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_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;
    SEM_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