| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __KINECT_H__
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| 8 | #define __KINECT_H__
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 | #include "Skeleton.h"
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| 12 |
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| 13 | #include <semLib.h>
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| 14 |
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| 15 | #define kNumSkeletons 1
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| 16 |
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| 17 | /**
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| 18 | * Handles raw data input from the FRC Kinect Server
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| 19 | * when used with a Kinect device connected to the Driver Station.
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| 20 | * Each time a value is requested the most recent value is returned.
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| 21 | * See Getting Started with Microsoft Kinect for FRC and the Kinect
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| 22 | * for Windows SDK API reference for more information
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| 23 | */
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| 24 | class Kinect : public SensorBase
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| 25 | {
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| 26 | public:
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| 27 | typedef enum {kNotTracked, kPositionOnly, kTracked} SkeletonTrackingState;
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| 28 | typedef enum {kClippedRight = 1, kClippedLeft = 2, kClippedTop = 4, kClippedBottom = 8} SkeletonQuality;
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| 29 | typedef struct
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| 30 | {
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| 31 | float x;
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| 32 | float y;
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| 33 | float z;
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| 34 | float w;
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| 35 | } Point4;
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| 36 |
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| 37 | int GetNumberOfPlayers();
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| 38 | Point4 GetFloorClipPlane();
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| 39 | Point4 GetGravityNormal();
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| 40 | Skeleton GetSkeleton(int skeletonIndex = 1);
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| 41 | Point4 GetPosition(int skeletonIndex = 1);
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| 42 | UINT32 GetQuality(int skeletonIndex = 1);
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| 43 | SkeletonTrackingState GetTrackingState(int skeletonIndex = 1);
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| 44 |
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| 45 | static Kinect *GetInstance();
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| 46 |
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| 47 | private:
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| 48 | Kinect();
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| 49 | ~Kinect();
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| 50 | void UpdateData();
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| 51 |
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| 52 | DISALLOW_COPY_AND_ASSIGN(Kinect);
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| 53 |
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| 54 | UINT32 m_recentPacketNumber;
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| 55 | SEM_ID m_dataLock;
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| 56 | int m_numberOfPlayers;
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| 57 | Point4 m_floorClipPlane;
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| 58 | Point4 m_gravityNormal;
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| 59 | Point4 m_position[kNumSkeletons];
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| 60 | UINT32 m_quality[kNumSkeletons];
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| 61 | SkeletonTrackingState m_trackingState[kNumSkeletons];
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| 62 | Skeleton m_skeletons[kNumSkeletons];
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| 63 |
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| 64 | // TODO: Include structs for this data format (would be clearer than 100 magic numbers)
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| 65 | char m_rawHeader[46];
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| 66 | char m_rawSkeletonExtra[42];
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| 67 | char m_rawSkeleton[242];
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| 68 |
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| 69 | static Kinect *_instance;
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| 70 | };
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| 71 |
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| 72 | #endif
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| 73 |
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