mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
80 lines
2.0 KiB
C++
80 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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#pragma once
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#include "SensorBase.h"
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#include "Skeleton.h"
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#include "HAL/Semaphore.hpp"
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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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enum SkeletonTrackingState
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{
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kNotTracked,
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kPositionOnly,
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kTracked
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};
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enum SkeletonQuality
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{
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kClippedRight = 1,
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kClippedLeft = 2,
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kClippedTop = 4,
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kClippedBottom = 8
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};
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struct Point4
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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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};
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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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