/usr/include/openni2/Driver/OniDriverAPI.h is in libopenni2-dev 2.2.0.33+dfsg-7+deb9u1.
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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 _ONI_DRIVER_API_H_
#define _ONI_DRIVER_API_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; }
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 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 // _ONI_DRIVER_API_H_
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