Split out disambiguators into seperate compilation units

1 files changed, 465 insertions, 0 deletions

diff --git a/src/survive_turveybiguator.c b/src/survive_turveybiguator.c
new file mode 100644
index 0000000..bc69938
--- /dev/null
+++ b/src/survive_turveybiguator.c
@@ -0,0 +1,465 @@
+//<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License.
+//
+
+#include "survive_internal.h"
+#include <math.h> /* for sqrt */
+#include <stdint.h>
+#include <string.h>
+
+static const float tau_table[33] = {0,
+									0,
+									0,
+									1.151140982,
+									1.425,
+									1.5712213707,
+									1.656266074,
+									1.7110275587,
+									1.7490784054,
+									1.7770229476,
+									1.798410005,
+									1.8153056661,
+									1.8289916275,
+									1.8403044103,
+									1.8498129961,
+									1.8579178211,
+									1.864908883,
+									1.8710013691,
+									1.8763583296,
+									1.881105575,
+									1.885341741,
+									1.8891452542,
+									1.8925792599,
+									1.8956951735,
+									1.8985352854,
+									1.9011347009,
+									1.9035228046,
+									1.9057243816,
+									1.9077604832,
+									1.9096491058,
+									1.9114057255,
+									1.9130437248,
+									1.914574735};
+
+typedef struct {
+	unsigned int sweep_time[SENSORS_PER_OBJECT];
+	uint16_t sweep_len[SENSORS_PER_OBJECT]; // might want to align this to cache lines, will be hot for frequent access
+} lightcaps_sweep_data;
+
+typedef struct {
+	int recent_sync_time;
+	int activeLighthouse;
+	int activeSweepStartTime;
+	int activeAcode;
+
+	//	int lh_pulse_len[NUM_LIGHTHOUSES];
+	int lh_start_time[NUM_LIGHTHOUSES];
+	int lh_max_pulse_length[NUM_LIGHTHOUSES];
+	int8_t lh_acode[NUM_LIGHTHOUSES];
+	int current_lh; // used knowing which sync pulse we're looking at.
+
+} lightcap2_per_sweep_data;
+
+typedef struct {
+	double acode_offset;
+	int sent_out_ootx_bits;
+} lightcap2_global_data;
+
+typedef struct {
+	lightcaps_sweep_data sweep;
+	lightcap2_per_sweep_data per_sweep;
+	lightcap2_global_data global;
+} lightcap2_data;
+
+// static lightcap2_global_data lcgd = { 0 };
+
+static int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject *so, int pulseLen) {
+	double oldOffset = ((lightcap2_data *)so->disambiguator_data)->global.acode_offset;
+
+	int modifiedPulseLen = pulseLen - (int)oldOffset;
+
+	double newOffset = (((pulseLen) + 250) % 500) - 250;
+
+	((lightcap2_data *)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1;
+
+// fprintf(stderr, "    %f\n", oldOffset);
+#define ACODE_OFFSET 0
+	if (pulseLen < 3250 - ACODE_OFFSET)
+		return 0;
+	if (pulseLen < 3750 - ACODE_OFFSET)
+		return 1;
+	if (pulseLen < 4250 - ACODE_OFFSET)
+		return 2;
+	if (pulseLen < 4750 - ACODE_OFFSET)
+		return 3;
+	if (pulseLen < 5250 - ACODE_OFFSET)
+		return 4;
+	if (pulseLen < 5750 - ACODE_OFFSET)
+		return 5;
+	if (pulseLen < 6250 - ACODE_OFFSET)
+		return 6;
+	return 7;
+}
+
+static uint8_t remove_outliers(SurviveObject *so) {
+	return 0; // disabling this for now because it seems remove almost all the points for wired watchman and wired
+			  // tracker.
+	lightcap2_data *lcd = so->disambiguator_data;
+
+	uint32_t sum = 0;
+	uint8_t non_zero_count = 0;
+	uint32_t mean = 0;
+
+	uint16_t *min = NULL;
+	uint16_t *max = NULL;
+	uint8_t found_first = 0;
+
+	// future: https://gcc.gnu.org/projects/tree-ssa/vectorization.html#vectorizab
+
+	for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) {
+		sum += lcd->sweep.sweep_len[i];
+		if (lcd->sweep.sweep_len[i] > 0)
+			++non_zero_count;
+	}
+
+	if (non_zero_count == 0)
+		return 0;
+
+	mean = sum / non_zero_count;
+
+	float standard_deviation = 0.0f;
+	sum = 0;
+	for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) {
+		uint16_t len = lcd->sweep.sweep_len[i];
+		if (len > 0) {
+			sum += (len - mean) * (len - mean);
+
+			if (found_first == 0) {
+				max = min = lcd->sweep.sweep_len + i;
+				found_first = 1;
+			} else {
+				if (lcd->sweep.sweep_len[i] < *min)
+					min = lcd->sweep.sweep_len + i;
+				if (lcd->sweep.sweep_len[i] > *max)
+					max = lcd->sweep.sweep_len + i;
+			}
+		}
+	}
+	standard_deviation = sqrtf(((float)sum) / ((float)non_zero_count));
+
+	//	printf("%f\n", standard_deviation);
+
+	float tau_test = standard_deviation;
+
+	if (non_zero_count > 2)
+		tau_test = standard_deviation * tau_table[non_zero_count];
+
+	//	uint8_t removed_outliers = 0;
+
+	uint32_t d1 = abs(*min - mean);
+	uint32_t d2 = abs(*max - mean);
+
+	if (d1 > d2) {
+		if (d1 > tau_test) {
+			*min = 0;
+			return 1;
+		}
+	} else if (d2 > tau_test) {
+		*max = 0;
+		return 1;
+	}
+
+	return 0;
+	/*
+	  for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++)
+	  {
+	  uint16_t len = lcd->sweep.sweep_len[i];
+	  if (len == 0) continue;
+
+	  if ( abs(len-mean) > tau_test )
+	  {
+	  //			fprintf(stderr, "removing %d\n", len);
+	  lcd->sweep.sweep_len[i] = 0;
+	  removed_outliers = 1;
+	  }
+	  }
+	*/
+	//	return removed_outliers;
+}
+
+static void handle_lightcap2_process_sweep_data(SurviveObject *so) {
+	lightcap2_data *lcd = so->disambiguator_data;
+
+	while (remove_outliers(so))
+		;
+
+	// look at all of the sensors we found, and process the ones that were hit.
+	// TODO: find the sensor(s) with the longest pulse length, and assume
+	// those are the "highest quality".  Then, reject any pulses that are sufficiently
+	// different from those values, assuming that they are reflections.
+	{
+		unsigned int longest_pulse = 0;
+		unsigned int timestamp_of_longest_pulse = 0;
+		for (int i = 0; i < SENSORS_PER_OBJECT; i++) {
+			if (lcd->sweep.sweep_len[i] > longest_pulse) {
+				longest_pulse = lcd->sweep.sweep_len[i];
+				timestamp_of_longest_pulse = lcd->sweep.sweep_time[i];
+			}
+		}
+
+		int allZero = 1;
+		for (int q = 0; q < 32; q++)
+			if (lcd->sweep.sweep_len[q] != 0)
+				allZero = 0;
+		// if (!allZero)
+		//	printf("a[%d]l[%d] ", lcd->per_sweep.activeAcode & 5,  lcd->per_sweep.activeLighthouse);
+		for (int i = 0; i < SENSORS_PER_OBJECT; i++) {
+
+			{
+				static int counts[SENSORS_PER_OBJECT][2] = {0};
+
+				//				if (lcd->per_sweep.activeLighthouse == 0 && !allZero)
+				if (lcd->per_sweep.activeLighthouse > -1 && !allZero) {
+					if (lcd->sweep.sweep_len[i] != 0) {
+						// printf("%d  ", i);
+						// counts[i][lcd->per_sweep.activeAcode & 1] ++;
+					} else {
+						counts[i][lcd->per_sweep.activeAcode & 1] = 0;
+					}
+
+					// if (counts[i][0] > 10 && counts[i][1] > 10)
+					//{
+					// printf("%d(%d,%d), ", i, counts[i][0], counts[i][1]);
+					//}
+				}
+			}
+
+			if (lcd->sweep.sweep_len[i] != 0) // if the sensor was hit, process it
+			{
+				// printf("%4d\n", lcd->sweep.sweep_len[i]);
+				int offset_from =
+					lcd->sweep.sweep_time[i] - lcd->per_sweep.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2;
+
+				// first, send out the sync pulse data for the last round (for OOTX decoding
+				if (!lcd->global.sent_out_ootx_bits) {
+					if (lcd->per_sweep.lh_max_pulse_length[0] != 0) {
+						so->ctx->lightproc(
+							so, -1, handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[0]),
+							lcd->per_sweep.lh_max_pulse_length[0], lcd->per_sweep.lh_start_time[0], 0, 0);
+					}
+					if (lcd->per_sweep.lh_max_pulse_length[1] != 0) {
+						so->ctx->lightproc(
+							so, -2, handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[1]),
+							lcd->per_sweep.lh_max_pulse_length[1], lcd->per_sweep.lh_start_time[1], 0, 1);
+					}
+					lcd->global.sent_out_ootx_bits = 1;
+				}
+
+				//				if (offset_from < 380000 && offset_from > 70000)
+				{
+					// if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i])
+					{
+						so->ctx->lightproc(so, i, lcd->per_sweep.activeAcode, offset_from, lcd->sweep.sweep_time[i],
+										   lcd->sweep.sweep_len[i], lcd->per_sweep.activeLighthouse);
+					}
+				}
+			}
+		}
+		// if (!allZero)
+		//	printf("   ..:..\n");
+
+		//		if (!allZero) printf("\n");
+	}
+
+	// clear out sweep data (could probably limit this to only after a "first" sync.
+	// this is slightly more robust, so doing it here for now.
+	memset(&(((lightcap2_data *)so->disambiguator_data)->sweep), 0, sizeof(lightcaps_sweep_data));
+}
+
+static void handle_lightcap2_sync(SurviveObject *so, LightcapElement *le) {
+	// fprintf(stderr, "%6.6d %4.4d \n", le->timestamp - so->recent_sync_time, le->length);
+	lightcap2_data *lcd = so->disambiguator_data;
+
+	// static unsigned int recent_sync_time = 0;
+	// static unsigned int recent_sync_count = -1;
+	// static unsigned int activeSweepStartTime;
+
+	int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); // acode for this sensor reading
+
+	// Process any sweep data we have
+	handle_lightcap2_process_sweep_data(so);
+
+	int time_since_last_sync = (le->timestamp - lcd->per_sweep.recent_sync_time);
+
+	//	fprintf(stderr, "            %2d %8d %d\n", le->sensor_id, time_since_last_sync, le->length);
+	// need to store up sync pulses, so we can take the earliest starting time for all sensors.
+	if (time_since_last_sync < 2400) {
+		lcd->per_sweep.recent_sync_time = le->timestamp;
+		// it's the same sync pulse;
+		//		so->sync_set_number = 1;
+		so->recent_sync_time = le->timestamp;
+
+		//		lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length;
+		//		lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp;
+
+		if (le->length > lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh]) {
+			lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length;
+			lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp;
+			lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode;
+		}
+
+		/*
+		//this stuff should probably be happening on the sweep so that we can filter out erroneous a codes
+		if (!(acode >> 2 & 1)) // if the skip bit is not set
+		{
+		lcd->per_sweep.activeLighthouse = lcd->per_sweep.current_lh;
+		lcd->per_sweep.activeSweepStartTime = le->timestamp;
+		lcd->per_sweep.activeAcode = acode;
+		}
+		else
+		{
+		//this causes the master lighthouse to be ignored from the HMD
+		lcd->per_sweep.activeLighthouse = -1;
+		lcd->per_sweep.activeSweepStartTime = 0;
+		lcd->per_sweep.activeAcode = 0;
+		}
+		*/
+	} else if (time_since_last_sync < 24000) {
+		lcd->per_sweep.activeLighthouse = -1;
+
+		lcd->per_sweep.recent_sync_time = le->timestamp;
+		// I do believe we are lighthouse B
+		lcd->per_sweep.current_lh = 1;
+		//		lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length;
+		lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp;
+		lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length;
+		lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode;
+
+		/*
+	  if (!(acode >> 2 & 1)) // if the skip bit is not set
+	  {
+	  if (lcd->per_sweep.activeLighthouse != -1)
+	  {
+	  static int pulseWarningCount=0;
+
+	  if (pulseWarningCount < 5)
+	  {
+	  pulseWarningCount++;
+	  // hmm, it appears we got two non-skip pulses at the same time.  That should never happen
+	  fprintf(stderr, "WARNING: Two non-skip pulses received on the same cycle!\n");
+	  }
+	  }
+
+	  lcd->per_sweep.activeLighthouse = 1;
+	  lcd->per_sweep.activeSweepStartTime = le->timestamp;
+	  lcd->per_sweep.activeAcode = acode;
+	  }
+		*/
+
+	} else if (time_since_last_sync > 370000) {
+		// XXX CAUTION: if we lose sight of a lighthouse then, the remaining lighthouse will default to master
+		// this should probably be fixed. Maybe some kind of timing based guess at which lighthouse.
+
+		// looks like this is the first sync pulse.  Cool!
+		lcd->global.sent_out_ootx_bits = 0;
+
+		// fprintf(stderr, "************************************ Reinitializing Disambiguator!!!\n");
+		// initialize here.
+		memset(&lcd->per_sweep, 0, sizeof(lcd->per_sweep));
+		lcd->per_sweep.activeLighthouse = -1;
+
+		for (uint8_t i = 0; i < NUM_LIGHTHOUSES; ++i) {
+			lcd->per_sweep.lh_acode[i] = -1;
+		}
+
+		lcd->per_sweep.recent_sync_time = le->timestamp;
+		// I do believe we are lighthouse A
+		lcd->per_sweep.current_lh = 0;
+		//		lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length;
+		lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp;
+		lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length;
+		lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode;
+
+		//		int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length);
+
+		/*
+	  if (!(acode >> 2 & 1)) // if the skip bit is not set
+	  {
+	  lcd->per_sweep.activeLighthouse = 0;
+	  lcd->per_sweep.activeSweepStartTime = le->timestamp;
+	  lcd->per_sweep.activeAcode = acode;
+	  }
+		*/
+	}
+	//	printf("%d %d\n", acode, lcd->per_sweep.activeLighthouse );
+}
+
+static void handle_lightcap2_sweep(SurviveObject *so, LightcapElement *le) {
+	lightcap2_data *lcd = so->disambiguator_data;
+
+	// If we see multiple "hits" on the sweep for a given sensor,
+	// assume that the longest (i.e. strongest signal) is most likely
+	// the non-reflected signal.
+
+	// if (le->length < 80)
+	//{
+	//	// this is a low-quality read.  Better to throw it out than to use it.
+	//	//fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
+	//	return;
+	//}
+	// fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
+	// fprintf(stderr, ".");
+
+	lcd->per_sweep.activeLighthouse = -1;
+	lcd->per_sweep.activeSweepStartTime = 0;
+	lcd->per_sweep.activeAcode = 0;
+
+	for (uint8_t i = 0; i < NUM_LIGHTHOUSES; ++i) {
+		int acode = lcd->per_sweep.lh_acode[i];
+		if ((acode >= 0) && !(acode >> 2 & 1)) {
+			lcd->per_sweep.activeLighthouse = i;
+			lcd->per_sweep.activeSweepStartTime = lcd->per_sweep.lh_start_time[i];
+			lcd->per_sweep.activeAcode = acode;
+		}
+	}
+
+	if (lcd->per_sweep.activeLighthouse < 0) {
+		// fprintf(stderr, "WARNING: No active lighthouse!\n");
+		// fprintf(stderr, "            %2d %8d %d %d\n", le->sensor_id,
+		// le->length,lcd->per_sweep.lh_acode[0],lcd->per_sweep.lh_acode[1]);
+		return;
+	}
+
+	if (lcd->sweep.sweep_len[le->sensor_id] < le->length) {
+		lcd->sweep.sweep_len[le->sensor_id] = le->length;
+		lcd->sweep.sweep_time[le->sensor_id] = le->timestamp;
+	}
+}
+
+void handle_lightcap_turveybiguator(SurviveObject *so, LightcapElement *le) {
+	SurviveContext *ctx = so->ctx;
+
+	if (so->disambiguator_data == NULL) {
+		fprintf(stderr, "Initializing Disambiguator Data\n");
+		so->disambiguator_data = malloc(sizeof(lightcap2_data));
+		memset(so->disambiguator_data, 0, sizeof(lightcap2_data));
+	}
+
+	if (le->sensor_id > SENSORS_PER_OBJECT) {
+		return;
+	}
+
+	if (le->length > 6750) {
+		// Should never get a reading so high.  Odd.
+		return;
+	}
+	//	if (le->length >= 2750)
+	if (le->length >= 2500) {
+		// Looks like a sync pulse, process it!
+		handle_lightcap2_sync(so, le);
+		return;
+	}
+
+	// must be a sweep pulse, process it!
+	handle_lightcap2_sweep(so, le);
+}
+