diff options
author | CNLohr <charles@cnlohr.com> | 2018-03-10 18:07:28 -0500 |
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committer | GitHub <noreply@github.com> | 2018-03-10 18:07:28 -0500 |
commit | c96eba564989b1f5956c2b6c0f38e72195a9fd58 (patch) | |
tree | a6571ee864bf274e89f360877520ba591d9410ea | |
parent | 33eb803fe6b5eb2fc2e02e673e6e641e72592c94 (diff) | |
parent | fe88ef57cff4971664b252cb9def6a5ddcc4276d (diff) | |
download | libsurvive-c96eba564989b1f5956c2b6c0f38e72195a9fd58.tar.gz libsurvive-c96eba564989b1f5956c2b6c0f38e72195a9fd58.tar.bz2 |
Merge pull request #104 from jdavidberger/playback_driver
Playback driver
-rw-r--r-- | Makefile | 2 | ||||
-rw-r--r-- | data_recorder.c | 259 | ||||
-rw-r--r-- | include/libsurvive/survive_types.h | 6 | ||||
-rw-r--r-- | src/survive_default_devices.c | 199 | ||||
-rw-r--r-- | src/survive_default_devices.h | 19 | ||||
-rw-r--r-- | src/survive_internal.h | 1 | ||||
-rw-r--r-- | src/survive_playback.c | 242 | ||||
-rwxr-xr-x | src/survive_vive.c | 277 |
8 files changed, 644 insertions, 361 deletions
@@ -37,7 +37,7 @@ REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic. ifeq ($(UNAME), Darwin) REDISTS:=$(REDISTS) redist/hid-osx.c endif -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 src/survive_cal.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_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o #If you want to use HIDAPI on Linux. diff --git a/data_recorder.c b/data_recorder.c index 002357e..6123d57 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -1,177 +1,204 @@ -//Data recorder mod with GUI showing light positions. +// Data recorder mod with GUI showing light positions. #ifdef __linux__ #include <unistd.h> #endif + +#include <CNFGFunctions.h> +#include <os_generic.h> +#include <stdarg.h> +#include <stdint.h> #include <stdio.h> #include <stdlib.h> -#include <stdint.h> -#include <survive.h> #include <string.h> -#include <os_generic.h> -#include <CNFGFunctions.h> +#include <survive.h> +#include <sys/time.h> +#include <time.h> -struct SurviveContext * ctx; +#include "redist/os_generic.h" -void HandleKey( int keycode, int bDown ) -{ - if( !bDown ) return; +struct SurviveContext *ctx; - if( keycode == 'O' || keycode == 'o' ) - { - survive_send_magic(ctx,1,0,0); +FILE *output_file = 0; + +void HandleKey(int keycode, int bDown) { + if (!bDown) + return; + + if (keycode == 'O' || keycode == 'o') { + survive_send_magic(ctx, 1, 0, 0); } - if( keycode == 'F' || keycode == 'f' ) - { - survive_send_magic(ctx,0,0,0); + if (keycode == 'F' || keycode == 'f') { + survive_send_magic(ctx, 0, 0, 0); } } -void HandleButton( int x, int y, int button, int bDown ) -{ -} - -void HandleMotion( int x, int y, int mask ) -{ -} +void HandleButton(int x, int y, int button, int bDown) {} -void HandleDestroy() -{ -} +void HandleMotion(int x, int y, int mask) {} -int bufferpts[32*2*3]; -char buffermts[32*128*3]; -int buffertimeto[32*3]; +void HandleDestroy() {} -void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) -{ - survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh); +int bufferpts[32 * 2 * 3]; +char buffermts[32 * 128 * 3]; +int buffertimeto[32 * 3]; - if( acode == -1 ) return; -//return; - int jumpoffset = sensor_id; - if( strcmp( so->codename, "WM0" ) == 0 ) jumpoffset += 32; - else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64; +double timestamp_in_us() { + static double start_time_us = 0; + if (start_time_us == 0) + start_time_us = OGGetAbsoluteTime(); + return OGGetAbsoluteTime() - start_time_us; +} +int write_to_output(const char *format, ...) { + va_list args; + va_start(args, format); + fprintf(output_file, "%.17g ", timestamp_in_us()); + vfprintf(output_file, format, args); - if( acode == 0 || acode == 2 ) //data = 0 - { - printf( "L X %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } - if( acode == 1 || acode == 3 ) //data = 1 - { - printf( "L Y %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } + va_end(args); +} +void my_light_process(struct SurviveObject *so, int sensor_id, int acode, + int timeinsweep, uint32_t timecode, uint32_t length, + uint32_t lh) { + survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, + length, lh); - if( acode == 4 || acode == 6 ) //data = 0 - { - printf( "R X %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; + if (acode == -1) { + write_to_output("A %s %d %d %d %u %u %u\n", so->codename, sensor_id, + acode, timeinsweep, timecode, length, lh); + return; } - if( acode == 5 || acode == 7 ) //data = 1 - { - printf( "R Y %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; + + int jumpoffset = sensor_id; + if (strcmp(so->codename, "WM0") == 0) + jumpoffset += 32; + else if (strcmp(so->codename, "WM1") == 0) + jumpoffset += 64; + + const char *LH_ID = 0; + const char *LH_Axis = 0; + + switch (acode) { + case 0: + case 2: + bufferpts[jumpoffset * 2 + 0] = (timeinsweep - 100000) / 500; + LH_ID = "L"; + LH_Axis = "X"; + break; + case 1: + case 3: + bufferpts[jumpoffset * 2 + 1] = (timeinsweep - 100000) / 500; + LH_ID = "L"; + LH_Axis = "Y"; + break; + case 4: + case 6: + bufferpts[jumpoffset * 2 + 0] = (timeinsweep - 100000) / 500; + LH_ID = "R"; + LH_Axis = "X"; + break; + case 5: + case 7: + bufferpts[jumpoffset * 2 + 1] = (timeinsweep - 100000) / 500; + LH_ID = "R"; + LH_Axis = "Y"; + break; } + write_to_output("%s %s %s %u %d %d %d %u %u\n", LH_ID, LH_Axis, + so->codename, timecode, sensor_id, acode, timeinsweep, + length, lh); + buffertimeto[jumpoffset] = 0; } -void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id ) -{ - survive_default_imu_process( so, mask, accelgyro, timecode, id ); - -//return; - //if( so->codename[0] == 'H' ) - if( 1 ) - { - 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 ); - } +void my_imu_process(struct SurviveObject *so, int mask, FLT *accelgyro, + uint32_t timecode, int id) { + survive_default_imu_process(so, mask, accelgyro, timecode, id); + write_to_output("I %s %d %u %.17g %.17g %.17g %.17g %.17g %.17g %d\n", + so->codename, mask, timecode, accelgyro[0], accelgyro[1], + accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id); } - - - -void * GuiThread( void * v ) -{ +void *GuiThread(void *v) { CNFGBGColor = 0x000000; CNFGDialogColor = 0x444444; - CNFGSetup( "Survive GUI Debug", 640, 480 ); + CNFGSetup("Survive GUI Debug", 640, 480); short screenx, screeny; - while(1) - { + while (1) { CNFGHandleInput(); CNFGClearFrame(); - CNFGColor( 0xFFFFFF ); - CNFGGetDimensions( &screenx, &screeny ); + CNFGColor(0xFFFFFF); + CNFGGetDimensions(&screenx, &screeny); int i; - for( i = 0; i < 32*3; i++ ) - { - if( buffertimeto[i] < 50 ) - { + for (i = 0; i < 32 * 3; i++) { + if (buffertimeto[i] < 50) { uint32_t color = i * 3231349; uint8_t r = color & 0xff; - uint8_t g = (color>>8) & 0xff; - uint8_t b = (color>>16) & 0xff; - r = (r * (5-buffertimeto[i])) / 5 ; - g = (g * (5-buffertimeto[i])) / 5 ; - b = (b * (5-buffertimeto[i])) / 5 ; - CNFGColor( (b<<16) | (g<<8) | r ); - CNFGTackRectangle( bufferpts[i*2+0], bufferpts[i*2+1], bufferpts[i*2+0] + 5, bufferpts[i*2+1] + 5 ); - CNFGPenX = bufferpts[i*2+0]; CNFGPenY = bufferpts[i*2+1]; - CNFGDrawText( buffermts, 2 ); + uint8_t g = (color >> 8) & 0xff; + uint8_t b = (color >> 16) & 0xff; + r = (r * (5 - buffertimeto[i])) / 5; + g = (g * (5 - buffertimeto[i])) / 5; + b = (b * (5 - buffertimeto[i])) / 5; + CNFGColor((b << 16) | (g << 8) | r); + CNFGTackRectangle(bufferpts[i * 2 + 0], bufferpts[i * 2 + 1], + bufferpts[i * 2 + 0] + 5, + bufferpts[i * 2 + 1] + 5); + CNFGPenX = bufferpts[i * 2 + 0]; + CNFGPenY = bufferpts[i * 2 + 1]; + CNFGDrawText(buffermts, 2); buffertimeto[i]++; } } CNFGSwapBuffers(); - OGUSleep( 10000 ); + OGUSleep(10000); } } -int SurviveThreadLoaded=0; +int SurviveThreadLoaded = 0; -void *SurviveThread(void *junk) -{ - ctx = survive_init( 0 ); +void *SurviveThread(void *junk) { + ctx = survive_init(0); - survive_install_light_fn( ctx, my_light_process ); - survive_install_imu_fn( ctx, my_imu_process ); + survive_install_light_fn(ctx, my_light_process); + survive_install_imu_fn(ctx, my_imu_process); - if( !ctx ) - { - fprintf( stderr, "Fatal. Could not start\n" ); + if (!ctx) { + fprintf(stderr, "Fatal. Could not start\n"); exit(1); } SurviveThreadLoaded = 1; - while(survive_poll(ctx) == 0) - { - printf("Do stuff.\n"); - //Do stuff. + while (survive_poll(ctx) == 0) { } - return 0; + return 0; } -int main() -{ - // Create the libsurvive thread - OGCreateThread(SurviveThread, 0); - +int main(int argc, char **argv) { + if (argc > 1) { + output_file = fopen(argv[1], "w"); + if (output_file == 0) { + fprintf(stderr, "Could not open %s for writing", argv[1]); + return -1; + } + } else { + output_file = stdout; + } + + // Create the libsurvive thread + OGCreateThread(SurviveThread, 0); + // Wait for the survive thread to load - while (!SurviveThreadLoaded) { OGUSleep(100); } - - // Run the Gui in the main thread - GuiThread(0); -} + while (!SurviveThreadLoaded) { + OGUSleep(100); + } + // Run the Gui in the main thread + GuiThread(0); +} diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 5384345..be1115b 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -14,6 +14,12 @@ extern "C" { #endif #endif +#define float_format "%f" +#define double_format "%lf" +#define _FLT_format2(f) f##_format +#define _FLT_format(f) _FLT_format2(f) +#define FLT_format _FLT_format(FLT) + typedef struct SurvivePose { FLT Pos[3]; diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c new file mode 100644 index 0000000..6615f1e --- /dev/null +++ b/src/survive_default_devices.c @@ -0,0 +1,199 @@ +#include "survive_default_devices.h" +#include <jsmn.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include "json_helpers.h" + +static SurviveObject * +survive_create_device(SurviveContext *ctx, const char *driver_name, + void *driver, const char *device_name, haptic_func fn) { + SurviveObject *device = calloc(1, sizeof(SurviveObject)); + + device->ctx = ctx; + device->driver = driver; + memcpy(device->codename, device_name, strlen(device_name)); + memcpy(device->drivername, driver_name, strlen(driver_name)); + + 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->haptic = fn; + + return device; +} + +SurviveObject *survive_create_hmd(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "HMD", 0); +} + +SurviveObject *survive_create_wm0(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func fn) { + return survive_create_device(ctx, driver_name, driver, "WM0", fn); +} +SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func fn) { + return survive_create_device(ctx, driver_name, driver, "WM1", fn); +} +SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "TR0", 0); +} +SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "WW0", 0); +} + +static int jsoneq(const char *json, jsmntok_t *tok, const char *s) { + if (tok->type == JSMN_STRING && (int)strlen(s) == tok->end - tok->start && + strncmp(json + tok->start, s, tok->end - tok->start) == 0) { + return 0; + } + return -1; +} +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; + jsmntok_t *tk; + + so->nr_locations = 0; + *floats_out = malloc(sizeof(**floats_out) * 32 * 3); + + for (k = 0; k < pts; k++) { + tk = &t[i + 2 + k * 4]; + + int m; + for (m = 0; m < 3; m++) { + char ctt[128]; + + tk++; + int elemlen = tk->end - tk->start; + + if (tk->type != 4 || elemlen > sizeof(ctt) - 1) { + SV_ERROR("Parse error in JSON\n"); + return 1; + } + + memcpy(ctt, ct0conf + tk->start, elemlen); + ctt[elemlen] = 0; + FLT f = atof(ctt); + int id = so->nr_locations * 3 + m; + (*floats_out)[id] = f; + } + so->nr_locations++; + } + return 0; +} + +int survive_load_htc_config_format(char *ct0conf, int len, SurviveObject *so) { + if (len == 0) + return -1; + + SurviveContext *ctx = so->ctx; + // From JSMN example. + jsmn_parser p; + jsmntok_t t[4096]; + jsmn_init(&p); + int i; + int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t) / sizeof(t[0])); + if (r < 0) { + SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r); + return -1; + } + if (r < 1 || t[0].type != JSMN_OBJECT) { + SV_INFO("Object expected in HMD configuration\n"); + return -2; + } + + for (i = 1; i < r; i++) { + jsmntok_t *tk = &t[i]; + + char ctxo[100]; + int ilen = tk->end - tk->start; + if (ilen > 99) + ilen = 99; + memcpy(ctxo, ct0conf + tk->start, ilen); + ctxo[ilen] = 0; + + // printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start, + //tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") ); + // printf( "%.*s\n", ilen, ct0conf + tk->start ); + + if (jsoneq(ct0conf, tk, "modelPoints") == 0) { + if (ParsePoints(ctx, so, ct0conf, &so->sensor_locations, t, i)) { + break; + } + } + if (jsoneq(ct0conf, tk, "modelNormals") == 0) { + if (ParsePoints(ctx, so, ct0conf, &so->sensor_normals, t, i)) { + break; + } + } + + if (jsoneq(ct0conf, tk, "acc_bias") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->acc_bias = values; + so->acc_bias[0] *= .125; // XXX Wat? Observed by CNL. Biasing + // by more than this seems to hose + // things. + so->acc_bias[1] *= .125; + so->acc_bias[2] *= .125; + } + } + if (jsoneq(ct0conf, tk, "acc_scale") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->acc_scale = values; + } + } + + if (jsoneq(ct0conf, tk, "gyro_bias") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->gyro_bias = values; + } + } + if (jsoneq(ct0conf, tk, "gyro_scale") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->gyro_scale = values; + } + } + } + + char fname[64]; + + sprintf(fname, "calinfo/%s_points.csv", so->codename); + FILE *f = fopen(fname, "w"); + int j; + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_locations[j * 3 + 0], + so->sensor_locations[j * 3 + 1], + so->sensor_locations[j * 3 + 2]); + } + fclose(f); + + sprintf(fname, "calinfo/%s_normals.csv", so->codename); + f = fopen(fname, "w"); + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_normals[j * 3 + 0], + so->sensor_normals[j * 3 + 1], so->sensor_normals[j * 3 + 2]); + } + fclose(f); + + return 0; +} diff --git a/src/survive_default_devices.h b/src/survive_default_devices.h new file mode 100644 index 0000000..1fcca72 --- /dev/null +++ b/src/survive_default_devices.h @@ -0,0 +1,19 @@ +#ifndef _SURVIVE_DEFAULT_DEVICES_H +#define _SURVIVE_DEFAULT_DEVICES_H + +#include <survive.h> + +SurviveObject *survive_create_hmd(SurviveContext *ctx, const char *driver_name, + void *driver); +SurviveObject *survive_create_wm0(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func cb); +SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func cb); +SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name, + void *driver); +SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name, + void *driver); + +int survive_load_htc_config_format(char *ct0conf, int length, + SurviveObject *so); +#endif diff --git a/src/survive_internal.h b/src/survive_internal.h index e1a733d..86b119f 100644 --- a/src/survive_internal.h +++ b/src/survive_internal.h @@ -17,6 +17,7 @@ void * GetDriver( const char * name ); const char * GetDriverNameMatching( const char * prefix, int place ); void ListDrivers(); + #endif diff --git a/src/survive_playback.c b/src/survive_playback.c new file mode 100644 index 0000000..4b25b4c --- /dev/null +++ b/src/survive_playback.c @@ -0,0 +1,242 @@ +// 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 <sys/time.h> + +#include "survive_config.h" +#include "survive_default_devices.h" + +#include "redist/os_generic.h" + +struct SurvivePlaybackData { + SurviveContext *ctx; + const char *playback_dir; + FILE *playback_file; + int lineno; + + FLT time_factor; + double next_time_us; +}; +typedef struct SurvivePlaybackData SurvivePlaybackData; + +double timestamp_in_us() { + static double start_time_us = 0; + if (start_time_us == 0.) + start_time_us = OGGetAbsoluteTime(); + return OGGetAbsoluteTime() - start_time_us; +} + +static int parse_and_run_imu(const char *line, SurvivePlaybackData *driver) { + char dev[10]; + int timecode = 0; + FLT accelgyro[6]; + int mask; + int id; + + int rr = + sscanf(line, "I %s %d %d " FLT_format " " FLT_format " " FLT_format + " " FLT_format " " FLT_format " " FLT_format "%d", + dev, &mask, &timecode, &accelgyro[0], &accelgyro[1], + &accelgyro[2], &accelgyro[3], &accelgyro[4], &accelgyro[5], &id); + + if (rr != 10) { + fprintf(stderr, "Warning: On line %d, only %d values read: '%s'\n", + driver->lineno, rr, line); + return -1; + } + + SurviveObject *so = survive_get_so_by_name(driver->ctx, dev); + if (!so) { + fprintf(stderr, "Could not find device named %s from lineno %d\n", dev, + driver->lineno); + return -1; + } + + driver->ctx->imuproc(so, mask, accelgyro, timecode, id); + return 0; +} + +static int parse_and_run_lightcode(const char *line, + SurvivePlaybackData *driver) { + char lhn[10]; + char axn[10]; + char dev[10]; + uint32_t timecode = 0; + int sensor = 0; + int acode = 0; + int timeinsweep = 0; + uint32_t pulselength = 0; + uint32_t lh = 0; + + int rr = + sscanf(line, "%8s %8s %8s %u %d %d %d %u %u\n", lhn, axn, dev, + &timecode, &sensor, &acode, &timeinsweep, &pulselength, &lh); + + if (rr != 9) { + fprintf(stderr, "Warning: On line %d, only %d values read: '%s'\n", + driver->lineno, rr, line); + return -1; + } + + SurviveObject *so = survive_get_so_by_name(driver->ctx, dev); + if (!so) { + fprintf(stderr, "Could not find device named %s from lineno %d\n", dev, + driver->lineno); + return -1; + } + + driver->ctx->lightproc(so, sensor, acode, timeinsweep, timecode, + pulselength, lh); + return 0; +} + +static int playback_poll(struct SurviveContext *ctx, void *_driver) { + SurvivePlaybackData *driver = _driver; + FILE *f = driver->playback_file; + + if (f && !feof(f) && !ferror(f)) { + int i; + driver->lineno++; + char *line; + + if (driver->next_time_us == 0) { + char *buffer; + size_t n = 0; + ssize_t r = getdelim(&line, &n, ' ', f); + if (r <= 0) + return 0; + + if (sscanf(line, "%lf", &driver->next_time_us) != 1) { + free(line); + return 0; + } + free(line); + line = 0; + } + + if (driver->next_time_us * driver->time_factor > timestamp_in_us()) + return 0; + driver->next_time_us = 0; + + char *buffer; + size_t n = 0; + ssize_t r = getline(&line, &n, f); + if (r <= 0) + return 0; + + if ((line[0] != 'R' && line[0] != 'L' && line[0] != 'I') || + line[1] != ' ') + return 0; + + switch (line[0]) { + case 'L': + case 'R': + parse_and_run_lightcode(line, driver); + break; + case 'I': + parse_and_run_imu(line, driver); + break; + } + + free(line); + } else { + if (f) { + fclose(driver->playback_file); + } + driver->playback_file = 0; + return -1; + } + + return 0; +} + +static int playback_close(struct SurviveContext *ctx, void *_driver) { + SurvivePlaybackData *driver = _driver; + if (driver->playback_file) + fclose(driver->playback_file); + driver->playback_file = 0; + return 0; +} + +static int LoadConfig(SurvivePlaybackData *sv, SurviveObject *so) { + SurviveContext *ctx = sv->ctx; + char *ct0conf = 0; + + char fname[100]; + sprintf(fname, "%s/%s_config.json", sv->playback_dir, so->codename); + FILE *f = fopen(fname, "r"); + + if (f == 0 || feof(f) || ferror(f)) + return 1; + + fseek(f, 0, SEEK_END); + int len = ftell(f); + fseek(f, 0, SEEK_SET); // same as rewind(f); + + ct0conf = malloc(len + 1); + int read = fread(ct0conf, len, 1, f); + fclose(f); + ct0conf[len] = 0; + + printf("Loading config: %d\n", len); + return survive_load_htc_config_format(ct0conf, len, so); +} + +int DriverRegPlayback(SurviveContext *ctx) { + const char *playback_dir = + config_read_str(ctx->global_config_values, "PlaybackDir", ""); + + if (strlen(playback_dir) == 0) { + return 0; + } + + SurvivePlaybackData *sp = calloc(1, sizeof(SurvivePlaybackData)); + sp->ctx = ctx; + sp->playback_dir = playback_dir; + sp->time_factor = + config_read_float(ctx->global_config_values, "PlaybackFactor", 1.); + + printf("%s\n", playback_dir); + + char playback_file[100]; + sprintf(playback_file, "%s/events", playback_dir); + sp->playback_file = fopen(playback_file, "r"); + if (sp->playback_file == 0) { + fprintf(stderr, "Could not open playback events file %s", + playback_file); + return -1; + } + SurviveObject *hmd = survive_create_hmd(ctx, "Playback", sp); + SurviveObject *wm0 = survive_create_wm0(ctx, "Playback", sp, 0); + SurviveObject *wm1 = survive_create_wm1(ctx, "Playback", sp, 0); + SurviveObject *tr0 = survive_create_tr0(ctx, "Playback", sp); + SurviveObject *ww0 = survive_create_ww0(ctx, "Playback", sp); + + if (!LoadConfig(sp, hmd)) { + survive_add_object(ctx, hmd); + } + if (!LoadConfig(sp, wm0)) { + survive_add_object(ctx, wm0); + } + if (!LoadConfig(sp, wm1)) { + survive_add_object(ctx, wm1); + } + if (!LoadConfig(sp, tr0)) { + survive_add_object(ctx, tr0); + } + if (!LoadConfig(sp, ww0)) { + survive_add_object(ctx, ww0); + } + + survive_add_driver(ctx, sp, playback_poll, playback_close, 0); + return 0; +fail_gracefully: + return -1; +} + +REGISTER_LINKTIME(DriverRegPlayback); diff --git a/src/survive_vive.c b/src/survive_vive.c index cb05efc..288f8cb 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -23,6 +23,8 @@ #endif #include "json_helpers.h" +#include "survive_default_devices.h" +#include "survive_config.h" #ifdef HIDAPI #if defined(WINDOWS) || defined(WIN32) || defined (_WIN32) @@ -1647,171 +1649,22 @@ void survive_data_cb( SurviveUSBInterface * si ) -static int jsoneq(const char *json, jsmntok_t *tok, const char *s) { - if (tok->type == JSMN_STRING && (int) strlen(s) == tok->end - tok->start && - strncmp(json + tok->start, s, tok->end - tok->start) == 0) { - return 0; - } - return -1; -} - - -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; - jsmntok_t * tk; - - so->nr_locations = 0; - *floats_out = malloc( sizeof( **floats_out ) * 32 * 3 ); - - for( k = 0; k < pts; k++ ) - { - tk = &t[i+2+k*4]; - - int m; - for( m = 0; m < 3; m++ ) - { - char ctt[128]; - - tk++; - int elemlen = tk->end - tk->start; - - if( tk->type != 4 || elemlen > sizeof( ctt )-1 ) - { - SV_ERROR( "Parse error in JSON\n" ); - return 1; - } - - memcpy( ctt, ct0conf + tk->start, elemlen ); - ctt[elemlen] = 0; - FLT f = atof( ctt ); - int id = so->nr_locations*3+m; - (*floats_out)[id] = f; - } - so->nr_locations++; - } - return 0; -} - static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int iface, int extra_magic ) { SurviveContext * ctx = sv->ctx; char * ct0conf = 0; int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic ); -printf( "Loading config: %d\n", len ); -#if 0 - char fname[100]; - sprintf( fname, "%s_config.json", so->codename ); - FILE * f = fopen( fname, "w" ); - fwrite( ct0conf, strlen(ct0conf), 1, f ); - fclose( f ); -#endif + printf( "Loading config: %d\n", len ); - if( len > 0 ) { - - //From JSMN example. - jsmn_parser p; - jsmntok_t t[4096]; - jsmn_init(&p); - int i; - int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t)/sizeof(t[0])); - if (r < 0) { - SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r); - return -1; - } - if (r < 1 || t[0].type != JSMN_OBJECT) { - SV_INFO("Object expected in HMD configuration\n"); - return -2; - } - - for (i = 1; i < r; i++) { - jsmntok_t * tk = &t[i]; - - char ctxo[100]; - int ilen = tk->end - tk->start; - if( ilen > 99 ) ilen = 99; - memcpy(ctxo, ct0conf + tk->start, ilen); - ctxo[ilen] = 0; - -// printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start, tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") ); -// printf( "%.*s\n", ilen, ct0conf + tk->start ); - - if (jsoneq(ct0conf, tk, "modelPoints") == 0) { - if( ParsePoints( ctx, so, ct0conf, &so->sensor_locations, t, i ) ) - { - break; - } - } - if (jsoneq(ct0conf, tk, "modelNormals") == 0) { - if( ParsePoints( ctx, so, ct0conf, &so->sensor_normals, t, i ) ) - { - break; - } - } - - - if (jsoneq(ct0conf, tk, "acc_bias") == 0) { - int32_t count = (tk+1)->size; - FLT* values = NULL; - if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) { - so->acc_bias = values; - so->acc_bias[0] *= .125; //XXX Wat? Observed by CNL. Biasing by more than this seems to hose things. - so->acc_bias[1] *= .125; - so->acc_bias[2] *= .125; - } - } - if (jsoneq(ct0conf, tk, "acc_scale") == 0) { - int32_t count = (tk+1)->size; - FLT* values = NULL; - if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) { - so->acc_scale = values; - } - } - - if (jsoneq(ct0conf, tk, "gyro_bias") == 0) { - int32_t count = (tk+1)->size; - FLT* values = NULL; - if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) { - so->gyro_bias = values; - } - } - if (jsoneq(ct0conf, tk, "gyro_scale") == 0) { - int32_t count = (tk+1)->size; - FLT* values = NULL; - if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) { - so->gyro_scale = values; - } - } - } - } - else - { - //TODO: Cleanup any remaining USB stuff. - return 1; + char raw_fname[100]; + sprintf( raw_fname, "%s_config.json", so->codename ); + FILE * f = fopen( raw_fname, "w" ); + fwrite( ct0conf, strlen(ct0conf), 1, f ); + fclose( f ); } - char fname[64]; - - sprintf( fname, "calinfo/%s_points.csv", so->codename ); - FILE * f = fopen( fname, "w" ); - int j; - for( j = 0; j < so->nr_locations; j++ ) - { - fprintf( f, "%f %f %f\n", so->sensor_locations[j*3+0], so->sensor_locations[j*3+1], so->sensor_locations[j*3+2] ); - } - fclose( f ); - - sprintf( fname, "calinfo/%s_normals.csv", so->codename ); - f = fopen( fname, "w" ); - for( j = 0; j < so->nr_locations; j++ ) - { - fprintf( f, "%f %f %f\n", so->sensor_normals[j*3+0], so->sensor_normals[j*3+1], so->sensor_normals[j*3+2] ); - } - fclose( f ); - - return 0; + return survive_load_htc_config_format(ct0conf, len, so); } @@ -1835,19 +1688,20 @@ void init_SurviveObject(SurviveObject* so) { int DriverRegHTCVive( SurviveContext * ctx ) { - int r; - SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * tr0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * ww0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) ); - - init_SurviveObject(hmd); - init_SurviveObject(wm0); - init_SurviveObject(wm1); - init_SurviveObject(tr0); - init_SurviveObject(ww0); + const char* playback_dir = config_read_str(ctx->global_config_values, + "PlaybackDir", ""); + if(strlen(playback_dir) != 0) { + SV_INFO("Playback is active; disabling USB driver"); + return 0; + } + + int r; + SurviveViveData * sv = calloc(1, sizeof(SurviveViveData) ); + SurviveObject * hmd = survive_create_hmd(ctx, "HTC", sv); + SurviveObject * wm0 = survive_create_wm0(ctx, "HTC", sv, 0); + SurviveObject * wm1 = survive_create_wm1(ctx, "HTC", sv, 0); + SurviveObject * tr0 = survive_create_tr0(ctx, "HTC", sv); + SurviveObject * ww0 = survive_create_ww0(ctx, "HTC", sv); sv->ctx = ctx; @@ -1859,28 +1713,6 @@ int DriverRegHTCVive( SurviveContext * ctx ) mkdir( "calinfo", 0755 ); #endif - - hmd->ctx = ctx; - hmd->driver = sv; - memcpy( hmd->codename, "HMD", 4 ); - memcpy( hmd->drivername, "HTC", 4 ); - wm0->ctx = ctx; - wm0->driver = sv; - memcpy( wm0->codename, "WM0", 4 ); - memcpy( wm0->drivername, "HTC", 4 ); - wm1->ctx = ctx; - wm1->driver = sv; - memcpy( wm1->codename, "WM1", 4 ); - memcpy( wm1->drivername, "HTC", 4 ); - tr0->ctx = ctx; - tr0->driver = sv; - memcpy( tr0->codename, "TR0", 4 ); - memcpy( tr0->drivername, "HTC", 4 ); - ww0->ctx = ctx; - ww0->driver = sv; - memcpy( ww0->codename, "WW0", 4 ); - memcpy( ww0->drivername, "HTC", 4 ); - //USB must happen last. if( r = survive_usb_init( sv, hmd, wm0, wm1, tr0, ww0) ) { @@ -1894,58 +1726,7 @@ int DriverRegHTCVive( SurviveContext * ctx ) if( sv->udev[USB_DEV_WATCHMAN2] && LoadConfig( sv, wm1, 3, 0, 1 )) { SV_INFO( "Watchman 1 config issue." ); } if( sv->udev[USB_DEV_TRACKER0] && LoadConfig( sv, tr0, 4, 0, 0 )) { SV_INFO( "Tracker 0 config issue." ); } if( sv->udev[USB_DEV_W_WATCHMAN1] && LoadConfig( sv, ww0, 5, 0, 0 )) { SV_INFO( "Wired Watchman 0 config issue." ); } - - hmd->timebase_hz = wm0->timebase_hz = wm1->timebase_hz = 48000000; - tr0->timebase_hz = ww0->timebase_hz = hmd->timebase_hz; - - hmd->pulsedist_max_ticks = wm0->pulsedist_max_ticks = wm1->pulsedist_max_ticks = 500000; - tr0->pulsedist_max_ticks = ww0->pulsedist_max_ticks = hmd->pulsedist_max_ticks; - - hmd->pulselength_min_sync = wm0->pulselength_min_sync = wm1->pulselength_min_sync = 2200; - tr0->pulselength_min_sync = ww0->pulselength_min_sync = hmd->pulselength_min_sync; - - hmd->pulse_in_clear_time = wm0->pulse_in_clear_time = wm1->pulse_in_clear_time = 35000; - tr0->pulse_in_clear_time = ww0->pulse_in_clear_time = hmd->pulse_in_clear_time; - - hmd->pulse_max_for_sweep = wm0->pulse_max_for_sweep = wm1->pulse_max_for_sweep = 1800; - tr0->pulse_max_for_sweep = ww0->pulse_max_for_sweep = hmd->pulse_max_for_sweep; - - hmd->pulse_synctime_offset = wm0->pulse_synctime_offset = wm1->pulse_synctime_offset = 20000; - tr0->pulse_synctime_offset = ww0->pulse_synctime_offset = hmd->pulse_synctime_offset; - - hmd->pulse_synctime_slack = wm0->pulse_synctime_slack = wm1->pulse_synctime_slack = 5000; - tr0->pulse_synctime_slack = ww0->pulse_synctime_slack = hmd->pulse_synctime_slack; - - hmd->timecenter_ticks = hmd->timebase_hz / 240; - wm0->timecenter_ticks = wm0->timebase_hz / 240; - wm1->timecenter_ticks = wm1->timebase_hz / 240; - tr0->timecenter_ticks = tr0->timebase_hz / 240; - ww0->timecenter_ticks = ww0->timebase_hz / 240; - - wm0->haptic = survive_vive_send_haptic; - wm1->haptic = survive_vive_send_haptic; -/* - int i; - int locs = hmd->nr_locations; - printf( "Locs: %d\n", locs ); - if (hmd->sensor_locations ) - { - printf( "POSITIONS:\n" ); - for( i = 0; i < locs*3; i+=3 ) - { - printf( "%f %f %f\n", hmd->sensor_locations[i+0], hmd->sensor_locations[i+1], hmd->sensor_locations[i+2] ); - } - } - if( hmd->sensor_normals ) - { - printf( "NORMALS:\n" ); - for( i = 0; i < locs*3; i+=3 ) - { - printf( "%f %f %f\n", hmd->sensor_normals[i+0], hmd->sensor_normals[i+1], hmd->sensor_normals[i+2] ); - } - } -*/ - + //Add the drivers. if( sv->udev[USB_DEV_HMD_IMU_LH] ) { survive_add_object( ctx, hmd ); } if( sv->udev[USB_DEV_WATCHMAN1] ) { survive_add_object( ctx, wm0 ); } @@ -1953,7 +1734,15 @@ int DriverRegHTCVive( SurviveContext * ctx ) if( sv->udev[USB_DEV_TRACKER0] ) { survive_add_object( ctx, tr0 ); } if( sv->udev[USB_DEV_W_WATCHMAN1] ) { survive_add_object( ctx, ww0 ); } - survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic ); + if( sv->udev[USB_DEV_HMD_IMU_LH] || + sv->udev[USB_DEV_WATCHMAN1] || + sv->udev[USB_DEV_WATCHMAN2] || + sv->udev[USB_DEV_TRACKER0] || + sv->udev[USB_DEV_W_WATCHMAN1] ) { + survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic ); + } else { + fprintf(stderr, "No USB devices detected\n"); + } return 0; fail_gracefully: |