/**
* @param fileName 要发送的文件路径.
* @return 结果代码.
*
* 将模型文件发送至服务器.
* 接收服务器返回的结果.
* 当中任何一个步骤出现错误则直接返回对应的结果代码,
* 全部成功返回OK.
*/
RC Client::SendModelFile(LPCWSTR fileName)
{
    RC rc;

    CHECK_RC(m_Socket.SendCommand(CC::SEND_MODEL_FILE_COMMAND));
    RC _rc = m_Socket.SendFile(fileName);

    if (OK == _rc)
    {
        CHECK_RC(m_Socket.RecvRC(_rc));
        if (OK == _rc)
        {
            wstring datFileName = fileName;
            datFileName += TEXT(".dat");
            CHECK_RC(m_Socket.RecvFile(datFileName.c_str()));
        }
    }

    return _rc;
}

int configKinect(){
		
	XnStatus rc = XN_STATUS_OK;
	xn::EnumerationErrors errors;

	// Initialize OpenNI
	rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_ScriptNode, &errors);
	CHECK_ERRORS(rc, errors, "InitFromXmlFile");
	CHECK_RC(rc, "InitFromXmlFile");

	rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
	CHECK_RC(rc, "Find depth generator");
	rc = g_Context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_GestureGenerator);
	CHECK_RC(rc, "Find gesture generator");

	XnCallbackHandle hGestureIntermediateStageCompleted, hGestureProgress, hGestureReadyForNextIntermediateStage;
	g_GestureGenerator.RegisterToGestureIntermediateStageCompleted(GestureIntermediateStageCompletedHandler, NULL, hGestureIntermediateStageCompleted);
	g_GestureGenerator.RegisterToGestureReadyForNextIntermediateStage(GestureReadyForNextIntermediateStageHandler, NULL, hGestureReadyForNextIntermediateStage);
	g_GestureGenerator.RegisterGestureCallbacks(NULL, GestureProgressHandler, NULL, hGestureProgress);

	// Create NITE objects
	g_pSessionManager = new XnVSessionManager;
	rc = g_pSessionManager->Initialize(&g_Context, "Click,Wave", "RaiseHand");
	CHECK_RC(rc, "SessionManager::Initialize");

	g_pSessionManager->RegisterSession(NULL, SessionStarting, SessionEnding, FocusProgress);

	pointHandler = new PointHandler(20, g_DepthGenerator); 
	g_pFlowRouter = new XnVFlowRouter;
	g_pFlowRouter->SetActive(pointHandler);

	g_pSessionManager->AddListener(g_pFlowRouter);

	pointHandler->RegisterNoPoints(NULL, NoHands);

	// Initialization done. Start generating
	rc = g_Context.StartGeneratingAll();
	CHECK_RC(rc, "StartGenerating");

	return rc;
}

int init_mc(struct ctx *p_ctx, res_hndl_t *res_hndl)
{
    int rc;
    __u64 chunks=16;
    __u64 actual_size=0;

    rc = mc_init();
    CHECK_RC(rc, "mc_init failed");
    debug("mc_init success :%d\n",rc);

    rc = ctx_init(p_ctx);
    CHECK_RC(rc, "Context init failed");

    rc = create_res(p_ctx);
    CHECK_RC(rc, "opening res_hndl");

    rc = mc_size1(p_ctx,chunks, &actual_size);
    CHECK_RC(rc, "mc_size");

    *res_hndl = p_ctx->res_hndl;

    rc = create_res(p_ctx);
    CHECK_RC(rc, "opening res_hndl");

    rc = mc_size1(p_ctx, chunks, &actual_size);
    CHECK_RC(rc, "mc_size");
    return 0;
}

int create_ctx_process(char *dev, dev64_t devno, __u64 chunk)
{
    int rc;
    struct ctx my_ctx;
    struct ctx *p_ctx = &my_ctx;
    g_error=0;
    pid = getpid();
    pthread_t threads[MAX_RES_HANDLE];
    pthread_t intr_thread;
    //__u64 flags;
    int i;

    rc = ctx_init2(p_ctx, dev, DK_AF_ASSIGN_AFU, devno);
    CHECK_RC(rc, "Context init failed");
    // interrupt handler per context
    rc = pthread_create(&intr_thread, NULL, ctx_rrq_rx, p_ctx);

    p_ctx ->lun_size = chunk * p_ctx->chunk_size;
    for (i = 0; i <MAX_RES_HANDLE; i++)
    {
        if ( MAX_RES_HANDLE == i+1 && imLastContext == 1 )
        { // this is last resource of last context
            debug("%d:create_ctx_process: last res ==> %d of last contxt \n", pid,i+1);
            p_ctx ->lun_size = ( chunk + chunkRemain )*p_ctx->chunk_size;
        }
        rc = pthread_create(&threads[i], NULL, res_thread, p_ctx);
        CHECK_RC(rc, "pthread_create failed");
    }
    //wait all threads to get complete
    for (i = 0; i <MAX_RES_HANDLE; i++)
    {
        pthread_join(threads[i], NULL);
    }

    pthread_cancel(intr_thread);

    rc = g_error;
    g_error = 0;
    return rc;
}

/*private*/ inline void UserManager::broadcastJointPositions(XnUserID currentUserId, XnSkeletonJoint jointEnum, int jointId) {
	XnSkeletonJointPosition jointPosition;

	// TODO strange, this is how it should be ... :-/
//	this->skeletonCapability.GetSkeletonJointPosition(currentUserId, jointEnum, jointPosition);
	CHECK_RC(this->skeletonCapability.GetSkeletonJointPosition(currentUserId, jointEnum, jointPosition), "Get joint position failed");

	if(jointPosition.fConfidence < 0.5) { return; }

	for(int i=0, n = this->listeners.size(); i < n; i++) {
		this->listeners.at(i)->onJointPositionChanged(currentUserId, jointId, jointPosition);
	}
}

bool get_peerProfileById(const char *uid, char **nick_name, char **group_name, int *sex, int *age, char **introduction, char **head_image_path, int *server_id, char **server_uid, char **last_ip, int *tcp_port, int *udp_port)
{
	int nrows,ncols; //nrows:记录返回数据库表的行数，ncols:记录返回表的列数
	char *errmsg=0;//记录返回的错误信息。
	char **results;//记录返回的查询结果
	sqlite3 *db=0; //记录返回的数据库句柄

	if(!open_db(&db, PEERSINFO_DBFILE_NAME))
		return false;

	//下述函数进行查询数据库操作
	char *szBaseSql = "select * from peers_profile where uid='";
	char *szSql = v6strcat(3, szBaseSql, uid, "';");
	int rc=sqlite3_get_table(db,szSql,&results,&nrows,&ncols,&errmsg);
	release_db_data((void **)&szSql);
	CHECK_RC(rc,errmsg,db);

	bool success = true;
	if(nrows > 0)
	{
		int buf_size = strlen(results[PEERSINFO_DB_ROWS+1])+1;
		*nick_name  = (char*)malloc(buf_size);
		memcpy(*nick_name, results[PEERSINFO_DB_ROWS+1], buf_size);
		buf_size = strlen(results[PEERSINFO_DB_ROWS+2])+1;
		*group_name  = (char*)malloc(buf_size);
		memcpy(*group_name, results[PEERSINFO_DB_ROWS+2], buf_size);
	    *sex = atoi(results[PEERSINFO_DB_ROWS+3]);
		*age = atoi(results[PEERSINFO_DB_ROWS+4]);
		buf_size = strlen(results[PEERSINFO_DB_ROWS+5])+1;
		*introduction = (char*)malloc(buf_size);
		memcpy(*introduction, results[PEERSINFO_DB_ROWS+5], buf_size);
		buf_size = strlen(results[PEERSINFO_DB_ROWS+6])+1;
		*head_image_path = (char*)malloc(buf_size);
		memcpy(*head_image_path, results[PEERSINFO_DB_ROWS+6], buf_size);
		*server_id = atoi(results[PEERSINFO_DB_ROWS+7]);
		buf_size = strlen(results[PEERSINFO_DB_ROWS+8])+1;
		*server_uid = (char*)malloc(buf_size);
		memcpy(*server_uid, results[PEERSINFO_DB_ROWS+8], buf_size);
		buf_size = strlen(results[PEERSINFO_DB_ROWS+9])+1;
		*last_ip = (char*)malloc(buf_size);
		memcpy(*last_ip, results[PEERSINFO_DB_ROWS+9], buf_size);
		*tcp_port = atoi(results[PEERSINFO_DB_ROWS+10]);
		*udp_port = atoi(results[PEERSINFO_DB_ROWS+11]);
	}
	else
		success = false;

	sqlite3_free_table(results);
	sqlite3_close(db);
	return success;
}

int test_spio_direct_virtual()
{
    int rc=0;
    int j;
    int cfdisk = 0;
    struct flash_disk fldisks[MAX_FDISK];
    //__u64 chunk;
    int count = 1;
    int procces=10;
    int index = 0; //to switch flash disks for VLUN & PLUN IO

    char *str = getenv("LONG_RUN");
    if (str != NULL)
    {
        printf("LONG_RUN enabled...\n");
        count = 10;
    }
    cfdisk = get_flash_disks(fldisks, FDISKS_ALL);
    if (cfdisk < 2)
    {
        fprintf(stderr,"Must have 2 flash disks..\n");
        return -1;
    }

    while (count-- >0)
    {
        if (0 == fork())
        {
            rc = test_spio_lun(fldisks[index].dev,
                               fldisks[index].devno[0],LUN_DIRECT,0);
            exit(rc);
        }
        //create atleast 10 chunks on each on PLUN
        index = (index+1)%2;
        for (j=0; j < procces; j++)
        {
            if (0 == fork()) //child process
            {
                //here you can change the path ids later
                rc = test_spio_lun(fldisks[index].dev, fldisks[index].devno[0],
                                   LUN_VIRTUAL,chunks[j]);
                exit(rc);
            }
        }
        rc = wait4all();
        CHECK_RC(rc, "wait4all failed");
        printf("%d loop remain................\n",count);
    }
    return rc;
}

// 7.1.217 : create two context for same flash disks shared between 2 adapters
int test_cfdisk_ctxs_diff_devno()
{
    int nDisk;
    int rc=0;
    struct flash_disk cfDisk[2];
    struct ctx myctx1, myctx2;
    struct ctx *p_ctx1 = &myctx1;
    struct ctx *p_ctx2 = &myctx2;

    pid = getpid();

    nDisk = get_flash_disks(cfDisk, FDISKS_DIFF_ADPTR);
    if (nDisk < 2)
    {
        fprintf(stderr,"Failed to find 2 flash disks from diff adapter..\n");
        return -1;
    }
    // On AIX both dev will have same name
    // On Linux both dev will have diff name

    rc = ctx_init2(p_ctx1, cfDisk[0].dev, DK_AF_ASSIGN_AFU, cfDisk[0].devno[0]);
    CHECK_RC(rc, "p_ctx1 Context init failed");

    rc = ctx_init2(p_ctx2, cfDisk[1].dev, DK_AF_ASSIGN_AFU, cfDisk[1].devno[0]);
    CHECK_RC(rc, "p_ctx2 Context init failed");

    rc = create_resource(p_ctx1, 0, DK_UDF_ASSIGN_PATH, LUN_DIRECT);
    CHECK_RC(rc, "create LUN_DIRECT for p_ctx1 failed");

    rc = create_resource(p_ctx2, 0, DK_UDF_ASSIGN_PATH, LUN_DIRECT);
    CHECK_RC(rc, "create LUN_DIRECT for p_ctx2 failed");

    cleanup(p_ctx1, -1);
    cleanup(p_ctx2, -1);

    return 0;
}

bool ofxOpenNIContext::unregisterViewport() {
	
	// get refs to depth generator
	xn::DepthGenerator depth_generator;
	getDepthGenerator(&depth_generator);
	
	// Unregister view point from (image) any map	
	if (depth_generator.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT)) {
		XnStatus result = depth_generator.GetAlternativeViewPointCap().ResetViewPoint();
		CHECK_RC(result, "Unregister viewport");
		
	} else return false;
	
	return true;
}

// Barebones setup
bool CinderOpenNISkeleton::setup()
{
	XnStatus nRetVal = XN_STATUS_OK;
	xn::EnumerationErrors errors;

	// Init
	nRetVal = mContext.Init();
	CHECK_RC(nRetVal, "Init", true);

	nRetVal = xnFPSInit(&xnFPS, 180);
	CHECK_RC(nRetVal, "FPS Init", true);

    worldOffset.x = -160;
    worldOffset.y = -200;
    worldOffset.z = -2784;

	// Output device production nodes (user, depth, etc)
	debugOutputNodeTypes();

	_allUsers.clear();
	for(int i = 0; i < maxUsers; i++) {
		UserSkeleton emptySkeleton;
		emptySkeleton.isValid = false;
		emptySkeleton.id = currentUsers[i];

		// Create a bunch of spots to contain our vectors
		emptySkeleton.projectedPositions.clear();
		for( int j = 0; j <= XN_SKEL_RIGHT_FOOT+1; ++j) {
			emptySkeleton.projectedPositions.push_back( ci::Vec3f::zero() );
		}

		_allUsers.push_back( emptySkeleton );
	}

	return true;
}

int max_vlun_on_a_ctx()
{
    int i;
    int rc;
    struct ctx myctx;
    struct ctx *p_ctx=&myctx;
    pid = getpid();
    rc=ctx_init(p_ctx);
    __u64 vluns[MAX_VLUNS];
    for (i=0;i<MAX_VLUNS;i++)
    {
        rc = create_resource(p_ctx,p_ctx->chunk_size,0,LUN_VIRTUAL);
        CHECK_RC(rc, "create_resource Failed\n");
        vluns[i]=p_ctx->rsrc_handle;
    }
    for (i=0;i<MAX_VLUNS;i++)
    {
        p_ctx->rsrc_handle=vluns[i];
        rc=close_res(p_ctx);
        CHECK_RC(rc, "close_res failed\n");
    }
    rc = ctx_close(p_ctx);
    return rc;
}

RC AlgorithmDataFile::RemoveAlgorithm(wstring name)
{
    RC rc;

    if (m_Lines.find(name) == m_Lines.end())
    {
        return RC::ALGORITHM_REMOVE_ERROR;
    }

    m_Lines.erase(name);

    CHECK_RC(Save());

    return rc;
}

bool clear_peersProfile()
{
	char *errmsg=0;//记录返回的错误信息。
	sqlite3 *db=0; //记录返回的数据库句柄

	if(!open_db(&db, PEERSINFO_DBFILE_NAME))
		return false;

	//下述函数进行数据库添加操作
	char *szSql = "delete from peers_profile";
	int rc=sqlite3_exec(db,szSql,0,0,&errmsg);
	CHECK_RC(rc,errmsg,db);

	sqlite3_close(db);
	return true;
}

bool delete_peerProfile(const char *uid)
{
	char *errmsg=0;//记录返回的错误信息。
	sqlite3 *db=0; //记录返回的数据库句柄

	if(!open_db(&db, PEERSINFO_DBFILE_NAME))
		return false;

	//下述函数进行数据库添加操作
	char *szSql = v6strcat(2, "delete from peers_profile where uid = ", uid);
	int rc=sqlite3_exec(db,szSql,0,0,&errmsg);
	CHECK_RC(rc,errmsg,db);

	sqlite3_close(db);
	return true;
}

bool clear_serversInformation()
{
	char *errmsg=0;//记录返回的错误信息。
	sqlite3 *db=0; //记录返回的数据库句柄

	if(!open_db(&db, SERVERSINFO_DBFILE_NAME))
		return false;

	//下述函数进行数据库添加操作
	char *szSql = "delete * from server_information";
	int rc=sqlite3_exec(db,szSql,0,0,&errmsg);
	CHECK_RC(rc,errmsg,db);

	sqlite3_close(db);
	return true;
}

void OpenNiManager::startAll() {
	LOG->info("startAll()");

	for(int i = 0, n = this->cams.size(); i < n; i++) {
		Cam* currentCam = cams.at(i);
		std::cout << (i+1) << ". " << currentCam->toString() << std::endl;

		if(this->initDescriptor->isImageGeneratorRequired()) {
			xn::ImageGenerator generator = currentCam->getImageGenerator();
			CHECK_RC(generator.StartGenerating(), "generator.StartGenerating()");
		}

		if(this->initDescriptor->isUserGeneratorRequired()) {
			this->userManager->start();
		}
	}
}

bool ofxDepthGenerator::setup(ofxOpenNIContext* pContext) {

	XnStatus result = XN_STATUS_OK;	
	XnMapOutputMode map_mode; 
	
	// Try to fetch depth generator before creating one
	if(pContext->getDepthGenerator(&depth_generator)) {
		// found the depth generator so set map_mode from it
		depth_generator.GetMapOutputMode(map_mode);
	} else {
		result = depth_generator.Create(pContext->getXnContext());
		CHECK_RC(result, "Creating depth generator");
		
		if (result != XN_STATUS_OK) return false;
		
		// make new map mode -> default to 640 x 480 @ 30fps
		map_mode.nXRes = XN_VGA_X_RES;
		map_mode.nYRes = XN_VGA_Y_RES;
		map_mode.nFPS  = 30;
		
		depth_generator.SetMapOutputMode(map_mode);
	}	

	// Default max depth is on GlobalDefaults.ini: MaxDepthValue=10000
	max_depth	= depth_generator.GetDeviceMaxDepth();		
	width		= map_mode.nXRes;
	height		= map_mode.nYRes;
	
	// TODO: add capability for b+w depth maps (more efficient for draw)
	depth_texture.allocate(map_mode.nXRes, map_mode.nYRes, GL_RGBA);		
	depth_pixels = new unsigned char[map_mode.nXRes * map_mode.nYRes * 4];
	memset(depth_pixels, 0, map_mode.nXRes * map_mode.nYRes * 4 * sizeof(unsigned char));
	
	// setup mask pixelskk
	for (int i = 0; i < MAX_NUMBER_DEPTHS; i++) {
		maskPixels[i] = new unsigned char[width * height];
		depth_thresholds[i].nearThreshold = 0;
		depth_thresholds[i].farThreshold = 10000;
	}
	
	depth_generator.StartGenerating();	
	
	printf("Depth camera inited\n");
	
	return true;
}

std::vector<std::vector<XnPoint3D> > KinectControl::getSkeleton()
{
    SkeletonCapability skeleton = user_generator.GetSkeletonCap();

    XnUserID user_id[15];
    XnUInt16 user_count = sizeof(user_id) / sizeof(user_id[0]);

    XnStatus nRetVal = user_generator.GetUsers(user_id, user_count);
    CHECK_RC(nRetVal, "Get Users");

    // 全ユーザ
    std::vector<std::vector<XnPoint3D> > skeletons;

    for(int i = 0; i < user_count; ++i)
    {
        // i番目のユーザがトラッキングされていたら
        if(skeleton.IsTracking(user_id[i]))
        {
            // 個別ユーザ
            std::vector<XnPoint3D> user_skeleton;

            // 関節は全てで24個
            XnSkeletonJointPosition joint[24];

            // [0]はCenter of Mass
            XnPoint3D pt[25];

            for(int j = 1; j < 25; ++j)
            {
                skeleton.GetSkeletonJointPosition(user_id[i], (XnSkeletonJoint)(j), joint[j - 1]);
                pt[j] = joint[j - 1].position;
            }

            user_generator.GetCoM(user_id[i], pt[0]);
            depth_generator.ConvertRealWorldToProjective(25, pt, pt);

            for(int j = 0; j < 25; ++j)
                user_skeleton.push_back(pt[j]);

            skeletons.push_back(user_skeleton);
        }
    }

    return skeletons;
}

//--------------------------------------------------------------
bool ofxHandGenerator::setup(ofxOpenNIContext* pContext) {
	
	context = pContext;
	context->getDepthGenerator(&depth_generator);
	
	XnStatus result = XN_STATUS_OK;	
	
	// setup a gesture generator using our ofxGestureGenerator wrapper
	gesture_generator.setup(context);
	ofAddListener(gesture_generator.gestureRecognized, this, &ofxHandGenerator::gestureRecognized); 
	
	// Try to fetch hands generator before creating one
	if(pContext->getHandsGenerator(&hands_generator)) {
		// found the hands generator - for do nothing		
	} else {
		result = hands_generator.Create(context->getXnContext());
		CHECK_RC(result, "Creating hand generator");
		hands_generator.StartGenerating();
	}
	
	XnCallbackHandle hand_cb_handle;
	hands_generator.RegisterHandCallbacks(HandCreate, HandUpdate, HandDestroy, this, hand_cb_handle);
	
	printf("Hands generator inited\n");
	
	// pre-generate the tracked users.
	tracked_hands.reserve(max_hands);
	for(int i = 0; i < max_hands; ++i) {
		printf("Creating hand: %d", i);
		ofxTrackedHand* hand = new ofxTrackedHand(context);
		tracked_hands.push_back(hand);
	}
	
	found_hands = 0;
	
	isFiltering = false;

	// Start looking for gestures
	this->addGestures();

	return true;
}

bool get_peersProfile(char ***peers_table, int *rows, int *cols)
{
	char *errmsg=0;//记录返回的错误信息。
	sqlite3 *db=0; //记录返回的数据库句柄

	if(!open_db(&db, PEERSINFO_DBFILE_NAME))
		return false;

	//下述函数进行查询数据库操作
	char *szSql = "select * from peers_profile";
	int rc=sqlite3_get_table(db,szSql,peers_table,rows,cols,&errmsg);
	CHECK_RC(rc,errmsg,db);

	bool success = true;
	if(SQLITE_OK != errmsg)
		success = false;

	sqlite3_close(db);
	return success;
}