Merge branch 'master' of https://github.com/cnlohr/libsurvive

27 files changed, 893 insertions, 403 deletions

diff --git a/Makefile b/Makefile
index 75b5606..1a1712d 100644
--- a/Makefile
+++ b/Makefile
@@ -1,29 +1,34 @@
 all : lib data_recorder test calibrate calibrate_client
 
-CFLAGS:=-Iinclude -I. -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99
+CFLAGS:=-Iinclude/libsurvive -I. -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99
 LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -lm -flto -g
 
-
 CALS:=src/survive_cal_lhfind.o src/survive_cal.o
+POSERS:=src/poser_dummy.o
+REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o
+LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_vive.o src/survive_config.o 
+LIBSURVIVE_O:=$(CALS) $(POSERS) $(REDISTS) $(LIBSURVIVE_CORE)
+
+GRAPHICS_LOFI:=redist/DrawFunctions.o redist/XDriver.o
 
 # unused: redist/crc32.c
 
 test : test.c lib/libsurvive.so redist/os_generic.o
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-data_recorder : data_recorder.c lib/libsurvive.so redist/os_generic.o redist/DrawFunctions.o redist/XDriver.o
+data_recorder : data_recorder.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate :  calibrate.c lib/libsurvive.so redist/os_generic.c redist/DrawFunctions.c redist/XDriver.c
+calibrate :  calibrate.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate_client :  calibrate_client.c lib/libsurvive.so redist/os_generic.c redist/DrawFunctions.c redist/XDriver.c
+calibrate_client :  calibrate_client.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
 lib:
 	mkdir lib
 
-lib/libsurvive.so : src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o redist/jsmn.o src/ootx_decoder.o redist/linmath.o src/survive_driverman.o src/survive_vive.o src/survive_config.o redist/json_helpers.o $(DEBUGSTUFF) $(CALS)
+lib/libsurvive.so : $(LIBSURVIVE_O)
 	gcc -o $@ $^ $(LDFLAGS) -shared
 
 clean :
diff --git a/README.md b/README.md
index f90590f..9428f39 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,7 @@ Discord: https://discordapp.com/invite/7QbCAGS
 | Fourth livestream                      | https://www.youtube.com/watch?v=fces1O7kWGY | 4:50:33 |
 | Fifth livestream                       | https://www.youtube.com/watch?v=hHt3twW5_fI | 3:13:38 |
 | Sixth livestream                       | https://www.youtube.com/watch?v=JsfkNRFkFM4 | 3:44:49 |
+| Seventh livestream                     | https://www.youtube.com/watch?v=EKSHvO3QSWY | 1:17:21 |
 
 Notes from second livestream trying to reverse engineer the watchman protocol: https://gist.github.com/cnlohr/581c433f36f4249f8bbc9c2b6450ef0e
 
diff --git a/calibrate.c b/calibrate.c
index a04c269..82da7a7 100644
--- a/calibrate.c
+++ b/calibrate.c
@@ -76,15 +76,14 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 	}
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
-return;
 	//if( so->codename[0] == 'H' )
-	if( 1 )
+	if( 0 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
@@ -148,7 +147,6 @@ void * GuiThread( void * v )
 int main()
 {
 	ctx = survive_init( 0 );
-	config_init();
 
 	survive_install_light_fn( ctx,  my_light_process );
 	survive_install_imu_fn( ctx,  my_imu_process );
diff --git a/calibrate_client.c b/calibrate_client.c
index 08f0715..f28520b 100644
--- a/calibrate_client.c
+++ b/calibrate_client.c
@@ -75,15 +75,14 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 	}
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
-return;
 	//if( so->codename[0] == 'H' )
-	if( 1 )
+	if( 0 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
@@ -142,6 +141,23 @@ void * GuiThread( void * v )
 
 int main()
 {
+/*
+	config_init();
+	config_read("config.json");
+	config_set_str(&global_config_values, "Hello","World!");
+	const char *s = config_read_str(&global_config_values, "test123","default");
+	printf("%s\n", s);
+
+	FLT *f;
+
+	uint16_t fs = config_read_float_array(lh_config+1, "fcalgibpha", &f, NULL, 0);
+	printf("%d\n", fs);
+	printf("===> %f %f\n", f[0], f[1]);
+
+
+//	config_save("config.json");
+*/
+	
 	ctx = survive_init( 1 );
 
 	survive_install_light_fn( ctx,  my_light_process );
@@ -159,13 +175,6 @@ int main()
 	CNFGSetup( "Survive GUI Debug", 640, 480 );
 	OGCreateThread( GuiThread, 0 );
 
-	config_init();
-	config_set_str(&global_config_values, "Hello","World!");
-	const char *s = config_read_str(&global_config_values, "TestStr","This is a test.");
-	printf("%s\n", s);
-	config_save("config.json");
-	
-
 	if( !ctx )
 	{
 		fprintf( stderr, "Fatal. Could not start\n" );
diff --git a/data_recorder.c b/data_recorder.c
index 951f234..5504d42 100644
--- a/data_recorder.c
+++ b/data_recorder.c
@@ -77,15 +77,15 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
 //return;
 	//if( so->codename[0] == 'H' )
 	if( 1 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
new file mode 100644
index 0000000..98c926e
--- /dev/null
+++ b/include/libsurvive/poser.h
@@ -0,0 +1,56 @@
+#ifndef _LSPOSER_H
+#define _LSPOSER_H
+
+#include "survive_types.h"
+
+typedef enum PoserType_t
+{
+	POSERDATA_NONE = 0,
+	POSERDATA_IMU,
+	POSERDATA_LIGHT,		//Single lighting event.  
+	POSERDATA_FULL_SCENE, 	//Full, statified X, Y sweep data for both lighthouses.
+	POSERDATA_DISASSOCIATE, //If you get this, it doesn't contain data.  It just tells you to please disassociate from the current SurviveObject and delete your poserdata.
+} PoserType;
+
+typedef struct
+{
+	PoserType pt;
+	uint8_t data[0];
+} PoserData;
+
+typedef struct
+{
+	PoserType pt;
+	uint8_t datamask;  //0 = accel present, 1 = gyro present, 2 = mag present.
+	FLT accel[3];
+	FLT gyro[3];
+	FLT mag[3];
+	uint32_t timecode; //In object-local ticks.
+} PoserDataIMU;
+
+typedef struct
+{
+	PoserType pt;
+	int sensor_id;
+	int acode;			//OOTX Code associated with this sweep. base_station = acode >> 2;  axis = acode & 1;
+	uint32_t timecode;  //In object-local ticks.
+	FLT length;			//In seconds
+	FLT angle;			//In radians from center of lighthouse.
+} PoserDataLight;
+
+typedef struct
+{
+	PoserType pt;
+
+	//If "lengths[...]" < 0, means not a valid piece of sweep information.
+	FLT  lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
+	FLT  angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];  //2 Axes  (Angles in LH space)
+
+	PoserDataIMU lastimu;
+} PoserDataFullScene;
+
+//When you write your posers, use the following definition, and register with REGISTER_LINKTIME.
+typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
+
+
+#endif
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
new file mode 100644
index 0000000..03249e9
--- /dev/null
+++ b/include/libsurvive/survive.h
@@ -0,0 +1,171 @@
+#ifndef _SURVIVE_H
+#define _SURVIVE_H
+
+#include <stdint.h>
+#include "survive_types.h"
+#include "poser.h"
+
+//DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
+//for optimization on 32- and 64-bit systems.
+
+struct SurviveObject
+{
+	SurviveContext * ctx;
+
+	char    codename[4];    //3 letters, null-terminated.  Currently HMD, WM0, WM1.
+	char    drivername[4];  //3 letters for driver.  Currently "HTC"
+	int16_t buttonmask;
+	int16_t axis1;
+
+	int16_t axis2;
+	int16_t axis3;
+	int8_t  charge;
+	int8_t  charging:1;
+	int8_t  ison:1;
+	int8_t  additional_flags:6;
+
+	//Pose Information, also "poser" field.
+	FLT    PoseConfidence; //0..1
+	SurvivePose OutPose;
+	SurvivePose FromLHPose[NUM_LIGHTHOUSES]; //Optionally filled out by poser, contains computed position from each lighthouse.
+	void * PoserData;   //Initialized to zero, configured by poser, can be anything the poser wants.
+	PoserCB PoserFn;
+
+	//Device-specific information about the location of the sensors.  This data will be used by the poser.
+	int8_t nr_locations;
+	FLT * sensor_locations;
+	FLT * sensor_normals;
+
+	//Timing sensitive data (mostly for disambiguation)
+	int32_t timebase_hz;		//48,000,000 for normal vive hardware.  (checked)
+	int32_t timecenter_ticks; 	//200,000 for normal vive hardware.     (checked)
+	int32_t pulsedist_max_ticks; //500,000 for normal vive hardware.   (guessed)
+	int32_t pulselength_min_sync; //2,200 for normal vive hardware.    (guessed)
+	int32_t pulse_in_clear_time; //35,000 for normal vive hardware.    (guessed)
+	int32_t pulse_max_for_sweep; //1,800 for normal vive hardware.     (guessed)
+	int32_t pulse_synctime_offset; //20,000 for normal vive hardware.  (guessed)
+	int32_t pulse_synctime_slack; //5,000 for normal vive hardware.    (guessed)
+
+	//Flood info, for calculating which laser is currently sweeping.
+	int8_t   oldcode;
+	int8_t   sync_set_number; //0 = master, 1 = slave, -1 = fault. 
+	int8_t   did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit.
+	uint32_t last_time[NUM_LIGHTHOUSES];
+	uint32_t last_length[NUM_LIGHTHOUSES];
+	uint32_t recent_sync_time;
+
+	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.
+
+
+	//Debug
+	int tsl;
+};
+
+
+struct BaseStationData
+{
+	uint8_t PositionSet:1;
+
+	SurvivePose Pose;
+
+	uint8_t OOTXSet:1;
+	uint32_t BaseStationID;
+	FLT fcalphase[2];
+	FLT fcaltilt[2];
+	FLT fcalcurve[2];
+	FLT fcalgibpha[2];
+	FLT fcalgibmag[2];
+};
+
+struct config_group;
+
+struct SurviveContext
+{
+	text_feedback_func faultfunction;
+	text_feedback_func notefunction;
+	light_process_func lightproc;
+	imu_process_func imuproc;
+	angle_process_func angleproc;
+
+	struct config_group* global_config_values;
+	struct config_group* lh_config; //lighthouse configs
+
+	//Calibration data:
+	BaseStationData bsd[NUM_LIGHTHOUSES];
+
+	SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
+
+	SurviveObject ** objs;
+	int objs_ct;
+
+	void ** drivers;
+	DeviceDriverCb * driverpolls;
+	DeviceDriverCb * drivercloses;
+	DeviceDriverMagicCb * drivermagics;
+	int driver_ct;
+};
+
+SurviveContext * survive_init( int headless );
+
+//For any of these, you may pass in 0 for the function pointer to use default behavior.
+//In general unless you are doing wacky things like recording or playing back data, you won't need to use this.
+void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp );
+void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp );
+void survive_install_light_fn( SurviveContext * ctx,  light_process_func fbp );
+void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp );
+void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp );
+
+void survive_close( SurviveContext * ctx );
+int survive_poll();
+
+SurviveObject * survive_get_so_by_name( SurviveContext * ctx, const char * name );
+
+//Utilitiy functions.
+int survive_simple_inflate( SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );
+
+int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen );
+
+//Install the calibrator.
+void survive_cal_install( SurviveContext * ctx );  //XXX This will be removed if not already done so.
+
+//Call these from your callback if overridden.  
+//Accept higher-level data.
+void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
+void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, uint32_t timecode, int id );
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+
+
+////////////////////// Survive Drivers ////////////////////////////
+
+void   RegisterDriver( const char * name, void * data );
+
+#define REGISTER_LINKTIME( func ) \
+	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }
+
+
+
+///////////////////////// General stuff for writing drivers ///////
+
+//For device drivers to call.  This actually attaches them.
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
+
+//For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
+//When you write drivers, you can use this to send survive lightcap data.
+typedef struct
+{
+	uint8_t sensor_id;
+	uint8_t type;      //Mostly unused.  Set to 255 to ignore it.
+	uint16_t length;
+	uint32_t timestamp;
+} __attribute__((packed))  LightcapElement;
+
+//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
+void handle_lightcap( SurviveObject * so, LightcapElement * le );
+
+#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); }
+#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); }
+#define SV_KILL()		exit(0)  //XXX This should likely be re-defined.
+
+#endif
+
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
new file mode 100644
index 0000000..1600e11
--- /dev/null
+++ b/include/libsurvive/survive_types.h
@@ -0,0 +1,44 @@
+#ifndef _SURVIVE_TYPES_H
+#define _SURVIVE_TYPES_H
+
+#ifndef FLT
+#ifdef USE_DOUBLE
+#define FLT double
+#else
+#define FLT float
+#endif
+#endif
+
+typedef struct SurvivePose
+{
+	FLT  Pos[3];
+	FLT  Rot[4];
+} SurvivePose;
+
+//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools.
+//It will also require a recompile.  TODO: revisit this and correct the comment once fixed.
+#define NUM_LIGHTHOUSES 2  
+
+#define INTBUFFSIZE			64
+#define SENSORS_PER_OBJECT	32
+
+typedef struct SurviveObject SurviveObject;
+typedef struct SurviveContext SurviveContext;
+typedef struct BaseStationData BaseStationData;
+typedef struct SurviveCalData SurviveCalData;   //XXX Warning: This may be removed.  Check at a later time for its defunctness.
+
+typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault );
+typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
+typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id );
+typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+
+
+//Device drivers (prefix your drivers with "DriverReg") i.e.
+//		REGISTER_LINKTIME( DriverRegHTCVive );
+typedef int (*DeviceDriver)( SurviveContext * ctx );
+typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
+typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
+
+
+#endif
+
diff --git a/include/survive.h b/include/survive.h
deleted file mode 100644
index 51910a6..0000000
--- a/include/survive.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#ifndef _SURVIVE_H
-#define _SURVIVE_H
-
-#include <stdint.h>
-
-#ifndef FLT
-#ifdef USE_DOUBLE
-#define FLT double
-#else
-#define FLT float
-#endif
-#endif
-
-struct SurviveContext;
-
-//DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
-//for optimization on 32- and 64-bit systems.
-
-//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools.
-//It will also require a recompile.  TODO: revisit this and correct the comment once fixed.
-#define NUM_LIGHTHOUSES 2  
-
-struct SurviveObject
-{
-	struct SurviveContext * ctx;
-
-	char    codename[4];    //3 letters, null-terminated.  Currently HMD, WM0, WM1.
-	char    drivername[4];  //3 letters for driver.  Currently "HTC"
-	int16_t buttonmask;
-	int16_t axis1;
-
-	int16_t axis2;
-	int16_t axis3;
-	int8_t  charge;
-	int8_t  charging:1;
-	int8_t  ison:1;
-	int8_t  additional_flags:6;
-
-	FLT * sensor_locations;
-	FLT * sensor_normals;
-	int8_t nr_locations;
-
-	//Timing sensitive data (mostly for disambiguation)
-	int32_t timebase_hz;		//48,000,000 for normal vive hardware.  (checked)
-	int32_t timecenter_ticks; 	//200,000 for normal vive hardware.     (checked)
-	int32_t pulsedist_max_ticks; //500,000 for normal vive hardware.   (guessed)
-	int32_t pulselength_min_sync; //2,200 for normal vive hardware.    (guessed)
-	int32_t pulse_in_clear_time; //35,000 for normal vive hardware.    (guessed)
-	int32_t pulse_max_for_sweep; //1,800 for normal vive hardware.     (guessed)
-	int32_t pulse_synctime_offset; //20,000 for normal vive hardware.  (guessed)
-	int32_t pulse_synctime_slack; //5,000 for normal vive hardware.    (guessed)
-
-	//Flood info, for calculating which laser is currently sweeping.
-	int8_t oldcode;
-	int8_t   sync_set_number; //0 = master, 1 = slave, -1 = fault. 
-	int8_t   did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit.
-	uint32_t last_time[NUM_LIGHTHOUSES];
-	uint32_t last_length[NUM_LIGHTHOUSES];
-	uint32_t recent_sync_time;
-
-	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.
-
-	//Debug
-	int tsl;
-};
-
-typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault );
-typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
-typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
-typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
-
-struct SurviveContext * survive_init( int headless );
-
-//For any of these, you may pass in 0 for the function pointer to use default behavior.
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp );
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp );
-void survive_install_light_fn( struct SurviveContext * ctx,  light_process_func fbp );
-void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp );
-void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp );
-
-void survive_close( struct SurviveContext * ctx );
-int survive_poll();
-
-struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name );
-
-//Utilitiy functions.
-int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );
-
-int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen );
-
-//Install the calibrator.
-void survive_cal_install( struct SurviveContext * ctx );
-
-//Call these from your callback if overridden.  
-//Accept higher-level data.
-void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
-void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
-void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
-
-
-#endif
-
diff --git a/redist/json_helpers.c b/redist/json_helpers.c
index 74028b2..4a3ba55 100644
--- a/redist/json_helpers.c
+++ b/redist/json_helpers.c
@@ -6,6 +6,8 @@
 #include <stdlib.h>
 #include <string.h>
 #include "json_helpers.h"
+#include <jsmn.h>
+
 
 void json_write_float_array(FILE* f, const char* tag, float* v, uint8_t count) {
 	uint8_t i = 0;
@@ -14,16 +16,16 @@ void json_write_float_array(FILE* f, const char* tag, float* v, uint8_t count) {
 	asprintf(&str1,"\"%s\":[", tag);
 
 	for (i=0;i<count;++i) {
-		if (i<(count-1)) {
-			asprintf(&str2, "%s\"%f\",", str1,v[i]);
-		} else {
+		if ( (i+1) < count) {
 			asprintf(&str2, "%s\"%f\"", str1,v[i]);
+		} else {
+			asprintf(&str2, "%s\"%f\",", str1,v[i]);
 		}
 		free(str1);
 		str1=str2;
 		str2=NULL;
 	}
-	asprintf(&str2, "%s]", str1,v[i]);
+	asprintf(&str2, "%s]", str1);
 	fputs(str2,f);
 	free(str1);
 	free(str2);
@@ -45,7 +47,7 @@ void json_write_double_array(FILE* f, const char* tag, double* v, uint8_t count)
 		str1=str2;
 		str2=NULL;
 	}
-	asprintf(&str2, "%s]", str1,v[i]);
+	asprintf(&str2, "%s]", str1);
 	fputs(str2,f);
 	free(str1);
 	free(str2);
@@ -61,4 +63,114 @@ void json_write_float(FILE* f, const char* tag, float v) {
 
 void json_write_str(FILE* f, const char* tag, const char* v) {
 	fprintf(f, "\"%s\":\"%s\"", tag, v);
-}
\ No newline at end of file
+}
+
+
+
+
+void (*json_begin_object)(char* tag) = NULL;
+void (*json_end_object)() = NULL;
+void (*json_tag_value)(char* tag, char** values, uint16_t count) = NULL;
+
+uint32_t JSON_STRING_LEN;
+
+char* load_file_to_mem(const char* path) {
+	FILE * f = fopen( path, "r" );
+	if (f==NULL) return NULL;
+	fseek( f, 0, SEEK_END );
+	int len = ftell( f );
+	fseek( f, 0, SEEK_SET );
+	char * JSON_STRING = malloc( len );
+	fread( JSON_STRING, len, 1, f );
+	fclose( f );
+	return JSON_STRING;
+}
+
+static char* substr(const char* str, uint32_t start, uint32_t end, uint32_t npos) {
+	uint32_t l = end-start+1;
+
+	if (end<=start || end>=npos) return NULL;
+
+	char* x = malloc(l);
+	memcpy(x,str+start,l);
+	x[l-1] = '\0';
+	return x;
+}
+
+static uint16_t json_load_array(const char* JSON_STRING, jsmntok_t* tokens, uint16_t size, char* tag) {
+	jsmntok_t* t = tokens;
+	uint16_t i = 0;
+
+	char* values[size];
+
+	for (i=0;i<size;++i) {
+		t = tokens+i;
+		values[i] = substr(JSON_STRING, t->start, t->end, JSON_STRING_LEN);
+	}
+
+	if (json_tag_value != NULL) json_tag_value(tag, values, i);
+
+	for (i=0;i<size;++i) free(values[i]);
+
+	return size;
+}
+
+void json_load_file(const char* path) {
+	uint32_t i = 0;
+
+	char* JSON_STRING = load_file_to_mem(path);
+	if (JSON_STRING==NULL) return;
+
+	JSON_STRING_LEN = strlen(JSON_STRING);
+
+	jsmn_parser parser;
+	jsmn_init(&parser);
+
+	uint32_t items = jsmn_parse(&parser, JSON_STRING, JSON_STRING_LEN, NULL, 0);
+	jsmntok_t* tokens = malloc(items * sizeof(jsmntok_t));
+
+	jsmn_init(&parser);
+	items = jsmn_parse(&parser, JSON_STRING, JSON_STRING_LEN, tokens, items);
+
+	int16_t children = -1;
+
+	for (i=0; i<items; i+=2)
+	{
+		//increment i on each successful tag + values combination, not individual tokens
+		jsmntok_t* tag_t = tokens+i;
+		jsmntok_t* value_t = tokens+i+1;
+
+		char* tag = substr(JSON_STRING, tag_t->start, tag_t->end, JSON_STRING_LEN);
+		char* value = substr(JSON_STRING, value_t->start, value_t->end, JSON_STRING_LEN);
+
+		printf("%d %d c:%d %d %s \n", tag_t->start, tag_t->end, tag_t->size, tag_t->type, tag);
+
+
+		if (value_t->type == JSMN_ARRAY) {
+			i += json_load_array(JSON_STRING, tokens+i+2,value_t->size, tag); //look at array children
+		} else if (value_t->type == JSMN_OBJECT) {
+			printf("Begin Object\n");
+			if (json_begin_object != NULL) json_begin_object(tag);
+			children = value_t->size +1; //+1 to account for this loop where we are not yed parsing children
+//			i += decode_jsmn_object(JSON_STRING, tokens+i+2,value_t->size);
+		}
+		else {
+			if (json_tag_value != NULL) json_tag_value(tag, &value, 1);
+		}
+
+		if (children>=0) children--;
+		if (children == 0) {
+			children = -1;
+			printf("End Object\n");
+			if (json_end_object!=NULL) json_end_object();
+		}
+
+//		printf("%d %s \n", value_t->type, tag);
+
+		free(tag);
+		free(value);
+	}
+
+	free(JSON_STRING);
+}
+
diff --git a/redist/json_helpers.h b/redist/json_helpers.h
index 8d6eb64..1670058 100644
--- a/redist/json_helpers.h
+++ b/redist/json_helpers.h
@@ -11,4 +11,10 @@ void json_write_uint32(FILE* f, const char* tag, uint32_t v);
 void json_write_float(FILE* f, const char* tag, float v);
 void json_write_str(FILE* f, const char* tag, const char* v);
 
+void json_load_file(const char* path);
+extern void (*json_begin_object)(char* tag);
+extern void (*json_end_object)();
+extern void (*json_tag_value)(char* tag, char** values, uint16_t count);
+
+
 #endif
\ No newline at end of file
diff --git a/redist/linmath.c b/redist/linmath.c
index 157141f..1c5c25b 100644
--- a/redist/linmath.c
+++ b/redist/linmath.c
@@ -93,11 +93,6 @@ void quatsetnone(FLT * q)
 	q[0] = 1; q[1] = 0; q[2] = 0; q[3] = 0;
 }
 
-void quatsetidentity(FLT * q)
-{
-	q[0] = 1; q[1] = 0; q[2] = 0; q[3] = 1;
-}
-
 void quatcopy(FLT * qout, const FLT * qin)
 {
 	qout[0] = qin[0];
@@ -447,7 +442,7 @@ void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest)
 	// If dot == 1, vectors are the same
 	if (d >= 1.0f)
 	{
-		quatsetidentity(q);
+		quatsetnone(q);
 		return;
 	}
 	if (d < (1e-6f - 1.0f))
diff --git a/src/poser_dummy.c b/src/poser_dummy.c
new file mode 100644
index 0000000..67f8edb
--- /dev/null
+++ b/src/poser_dummy.c
@@ -0,0 +1,52 @@
+#include <survive.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+typedef struct
+{
+	int something;
+	//Stuff
+} DummyData;
+
+int PoserDummy( SurviveObject * so, PoserData * pd )
+{
+	PoserType pt = pd->pt;
+	SurviveContext * ctx = so->ctx;
+	DummyData * dd = so->PoserData;
+
+	if( !dd ) so->PoserData = dd = malloc( sizeof( DummyData ) );
+
+	switch( pt )
+	{
+	case POSERDATA_IMU:
+	{
+		PoserDataIMU * imu = (PoserDataIMU*)pd;
+		//printf( "IMU:%s (%f %f %f) (%f %f %f)\n", so->codename, imu->accel[0], imu->accel[1], imu->accel[2], imu->gyro[0], imu->gyro[1], imu->gyro[2] );
+		break;
+	}
+	case POSERDATA_LIGHT:
+	{
+		PoserDataLight * l = (PoserDataLight*)pd;
+		//printf( "LIG:%s %d @ %f rad, %f s (AC %d) (TC %d)\n", so->codename, l->sensor_id, l->angle, l->length, l->acode, l->timecode );
+		break;
+	}
+	case POSERDATA_FULL_SCENE:
+	{
+		PoserDataFullScene * fs = (PoserDataFullScene*)pd;
+		//printf( "Full scene data.\n" );
+		break;
+	}
+	case POSERDATA_DISASSOCIATE:
+	{
+		free( dd );
+		so->PoserData = 0;
+		//printf( "Need to disassociate.\n" );
+		break;
+	}
+	}
+
+}
+
+
+REGISTER_LINKTIME( PoserDummy );
+
diff --git a/src/survive.c b/src/survive.c
index 9bc1a2c..09eb432 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -3,12 +3,13 @@
 
 #include <survive.h>
 #include "survive_internal.h"
-#include "survive_driverman.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <zlib.h>
 
+#include "survive_config.h"
+
 static void survivefault( struct SurviveContext * ctx, const char * fault )
 {
 	fprintf( stderr, "Error: %s\n", fault );
@@ -21,11 +22,19 @@ static void survivenote( struct SurviveContext * ctx, const char * fault )
 }
 
 
-struct SurviveContext * survive_init( int headless )
+SurviveContext * survive_init( int headless )
 {
 	int r = 0;
 	int i = 0;
-	struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) );
+	SurviveContext * ctx = calloc( 1, sizeof( SurviveContext ) );
+
+	ctx->global_config_values = malloc( sizeof(config_group) );
+	ctx->lh_config = malloc( sizeof(config_group) * NUM_LIGHTHOUSES);
+
+	init_config_group(ctx->global_config_values,10);
+	init_config_group(ctx->lh_config,10);
+
+	config_read(ctx, "config.json");
 
 	ctx->faultfunction = survivefault;
 	ctx->notefunction = survivenote;
@@ -36,7 +45,6 @@ struct SurviveContext * survive_init( int headless )
 
 	const char * DriverName;
 	while( ( DriverName = GetDriverNameMatching( "DriverReg", i++ ) ) )
-
 	{
 		DeviceDriver dd = GetDriver( DriverName );
 		printf( "Loading driver %s (%p) (%d)\n", DriverName, dd, i );
@@ -44,10 +52,34 @@ struct SurviveContext * survive_init( int headless )
 		printf( "Driver %s reports status %d\n", DriverName, r );
 	}
 
+	i = 0;
+	const char * PreferredPoser = config_read_str( ctx->global_config_values, "DefualtPoser", "PoserDummy" );
+	PoserCB PreferredPoserCB = 0;
+	const char * FirstPoser = 0;
+	printf( "Available posers:\n" );
+	while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) )
+	{
+		PoserCB p = GetDriver( DriverName );
+		if( !PreferredPoserCB ) PreferredPoserCB = p;
+		int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0;
+		printf( "\t%c%s\n", ThisPoser?'*':' ', DriverName );
+		if( ThisPoser ) PreferredPoserCB = p;
+	}
+	printf( "Totals %d posers.  Using selected poser (or first!).\n", i-1 );
+	if( !PreferredPoserCB )
+	{
+		SV_ERROR( "Error.  Cannot find any valid poser." );
+	}
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		ctx->objs[i]->PoserFn = PreferredPoserCB;
+	}
+
 	return ctx;
 }
 
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->notefunction = fbp;
@@ -55,7 +87,7 @@ void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func f
 		ctx->notefunction = survivenote;
 }
 
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->faultfunction = fbp;
@@ -63,7 +95,7 @@ void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func
 		ctx->faultfunction = survivefault;
 }
 
-void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp )
+void survive_install_light_fn( SurviveContext * ctx, light_process_func fbp )
 {
 	if( fbp )
 		ctx->lightproc = fbp;
@@ -71,7 +103,7 @@ void survive_install_light_fn( struct SurviveContext * ctx, light_process_func f
 		ctx->lightproc = survive_default_light_process;
 }
 
-void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp )
+void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp )
 {
 	if( fbp )
 		ctx->imuproc = fbp;
@@ -80,7 +112,7 @@ void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp
 }
 
 
-void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp )
+void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp )
 {
 	if( fbp )
 		ctx->angleproc = fbp;
@@ -88,15 +120,15 @@ void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func
 		ctx->angleproc = survive_default_angle_process;
 }
 
-int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj )
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj )
 {
 	int oldct = ctx->objs_ct;
-	ctx->objs = realloc( ctx->objs, sizeof( struct SurviveObject * ) * (oldct+1) );
+	ctx->objs = realloc( ctx->objs, sizeof( SurviveObject * ) * (oldct+1) );
 	ctx->objs[oldct] = obj;
 	ctx->objs_ct = oldct+1;
 }
 
-void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
 {
 	int oldct = ctx->driver_ct;
 	ctx->drivers = realloc( ctx->drivers, sizeof( void * ) * (oldct+1) );
@@ -110,7 +142,7 @@ void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriv
 	ctx->driver_ct = oldct+1;
 }
 
-int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen )
+int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen )
 {
 	int oldct = ctx->driver_ct;
 	int i;
@@ -120,7 +152,7 @@ int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data
 	}	
 }
 
-void survive_close( struct SurviveContext * ctx )
+void survive_close( SurviveContext * ctx )
 {
 	const char * DriverName;
 	int r = 0;
@@ -134,16 +166,33 @@ void survive_close( struct SurviveContext * ctx )
 
 	int oldct = ctx->driver_ct;
 	int i;
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		PoserData pd;
+		pd.pt = POSERDATA_DISASSOCIATE;
+		if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd );
+	}
+
 	for( i = 0; i < oldct; i++ )
 	{
 		ctx->drivercloses[i]( ctx, ctx->drivers[i] );
 	}
 
+
+	config_save(ctx, "config.json");
+
+	destroy_config_group(ctx->global_config_values);
+	destroy_config_group(ctx->lh_config);
+
 	free( ctx->objs );
 	free( ctx->drivers );
 	free( ctx->driverpolls );
 	free( ctx->drivermagics );
 	free( ctx->drivercloses );
+	free( ctx->global_config_values );
+	free( ctx->lh_config );
+
 	free( ctx );
 }
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index f372309..06914eb 100644
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -27,8 +27,8 @@ static void reset_calibration( struct SurviveCalData * cd );
 
 void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 {
-	struct SurviveContext * ctx = (struct SurviveContext*)(ct->user);
-	struct SurviveCalData * cd = ctx->calptr;
+	SurviveContext * ctx = (SurviveContext*)(ct->user);
+	SurviveCalData * cd = ctx->calptr;
 	int id = ct->user1;
 
 	SV_INFO( "Got OOTX packet %d %p", id, cd );
@@ -36,7 +36,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	lighthouse_info_v6 v6;
 	init_lighthouse_info_v6(&v6, packet->data);
 
-	struct BaseStationData * b = &ctx->bsd[id];
+	BaseStationData * b = &ctx->bsd[id];
 	//print_lighthouse_info_v6(&v6);
 
 	b->BaseStationID = v6.id;
@@ -52,8 +52,8 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	b->fcalgibmag[1] = v6.fcal_1_gibmag;
 	b->OOTXSet = 1;
 
-	config_set_lighthouse(b,id);
-	config_save("config.json");
+	config_set_lighthouse(ctx->lh_config,b,id);
+//	config_save("config.json");
 }
 
 int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length )
diff --git a/src/survive_cal.h b/src/survive_cal.h
index bb4eb32..dd2a1e2 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -2,6 +2,8 @@
 
 // All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
 
+//XXX XXX XXX Warning:  This subsystem will likely be mostly re-written.
+
 #ifndef _SURVIVE_CAL_H
 #define _SURVIVE_CAL_H
 
@@ -21,21 +23,21 @@
 #include "ootx_decoder.h"
 #include "survive_internal.h"
 
-void survive_cal_install( struct SurviveContext * ctx );
-int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length );
+void survive_cal_install( SurviveContext * ctx );
+int survive_cal_get_status( SurviveContext * ctx, char * description, int description_length );
 
 //void survive_cal_teardown( struct SurviveContext * ctx );
 
 //Called from survive_default_light_process
-void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  );
-void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  );
+void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
 
 #define MAX_SENSORS_TO_CAL 96
 #define DRPTS 1024
 #define MAX_CAL_PT_DAT (MAX_SENSORS_TO_CAL*NUM_LIGHTHOUSES*2)
 struct SurviveCalData
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 	//OOTX Data is sync'd off of the sync pulses coming from the lighthouses.
 	ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
 
@@ -57,7 +59,7 @@ struct SurviveCalData
 
 	int senid_of_checkpt; //This is a point on a watchman that can be used to check the lh solution.
 
-	struct SurviveObject * hmd;
+	SurviveObject * hmd;
 
 	//Stage:
 	// 0: Idle
@@ -68,7 +70,7 @@ struct SurviveCalData
 
 //The following function is not included in the core survive_cal and must be compiled from a camfind file.
 //It should use data for stage 4 and report if it found the 
-int survive_cal_lhfind( struct SurviveCalData * cd );
+int survive_cal_lhfind( SurviveCalData * cd );
 
 
 #endif
diff --git a/src/survive_cal_lhfind.c b/src/survive_cal_lhfind.c
index 93d9dc0..a1bb2cc 100644
--- a/src/survive_cal_lhfind.c
+++ b/src/survive_cal_lhfind.c
@@ -7,13 +7,13 @@
 #define MIN_HITS_FOR_VALID 10
 
 
-FLT static RunOpti(  struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat );
+FLT static RunOpti(  SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat );
 
 //Values used for RunTest()
 
-int survive_cal_lhfind( struct SurviveCalData * cd )
+int survive_cal_lhfind( SurviveCalData * cd )
 {
-	struct SurviveContext * ctx = cd->ctx;
+	SurviveContext * ctx = cd->ctx;
 	int cycle, i;
 	int lh = 0;
 	FLT dx, dy, dz;
@@ -137,8 +137,8 @@ int survive_cal_lhfind( struct SurviveCalData * cd )
 		}
 
 		cd->ctx->bsd[lh].PositionSet = 1;
-		copy3d( cd->ctx->bsd[lh].Position, LighthousePos );
-		quatcopy( cd->ctx->bsd[lh].Quaternion, LighthouseQuat );
+		copy3d( cd->ctx->bsd[lh].Pose.Pos, LighthousePos );
+		quatcopy( cd->ctx->bsd[lh].Pose.Rot, LighthouseQuat );
 	}
 
 	return 0; //Return 0 if success.
@@ -149,14 +149,14 @@ int survive_cal_lhfind( struct SurviveCalData * cd )
 
 
 
-static FLT RunOpti( struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat )
+static FLT RunOpti( SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat )
 {
 	int i, p;
 	FLT UsToTarget[3];
 	FLT LastUsToTarget[3];
 	FLT mux = .9;
 	quatsetnone( LighthouseQuat );
-	struct SurviveObject * hmd = cd->hmd;
+	SurviveObject * hmd = cd->hmd;
 	FLT * hmd_points  = hmd->sensor_locations;
 	FLT * hmd_normals = hmd->sensor_normals;
 
diff --git a/src/survive_config.c b/src/survive_config.c
index c46e300..3f0f199 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -4,55 +4,89 @@
 #include "survive_config.h"
 #include <json_helpers.h>
 
-#define MAX_CONFIG_ENTRIES 100
-#define MAX_LIGHTHOUSES 2
+#include <errno.h>
 
+//#define MAX_CONFIG_ENTRIES 100
+//#define MAX_LIGHTHOUSES 2
 
-
-config_group global_config_values;
-config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
+//config_group global_config_values;
+//config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 
 //static uint16_t used_entries = 0;
 
-static FILE *config_file = NULL;
+//static FILE *config_file = NULL;
 const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count);
 
+void init_config_entry(config_entry* ce) {
+	ce->data = NULL;
+	ce->tag = NULL;
+	ce->type = CONFIG_UNKNOWN;
+	ce->elements = 0;
+}
+
+void destroy_config_entry(config_entry* ce) {
+	if (ce->tag!=NULL) { free(ce->tag); ce->tag=NULL; }
+	if (ce->data!=NULL) { free(ce->data); ce->data=NULL; }
+}
+
 void init_config_group(config_group *cg, uint16_t count) {
 	uint16_t i = 0;
-	cg->config_entries = malloc(count*sizeof(config_entry));
 	cg->used_entries = 0;
 	cg->max_entries = count;
+	cg->config_entries = NULL;
+
+	if (count==0) return;
+
+	cg->config_entries = malloc(count*sizeof(config_entry));
 
 	for (i=0;i<count;++i) {
-		cg->config_entries[i].data = NULL;
-		cg->config_entries[i].tag = NULL;
-		cg->config_entries[i].type = CONFIG_UNKNOWN;
-		cg->config_entries[i].elements = 0;
+		init_config_entry(cg->config_entries+i);
 	}
 }
 
-void config_init() {
+void destroy_config_group(config_group* cg) {
 	uint16_t i = 0;
-	init_config_group(&global_config_values, MAX_CONFIG_ENTRIES);
-	for(i=0;i<MAX_LIGHTHOUSES;i++) {
-		init_config_group(lh_config+i, 9);
+	if (cg->config_entries==NULL) return;
+
+	for (i=0;i<cg->max_entries;++i) {
+		destroy_config_entry(cg->config_entries+i);
 	}
+
+	free(cg->config_entries);
 }
 
-void config_load(const char* path) {
-	config_file = fopen(path, "r");
+void resize_config_group(config_group *cg, uint16_t count) {
+	uint16_t i = 0;
+
+	if (count > cg->max_entries) {
+		config_entry* ptr = realloc(cg->config_entries, sizeof(config_entry)*count);
+		assert(ptr!=NULL);
+
+		cg->config_entries = ptr;
+
+		for (i=cg->max_entries;i<count;++i) {
+			init_config_entry(cg->config_entries+i);
+		}
+
+		cg->max_entries = count;
+	}
 }
 
-void config_close() {
-	fclose(config_file);
+/*
+void config_init() {
+	uint16_t i = 0;
+	init_config_group(&global_config_values, MAX_CONFIG_ENTRIES);
+	for(i=0;i<MAX_LIGHTHOUSES;i++) {
+		init_config_group(lh_config+i, 9);
+	}
 }
+*/
 
-void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) {
+void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx) {
 	config_group *cg = lh_config+idx;
 	config_set_uint32(cg,"index", idx);
 	config_set_uint32(cg,"id", bsd->BaseStationID);
-	config_set_float_a(cg,"position", bsd->Position, 3);
-	config_set_float_a(cg,"quaternion", bsd->Quaternion, 4);
+	config_set_float_a(cg,"pose", &bsd->Pose.Pos[0], 7);
 	config_set_float_a(cg,"fcalphase", bsd->fcalphase, 2);
 	config_set_float_a(cg,"fcaltilt", bsd->fcaltilt,2);
 	config_set_float_a(cg,"fcalcurve", bsd->fcalcurve,2);
@@ -64,11 +98,10 @@ void sstrcpy(char** dest, const char *src) {
 	uint32_t len = strlen(src)+1;
 	assert(dest!=NULL);
 
-	if (*dest == NULL) {
-		*dest = (char*)malloc(len);
-	} else {
-		*dest = (char*)realloc(*dest, len);
-	}
+	char* ptr = (char*)realloc(*dest, len); //acts like malloc if dest==NULL
+	assert(ptr!=NULL);
+	*dest = ptr;
+
 	strcpy(*dest,src);
 }
 
@@ -106,9 +139,29 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) {
 	return config_set_float(cg, tag, def);
 }
 
+uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count) {
+	config_entry *cv = find_config_entry(cg, tag);
+
+	if (cv != NULL) {
+		*values = (FLT*)cv->data;
+		return cv->elements;
+	}
+
+	if (def == NULL) return 0;
+
+	config_set_float_a(cg, tag, def, count);
+	*values = def;
+	return count;
+}
+
 config_entry* next_unused_entry(config_group *cg) {
-	config_entry *cv = cg->config_entries + cg->used_entries;
-	assert(cg->used_entries < cg->max_entries);
+	config_entry *cv = NULL;
+//	assert(cg->used_entries < cg->max_entries);
+
+	if (cg->used_entries >= cg->max_entries) resize_config_group(cg, cg->max_entries + 10);
+
+	cv = cg->config_entries + cg->used_entries;
+
 	cg->used_entries++;
 	return cv;
 }
@@ -152,12 +205,10 @@ const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* valu
 
 	sstrcpy(&(cv->tag), tag);
 
-	if (cv->data == NULL) {
-		cv->data = (char*)malloc(sizeof(FLT)*count);
-	}
-	else {
-		cv->data = (char*)realloc(cv->data, sizeof(FLT)*count);
-	}
+	char* ptr = (char*)realloc(cv->data, sizeof(FLT)*count);
+	assert(ptr!=NULL);
+	cv->data = ptr;
+
 	printf("float array\n");
 
 	memcpy(cv->data,values,sizeof(FLT)*count);
@@ -201,15 +252,129 @@ void write_config_group(FILE* f, config_group *cg, char *tag) {
 	}
 }
 
-void config_save(const char* path) {
+//struct SurviveContext;
+SurviveContext* survive_context;
+
+void config_save(SurviveContext* sctx, const char* path) {
 	uint16_t i = 0;
 
 	FILE* f = fopen(path, "w");
 
-	write_config_group(f,&global_config_values, NULL);
-	write_config_group(f,lh_config, "lighthouse0");
-	write_config_group(f,lh_config+1, "lighthouse1");
+	write_config_group(f,sctx->global_config_values, NULL);
+	write_config_group(f,sctx->lh_config, "lighthouse0");
+	write_config_group(f,sctx->lh_config+1, "lighthouse1");
 
 	fclose(f);
 }
 
+void print_json_value(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	for (i=0;i<count; ++i) {
+		printf("%s:%s \n", tag, values[i]);
+	}
+}
+
+config_group* cg_stack[10]; //handle 10 nested objects deep
+uint8_t cg_stack_head = 0;
+
+void handle_config_group(char* tag) {
+	cg_stack_head++;
+	if (strcmp("lighthouse0",tag) == 0) {
+		cg_stack[cg_stack_head] = survive_context->lh_config;
+	} else if (strcmp("lighthouse1",tag) == 0) {
+		cg_stack[cg_stack_head] = survive_context->lh_config+1;
+	} else {
+		cg_stack[cg_stack_head] = survive_context->global_config_values;
+	}
+}
+
+void pop_config_group() {
+	cg_stack_head--;
+}
+
+
+int parse_floats(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	FLT f[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+	for(i=0;i<count;++i) {
+
+		#ifdef USE_DOUBLE
+		f[i] = strtod(values[i], &end);
+		#else
+		f[i] = strtof(values[i], &end);
+		#endif
+
+//		if (values[i] == end) return 0; //not a float
+		if (*end != '\0') return 0; //not an integer
+	}
+
+	if (count>1) {
+		config_set_float_a(cg, tag, f, count);
+	}
+	else {
+		config_set_float(cg, tag, f[0]);
+	}
+
+	return 1;
+}
+
+int parse_uint32(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	uint32_t l[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+/*
+	//look for non numeric values
+	for(end=values[0];*end!='\0';++end) {
+		if ((*end<48) || (*end>57)) return 0;
+	}
+
+	end=NULL;
+*/
+	for(i=0;i<count;++i) {
+		l[i] = strtol(values[i], &end, 10);
+//		if (values[i] == end) return 0; //not an integer
+		if (*end != '\0') return 0; //not an integer
+	}
+
+//	if (count>1)
+//		config_set_uint32_array(cg, tag, f, count);
+//	else
+		config_set_uint32(cg, tag, l[0]);
+
+	return 1;
+}
+
+void handle_tag_value(char* tag, char** values, uint16_t count) {
+	print_json_value(tag,values,count);
+	config_group* cg = cg_stack[cg_stack_head];
+
+	if (parse_uint32(tag,values,count) > 0) return; //parse integers first, stricter rules
+
+	if (parse_floats(tag,values,count) > 0) return;
+
+	//should probably also handle string arrays
+	config_set_str(cg,tag,values[0]);
+//	else if (count>1) config_set_str
+}
+
+void config_read(SurviveContext* sctx, const char* path) {
+	survive_context = sctx;
+
+	json_begin_object = handle_config_group;
+	json_end_object = pop_config_group;
+	json_tag_value = handle_tag_value;
+
+	cg_stack[0] = sctx->global_config_values;
+
+	json_load_file(path);
+
+	json_begin_object = NULL;
+	json_end_object = NULL;
+	json_tag_value = NULL;
+}
+
diff --git a/src/survive_config.h b/src/survive_config.h
index 14e2fc6..c8c7762 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -26,29 +26,34 @@ typedef struct {
 	uint32_t elements;
 } config_entry;
 
-typedef struct {
+typedef struct config_group {
 	config_entry *config_entries;
 	uint16_t	used_entries;
 	uint16_t	max_entries;
 } config_group;
 
-extern config_group global_config_values;
-extern config_group lh_config[2]; //lighthouse configs
+//extern config_group global_config_values;
+//extern config_group lh_config[2]; //lighthouse configs
+
+void init_config_group(config_group *cg, uint16_t count);
+void destroy_config_group(config_group* cg);
 
+//void config_init();
+//void config_open(const char* path, const char* mode);
 
-void config_init();
-void config_open(const char* path, const char* mode);
-void config_close();
 //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length);
-void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx);
+void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx);
+
+void config_read(SurviveContext* sctx, const char* path);
+void config_save(SurviveContext* sctx, const char* path);
 
-void config_save(const char* path);
 const FLT config_set_float(config_group *cg, const char *tag, const FLT value);
 const uint32_t config_set_uint32(config_group *cg, const char *tag, const uint32_t value);
 const char* config_set_str(config_group *cg, const char *tag, const char* value);
 
 FLT config_read_float(config_group *cg, const char *tag, const FLT def);
+uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count);
 uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def);
 const char* config_read_str(config_group *cg, const char *tag, const char *def);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/survive_data.c b/src/survive_data.c
index e55b640..63cc5c2 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -6,12 +6,19 @@
 #include <string.h>
 
 //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
-void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le )
+void handle_lightcap( SurviveObject * so, LightcapElement * le )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
-//	printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
+	//if( so->codename[0] != 'H' )
+	//printf( "*** %s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
+
+	if( le->sensor_id > SENSORS_PER_OBJECT )
+	{
+		return;
+	}
+
 
 	so->tsl = le->timestamp;
 	if( le->length < 20 ) return;  ///Assuming 20 is an okay value for here.
diff --git a/src/survive_driverman.c b/src/survive_driverman.c
index 8cdfb71..d694e64 100644
--- a/src/survive_driverman.c
+++ b/src/survive_driverman.c
@@ -3,7 +3,7 @@
 // See notice in survive_driverman.h
 //
 
-#include "survive_driverman.h"
+#include "survive_internal.h"
 #include <string.h>
 #include <stdio.h>
 
diff --git a/src/survive_driverman.h b/src/survive_driverman.h
deleted file mode 100644
index 5e13caf..0000000
--- a/src/survive_driverman.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// (C) 2017 <>< C. N. Lohr, Under MIT/x11 License.
-//
-// This file is intended to be used for self-registering functions.  By using
-// this it means that you do not need to have complicated switch statements or
-// #defines for dfferent inclusion of drivers/other code.  You can simply
-// register your function and it will be put into a list.
-//
-//
-
-#ifndef SURVIVE_DRIVERMAN_H
-#define SURVIVE_DRIVERMAN_H
-
-//Driver registration
-#define MAX_DRIVERS 32
-
-void   RegisterDriver( const char * name, void * data );
-void * GetDriver( const char * name );
-const char * GetDriverNameMatching( const char * prefix, int place );
-void   ListDrivers();
-
-#define REGISTER_LINKTIME( func ) \
-	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }
-
-
-//
-// Specific types of drivers.
-//
-
-struct SurviveContext;
-
-//Device drivers (prefix your drivers with "DriverReg") i.e.
-//		REGISTER_LINKTIME( DriverRegHTCVive );
-typedef int (*DeviceDriver)( struct SurviveContext * ctx );
-
-//more driver types here? i.e. posefinders, etc.
-
-#endif
-
diff --git a/src/survive_internal.h b/src/survive_internal.h
index 5962623..392104a 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -1,15 +1,5 @@
-//<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License.
+//<>< (C) 2016-2017 C. N. Lohr, MOSTLY Under MIT/x11 License.
 //
-//Based off of https://github.com/collabora/OSVR-Vive-Libre
-// Originally Copyright 2016 Philipp Zabel
-// Originally Copyright 2016 Lubosz Sarnecki <lubosz.sarnecki@collabora.co.uk>
-// Originally Copyright (C) 2013 Fredrik Hultin
-// Originally Copyright (C) 2013 Jakob Bornecrantz
-//
-//But, re-written as best as I can to get it put under an open souce license instead of a forced-source license.
-//If there are portions of the code too similar to the original, I would like to know  so they can be re-written.
-//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
-
 
 #ifndef _SURVIVE_INTERNAL_H
 #define _SURVIVE_INTERNAL_H
@@ -17,88 +7,16 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
-#include "survive_driverman.h"
 #include <zlib.h>
 #include <survive.h>
 
-#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); }
-#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); }
-
-//XXX TODO This one needs to be rewritten.
-#define SV_KILL()		exit(0)
-
-#define INTBUFFSIZE			64
-#define SENSORS_PER_OBJECT	32
-
-struct SurviveContext;
-struct SurviveUSBInterface;
-
-typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
-typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
-
-
-//This is defined in survive.h
-struct SurviveObject;
-struct SurviveCalData;
-
-struct BaseStationData
-{
-	uint8_t PositionSet:1;
-	FLT Position[3];
-	FLT Quaternion[4];
-
-	uint8_t OOTXSet:1;
-	uint32_t BaseStationID;
-	FLT fcalphase[2];
-	FLT fcaltilt[2];
-	FLT fcalcurve[2];
-	FLT fcalgibpha[2];
-	FLT fcalgibmag[2];
-};
-
-struct SurviveContext
-{
-	text_feedback_func faultfunction;
-	text_feedback_func notefunction;
-	light_process_func lightproc;
-	imu_process_func imuproc;
-	angle_process_func angleproc;
-
-	//Calibration data:
-	struct BaseStationData bsd[NUM_LIGHTHOUSES];
-
-	struct SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
-
-	struct SurviveObject ** objs;
-	int objs_ct;
-
-	void ** drivers;
-	DeviceDriverCb * driverpolls;
-	DeviceDriverCb * drivercloses;
-	DeviceDriverMagicCb * drivermagics;
-	int driver_ct;
-};
-
-int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj );
-
-void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
-
-//For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
-struct LightcapElement
-{
-	uint8_t sensor_id;
-	uint8_t type;
-	uint16_t length;
-	uint32_t timestamp;
-} __attribute__((packed));
-
-//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
-void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le );
-
 
-//Accept Data from backend.
-void survive_data_cb( struct SurviveUSBInterface * si );
+//Driver registration
+#define MAX_DRIVERS 32
 
+void * GetDriver( const char * name );
+const char * GetDriverNameMatching( const char * prefix, int place );
+void   ListDrivers();
 
 #endif
 
diff --git a/src/survive_process.c b/src/survive_process.c
index 75453da..2fea99d 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -6,9 +6,9 @@
 //XXX TODO: Once data is avialble in the context, use the stuff here to handle converting from time codes to
 //proper angles, then from there perform the rest of the solution. 
 
-void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
+void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	int base_station = acode >> 2;
 	int axis = acode & 1;
 
@@ -25,7 +25,7 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in
 
 	//Need to now do angle correction.
 #if 1
-	struct BaseStationData * bsd = &ctx->bsd[base_station];
+	BaseStationData * bsd = &ctx->bsd[base_station];
 
 	//XXX TODO: This seriously needs to be worked on.  See: https://github.com/cnlohr/libsurvive/issues/18
 	angle += bsd->fcalphase[axis];
@@ -39,20 +39,41 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in
 }
 
 
-void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	if( ctx->calptr )
 	{
 		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
 	}
-
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataLight l = {
+			.pt = POSERDATA_LIGHT,
+			.sensor_id = sensor_id,
+			.acode = acode,
+			.timecode = timecode,
+			.length = length,
+			.angle = angle,
+		};
+		so->PoserFn( so, (PoserData *)&l );
+	}
 }	
 
 
-void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
 {
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataIMU imu = {
+			.pt = POSERDATA_IMU,
+			.datamask = mask,
+			.accel = { accelgyromag[0], accelgyromag[1], accelgyromag[2] },
+			.gyro = {  accelgyromag[3], accelgyromag[4], accelgyromag[5] },
+			.mag = {   accelgyromag[6], accelgyromag[7], accelgyromag[8] },
+			.timecode = timecode,
+		};
+		so->PoserFn( so, (PoserData *)&imu );
+	}
 }
 
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 47886c9..7da2897 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -10,27 +10,18 @@
 //If there are portions of the code too similar to the original, I would like to know  so they can be re-written.
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
-#include "survive_internal.h"
-#include "survive_driverman.h"
+#include <survive.h>
 #include <jsmn.h>
-
-#include "survive_internal.h"
 #include <libusb-1.0/libusb.h>
 #include <stdio.h>
-#include <unistd.h> //sleep if I ever use it.
+#include <stdlib.h>
+#include <unistd.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/stat.h>
 
 struct SurviveViveData;
 
-//USB Subsystem 
-void survive_usb_close( struct SurviveContext * t );
-int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1 );
-int survive_usb_poll( struct SurviveContext * ctx );
-int survive_get_config( char ** config, struct SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
-
-
 const short vidpids[] = {
 	0x0bb4, 0x2c87, 0, //The main HTC HMD device
 	0x28de, 0x2000, 0, //Valve lighthouse
@@ -60,15 +51,18 @@ const char * devnames[] = {
 #define USB_IF_LIGHTCAP		4
 #define MAX_INTERFACES				5
 
-typedef void (*usb_callback)( struct SurviveUSBInterface * ti );
+typedef struct SurviveUSBInterface SurviveUSBInterface;
+typedef struct SurviveViveData SurviveViveData;
+
+typedef void (*usb_callback)( SurviveUSBInterface * ti );
 
 struct SurviveUSBInterface
 {
-	struct SurviveViveData * sv;
-	struct SurviveContext * ctx;
+	SurviveViveData * sv;
+	SurviveContext * ctx;
 
 	struct libusb_transfer * transfer;
-	struct SurviveObject * assoc_obj;
+	SurviveObject * assoc_obj;
 	int actual_len;
 	uint8_t buffer[INTBUFFSIZE];
 	usb_callback cb;
@@ -78,16 +72,24 @@ struct SurviveUSBInterface
 
 struct SurviveViveData
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 
 	//XXX TODO: UN-STATICIFY THIS.
-	struct SurviveUSBInterface uiface[MAX_INTERFACES];
+	SurviveUSBInterface uiface[MAX_INTERFACES];
 	//USB Subsystem
 	struct libusb_context* usbctx;
 	struct libusb_device_handle * udev[MAX_USB_DEVS];
 
 };
 
+void survive_data_cb( SurviveUSBInterface * si );
+
+//USB Subsystem 
+void survive_usb_close( SurviveContext * t );
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1 );
+int survive_usb_poll( SurviveContext * ctx );
+int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
+
 
 
 
@@ -115,10 +117,10 @@ static void handle_transfer(struct libusb_transfer* transfer)
 
 
 
-static int AttachInterface( struct SurviveViveData * sv, struct SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
+static int AttachInterface( SurviveViveData * sv, SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
 {
-	struct SurviveContext * ctx = sv->ctx;
-	struct SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
+	SurviveContext * ctx = sv->ctx;
+	SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
 	iface->ctx = ctx;
 	iface->sv = sv;
 	iface->which_interface_am_i = which_interface_am_i;
@@ -593,7 +595,13 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 	if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset.
 	{
 		propset |= 2;
-		w->ctx->imuproc( w, (int16_t *)&readdata[1], (time1<<24)|(time2<<16)|readdata[0], 0 );
+		//XXX XXX BIG TODO!!! Actually recal gyro data.
+		FLT agm[9] = { readdata[1], readdata[2], readdata[3],
+						readdata[4], readdata[5], readdata[6],
+						0,0,0 };
+
+		w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 );
+
 		int16_t * k = (int16_t *)readdata+1;
 		//printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] );
 		readdata += 13; qty -= 13;
@@ -680,7 +688,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		}
 
 
-		struct LightcapElement les[10];
+		LightcapElement les[10];
 		int lese = 0; //les's end
 
 		//Second, go through all LEDs and extract the lightevent from them. 
@@ -711,7 +719,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				//reverse sorted, but that is to minimize operations.  To read it
 				//in sorted order simply read it back backwards.
 				//Use insertion sort, since we should most of the time, be in order.
-				struct LightcapElement * le = &les[lese++];
+				LightcapElement * le = &les[lese++];
 				le->sensor_id = led;
 				le->type = 0xfe;
 
@@ -725,7 +733,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				int swap = lese-2;
 				while( swap >= 0 && les[swap].timestamp < les[swap+1].timestamp )
 				{
-					struct LightcapElement l;
+					LightcapElement l;
 					memcpy( &l, &les[swap], sizeof( l ) );
 					memcpy( &les[swap], &les[swap+1], sizeof( l ) );
 					memcpy( &les[swap+1], &l, sizeof( l ) );
@@ -744,17 +752,17 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		return;
 	end:
 		{
-			struct SurviveContext * ctx = w->ctx;
+			SurviveContext * ctx = w->ctx;
 			SV_INFO( "Light decoding fault: %d\n", fault );
 		}
 	}
 }
 
 
-void survive_data_cb( struct SurviveUSBInterface * si )
+void survive_data_cb( SurviveUSBInterface * si )
 {
 	int size = si->actual_len;
-	struct SurviveContext * ctx = si->ctx;
+	SurviveContext * ctx = si->ctx;
 #if 0
 	int i;
 	printf( "%16s: %d: ", si->hname, len );
@@ -767,7 +775,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 #endif 
 
 	int iface = si->which_interface_am_i;
-	struct SurviveObject * obj = si->assoc_obj;
+	SurviveObject * obj = si->assoc_obj;
 	uint8_t * readdata = si->buffer;
 
 	int id = POP1;
@@ -808,7 +816,13 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 			if( cd > 0 )
 			{
 				obj->oldcode = code;
-				ctx->imuproc( obj, acceldata, timecode, code );
+
+				//XXX XXX BIG TODO!!! Actually recal gyro data.
+				FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2],
+								acceldata[3], acceldata[4], acceldata[5],
+								0,0,0 };
+
+				ctx->imuproc( obj, 3, agm, timecode, code );
 			}
 		}
 
@@ -818,7 +832,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 	case USB_IF_WATCHMAN1:
 	case USB_IF_WATCHMAN2:
 	{
-		struct SurviveObject * w = obj;
+		SurviveObject * w = obj;
 		if( id == 35 )
 		{
 			handle_watchman( w, readdata);
@@ -844,7 +858,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 		int i;
 		for( i = 0; i < 7; i++ )
 		{
-			handle_lightcap( obj, (struct LightcapElement*)&readdata[i*8] );
+			handle_lightcap( obj, (LightcapElement*)&readdata[i*8] );
 		}
 		break;
 	}
@@ -875,7 +889,7 @@ static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
 }
 
 
-static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i )
+static int ParsePoints( SurviveContext * ctx, SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i )
 {
 	int k;
 	int pts = t[i+1].size;
@@ -914,9 +928,9 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so,
 	return 0;
 }
 
-static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, int devno, int iface, int extra_magic )
+static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int iface, int extra_magic )
 {
-	struct SurviveContext * ctx = sv->ctx;
+	SurviveContext * ctx = sv->ctx;
 	char * ct0conf = 0;
 	int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic );
 
@@ -1002,21 +1016,21 @@ static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, i
 }
 
 
-int survive_vive_close( struct SurviveContext * ctx, void * driver )
+int survive_vive_close( SurviveContext * ctx, void * driver )
 {
-	struct SurviveViveData * sv = driver;
+	SurviveViveData * sv = driver;
  
 	survive_vive_usb_close( sv );
 }
 
 
-int DriverRegHTCVive( struct SurviveContext * ctx )
+int DriverRegHTCVive( SurviveContext * ctx )
 {
 	int i, r;
-	struct SurviveObject * hmd = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm0 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm1 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveViveData * sv = calloc( 1, sizeof( struct SurviveViveData ) );
+	SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) );
 
 	sv->ctx = ctx;
 
diff --git a/81-vive.rules b/useful_files/81-vive.rules
index ab38087..ab38087 100644
--- a/81-vive.rules
+++ b/useful_files/81-vive.rules
diff --git a/useful_files/htc_vive_edid_on_display_port.dat b/useful_files/htc_vive_edid_on_display_port.dat
new file mode 100644
index 0000000..c5fdce2
--- /dev/null
+++ b/useful_files/htc_vive_edid_on_display_port.dat