mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
74 lines
2.0 KiB
C++
74 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __KINECT_H__
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#define __KINECT_H__
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#include "SensorBase.h"
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#include "Skeleton.h"
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#include "HAL/Semaphore.h"
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#define kNumSkeletons 1
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/**
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* Handles raw data input from the FRC Kinect Server
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* when used with a Kinect device connected to the Driver Station.
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* Each time a value is requested the most recent value is returned.
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* See Getting Started with Microsoft Kinect for FRC and the Kinect
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* for Windows SDK API reference for more information
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*/
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class Kinect : public SensorBase
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{
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public:
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typedef enum {kNotTracked, kPositionOnly, kTracked} SkeletonTrackingState;
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typedef enum {kClippedRight = 1, kClippedLeft = 2, kClippedTop = 4, kClippedBottom = 8} SkeletonQuality;
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typedef struct
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{
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float x;
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float y;
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float z;
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float w;
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} Point4;
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int GetNumberOfPlayers();
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Point4 GetFloorClipPlane();
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Point4 GetGravityNormal();
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Skeleton GetSkeleton(int skeletonIndex = 1);
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Point4 GetPosition(int skeletonIndex = 1);
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uint32_t GetQuality(int skeletonIndex = 1);
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SkeletonTrackingState GetTrackingState(int skeletonIndex = 1);
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static Kinect *GetInstance();
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private:
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Kinect();
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~Kinect();
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void UpdateData();
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DISALLOW_COPY_AND_ASSIGN(Kinect);
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uint32_t m_recentPacketNumber;
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MUTEX_ID m_dataLock;
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int m_numberOfPlayers;
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Point4 m_floorClipPlane;
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Point4 m_gravityNormal;
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Point4 m_position[kNumSkeletons];
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uint32_t m_quality[kNumSkeletons];
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SkeletonTrackingState m_trackingState[kNumSkeletons];
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Skeleton m_skeletons[kNumSkeletons];
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// TODO: Include structs for this data format (would be clearer than 100 magic numbers)
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char m_rawHeader[46];
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char m_rawSkeletonExtra[42];
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char m_rawSkeleton[242];
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static Kinect *_instance;
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};
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#endif
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