1 /*
2 * This file is part of the OpenKinect Project. http://www.openkinect.org
3 *
4 * Copyright (c) 2010 Brandyn White (bwhite@dappervision.com)
5 *
6 * This code is licensed to you under the terms of the Apache License, version
7 * 2.0, or, at your option, the terms of the GNU General Public License,
8 * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
9 * or the following URLs:
10 * http://www.apache.org/licenses/LICENSE-2.0
11 * http://www.gnu.org/licenses/gpl-2.0.txt
12 *
13 * If you redistribute this file in source form, modified or unmodified, you
14 * may:
15 * 1) Leave this header intact and distribute it under the same terms,
16 * accompanying it with the APACHE20 and GPL20 files, or
17 * 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
18 * 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
19 * In all cases you must keep the copyright notice intact and include a copy
20 * of the CONTRIB file.
21 *
22 * Binary distributions must follow the binary distribution requirements of
23 * either License.
24 */
25
26 #include <libfreenect.h>
27 #include <stdio.h>
28 #include <string.h>
29 #include <stdlib.h>
30 #include <math.h>
31 #include <unistd.h>
32 #include <time.h>
33 #include <assert.h>
34
35 #define GRAVITY 9.80665
36
37 // The dev and ctx are just faked with these numbers
38
39 static freenect_device *fake_dev = (freenect_device *)1234;
40 static freenect_context *fake_ctx = (freenect_context *)5678;
41 static freenect_depth_cb cur_depth_cb = NULL;
42 static freenect_video_cb cur_rgb_cb = NULL;
43 static char *input_path = NULL;
44 static FILE *index_fp = NULL;
45 static freenect_raw_tilt_state state = {};
46 static int already_warned = 0;
47 static double playback_prev_time = 0.;
48 static double record_prev_time = 0.;
49 static void *depth_buffer = NULL;
50 static void *rgb_buffer = NULL;
51 static int depth_running = 0;
52 static int rgb_running = 0;
53 static void *user_ptr = NULL;
54
sleep_highres(double tm)55 static void sleep_highres(double tm)
56 {
57 int sec = floor(tm);
58 int usec = (tm - sec) * 1000000;
59 if (tm > 0) {
60 sleep(sec);
61 usleep(usec);
62 }
63 }
64
get_time()65 static double get_time()
66 {
67 struct timeval cur;
68 gettimeofday(&cur, NULL);
69 return cur.tv_sec + cur.tv_usec / 1000000.;
70 }
71
one_line(FILE * fp)72 static char *one_line(FILE *fp)
73 {
74 int pos = 0;
75 char *out = NULL;
76 char c;
77 while ((c = fgetc(fp))) {
78 if (c == '\n' || c == EOF)
79 break;
80 out = realloc(out, pos + 1);
81 out[pos++] = c;
82 }
83 if (out) {
84 out = realloc(out, pos + 1);
85 out[pos] = '\0';
86 }
87 return out;
88 }
89
get_data_size(FILE * fp)90 static int get_data_size(FILE *fp)
91 {
92 int orig = ftell(fp);
93 fseek(fp, 0L, SEEK_END);
94 int out = ftell(fp);
95 fseek(fp, orig, SEEK_SET);
96 return out;
97 }
98
parse_line(char * type,double * cur_time,unsigned int * timestamp,unsigned int * data_size,char ** data)99 static int parse_line(char *type, double *cur_time, unsigned int *timestamp, unsigned int *data_size, char **data)
100 {
101 char *line = one_line(index_fp);
102 if (!line) {
103 printf("Warning: No more lines in [%s]\n", input_path);
104 return -1;
105 }
106 int file_path_size = strlen(input_path) + strlen(line) + 50;
107 char *file_path = malloc(file_path_size);
108 snprintf(file_path, file_path_size, "%s/%s", input_path, line);
109 // Open file
110 FILE *cur_fp = fopen(file_path, "r");
111 if (!cur_fp) {
112 printf("Error: Cannot open file [%s]\n", file_path);
113 exit(1);
114 }
115 // Parse data from file name
116 *data_size = get_data_size(cur_fp);
117 sscanf(line, "%c-%lf-%u-%*s", type, cur_time, timestamp);
118 *data = malloc(*data_size);
119 if (fread(*data, *data_size, 1, cur_fp) != 1) {
120 printf("Error: Couldn't read entire file.\n");
121 return -1;
122 }
123 fclose(cur_fp);
124 free(line);
125 free(file_path);
126 return 0;
127 }
128
open_index()129 static void open_index()
130 {
131 input_path = getenv("FAKENECT_PATH");
132 if (!input_path) {
133 printf("Error: Environmental variable FAKENECT_PATH is not set. Set it to a path that was created using the 'record' utility.\n");
134 exit(1);
135 }
136 int index_path_size = strlen(input_path) + 50;
137 char *index_path = malloc(index_path_size);
138 snprintf(index_path, index_path_size, "%s/INDEX.txt", input_path);
139 index_fp = fopen(index_path, "r");
140 if (!index_fp) {
141 printf("Error: Cannot open file [%s]\n", index_path);
142 exit(1);
143 }
144 free(index_path);
145 }
146
skip_line(char * str)147 static char *skip_line(char *str)
148 {
149 char *out = strchr(str, '\n');
150 if (!out) {
151 printf("Error: PGM/PPM has incorrect formatting, expected a header on one line followed by a newline\n");
152 exit(1);
153 }
154 return out + 1;
155 }
156
freenect_process_events(freenect_context * ctx)157 int freenect_process_events(freenect_context *ctx)
158 {
159 /* This is where the magic happens. We read 1 update from the index
160 per call, so this needs to be called in a loop like usual. If the
161 index line is a Depth/RGB image the provided callback is called. If
162 the index line is accelerometer data, then it is used to update our
163 internal state. If you query for the accelerometer data you get the
164 last sensor reading that we have. The time delays are compensated as
165 best as we can to match those from the original data and current run
166 conditions (e.g., if it takes longer to run this code then we wait less).
167 */
168 if (!index_fp)
169 open_index();
170 char type;
171 double record_cur_time;
172 unsigned int timestamp, data_size;
173 char *data = NULL;
174 if (parse_line(&type, &record_cur_time, ×tamp, &data_size, &data))
175 return -1;
176 // Sleep an amount that compensates for the original and current delays
177 // playback_ is w.r.t. the current time
178 // record_ is w.r.t. the original time period during the recording
179 if (record_prev_time != 0. && playback_prev_time != 0.)
180 sleep_highres((record_cur_time - record_prev_time) - (get_time() - playback_prev_time));
181 record_prev_time = record_cur_time;
182 switch (type) {
183 case 'd':
184 if (cur_depth_cb && depth_running) {
185 void *cur_depth = skip_line(data);
186 if (depth_buffer) {
187 memcpy(depth_buffer, cur_depth, FREENECT_DEPTH_11BIT_SIZE);
188 cur_depth = depth_buffer;
189 }
190 cur_depth_cb(fake_dev, cur_depth, timestamp);
191 }
192 break;
193 case 'r':
194 if (cur_rgb_cb && rgb_running) {
195 void *cur_rgb = skip_line(data);
196 if (rgb_buffer) {
197 memcpy(rgb_buffer, cur_rgb, FREENECT_VIDEO_RGB_SIZE);
198 cur_rgb = rgb_buffer;
199 }
200 cur_rgb_cb(fake_dev, cur_rgb, timestamp);
201 }
202 break;
203 case 'a':
204 if (data_size == sizeof(state)) {
205 memcpy(&state, data, sizeof(state));
206 } else if (!already_warned) {
207 already_warned = 1;
208 printf("\n\nWarning: Accelerometer data has an unexpected"
209 " size [%u] instead of [%u]. The acceleration "
210 "and tilt data will be substituted for dummy "
211 "values. This data was probably made with an "
212 "older version of record (the upstream interface "
213 "changed).\n\n",
214 data_size, (unsigned int)sizeof state);
215 }
216 break;
217 }
218 free(data);
219 playback_prev_time = get_time();
220 return 0;
221 }
222
freenect_get_tilt_degs(freenect_raw_tilt_state * state)223 double freenect_get_tilt_degs(freenect_raw_tilt_state *state)
224 {
225 // NOTE: This is duped from tilt.c, this is the only function we need from there
226 return ((double)state->tilt_angle) / 2.;
227 }
228
freenect_get_tilt_state(freenect_device * dev)229 freenect_raw_tilt_state* freenect_get_tilt_state(freenect_device *dev)
230 {
231 return &state;
232 }
233
freenect_get_mks_accel(freenect_raw_tilt_state * state,double * x,double * y,double * z)234 void freenect_get_mks_accel(freenect_raw_tilt_state *state, double* x, double* y, double* z)
235 {
236 //the documentation for the accelerometer (http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf)
237 //states there are 819 counts/g
238 *x = (double)state->accelerometer_x/FREENECT_COUNTS_PER_G*GRAVITY;
239 *y = (double)state->accelerometer_y/FREENECT_COUNTS_PER_G*GRAVITY;
240 *z = (double)state->accelerometer_z/FREENECT_COUNTS_PER_G*GRAVITY;
241 }
242
freenect_set_depth_callback(freenect_device * dev,freenect_depth_cb cb)243 void freenect_set_depth_callback(freenect_device *dev, freenect_depth_cb cb)
244 {
245 cur_depth_cb = cb;
246 }
247
freenect_set_video_callback(freenect_device * dev,freenect_video_cb cb)248 void freenect_set_video_callback(freenect_device *dev, freenect_video_cb cb)
249 {
250 cur_rgb_cb = cb;
251 }
252
freenect_num_devices(freenect_context * ctx)253 int freenect_num_devices(freenect_context *ctx)
254 {
255 // Always 1 device
256 return 1;
257 }
258
freenect_open_device(freenect_context * ctx,freenect_device ** dev,int index)259 int freenect_open_device(freenect_context *ctx, freenect_device **dev, int index)
260 {
261 // Set it to some number to allow for NULL checks
262 *dev = fake_dev;
263 return 0;
264 }
265
freenect_init(freenect_context ** ctx,freenect_usb_context * usb_ctx)266 int freenect_init(freenect_context **ctx, freenect_usb_context *usb_ctx)
267 {
268 *ctx = fake_ctx;
269 return 0;
270 }
271
freenect_set_depth_buffer(freenect_device * dev,void * buf)272 int freenect_set_depth_buffer(freenect_device *dev, void *buf)
273 {
274 depth_buffer = buf;
275 return 0;
276 }
277
freenect_set_video_buffer(freenect_device * dev,void * buf)278 int freenect_set_video_buffer(freenect_device *dev, void *buf)
279 {
280 rgb_buffer = buf;
281 return 0;
282 }
283
freenect_set_user(freenect_device * dev,void * user)284 void freenect_set_user(freenect_device *dev, void *user)
285 {
286 user_ptr = user;
287 }
288
freenect_get_user(freenect_device * dev)289 void *freenect_get_user(freenect_device *dev)
290 {
291 return user_ptr;
292 }
293
freenect_start_depth(freenect_device * dev)294 int freenect_start_depth(freenect_device *dev)
295 {
296 depth_running = 1;
297 return 0;
298 }
299
freenect_start_video(freenect_device * dev)300 int freenect_start_video(freenect_device *dev)
301 {
302 rgb_running = 1;
303 return 0;
304 }
305
freenect_stop_depth(freenect_device * dev)306 int freenect_stop_depth(freenect_device *dev)
307 {
308 depth_running = 0;
309 return 0;
310 }
311
freenect_stop_video(freenect_device * dev)312 int freenect_stop_video(freenect_device *dev)
313 {
314 rgb_running = 0;
315 return 0;
316 }
317
freenect_set_video_format(freenect_device * dev,freenect_video_format fmt)318 int freenect_set_video_format(freenect_device *dev, freenect_video_format fmt)
319 {
320 assert(fmt == FREENECT_VIDEO_RGB);
321 return 0;
322 }
freenect_set_depth_format(freenect_device * dev,freenect_depth_format fmt)323 int freenect_set_depth_format(freenect_device *dev, freenect_depth_format fmt)
324 {
325 assert(fmt == FREENECT_DEPTH_11BIT);
326 return 0;
327 }
328
freenect_set_log_callback(freenect_context * ctx,freenect_log_cb cb)329 void freenect_set_log_callback(freenect_context *ctx, freenect_log_cb cb) {}
freenect_set_log_level(freenect_context * ctx,freenect_loglevel level)330 void freenect_set_log_level(freenect_context *ctx, freenect_loglevel level) {}
freenect_shutdown(freenect_context * ctx)331 int freenect_shutdown(freenect_context *ctx)
332 {
333 return 0;
334 }
freenect_close_device(freenect_device * dev)335 int freenect_close_device(freenect_device *dev)
336 {
337 return 0;
338 }
freenect_set_tilt_degs(freenect_device * dev,double angle)339 int freenect_set_tilt_degs(freenect_device *dev, double angle)
340 {
341 return 0;
342 }
freenect_set_led(freenect_device * dev,freenect_led_options option)343 int freenect_set_led(freenect_device *dev, freenect_led_options option)
344 {
345 return 0;
346 }
freenect_update_tilt_state(freenect_device * dev)347 int freenect_update_tilt_state(freenect_device *dev)
348 {
349 return 0;
350 }
351