Task.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef KINECT_TASK_TASK_HPP
#define KINECT_TASK_TASK_HPP

#include <libfreenect.h>

#include "kinect/TaskBase.hpp"
#include <stdio.h>
#include <pthread.h>

namespace kinect {

    void video_capturing_callback(freenect_device* device, void* video, uint32_t timestamp);

    void depth_capturing_callback(freenect_device* device, void* depth, uint32_t timestamp);

    void* processing_loop(void* self);



    class Task : public TaskBase
    {
        friend class TaskBase;
        friend void  video_capturing_callback(freenect_device* device, void* video, uint32_t timestamp);
        friend void  depth_capturing_callback(freenect_device* device, void* depth, uint32_t timestamp);
        friend void* processing_loop(void* self);

    protected:
        freenect_context* context;
        freenect_device* device;

        freenect_frame_mode video_mode;
        freenect_frame_mode depth_mode;

        uint8_t* internal_video_buffer;
        uint8_t* internal_depth_buffer;

        RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> video_frame;
        RTT::extras::ReadOnlyPointer<base::samples::DistanceImage> depth_frame;

        pthread_t freenect_thread;

        static void log_freenect_driver_informations(void);

        static void redirect_freenect_logs_to_rock(freenect_context* context, freenect_loglevel level, const char* msg);


        bool initialize_freenect(void);


        bool initialize_frames(void);


    public:
        Task(std::string const& name = "kinect::Task", RTT::base::TaskCore::TaskState state = Stopped);

        Task(std::string const& name, RTT::ExecutionEngine* engine, RTT::base::TaskCore::TaskState state = Stopped);

            ~Task();


        //bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        //void cleanupHook();
    };
}

#endif