Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/include/Kinect.h

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __KINECT_H__
+#define __KINECT_H__
+
+#include "SensorBase.h"
+#include "Skeleton.h"
+
+#include "HAL/Semaphore.h"
+
+#define kNumSkeletons 1
+
+/**
+ * Handles raw data input from the FRC Kinect Server
+ * when used with a Kinect device connected to the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ * See Getting Started with Microsoft Kinect for FRC and the Kinect
+ * for Windows SDK API reference for more information
+ */
+class Kinect : public SensorBase
+{
+public:
+	typedef enum {kNotTracked, kPositionOnly, kTracked} SkeletonTrackingState;
+	typedef enum {kClippedRight = 1, kClippedLeft = 2, kClippedTop = 4, kClippedBottom = 8} SkeletonQuality;
+	typedef struct
+	{
+		float x;
+		float y;
+		float z;
+		float w;
+	} Point4;
+
+	int GetNumberOfPlayers();
+	Point4 GetFloorClipPlane();
+	Point4 GetGravityNormal();
+	Skeleton GetSkeleton(int skeletonIndex = 1);
+	Point4 GetPosition(int skeletonIndex = 1);
+	uint32_t GetQuality(int skeletonIndex = 1);
+	SkeletonTrackingState GetTrackingState(int skeletonIndex = 1);
+
+	static Kinect *GetInstance();
+
+private:
+	Kinect();
+	~Kinect();
+	void UpdateData();
+
+	DISALLOW_COPY_AND_ASSIGN(Kinect);
+
+	uint32_t m_recentPacketNumber;
+	MUTEX_ID m_dataLock;
+	int m_numberOfPlayers;
+	Point4 m_floorClipPlane;
+	Point4 m_gravityNormal;
+	Point4 m_position[kNumSkeletons];
+	uint32_t m_quality[kNumSkeletons];
+	SkeletonTrackingState m_trackingState[kNumSkeletons];
+	Skeleton m_skeletons[kNumSkeletons];
+
+	// TODO: Include structs for this data format (would be clearer than 100 magic numbers)
+	char m_rawHeader[46];
+	char m_rawSkeletonExtra[42];
+	char m_rawSkeleton[242];
+
+	static Kinect *_instance;
+};
+
+#endif
+