devices/devicemocap/ordevicemocap_hardware.h

#ifndef __ORDEVICE_SKELETON_KINECT_H__
#define __ORDEVICE_SKELETON_KINECT_H__
/***************************************************************************************
 Autodesk(R) Open Reality(R) Samples
 
 (C) 2013 Autodesk, Inc. and/or its licensors
 All rights reserved.
 
 AUTODESK SOFTWARE LICENSE AGREEMENT
 Autodesk, Inc. licenses this Software to you only upon the condition that 
 you accept all of the terms contained in the Software License Agreement ("Agreement") 
 that is embedded in or that is delivered with this Software. By selecting 
 the "I ACCEPT" button at the end of the Agreement or by copying, installing, 
 uploading, accessing or using all or any portion of the Software you agree 
 to enter into the Agreement. A contract is then formed between Autodesk and 
 either you personally, if you acquire the Software for yourself, or the company 
 or other legal entity for which you are acquiring the software.
 
 AUTODESK, INC., MAKES NO WARRANTY, EITHER EXPRESS OR IMPLIED, INCLUDING BUT 
 NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR 
 PURPOSE REGARDING THESE MATERIALS, AND MAKES SUCH MATERIALS AVAILABLE SOLELY ON AN 
 "AS-IS" BASIS.
 
 IN NO EVENT SHALL AUTODESK, INC., BE LIABLE TO ANYONE FOR SPECIAL, COLLATERAL, 
 INCIDENTAL, OR CONSEQUENTIAL DAMAGES IN CONNECTION WITH OR ARISING OUT OF PURCHASE 
 OR USE OF THESE MATERIALS. THE SOLE AND EXCLUSIVE LIABILITY TO AUTODESK, INC., 
 REGARDLESS OF THE FORM OF ACTION, SHALL NOT EXCEED THE PURCHASE PRICE OF THE 
 MATERIALS DESCRIBED HEREIN.
 
 Autodesk, Inc., reserves the right to revise and improve its products as it sees fit.
 
 Autodesk and Open Reality are registered trademarks or trademarks of Autodesk, Inc., 
 in the U.S.A. and/or other countries. All other brand names, product names, or 
 trademarks belong to their respective holders. 
 
 GOVERNMENT USE
 Use, duplication, or disclosure by the U.S. Government is subject to restrictions as 
 set forth in FAR 12.212 (Commercial Computer Software-Restricted Rights) and 
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 Manufacturer is Autodesk, Inc., 10 Duke Street, Montreal, Quebec, Canada, H3C 2L7.
***************************************************************************************/

//--- SDK include
#include <windows.h>
#include "NuiApi.h"
#include <fbsdk/fbsdk.h>
#include "statushandle.h"
#include "ispeech.h"

class ORDeviceMocapKinect
{
public:
    ORDeviceMocapKinect();
    ~ORDeviceMocapKinect();

    //--- Opens and closes Kinect. returns true if successful
    bool    Open();                             
    bool    Close();                            

    bool    GetSetupInfo    ();                     

    //--- Hardware communication
    bool    StartDataStream ();                     
    bool    StopDataStream  ();                     

    bool    FetchMocapData  (FBTime &pTime);        
    void    GetSkeletonJointsOrder(FBBodyNodeId* &pSkeletonJointsOrder);

    FBString GetHardWareName();
    double   GetAverageSensorFloorOffset();
    void     SetSensorFloorOffsetSet();

    //--- Channel & Channel data management
    int     GetChannelCount ()                  {   return mChannelCount;                       }
    const char* GetChannelName  (int pChannel)  {   return mChannel[pChannel].mName;    }
    int     GetChannelParent(int pChannel)      {   return mChannel[pChannel].mParentChannel;   }
    FBVector3d GetDefaultT  (int pChannel)      {   SkeletonNodeInfo& lSI = mChannel[pChannel]; return FBVector3d(lSI.mDefaultT[0],lSI.mDefaultT[1],lSI.mDefaultT[2]);      }
    FBVector3d GetDefaultR  (int pChannel)      {   SkeletonNodeInfo& lSI = mChannel[pChannel]; return FBVector3d(lSI.mDefaultR[0],lSI.mDefaultR[1],lSI.mDefaultR[2]);      }
    double  GetDataTX       (int pChannel)      {   return mChannel[pChannel].mT[0];        }
    double  GetDataTY       (int pChannel)      {   return mChannel[pChannel].mT[1];        }
    double  GetDataTZ       (int pChannel)      {   return mChannel[pChannel].mT[2];        }
    double  GetDataRX       (int pChannel)      {   return mChannel[pChannel].mR[0];        }
    double  GetDataRY       (int pChannel)      {   return mChannel[pChannel].mR[1];        }
    double  GetDataRZ       (int pChannel)      {   return mChannel[pChannel].mR[2];        }

    bool Init();
    bool AdjustAngle();
    inline void CalculateAverageSensorFloorOffset();

    // Speech
    bool SetupSpeechConnection();
    SpeechCommands ProcessSpeech();

private:
    struct SkeletonNodeInfo
    {
        const char* mName;
        int         mParentChannel;
        double      mDefaultT[3];
        double      mDefaultR[3];
        double      mT[3];
        double      mR[3];
    };

    SkeletonNodeInfo    mChannel[NUI_SKELETON_POSITION_COUNT+2];
    int         mChannelCount;                              

    bool                    mInitSuccessful;
    bool                    mOpened;
    INuiSensor*             mNuiSensor;
    HANDLE                  m_hNextSkeletonEvent;

    double                  mAverageSensorFloorOffset;
    bool                    mSensorFloorOffsetSet;

    // Speech
    ISpeech*                mSpeech;
    bool                    mHasVoiceControl;

public:
    FBMocapJointsState* mKinectMocapJointsState;
};

#endif /* __ORDEVICE_SKELETON_KINECT_H__ */