Merge pull request #112 from cnlohr/poser_callbacks

Poser callbacks

3 files changed, 16 insertions, 4 deletions

diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
index 582590e..57a8599 100644
--- a/include/libsurvive/poser.h
+++ b/include/libsurvive/poser.h
@@ -17,15 +17,23 @@ typedef enum PoserType_t
 	POSERDATA_DISASSOCIATE, //If you get this, it doesn't contain data.  It just tells you to please disassociate from the current SurviveObject and delete your poserdata.
 } PoserType;
 
+typedef void (*poser_raw_pose_func)(SurviveObject *so, uint8_t lighthouse, FLT *pose, void *user);
+typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user);
+
 typedef struct
 {
 	PoserType pt;
-	uint8_t data[0];
+	poser_raw_pose_func rawposeproc;
+	poser_lighthouse_pose_func lighthouseposeproc;
+	void *userdata;
 } PoserData;
 
+void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, FLT *pose);
+void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
+
 typedef struct
 {
-	PoserType pt;
+	PoserData hdr;
 	uint8_t datamask;  //0 = accel present, 1 = gyro present, 2 = mag present.
 	FLT accel[3];
 	FLT gyro[3];
@@ -35,7 +43,7 @@ typedef struct
 
 typedef struct
 {
-	PoserType pt;
+	PoserData hdr;
 	int sensor_id;
 	int acode;			//OOTX Code associated with this sweep. bit 1 indicates vertical(1) or horizontal(0) sweep
 	int lh;             //Lighthouse making this sweep
@@ -46,7 +54,7 @@ typedef struct
 
 typedef struct
 {
-	PoserType pt;
+	PoserData hdr;
 
 	//If "lengths[...]" < 0, means not a valid piece of sweep information.
 	FLT  lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 58462b3..03a71bc 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -129,6 +129,7 @@ struct SurviveContext
 	angle_process_func angleproc;
 	button_process_func buttonproc;
 	raw_pose_func rawposeproc;
+	lighthouse_pose_func lighthouseposeproc;
 
 	struct config_group* global_config_values;
 	struct config_group* lh_config; //lighthouse configs
@@ -175,6 +176,7 @@ void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp );
 void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp );
 void survive_install_button_fn(SurviveContext * ctx, button_process_func fbp);
 void survive_install_raw_pose_fn(SurviveContext * ctx, raw_pose_func fbp);
+void survive_install_lighthouse_pose_fn(SurviveContext *ctx, lighthouse_pose_func fbp);
 
 void survive_close( SurviveContext * ctx );
 int survive_poll( SurviveContext * ctx );
@@ -202,6 +204,7 @@ void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro,
 void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
 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);
 void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
+void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose);
 
 ////////////////////// Survive Drivers ////////////////////////////
 
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index 4db76b4..ce0baac 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -50,6 +50,7 @@ typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro,
 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 (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose);
 
 typedef int(*haptic_func)(SurviveObject * so, uint8_t reserved, uint16_t pulseHigh , uint16_t pulseLow, uint16_t repeatCount);