Kinect.h

/*----------------------------------------------------------------------------*/
/* 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 <semLib.h>

#define kNumSkeletons 1

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 GetQuality(int skeletonIndex = 1);
        SkeletonTrackingState GetTrackingState(int skeletonIndex = 1);

        static Kinect *GetInstance();

private:
        Kinect();
        ~Kinect();
        void UpdateData();

        DISALLOW_COPY_AND_ASSIGN(Kinect);

        UINT32 m_recentPacketNumber;
        SEM_ID m_dataLock;
        int m_numberOfPlayers;
        Point4 m_floorClipPlane;
        Point4 m_gravityNormal;
        Point4 m_position[kNumSkeletons];
        UINT32 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