Merge branch 'jpicht-disambiguate'

5 files changed, 166 insertions, 13 deletions

diff --git a/src/disambiguator.c b/src/disambiguator.c
new file mode 100644
index 0000000..f641834
--- /dev/null
+++ b/src/disambiguator.c
@@ -0,0 +1,93 @@
+// (C) 2016 Julian Picht, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+
+#include "disambiguator.h"
+#include <stdlib.h>
+#include <string.h>
+
+void disambiguator_init( struct disambiguator * d ) {
+	memset(&(d->times), 0x0, sizeof(d->times));
+	memset(&(d->scores), 0x0, sizeof(d->scores));
+	d->state = D_STATE_UNLOCKED;
+	d->last = 0;
+	d->max_confidence = 0;
+}
+
+inline void disambiguator_discard( struct disambiguator * d, long age );
+
+void disambiguator_discard( struct disambiguator * d, long age )
+{
+	int confidence = 0;
+	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
+		if (d->times[i] != 0 && d->times[i] < age) {
+			d->times[i] = 0;
+			d->scores[i] = 0;
+		} else {
+			if (d->scores[i] > confidence) {
+				confidence = d->scores[i];
+			}
+		}
+	}
+	d->max_confidence = confidence;
+}
+
+inline int disambiguator_find_nearest( struct disambiguator * d, long time, int max_diff );
+
+int disambiguator_find_nearest( struct disambiguator * d, long time, int max_diff )
+{
+	int diff = max_diff; // max allowed diff for a match
+	int idx = -1;
+	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
+		if (d->times[i] == 0) continue;
+
+		int a = abs(d->times[i] - time);
+		if (a < diff) {
+			idx = i;
+			diff = a;
+		}
+	}
+
+	return idx;
+}
+
+pulse_type disambiguator_step( struct disambiguator * d, long time, int length)
+{
+	if (length < 2750) {
+		return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
+	}
+	//printf( "%d %d\n", time, length );
+	//printf( "." );
+	//time -= length/2;
+
+	disambiguator_discard(d, time - 10000000);
+	int idx = disambiguator_find_nearest(d, time - 400000, 100);
+	
+	if (time - d->last > 401000) {
+		d->state = D_STATE_UNLOCKED;
+	}
+
+	if (idx == -1) {
+		for (int i = 0; i < DIS_NUM_VALUES; ++i) {
+			if (d->times[i] == 0) {
+				d->times[i] = time;
+				break;
+			}
+		}
+
+		return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
+	} else {
+		d->scores[idx]++;
+		if (d->scores[idx] >= 30) {
+			d->state = D_STATE_LOCKED;
+		}
+
+		d->times[idx] = time;
+		d->last = time;
+		return d->state == D_STATE_LOCKED ? (
+			d->scores[idx] >= d->max_confidence ? P_SYNC : P_SWEEP
+		) : P_UNKNOWN;
+	}
+
+	return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
+}
diff --git a/src/disambiguator.h b/src/disambiguator.h
new file mode 100644
index 0000000..0db19de
--- /dev/null
+++ b/src/disambiguator.h
@@ -0,0 +1,38 @@
+// (C) 2016 Julian Picht, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+#ifndef DISAMBIGUATOR_H
+#define DISAMBIGUATOR_H
+
+#define DIS_NUM_VALUES 8
+
+typedef enum {
+	D_STATE_INVALID = 0,
+	D_STATE_LOCKED = 1,
+	D_STATE_UNLOCKED = -1,
+} dis_state;
+
+typedef enum {
+	P_UNKNOWN = 0,
+	P_SYNC = 1,
+	P_SWEEP = 2,
+} pulse_type;
+
+struct disambiguator {
+	long times[DIS_NUM_VALUES];
+	int scores[DIS_NUM_VALUES];
+	dis_state state;
+	long last;
+	int max_confidence;
+	char code;
+};
+
+struct classified_pulse_ {
+	pulse_type t;
+	int length;
+};
+
+void disambiguator_init( struct disambiguator * d);
+pulse_type disambiguator_step( struct disambiguator * d, long time, int length);
+
+#endif /* DISAMBIGUATOR_H */
diff --git a/src/survive.c b/src/survive.c
index b12c4cc..7ad2ae9 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -8,6 +8,7 @@
 #include <jsmn.h>
 #include <string.h>
 #include <zlib.h>
+#include "disambiguator.h"
 
 static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
  if (tok->type == JSMN_STRING && (int) strlen(s) == tok->end - tok->start &&
@@ -91,12 +92,12 @@ static int LoadConfig( struct SurviveContext * ctx, struct SurviveObject * so, i
 		int i;
 		int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t)/sizeof(t[0]));	
 		if (r < 0) {
-			SV_ERROR("Failed to parse JSON in HMD configuration: %d\n", r);
-			return 0;
+			SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r);
+			return -1;
 		}
 		if (r < 1 || t[0].type != JSMN_OBJECT) {
-			SV_ERROR("Object expected in HMD configuration\n");
-			return 0;
+			SV_INFO("Object expected in HMD configuration\n");
+			return -2;
 		}
 
 		for (i = 1; i < r; i++) {
@@ -146,12 +147,15 @@ struct SurviveContext * survive_init()
 
 	ctx->headset.ctx = ctx;
 	memcpy( ctx->headset.codename, "HMD", 4 );
+	ctx->headset.d = calloc( 1, sizeof( struct disambiguator ) );
 
 	ctx->watchman[0].ctx = ctx;
 	memcpy( ctx->watchman[0].codename, "WM0", 4 );
+	ctx->watchman[0].d = calloc( 1, sizeof( struct disambiguator ) );
 
 	ctx->watchman[1].ctx = ctx;
 	memcpy( ctx->watchman[1].codename, "WM1", 4 );
+	ctx->watchman[1].d = calloc( 1, sizeof( struct disambiguator ) );
 
 	//USB must happen last.
 	if( r = survive_usb_init( ctx ) )
@@ -162,8 +166,8 @@ struct SurviveContext * survive_init()
 
 	//Next, pull out the config stuff.
 	if( LoadConfig( ctx, &ctx->headset, 1, 0, 0 ) ) goto fail_gracefully;
-	if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) goto fail_gracefully;
-	if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) goto fail_gracefully;
+	if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) { SV_INFO( "Watchman 0 config issue." ); }
+	if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) { SV_INFO( "Watchman 1 config issue." ); }
 
 /*
 	int i;
diff --git a/src/survive_data.c b/src/survive_data.c
index 660c3e1..6a1656b 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -11,6 +11,7 @@
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
 #include "survive_internal.h"
+#include "disambiguator.h"
 #include <stdint.h>
 #include <string.h>
 
@@ -40,7 +41,23 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 
 	if( le->type != 0xfe || le->length < 50 ) return;
 	//le->timestamp += (le->length/2);
-
+#if 0
+	int32_t offset = le->timestamp - so->d->last;
+	switch( disambiguator_step( so->d, le->timestamp, le->length ) ) {
+		default:
+		case P_UNKNOWN:
+			// not currently locked
+		case P_SYNC:
+			ct->lightproc( so, le->sensor_id, -1, 0, le->timestamp, offset );
+			so->d->code = ((le->length+125)/250) - 12;
+			break;
+		case P_SWEEP:
+			if (so->d->code & 1) return;
+			ct->lightproc( so, le->sensor_id, so->d->code >> 1, offset, le->timestamp, le->length );
+			break;
+	}
+#endif
+#ifdef USE_OLD_DISAMBIGUATOR
 	if( le->length > 2100 ) //Pulse longer indicates a sync pulse.
 	{
 		int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_photo_time;
@@ -85,6 +102,7 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 	{
 		//Runt pulse.
 	}
+#endif
 }
 
 
diff --git a/src/survive_usb.c b/src/survive_usb.c
index 808236d..cf12280 100644
--- a/src/survive_usb.c
+++ b/src/survive_usb.c
@@ -384,7 +384,7 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 	cfgbuff[0] = 0x10;
 	if( ( ret = hid_get_feature_report_timeout( dev, iface, cfgbuff, sizeof( cfgbuff ) ) ) < 0 )
 	{
-		SV_ERROR( "Could not get survive config data for device %d:%d", devno, iface );
+		SV_INFO( "Could not get survive config data for device %d:%d", devno, iface );
 		return -1;
 	}
 
@@ -395,7 +395,7 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 	{
 		if( (ret = hid_get_feature_report_timeout(dev, iface, cfgbuff, sizeof( cfgbuff ) ) ) < 0 )
 		{
-			SV_ERROR( "Could not read config data (after first packet) on device %d:%d (count: %d)\n", devno, iface, count );
+			SV_INFO( "Could not read config data (after first packet) on device %d:%d (count: %d)\n", devno, iface, count );
 			return -2;
 		}
 
@@ -405,13 +405,13 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 
 		if( size > 62 )
 		{
-			SV_ERROR( "Too much data (%d) on packet from config for device %d:%d (count: %d)", size, devno, iface, count );
+			SV_INFO( "Too much data (%d) on packet from config for device %d:%d (count: %d)", size, devno, iface, count );
 			return -3;
 		}
 
 		if( count + size >= sizeof( compressed_data ) )
 		{
-			SV_ERROR( "Configuration length too long %d:%d (count: %d)", devno, iface, count );
+			SV_INFO( "Configuration length too long %d:%d (count: %d)", devno, iface, count );
 			return -4;
 		}
 
@@ -421,7 +421,7 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 
 	if( count == 0 )
 	{
-		SV_ERROR( "Empty configuration for %d:%d", devno, iface );
+		SV_INFO( "Empty configuration for %d:%d", devno, iface );
 		return -5;
 	}
 
@@ -430,7 +430,7 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 	int len = survive_simple_inflate( ctx, compressed_data, count, uncompressed_data, sizeof(uncompressed_data)-1 );
 	if( len <= 0 )
 	{
-		SV_ERROR( "Error: data for config descriptor %d:%d is bad.", devno, iface );
+		SV_INFO( "Error: data for config descriptor %d:%d is bad.", devno, iface );
 		return -5;
 	}