plot_lighthouse/Makefile

1 files changed, 40 insertions, 16 deletions

diff --git a/include/survive.h b/include/survive.h
index d29b487..3e8dc35 100644
--- a/include/survive.h
+++ b/include/survive.h
@@ -3,13 +3,19 @@
 
 #include <stdint.h>
 
-#define SV_FLOAT  		double
+#ifndef FLT
+#define FLT double
+#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;
@@ -25,21 +31,27 @@ struct SurviveObject
 	int8_t  ison:1;
 	int8_t  additional_flags:6;
 
-	SV_FLOAT * sensor_locations;
-	SV_FLOAT * sensor_normals;
+	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)
 	int8_t nr_locations;
 
 	//Flood info, for calculating which laser is currently sweeping.
 	int8_t oldcode;
-
- #ifdef USE_OLD_DISAMBIGUATOR
-	uint32_t last_master_time;
-	uint32_t last_slave_time;
- 	int32_t last_photo_length;
- #else
-	uint32_t last_master_time;
- 	struct disambiguator * d;
- #endif
+	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.
 
@@ -47,17 +59,19 @@ struct SurviveObject
 	int tsl;
 };
 
-typedef void (*text_feedback_fnptr)( struct SurviveContext * ctx, const char * fault );
+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();
 
 //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_fnptr fbp );
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_fnptr fbp );
+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();
@@ -67,8 +81,18 @@ struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, cons
 //Utilitiy functions.
 int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );
 
-//TODO: Need to make this do haptic responses for hands.
+//TODO: Need to make this do haptic responses for hands. 
 int survive_usb_send_magic( struct SurviveContext * ctx, int on );
 
+//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