Split out into some more things in the include folder. Getting closer to trying to have posers.

3 files changed, 178 insertions, 0 deletions

diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
new file mode 100644
index 0000000..4894acf
--- /dev/null
+++ b/include/libsurvive/poser.h
@@ -0,0 +1,54 @@
+#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.
+} PoserType;
+
+struct PoserData
+{
+	PoserType pt;
+	uint8_t data[0];
+};
+
+struct PoserDataIMU
+{
+	PoserType pt;
+	uint8_t datamask;  //0 = accel present, 1 = gyro present, 2 = mag present.
+	FLT accel[3];
+	FLT gyro[3];
+	FLT mag[3];
+};
+
+struct PoserDataLight
+{
+	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.
+};
+
+struct PoserDataFullScene
+{
+	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
+
+	struct PoserDataIMU lastimu;
+};
+
+//When you register your posers using the internal system, 
+typedef int (*PoserCB)( struct SurviveObject * so, struct PoserData * pd );
+
+
+#endif
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
new file mode 100644
index 0000000..536c7fb
--- /dev/null
+++ b/include/libsurvive/survive.h
@@ -0,0 +1,95 @@
+#ifndef _SURVIVE_H
+#define _SURVIVE_H
+
+#include <stdint.h>
+#include "poser.h"
+
+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.
+
+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;
+
+	//Pose Information, also "resolver" field.
+	FLT    PoseConfidence; //0..1
+	FLT    Position[3];
+	FLT    Rotation[4];
+	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 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/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
new file mode 100644
index 0000000..593819f
--- /dev/null
+++ b/include/libsurvive/survive_types.h
@@ -0,0 +1,29 @@
+#ifndef _SURVIVE_TYPES_H
+#define _SURVIVE_TYPES_H
+
+#ifndef FLT
+#ifdef USE_DOUBLE
+#define FLT double
+#else
+#define FLT float
+#endif
+#endif
+
+
+//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
+
+struct SurviveObject;
+struct SurviveContext;
+
+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 );
+
+#endif
+