Merge branch 'master' into imu

3 files changed, 46 insertions, 10 deletions

diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
index b0b1a7b..4cddf89 100644
--- a/include/libsurvive/poser.h
+++ b/include/libsurvive/poser.h
@@ -18,21 +18,48 @@ typedef enum PoserType_t {
 	POSERDATA_SYNC, // Sync pulse.
 } PoserType;
 
-typedef void (*poser_raw_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user);
+typedef void (*poser_pose_func)(SurviveObject *so, uint32_t lighthouse, SurvivePose *pose, void *user);
 typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *lighthouse_pose,
 										   SurvivePose *object_pose, void *user);
 
 typedef struct
 {
 	PoserType pt;
-	poser_raw_pose_func rawposeproc;
+	poser_pose_func poseproc;
 	poser_lighthouse_pose_func lighthouseposeproc;
 	void *userdata;
 } PoserData;
 
-void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
+/**
+ * Meant to be used by individual posers to report back their findings on the pose of an object back to the invoker of
+ * the call.
+ *
+ * @param poser_data the data pointer passed into the poser function invocation
+ * @param so The survive object which we are giving a solution for.
+ * @param lighthouse @deprecated The lighthouse which observed that position. Make it -1 if it was a combination of
+ * lighthouses. Will be removed in the future.
+ * @param pose The actual object pose. This is in world space, not in LH space. It must represent a transformation from
+ * object space of the SO to global space.
+ */
+void PoserData_poser_pose_func(PoserData *poser_data, SurviveObject *so, SurvivePose *pose);
+
+/**
+ * Meant to be used by individual posers to report back their findings on the pose of a lighthouse.
+ *
+ * Note that you are free to assume the position of the lighthouse and solve for the object or vice versa. Most solvers
+ * assume that the object is at 0,0,0 but this isn't a hard requirement.
+ *
+ * @param poser_data the data pointer passed into the poser function invocation
+ * @param so The survive object which gave us the info for the solution
+ * @param lighthouse The lighthouse which to solve for
+ * @param objUp2world For use when solving for both ligthhouse positions. For the first invocation of this function,
+ * pass in a zero-inited SurvivePose. This function will set that to a relative transform to normalize the space.
+ * pass the same pose in again for the second lighthouse to get accurate results.
+ * @param lighthouse_pose This is the assumed or derived position of the given lighthouse.
+ * @param object_pose This is the assumed or derived position of the tracked object.
+ */
 void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse,
-									/* OUTPARAM */ SurvivePose *objUp2world, SurvivePose *lighthouse_poses,
+									/* OUTPARAM */ SurvivePose *objUp2world, SurvivePose *lighthouse_pose,
 									SurvivePose *object_pose);
 
 typedef struct PoserDataIMU {
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 7248b1c..65343b7 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -75,6 +75,7 @@ struct SurviveObject {
 	// Pose Information, also "poser" field.
 	FLT PoseConfidence;						 // 0..1
 	SurvivePose OutPose;					 // Final pose? (some day, one can dream!)
+	uint32_t OutPose_timecode;
 	SurvivePose FromLHPose[NUM_LIGHTHOUSES]; // 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;
@@ -114,12 +115,20 @@ struct SurviveObject {
 	haptic_func haptic;
 
 	SurviveSensorActivations activations;
+	void *user_ptr;
 	// Debug
 	int tsl;
 };
 
 // These exports are mostly for language binding against
 SURVIVE_EXPORT const char *survive_object_codename(SurviveObject *so);
+
+SURVIVE_EXPORT const char *survive_object_drivername(SurviveObject *so);
+SURVIVE_EXPORT const int8_t survive_object_charge(SurviveObject *so);
+SURVIVE_EXPORT const bool survive_object_charging(SurviveObject *so);
+
+SURVIVE_EXPORT const SurvivePose *survive_object_pose(SurviveObject *so);
+
 SURVIVE_EXPORT int8_t survive_object_sensor_ct(SurviveObject *so);
 SURVIVE_EXPORT const FLT *survive_object_sensor_locations(SurviveObject *so);
 SURVIVE_EXPORT const FLT *survive_object_sensor_normals(SurviveObject *so);
@@ -199,7 +208,7 @@ struct SurviveContext {
 	imu_process_func imuproc;
 	angle_process_func angleproc;
 	button_process_func buttonproc;
-	raw_pose_func rawposeproc;
+	pose_func poseproc;
 	lighthouse_pose_func lighthouseposeproc;
 	htc_config_func configfunction;
 	handle_lightcap_func lightcapfunction;
@@ -232,7 +241,7 @@ struct SurviveContext {
 	struct survive_calibration_config calibration_config;
 };
 
-void survive_verify_FLT_size(
+SURVIVE_EXPORT void survive_verify_FLT_size(
 	uint32_t user_size); // Baked in size of FLT to verify users of the library have the correct setting.
 
 SURVIVE_EXPORT SurviveContext *survive_init_internal(int argc, char *const *argv);
@@ -261,7 +270,7 @@ SURVIVE_EXPORT void survive_install_light_fn(SurviveContext *ctx, light_process_
 SURVIVE_EXPORT void survive_install_imu_fn(SurviveContext *ctx, imu_process_func fbp);
 SURVIVE_EXPORT void survive_install_angle_fn(SurviveContext *ctx, angle_process_func fbp);
 SURVIVE_EXPORT void survive_install_button_fn(SurviveContext *ctx, button_process_func fbp);
-SURVIVE_EXPORT void survive_install_raw_pose_fn(SurviveContext *ctx, raw_pose_func fbp);
+SURVIVE_EXPORT void survive_install_pose_fn(SurviveContext *ctx, pose_func fbp);
 SURVIVE_EXPORT void survive_install_lighthouse_pose_fn(SurviveContext *ctx, lighthouse_pose_func fbp);
 SURVIVE_EXPORT int survive_startup(SurviveContext *ctx);
 SURVIVE_EXPORT int survive_poll(SurviveContext *ctx);
@@ -271,7 +280,7 @@ SURVIVE_EXPORT SurviveObject *survive_get_so_by_name(SurviveContext *ctx, const
 
 // 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);
+SURVIVE_EXPORT int survive_send_magic(SurviveContext *ctx, int magic_code, void *data, int datalen);
 
 // These functions search both the stored-general and temporary sections for a parameter and return it.
 #define SC_GET 0	   // Get, only.
@@ -303,7 +312,7 @@ SURVIVE_EXPORT void survive_default_angle_process(SurviveObject *so, int sensor_
 SURVIVE_EXPORT void survive_default_button_process(SurviveObject *so, uint8_t eventType, uint8_t buttonId,
 												   uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id,
 												   uint16_t axis2Val);
-SURVIVE_EXPORT void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
+SURVIVE_EXPORT void survive_default_raw_pose_process(SurviveObject *so, uint32_t timecode, SurvivePose *pose);
 SURVIVE_EXPORT void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse,
 															SurvivePose *lh_pose, SurvivePose *obj_pose);
 SURVIVE_EXPORT int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len);
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index 160adda..367c391 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -49,7 +49,7 @@ typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode
 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, uint32_t lh);
 typedef void(*button_process_func)(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val);
-typedef void (*raw_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
+typedef void (*pose_func)(SurviveObject *so, uint32_t timecode, SurvivePose *pose);
 typedef void (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose,
 									 SurvivePose *object_pose);