wrappers/ruby: Update examples

Updated examples & got the last few tests passing

Signed-off-by: Alex Weiss <[email protected]>

Author: algrs

wrappers/ruby/ffi-libfreenect/README.rdoc

@@ -51,8 +51,8 @@ FFI-based Ruby wrapper for the OpenKinect libfreenect library.
     #
     # The example below shows how to write a single video frame to a PPM file.
 
-    dev.set_depth_format(Freenect::DEPTH_11BIT)
-    dev.set_video_format(Freenect::VIDEO_RGB)
+    dev.depth_mode = Freenect.depth_mode(:medium, :depth_11bit)
+	dev.video_mode = Freenect.video_mode(:medium, :rgb)
     dev.start_depth()
     dev.start_video()
 
@@ -64,9 +64,9 @@ FFI-based Ruby wrapper for the OpenKinect libfreenect library.
         fname = "%u.ppm" % timestamp
         STDERR.puts "Writing #{fname}"
         File.open(fname, "w") do |f|
-          f.puts("P6 %d %d 255\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
-          f.write(video.read_string_length(Freenect::RGB_SIZE))
-        end
+          f.puts("P6 %d %d 255\n" % [ dev.video_mode.width, dev.video_mode.height ] )
+		  f.write(video.read_string_length(dev.video_mode.bytes))
+		end
         $snapshot_finished = true
       end
     end

wrappers/ruby/ffi-libfreenect/examples/record.rb

@@ -43,22 +43,22 @@ def open_dump(type, timestamp, extension)
 ctx = Freenect.init()
 dev = ctx.open_device(0)
 
-dev.set_depth_format(Freenect::DEPTH_11BIT)
-dev.set_video_format(Freenect::VIDEO_RGB)
+dev.depth_mode = Freenect.depth_mode(:medium, :depth_11bit)
+dev.video_mode = Freenect.video_mode(:medium, :rgb)
 dev.start_depth()
 dev.start_video()
 
 dev.set_depth_callback do |device, depth, timestamp|
   open_dump('d', timestamp, "pgm") do |f|
-    f.puts("P5 %d %d 65535\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
-    f.write(depth.read_string_length(Freenect::DEPTH_11BIT_SIZE))
+    f.puts("P5 %d %d 65535\n" % [ dev.depth_mode.width, dev.depth_mode.height ] )
+    f.write(depth.read_string_length(dev.depth_mode.bytes))
   end
 end
 
 dev.set_video_callback do |device, video, timestamp|
   open_dump('r', timestamp, 'ppm') do |f|
-    f.puts("P6 %d %d 255\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
-    f.write(video.read_string_length(Freenect::RGB_SIZE))
+    f.puts("P6 %d %d 255\n" % [ dev.video_mode.width, dev.video_mode.height ] )
+    f.write(video.read_string_length(dev.video_mode.bytes))
   end
 end
 

wrappers/ruby/ffi-libfreenect/examples/video_snapshot.rb

@@ -22,12 +22,16 @@
 STDERR.puts "Selecting device 0"
 dev = ctx.open_device(0)
 
-dev.set_led(:green)   # play with the led
+dev.led = :green   # play with the led
 
-dev.set_video_format(Freenect::VIDEO_RGB)
-dev.start_depth()
+dev.video_mode = Freenect.video_mode(:medium, :rgb)
 dev.start_video()
 
+# Or to grab depth:
+# dev.depth_mode = Freenect.depth_mode(:medium, :depth_11bit)
+# dev.start_depth()
+
+
 $snapshot_finished = nil
 
 STDERR.puts "Attempting snapshot"
@@ -36,8 +40,8 @@
     fname = "%i.ppm" % timestamp
     STDERR.puts "Writing #{fname}"
     File.open(fname, "w") do |f|
-      f.puts("P6 %d %d 255\n" % [ Freenect::FRAME_W, Freenect::FRAME_H ] )
-      f.write(video.read_string_length(Freenect::RGB_SIZE))
+      f.puts("P6 %d %d 255\n" % [ dev.video_mode.width, dev.video_mode.height ] )
+      f.write(video.read_string_length(dev.video_mode.bytes))
     end
     $snapshot_finished = true
   end
@@ -52,9 +56,11 @@
   STDERR.puts "Error: unable to take snapshot. process_events code=#{ret}"
 end
 
-dev.set_led(:off)
-dev.stop_depth
+dev.led = :off
 dev.stop_video
+# Or
+# dev.stop_depth
+
 dev.close
 ctx.close
 

wrappers/ruby/ffi-libfreenect/lib/ffi/freenect.rb

@@ -185,6 +185,14 @@ class RawTiltState < FFI::Struct
            :accelerometer_z,  :int16, 
            :tilt_angle,       :int8, 
            :tilt_status,      TILT_STATUS_CODES
+    def accelerometer
+      [self[:accelerometer_x], self[:accelerometer_y], self[:accelerometer_z]]
+    end
+    def angle; self[:tilt_angle]; end
+    def status; self[:tilt_status]; end
+    def to_s
+      "#<Freenect::RawTiltState #{status} @ #{angle} deg, accel: (#{accelerometer.join(',')})>"
+    end
   end
 
   callback :freenect_log_cb, [:freenect_context, LOGLEVELS, :string], :void
@@ -221,13 +229,13 @@ class RawTiltState < FFI::Struct
   attach_function :freenect_get_video_mode, [:int], FrameMode.by_value
   attach_function :freenect_get_current_video_mode, [:freenect_device], FrameMode.by_value
   attach_function :freenect_find_video_mode, [RESOLUTIONS, VIDEO_FORMATS], FrameMode.by_value
-  attach_function :freenect_set_video_mode, [:freenect_device, FrameMode], :int
+  attach_function :freenect_set_video_mode, [:freenect_device, FrameMode.by_value], :int
 
   attach_function :freenect_get_depth_mode_count, [], :int
   attach_function :freenect_get_depth_mode, [:int], FrameMode.by_value
   attach_function :freenect_get_current_depth_mode, [:freenect_device], FrameMode.by_value
   attach_function :freenect_find_depth_mode, [RESOLUTIONS, DEPTH_FORMATS], FrameMode.by_value
-  attach_function :freenect_set_depth_mode, [:freenect_device, FrameMode], :int
+  attach_function :freenect_set_depth_mode, [:freenect_device, FrameMode.by_value], :int
 
   attach_function :freenect_sync_get_video, [:pointer, :pointer, :int, VIDEO_FORMATS], :int
   attach_function :freenect_sync_get_depth, [:pointer, :pointer, :int, DEPTH_FORMATS], :int

wrappers/ruby/ffi-libfreenect/lib/freenect/device.rb

@@ -136,13 +136,14 @@ def set_depth_mode(mode)
       mode = Freenect.depth_mode(:medium, mode) unless mode.is_a?(Freenect::FrameMode)
       raise ArgumentError, "Unkown depth mode #{mode}" if mode.nil?    
       ret = ::FFI::Freenect.freenect_set_depth_mode(self.device, mode)
-      raise DeviceError, "Error calling freenect_set_depth_mode(self, #{mode})" unless ret == 0
+      raise DeviceError, "Error calling freenect_set_depth_mode(self, #{mode}) returned #{ret}" unless ret == 0
     end
     alias depth_mode= set_depth_mode
 
     # returns the symbolic constant for the current depth format
     def depth_mode
       x = ::FFI::Freenect.freenect_get_current_depth_mode(self.device)
+      x = nil if x.height*x.width == 0 or x.framerate == 0
       x.frame_mode_type = :depth unless x.nil?
       x
     end
@@ -153,12 +154,13 @@ def set_video_mode(mode)
       mode = Freenect.video_mode(:medium, mode) unless mode.is_a?(Freenect::FrameMode)
       raise ArgumentError, "Unkown video mode #{mode}" if mode.nil?    
       ret = ::FFI::Freenect.freenect_set_video_mode(self.device, mode)
-      raise DeviceError, "Error calling freenect_set_video_mode(self, #{mode})" unless ret == 0
+      raise DeviceError, "Error calling freenect_set_video_mode(self, #{mode}) returned #{ret}" unless ret == 0
     end
     alias video_mode= set_video_mode
 
     def video_mode
       x = ::FFI::Freenect.freenect_get_current_video_mode(self.device)
+      x = nil if x.height*x.width == 0 or x.framerate == 0
       x.frame_mode_type = :video unless x.nil?
       x
     end

wrappers/ruby/ffi-libfreenect/spec/device_spec.rb

@@ -72,18 +72,19 @@
     @dev.video_mode.should be_nil # at first
     @dev.video_mode = Freenect.video_mode(:medium, :bayer)
     @dev.video_mode.format.should == :bayer
-    @dev.video_mode = Freenect.video_mode(:medium, :rgb)
+    @dev.video_mode = :rgb
     @dev.video_mode.format.should == :rgb
-    @dev.video_mode.frame_mode_type.shoud == :video
+    @dev.video_mode.frame_mode_type.should == :video
   end
 
 
   it "should allow the depth_format to be set and retrieved" do
     @dev.depth_mode.should be_nil # at first
-    @dev.depth_mode = :depth_10bit
-    @dev.depth_mode.should == :depth_10bit
-    @dev.depth_mode = Freenect::DEPTH_11BIT
+    @dev.depth_mode = Freenect.depth_mode(:medium, :depth_10bit)
+    @dev.depth_mode.format.should == :depth_10bit
     @dev.depth_mode = :depth_11bit
+    @dev.depth_mode.format.should == :depth_11bit
+    @dev.depth_mode.frame_mode_type.should == :depth
   end
 
   it "should allow itself to be looked up by it's object reference ID" do