallback handler, void* pCookie) { m_propertyChangedCallback = handler; m_propertyChangedCookie = pCookie; }
        virtual void notifyAllProperties() { return; }

        virtual OniBool isImageRegistrationModeSupported(OniImageRegistrationMode mode) { return (mode == ONI_IMAGE_REGISTRATION_OFF); }

protected:
        void raisePropertyChanged(int propertyId, const void* data, int dataSize) { (*m_propertyChangedCallback)(this, propertyId, data, dataSize, m_propertyChangedCookie); }

private:
        PropertyChangedCallback m_propertyChangedCallback;
        void* m_propertyChangedCookie;
};

class DriverServices
{
public:
        DriverServices(OniDriverServices* pDriverServices) : m_pDriverServices(pDriverServices) {}

        void errorLoggerAppend(const char* format, ...)
        {
                va_list args;
                va_start(args, format);
                m_pDriverServices->errorLoggerAppend(m_pDriverServices->driverServices, format, args);
                va_end(args);
        }

        void errorLoggerClear()
        {
                m_pDriverServices->errorLoggerClear(m_pDriverServices->driverServices);
        }

        void log(int severity, const char* file, int line, const char* mask, const char* message)
        {
                m_pDriverServices->log(m_pDriverServices->driverServices, severity, file, line, mask, message);
        }

private:
        OniDriverServices* m_pDriverServices;
};

class DriverBase
{
public:
        DriverBase(OniDriverServices* pDriverServices) : m_services(pDriverServices)
        {}

        virtual ~DriverBase() {}

        virtual OniStatus initialize(DeviceConnectedCallback connectedCallback, DeviceDisconnectedCallback disconnectedCallback, DeviceStateChangedCallback deviceStateChangedCallback, void* pCookie)
        {
                m_deviceConnectedEvent = connectedCallback;
                m_deviceDisconnectedEvent = disconnectedCallback;
                m_deviceStateChangedEvent = deviceStateChangedCallback;
                m_pCookie = pCookie;
                return ONI_STATUS_OK;
        }

        virtual DeviceBase* deviceOpen(const char* uri, const char* mode) = 0;
        virtual void deviceClose(DeviceBase* pDevice) = 0;

        virtual void shutdown() = 0;

        virtual OniStatus tryDevice(const char* /*uri*/) { return ONI_STATUS_ERROR;}

        virtual void* enableFrameSync(StreamBase** /*pStreams*/, int /*streamCount*/) { return NULL; }
        virtual void disableFrameSync(void* /*frameSyncGroup*/) {}

protected:
        void deviceConnected(const OniDeviceInfo* pInfo) { (m_deviceConnectedEvent)(pInfo, m_pCookie); }
        void deviceDisconnected(const OniDeviceInfo* pInfo) { (m_deviceDisconnectedEvent)(pInfo, m_pCookie); }
        void deviceStateChanged(const OniDeviceInfo* pInfo, int errorState) { (m_deviceStateChangedEvent)(pInfo, errorState, m_pCookie); }

        DriverServices& getServices() { return m_services; }

private:
        DeviceConnectedCallback m_deviceConnectedEvent;
        DeviceDisconnectedCallback m_deviceDisconnectedEvent;
        DeviceStateChangedCallback m_deviceStateChangedEvent;
        void* m_pCookie;

        DriverServices m_services;
};

}} // oni::driver

#define ONI_EXPORT_DRIVER(DriverClass)                                                                                                                                                                          \
                                                                                                                                                                                                                                                        \
oni::driver::DriverBase* g_pDriver = NULL;                                                                                                                                                                      \
                                                                                                                                                                                                                                                        \
/* As Driver */                                                                                                                                                                                                                         \
ONI_C_API_EXPORT void oniDriverCreate(OniDriverServices* driverServices) {                                                                                                      \
        g_pDriver = XN_NEW(DriverClass, driverServices);                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverDestroy()                                                                                                                                                                        \
{                                                                                                                                                                                                                                                       \
        g_pDriver->shutdown();                                                                                                                                                                                                  \
        XN_DELETE(g_pDriver); g_pDriver = NULL;                                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverInitialize(oni::driver::DeviceConnectedCallback deviceConnectedCallback,                            \
                                                                                oni::driver::DeviceDisconnectedCallback deviceDisconnectedCallback,                                     \
                                                                                oni::driver::DeviceStateChangedCallback deviceStateChangedCallback,                                     \
                                                                                void* pCookie)                                                                                                                                          \
{                                                                                                                                                                                                                                                       \
        return g_pDriver->initialize(deviceConnectedCallback, deviceDisconnectedCallback, deviceStateChangedCallback, pCookie); \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverTryDevice(const char* uri)                                                                                                                          \
{                                                                                                                                                                                                                                                       \
        return g_pDriver->tryDevice(uri);                                                                                                                                                                               \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
/* As Device */                                                                                                                                                                                                                         \
ONI_C_API_EXPORT oni::driver::DeviceBase* oniDriverDeviceOpen(const char* uri, const char* mode)                                                        \
{                                                                                                                                                                                                                                                       \
        return g_pDriver->deviceOpen(uri, mode);                                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverDeviceClose(oni::driver::DeviceBase* pDevice)                                                                                            \
{                                                                                                                                                                                                                                                       \
        g_pDriver->deviceClose(pDevice);                                                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverDeviceGetSensorInfoList(oni::driver::DeviceBase* pDevice, OniSensorInfo** pSensorInfos,     \
                                                                                                                        int* numSensors)                                                                                                \
{                                                                                                                                                                                                                                                       \
        return pDevice->getSensorInfoList(pSensorInfos, numSensors);                                                                                                                    \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT oni::driver::StreamBase* oniDriverDeviceCreateStream(oni::driver::DeviceBase* pDevice,                                         \
                                                                                                                                                OniSensorType sensorType)                                                       \
{                                                                                                                                                                                                                                                       \
        return pDevice->createStream(sensorType);                                                                                                                                                               \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT void oniDriverDeviceDestroyStream(oni::driver::DeviceBase* pDevice, oni::driver::StreamBase* pStream)          \
{                                                                                                                                                                                                                                                       \
        return pDevice->destroyStream(pStream);                                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverDeviceSetProperty(oni::driver::DeviceBase* pDevice, int propertyId,                                         \
                                                                                                        const void* data, int dataSize)                                                                                 \
{                                                                                                                                                                                                                                                       \
        return pDevice->setProperty(propertyId, data, dataSize);                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverDeviceGetProperty(oni::driver::DeviceBase* pDevice, int propertyId,                                         \
                                                                                                        void* data, int* pDataSize)                                                                                             \
{                                                                                                                                                                                                                                                       \
        return pDevice->getProperty(propertyId, data, pDataSize);                                                                                                                               \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniBool oniDriverDeviceIsPropertySupported(oni::driver::DeviceBase* pDevice, int propertyId)                           \
{                                                                                                                                                                                                                                                       \
        return pDevice->isPropertySupported(propertyId);                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverDeviceSetPropertyChangedCallback(oni::driver::DeviceBase* pDevice,                                                       \
        oni::driver::PropertyChangedCallback handler, void* pCookie)                                                                                                                    \
{                                                                                                                                                                                                                                                       \
        pDevice->setPropertyChangedCallback(handler, pCookie);                                                                                                                                  \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverDeviceNotifyAllProperties(oni::driver::DeviceBase* pDevice)                                                                      \
{                                                                                                                                                                                                                                                       \
        pDevice->notifyAllProperties();                                                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverDeviceInvoke(oni::driver::DeviceBase* pDevice, int commandId,                                                       \
                                                                                                void* data, int dataSize)                                                                                                       \
{                                                                                                                                                                                                                                                       \
        return pDevice->invoke(commandId, data, dataSize);                                                                                                                                              \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniBool oniDriverDeviceIsCommandSupported(oni::driver::DeviceBase* pDevice, int commandId)                                     \
{                                                                                                                                                                                                                                                       \
        return pDevice->isCommandSupported(commandId);                                                                                                                                                  \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverDeviceTryManualTrigger(oni::driver::DeviceBase* pDevice)                                                            \
{                                                                                                                                                                                                                                                       \
        return pDevice->tryManualTrigger();                                                                                                                                                                             \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniBool oniDriverDeviceIsImageRegistrationModeSupported(oni::driver::DeviceBase* pDevice,                                      \
        OniImageRegistrationMode mode)                                                                                                                                                                                  \
{                                                                                                                                                                                                                                                       \
        return pDevice->isImageRegistrationModeSupported(mode);                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
/* As Stream */                                                                                                                                                                                                                         \
ONI_C_API_EXPORT void oniDriverStreamSetServices(oni::driver::StreamBase* pStream, OniStreamServices* pServices)                        \
{                                                                                                                                                                                                                                                       \
        pStream->setServices((oni::driver::StreamServices*)pServices);                                                                                                                  \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverStreamSetProperty(oni::driver::StreamBase* pStream, int propertyId,                                         \
                                                                                                        const void* data, int dataSize)                                                                                 \
{                                                                                                                                                                                                                                                       \
        return pStream->setProperty(propertyId, data, dataSize);                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverStreamGetProperty(oni::driver::StreamBase* pStream, int propertyId, void* data,                     \
                                                                                                        int* pDataSize)                                                                                                                 \
{                                                                                                                                                                                                                                                       \
        return pStream->getProperty(propertyId, data, pDataSize);                                                                                                                               \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniBool oniDriverStreamIsPropertySupported(oni::driver::StreamBase* pStream, int propertyId)                           \
{                                                                                                                                                                                                                                                       \
        return pStream->isPropertySupported(propertyId);                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverStreamSetPropertyChangedCallback(oni::driver::StreamBase* pStream,                                                       \
                                                                                                        oni::driver::PropertyChangedCallback handler, void* pCookie)                    \
{                                                                                                                                                                                                                                                       \
        pStream->setPropertyChangedCallback(handler, pCookie);                                                                                                                                  \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverStreamNotifyAllProperties(oni::driver::StreamBase* pStream)                                                                      \
{                                                                                                                                                                                                                                                       \
        pStream->notifyAllProperties();                                                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniStatus oniDriverStreamInvoke(oni::driver::StreamBase* pStream, int commandId,                                                       \
                                                                                                void* data, int dataSize)                                                                                                       \
{                                                                                                                                                                                                                                                       \
        return pStream->invoke(commandId, data, dataSize);                                                                                                                                              \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT OniBool oniDriverStreamIsCommandSupported(oni::driver::StreamBase* pStream, int commandId)                                     \
{                                                                                                                                                                                                                                                       \
        return pStream->isCommandSupported(commandId);                                                                                                                                                  \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverStreamStart(oni::driver::StreamBase* pStream)                                                                                       \
{                                                                                                                                                                                                                                                       \
        return pStream->start();                                                                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
ONI_C_API_EXPORT void oniDriverStreamStop(oni::driver::StreamBase* pStream)                                                                                                     \
{                                                                                                                                                                                                                                                       \
        pStream->stop();                                                                                                                                                                                                                \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT int oniDriverStreamGetRequiredFrameSize(oni::driver::StreamBase* pStream)                                                                      \
{                                                                                                                                                                                                                                                       \
        return pStream->getRequiredFrameSize();                                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT void oniDriverStreamSetNewFrameCallback(oni::driver::StreamBase* pStream,                                                                      \
                                                                                                                oni::driver::NewFrameCallback handler, void* pCookie)                           \
{                                                                                                                                                                                                                                                       \
        pStream->setNewFrameCallback(handler, pCookie);                                                                                                                                                 \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverStreamConvertDepthToColorCoordinates(oni::driver::StreamBase* pDepthStream,                         \
        oni::driver::StreamBase* pColorStream, int depthX, int depthY, OniDepthPixel depthZ, int* pColorX, int* pColorY)                \
{                                                                                                                                                                                                                                                       \
        return pDepthStream->convertDepthToColorCoordinates(pColorStream, depthX, depthY, depthZ, pColorX, pColorY);                    \
}                                                                                                                                                                                                                                                       \
                                                                                                                            \
ONI_C_API_EXPORT OniStatus oniDriverStreamConvertC2DCoordinates(oni::driver::StreamBase* pDepthStream,                          \
                                        int colorX, int colorY, OniDepthPixel depthZ, int* pDepthX, int* pDepthY)               \
{                                                                                                                                                                                                                                                       \
        return pDepthStream->convertC2DCoordinates(colorX, colorY, depthZ, pDepthX, pDepthY);                   \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT OniStatus oniDriverStreamConvertD2CCoordinates(oni::driver::StreamBase* pDepthStream,                          \
                                       int colorX, int colorY, OniDepthPixel depthZ, int* pDepthX, int* pDepthY)                \
{                                                                                                                                                                                                                                                       \
        return pDepthStream->convertD2CCoordinates(colorX, colorY, depthZ, pDepthX, pDepthY);                   \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT void* oniDriverEnableFrameSync(oni::driver::StreamBase** pStreams, int streamCount)                                            \
{                                                                                                                                                                                                                                                       \
        return g_pDriver->enableFrameSync(pStreams, streamCount);                                                                                                                               \
}                                                                                                                                                                                                                                                       \
                                                                                                                                                                                                                                                        \
ONI_C_API_EXPORT void oniDriverDisableFrameSync(void* frameSyncGroup)                                                                                                           \
{                                                                                                                                                                                                                                                       \
        return g_pDriver->disableFrameSync(frameSyncGroup);                                                                                                                                             \
}                                                                                                                                                                                                                                                       \

#endif // ONIDRIVERAPI_H