freenect 1.2 → 1.2.1

raw patch · 4 files changed

+228/−6 lines, 4 filesPVP: major bump suggested

API removals or changes: PVP suggests a major version bump

API changes (from Hackage documentation)

Files

• cbits/freenect-helpers.c +13/−0
• freenect.cabal +2/−1
• src/Freenect.hs +149/−3
• src/Freenect/FFI.hs +64/−2

@@ -70,3 +70,16 @@   freenect_frame_mode mode = freenect_get_current_depth_mode(dev);   return mode.resolution; }+++int process_events_timeout(freenect_context* ctx, int microseconds)+{+    struct timeval timeout;+    +    timeout.tv_sec = microseconds / 1000000;+    timeout.tv_usec = microseconds - timeout.tv_sec * 1000000;++    return freenect_process_events_timeout(ctx, &timeout);++}+

@@ -1,5 +1,5 @@ Name:                freenect-Version:             1.2+Version:             1.2.1 Synopsis:            Interface to the Kinect device. Description:         Interface to the Kinect device. Currently supports                      depth perception. (No video or audio.)@@ -27,3 +27,4 @@   Extra-libraries:   freenect, freenect_sync   C-sources:         cbits/freenect-helpers.c   Include-dirs:      cbits+  Pkgconfig-Depends: libfreenect

@@ -24,6 +24,7 @@        ,countDevices        ,withContext        ,processEvents+       ,processEventsTimeout        ,selectSubdevices        ,newDevice        ,openDevice@@ -32,21 +33,30 @@        ,setLogLevel        ,setVideoCallback        ,startVideo+       ,stopVideo        ,setDepthCallback        ,startDepth+       ,stopDepth        ,setTiltDegrees+       ,getTiltDegrees+       ,getAcceleration        ,setLed        ,setVideoMode        ,setDepthMode+       ,setFlag        ,Context        ,Device        ,FreenectException(..)        ,Subdevice(..)        ,LogLevel(..)        ,Led(..)+       ,Flag(..)        ,Resolution(..)        ,VideoFormat(..)-       ,DepthFormat(..))+       ,DepthFormat(..)+       ,setAudioInCallback+       ,startAudio+       ,stopAudio)        where  import Freenect.FFI@@ -89,13 +99,18 @@   | ProcessEvents CInt       -- ^ Call to process events failed.   | OpenDeviceFailed Integer -- ^ Opening a device failed.   | StartVideoProblem        -- ^ Problem starting the video stream.+  | StopVideoProblem         -- ^ Problem stopping the video stream   | StartDepthProblem        -- ^ Problem starting the depth stream.+  | StopDepthProblem         -- ^ Problem stopping the depth stream   | UnableToSetTilt          -- ^ Unable to set the tilt.   | UnableToSetLed           -- ^ Unable to set active led+  | UnableToSetFlag          -- ^ Failed to enable a specific device flag   | SetVideoMode             -- ^ Unable to set the video mode.   | VideoModeNotSet          -- ^ TODO, not used: You didn't set the video mode.   | SetDepthMode             -- ^ Unable to set the depth mode.   | DepthModeNotSet          -- ^ TODO, not used: You didn't set the depth mode.+  | StartAudioProblem        -- ^ Problem starting the audio stream+  | StopAudioProblem         -- ^ Problem stopping the audio stream     deriving (Show,Typeable) instance Exception FreenectException @@ -147,6 +162,22 @@     _ | result < 0 -> throw (ProcessEvents result)       | otherwise  -> return () ++processEventsTimeout :: Context -> Int -> IO ()+processEventsTimeout ctx timeout = flip withC ctx $ \cptr -> do+  cptr   <- peek cptr+  result <- process_events_timeout cptr (fromIntegral timeout)+  case result of+    -- LIBUSB_ERROR_INTERRUPTED 	+    -- System call interrupted (perhaps due to signal).+    -- I think the GHC runtime sends interrupts sometimes, or+    -- otherwise signals are coming from somewhere but are they appear+    -- to be ignorable.+    -10 -> return ()+    _ | result < 0 -> throw (ProcessEvents result)+      | otherwise  -> return ()++ -- | Run a computation for which the CInt result is zero (in C this is --   success), and thrown an exception if the result is non-zero. succeed :: Exception e => e -> IO () -> IO CInt -> IO ()@@ -158,7 +189,7 @@  -- | A sub-device (motor, camera and audio), if supported on the --   platform.-data Subdevice = Motor | Camera | Auto+data Subdevice = Motor | Camera | Audio   deriving (Show,Eq)  -- | Set which subdevices any subsequent calls to openDevice should@@ -173,7 +204,7 @@    where toDeviceId Motor = 1         toDeviceId Camera = 2-        toDeviceId Auto = 4+        toDeviceId Audio = 4  -- | Create a new device. newDevice :: IO Device@@ -273,18 +304,65 @@   ptr <- peek ptr   freenect_start_video ptr +-- | Start the video information stream for a device.+stopVideo :: Device -> IO ()+stopVideo = withD $ \ptr -> succeed StopVideoProblem (return ()) $ do+  ptr <- peek ptr+  freenect_stop_video ptr+ -- | Start the depth information stream for a device. startDepth :: Device -> IO () startDepth = withD $ \ptr -> succeed StartDepthProblem (return ()) $ do   ptr <- peek ptr   freenect_start_depth ptr +-- | Stop the depth information stream for a device.+stopDepth :: Device -> IO ()+stopDepth = withD $ \ptr -> succeed StopDepthProblem (return ()) $ do+  ptr <- peek ptr+  freenect_stop_depth ptr++ -- | Set the tilt degrees for a device. setTiltDegrees :: Double -> Device -> IO () setTiltDegrees angle = withD $ \ptr -> succeed UnableToSetTilt (return ()) $ do   ptr <- peek ptr   freenect_set_tilt_degs ptr (realToFrac angle) ++-- | Get the tilt degrees for a device+getTiltDegrees :: Device -> IO Double+getTiltDegrees= withD $ \ptr -> do+   ptr <- peek ptr+   _ <- freenect_update_tilt_state ptr+   tiltstate <- freenect_get_tilt_state ptr+   fmap realToFrac (freenect_get_tilt_degs tiltstate)+++-- | Get the accelaretion for (x, y, z) axes from the internal tilt state +getAcceleration :: Device -> IO (Double, Double, Double)+getAcceleration = withD $ \ptr -> do+   ptr <- peek ptr+   _ <- freenect_update_tilt_state ptr+   tiltstate <- freenect_get_tilt_state ptr++   allocaArray 3 $ \temp -> do+      let step  = sizeOf (undefined :: CDouble)++      let temp_x = temp                     :: Ptr CDouble+      let temp_y = plusPtr temp step        :: Ptr CDouble+      let temp_z = plusPtr temp (2 * step)  :: Ptr CDouble++      freenect_get_mks_accel tiltstate temp_x temp_y temp_z++      x <- peek temp_x+      y <- peek temp_y +      z <- peek temp_z ++      return (realToFrac x, realToFrac y, realToFrac z)+++ data Resolution = Low | Medium | High   deriving (Enum,Show,Eq,Ord) @@ -341,6 +419,74 @@       freenect_set_led ptr (if ledcode == 5 then 6 else ledcode)    where    ledcode = (fromIntegral (fromEnum led))++++data Flag+  = AutoExposure+  | AutoWhiteBalance+  | RawColor+  | MirrorDepth+  | MirrorVideo+  deriving(Show,Eq)++-- | Sets a specific device flag for depth and video cameras. The +--    bool value defines to enable or disable the given flag. The specific camera+--    has to be started with startVideo/startDepth before Freenect accepts +--    these flags (seems to be a small bug for me, an issue is written at libfreenect) +setFlag :: Device -> Flag -> Bool -> IO ()+setFlag d flag enabled = flip withD d $ \ptr -> do+   ptr <- peek ptr+   succeed UnableToSetFlag (return ()) $ +      freenect_set_flag ptr key value+   where+   key   = toEnumInteger flag+   value = fromIntegral (if enabled then 1 else 0)++   toEnumInteger AutoExposure     = 1 `shift` 14+   toEnumInteger AutoWhiteBalance = 1 `shift` 1+   toEnumInteger RawColor         = 1 `shift` 4+   toEnumInteger MirrorDepth      = 1 `shift` 16+   toEnumInteger MirrorVideo      = 1 `shift` 17+  ++-- | Start the audio information stream for a device.+startAudio :: Device -> IO ()+startAudio = withD $ \ptr -> succeed StartAudioProblem (return ()) $ do+  ptr <- peek ptr+  freenect_start_audio ptr++-- | Stop the audio information stream for a device.+stopAudio :: Device -> IO ()+stopAudio = withD $ \ptr -> succeed StopAudioProblem (return ()) $ do+  ptr <- peek ptr+  freenect_stop_audio ptr+++-- | Set callback for incoming audio events.+setAudioInCallback +   :: Device +   -> (Int -> Vector Word32 -> Vector Word32 -> Vector Word32 -> Vector Word32 -> Vector Word16 -> IO ()) +   -> IO ()+setAudioInCallback d callback = flip withD d $ \dptr -> do+  dptr <- peek dptr+  callbackPtr <- wrapAudioInCallback $ \_ num lptr lmptr rmptr rptr nptr _  -> do+    let !size = (fromIntegral num)++    l_ptr <- newForeignPtr_ lptr+    lm_ptr <- newForeignPtr_ lmptr+    rm_ptr <- newForeignPtr_ rmptr+    r_ptr <- newForeignPtr_ rptr+    n_ptr <- newForeignPtr_ nptr+    +    let !l_vector  = unsafeFromForeignPtr l_ptr 0 size+    let !lm_vector = unsafeFromForeignPtr lm_ptr 0 size+    let !rm_vector = unsafeFromForeignPtr rm_ptr 0 size+    let !r_vector  = unsafeFromForeignPtr r_ptr 0 size+    let !n_vector  = unsafeFromForeignPtr n_ptr 0 size+    +    callback size l_vector lm_vector rm_vector r_vector n_vector+  freenect_set_audio_in_callback dptr callbackPtr   

@@ -10,6 +10,7 @@  data ContextStruct data DeviceStruct+data RawTiltState  -------------------------------------------------------------------------------- -- Freenect lib functions.@@ -77,19 +78,76 @@                        -> IO CInt  foreign import ccall+  "freenect.h freenect_stop_depth"+  freenect_stop_depth :: Ptr DeviceStruct+                       -> IO CInt++foreign import ccall   "freenect.h freenect_start_video"   freenect_start_video :: Ptr DeviceStruct                        -> IO CInt  foreign import ccall+  "freenect.h freenect_stop_video"+  freenect_stop_video :: Ptr DeviceStruct+                       -> IO CInt++foreign import ccall+   "freenect.h freenect_set_led"+   freenect_set_led :: Ptr DeviceStruct -> CInt -> IO CInt+++foreign import ccall +   "freenect.h freenect_set_flag"+   freenect_set_flag :: Ptr DeviceStruct -> CInt -> CInt -> IO CInt+++foreign import ccall   "freenect.h freenect_set_tilt_degs"   freenect_set_tilt_degs :: Ptr DeviceStruct -> CDouble -> IO CInt +foreign import ccall +   "freenect.h freenect_update_tilt_state"+   freenect_update_tilt_state :: Ptr DeviceStruct -> IO CInt  foreign import ccall-   "freenect.h freenect_set_led"-   freenect_set_led :: Ptr DeviceStruct -> CInt -> IO CInt+   "freenect.h freenect_get_tilt_state"+   freenect_get_tilt_state :: Ptr DeviceStruct -> IO (Ptr RawTiltState)++foreign import ccall+   "freenect.h freenect_get_tilt_degs"+   freenect_get_tilt_degs :: Ptr RawTiltState -> IO CDouble++foreign import ccall+   "freenect.h freenect_get_mks_accel"+   freenect_get_mks_accel :: Ptr RawTiltState -> Ptr CDouble -> Ptr CDouble -> Ptr CDouble -> IO ()+ --------------------------------------------------------------------------------+-- Audio++foreign import ccall+   "freenect_audio.h freenect_start_audio"+   freenect_start_audio :: Ptr DeviceStruct -> IO CInt++foreign import ccall +   "freenect_audio.h freenect_stop_audio"+   freenect_stop_audio :: Ptr DeviceStruct -> IO CInt++type AudioInCallback = Ptr DeviceStruct -> CInt -> Ptr Word32 -> Ptr Word32 -> Ptr Word32 -> Ptr Word32 -> Ptr Word16 -> Ptr CUChar -> IO ()++foreign import ccall+  "freenect.h freenect_set_audio_in_callback"+  freenect_set_audio_in_callback+    :: Ptr DeviceStruct+    -> (FunPtr AudioInCallback)+    -> IO ()++foreign import ccall "wrapper"  +  wrapAudioInCallback :: AudioInCallback -> IO (FunPtr AudioInCallback)++++-------------------------------------------------------------------------------- -- Helpers.  foreign import ccall@@ -99,6 +157,10 @@ foreign import ccall   "freenect-helpers.h new_freenect_device"   new_freenect_device :: IO (Ptr (Ptr DeviceStruct))++foreign import ccall+  "freenect-helpers.h process_events_timeout"+  process_events_timeout :: Ptr ContextStruct -> CInt -> IO CInt  data FrameMode