path: root/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp

#include "ftnoir_tracker_sm.h"
//#include "sm_api_headtrackerv2controls.h"
#include <QtGui>

FTNoIR_Tracker_SM::FTNoIR_Tracker_SM()
{
	//allocate memory for the parameters
	parameterValueAsFloat.clear();
	parameterRange.clear();

	// Add the parameters to the list
	parameterRange.append(std::pair<float,float>(1000.0f,9999.0f));
	parameterValueAsFloat.append(0.0f);
	setParameterValue(kPortAddress,5551.0f);
}

FTNoIR_Tracker_SM::~FTNoIR_Tracker_SM()
{
	qDebug() << "stopTracker says: terminating";

	if ( pMemData != NULL ) {
		UnmapViewOfFile ( pMemData );
	}
	
	CloseHandle( hSMMutex );
	CloseHandle( hSMMemMap );
	hSMMemMap = 0;
}

void FTNoIR_Tracker_SM::Release()
{
	qDebug() << "FTNoIR_Tracker_SM::Release says: Starting ";

	if ( pMemData != NULL ) {
		pMemData->command = FT_SM_EXIT;			// Issue 'exit' command
	}
	delete this;
}

void FTNoIR_Tracker_SM::Initialize( QFrame *videoframe )
{
	qDebug() << "FTNoIR_Tracker_SM::Initialize says: Starting ";

	if (SMCreateMapping()) {
		qDebug() << "FTNoIR_Tracker_SM::Initialize Mapping created.";
	}
	else {
		QMessageBox::warning(0,"FaceTrackNoIR Error","Memory mapping not created!",QMessageBox::Ok,QMessageBox::NoButton);
	}

	loadSettings();

	if ( pMemData != NULL ) {
		pMemData->command = 0;						// Reset any and all commands
		pMemData->handle = videoframe->winId();		// Handle of Videoframe widget
	}

	//
	// Start FTNoIR_FaceAPI_EXE.exe. The exe contains all faceAPI-stuff and is non-Qt...
	//
	QString program = "FTNoIR_FaceAPI_EXE.exe";
	faceAPI = new QProcess(0);
	faceAPI->start(program);

	// Show the video widget
	qDebug() << "FTNoIR_Tracker_SM::Initialize says: videoframe = " << videoframe;

	videoframe->show();
	return;
}

void FTNoIR_Tracker_SM::StartTracker( HWND parent_window )
{
	if ( pMemData != NULL ) {
		pMemData->command = FT_SM_START;				// Start command
	}
	return;
}

void FTNoIR_Tracker_SM::StopTracker( bool exit )
{

	qDebug() << "FTNoIR_Tracker_SM::StopTracker says: Starting ";
	// stops the faceapi engine
	if ( pMemData != NULL ) {
//		if (exit == true) {
			pMemData->command = (exit) ? FT_SM_EXIT : FT_SM_STOP;			// Issue 'stop' command
		//}
		//else {
		//	pMemData->command = FT_SM_STOP;				// Issue 'stop' command
		//}
	}
	return;
}

bool FTNoIR_Tracker_SM::GiveHeadPoseData(THeadPoseData *data)
{
	//
	// Check if the pointer is OK and wait for the Mutex.
	//
	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {

//		qDebug() << "FTNoIR_Tracker_SM::GiveHeadPoseData says: Retrieving data.";
		
		//
		// Copy the measurements to FaceTrackNoIR.
		//
		data->x     = pMemData->data.new_pose.head_pos.x * 100.0f;					// From meters to centimeters
		data->y     = pMemData->data.new_pose.head_pos.y * 100.0f;
		data->z     = pMemData->data.new_pose.head_pos.z * 100.0f;
		data->yaw   = pMemData->data.new_pose.head_rot.y_rads * 57.295781f;			// From rads to degrees
		data->pitch = pMemData->data.new_pose.head_rot.x_rads * 57.295781f;
		data->roll  = pMemData->data.new_pose.head_rot.z_rads * 57.295781f;
	
		ReleaseMutex(hSMMutex);
		return ( pMemData->data.new_pose.confidence > 0 );
	}
	return false;
}

bool FTNoIR_Tracker_SM::setParameterValue(const int index, const float newvalue)
{
	if ((index >= 0) && (index < parameterValueAsFloat.size()))
	{
		//
		// Limit the new value, using the defined range.
		//
		if (newvalue < parameterRange[index].first) {
			parameterValueAsFloat[index] = parameterRange[index].first;
		}
		else {
			if (newvalue > parameterRange[index].second) {
				parameterValueAsFloat[index] = parameterRange[index].second;
			}
			else {
				parameterValueAsFloat[index] = newvalue;
			}
		}

//		updateParameterString(index);
		return true;
	}
	else
	{
		return false;
	}
};

//
// Load the current Settings from the currently 'active' INI-file.
//
void FTNoIR_Tracker_SM::loadSettings() {

	qDebug() << "FTNoIR_Tracker_SM::loadSettings says: Starting ";
	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

	qDebug() << "FTNoIR_Tracker_SM::loadSettings says: iniFile = " << currentFile;

	iniFile.beginGroup ( "SMTracker" );
	if (pMemData) {
		pMemData->initial_filter_level = iniFile.value ( "FilterLevel", 1 ).toInt();
	}
	iniFile.endGroup ();
}

//
// Create a memory-mapping to the faceAPI data.
// It contains the tracking data, a command-code from FaceTrackNoIR
//
//
bool FTNoIR_Tracker_SM::SMCreateMapping()
{
	qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: Starting Function";

	//
	// A FileMapping is used to create 'shared memory' between the faceAPI and FaceTrackNoIR.
	//
	// Try to create a FileMapping to the Shared Memory.
	// If one already exists: close it.
	//
	hSMMemMap = CreateFileMappingA( INVALID_HANDLE_VALUE , 00 , PAGE_READWRITE , 0 , 
		                           sizeof( TFaceData ) + sizeof( HANDLE ) + 100, 
								   (LPCSTR) SM_MM_DATA );

	if ( hSMMemMap != 0 ) {
		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: FileMapping Created!";
	}

	if ( ( hSMMemMap != 0 ) && ( (long) GetLastError == ERROR_ALREADY_EXISTS ) ) {
		CloseHandle( hSMMemMap );
		hSMMemMap = 0;
	}

	//
	// Create a new FileMapping, Read/Write access
	//
	hSMMemMap = OpenFileMappingA( FILE_MAP_ALL_ACCESS , false , (LPCSTR) SM_MM_DATA );
	if ( ( hSMMemMap != 0 ) ) {
		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: FileMapping Created again..." << hSMMemMap;
		pMemData = (SMMemMap *) MapViewOfFile(hSMMemMap, FILE_MAP_ALL_ACCESS, 0, 0, sizeof(TFaceData));
		if (pMemData != NULL) {
			qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: MapViewOfFile OK.";
//			pMemData->handle = handle;	// The game uses the handle, to send a message that the Program-Name was set!
		}
	    hSMMutex = CreateMutexA(NULL, false, SM_MUTEX);
	}
	else {
		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: Error creating Shared Memory for faceAPI!";
		return false;
	}

	//if (pMemData != NULL) {
	//	pMemData->data.DataID = 1;
	//	pMemData->data.CamWidth = 100;
	//	pMemData->data.CamHeight = 250;
	//}

	return true;
}



////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker object.

// Export both decorated and undecorated names.
//   GetTracker     - Undecorated name, which can be easily used with GetProcAddress
//                Win32 API function.
//   _GetTracker@0  - Common name decoration for __stdcall functions in C language.
#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

FTNOIR_TRACKER_BASE_EXPORT TRACKERHANDLE __stdcall GetTracker()
{
	return new FTNoIR_Tracker_SM;
}

//*******************************************************************************************************
// faceAPI Client Settings-dialog.
//*******************************************************************************************************

//
// Constructor for server-settings-dialog
//
SMClientControls::SMClientControls() :
QWidget()
{
	ui.setupUi( this );

	// Connect Qt signals to member-functions
	connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));
	connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
	connect(ui.btnEngineStart, SIGNAL(clicked()), this, SLOT(doStartEngine()));
	connect(ui.btnEngineStop, SIGNAL(clicked()), this, SLOT(doStopEngine()));

	ui.cbxFilterSetting->addItem("None");
	ui.cbxFilterSetting->addItem("Normal");
	ui.cbxFilterSetting->addItem("High");
	connect(ui.cbxFilterSetting, SIGNAL(currentIndexChanged(int)), this, SLOT(doSetFilter( int )));
	connect(ui.btnCameraSettings, SIGNAL(clicked()), this, SLOT(doShowCam()));

	if (SMCreateMapping()) {
		qDebug() << "SMClientControls::Initialize Mapping created.";
	}
	else {
		QMessageBox::warning(0,"FaceTrackNoIR Error","Memory mapping not created!",QMessageBox::Ok,QMessageBox::NoButton);
	}

	// Load the settings from the current .INI-file
	loadSettings();

	//Setup the timer for showing the headpose.
	timUpdateSettings = new QTimer(this);
    connect(timUpdateSettings, SIGNAL(timeout()), this, SLOT(doTimUpdate()));
	timUpdateSettings->start(100);
	connect(this, SIGNAL(stateChanged( int )), this, SLOT(showSettings( int )));

}

//
// Destructor for server-dialog
//
SMClientControls::~SMClientControls() {
	qDebug() << "~SMClientControls() says: started";
}

void SMClientControls::Release()
{
    delete this;
}

//
// Initialize tracker-client-dialog
//
void SMClientControls::Initialize(QWidget *parent) {

	QPoint offsetpos(200, 200);
	if (parent) {
		this->move(parent->pos() + offsetpos);
	}
	show();
}

//
// OK clicked on server-dialog
//
void SMClientControls::doOK() {
	save();
	this->close();
}

// override show event
void SMClientControls::showEvent ( QShowEvent * event ) {
	loadSettings();
}

//
// Cancel clicked on server-dialog
//
void SMClientControls::doCancel() {
	//
	// Ask if changed Settings should be saved
	//
	if (settingsDirty) {
		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );

		qDebug() << "doCancel says: answer =" << ret;

		switch (ret) {
			case QMessageBox::Save:
				save();
				this->close();
				break;
			case QMessageBox::Discard:
				this->close();
				break;
			case QMessageBox::Cancel:
				// Cancel was clicked
				break;
			default:
				// should never be reached
			break;
		}
	}
	else {
		this->close();
	}
}

//
// Load the current Settings from the currently 'active' INI-file.
//
void SMClientControls::loadSettings() {

//	qDebug() << "loadSettings says: Starting ";
	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

//	qDebug() << "loadSettings says: iniFile = " << currentFile;

	iniFile.beginGroup ( "SMTracker" );
	ui.cbxFilterSetting->setCurrentIndex(iniFile.value ( "FilterLevel", 1 ).toInt());
	iniFile.endGroup ();

	settingsDirty = false;
}

//
// Save the current Settings to the currently 'active' INI-file.
//
void SMClientControls::save() {

	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

	iniFile.beginGroup ( "SMTracker" );
	iniFile.setValue ( "FilterLevel", ui.cbxFilterSetting->currentIndex() );
	iniFile.endGroup ();

	settingsDirty = false;
}

//
// Create a memory-mapping to the faceAPI data.
// It contains the tracking data, a command-code from FaceTrackNoIR
//
//
bool SMClientControls::SMCreateMapping()
{
	qDebug() << "SMClientControls::FTCreateMapping says: Starting Function";

	//
	// A FileMapping is used to create 'shared memory' between the faceAPI and FaceTrackNoIR.
	//
	// Try to create a FileMapping to the Shared Memory.
	// If one already exists: close it.
	//
	hSMMemMap = CreateFileMappingA( INVALID_HANDLE_VALUE , 00 , PAGE_READWRITE , 0 , 
		                           sizeof( TFaceData ) + sizeof( HANDLE ) + 100, 
								   (LPCSTR) SM_MM_DATA );

	if ( hSMMemMap != 0 ) {
		qDebug() << "SMClientControls::FTCreateMapping says: FileMapping Created!";
	}

	if ( ( hSMMemMap != 0 ) && ( (long) GetLastError == ERROR_ALREADY_EXISTS ) ) {
		CloseHandle( hSMMemMap );
		hSMMemMap = 0;
	}

	//
	// Create a new FileMapping, Read/Write access
	//
	hSMMemMap = OpenFileMappingA( FILE_MAP_ALL_ACCESS , false , (LPCSTR) SM_MM_DATA );
	if ( ( hSMMemMap != 0 ) ) {
		qDebug() << "SMClientControls::FTCreateMapping says: FileMapping Created again..." << hSMMemMap;
		pMemData = (SMMemMap *) MapViewOfFile(hSMMemMap, FILE_MAP_ALL_ACCESS, 0, 0, sizeof(TFaceData));
		if (pMemData != NULL) {
			qDebug() << "SMClientControls::FTCreateMapping says: MapViewOfFile OK.";
//			pMemData->handle = handle;	// The game uses the handle, to send a message that the Program-Name was set!
		}
	    hSMMutex = CreateMutexA(NULL, false, SM_MUTEX);
	}
	else {
		qDebug() << "SMClientControls::FTCreateMapping says: Error creating Shared Memory for faceAPI!";
		return false;
	}

	//if (pMemData != NULL) {
	//	pMemData->data.DataID = 1;
	//	pMemData->data.CamWidth = 100;
	//	pMemData->data.CamHeight = 250;
	//}

	return true;
}

//
// Show the current engine-settings etc.
//
void SMClientControls::doTimUpdate()
{
	int state = pMemData->state;
	if ( state != prev_state) {
		emit stateChanged(state);
		prev_state = state;
	}
}

//
// Show the current engine-settings etc.
//
void SMClientControls::showSettings( int newState )
{
	qDebug() << "SMClientControls::showSettings says: Starting Function";
    switch (newState)
    {
    case SM_API_ENGINE_STATE_TERMINATED:
        ui._engine_state_label->setText("TERMINATED");
        break;
    case SM_API_ENGINE_STATE_INVALID:
        ui._engine_state_label->setText("INVALID");
        break;
    case SM_API_ENGINE_STATE_IDLE:
        ui._engine_state_label->setText("IDLE");
        break;
    case SM_API_ENGINE_STATE_HT_INITIALIZING:
        ui._engine_state_label->setText("INITIALIZING");
        break;
    case SM_API_ENGINE_STATE_HT_TRACKING:
        ui._engine_state_label->setText("TRACKING");
        break;
    case SM_API_ENGINE_STATE_HT_SEARCHING:
        ui._engine_state_label->setText("SEARCHING");
        break;
    default:
        ui._engine_state_label->setText("Unknown State!");
        break;
    }

	ui.cbxFilterSetting->setEnabled( (newState == SM_API_ENGINE_STATE_IDLE) );
}

//
// Send a command without parameter-value to the tracking Engine.
//
void SMClientControls::doCommand(int command)
{
	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {
		pMemData->command = command;					// Send command
		ReleaseMutex(hSMMutex);
	}
	return;
}

//
// Send a command with integer parameter-value to the tracking Engine.
//
void SMClientControls::doCommand(int command, int value)
{
	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {
		pMemData->command = command;					// Send command
		pMemData->par_val_int = value;
		ReleaseMutex(hSMMutex);
	}
	return;
}

////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker-settings dialog object.

// Export both decorated and undecorated names.
//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
//                          Win32 API function.
//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

FTNOIR_TRACKER_BASE_EXPORT TRACKERDIALOGHANDLE __stdcall GetTrackerDialog( )
{
	return new SMClientControls;
}