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

3 files changed, 47 insertions, 10 deletions

diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
index 98c926e..582590e 100644
--- a/include/libsurvive/poser.h
+++ b/include/libsurvive/poser.h
@@ -3,6 +3,11 @@
 
 #include "survive_types.h"
 
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef enum PoserType_t
 {
 	POSERDATA_NONE = 0,
@@ -32,7 +37,8 @@ typedef struct
 {
 	PoserType pt;
 	int sensor_id;
-	int acode;			//OOTX Code associated with this sweep. base_station = acode >> 2;  axis = acode & 1;
+	int acode;			//OOTX Code associated with this sweep. bit 1 indicates vertical(1) or horizontal(0) sweep
+	int lh;             //Lighthouse making this sweep
 	uint32_t timecode;  //In object-local ticks.
 	FLT length;			//In seconds
 	FLT angle;			//In radians from center of lighthouse.
@@ -45,6 +51,7 @@ typedef struct
 	//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)
+	FLT  synctimes[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES];
 
 	PoserDataIMU lastimu;
 } PoserDataFullScene;
@@ -53,4 +60,8 @@ typedef struct
 typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
 
 
+#ifdef __cplusplus
+};
+#endif
+
 #endif
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index e04586c..1532d62 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -5,6 +5,10 @@
 #include "survive_types.h"
 #include "poser.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 //DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
 //for optimization on 32- and 64-bit systems.
 
@@ -32,13 +36,13 @@ struct SurviveObject
 	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;
+	int8_t nr_locations; // sensor count
+	FLT * sensor_locations; // size is nr_locations*3.  Contains x,y,z values for each sensor
+	FLT * sensor_normals;// size is nrlocations*3.  cointains normal vector for each sensor
 
 	//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 timecenter_ticks; 	//200,000 for normal vive hardware.     (checked)  (This doubles-up as 2x this = full sweep length)
 	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)
@@ -47,6 +51,7 @@ struct SurviveObject
 	int32_t pulse_synctime_slack; //5,000 for normal vive hardware.    (guessed)
 
 	//Flood info, for calculating which laser is currently sweeping.
+	void * disambiguator_data;
 	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.
@@ -57,6 +62,12 @@ struct SurviveObject
 	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.
 
 
+	FLT* acc_bias; // size is FLT*3. contains x,y,z
+	FLT* acc_scale; // size is FLT*3. contains x,y,z
+	FLT* gyro_bias; // size is FLT*3. contains x,y,z
+	FLT* gyro_scale; // size is FLT*3. contains x,y,z
+
+
 	//Debug
 	int tsl;
 };
@@ -115,7 +126,7 @@ 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();
+int survive_poll( SurviveContext * ctx );
 
 SurviveObject * survive_get_so_by_name( SurviveContext * ctx, const char * name );
 
@@ -127,11 +138,14 @@ int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int d
 //Install the calibrator.
 void survive_cal_install( SurviveContext * ctx );  //XXX This will be removed if not already done so.
 
+// Read back a human-readable string description of the calibration status
+int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length );
+
 //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_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length , uint32_t lh);
 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 );
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
 
 
 ////////////////////// Survive Drivers ////////////////////////////
@@ -173,5 +187,9 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le );
 #define SV_ERROR( ... ) { char stbuff[1024]; sprintf( stbuff, __VA_ARGS__ ); ctx->faultfunction( ctx, stbuff ); }
 #define SV_KILL()		exit(0)  //XXX This should likely be re-defined.
 
+#ifdef __cplusplus
+};
+#endif
+
 #endif
 
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index 1600e11..224719e 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -1,6 +1,11 @@
 #ifndef _SURVIVE_TYPES_H
 #define _SURVIVE_TYPES_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
 #ifndef FLT
 #ifdef USE_DOUBLE
 #define FLT double
@@ -28,9 +33,9 @@ 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 (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
 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 );
+typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh);
 
 
 //Device drivers (prefix your drivers with "DriverReg") i.e.
@@ -39,6 +44,9 @@ 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 );
 
+#ifdef __cplusplus
+};
+#endif
 
 #endif