added led control via ONI_DEVICE_PROPERTY_PLAYBACK_SPEED

OpenNI2-FreenectDriver/CMakeLists.txt

@@ -2,8 +2,6 @@
 # OpenNI2-FreenectDriver
 ######################################################################################
 
-cmake_minimum_required(VERSION 3.1.0)
-
 file(GLOB HEADERS src/*.hpp src/*.h)
 file(GLOB SOURCES src/*.cpp)
 add_library(FreenectDriver SHARED ${HEADERS} ${SOURCES})
@@ -17,12 +15,11 @@ set_target_properties(FreenectDriver PROPERTIES
   OUTPUT_NAME FreenectDriver)
 
 add_definitions(-DPROJECT_VER="${PROJECT_VER}")
-
+add_definitions(--std=c++11)
 include_directories(extern/OpenNI-Linux-x64-2.2.0.33/Include)
 include_directories(${PROJECT_SOURCE_DIR}/src)
 include_directories(${PROJECT_SOURCE_DIR}/wrappers/cpp)
 
-target_compile_features(FreenectDriver PUBLIC cxx_constexpr)
 
 target_link_libraries(FreenectDriver freenectstatic ${MATH_LIB})
 

OpenNI2-FreenectDriver/src/DeviceDriver.cpp

@@ -30,12 +30,18 @@ namespace FreenectDriver
   private:
     ColorStream* color;
     DepthStream* depth;
+    bool ledchanged = false;
+    freenect_led_options nextled ;
 
-    // for Freenect::FreenectDevice
-    void DepthCallback(void* data, uint32_t timestamp) {
+    void DepthCallback(void* data, uint32_t timestamp) {     
       depth->buildFrame(data, timestamp);
     }
     void VideoCallback(void* data, uint32_t timestamp) {
+      if(ledchanged)
+      {
+         printf("LED change in VideoCallback %d\n",(int)nextled);
+        ledchanged = false;
+      }
       color->buildFrame(data, timestamp);
     }
 
@@ -120,7 +126,6 @@ namespace FreenectDriver
         case ONI_DEVICE_PROPERTY_SERIAL_NUMBER:           // string
         case ONI_DEVICE_PROPERTY_ERROR_STATE:             // ?
         // files
-        case ONI_DEVICE_PROPERTY_PLAYBACK_SPEED:          // float
         case ONI_DEVICE_PROPERTY_PLAYBACK_REPEAT_ENABLED: // OniBool
         // xn
         case XN_MODULE_PROPERTY_USB_INTERFACE:            // XnSensorUsbInterface
@@ -139,6 +144,14 @@ namespace FreenectDriver
           }
           *(static_cast<OniImageRegistrationMode*>(data)) = depth->getImageRegistrationMode();
           return ONI_STATUS_OK;
+        case ONI_DEVICE_PROPERTY_PLAYBACK_SPEED:
+	  if (*pDataSize != sizeof(float))
+	{
+		LogError("Unexpected size of ONI_DEVICE_PROPERTY_PLAYBACK_SPEED");
+		return ONI_STATUS_ERROR;
+		}
+	  *(static_cast<float*>(data)) = 1; 
+		break;
       }
     }
 
@@ -153,7 +166,6 @@ namespace FreenectDriver
         case ONI_DEVICE_PROPERTY_SERIAL_NUMBER:           // string
         case ONI_DEVICE_PROPERTY_ERROR_STATE:             // ?
         // files
-        case ONI_DEVICE_PROPERTY_PLAYBACK_SPEED:          // float
         case ONI_DEVICE_PROPERTY_PLAYBACK_REPEAT_ENABLED: // OniBool
         // xn
         case XN_MODULE_PROPERTY_USB_INTERFACE:            // XnSensorUsbInterface
@@ -178,7 +190,30 @@ namespace FreenectDriver
             return ONI_STATUS_ERROR;
           }
           return depth->setImageRegistrationMode(*(static_cast<const OniImageRegistrationMode*>(data)));
+        case ONI_DEVICE_PROPERTY_PLAYBACK_SPEED:
+printf("ONI_DEVICE_PROPERTY_PLAYBACK_SPEED hack led \n");
+	  if (dataSize != sizeof(float))
+	{
+
+		LogError("Unexpected size for setting ONI_DEVICE_PROPERTY_PLAYBACK_SPEED as led ");
+		return ONI_STATUS_ERROR;
+		}
+		try {
+		nextled = (freenect_led_options)*(static_cast<const float*>(data));
+		//ledchanged = true;
+		        setLed(nextled);
+        updateState();
+
+		printf("ONI_DEVICE_PROPERTY_PLAYBACK_SPEED hack led value %d\n",(int)nextled);
+		return ONI_STATUS_OK;
+		}
+	catch(...)
+	{
+			LogError("ONI_DEVICE_PROPERTY_PLAYBACK_SPEED aka LED error");
+		return ONI_STATUS_ERROR;
+}
       }
+
     }
 
     OniBool isCommandSupported(int commandId)
@@ -232,7 +267,7 @@ namespace FreenectDriver
       WriteMessage("Using libfreenect v" + to_string(PROJECT_VER));
 
       freenect_set_log_level(m_ctx, FREENECT_LOG_DEBUG);
-      freenect_select_subdevices(m_ctx, FREENECT_DEVICE_CAMERA); // OpenNI2 doesn't use MOTOR or AUDIO
+      freenect_select_subdevices(m_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA)); // OpenNI2 doesn't use MOTOR or AUDIO
       DriverServices = &getServices();
     }
     ~Driver() { shutdown(); }

examples/tiltdemo.c

@@ -93,7 +93,7 @@ int main(int argc, char *argv[])
 
 	while (1) {
 		// Pick a random tilt and a random LED state
-		freenect_led_options led = (freenect_led_options) (rand() % 6); // explicit cast
+		freenect_led_options led = (freenect_led_options) (argc == 1 ? 0: 1); // explicit cast
 		int tilt = (rand() % 30)-15;
 		freenect_raw_tilt_state *state = 0;
 		double dx, dy, dz;
@@ -112,7 +112,7 @@ int main(int argc, char *argv[])
 
 		printf("led[%d] tilt[%d] accel[%lf,%lf,%lf]\n", led, tilt, dx,dy,dz);
 
-		sleep(3);
+	  break;
 	}
 }