QKinect.h

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/***************************************************************************
 *  This file is part of the OpenKinect Project. http://www.openkinect.org *
 *                                                                         *
 *  Copyright (c) 2010 individual OpenKinect contributors.                 *
 *  See the CONTRIB file for details.                                      *
 *                                                                         *
 *  This file is part of direcs.                                           *
 *  www.direcs.de                                                          *
 *                                                                         *
 *  direcs is free software: you can redistribute it and/or modify it      *
 *  under the terms of the GNU General Public License as published         *
 *  by the Free Software Foundation, version 3 of the License.             *
 *                                                                         *
 *  direcs 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 General Public License for more details.                           *
 *                                                                         *
 *  You should have received a copy of the GNU General Public License      *
 *  along with direcs. If not, see <http://www.gnu.org/licenses/>.         *
 *                                                                         *
 ***************************************************************************/

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

#ifndef __QKINECT_H__
#define __QKINECT_H__

#include <QObject>
#include <QThread>
#include <stdexcept>
#include <QMutex>
#include <QMutexLocker>
#include <vector>
#include <libfreenect/libfreenect.h>

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

class QKinectProcessEvents : public QThread
{
public :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        inline QKinectProcessEvents(freenect_context *_ctx){m_ctx=_ctx;}

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        inline void setActive(){m_active=true;}

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        inline void setInActive(){m_active=false;}


protected :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void run();


private :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool m_active;
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        freenect_context *m_ctx;

};

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

class QKinect : public QObject
{
// must include this macro so we inherit all the core QT features such as singnals and slots
Q_OBJECT
public :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        static QKinect *instance();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        inline void setUserDeviceNumber(int _m){m_userDeviceNumber=_m;}

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void shutDownKinect();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool kinectDetected;


public slots :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setAngle(double _angle);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setLedOff();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setRedLed();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setGreenLed();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setYellowLed();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setRedLedFlash();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setGreenLedFlash();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setYellowLedFlash();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void setVideoMode(int _mode);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void resetAngle();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool getDepth(std::vector<uint8_t> &o_buffer);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool getDepthRaw(std::vector<uint8_t> &o_buffer);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool getDepth16Bit(std::vector<uint16_t> &o_buffer);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool getRGB(std::vector<uint8_t> &o_buffer);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void startDepth();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void stopDepth();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void startVideo();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void stopVideo();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void toggleVideoState(bool _mode);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void toggleDepthState(bool _mode);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        inline freenect_context *getContext(){return m_ctx;}


signals:
        void message(QString text);


private :
        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        QKinect();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        ~QKinect();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        Q_DISABLE_COPY(QKinect)

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void init();

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        static QKinect *s_instance;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        freenect_context *m_ctx;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        freenect_device *m_dev;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        int m_userDeviceNumber;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void depthFunc(freenect_device *_dev, void *o_depth, uint32_t _timestamp);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void rgbFunc(freenect_device *_dev, void *o_rgb, uint32_t _timestamp);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        std::vector<uint8_t> m_bufferDepth;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        std::vector<uint8_t> m_bufferVideo;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        std::vector<uint8_t> m_bufferDepthRaw;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        std::vector<uint16_t> m_bufferDepthRaw16;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        std::vector<uint16_t> m_gamma;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool m_newRgbFrame;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool m_newDepthFrame;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool m_stopDevice;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        bool m_deviceActive;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        QKinectProcessEvents *m_process;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        QMutex m_mutex;

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void grabDepth(void *_depth, uint32_t timestamp);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        void grabVideo(void *_video, uint32_t timestamp);

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        static inline void depthCallback(freenect_device *_dev, void *_depth, uint32_t _timestamp=0)
        {
                QKinect *kinect=QKinect::instance();
                kinect->grabDepth(_depth,_timestamp);

                Q_UNUSED(_dev);
                Q_UNUSED(_timestamp);
        }

        //----------------------------------------------------------------------------------------------------------------------
        //----------------------------------------------------------------------------------------------------------------------
        static inline void videoCallback(freenect_device *_dev, void *_video, uint32_t _timestamp=0)
        {
                QKinect *kinect=QKinect::instance();
                kinect->grabVideo(_video, _timestamp);

                Q_UNUSED(_dev);
                Q_UNUSED(_timestamp);
        }
};

#endif