/****************************************************************************

* *

* PrimeSense Sensor 5.x Alpha *

* Copyright (C) 2011 PrimeSense Ltd. *

* *

* This file is part of PrimeSense Sensor. *

* *

* PrimeSense Sensor is free software: you can redistribute it and/or modify*

* it under the terms of the GNU Lesser General Public License as published *

* by the Free Software Foundation, either version 3 of the License, or *

* (at your option) any later version. *

* *

* PrimeSense Sensor is distributed in the hope that it will be useful, *

* but WITHOUT ANY WARRANTY; without even the implied warranty of *

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *

* GNU Lesser General Public License for more details. *

* *

* You should have received a copy of the GNU Lesser General Public License *

* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*

* *

****************************************************************************/

//---------------------------------------------------------------------------

// Includes

//---------------------------------------------------------------------------

#include "XnSensorFixedParams.h"

#include "XnHostProtocol.h"

//---------------------------------------------------------------------------

// Code

//---------------------------------------------------------------------------

XnSensorFixedParams::XnSensorFixedParams(XnDevicePrivateData* pDevicePrivateData) :

m_pDevicePrivateData(pDevicePrivateData),

m_nSensorDepthCMOSI2CBus(0),

m_nSensorDepthCMOSI2CSlaveAddress(0),

m_nSensorImageCMOSI2CBus(0),

m_nSensorImageCMOSI2CSlaveAddress(0),

m_nZeroPlaneDistance(0),

m_dZeroPlanePixelSize(0),

m_dEmitterDCmosDistance(0),

m_dDCmosRCmosDistance(0),

m_nImageCmosType(0)

{

m_strSensorSerial[0] = '\0';

m_deviceInfo.strDeviceName[0] = '\0';

m_deviceInfo.strVendorData[0] = '\0';

m_strPlatformString[0] = '\0';

}

XnStatus XnSensorFixedParams::Init()

{

XnStatus nRetVal = XN_STATUS_OK;

// get fixed params

XnFixedParams FixedParams;

nRetVal = XnHostProtocolGetFixedParams(m_pDevicePrivateData, FixedParams);

if (nRetVal != XN_STATUS_OK)

{

}

if (m_pDevicePrivateData->FWInfo.nFWVer < XN_SENSOR_FW_VER_5_4)

{

sprintf(m_strSensorSerial, "%d", FixedParams.nSerialNumber);

}

else

{

nRetVal = XnHostProtocolGetSerialNumber(m_pDevicePrivateData, m_strSensorSerial);

if (nRetVal != XN_STATUS_OK)

{

return nRetVal;

}

}

xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Sensor serial number: %s", m_strSensorSerial);

// fill in properties

m_nZeroPlaneDistance = (XnDepthPixel)FixedParams.fReferenceDistance;

m_dZeroPlanePixelSize = FixedParams.fReferencePixelSize;

m_dEmitterDCmosDistance = FixedParams.fDCmosEmitterDistance;

m_dDCmosRCmosDistance = FixedParams.fDCmosRCmosDistance;

m_nSensorDepthCMOSI2CBus = (XnUInt16)FixedParams.nDepthCmosI2CBus;

m_nSensorDepthCMOSI2CSlaveAddress = (XnUInt16)FixedParams.nDepthCmosI2CAddress;

m_nSensorImageCMOSI2CBus = (XnUInt16)FixedParams.nImageCmosI2CBus;

m_nSensorImageCMOSI2CSlaveAddress = (XnUInt16)FixedParams.nImageCmosI2CAddress;

m_nImageCmosType = (XnUInt32)FixedParams.nImageCmosType;

nRetVal = XnHostProtocolAlgorithmParams(m_pDevicePrivateData, XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO,

&m_deviceInfo, sizeof(m_deviceInfo), (XnResolutions)0, 0);

XN_IS_STATUS_OK(nRetVal);

nRetVal = XnHostProtocolGetPlatformString(m_pDevicePrivateData, m_strPlatformString);

XN_IS_STATUS_OK(nRetVal);

return (XN_STATUS_OK);

}