Pave the way for more, different, interesting devices.

5 files changed, 97 insertions, 3 deletions

diff --git a/Makefile b/Makefile
index 2c727df..2f9063e 100644
--- a/Makefile
+++ b/Makefile
@@ -34,7 +34,7 @@ endif
 SBA:=redist/sba/sba_chkjac.c  redist/sba/sba_crsm.c  redist/sba/sba_lapack.c  redist/sba/sba_levmar.c  redist/sba/sba_levmar_wrap.c redist/minimal_opencv.c src/poser_epnp.c src/poser_sba.c src/epnp/epnp.c src/poser_general_optimizer.c
 LIBSURVIVE_CORE+=src/survive.c src/survive_process.c src/ootx_decoder.c src/survive_driverman.c src/survive_default_devices.c src/survive_playback.c src/survive_config.c src/survive_cal.c  src/poser.c src/survive_sensor_activations.c src/survive_disambiguator.c src/survive_imu.c src/survive_kalman.c
 MINIMAL_NEEDED+=src/survive_usb.c src/survive_charlesbiguator.c  src/survive_vive.c src/survive_reproject.c 
-AUX_NEEDED+=src/survive_turveybiguator.c  src/survive_statebased_disambiguator.c
+AUX_NEEDED+=src/survive_turveybiguator.c  src/survive_statebased_disambiguator.c src/survive_driver_dummy.c
 POSERS:=src/poser_dummy.c src/poser_imu.c src/poser_charlesrefine.c
 EXTRA_POSERS:=src/poser_daveortho.c src/poser_charlesslow.c src/poser_octavioradii.c src/poser_turveytori.c  
 REDISTS:=redist/json_helpers.c redist/linmath.c redist/jsmn.c
diff --git a/src/survive.c b/src/survive.c
index ce17295..13aeee9 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -343,6 +343,11 @@ int survive_startup(SurviveContext *ctx) {
 		}
 	}
 
+	if( ctx->objs_ct == 0 )
+	{
+		SV_ERROR( "Fatal error: No trackable objects found in any calibrators." );
+	}
+
 	return 0;
 }
 
diff --git a/src/survive_driver_dummy.c b/src/survive_driver_dummy.c
new file mode 100644
index 0000000..d940d21
--- /dev/null
+++ b/src/survive_driver_dummy.c
@@ -0,0 +1,90 @@
+// All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL
+// or LGPL licenses.
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <survive.h>
+#include <string.h>
+#include "survive_config.h"
+#include "os_generic.h"
+
+struct SurviveDriverDummy {
+	SurviveContext * ctx;
+	SurviveObject * so;
+};
+typedef struct SurviveDriverDummy SurviveDriverDummy;
+
+static int dummy_poll(struct SurviveContext *ctx, void *_driver) {
+	SurviveDriverDummy *driver = _driver;
+
+/* 
+	To emit an IMU event, send this:
+		driver->ctx->imuproc(so, mask, accelgyro, timecode, id);
+
+	To emit light data, send this:
+		LightcapElement le;
+		le.sensor_id = X		//8 bits
+		le.length = Z			//16 bits
+		le.timestamp = Y		//32 bits
+		handle_lightcap(so, &le);
+*/
+
+	return 0;
+}
+
+static int dummy_close(struct SurviveContext *ctx, void *_driver) {
+	SurviveDriverDummy *driver = _driver;
+
+/*
+	If you need to handle any cleanup here, like closing handles, etc.
+	you can perform it here.
+*/
+
+	return 0;
+}
+
+int dummy_haptic( SurviveObject * so, uint8_t reserved, uint16_t pulseHigh, uint16_t pulseLow, uint16_t repeatCount )
+{
+/*
+	If your device has haptics, you can add the control for them here.
+*/
+	return 0;
+}
+
+int DriverRegDummy(SurviveContext *ctx)
+{
+	int enable_dummy_driver = survive_configi( ctx, "dummy_driver_enable", SC_GET, 0 );
+
+	if( !enable_dummy_driver ) return 0;
+
+	SurviveDriverDummy *sp = calloc(1, sizeof(SurviveDriverDummy));
+	sp->ctx = ctx;
+
+	SV_INFO("Setting up dummy driver.");
+
+	//Create a new SurviveObject...
+	SurviveObject *device = calloc(1, sizeof(SurviveObject));
+	device->ctx = ctx;
+	device->driver = sp;
+	memcpy(device->codename, "DM0", 4);
+	memcpy(device->drivername, "DUM", 4);
+
+	device->timebase_hz = 48000000;
+	device->pulsedist_max_ticks = 500000;
+	device->pulselength_min_sync = 2200;
+	device->pulse_in_clear_time = 35000;
+	device->pulse_max_for_sweep = 1800;
+	device->pulse_synctime_offset = 20000;
+	device->pulse_synctime_slack = 5000;
+	device->timecenter_ticks = device->timebase_hz / 240;
+	device->imu_freq = 1000.0f;
+	device->haptic = dummy_haptic;
+
+	sp->so = device;
+	survive_add_object( ctx, device );
+	survive_add_driver( ctx, sp, dummy_poll, dummy_close, 0 );
+	return 0;
+}
+
+REGISTER_LINKTIME(DriverRegDummy);
+
diff --git a/src/survive_driverman.c b/src/survive_driverman.c
index ac5d1f6..c43e8ec 100644
--- a/src/survive_driverman.c
+++ b/src/survive_driverman.c
@@ -31,7 +31,6 @@ const char *GetDriverNameMatching(const char *prefix, int place) {
 	int prefixlen = (int)strlen(prefix);
 
 	for (i = 0; i < NrDrivers; i++) {
-		fprintf(stderr, "%s %s\n", prefix, DriverNames[i]);
 		if (strncmp(prefix, DriverNames[i], prefixlen) == 0)
 			if (0 == (place--))
 				return DriverNames[i];
diff --git a/src/survive_vive.c b/src/survive_vive.c
index d9cbc3e..493215a 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1722,7 +1722,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	    sv->udev[USB_DEV_W_WATCHMAN1] ) {
 	  survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic );
 	} else {
-	  SV_ERROR("No USB devices detected");
+	  SV_INFO("No USB devices detected");
 	}
 
 	//Next, pull out the config stuff.