OpenNI2-FreenectDriver: Fix silly silly string bugs; improve logging

Fix ebuild for filename change

Signed-off-by: Benn Snyder <benn.snyder@gmail.com>

Author: piedar

OpenNI2-FreenectDriver/src/ColorStream.cpp

@@ -40,7 +40,7 @@ OniStatus ColorStream::setVideoMode(OniVideoMode requested_mode)
   try { device->setVideoFormat(format, resolution); }
   catch (std::runtime_error e)
   {
-    LogError("Format " + format + std::string(" and resolution " + resolution) + " combination not supported by libfreenect");
+    LogError("Format " + to_string(format) + " and resolution " + to_string(resolution) + " combination not supported by libfreenect");
     return ONI_STATUS_NOT_SUPPORTED;
   }
   video_mode = requested_mode;
@@ -58,7 +58,7 @@ void ColorStream::populateFrame(void* data, OniFrame* frame) const
   switch (video_mode.pixelFormat)
   {
     default:
-      LogError(std::string("Pixel format " + video_mode.pixelFormat) + " not supported by populateFrame()");
+      LogError("Pixel format " + to_string(video_mode.pixelFormat) + " not supported by populateFrame()");
       return;
 
     case ONI_PIXEL_FORMAT_RGB888:

OpenNI2-FreenectDriver/src/DepthStream.cpp

@@ -39,7 +39,7 @@ OniStatus DepthStream::setVideoMode(OniVideoMode requested_mode)
   try { device->setDepthFormat(format, resolution); }
   catch (std::runtime_error e)
   {
-    LogError("Format " + format + std::string(" and resolution " + resolution) + " combination not supported by libfreenect");
+    LogError("Format " + to_string(format) + " and resolution " + to_string(resolution) + " combination not supported by libfreenect");
     if (image_registration_mode == ONI_IMAGE_REGISTRATION_DEPTH_TO_COLOR)
     {
       LogError("Could not enable image registration format; falling back to format defined in getSupportedVideoModes()");

OpenNI2-FreenectDriver/src/DeviceDriver.cpp

@@ -69,7 +69,7 @@ namespace FreenectDriver
       switch (sensorType)
       {
         default:
-          LogError("Cannot create a stream of type " + sensorType);
+          LogError("Cannot create a stream of type " + to_string(sensorType));
           return NULL;
         case ONI_SENSOR_COLOR:
           Freenect::FreenectDevice::startVideo();
@@ -232,7 +232,10 @@ namespace FreenectDriver
       DriverBase::initialize(connectedCallback, disconnectedCallback, deviceStateChangedCallback, pCookie);
       for (int i = 0; i < Freenect::deviceCount(); i++)
       {
-        std::string uri = "freenect://" + i;
+        std::string uri = "freenect://" + to_string(i);
+        
+        WriteMessage("Found device " + uri);
+        
         OniDeviceInfo info;
         strncpy(info.uri, uri.c_str(), ONI_MAX_STR);
         strncpy(info.vendor, "Microsoft", ONI_MAX_STR);
@@ -256,6 +259,8 @@ namespace FreenectDriver
           }
           else 
           {
+            WriteMessage("Opening device " + std::string(uri));
+            
             unsigned int id;
             std::istringstream is(iter->first.uri);
             is.seekg(strlen("freenect://"));
@@ -267,23 +272,30 @@ namespace FreenectDriver
         }
       }
 
-      LogError("Could not find device " + *uri);
+      LogError("Could not find device " + std::string(uri));
       return NULL;
     }
 
     void deviceClose(oni::driver::DeviceBase* pDevice)
     {
-      for (std::map<OniDeviceInfo, oni::driver::DeviceBase*>::iterator iter = devices.begin(); iter != devices.end(); iter++)
+      for (std::map<OniDeviceInfo, oni::driver::DeviceBase*>::iterator iter = devices.begin(); iter != devices.end();)
       {
-        if (iter->second == pDevice) {
-          iter->second = NULL;
+        if (iter->second == pDevice)
+        {
+          WriteMessage("Closing device " + std::string(iter->first.uri));
+          
           unsigned int id;
-          std::istringstream is(iter->first.uri);
+          std::istringstream is(std::string(iter->first.uri));
           is.seekg(strlen("freenect://"));
           is >> id;
+          devices.erase(iter++);
           deleteDevice(id);
           return;
         }
+        else
+        {
+          iter++;
+        }
       }
 
       LogError("Could not close unrecognized device");

OpenNI2-FreenectDriver/src/VideoStream.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <iostream>
 #include "libfreenect.hpp"
 #include "Driver/OniDriverAPI.h"
 #include "PS1080.h"
@@ -33,11 +34,26 @@ static bool operator<(const OniVideoMode& left, const OniVideoMode& right) { ret
 
 namespace FreenectDriver
 {
-  // DriverServices is set in DeviceDriver.cpp so all files can call LogError()
+  template < typename T > std::string to_string(const T& n)
+  {
+    std::ostringstream oss;
+    oss << n;
+    return oss.str();
+  }
+  
+  static void WriteMessage(std::string info)
+  {
+    std::cout << "OpenNI2-FreenectDriver: " << info << std::endl;
+  }
+  
+  // DriverServices is set in DeviceDriver.cpp so all files can call errorLoggerAppend()
   static oni::driver::DriverServices* DriverServices;
   static void LogError(std::string error)
   {
-    if (DriverServices)
+    // errorLoggerAppend() doesn't seem to go anywhere, so call WriteMessage also
+    WriteMessage("(ERROR) " + error);
+    
+    if (DriverServices != NULL)
       DriverServices->errorLoggerAppend(std::string("OpenNI2-FreenectDriver: " + error).c_str());
   }
 
@@ -52,7 +68,7 @@ namespace FreenectDriver
   protected:
     static const OniSensorType sensor_type;
     Freenect::FreenectDevice* device;
-    bool running; // acquireFrame() does something iff true
+    bool running; // buildFrame() does something iff true
     OniVideoMode video_mode;
     OniCropping cropping;
     bool mirroring;
@@ -189,7 +205,6 @@ namespace FreenectDriver
             return ONI_STATUS_ERROR;
           }
           cropping = *(static_cast<const OniCropping*>(data));
-
           raisePropertyChanged(propertyId, data, dataSize);
           return ONI_STATUS_OK;
 

platform/linux/portage/dev-libs/libfreenect/Manifest

@@ -1 +1 @@
-EBUILD libfreenect-9999.ebuild 2246 SHA256 9c108418122975f5c9f6587e9c7e35625ce4cc47932b2c0b03b22ccb802d39da SHA512 05310b350b6598fd826c6ca6e12edc1f809157924a6fac93cb01ee8652b1d544144a22f32fe6ecf8ebd476e73c2a3c334aed02342d2e060ab6cdf88ef4ec965f WHIRLPOOL e9676dbe32df58e78c66343a0f665217b5b89b08f2caf777090536757024e57478694abe04a6cb290a6aef9e5ed46964b83d64ab55c7187f77fbf54150b83fed
+EBUILD libfreenect-9999.ebuild 2240 SHA256 a08047d60a53061516df2a185361ff3d6f7b126f305786cdc95977038c981255 SHA512 4bcb2bcab1e6c396d33a767d13200c5e2a15f4387d2898ec28c36edd15baf15a02b1ed3c9f356c86a0b69ccd68f238b7b9aa9aaf4b19a6b6673ac6e3823b8d89 WHIRLPOOL 11274f350181cd8d550dc4161d6de751a401665e36449bc93701183c0636f0932b3dcc84ff55a2ebf52e5b7c1713c475649713a5416e7563058f7da0c0b42d64

platform/linux/portage/dev-libs/libfreenect/libfreenect-9999.ebuild

@@ -59,7 +59,7 @@ src_install() {
     doins "${S}"/platform/linux/udev/51-kinect.rules
 
     # documentation
-    dodoc HACKING README.asciidoc
+    dodoc HACKING README.md
     if use doc; then
         cd doc
         doxygen || ewarn "doxygen failed"