Merge pull request #38 from christiankerl/configurable_pipeline

make packet processing pipeline configurable

Author: christiankerl

examples/protonect/CMakeLists.txt

@@ -77,6 +77,7 @@ ADD_LIBRARY(freenect2 SHARED
 
   src/double_buffer.cpp
   src/frame_listener_impl.cpp
+  src/packet_pipeline.cpp
 
   src/rgb_packet_stream_parser.cpp
   src/rgb_packet_processor.cpp

examples/protonect/include/libfreenect2/async_packet_processor.h

@@ -28,21 +28,22 @@
 #define ASYNC_PACKET_PROCESSOR_H_
 
 #include <libfreenect2/threading.h>
+#include <libfreenect2/packet_processor.h>
 
 namespace libfreenect2
 {
 
-template<typename PacketT, typename PacketProcessorT>
-class AsyncPacketProcessor
+template<typename PacketT>
+class AsyncPacketProcessor : public PacketProcessor<PacketT>
 {
 public:
-  typedef PacketProcessorT* PacketProcessorPtr;
+  typedef PacketProcessor<PacketT>* PacketProcessorPtr;
 
   AsyncPacketProcessor(PacketProcessorPtr processor) :
     processor_(processor),
     current_packet_available_(false),
     shutdown_(false),
-    thread_(&AsyncPacketProcessor<PacketT, PacketProcessorT>::static_execute, this)
+    thread_(&AsyncPacketProcessor<PacketT>::static_execute, this)
   {
   }
   virtual ~AsyncPacketProcessor()
@@ -53,7 +54,7 @@ class AsyncPacketProcessor
     thread_.join();
   }
 
-  bool ready()
+  virtual bool ready()
   {
     // try to aquire lock, if we succeed the background thread is waiting on packet_condition_
     bool locked = packet_mutex_.try_lock();
@@ -66,7 +67,7 @@ class AsyncPacketProcessor
     return locked;
   }
 
-  void process(const PacketT &packet)
+  virtual void process(const PacketT &packet)
   {
     {
       libfreenect2::lock_guard l(packet_mutex_);
@@ -87,7 +88,7 @@ class AsyncPacketProcessor
 
   static void static_execute(void *data)
   {
-    static_cast<AsyncPacketProcessor<PacketT, PacketProcessorT> *>(data)->execute();
+    static_cast<AsyncPacketProcessor<PacketT> *>(data)->execute();
   }
 
   void execute()

examples/protonect/include/libfreenect2/depth_packet_processor.h

@@ -31,6 +31,7 @@
 #include <stdint.h>
 
 #include <libfreenect2/frame_listener.hpp>
+#include <libfreenect2/packet_processor.h>
 
 namespace libfreenect2
 {
@@ -42,7 +43,9 @@ struct DepthPacket
   size_t buffer_length;
 };
 
-class DepthPacketProcessor
+typedef PacketProcessor<DepthPacket> BaseDepthPacketProcessor;
+
+class DepthPacketProcessor : public BaseDepthPacketProcessor
 {
 public:
   struct Config
@@ -97,10 +100,8 @@ class DepthPacketProcessor
 
   virtual void setFrameListener(libfreenect2::FrameListener *listener);
   virtual void setConfiguration(const libfreenect2::DepthPacketProcessor::Config &config);
-  virtual void process(const DepthPacket &packet) = 0;
 
   virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length) = 0;
-
 protected:
   libfreenect2::DepthPacketProcessor::Config config_;
   libfreenect2::FrameListener *listener_;

examples/protonect/include/libfreenect2/depth_packet_stream_parser.h

@@ -32,7 +32,6 @@
 
 #include <libfreenect2/double_buffer.h>
 #include <libfreenect2/depth_packet_processor.h>
-#include <libfreenect2/async_packet_processor.h>
 
 #include <libfreenect2/usb/transfer_pool.h>
 
@@ -53,12 +52,14 @@ struct DepthSubPacketFooter
 class DepthPacketStreamParser : public libfreenect2::usb::TransferPool::DataReceivedCallback
 {
 public:
-  DepthPacketStreamParser(libfreenect2::DepthPacketProcessor *processor);
+  DepthPacketStreamParser();
   virtual ~DepthPacketStreamParser();
 
+  void setPacketProcessor(libfreenect2::BaseDepthPacketProcessor *processor);
+
   virtual void onDataReceived(unsigned char* buffer, size_t length);
 private:
-  libfreenect2::AsyncPacketProcessor<libfreenect2::DepthPacket, libfreenect2::DepthPacketProcessor> processor_;
+  libfreenect2::BaseDepthPacketProcessor *processor_;
 
   libfreenect2::DoubleBuffer buffer_;
   libfreenect2::Buffer work_buffer_;

examples/protonect/include/libfreenect2/libfreenect2.hpp

@@ -32,6 +32,8 @@
 namespace libfreenect2
 {
 
+class PacketPipeline;
+
 class Freenect2Device
 {
 public:
@@ -80,11 +82,14 @@ class Freenect2
   std::string getDefaultDeviceSerialNumber();
 
   Freenect2Device *openDevice(int idx);
+  Freenect2Device *openDevice(int idx, const PacketPipeline *factory);
   Freenect2Device *openDevice(const std::string &serial);
+  Freenect2Device *openDevice(const std::string &serial, const PacketPipeline *factory);
 
   Freenect2Device *openDefaultDevice();
+  Freenect2Device *openDefaultDevice(const PacketPipeline *factory);
 protected:
-  Freenect2Device *openDevice(int idx, bool attempting_reset);
+  Freenect2Device *openDevice(int idx, const PacketPipeline *factory, bool attempting_reset);
 private:
   Freenect2Impl *impl_;
 };

examples/protonect/include/libfreenect2/packet_pipeline.h

@@ -0,0 +1,74 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2014 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#ifndef PACKET_PIPELINE_H_
+#define PACKET_PIPELINE_H_
+
+#include <libfreenect2/usb/transfer_pool.h>
+#include <libfreenect2/rgb_packet_stream_parser.h>
+#include <libfreenect2/depth_packet_stream_parser.h>
+#include <libfreenect2/depth_packet_processor.h>
+#include <libfreenect2/rgb_packet_processor.h>
+
+namespace libfreenect2
+{
+
+class PacketPipeline
+{
+public:
+  typedef libfreenect2::usb::TransferPool::DataReceivedCallback PacketParser;
+  virtual ~PacketPipeline();
+
+  virtual PacketParser *getRgbPacketParser() const = 0;
+  virtual PacketParser *getIrPacketParser() const = 0;
+
+  virtual RgbPacketProcessor *getRgbPacketProcessor() const = 0;
+  virtual DepthPacketProcessor *getDepthPacketProcessor() const = 0;
+};
+
+class DefaultPacketPipeline : public PacketPipeline
+{
+private:
+  RgbPacketStreamParser *rgb_parser_;
+  DepthPacketStreamParser *depth_parser_;
+
+  RgbPacketProcessor *rgb_processor_;
+  BaseRgbPacketProcessor *async_rgb_processor_;
+  DepthPacketProcessor *depth_processor_;
+  BaseDepthPacketProcessor *async_depth_processor_;
+public:
+  DefaultPacketPipeline();
+  virtual ~DefaultPacketPipeline();
+
+  virtual PacketParser *getRgbPacketParser() const;
+  virtual PacketParser *getIrPacketParser() const;
+
+  virtual RgbPacketProcessor *getRgbPacketProcessor() const;
+  virtual DepthPacketProcessor *getDepthPacketProcessor() const;
+};
+
+} /* namespace libfreenect2 */
+#endif /* PACKET_PIPELINE_H_ */

examples/protonect/include/libfreenect2/packet_processor.h

@@ -0,0 +1,61 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2014 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#ifndef PACKET_PROCESSOR_H_
+#define PACKET_PROCESSOR_H_
+
+namespace libfreenect2
+{
+
+template<typename PacketT>
+class PacketProcessor
+{
+public:
+  virtual ~PacketProcessor() {}
+
+  virtual bool ready() { return true; }
+  virtual void process(const PacketT &packet) = 0;
+};
+
+template<typename PacketT>
+class NoopPacketProcessor : public PacketProcessor<PacketT>
+{
+public:
+  NoopPacketProcessor() {}
+  virtual ~NoopPacketProcessor() {}
+
+  virtual void process(const PacketT &packet) {}
+};
+
+template<typename PacketT>
+PacketProcessor<PacketT> *noopProcessor()
+{
+  static NoopPacketProcessor<PacketT> noop_processor_;
+  return &noop_processor_;
+}
+
+} /* namespace libfreenect2 */
+#endif /* PACKET_PROCESSOR_H_ */

examples/protonect/include/libfreenect2/rgb_packet_processor.h

@@ -31,6 +31,7 @@
 #include <stdint.h>
 
 #include <libfreenect2/frame_listener.hpp>
+#include <libfreenect2/packet_processor.h>
 
 namespace libfreenect2
 {
@@ -43,15 +44,15 @@ struct RgbPacket
   size_t jpeg_buffer_length;
 };
 
-class RgbPacketProcessor
+typedef PacketProcessor<RgbPacket> BaseRgbPacketProcessor;
+
+class RgbPacketProcessor : public BaseRgbPacketProcessor
 {
 public:
   RgbPacketProcessor();
   virtual ~RgbPacketProcessor();
 
   virtual void setFrameListener(libfreenect2::FrameListener *listener);
-  virtual void process(const libfreenect2::RgbPacket &packet) = 0;
-
 protected:
   libfreenect2::FrameListener *listener_;
 };

examples/protonect/include/libfreenect2/rgb_packet_stream_parser.h

@@ -31,7 +31,6 @@
 
 #include <libfreenect2/double_buffer.h>
 #include <libfreenect2/rgb_packet_processor.h>
-#include <libfreenect2/async_packet_processor.h>
 
 #include <libfreenect2/usb/transfer_pool.h>
 
@@ -41,13 +40,15 @@ namespace libfreenect2
 class RgbPacketStreamParser : public libfreenect2::usb::TransferPool::DataReceivedCallback
 {
 public:
-  RgbPacketStreamParser(libfreenect2::RgbPacketProcessor* processor);
+  RgbPacketStreamParser();
   virtual ~RgbPacketStreamParser();
 
+  void setPacketProcessor(BaseRgbPacketProcessor *processor);
+
   virtual void onDataReceived(unsigned char* buffer, size_t length);
 private:
   libfreenect2::DoubleBuffer buffer_;
-  libfreenect2::AsyncPacketProcessor<libfreenect2::RgbPacket, libfreenect2::RgbPacketProcessor> processor_;
+  BaseRgbPacketProcessor *processor_;
 };
 
 } /* namespace libfreenect2 */

examples/protonect/src/depth_packet_processor.cpp

@@ -25,6 +25,7 @@
  */
 
 #include <libfreenect2/depth_packet_processor.h>
+#include <libfreenect2/async_packet_processor.h>
 
 namespace libfreenect2
 {
@@ -104,5 +105,4 @@ void DepthPacketProcessor::setFrameListener(libfreenect2::FrameListener *listene
   listener_ = listener;
 }
 
-
 } /* namespace libfreenect2 */