Merge pull request #507 from xlz/preemptive-api-expansion

Preemptive API expansion

Author: floe

include/libfreenect2/frame_listener.hpp

@@ -44,23 +44,34 @@ namespace libfreenect2
 class LIBFREENECT2_API Frame
 {
   public:
-  /** Available types of frames and their pixel format. */
+  /** Available types of frames. */
   enum Type
   {
     Color = 1, ///< 1920x1080 32-bit BGRX.
     Ir = 2,    ///< 512x424 float. Range is [0.0, 65535.0].
     Depth = 4  ///< 512x424 float, unit: millimeter. Non-positive, NaN, and infinity are invalid or missing data.
   };
 
-  uint32_t timestamp;     ///< Unit: roughly or exactly 0.1 millisecond
-  uint32_t sequence;      ///< Increasing frame sequence number
+  /** (Proposed for 0.2) Pixel format. */
+  enum Format
+  {
+    BGRX,
+    RGBX,
+    Gray,
+    Float
+  };
+
   size_t width;           ///< Length of a line (in pixels).
   size_t height;          ///< Number of lines in the frame.
   size_t bytes_per_pixel; ///< Number of bytes in a pixel.
   unsigned char* data;    ///< Data of the frame (aligned). @see See Frame::Type for pixel format.
+  uint32_t timestamp;     ///< Unit: roughly or exactly 0.1 millisecond
+  uint32_t sequence;      ///< Increasing frame sequence number
   float exposure;         ///< From 0.5 (very bright) to ~60.0 (fully covered)
   float gain;             ///< From 1.0 (bright) to 1.5 (covered)
   float gamma;            ///< From 1.0 (bright) to 6.4 (covered)
+  uint32_t status;        ///< Reserved. To be defined in 0.2.
+  Format format;          ///< Reserved. To be defined in 0.2.
 
   /** Construct a new frame.
    * @param width Width in pixel

include/libfreenect2/libfreenect2.hpp

@@ -369,14 +369,22 @@ class LIBFREENECT2_API Freenect2Device
    * All above configuration must only be called before start() or after stop().
    *
    * FrameListener will receive frames when the device is running.
+   *
+   * @return Undefined. To be defined in 0.2.
    */
-  virtual void start() = 0;
+  virtual bool start() = 0;
 
-  /** Stop data processing. */
-  virtual void stop() = 0;
+  /** Stop data processing.
+   *
+   * @return Undefined. To be defined in 0.2.
+   */
+  virtual bool stop() = 0;
 
-  /** Shut down the device. */
-  virtual void close() = 0;
+  /** Shut down the device.
+   *
+   * @return Undefined. To be defined in 0.2.
+   */
+  virtual bool close() = 0;
 };
 
 class Freenect2Impl;

src/libfreenect2.cpp

@@ -259,9 +259,9 @@ class Freenect2DeviceImpl : public Freenect2Device
 
   virtual void setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener);
   virtual void setIrAndDepthFrameListener(libfreenect2::FrameListener* ir_frame_listener);
-  virtual void start();
-  virtual void stop();
-  virtual void close();
+  virtual bool start();
+  virtual bool stop();
+  virtual bool close();
 };
 
 struct PrintBusAndDevice
@@ -671,10 +671,10 @@ bool Freenect2DeviceImpl::open()
   return true;
 }
 
-void Freenect2DeviceImpl::start()
+bool Freenect2DeviceImpl::start()
 {
   LOG_INFO << "starting...";
-  if(state_ != Open) return;
+  if(state_ != Open) return false;
 
   CommandTransaction::Result serial_result, firmware_result, result;
 
@@ -801,16 +801,17 @@ void Freenect2DeviceImpl::start()
 
   state_ = Streaming;
   LOG_INFO << "started";
+  return true;
 }
 
-void Freenect2DeviceImpl::stop()
+bool Freenect2DeviceImpl::stop()
 {
   LOG_INFO << "stopping...";
 
   if(state_ != Streaming)
   {
     LOG_INFO << "already stopped, doing nothing";
-    return;
+    return false;
   }
 
   LOG_INFO << "disabling usb transfer submission...";
@@ -837,16 +838,17 @@ void Freenect2DeviceImpl::stop()
 
   state_ = Open;
   LOG_INFO << "stopped";
+  return true;
 }
 
-void Freenect2DeviceImpl::close()
+bool Freenect2DeviceImpl::close()
 {
   LOG_INFO << "closing...";
 
   if(state_ == Closed)
   {
     LOG_INFO << "already closed, doing nothing";
-    return;
+    return true;
   }
 
   if(state_ == Streaming)
@@ -885,6 +887,7 @@ void Freenect2DeviceImpl::close()
 
   state_ = Closed;
   LOG_INFO << "closed";
+  return true;
 }
 
 PacketPipeline *createDefaultPacketPipeline()