diff options
68 files changed, 11204 insertions, 1535 deletions
diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..f3171ca --- /dev/null +++ b/.clang-format @@ -0,0 +1,4 @@ +IndentWidth: '4' +TabWidth: '4' +UseTab: Always +ColumnLimit: 120
\ No newline at end of file @@ -1,31 +1,37 @@ +# Linux +.idea *.o +*.so lib +calibrate_client +calibrate test -winbuild/calibrate.exe -winbuild/calinfo/* -winbuild/calibrate.def -winbuild/udev[USB_DEV_LIGHTHOUSE] -winbuild/config.json -winbuild/x64/* -winbuild/calibrate/calinfo/* -winbuild/calibrate/config.json -winbuild/calibrate/x64/* -winbuild/libsurvive/x64/* -winbuild/.vs/* -*.user -*.ipch -winbuild/.vs/libsurvive/v15/.suo -*.tlog -winbuild/calibrate.exe -winbuild/calibrate.def +data_recorder +simple_pose_test + +# Temp files *~ */\#*\# \#*\# -*.so -calinfo -calibrate_client -calibrate -test -.idea + +# Tool output *.json -*.csv
\ No newline at end of file +*.csv +calinfo/ +*.log +*.png + +# Windows specific +*.dll +*.exe +obj/ +bin/ +x64/ +packages +.vs/ +Debug/ +Release/ +*.VC.db +*.user +*.ipch +*.tlog @@ -2,7 +2,7 @@ all : lib data_recorder test calibrate calibrate_client simple_pose_test CC?=gcc -CFLAGS:=-Iinclude/libsurvive -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke -lcblas -lm #-Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable +CFLAGS:=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke -lcblas -lm #-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses CFLAGS_RELEASE:=-Iinclude/libsurvive -fPIC -msse2 -ftree-vectorize -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke -lcblas -lm @@ -35,12 +35,12 @@ endif SBA:=redist/sba/sba_chkjac.o redist/sba/sba_crsm.o redist/sba/sba_lapack.o redist/sba/sba_levmar.o redist/sba/sba_levmar_wrap.o POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o src/poser_epnp.o src/poser_sba.o -REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic.o redist/minimal_opencv.o +REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/minimal_opencv.o ifeq ($(UNAME), Darwin) REDISTS:=$(REDISTS) redist/hid-osx.c endif -LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_charlesbiguator.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.o src/poser.o src/epnp/epnp.c src/survive_sensor_activations.o src/survive_turveybiguator.o src/survive_disambiguator.o src/survive_imu.o src/poser_imu.o +LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_charlesbiguator.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.o src/poser.o src/epnp/epnp.o src/survive_sensor_activations.o src/survive_turveybiguator.o src/survive_disambiguator.o src/survive_statebased_disambiguator.o src/survive_imu.o src/poser_imu.o #If you want to use HIDAPI on Linux. #CFLAGS:=$(CFLAGS) -DHIDAPI @@ -67,23 +67,23 @@ LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c) testCocoa : testCocoa.c $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -test : test.c ./lib/libsurvive.so redist/os_generic.o +test : test.c ./lib/libsurvive.so $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -simple_pose_test : simple_pose_test.c ./lib/libsurvive.so redist/os_generic.o $(DRAWFUNCTIONS) +simple_pose_test : simple_pose_test.c ./lib/libsurvive.so $(DRAWFUNCTIONS) $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -data_recorder : data_recorder.c ./lib/libsurvive.so redist/os_generic.c +data_recorder : data_recorder.c ./lib/libsurvive.so $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -calibrate : calibrate.c ./lib/libsurvive.so redist/os_generic.c $(DRAWFUNCTIONS) +calibrate : calibrate.c ./lib/libsurvive.so $(DRAWFUNCTIONS) $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -calibrate_client : calibrate_client.c ./lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI) +calibrate_client : calibrate_client.c ./lib/libsurvive.so $(GRAPHICS_LOFI) $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) ## Still not working!!! Don't use. -static_calibrate : calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) +static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) tcc -o $@ $^ $(CFLAGS) $(LDFLAGS) -DTCC ./redist/dclhelpers_debuggable.c : ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h @@ -92,7 +92,7 @@ static_calibrate : calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) $(LIBSURVIVE sed -i 's/#/\/\/#/g' ./redist/dclhelpers_debuggable.c -test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c ./redist/minimal_opencv.c ./src/epnp/epnp.c +test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h ./redist/minimal_opencv.c ./src/epnp/epnp.c $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS_RELEASE) -DFLT=double test_dcl_debug: ./redist/test_dcl.c ./redist/dclhelpers_debuggable.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c @@ -115,7 +115,7 @@ lib/libsurvive.so : $(LIBSURVIVE_O) calibrate_tcc : $(LIBSURVIVE_C) - tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c + tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c clean : rm -rf */*/*.o *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest diff --git a/bindings/cs/Demo/App.config b/bindings/cs/Demo/App.config new file mode 100644 index 0000000..731f6de --- /dev/null +++ b/bindings/cs/Demo/App.config @@ -0,0 +1,6 @@ +<?xml version="1.0" encoding="utf-8" ?> +<configuration> + <startup> + <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" /> + </startup> +</configuration>
\ No newline at end of file diff --git a/bindings/cs/Demo/Demo.csproj b/bindings/cs/Demo/Demo.csproj new file mode 100644 index 0000000..f347a5e --- /dev/null +++ b/bindings/cs/Demo/Demo.csproj @@ -0,0 +1,86 @@ +<?xml version="1.0" encoding="utf-8"?> +<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> + <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" /> + <PropertyGroup> + <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration> + <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform> + <ProjectGuid>{D3A43A2F-03B7-4A10-928F-686790036838}</ProjectGuid> + <OutputType>Exe</OutputType> + <RootNamespace>Demo</RootNamespace> + <AssemblyName>Demo</AssemblyName> + <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion> + <FileAlignment>512</FileAlignment> + <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects> + <PublishUrl>publish\</PublishUrl> + <Install>true</Install> + <InstallFrom>Disk</InstallFrom> + <UpdateEnabled>false</UpdateEnabled> + <UpdateMode>Foreground</UpdateMode> + <UpdateInterval>7</UpdateInterval> + <UpdateIntervalUnits>Days</UpdateIntervalUnits> + <UpdatePeriodically>false</UpdatePeriodically> + <UpdateRequired>false</UpdateRequired> + <MapFileExtensions>true</MapFileExtensions> + <ApplicationRevision>0</ApplicationRevision> + <ApplicationVersion>1.0.0.%2a</ApplicationVersion> + <IsWebBootstrapper>false</IsWebBootstrapper> + <UseApplicationTrust>false</UseApplicationTrust> + <BootstrapperEnabled>true</BootstrapperEnabled> + </PropertyGroup> + <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' "> + <PlatformTarget>AnyCPU</PlatformTarget> + <DebugSymbols>true</DebugSymbols> + <DebugType>full</DebugType> + <Optimize>false</Optimize> + <OutputPath>..\x64\Debug\</OutputPath> + <DefineConstants>DEBUG;TRACE</DefineConstants> + <ErrorReport>prompt</ErrorReport> + <WarningLevel>4</WarningLevel> + <Prefer32Bit>false</Prefer32Bit> + </PropertyGroup> + <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' "> + <PlatformTarget>AnyCPU</PlatformTarget> + <DebugType>pdbonly</DebugType> + <Optimize>true</Optimize> + <OutputPath>bin\Release\</OutputPath> + <DefineConstants>TRACE</DefineConstants> + <ErrorReport>prompt</ErrorReport> + <WarningLevel>4</WarningLevel> + </PropertyGroup> + <ItemGroup> + <Reference Include="System" /> + <Reference Include="System.Core" /> + <Reference Include="System.Xml.Linq" /> + <Reference Include="System.Data.DataSetExtensions" /> + <Reference Include="Microsoft.CSharp" /> + <Reference Include="System.Data" /> + <Reference Include="System.Net.Http" /> + <Reference Include="System.Xml" /> + </ItemGroup> + <ItemGroup> + <Compile Include="Program.cs" /> + <Compile Include="Properties\AssemblyInfo.cs" /> + </ItemGroup> + <ItemGroup> + <None Include="App.config" /> + </ItemGroup> + <ItemGroup> + <ProjectReference Include="..\libsurvive.net\libsurvive.net.csproj"> + <Project>{da1b12d7-a121-4d40-b363-4893e4f88b8a}</Project> + <Name>libsurvive.net</Name> + </ProjectReference> + </ItemGroup> + <ItemGroup> + <BootstrapperPackage Include=".NETFramework,Version=v4.6.1"> + <Visible>False</Visible> + <ProductName>Microsoft .NET Framework 4.6.1 %28x86 and x64%29</ProductName> + <Install>true</Install> + </BootstrapperPackage> + <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1"> + <Visible>False</Visible> + <ProductName>.NET Framework 3.5 SP1</ProductName> + <Install>false</Install> + </BootstrapperPackage> + </ItemGroup> + <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> +</Project>
\ No newline at end of file diff --git a/bindings/cs/Demo/Program.cs b/bindings/cs/Demo/Program.cs new file mode 100644 index 0000000..c03d83c --- /dev/null +++ b/bindings/cs/Demo/Program.cs @@ -0,0 +1,58 @@ +using libsurvive; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace Demo +{ + internal class MyHandler : SurviveContext + { + private static void WritePose(string name, SurvivePose pose) + { + Console.Out.WriteLine(name); + Console.Out.Write(" [ "); + for (int i = 0; i < 3; i++) + Console.Out.Write("{0} ", pose.Pos[i]); + Console.Out.Write(" ] [ "); + for (int i = 0; i < 4; i++) + Console.Out.Write("{0} ", pose.Rot[i]); + Console.Out.Write(" ] "); + Console.Out.WriteLine(); + } + + public MyHandler() : base() + { + } + + public MyHandler(string[] args) : base(args) + { + } + + protected void LightHouseEvent1(IntPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose) + { + base.LightHouseEvent(ctx, lighthouse, lighthouse_pose, object_pose); + WritePose("Lighthouse", lighthouse_pose); + WritePose("Object", object_pose); + } + + protected override void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose) + { + WritePose("Pose", pose); + base.PoseEvent(so, lighthouse, pose); + } + } + class Program + { + static void Main(string[] args) + { + MyHandler handler = new MyHandler(args); + + while (handler.Poll() == 0) { + } + + } + + } +} diff --git a/bindings/cs/Demo/Properties/AssemblyInfo.cs b/bindings/cs/Demo/Properties/AssemblyInfo.cs new file mode 100644 index 0000000..2c6a6c7 --- /dev/null +++ b/bindings/cs/Demo/Properties/AssemblyInfo.cs @@ -0,0 +1,36 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("Demo")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Demo")] +[assembly: AssemblyCopyright("Copyright © 2018")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("d3a43a2f-03b7-4a10-928f-686790036838")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the values or you can default the Build and Revision Numbers +// by using the '*' as shown below: +// [assembly: AssemblyVersion("1.0.*")] +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/bindings/cs/LibSurviveBinding.sln b/bindings/cs/LibSurviveBinding.sln new file mode 100644 index 0000000..b2e2f11 --- /dev/null +++ b/bindings/cs/LibSurviveBinding.sln @@ -0,0 +1,67 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 15 +VisualStudioVersion = 15.0.27130.2003 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Demo", "Demo\Demo.csproj", "{D3A43A2F-03B7-4A10-928F-686790036838}" +EndProject +Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "libsurvive.net", "libsurvive.net\libsurvive.net.csproj", "{DA1B12D7-A121-4D40-B363-4893E4F88B8A}" + ProjectSection(ProjectDependencies) = postProject + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F} = {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libsurvive", "..\..\winbuild\libsurvive\libsurvive.vcxproj", "{435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|Any CPU = Release|Any CPU + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|Any CPU.Build.0 = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|x64.ActiveCfg = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|x64.Build.0 = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|x86.ActiveCfg = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Debug|x86.Build.0 = Debug|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|Any CPU.ActiveCfg = Release|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|Any CPU.Build.0 = Release|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|x64.ActiveCfg = Release|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|x64.Build.0 = Release|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|x86.ActiveCfg = Release|Any CPU + {D3A43A2F-03B7-4A10-928F-686790036838}.Release|x86.Build.0 = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|Any CPU.Build.0 = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|x64.ActiveCfg = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|x64.Build.0 = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|x86.ActiveCfg = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Debug|x86.Build.0 = Debug|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|Any CPU.ActiveCfg = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|Any CPU.Build.0 = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|x64.ActiveCfg = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|x64.Build.0 = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|x86.ActiveCfg = Release|Any CPU + {DA1B12D7-A121-4D40-B363-4893E4F88B8A}.Release|x86.Build.0 = Release|Any CPU + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|Any CPU.ActiveCfg = Debug|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|Any CPU.Build.0 = Debug|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|x64.ActiveCfg = Debug|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|x64.Build.0 = Debug|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|x86.ActiveCfg = Debug|Win32 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Debug|x86.Build.0 = Debug|Win32 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Release|Any CPU.ActiveCfg = Release|Win32 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Release|x64.ActiveCfg = Release|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Release|x64.Build.0 = Release|x64 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Release|x86.ActiveCfg = Release|Win32 + {435CFD2C-8724-42EE-8FDE-71EF7D2C6B2F}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {CA47A8D6-3379-4ABA-927E-86BBDDE1D304} + EndGlobalSection +EndGlobal diff --git a/bindings/cs/libsurvive.net/SurviveContext.cs b/bindings/cs/libsurvive.net/SurviveContext.cs new file mode 100644 index 0000000..bafcf2b --- /dev/null +++ b/bindings/cs/libsurvive.net/SurviveContext.cs @@ -0,0 +1,115 @@ +using System; + +namespace libsurvive +{ + using SurviveContextPtr = IntPtr; + using SurviveObjectPtr = IntPtr; + using SurvivePosePtr = IntPtr; + + public class SurviveContext : IDisposable + { + protected IntPtr ctx; + + public void Dispose() + { + cfunctions.survive_close(ctx); + ctx = IntPtr.Zero; + } + + public SurviveContext() : this(null) { } + + /** + * We need to keep these delegates around for the lifespan of this object. + * if we just pass the functions in, it creates temporary delegates that + * disappear if we don't keep managed ref around + */ + light_process_func light_Process_Func; + raw_pose_func raw_Pose_Func; + lighthouse_pose_func lighthouse_Pose_Func; + angle_process_func angle_Process_Func; + button_process_func button_Process_Func; + htc_config_func htc_Config_Func; + imu_process_func imu_Process_Func; + text_feedback_func error_func; + text_feedback_func info_func; + + public SurviveContext(string[] args) + { + string[] newArgs = new string[args.Length + 1]; + newArgs[0] = System.Reflection.Assembly.GetEntryAssembly().FullName; + Array.Copy(args, 0, newArgs, 1, args.Length); + + ctx = cfunctions.survive_init_internal(newArgs.Length, newArgs); + + light_Process_Func = LightEvent; + raw_Pose_Func = PoseEvent; + lighthouse_Pose_Func = LightHouseEvent; + angle_Process_Func = AngleEvent; + button_Process_Func = ButtonEvent; + htc_Config_Func = HTCConfigEvent; + imu_Process_Func = IMUEvent; + error_func = ErrorEvent; + info_func = InfoEvent; + + cfunctions.survive_install_raw_pose_fn(ctx, raw_Pose_Func); + cfunctions.survive_install_light_fn(ctx, light_Process_Func); + cfunctions.survive_install_lighthouse_pose_fn(ctx, lighthouse_Pose_Func); + cfunctions.survive_install_angle_fn(ctx, angle_Process_Func); + cfunctions.survive_install_button_fn(ctx, button_Process_Func); + cfunctions.survive_install_htc_config_fn(ctx, htc_Config_Func); + cfunctions.survive_install_imu_fn(ctx, imu_Process_Func); + cfunctions.survive_install_error_fn(ctx, error_func); + cfunctions.survive_install_info_fn(ctx, info_func); + } + + virtual protected void InfoEvent(SurviveObjectPtr ctx, string fault) + { + Console.Out.WriteLine(fault); + } + + virtual protected void ErrorEvent(SurviveObjectPtr ctx, string fault) + { + Console.Error.WriteLine(fault); + } + + virtual protected void IMUEvent(SurviveObjectPtr so, int mask, double[] accelgyro, uint timecode, int id) + { + cfunctions.survive_default_imu_process(so, mask, accelgyro, timecode, id); + } + + virtual protected int HTCConfigEvent(SurviveObjectPtr so, string ct0conf, int len) + { + return cfunctions.survive_default_htc_config_process(so, ct0conf, len); + } + + virtual protected void ButtonEvent(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, ushort axis1Val, byte axis2Id, ushort axis2Val) + { + cfunctions.survive_default_button_process(so, eventType, buttonId, axis1Id, axis1Val, axis2Id, axis2Val); + } + + virtual protected void AngleEvent(SurviveObjectPtr so, int sensor_id, int acode, uint timecode, double length, double angle, uint lh) + { + cfunctions.survive_default_angle_process(so, sensor_id, acode, timecode, length, angle, lh); + } + + protected void LightHouseEvent(SurviveObjectPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose) + { + cfunctions.survive_default_lighthouse_pose_process(ctx, lighthouse, lighthouse_pose, object_pose); + } + + virtual protected void LightEvent(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lighthouse) + { + cfunctions.survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); + } + + virtual protected void PoseEvent(IntPtr so, byte lighthouse, SurvivePose pose) + { + cfunctions.survive_default_raw_pose_process(so, lighthouse, pose); + } + + public int Poll() + { + return cfunctions.survive_poll(ctx); + } + } +}
\ No newline at end of file diff --git a/bindings/cs/libsurvive.net/cfunctions.cs b/bindings/cs/libsurvive.net/cfunctions.cs new file mode 100644 index 0000000..760681e --- /dev/null +++ b/bindings/cs/libsurvive.net/cfunctions.cs @@ -0,0 +1,91 @@ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; + +namespace libsurvive +{ + using SurviveContextPtr = IntPtr; + using SurviveObjectPtr = IntPtr; + using SurvivePosePtr = IntPtr; + + [StructLayout(LayoutKind.Sequential)] + public class SurvivePose + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] Pos; // Position in the form xyz + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] + public double[] Rot; // Quaternion in the form wxyz + } + + class cfunctions + { +#pragma warning disable IDE1006 // Naming Styles + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall) ] + public static extern SurviveContextPtr survive_init_internal(int argc, string[] args); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern SurviveContextPtr survive_close(SurviveContextPtr ctx); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_poll(SurviveContextPtr ctx); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_startup(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_htc_config_fn(SurviveContextPtr ctx, htc_config_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_info_fn(SurviveContextPtr ctx, text_feedback_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_error_fn(SurviveContextPtr ctx, text_feedback_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_imu_fn(SurviveContextPtr ctx, imu_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_angle_fn(SurviveContextPtr ctx, angle_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_button_fn(SurviveContextPtr ctx, button_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_raw_pose_fn(SurviveContextPtr ctx, raw_pose_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_lighthouse_pose_fn(SurviveContextPtr ctx, lighthouse_pose_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_install_light_fn(SurviveContextPtr ctx, light_process_func fbp); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_cal_install(SurviveContextPtr ctx); + + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_light_process(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lh); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_imu_process(SurviveObjectPtr so, int mode, double[] accelgyro, UInt32 timecode, int id); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_angle_process(SurviveObjectPtr so, int sensor_id, int acode, UInt32 timecode, double length, double angle, UInt32 lh); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_button_process(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, UInt16 axis1Val, byte axis2Id, UInt16 axis2Val); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_raw_pose_process(SurviveObjectPtr so, byte lighthouse, SurvivePose pose); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern void survive_default_lighthouse_pose_process(SurviveContextPtr ctx, byte lighthouse, SurvivePose lh_pose, + SurvivePose obj_pose); + [DllImport("libsurvive", CallingConvention = CallingConvention.StdCall)] + public static extern int survive_default_htc_config_process(SurviveObjectPtr so, string ct0conf, int len); + +#pragma warning restore IDE1006 // Naming Styles + } + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate int htc_config_func(SurviveObjectPtr so, string ct0conf, int len); + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void text_feedback_func(SurviveContextPtr ctx, string fault); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void light_process_func(SurviveObjectPtr so, int sensor_id, int acode, int timeinsweep, UInt32 timecode, UInt32 length, UInt32 lighthouse); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void imu_process_func(SurviveObjectPtr so, int mask, double[] accelgyro, UInt32 timecode, int id); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void angle_process_func(SurviveObjectPtr so, int sensor_id, int acode, UInt32 timecode, double length, double angle, UInt32 lh); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void button_process_func(SurviveObjectPtr so, byte eventType, byte buttonId, byte axis1Id, UInt16 axis1Val, byte axis2Id, UInt16 axis2Val); + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void raw_pose_func(SurviveObjectPtr so, byte lighthouse, SurvivePose pose); + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + public delegate void lighthouse_pose_func(SurviveContextPtr ctx, byte lighthouse, SurvivePose lighthouse_pose, SurvivePose object_pose); + +} diff --git a/bindings/cs/libsurvive.net/libsurvive.net.csproj b/bindings/cs/libsurvive.net/libsurvive.net.csproj new file mode 100644 index 0000000..eac3503 --- /dev/null +++ b/bindings/cs/libsurvive.net/libsurvive.net.csproj @@ -0,0 +1,7 @@ +<Project Sdk="Microsoft.NET.Sdk"> + + <PropertyGroup> + <TargetFramework>netstandard1.6</TargetFramework> + </PropertyGroup> + +</Project> diff --git a/calibrate.c b/calibrate.c index e0426f7..e21c310 100644 --- a/calibrate.c +++ b/calibrate.c @@ -393,9 +393,6 @@ char * const * gargv; void * SurviveThread(void *jnk) { - ctx = survive_init( gargc, gargv ); - - uint8_t i =0; for (i=0;i<32;++i) { sensor_name[i] = malloc(3); @@ -407,8 +404,6 @@ void * SurviveThread(void *jnk) survive_install_angle_fn( ctx, my_angle_process ); survive_startup( ctx ); - - survive_cal_install( ctx ); if( !ctx ) @@ -433,8 +428,14 @@ int main( int argc, char ** argv ) { gargc = argc; gargv = argv; + + ctx = survive_init(gargc, gargv); + if (ctx == 0) { // Implies --help or similiar + return -1; + } + // Create the survive thread - OGCreateThread( SurviveThread, 0 ); + OGCreateThread(SurviveThread, 0); // Wait for the survive thread to load while(!SurviveThreadLoaded){ OGUSleep(100); } diff --git a/calibrate_client.c b/calibrate_client.c index 43ab821..4471acf 100644 --- a/calibrate_client.c +++ b/calibrate_client.c @@ -162,6 +162,9 @@ int main( int argc, char ** argv ) */ ctx = survive_init( argc, argv ); + if (ctx == 0) { // Implies --help or similiar + return -1; + } survive_install_light_fn( ctx, my_light_process ); survive_install_imu_fn( ctx, my_imu_process ); diff --git a/data_recorder.c b/data_recorder.c index eef233d..968ae17 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -11,16 +11,12 @@ int main(int argc, char **argv) { if (ctx == 0) // implies -help or similiar return 0; - const char *dataout_file = survive_configs(ctx, "record", SC_SETCONFIG, ""); + const char *dataout_file = survive_configs(ctx, "record", SC_GET, ""); if (strlen(dataout_file) == 0) { survive_configi(ctx, "record-stdout", SC_SET | SC_OVERRIDE, 1); } survive_startup(ctx); - if (survive_configi(ctx, "calibrate", SC_GET, 1)) { - SV_INFO("Installing calibration"); - survive_cal_install(ctx); - } while (survive_poll(ctx) == 0) { } diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 0b85bf3..7248b1c 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -10,12 +10,19 @@ extern "C" { #endif +#ifdef _WIN32 +#define SURVIVE_EXPORT __declspec(dllexport) +#else +#define SURVIVE_EXPORT __attribute__((visibility("default"))) +#endif + /** * This struct encodes what the last effective angles seen on a sensor were, and when they occured. */ typedef struct { FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks + uint32_t lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks FLT accel[3]; FLT gyro[3]; @@ -24,6 +31,7 @@ typedef struct { struct PoserDataLight; struct PoserDataIMU; + /** * Adds a lightData packet to the table. */ @@ -45,101 +53,108 @@ bool SurviveSensorActivations_isPairValid(const SurviveSensorActivations *self, */ extern uint32_t SurviveSensorActivations_default_tolerance; -//DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks -//for optimization on 32- and 64-bit systems. +// DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks +// for optimization on 32- and 64-bit systems. -struct SurviveObject -{ - SurviveContext * ctx; +struct SurviveObject { + SurviveContext *ctx; - char codename[4]; //3 letters, null-terminated. Currently HMD, WM0, WM1. - char drivername[4]; //3 letters for driver. Currently "HTC" - void *driver; + char codename[4]; // 3 letters, null-terminated. Currently HMD, WM0, WM1. + char drivername[4]; // 3 letters for driver. Currently "HTC" + void *driver; int32_t buttonmask; int16_t axis1; int16_t axis2; int16_t axis3; - int8_t charge; - int8_t charging:1; - int8_t ison:1; - int8_t additional_flags:6; - - //Pose Information, also "poser" field. - FLT PoseConfidence; //0..1 - SurvivePose OutPose; //Final pose? (some day, one can dream!) - 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. + int8_t charge; + int8_t charging : 1; + int8_t ison : 1; + int8_t additional_flags : 6; + + // Pose Information, also "poser" field. + FLT PoseConfidence; // 0..1 + SurvivePose OutPose; // Final pose? (some day, one can dream!) + 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; - //Device-specific information about the location of the sensors. This data will be used by the poser. - int8_t sensor_ct; // sensor count - FLT * sensor_locations; // size is sensor_ct*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) (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) - int32_t pulse_max_for_sweep; //1,800 for normal vive hardware. (guessed) - int32_t pulse_synctime_offset; //20,000 for normal vive hardware. (guessed) - 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. + // Device-specific information about the location of the sensors. This data will be used by the poser. + int8_t sensor_ct; // sensor count + FLT *sensor_locations; // size is sensor_ct*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) (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) + int32_t pulse_max_for_sweep; // 1,800 for normal vive hardware. (guessed) + int32_t pulse_synctime_offset; // 20,000 for normal vive hardware. (guessed) + 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. uint32_t last_sync_time[NUM_LIGHTHOUSES]; uint32_t last_sync_length[NUM_LIGHTHOUSES]; uint32_t recent_sync_time; - uint32_t last_lighttime; //May be a 24- or 32- bit number depending on what device. - + 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 + 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 haptic_func haptic; SurviveSensorActivations activations; - //Debug + // Debug int tsl; }; +// These exports are mostly for language binding against +SURVIVE_EXPORT const char *survive_object_codename(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); -struct BaseStationData -{ - uint8_t PositionSet:1; +typedef struct BaseStationCal { + FLT phase[2]; + FLT tilt[2]; + FLT curve[2]; + FLT gibpha[2]; + FLT gibmag[2]; +} BaseStationCal; + +struct BaseStationData { + uint8_t PositionSet : 1; SurvivePose Pose; - uint8_t OOTXSet:1; + uint8_t OOTXSet : 1; uint32_t BaseStationID; - FLT fcalphase[2]; - FLT fcaltilt[2]; - FLT fcalcurve[2]; - FLT fcalgibpha[2]; - FLT fcalgibmag[2]; - int8_t accel[3]; //"Up" vector + + BaseStationCal fcal; + + int8_t accel[3]; //"Up" vector + uint8_t mode; }; struct config_group; #define BUTTON_QUEUE_MAX_LEN 32 - - // note: buttonId and axisId are 1-indexed values. // a value of 0 for an id means that no data is present in that value // additionally, when x and y values are both present in axis data, // axis1 will be x, axis2 will be y. -typedef struct -{ - uint8_t isPopulated; //probably can remove this given the semaphore in the parent struct. helps with debugging +typedef struct { + uint8_t isPopulated; // probably can remove this given the semaphore in the parent struct. helps with debugging uint8_t eventType; uint8_t buttonId; uint8_t axis1Id; @@ -149,20 +164,35 @@ typedef struct SurviveObject *so; } ButtonQueueEntry; -typedef struct -{ - uint8_t nextReadIndex; //init to 0 +typedef struct { + uint8_t nextReadIndex; // init to 0 uint8_t nextWriteIndex; // init to 0 - void* buttonservicesem; + void *buttonservicesem; ButtonQueueEntry entry[BUTTON_QUEUE_MAX_LEN]; } ButtonQueue; typedef enum { SURVIVE_STOPPED = 0, SURVIVE_RUNNING, SURVIVE_CLOSING, SURVIVE_STATE_MAX } SurviveState; struct SurviveRecordingData; +struct survive_calibration_config; + +enum SurviveCalFlag { + SVCal_None = 0, + SVCal_Phase = 1, + SVCal_Tilt = 2, + SVCal_Curve = 4, + SVCal_Gib = 8, + SVCal_All = SVCal_Gib | SVCal_Curve | SVCal_Tilt | SVCal_Phase +}; + +typedef struct survive_calibration_config { + FLT phase_scale, tilt_scale, curve_scale, gib_scale; + enum SurviveCalFlag use_flag; +} survive_calibration_config; + +survive_calibration_config survive_calibration_config_ctor(); -struct SurviveContext -{ +struct SurviveContext { text_feedback_func faultfunction; text_feedback_func notefunction; light_process_func lightproc; @@ -174,131 +204,149 @@ struct SurviveContext htc_config_func configfunction; handle_lightcap_func lightcapfunction; - struct config_group* global_config_values; - struct config_group* lh_config; //lighthouse configs - struct config_group* temporary_config_values; //Set per-session, from command-line. Not saved but override global_config_values + struct config_group *global_config_values; + struct config_group *lh_config; // lighthouse configs + struct config_group + *temporary_config_values; // Set per-session, from command-line. Not saved but override global_config_values - //Calibration data: + // Calibration data: int activeLighthouses; BaseStationData bsd[NUM_LIGHTHOUSES]; - SurviveCalData * calptr; //If and only if the calibration subsystem is attached. + SurviveCalData *calptr; // If and only if the calibration subsystem is attached. struct SurviveRecordingData *recptr; // Iff recording is attached - SurviveObject ** objs; + SurviveObject **objs; int objs_ct; - void ** drivers; - DeviceDriverCb * driverpolls; - DeviceDriverCb * drivercloses; - DeviceDriverMagicCb * drivermagics; + void **drivers; + DeviceDriverCb *driverpolls; + DeviceDriverCb *drivercloses; + DeviceDriverMagicCb *drivermagics; int driver_ct; SurviveState state; - void* buttonservicethread; + void *buttonservicethread; ButtonQueue buttonQueue; void *user_ptr; + struct survive_calibration_config calibration_config; }; -void survive_verify_FLT_size(uint32_t user_size); // Baked in size of FLT to verify users of the library have the correct setting. +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); - - - -SurviveContext * survive_init_internal( int argc, char * const * argv ); -static inline SurviveContext * survive_init( int argc, char * const * argv ) -{ +/** + * Call survive_init to get a populated SurviveContext pointer. + * + * This also sets up a number of configuration values based on command line + * arguments. Pass 0, 0 to this function if you specifically do not want + * command line processing. + * + * Note that this function _can_ return null based on command line arguments, + * notably if -h was passed in. + */ +static inline SurviveContext *survive_init(int argc, char *const *argv) { survive_verify_FLT_size(sizeof(FLT)); return survive_init_internal(argc, argv); } - -//For any of these, you may pass in 0 for the function pointer to use default behavior. -//In general unless you are doing wacky things like recording or playing back data, you won't need to use this. -void survive_install_htc_config_fn( SurviveContext *ctx, htc_config_func fbp ); -void survive_install_info_fn( SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_error_fn( SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_light_fn( SurviveContext * ctx, light_process_func fbp ); -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); -int survive_startup( SurviveContext * ctx ); -int survive_poll( SurviveContext * ctx ); -void survive_close( SurviveContext * ctx ); - -SurviveObject * survive_get_so_by_name( SurviveContext * ctx, const char * name ); - -//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 ); - -//These functions search both the stored-general and temporary sections for a parameter and return it. -#define SC_GET 0 //Get, only. -#define SC_SET 1 //Set, if not present -#define SC_OVERRIDE 2 //Set, to new default value. -#define SC_SETCONFIG 4 //Set, both in-memory and config file. Use in conjunction with SC_OVERRIDE. - -FLT survive_configf( SurviveContext * ctx, const char *tag, char flags, FLT def ); -uint32_t survive_configi( SurviveContext * ctx, const char *tag, char flags, uint32_t def ); -const char * survive_configs( SurviveContext * ctx, const char *tag, char flags, const char *def ); - - -//Install the calibrator. -void survive_cal_install( SurviveContext * ctx ); //XXX This will be removed if not already done so. +// For any of these, you may pass in 0 for the function pointer to use default behavior. +// In general unless you are doing wacky things like recording or playing back data, you won't need to use this. +SURVIVE_EXPORT void survive_install_htc_config_fn(SurviveContext *ctx, htc_config_func fbp); +SURVIVE_EXPORT void survive_install_info_fn(SurviveContext *ctx, text_feedback_func fbp); +SURVIVE_EXPORT void survive_install_error_fn(SurviveContext *ctx, text_feedback_func fbp); +SURVIVE_EXPORT void survive_install_light_fn(SurviveContext *ctx, light_process_func fbp); +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_lighthouse_pose_fn(SurviveContext *ctx, lighthouse_pose_func fbp); +SURVIVE_EXPORT int survive_startup(SurviveContext *ctx); +SURVIVE_EXPORT int survive_poll(SurviveContext *ctx); +SURVIVE_EXPORT void survive_close(SurviveContext *ctx); + +SURVIVE_EXPORT SurviveObject *survive_get_so_by_name(SurviveContext *ctx, const char *name); + +// 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); + +// These functions search both the stored-general and temporary sections for a parameter and return it. +#define SC_GET 0 // Get, only. +#define SC_SET 1 // Set, if not present +#define SC_OVERRIDE 2 // Set, to new default value. +#define SC_SETCONFIG 4 // Set, both in-memory and config file. Use in conjunction with SC_OVERRIDE. + +SURVIVE_EXPORT FLT survive_configf(SurviveContext *ctx, const char *tag, char flags, FLT def); +SURVIVE_EXPORT uint32_t survive_configi(SurviveContext *ctx, const char *tag, char flags, uint32_t def); +SURVIVE_EXPORT const char *survive_configs(SurviveContext *ctx, const char *tag, char flags, const char *def); + +// Install the calibrator. +SURVIVE_EXPORT 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( SurviveContext * ctx, char * description, int description_length ); +SURVIVE_EXPORT int survive_cal_get_status(SurviveContext *ctx, char *description, int description_length); // Induce haptic feedback -int survive_haptic(SurviveObject * so, uint8_t reserved, uint16_t pulseHigh, uint16_t pulseLow, uint16_t repeatCount); - -//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 , 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, 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 *lh_pose, - SurvivePose *obj_pose); -int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len); - - +SURVIVE_EXPORT int survive_haptic(SurviveObject *so, uint8_t reserved, uint16_t pulseHigh, uint16_t pulseLow, + uint16_t repeatCount); + +// Call these from your callback if overridden. +// Accept higher-level data. +SURVIVE_EXPORT void survive_default_light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, + uint32_t timecode, uint32_t length, uint32_t lh); +SURVIVE_EXPORT void survive_default_imu_process(SurviveObject *so, int mode, FLT *accelgyro, uint32_t timecode, int id); +SURVIVE_EXPORT void survive_default_angle_process(SurviveObject *so, int sensor_id, int acode, uint32_t timecode, + FLT length, FLT angle, uint32_t lh); +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_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); ////////////////////// Survive Drivers //////////////////////////// -void RegisterDriver(const char * name, void * data); +void RegisterDriver(const char *name, void *data); #ifdef _MSC_VER -#define REGISTER_LINKTIME( func ) \ - __pragma(comment(linker,"/export:REGISTER"#func));\ +#define REGISTER_LINKTIME(func) \ + __pragma(comment(linker, "/export:REGISTER" #func)); \ void REGISTER##func() { RegisterDriver(#func, &func); } #else -#define REGISTER_LINKTIME( func ) \ +#define REGISTER_LINKTIME(func) \ void __attribute__((constructor)) REGISTER##func() { RegisterDriver(#func, &func); } #endif - - ///////////////////////// General stuff for writing drivers /////// -//For device drivers to call. This actually attaches them. -int survive_add_object( SurviveContext * ctx, SurviveObject * obj ); -void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic ); - -//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode. -void handle_lightcap( SurviveObject * so, LightcapElement * le ); - -#define SV_INFO( ... ) { char stbuff[1024]; sprintf( stbuff, __VA_ARGS__ ); ctx->notefunction( ctx, stbuff ); } -#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. +// For device drivers to call. This actually attaches them. +int survive_add_object(SurviveContext *ctx, SurviveObject *obj); +void survive_add_driver(SurviveContext *ctx, void *payload, DeviceDriverCb poll, DeviceDriverCb close, + DeviceDriverMagicCb magic); + +// This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode. +void handle_lightcap(SurviveObject *so, LightcapElement *le); + +#define SV_INFO(...) \ + { \ + char stbuff[1024]; \ + sprintf(stbuff, __VA_ARGS__); \ + ctx->notefunction(ctx, stbuff); \ + } +#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_reproject.h b/include/libsurvive/survive_reproject.h index 961db2a..e4f21d0 100644 --- a/include/libsurvive/survive_reproject.h +++ b/include/libsurvive/survive_reproject.h @@ -1,52 +1,42 @@ #pragma once + #include "survive.h" #include <stdbool.h> +#include <stdio.h> #include <stdlib.h> #ifdef __cplusplus extern "C" { #endif -typedef struct { - bool enable[2]; - bool invert[2]; - bool swap; -} survive_calibration_options_config; - -typedef struct { - - survive_calibration_options_config phase, tilt, curve, gibMag, gibPhase; - - bool gibUseSin; - -} survive_calibration_config; - -void survive_calibration_options_config_apply( - const survive_calibration_options_config *option, const FLT *input, - FLT *output); -const survive_calibration_config *survive_calibration_default_config(); +void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, FLT *out); -size_t survive_calibration_config_max_idx(); - -survive_calibration_config survive_calibration_config_create_from_idx(size_t v); - -size_t survive_calibration_config_index(const survive_calibration_config *config); - -void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, - FLT *out); -void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, - const SurvivePose *pose, FLT *point3d, +void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, const SurvivePose *pose, FLT *point3d, FLT *out); +void survive_reproject_from_pose_with_config(const SurviveContext *ctx, struct survive_calibration_config *config, + int lighthouse, const SurvivePose *pose, FLT *point3d, FLT *out); // This is given a lighthouse -- in the same system as stored in BaseStationData, and -// a 3d point and finds what the effective 'angle' value for a given lighthouse syste +// a 3d point and finds what the effective 'angle' value for a given lighthouse system // would be. +// // While this is typically opposite of what we want to do -- we want to find the 3d // position from a 2D coordinate, this is helpful since the minimization of reprojection // error is a core mechanism to many types of solvers. -void survive_reproject_from_pose_with_config( - const SurviveContext *ctx, const survive_calibration_config *config, - int lighthouse, const SurvivePose *pose, const FLT *point3d, FLT *out); + +void survive_reproject_from_pose_with_bsd(const BaseStationData *bsd, const survive_calibration_config *config, + const SurvivePose *pose, const FLT *point3d, FLT *out); + +// This is given input from the light sensors and approximates the idealized version of them +// by incorporating the calibration data from the lighthouse. In theory, it's an approximation +// but in practice in converges pretty quickly and to a good degree of accuracy. +// That said, all things being equal, it is better to compare reprojection to raw incoming +// data if you are looking to minimize that error. +void survive_apply_bsd_calibration(SurviveContext *ctx, int lh, const FLT *in, FLT *out); + +// Same as above, but lets you specify the configuration. Used internally and also in some tools +void survive_apply_bsd_calibration_by_config(SurviveContext *ctx, int lh, struct survive_calibration_config *config, + const FLT *in, FLT *out); #ifdef __cplusplus } diff --git a/redist/linmath.c b/redist/linmath.c index d005074..01ae2b0 100644 --- a/redist/linmath.c +++ b/redist/linmath.c @@ -1,130 +1,125 @@ -//Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT license. +// Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT license. -#include <math.h> #include "linmath.h" #include <float.h> +#include <math.h> #include <string.h> -void cross3d( FLT * out, const FLT * a, const FLT * b ) -{ - out[0] = a[1]*b[2] - a[2]*b[1]; - out[1] = a[2]*b[0] - a[0]*b[2]; - out[2] = a[0]*b[1] - a[1]*b[0]; +void cross3d(FLT *out, const FLT *a, const FLT *b) { + out[0] = a[1] * b[2] - a[2] * b[1]; + out[1] = a[2] * b[0] - a[0] * b[2]; + out[2] = a[0] * b[1] - a[1] * b[0]; } -void sub3d( FLT * out, const FLT * a, const FLT * b ) -{ +void sub3d(FLT *out, const FLT *a, const FLT *b) { out[0] = a[0] - b[0]; out[1] = a[1] - b[1]; out[2] = a[2] - b[2]; } -void add3d( FLT * out, const FLT * a, const FLT * b ) -{ +void add3d(FLT *out, const FLT *a, const FLT *b) { out[0] = a[0] + b[0]; out[1] = a[1] + b[1]; out[2] = a[2] + b[2]; } -void scale3d( FLT * out, const FLT * a, FLT scalar ) -{ +void scale3d(FLT *out, const FLT *a, FLT scalar) { out[0] = a[0] * scalar; out[1] = a[1] * scalar; out[2] = a[2] * scalar; } -void normalize3d( FLT * out, const FLT * in ) -{ +void normalize3d(FLT *out, const FLT *in) { FLT r = ((FLT)1.) / FLT_SQRT(in[0] * in[0] + in[1] * in[1] + in[2] * in[2]); out[0] = in[0] * r; out[1] = in[1] * r; out[2] = in[2] * r; } -FLT dot3d( const FLT * a, const FLT * b ) -{ - return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; -} - -int compare3d( const FLT * a, const FLT * b, FLT epsilon ) -{ - if( !a || !b ) return 0; - if( a[2] - b[2] > epsilon ) return 1; - if( b[2] - a[2] > epsilon ) return -1; - if( a[1] - b[1] > epsilon ) return 1; - if( b[1] - a[1] > epsilon ) return -1; - if( a[0] - b[0] > epsilon ) return 1; - if( b[0] - a[0] > epsilon ) return -1; +FLT dot3d(const FLT *a, const FLT *b) { return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; } + +int compare3d(const FLT *a, const FLT *b, FLT epsilon) { + if (!a || !b) + return 0; + if (a[2] - b[2] > epsilon) + return 1; + if (b[2] - a[2] > epsilon) + return -1; + if (a[1] - b[1] > epsilon) + return 1; + if (b[1] - a[1] > epsilon) + return -1; + if (a[0] - b[0] > epsilon) + return 1; + if (b[0] - a[0] > epsilon) + return -1; return 0; } -void copy3d( FLT * out, const FLT * in ) -{ +void copy3d(FLT *out, const FLT *in) { out[0] = in[0]; out[1] = in[1]; out[2] = in[2]; } -FLT magnitude3d(const FLT * a ) -{ - return FLT_SQRT(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); +FLT magnitude3d(const FLT *a) { return FLT_SQRT(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); } +FLT dist3d(const FLT *a, const FLT *b) { + LinmathPoint3d tmp; + sub3d(tmp, a, b); + return magnitude3d(tmp); } -FLT anglebetween3d( FLT * a, FLT * b ) -{ +FLT anglebetween3d(FLT *a, FLT *b) { FLT an[3]; FLT bn[3]; - normalize3d( an, a ); - normalize3d( bn, b ); + normalize3d(an, a); + normalize3d(bn, b); FLT dot = dot3d(an, bn); - if( dot < -0.9999999 ) return LINMATHPI; - if( dot > 0.9999999 ) return 0; + if (dot < -0.9999999) + return LINMATHPI; + if (dot > 0.9999999) + return 0; return FLT_ACOS(dot); } // algorithm found here: http://inside.mines.edu/fs_home/gmurray/ArbitraryAxisRotation/ -void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle) -{ +void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle) { // TODO: this really should be external. normalize3d(axis, axis); FLT s = FLT_SIN(angle); FLT c = FLT_COS(angle); - FLT u=axis[0]; - FLT v=axis[1]; - FLT w=axis[2]; + FLT u = axis[0]; + FLT v = axis[1]; + FLT w = axis[2]; - FLT x=invec3[0]; - FLT y=invec3[1]; - FLT z=invec3[2]; + FLT x = invec3[0]; + FLT y = invec3[1]; + FLT z = invec3[2]; - outvec3[0] = u*(u*x + v*y + w*z)*(1-c) + x*c + (-w*y + v*z)*s; - outvec3[1] = v*(u*x + v*y + w*z)*(1-c) + y*c + ( w*x - u*z)*s; - outvec3[2] = w*(u*x + v*y + w*z)*(1-c) + z*c + (-v*x + u*y)*s; + outvec3[0] = u * (u * x + v * y + w * z) * (1 - c) + x * c + (-w * y + v * z) * s; + outvec3[1] = v * (u * x + v * y + w * z) * (1 - c) + y * c + (w * x - u * z) * s; + outvec3[2] = w * (u * x + v * y + w * z) * (1 - c) + z * c + (-v * x + u * y) * s; } -void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest) -{ +void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest) { FLT v0[3]; FLT v1[3]; normalize3d(v0, src); normalize3d(v1, dest); - FLT d = dot3d(v0, v1);// v0.dotProduct(v1); + FLT d = dot3d(v0, v1); // v0.dotProduct(v1); // If dot == 1, vectors are the same // If dot == -1, vectors are opposite - if (FLT_FABS(d - 1) < DEFAULT_EPSILON) - { + if (FLT_FABS(d - 1) < DEFAULT_EPSILON) { axis[0] = 0; axis[1] = 1; axis[2] = 0; *angle = 0; return; - } - else if (FLT_FABS(d + 1) < DEFAULT_EPSILON) - { + } else if (FLT_FABS(d + 1) < DEFAULT_EPSILON) { axis[0] = 0; axis[1] = 1; axis[2] = 0; @@ -137,33 +132,28 @@ void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest) *angle = FLT_ACOS(d / (v0Len * v1Len)); - //cross3d(c, v0, v1); + // cross3d(c, v0, v1); cross3d(axis, v1, v0); - } - -void axisanglefromquat(FLT *angle, FLT *axis, FLT *q) -{ +void axisanglefromquat(FLT *angle, FLT *axis, FLT *q) { // this way might be fine, too. - //FLT dist = FLT_SQRT((q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3])); + // FLT dist = FLT_SQRT((q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3])); // //*angle = 2 * FLT_ATAN2(dist, q[0]); - //axis[0] = q[1] / dist; - //axis[1] = q[2] / dist; - //axis[2] = q[3] / dist; - + // axis[0] = q[1] / dist; + // axis[1] = q[2] / dist; + // axis[2] = q[3] / dist; // Good mathematical foundation for this algorithm found here: // http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm - FLT tmp[4] = { q[0], q[1], q[2], q[3] }; + FLT tmp[4] = {q[0], q[1], q[2], q[3]}; quatnormalize(tmp, q); - if (FLT_FABS(q[0] - 1) < FLT_EPSILON) - { + if (FLT_FABS(q[0] - 1) < FLT_EPSILON) { // we have a degenerate case where we're rotating approx. 0 degrees *angle = 0; axis[0] = 1; @@ -180,11 +170,14 @@ void axisanglefromquat(FLT *angle, FLT *axis, FLT *q) } /////////////////////////////////////QUATERNIONS////////////////////////////////////////// -//Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman) -//Under the mit/X11 license. +// Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman) +// Under the mit/X11 license. void quatsetnone(LinmathQuat q) { - q[0] = 1; q[1] = 0; q[2] = 0; q[3] = 0; + q[0] = 1; + q[1] = 0; + q[2] = 0; + q[3] = 0; } void quatcopy(LinmathQuat qout, const LinmathQuat qin) { @@ -195,9 +188,9 @@ void quatcopy(LinmathQuat qout, const LinmathQuat qin) { } void quatfromeuler(LinmathQuat q, const LinmathEulerAngle euler) { - FLT X = euler[0]/2.0f; //roll - FLT Y = euler[1]/2.0f; //pitch - FLT Z = euler[2]/2.0f; //yaw + FLT X = euler[0] / 2.0f; // roll + FLT Y = euler[1] / 2.0f; // pitch + FLT Z = euler[2] / 2.0f; // yaw FLT cx = FLT_COS(X); FLT sx = FLT_SIN(X); @@ -206,17 +199,17 @@ void quatfromeuler(LinmathQuat q, const LinmathEulerAngle euler) { FLT cz = FLT_COS(Z); FLT sz = FLT_SIN(Z); - //Correct according to - //http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles - q[0] = cx*cy*cz+sx*sy*sz;//q1 - q[1] = sx*cy*cz-cx*sy*sz;//q2 - q[2] = cx*sy*cz+sx*cy*sz;//q3 - q[3] = cx*cy*sz-sx*sy*cz;//q4 - quatnormalize( q, q ); + // Correct according to + // http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles + q[0] = cx * cy * cz + sx * sy * sz; // q1 + q[1] = sx * cy * cz - cx * sy * sz; // q2 + q[2] = cx * sy * cz + sx * cy * sz; // q3 + q[3] = cx * cy * sz - sx * sy * cz; // q4 + quatnormalize(q, q); } void quattoeuler(LinmathEulerAngle euler, const LinmathQuat q) { - //According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009) + // According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009) euler[0] = FLT_ATAN2(2 * (q[0] * q[1] + q[2] * q[3]), 1 - 2 * (q[1] * q[1] + q[2] * q[2])); euler[1] = FLT_ASIN(2 * (q[0] * q[2] - q[3] * q[1])); euler[2] = FLT_ATAN2(2 * (q[0] * q[3] + q[1] * q[2]), 1 - 2 * (q[2] * q[2] + q[3] * q[3])); @@ -224,15 +217,15 @@ void quattoeuler(LinmathEulerAngle euler, const LinmathQuat q) { void quatfromaxisangle(LinmathQuat q, const FLT *axis, FLT radians) { FLT v[3]; - normalize3d( v, axis ); - + normalize3d(v, axis); + FLT sn = FLT_SIN(radians / 2.0f); q[0] = FLT_COS(radians / 2.0f); q[1] = sn * v[0]; q[2] = sn * v[1]; q[3] = sn * v[2]; - quatnormalize( q, q ); + quatnormalize(q, q); } FLT quatmagnitude(const LinmathQuat q) { @@ -240,19 +233,19 @@ FLT quatmagnitude(const LinmathQuat q) { } FLT quatinvsqmagnitude(const LinmathQuat q) { - return ((FLT)1.)/FLT_SQRT((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3])); + return ((FLT)1.) / FLT_SQRT((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3])); } void quatnormalize(LinmathQuat qout, const LinmathQuat qin) { - FLT imag = quatinvsqmagnitude( qin ); - quatscale( qout, qin, imag ); + FLT imag = quatinvsqmagnitude(qin); + quatscale(qout, qin, imag); } void quattomatrix(FLT *matrix44, const LinmathQuat qin) { FLT q[4]; quatnormalize(q, qin); - //Reduced calulation for speed + // Reduced calulation for speed FLT xx = 2 * q[1] * q[1]; FLT xy = 2 * q[1] * q[2]; FLT xz = 2 * q[1] * q[3]; @@ -265,7 +258,7 @@ void quattomatrix(FLT *matrix44, const LinmathQuat qin) { FLT zz = 2 * q[3] * q[3]; FLT zw = 2 * q[3] * q[0]; - //opengl major + // opengl major matrix44[0] = 1 - yy - zz; matrix44[1] = xy - zw; matrix44[2] = xz + yw; @@ -320,16 +313,16 @@ void quatfrommatrix33(FLT *q, const FLT *m) { } void quatfrommatrix(LinmathQuat q, const FLT *matrix44) { - //Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/ + // Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/ FLT tr = matrix44[0] + matrix44[5] + matrix44[10]; if (tr > 0) { - FLT S = FLT_SQRT(tr+1.0) * 2.; // S=4*qw + FLT S = FLT_SQRT(tr + 1.0) * 2.; // S=4*qw q[0] = 0.25f * S; q[1] = (matrix44[9] - matrix44[6]) / S; q[2] = (matrix44[2] - matrix44[8]) / S; q[3] = (matrix44[4] - matrix44[1]) / S; - } else if ((matrix44[0] > matrix44[5])&&(matrix44[0] > matrix44[10])) { + } else if ((matrix44[0] > matrix44[5]) && (matrix44[0] > matrix44[10])) { FLT S = FLT_SQRT(1.0 + matrix44[0] - matrix44[5] - matrix44[10]) * 2.; // S=4*qx q[0] = (matrix44[9] - matrix44[6]) / S; q[1] = 0.25f * S; @@ -350,13 +343,12 @@ void quatfrommatrix(LinmathQuat q, const FLT *matrix44) { } } - // Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/ void quattomatrix33(FLT *matrix33, const LinmathQuat qin) { FLT q[4]; quatnormalize(q, qin); - //Reduced calulation for speed + // Reduced calulation for speed FLT xx = 2 * q[1] * q[1]; FLT xy = 2 * q[1] * q[2]; FLT xz = 2 * q[1] * q[3]; @@ -369,8 +361,7 @@ void quattomatrix33(FLT *matrix33, const LinmathQuat qin) { FLT zz = 2 * q[3] * q[3]; FLT zw = 2 * q[3] * q[0]; - - //opengl major + // opengl major matrix33[0] = 1 - yy - zz; matrix33[1] = xy + zw; matrix33[2] = xz - yw; @@ -393,8 +384,8 @@ void quatgetconjugate(LinmathQuat qout, const LinmathQuat qin) { void quatgetreciprocal(LinmathQuat qout, const LinmathQuat qin) { FLT m = quatinvsqmagnitude(qin); - quatgetconjugate( qout, qin ); - quatscale( qout, qout, m ); + quatgetconjugate(qout, qin); + quatscale(qout, qout, m); } void quatsub(LinmathQuat qout, const FLT *a, const FLT *b) { @@ -412,11 +403,11 @@ void quatadd(LinmathQuat qout, const FLT *a, const FLT *b) { } void quatrotateabout(LinmathQuat qout, const LinmathQuat q1, const LinmathQuat q2) { - //NOTE: Does not normalize - qout[0] = (q1[0]*q2[0])-(q1[1]*q2[1])-(q1[2]*q2[2])-(q1[3]*q2[3]); - qout[1] = (q1[0]*q2[1])+(q1[1]*q2[0])+(q1[2]*q2[3])-(q1[3]*q2[2]); - qout[2] = (q1[0]*q2[2])-(q1[1]*q2[3])+(q1[2]*q2[0])+(q1[3]*q2[1]); - qout[3] = (q1[0]*q2[3])+(q1[1]*q2[2])-(q1[2]*q2[1])+(q1[3]*q2[0]); + // NOTE: Does not normalize + qout[0] = (q1[0] * q2[0]) - (q1[1] * q2[1]) - (q1[2] * q2[2]) - (q1[3] * q2[3]); + qout[1] = (q1[0] * q2[1]) + (q1[1] * q2[0]) + (q1[2] * q2[3]) - (q1[3] * q2[2]); + qout[2] = (q1[0] * q2[2]) - (q1[1] * q2[3]) + (q1[2] * q2[0]) + (q1[3] * q2[1]); + qout[3] = (q1[0] * q2[3]) + (q1[1] * q2[2]) - (q1[2] * q2[1]) + (q1[3] * q2[0]); } void quatscale(LinmathQuat qout, const LinmathQuat qin, FLT s) { @@ -427,96 +418,87 @@ void quatscale(LinmathQuat qout, const LinmathQuat qin, FLT s) { } FLT quatinnerproduct(const LinmathQuat qa, const LinmathQuat qb) { - return (qa[0]*qb[0])+(qa[1]*qb[1])+(qa[2]*qb[2])+(qa[3]*qb[3]); + return (qa[0] * qb[0]) + (qa[1] * qb[1]) + (qa[2] * qb[2]) + (qa[3] * qb[3]); } void quatouterproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb) { - outvec3[0] = (qa[0]*qb[1])-(qa[1]*qb[0])-(qa[2]*qb[3])+(qa[3]*qb[2]); - outvec3[1] = (qa[0]*qb[2])+(qa[1]*qb[3])-(qa[2]*qb[0])-(qa[3]*qb[1]); - outvec3[2] = (qa[0]*qb[3])-(qa[1]*qb[2])+(qa[2]*qb[1])-(qa[3]*qb[0]); + outvec3[0] = (qa[0] * qb[1]) - (qa[1] * qb[0]) - (qa[2] * qb[3]) + (qa[3] * qb[2]); + outvec3[1] = (qa[0] * qb[2]) + (qa[1] * qb[3]) - (qa[2] * qb[0]) - (qa[3] * qb[1]); + outvec3[2] = (qa[0] * qb[3]) - (qa[1] * qb[2]) + (qa[2] * qb[1]) - (qa[3] * qb[0]); } void quatevenproduct(LinmathQuat q, LinmathQuat qa, LinmathQuat qb) { - q[0] = (qa[0]*qb[0])-(qa[1]*qb[1])-(qa[2]*qb[2])-(qa[3]*qb[3]); - q[1] = (qa[0]*qb[1])+(qa[1]*qb[0]); - q[2] = (qa[0]*qb[2])+(qa[2]*qb[0]); - q[3] = (qa[0]*qb[3])+(qa[3]*qb[0]); + q[0] = (qa[0] * qb[0]) - (qa[1] * qb[1]) - (qa[2] * qb[2]) - (qa[3] * qb[3]); + q[1] = (qa[0] * qb[1]) + (qa[1] * qb[0]); + q[2] = (qa[0] * qb[2]) + (qa[2] * qb[0]); + q[3] = (qa[0] * qb[3]) + (qa[3] * qb[0]); } void quatoddproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb) { - outvec3[0] = (qa[2]*qb[3])-(qa[3]*qb[2]); - outvec3[1] = (qa[3]*qb[1])-(qa[1]*qb[3]); - outvec3[2] = (qa[1]*qb[2])-(qa[2]*qb[1]); + outvec3[0] = (qa[2] * qb[3]) - (qa[3] * qb[2]); + outvec3[1] = (qa[3] * qb[1]) - (qa[1] * qb[3]); + outvec3[2] = (qa[1] * qb[2]) - (qa[2] * qb[1]); } void quatslerp(LinmathQuat q, const LinmathQuat qa, const LinmathQuat qb, FLT t) { FLT an[4]; FLT bn[4]; - quatnormalize( an, qa ); - quatnormalize( bn, qb ); - FLT cosTheta = quatinnerproduct(an,bn); + quatnormalize(an, qa); + quatnormalize(bn, qb); + FLT cosTheta = quatinnerproduct(an, bn); FLT sinTheta; - //Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll + // Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll // cause SQRT to produce not a number, and screw everything up. - if ( 1 - (cosTheta*cosTheta) <= 0 ) + if (1 - (cosTheta * cosTheta) <= 0) sinTheta = 0; else - sinTheta = FLT_SQRT(1 - (cosTheta*cosTheta)); + sinTheta = FLT_SQRT(1 - (cosTheta * cosTheta)); - FLT Theta = FLT_ACOS(cosTheta); //Theta is half the angle between the 2 MQuaternions + FLT Theta = FLT_ACOS(cosTheta); // Theta is half the angle between the 2 MQuaternions if (FLT_FABS(Theta) < DEFAULT_EPSILON) - quatcopy( q, qa ); - else if (FLT_FABS(sinTheta) < DEFAULT_EPSILON) - { - quatadd( q, qa, qb ); - quatscale( q, q, 0.5 ); - } - else - { + quatcopy(q, qa); + else if (FLT_FABS(sinTheta) < DEFAULT_EPSILON) { + quatadd(q, qa, qb); + quatscale(q, q, 0.5); + } else { FLT aside[4]; FLT bside[4]; - quatscale( bside, qb, FLT_SIN(t * Theta)); - quatscale( aside, qa, FLT_SIN((1 - t)*Theta)); - quatadd( q, aside, bside ); - quatscale( q, q, ((FLT)1.)/sinTheta ); + quatscale(bside, qb, FLT_SIN(t * Theta)); + quatscale(aside, qa, FLT_SIN((1 - t) * Theta)); + quatadd(q, aside, bside); + quatscale(q, q, ((FLT)1.) / sinTheta); } } void quatrotatevector(FLT *vec3out, const LinmathQuat quat, const FLT *vec3in) { - //See: http://www.geeks3d.com/20141201/how-to-rotate-a-vertex-by-a-quaternion-in-glsl/ + // See: http://www.geeks3d.com/20141201/how-to-rotate-a-vertex-by-a-quaternion-in-glsl/ FLT tmp[3]; FLT tmp2[3]; - cross3d( tmp, &quat[1], vec3in ); + cross3d(tmp, &quat[1], vec3in); tmp[0] += vec3in[0] * quat[0]; tmp[1] += vec3in[1] * quat[0]; tmp[2] += vec3in[2] * quat[0]; - cross3d( tmp2, &quat[1], tmp ); + cross3d(tmp2, &quat[1], tmp); vec3out[0] = vec3in[0] + 2 * tmp2[0]; vec3out[1] = vec3in[1] + 2 * tmp2[1]; vec3out[2] = vec3in[2] + 2 * tmp2[2]; } - // Matrix Stuff -Matrix3x3 inverseM33(const Matrix3x3 mat) -{ +Matrix3x3 inverseM33(const Matrix3x3 mat) { Matrix3x3 newMat; - for (int a = 0; a < 3; a++) - { - for (int b = 0; b < 3; b++) - { + for (int a = 0; a < 3; a++) { + for (int b = 0; b < 3; b++) { newMat.val[a][b] = mat.val[a][b]; } } - for (int i = 0; i < 3; i++) - { - for (int j = i + 1; j < 3; j++) - { + for (int i = 0; i < 3; i++) { + for (int j = i + 1; j < 3; j++) { FLT tmp = newMat.val[i][j]; newMat.val[i][j] = newMat.val[j][i]; newMat.val[j][i] = tmp; @@ -526,8 +508,7 @@ Matrix3x3 inverseM33(const Matrix3x3 mat) return newMat; } -void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]) -{ +void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]) { FLT q[4]; quatfrom2vectors(q, v1, v2); @@ -535,8 +516,7 @@ void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]) quattomatrix33(&(m->val[0][0]), q); } -void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot) -{ +void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot) { out[0] = rot.val[0][0] * in[0] + rot.val[1][0] * in[1] + rot.val[2][0] * in[2]; out[1] = rot.val[0][1] * in[0] + rot.val[1][1] * in[1] + rot.val[2][1] * in[2]; out[2] = rot.val[0][2] * in[0] + rot.val[1][2] * in[1] + rot.val[2][2] * in[2]; @@ -544,7 +524,6 @@ void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot) return; } - // This function based on code from Object-oriented Graphics Rendering Engine // Copyright(c) 2000 - 2012 Torus Knot Software Ltd // under MIT license @@ -557,8 +536,7 @@ If you call this with a dest vector that is close to the inverse of this vector, we will rotate 180 degrees around a generated axis if since in this case ANY axis of rotation is valid. */ -void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest) -{ +void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest) { // Based on Stan Melax's article in Game Programming Gems // Copy, since cannot modify local @@ -567,32 +545,26 @@ void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest) normalize3d(v0, src); normalize3d(v1, dest); - FLT d = dot3d(v0, v1);// v0.dotProduct(v1); + FLT d = dot3d(v0, v1); // v0.dotProduct(v1); // If dot == 1, vectors are the same - if (d >= 1.0f) - { + if (d >= 1.0f) { quatsetnone(q); return; } - if (d < (1e-6f - 1.0f)) - { + if (d < (1e-6f - 1.0f)) { // Generate an axis - FLT unitX[3] = { 1, 0, 0 }; - FLT unitY[3] = { 0, 1, 0 }; - + FLT unitX[3] = {1, 0, 0}; + FLT unitY[3] = {0, 1, 0}; + FLT axis[3]; - cross3d(axis, unitX, src); // pick an angle - if ((axis[0] < 1.0e-35f) && - (axis[1] < 1.0e-35f) && - (axis[2] < 1.0e-35f)) // pick another if colinear + cross3d(axis, unitX, src); // pick an angle + if ((axis[0] < 1.0e-35f) && (axis[1] < 1.0e-35f) && (axis[2] < 1.0e-35f)) // pick another if colinear { cross3d(axis, unitY, src); } normalize3d(axis, axis); quatfromaxisangle(q, axis, LINMATHPI); - } - else - { + } else { FLT s = FLT_SQRT((1 + d) * 2); FLT invs = 1 / s; @@ -608,13 +580,9 @@ void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest) } } -void matrix44copy(FLT * mout, const FLT * minm ) -{ - memcpy( mout, minm, sizeof( FLT ) * 16 ); -} +void matrix44copy(FLT *mout, const FLT *minm) { memcpy(mout, minm, sizeof(FLT) * 16); } -void matrix44transpose(FLT * mout, const FLT * minm ) -{ +void matrix44transpose(FLT *mout, const FLT *minm) { mout[0] = minm[0]; mout[1] = minm[4]; mout[2] = minm[8]; @@ -634,7 +602,6 @@ void matrix44transpose(FLT * mout, const FLT * minm ) mout[13] = minm[7]; mout[14] = minm[11]; mout[15] = minm[15]; - } void ApplyPoseToPoint(LinmathPoint3d pout, const LinmathPose *pose, const LinmathPoint3d pin) { @@ -654,5 +621,18 @@ void InvertPose(LinmathPose *poseout, const LinmathPose *pose) { scale3d(poseout->Pos, poseout->Pos, -1); } +void PoseToMatrix(FLT *matrix44, const LinmathPose *pose_in) { + quattomatrix(matrix44, pose_in->Rot); + + /* + matrix44[12] = pose_in->Pos[0]; + matrix44[13] = pose_in->Pos[1]; + matrix44[14] = pose_in->Pos[2]; + */ + matrix44[3] = pose_in->Pos[0]; + matrix44[7] = pose_in->Pos[1]; + matrix44[11] = pose_in->Pos[2]; +} + LinmathQuat LinmathQuat_Identity = {1.0}; LinmathPose LinmathPose_Identity = {.Rot = {1.0}}; diff --git a/redist/linmath.h b/redist/linmath.h index 5d5bed2..76e1322 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -1,18 +1,22 @@ -//Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT/x11 license. +// Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT/x11 license. #ifndef _LINMATH_H #define _LINMATH_H -//Yes, I know it's kind of arbitrary. +#ifdef __cplusplus +extern "C" { +#endif + +// Yes, I know it's kind of arbitrary. #define DEFAULT_EPSILON 0.001 -//For printf +// For printf #define PFTHREE(x) (x)[0], (x)[1], (x)[2] #define PFFOUR(x) (x)[0], (x)[1], (x)[2], (x)[3] #define LINMATHPI ((FLT)3.141592653589) -//uncomment the following line to use double precision instead of single precision. +// uncomment the following line to use double precision instead of single precision. //#define USE_DOUBLE #ifdef USE_DOUBLE @@ -20,11 +24,11 @@ #define FLT double #define FLT_SQRT sqrt #define FLT_TAN tan -#define FLT_SIN sin -#define FLT_COS cos -#define FLT_ACOS acos -#define FLT_ASIN asin -#define FLT_ATAN2 atan2 +#define FLT_SIN sin +#define FLT_COS cos +#define FLT_ACOS acos +#define FLT_ASIN asin +#define FLT_ATAN2 atan2 #define FLT_FABS__ fabs #else @@ -32,17 +36,17 @@ #define FLT float #define FLT_SQRT sqrtf #define FLT_TAN tanf -#define FLT_SIN sinf -#define FLT_COS cosf -#define FLT_ACOS acosf -#define FLT_ASIN asinf -#define FLT_ATAN2 atan2f +#define FLT_SIN sinf +#define FLT_COS cosf +#define FLT_ACOS acosf +#define FLT_ASIN asinf +#define FLT_ATAN2 atan2f #define FLT_FABS__ fabsf #endif #ifdef TCC -#define FLT_FABS(x) (((x)<0)?(-(x)):(x)) +#define FLT_FABS(x) (((x) < 0) ? (-(x)) : (x)) #else #define FLT_FABS FLT_FABS__ #endif @@ -59,33 +63,33 @@ typedef struct LinmathPose { extern LinmathQuat LinmathQuat_Identity; extern LinmathPose LinmathPose_Identity; -//NOTE: Inputs may never be output with cross product. -void cross3d( FLT * out, const FLT * a, const FLT * b ); +// NOTE: Inputs may never be output with cross product. +void cross3d(FLT *out, const FLT *a, const FLT *b); -void sub3d( FLT * out, const FLT * a, const FLT * b ); +void sub3d(FLT *out, const FLT *a, const FLT *b); -void add3d( FLT * out, const FLT * a, const FLT * b ); +void add3d(FLT *out, const FLT *a, const FLT *b); -void scale3d( FLT * out, const FLT * a, FLT scalar ); +void scale3d(FLT *out, const FLT *a, FLT scalar); -void normalize3d( FLT * out, const FLT * in ); +void normalize3d(FLT *out, const FLT *in); -FLT dot3d( const FLT * a, const FLT * b ); +FLT dot3d(const FLT *a, const FLT *b); -//Returns 0 if equal. If either argument is null, 0 will ALWAYS be returned. -int compare3d( const FLT * a, const FLT * b, FLT epsilon ); +// Returns 0 if equal. If either argument is null, 0 will ALWAYS be returned. +int compare3d(const FLT *a, const FLT *b, FLT epsilon); -void copy3d( FLT * out, const FLT * in ); +void copy3d(FLT *out, const FLT *in); -FLT magnitude3d(const FLT * a ); - -FLT anglebetween3d( FLT * a, FLT * b ); +FLT magnitude3d(const FLT *a); +FLT dist3d(const FLT *a, const FLT *b); +FLT anglebetween3d(FLT *a, FLT *b); void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle); void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest); void axisanglefromquat(FLT *angle, FLT *axis, LinmathQuat quat); -//Quaternion things... +// Quaternion things... typedef FLT LinmathEulerAngle[3]; @@ -126,10 +130,10 @@ void ApplyPoseToPose(LinmathPose *pout, const LinmathPose *lhs_pose, const Linma // by definition. void InvertPose(LinmathPose *poseout, const LinmathPose *pose_in); +void PoseToMatrix(FLT *mat44, const LinmathPose *pose_in); // Matrix Stuff -typedef struct -{ +typedef struct { FLT val[3][3]; // row, column } Matrix3x3; @@ -137,12 +141,11 @@ void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot); void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]); Matrix3x3 inverseM33(const Matrix3x3 mat); +void matrix44copy(FLT *mout, const FLT *minm); +void matrix44transpose(FLT *mout, const FLT *minm); -void matrix44copy(FLT * mout, const FLT * minm ); -void matrix44transpose(FLT * mout, const FLT * minm ); - - +#ifdef __cplusplus +} #endif - - +#endif diff --git a/redist/minimal_opencv.c b/redist/minimal_opencv.c index 50eb7df..988dd0f 100644 --- a/redist/minimal_opencv.c +++ b/redist/minimal_opencv.c @@ -1,5 +1,3 @@ -//#include "/home/justin/source/CLAPACK/INCLUDE/f2c.h" -//#include "/home/justin/source/CLAPACK/INCLUDE/clapack.h" #include <cblas.h> #include <lapacke.h> @@ -10,9 +8,15 @@ #include "string.h" #include <limits.h> -//#define DEBUG_PRINT +#include <stdarg.h> -int cvRound(float f) { return roundf(f); } +#ifdef _WIN32 +#define SURVIVE_LOCAL_ONLY +#else +#define SURVIVE_LOCAL_ONLY __attribute__((visibility("hidden"))) +#endif + +SURVIVE_LOCAL_ONLY int cvRound(float f) { return roundf(f); } #define CV_Error(code, msg) assert(0 && msg); // cv::error( code, msg, CV_Func, __FILE__, __LINE__ ) const int DECOMP_SVD = 1; @@ -20,11 +24,12 @@ const int DECOMP_LU = 2; void print_mat(const CvMat *M); -void cvCopyTo(const CvMat *srcarr, CvMat *dstarr) { +SURVIVE_LOCAL_ONLY void cvCopyTo(const CvMat *srcarr, CvMat *dstarr) { memcpy(dstarr->data.db, srcarr->data.db, sizeof(double) * dstarr->rows * dstarr->cols); } -void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src3, double beta, CvMat *dst, int tABC) { +SURVIVE_LOCAL_ONLY void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src3, double beta, + CvMat *dst, int tABC) { lapack_int rows1 = src1->rows; lapack_int cols1 = src1->cols; @@ -48,7 +53,7 @@ void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src lda, src2->data.db, ldb, beta, dst->data.db, dst->cols); } -void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta, double scale) { +SURVIVE_LOCAL_ONLY void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta, double scale) { lapack_int rows = src->rows; lapack_int cols = src->cols; @@ -67,14 +72,14 @@ void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta scale, src->data.db, cols, src->data.db, cols, beta, dst->data.db, dstCols); } -void *cvAlloc(size_t size) { return malloc(size); } +SURVIVE_LOCAL_ONLY void *cvAlloc(size_t size) { return malloc(size); } static void icvCheckHuge(CvMat *arr) { if ((int64_t)arr->step * arr->rows > INT_MAX) arr->type &= ~CV_MAT_CONT_FLAG; } -CvMat *cvCreateMatHeader(int rows, int cols, int type) { +SURVIVE_LOCAL_ONLY CvMat *cvCreateMatHeader(int rows, int cols, int type) { type = CV_MAT_TYPE(type); assert(!(rows < 0 || cols < 0)); @@ -116,7 +121,7 @@ static inline int cvAlign(int size, int align) { return (size + align - 1) & -align; } -void cvCreateData(CvMat *arr) { +SURVIVE_LOCAL_ONLY void cvCreateData(CvMat *arr) { if (CV_IS_MAT_HDR_Z(arr)) { size_t step, total_size; CvMat *mat = (CvMat *)arr; @@ -144,14 +149,14 @@ void cvCreateData(CvMat *arr) { CV_Error(CV_StsBadArg, "unrecognized or unsupported array type"); } -CvMat *cvCreateMat(int height, int width, int type) { +SURVIVE_LOCAL_ONLY CvMat *cvCreateMat(int height, int width, int type) { CvMat *arr = cvCreateMatHeader(height, width, type); cvCreateData(arr); return arr; } -double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) { +SURVIVE_LOCAL_ONLY double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) { lapack_int inf; lapack_int rows = srcarr->rows; lapack_int cols = srcarr->cols; @@ -206,13 +211,13 @@ double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) { return 0; } -CvMat *cvCloneMat(const CvMat *mat) { +SURVIVE_LOCAL_ONLY CvMat *cvCloneMat(const CvMat *mat) { CvMat *rtn = cvCreateMat(mat->rows, mat->cols, mat->type); cvCopyTo(mat, rtn); return rtn; } -int cvSolve(const CvMat *Aarr, const CvMat *xarr, CvMat *Barr, int method) { +SURVIVE_LOCAL_ONLY int cvSolve(const CvMat *Aarr, const CvMat *xarr, CvMat *Barr, int method) { lapack_int inf; lapack_int arows = Aarr->rows; lapack_int acols = Aarr->cols; @@ -288,7 +293,7 @@ int cvSolve(const CvMat *Aarr, const CvMat *xarr, CvMat *Barr, int method) { return 0; } -void cvTranspose(const CvMat *M, CvMat *dst) { +SURVIVE_LOCAL_ONLY void cvTranspose(const CvMat *M, CvMat *dst) { bool inPlace = M == dst || M->data.db == dst->data.db; double *src = M->data.db; @@ -311,7 +316,7 @@ void cvTranspose(const CvMat *M, CvMat *dst) { } } -void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags) { +SURVIVE_LOCAL_ONLY void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags) { char jobu = 'A'; char jobvt = 'A'; @@ -349,13 +354,13 @@ void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags) { } } -void cvSetZero(CvMat *arr) { +SURVIVE_LOCAL_ONLY void cvSetZero(CvMat *arr) { for (int i = 0; i < arr->rows; i++) for (int j = 0; j < arr->cols; j++) arr->data.db[i * arr->cols + j] = 0; } -void cvReleaseMat(CvMat **mat) { +SURVIVE_LOCAL_ONLY void cvReleaseMat(CvMat **mat) { assert(*(*mat)->refcount == 1); free((*mat)->refcount); free(*mat); diff --git a/redist/os_generic.c b/redist/os_generic.c deleted file mode 100644 index 3191357..0000000 --- a/redist/os_generic.c +++ /dev/null @@ -1,337 +0,0 @@ -#include "os_generic.h" - -#ifdef USE_WINDOWS - -#include <windows.h> - -void OGSleep( int is ) -{ - Sleep( is*1000 ); -} - -void OGUSleep( int ius ) -{ - Sleep( ius/1000 ); -} - -double OGGetAbsoluteTime() -{ - static LARGE_INTEGER lpf; - LARGE_INTEGER li; - - if( !lpf.QuadPart ) - { - QueryPerformanceFrequency( &lpf ); - } - - QueryPerformanceCounter( &li ); - return (double)li.QuadPart / (double)lpf.QuadPart; -} - - -double OGGetFileTime( const char * file ) -{ - FILETIME ft; - - HANDLE h = CreateFile(file, GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, 0, NULL); - - if( h==INVALID_HANDLE_VALUE ) - return -1; - - GetFileTime( h, 0, 0, &ft ); - - CloseHandle( h ); - - return ft.dwHighDateTime + ft.dwLowDateTime; -} - - -og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter ) -{ - return (og_thread_t)CreateThread( 0, 0, (LPTHREAD_START_ROUTINE)routine, parameter, 0, 0 ); -} - -void * OGJoinThread( og_thread_t ot ) -{ - WaitForSingleObject( ot, INFINITE ); - CloseHandle( ot ); - return 0; -} - -void OGCancelThread( og_thread_t ot ) -{ - CloseHandle( ot ); -} - -og_mutex_t OGCreateMutex() -{ - return CreateMutex( 0, 0, 0 ); -} - -void OGLockMutex( og_mutex_t om ) -{ - WaitForSingleObject(om, INFINITE); -} - -void OGUnlockMutex( og_mutex_t om ) -{ - ReleaseMutex(om); -} - -void OGDeleteMutex( og_mutex_t om ) -{ - CloseHandle( om ); -} - - - -og_sema_t OGCreateSema() -{ - HANDLE sem = CreateSemaphore( 0, 0, 32767, 0 ); - return (og_sema_t)sem; -} - -int OGGetSema( og_sema_t os ) -{ - typedef LONG NTSTATUS; - HANDLE sem = (HANDLE)os; - typedef NTSTATUS (NTAPI *_NtQuerySemaphore)( - HANDLE SemaphoreHandle, - DWORD SemaphoreInformationClass, /* Would be SEMAPHORE_INFORMATION_CLASS */ - PVOID SemaphoreInformation, /* but this is to much to dump here */ - ULONG SemaphoreInformationLength, - PULONG ReturnLength OPTIONAL - ); - - typedef struct _SEMAPHORE_BASIC_INFORMATION { - ULONG CurrentCount; - ULONG MaximumCount; - } SEMAPHORE_BASIC_INFORMATION; - - - static _NtQuerySemaphore NtQuerySemaphore; - SEMAPHORE_BASIC_INFORMATION BasicInfo; - NTSTATUS Status; - - if( !NtQuerySemaphore ) - { - NtQuerySemaphore = (_NtQuerySemaphore)GetProcAddress (GetModuleHandle ("ntdll.dll"), "NtQuerySemaphore"); - if( !NtQuerySemaphore ) - { - return -1; - } - } - - - Status = NtQuerySemaphore (sem, 0 /*SemaphoreBasicInformation*/, - &BasicInfo, sizeof (SEMAPHORE_BASIC_INFORMATION), NULL); - - if (Status == ERROR_SUCCESS) - { - return BasicInfo.CurrentCount; - } - - return -2; -} - -void OGLockSema( og_sema_t os ) -{ - WaitForSingleObject( (HANDLE)os, INFINITE ); -} - -void OGUnlockSema( og_sema_t os ) -{ - ReleaseSemaphore( (HANDLE)os, 1, 0 ); -} - -void OGDeleteSema( og_sema_t os ) -{ - CloseHandle( os ); -} - -#else - -#ifndef _GNU_SOURCE -# define _GNU_SOURCE -#endif - -#include <sys/stat.h> -#include <stdlib.h> -#include <pthread.h> -#include <sys/time.h> -#include <semaphore.h> -#include <unistd.h> - -pthread_mutex_t g_RawMutexStart = PTHREAD_MUTEX_INITIALIZER; - -void OGSleep( int is ) -{ - sleep( is ); -} - -void OGUSleep( int ius ) -{ - usleep( ius ); -} - -double OGGetAbsoluteTime() -{ - struct timeval tv; - gettimeofday( &tv, 0 ); - return ((double)tv.tv_usec)/1000000. + (tv.tv_sec); -} - -double OGGetFileTime( const char * file ) -{ - struct stat buff; - - int r = stat( file, &buff ); - - if( r < 0 ) - { - return -1; - } - - return buff.st_mtime; -} - - - -og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter ) -{ - pthread_t * ret = (pthread_t *)malloc( sizeof( pthread_t ) ); - int r = pthread_create( ret, 0, routine, parameter ); - if( r ) - { - free( ret ); - return 0; - } - return (og_thread_t)ret; -} - -void * OGJoinThread( og_thread_t ot ) -{ - void * retval; - if( !ot ) - { - return 0; - } - pthread_join( *(pthread_t*)ot, &retval ); - free( ot ); - return retval; -} - -void OGCancelThread( og_thread_t ot ) -{ - if( !ot ) - { - return; - } - pthread_cancel( *(pthread_t*)ot ); - free( ot ); -} - -og_mutex_t OGCreateMutex() -{ - pthread_mutexattr_t mta; - og_mutex_t r = malloc( sizeof( pthread_mutex_t ) ); - - pthread_mutexattr_init(&mta); - pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE); - - pthread_mutex_init( (pthread_mutex_t *)r, &mta ); - - return r; -} - -void OGLockMutex( og_mutex_t om ) -{ - if( !om ) - { - return; - } - pthread_mutex_lock( (pthread_mutex_t*)om ); -} - -void OGUnlockMutex( og_mutex_t om ) -{ - if( !om ) - { - return; - } - pthread_mutex_unlock( (pthread_mutex_t*)om ); -} - -void OGDeleteMutex( og_mutex_t om ) -{ - if( !om ) - { - return; - } - - pthread_mutex_destroy( (pthread_mutex_t*)om ); - free( om ); -} - - - - -og_sema_t OGCreateSema() -{ - sem_t * sem = (sem_t *)malloc( sizeof( sem_t ) ); - sem_init( sem, 0, 0 ); - return (og_sema_t)sem; -} - -int OGGetSema( og_sema_t os ) -{ - int valp; - sem_getvalue( (sem_t *)os, &valp ); - return valp; -} - - -void OGLockSema( og_sema_t os ) -{ - sem_wait( (sem_t *)os ); -} - -void OGUnlockSema( og_sema_t os ) -{ - sem_post( (sem_t *)os ); -} - -void OGDeleteSema( og_sema_t os ) -{ - sem_destroy( (sem_t *)os ); - free(os); -} - - - -#endif - -//Date Stamp: 2012-02-15 - -/* - Copyright (c) 2011-2012 <>< Charles Lohr - - Permission is hereby granted, free of charge, to any person obtaining a - copy of this software and associated documentation files (the "Software"), - to deal in the Software without restriction, including without limitation - the rights to use, copy, modify, merge, publish, distribute, sublicense, - and/or sell copies of the Software, and to permit persons to whom the - Software is furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of this file. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING - FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS - IN THE SOFTWARE. -*/ - diff --git a/redist/os_generic.h b/redist/os_generic.h index 0924030..0d1c7e7 100644 --- a/redist/os_generic.h +++ b/redist/os_generic.h @@ -1,76 +1,293 @@ -#ifndef _OS_GENERIC_H
-#define _OS_GENERIC_H
-
-#if defined( WIN32 ) || defined (WINDOWS) || defined( _WIN32)
-#define USE_WINDOWS
-#endif
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//Things that shouldn't be macro'd
-double OGGetAbsoluteTime();
-void OGSleep( int is );
-void OGUSleep( int ius );
-double OGGetFileTime( const char * file );
-
-//Threads and Mutices
-typedef void* og_thread_t;
-typedef void* og_mutex_t;
-typedef void* og_sema_t;
-
-og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter );
-void * OGJoinThread( og_thread_t ot );
-void OGCancelThread( og_thread_t ot );
-
-//Always a recrusive mutex.
-og_mutex_t OGCreateMutex();
-void OGLockMutex( og_mutex_t om );
-void OGUnlockMutex( og_mutex_t om );
-void OGDeleteMutex( og_mutex_t om );
-
-//Always a semaphore
-og_sema_t OGCreateSema(); //Create a semaphore, comes locked initially. NOTE: Max count is 32767
-void OGLockSema( og_sema_t os );
-int OGGetSema( og_sema_t os ); //if <0 there was a failure.
-void OGUnlockSema( og_sema_t os );
-void OGDeleteSema( og_sema_t os );
-
-#ifdef __cplusplus
-};
-#endif
-
-
-
-#endif
-
-
-//Date Stamp: 2012-02-15
-
-/*
- NOTE: Portions (namely the top section) are part of headers from other
- sources.
-
- Copyright (c) 2011-2012 <>< Charles Lohr
-
- Permission is hereby granted, free of charge, to any person obtaining a
- copy of this software and associated documentation files (the "Software"),
- to deal in the Software without restriction, including without limitation
- the rights to use, copy, modify, merge, publish, distribute, sublicense,
- and/or sell copies of the Software, and to permit persons to whom the
- Software is furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of this file.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- IN THE SOFTWARE.
-*/
-
+#ifndef _OS_GENERIC_H +#define _OS_GENERIC_H +/* + "osgeneric" Generic, platform independent tool for the following operations: + + Delay functions: + void OGSleep( int is ); + void OGUSleep( int ius ); + + Getting current time (may be time from program start, boot, or epoc) + double OGGetAbsoluteTime(); + double OGGetFileTime( const char * file ); + + Thread functions + og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter ); + void * OGJoinThread( og_thread_t ot ); + void OGCancelThread( og_thread_t ot ); + + Mutex functions, used for protecting data structures. + (recursive on platforms where available.) + og_mutex_t OGCreateMutex(); + void OGLockMutex( og_mutex_t om ); + void OGUnlockMutex( og_mutex_t om ); + void OGDeleteMutex( og_mutex_t om ); + +//Always a semaphore (not recursive) +// og_sema_t OGCreateSema(); //Create a semaphore, comes locked initially. NOTE: Max count is 32767 +// void OGLockSema( og_sema_t os ); +// int OGGetSema( og_sema_t os ); //if <0 there was a failure. +// void OGUnlockSema( og_sema_t os ); +// void OGDeleteSema( og_sema_t os ); + + + + Copyright (c) 2011-2012,2013,2016,2018 <>< Charles Lohr + This file may be licensed under the MIT/x11 license or the NewBSD license. + + Permission is hereby granted, free of charge, to any person obtaining a + copy of this software and associated documentation files (the "Software"), + to deal in the Software without restriction, including without limitation + the rights to use, copy, modify, merge, publish, distribute, sublicense, + and/or sell copies of the Software, and to permit persons to whom the + Software is furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of this file. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS + IN THE SOFTWARE. + + Date Stamp: 2018-03-25: Switched to header-only format. +*/ + +#define OSG_INLINE static inline + +// Threads and Mutices +typedef void *og_thread_t; +typedef void *og_mutex_t; +typedef void *og_sema_t; + +#if defined(WIN32) || defined(WINDOWS) || defined(_WIN32) +#define USE_WINDOWS +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef USE_WINDOWS + +#include <windows.h> + +OSG_INLINE void OGSleep(int is) { Sleep(is * 1000); } + +OSG_INLINE void OGUSleep(int ius) { Sleep(ius / 1000); } + +OSG_INLINE double OGGetAbsoluteTime() { + static LARGE_INTEGER lpf; + LARGE_INTEGER li; + + if (!lpf.QuadPart) { + QueryPerformanceFrequency(&lpf); + } + + QueryPerformanceCounter(&li); + return (double)li.QuadPart / (double)lpf.QuadPart; +} + +OSG_INLINE double OGGetFileTime(const char *file) { + FILETIME ft; + + HANDLE h = CreateFile(file, GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, 0, NULL); + + if (h == INVALID_HANDLE_VALUE) + return -1; + + GetFileTime(h, 0, 0, &ft); + + CloseHandle(h); + + return ft.dwHighDateTime + ft.dwLowDateTime; +} + +OSG_INLINE og_thread_t OGCreateThread(void *(routine)(void *), void *parameter) { + return (og_thread_t)CreateThread(0, 0, (LPTHREAD_START_ROUTINE)routine, parameter, 0, 0); +} + +OSG_INLINE void *OGJoinThread(og_thread_t ot) { + WaitForSingleObject(ot, INFINITE); + CloseHandle(ot); + return 0; +} + +OSG_INLINE void OGCancelThread(og_thread_t ot) { CloseHandle(ot); } + +OSG_INLINE og_mutex_t OGCreateMutex() { return CreateMutex(0, 0, 0); } + +OSG_INLINE void OGLockMutex(og_mutex_t om) { WaitForSingleObject(om, INFINITE); } + +OSG_INLINE void OGUnlockMutex(og_mutex_t om) { ReleaseMutex(om); } + +OSG_INLINE void OGDeleteMutex(og_mutex_t om) { CloseHandle(om); } + +OSG_INLINE og_sema_t OGCreateSema() { + HANDLE sem = CreateSemaphore(0, 0, 32767, 0); + return (og_sema_t)sem; +} + +OSG_INLINE int OGGetSema(og_sema_t os) { + typedef LONG NTSTATUS; + HANDLE sem = (HANDLE)os; + typedef NTSTATUS(NTAPI * _NtQuerySemaphore)( + HANDLE SemaphoreHandle, DWORD SemaphoreInformationClass, /* Would be SEMAPHORE_INFORMATION_CLASS */ + PVOID SemaphoreInformation, /* but this is to much to dump here */ + ULONG SemaphoreInformationLength, PULONG ReturnLength OPTIONAL); + + typedef struct _SEMAPHORE_BASIC_INFORMATION { + ULONG CurrentCount; + ULONG MaximumCount; + } SEMAPHORE_BASIC_INFORMATION; + + static _NtQuerySemaphore NtQuerySemaphore; + SEMAPHORE_BASIC_INFORMATION BasicInfo; + NTSTATUS Status; + + if (!NtQuerySemaphore) { + NtQuerySemaphore = (_NtQuerySemaphore)GetProcAddress(GetModuleHandle("ntdll.dll"), "NtQuerySemaphore"); + if (!NtQuerySemaphore) { + return -1; + } + } + + Status = + NtQuerySemaphore(sem, 0 /*SemaphoreBasicInformation*/, &BasicInfo, sizeof(SEMAPHORE_BASIC_INFORMATION), NULL); + + if (Status == ERROR_SUCCESS) { + return BasicInfo.CurrentCount; + } + + return -2; +} + +OSG_INLINE void OGLockSema(og_sema_t os) { WaitForSingleObject((HANDLE)os, INFINITE); } + +OSG_INLINE void OGUnlockSema(og_sema_t os) { ReleaseSemaphore((HANDLE)os, 1, 0); } + +OSG_INLINE void OGDeleteSema(og_sema_t os) { CloseHandle(os); } + +#else + +#define _GNU_SOURCE + +#include <pthread.h> +#include <semaphore.h> +#include <stdlib.h> +#include <sys/stat.h> +#include <sys/time.h> +#include <unistd.h> + +OSG_INLINE void OGSleep(int is) { sleep(is); } + +OSG_INLINE void OGUSleep(int ius) { usleep(ius); } + +OSG_INLINE double OGGetAbsoluteTime() { + struct timeval tv; + gettimeofday(&tv, 0); + return ((double)tv.tv_usec) / 1000000. + (tv.tv_sec); +} + +OSG_INLINE double OGGetFileTime(const char *file) { + struct stat buff; + + int r = stat(file, &buff); + + if (r < 0) { + return -1; + } + + return buff.st_mtime; +} + +OSG_INLINE og_thread_t OGCreateThread(void *(routine)(void *), void *parameter) { + pthread_t *ret = malloc(sizeof(pthread_t)); + int r = pthread_create(ret, 0, routine, parameter); + if (r) { + free(ret); + return 0; + } + return (og_thread_t)ret; +} + +OSG_INLINE void *OGJoinThread(og_thread_t ot) { + void *retval; + if (!ot) { + return 0; + } + pthread_join(*(pthread_t *)ot, &retval); + free(ot); + return retval; +} + +OSG_INLINE void OGCancelThread(og_thread_t ot) { + if (!ot) { + return; + } + pthread_cancel(*(pthread_t *)ot); + free(ot); +} + +OSG_INLINE og_mutex_t OGCreateMutex() { + pthread_mutexattr_t mta; + og_mutex_t r = malloc(sizeof(pthread_mutex_t)); + + pthread_mutexattr_init(&mta); + pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE); + + pthread_mutex_init((pthread_mutex_t *)r, &mta); + + return r; +} + +OSG_INLINE void OGLockMutex(og_mutex_t om) { + if (!om) { + return; + } + pthread_mutex_lock((pthread_mutex_t *)om); +} + +OSG_INLINE void OGUnlockMutex(og_mutex_t om) { + if (!om) { + return; + } + pthread_mutex_unlock((pthread_mutex_t *)om); +} + +OSG_INLINE void OGDeleteMutex(og_mutex_t om) { + if (!om) { + return; + } + + pthread_mutex_destroy((pthread_mutex_t *)om); + free(om); +} + +OSG_INLINE og_sema_t OGCreateSema() { + sem_t *sem = malloc(sizeof(sem_t)); + sem_init(sem, 0, 0); + return (og_sema_t)sem; +} + +OSG_INLINE int OGGetSema(og_sema_t os) { + int valp; + sem_getvalue(os, &valp); + return valp; +} + +OSG_INLINE void OGLockSema(og_sema_t os) { sem_wait(os); } + +OSG_INLINE void OGUnlockSema(og_sema_t os) { sem_post(os); } + +OSG_INLINE void OGDeleteSema(og_sema_t os) { + sem_destroy(os); + free(os); +} + +#endif + +#endif diff --git a/redist/symbol_enumerator.c b/redist/symbol_enumerator.c index fcb3727..31bb68e 100644 --- a/redist/symbol_enumerator.c +++ b/redist/symbol_enumerator.c @@ -60,13 +60,9 @@ BOOL WINAPI SymCleanup( HANDLE hProcess ); -BOOL CALLBACK __cdecl mycb( - PSYMBOL_INFO pSymInfo, - ULONG SymbolSize, - PVOID UserContext - ){ - SymEnumeratorCallback cb = (SymEnumeratorCallback)UserContext; - return !cb( "", &pSymInfo->Name[0], (void*)pSymInfo->Address, (long) pSymInfo->Size ); +BOOL mycb(PSYMBOL_INFO pSymInfo, ULONG SymbolSize, PVOID UserContext) { + SymEnumeratorCallback cb = (SymEnumeratorCallback)UserContext; + return !cb("", &pSymInfo->Name[0], (void *)pSymInfo->Address, (long)pSymInfo->Size); } int EnumerateSymbols( SymEnumeratorCallback cb ) @@ -75,6 +71,7 @@ int EnumerateSymbols( SymEnumeratorCallback cb ) if( !SymInitialize( proc, 0, 1 ) ) return -1; if( !SymEnumSymbols( proc, 0, "*!*", &mycb, (void*)cb ) ) { + fprintf(stderr, "SymEnumSymbols returned %d\n", GetLastError()); SymCleanup(proc); return -2; } diff --git a/simple_pose_test.c b/simple_pose_test.c index 34c15de..0772abb 100644 --- a/simple_pose_test.c +++ b/simple_pose_test.c @@ -158,6 +158,9 @@ int main( int argc, char ** argv ) double Start = OGGetAbsoluteTime(); ctx = survive_init( argc, argv ); + if (ctx == 0) { // Implies --help or similiar + return -1; + } //survive_install_button_fn(ctx, testprog_button_process); survive_install_raw_pose_fn(ctx, testprog_raw_pose_process); diff --git a/src/epnp/epnp.c b/src/epnp/epnp.c index 4b888aa..53a1d48 100644 --- a/src/epnp/epnp.c +++ b/src/epnp/epnp.c @@ -134,7 +134,7 @@ void epnp_choose_control_points(epnp *self) { // Take C1, C2, and C3 from PCA on the reference points: CvMat *PW0 = cvCreateMat(self->number_of_correspondences, 3, CV_64F); - double pw0tpw0[3 * 3] = {}, dc[3], uct[3 * 3]; + double pw0tpw0[3 * 3] = {0}, dc[3], uct[3 * 3]; CvMat PW0tPW0 = cvMat(3, 3, CV_64F, pw0tpw0); CvMat DC = cvMat(3, 1, CV_64F, dc); CvMat UCt = cvMat(3, 3, CV_64F, uct); diff --git a/src/poser.c b/src/poser.c index 3fb4fe8..9a0de24 100644 --- a/src/poser.c +++ b/src/poser.c @@ -1,8 +1,12 @@ #include "math.h" #include <linmath.h> #include <stdint.h> +#include <stdio.h> #include <survive.h> +#define _USE_MATH_DEFINES // for C +#include <math.h> + void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { if (poser_data->rawposeproc) { poser_data->rawposeproc(so, lighthouse, pose, poser_data->userdata); @@ -18,6 +22,12 @@ void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, ui } else { const FLT up[3] = {0, 0, 1}; + if (quatmagnitude(lighthouse_pose->Rot) == 0) { + SurviveContext *ctx = so->ctx; + SV_INFO("Pose func called with invalid pose."); + return; + } + // Assume that the space solved for is valid but completely arbitrary. We are going to do a few things: // a) Using the gyro data, normalize it so that gravity is pushing straight down along Z // c) Assume the object is at origin @@ -44,8 +54,12 @@ void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, ui ApplyPoseToPose(&lighthouse2obj, &arb2object, &lighthouse2arb); // Now find the space with the same origin, but rotated so that gravity is up - SurvivePose lighthouse2objUp = {}, object2objUp = {}; - quatfrom2vectors(object2objUp.Rot, so->activations.accel, up); + SurvivePose lighthouse2objUp = {0}, object2objUp = {0}; + if (quatmagnitude(so->activations.accel)) { + quatfrom2vectors(object2objUp.Rot, so->activations.accel, up); + } else { + object2objUp.Rot[0] = 1.0; + } // Calculate the pose of the lighthouse in this space ApplyPoseToPose(&lighthouse2objUp, &object2objUp, &lighthouse2obj); diff --git a/src/poser_charlesslow.c b/src/poser_charlesslow.c index c7d9033..b44225e 100644 --- a/src/poser_charlesslow.c +++ b/src/poser_charlesslow.c @@ -1,12 +1,13 @@ +#include "linmath.h" #include "survive_cal.h" +#include <dclapack.h> +#include <linmath.h> #include <math.h> -#include <string.h> -#include "linmath.h" -#include <survive.h> #include <stdio.h> #include <stdlib.h> -#include <dclapack.h> -#include <linmath.h> +#include <string.h> +#include <survive.h> +#include <survive_reproject.h> typedef struct { @@ -53,7 +54,7 @@ int PoserCharlesSlow( SurviveObject * so, PoserData * pd ) printf( "%f %f %f\n", hmd_points[p*3+0], hmd_points[p*3+1], hmd_points[p*3+2] ); } - SurvivePose additionalTx = {}; + SurvivePose additionalTx = {0}; int lh, cycle; FLT dz, dy, dx; @@ -255,9 +256,13 @@ static FLT RunOpti( SurviveObject * hmd, PoserDataFullScene * fs, int lh, int pr int dataindex = p*(2*NUM_LIGHTHOUSES)+lh*2; if( fs->lengths[p][lh][0] < 0 || fs->lengths[p][lh][1] < 0 ) continue; + FLT out[2] = {}; + survive_apply_bsd_calibration(hmd->ctx, lh, fs->angles[p][lh], out); + //Find out where our ray shoots forth from. - FLT ax = fs->angles[p][lh][0]; - FLT ay = fs->angles[p][lh][1]; + FLT ax = out[0]; + FLT ay = out[1]; + //NOTE: Inputs may never be output with cross product. //Create a fictitious normalized ray. Imagine the lighthouse is pointed //straight in the +z direction, this is the lighthouse ray to the point. @@ -338,8 +343,13 @@ static FLT RunOpti( SurviveObject * hmd, PoserDataFullScene * fs, int lh, int pr if( fs->lengths[p][lh][0] < 0 || fs->lengths[p][lh][1] < 0 ) continue; //Find out where our ray shoots forth from. - FLT ax = fs->angles[p][lh][0]; - FLT ay = fs->angles[p][lh][1]; + FLT out[2] = {}; + survive_apply_bsd_calibration(hmd->ctx, lh, fs->angles[p][lh], out); + + // Find out where our ray shoots forth from. + FLT ax = out[0]; + FLT ay = out[1]; + FLT RayShootOut[3] = { sin(ax), sin(ay), 0 }; RayShootOut[2] = sqrt( 1 - (RayShootOut[0]*RayShootOut[0] + RayShootOut[1]*RayShootOut[1]) ); diff --git a/src/poser_daveortho.c b/src/poser_daveortho.c index c922b2e..9cdab45 100644 --- a/src/poser_daveortho.c +++ b/src/poser_daveortho.c @@ -1,12 +1,13 @@ +#include "linmath.h" #include "survive_cal.h" +#include <dclapack.h> +#include <linmath.h> #include <math.h> -#include <string.h> -#include "linmath.h" -#include <survive.h> #include <stdio.h> #include <stdlib.h> -#include <dclapack.h> -#include <linmath.h> +#include <string.h> +#include <survive.h> +#include <survive_reproject.h> // Dave talks about this poser here: https://www.youtube.com/watch?v=nSbEltdH9vM&feature=youtu.be&t=2h29m47s @@ -127,7 +128,7 @@ int PoserDaveOrtho( SurviveObject * so, PoserData * pd ) PoserDataFullScene * fs = (PoserDataFullScene*)pd; int LH_ID; - SurvivePose alignLh0ToXAxis = {}; + SurvivePose alignLh0ToXAxis = {0}; for( LH_ID = 0; LH_ID < 2; LH_ID++ ) { int i; @@ -139,8 +140,10 @@ int PoserDaveOrtho( SurviveObject * so, PoserData * pd ) //Load all our valid points into something the LHFinder can use. if( fs->lengths[i][LH_ID][0] > 0 ) { - S_in[0][max_hits] = fs->angles[i][LH_ID][0]; - S_in[1][max_hits] = fs->angles[i][LH_ID][1]; + FLT out[2]; + survive_apply_bsd_calibration(ctx, LH_ID, fs->angles[i][LH_ID], out); + S_in[0][max_hits] = out[0]; + S_in[1][max_hits] = out[1]; X_in[0][max_hits] = so->sensor_locations[i*3+0]; X_in[1][max_hits] = so->sensor_locations[i*3+1]; X_in[2][max_hits] = so->sensor_locations[i*3+2]; diff --git a/src/poser_epnp.c b/src/poser_epnp.c index 401ea2a..c05450a 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -6,6 +6,7 @@ #include <poser.h> #include <survive.h> +#include <survive_reproject.h> #include "epnp/epnp.h" #include "linmath.h" @@ -13,7 +14,7 @@ #include "stdio.h" static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool cameraToWorld) { - SurvivePose rtn = {}; + SurvivePose rtn = {0}; // std::cerr << "Solving for " << cal_imagePoints.size() << " correspondents" << std::endl; if (pnp->number_of_correspondences <= 3) { SurviveContext *ctx = so->ctx; @@ -27,6 +28,12 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer CvMat R = cvMat(3, 3, CV_64F, r); CvMat T = cvMat(3, 1, CV_64F, rtn.Pos); + + // Super degenerate inputs will project us basically right in the camera. Detect and reject + if (magnitude3d(rtn.Pos) < 0.25) { + return rtn; + } + // Requested output is camera -> world, so invert if (cameraToWorld) { FLT tmp[3]; @@ -65,7 +72,9 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) for (size_t i = 0; i < so->sensor_ct; i++) { FLT *lengths = pdfs->lengths[i][lh]; - FLT *ang = pdfs->angles[i][lh]; + FLT *_ang = pdfs->angles[i][lh]; + FLT ang[2]; + survive_apply_bsd_calibration(so->ctx, lh, _ang, ang); if (lengths[0] < 0 || lengths[1] < 0) continue; @@ -81,7 +90,10 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) } SurvivePose lighthouse2object = solve_correspondence(so, &pnp, true); - PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0); + + if (quatmagnitude(lighthouse2object.Rot) != 0.0) { + PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0); + } epnp_dtor(&pnp); } @@ -89,13 +101,15 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) return 0; } -static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActivations *scene, - const PoserDataLight *lightData) { - int lh = lightData->lh; +static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActivations *scene, uint32_t timecode, + int lh) { for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) { - if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, lightData->timecode, + if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, timecode, sensor_idx, lh)) { - double *angles = scene->angles[sensor_idx][lh]; + FLT *_angles = scene->angles[sensor_idx][lh]; + FLT angles[2]; + survive_apply_bsd_calibration(so->ctx, lh, _angles, angles); + epnp_add_correspondence(pnp, so->sensor_locations[sensor_idx * 3 + 0], so->sensor_locations[sensor_idx * 3 + 1], so->sensor_locations[sensor_idx * 3 + 2], tan(angles[0]), tan(angles[1])); @@ -116,43 +130,55 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) { PoserDataLight *lightData = (PoserDataLight *)pd; SurvivePose posers[2]; - bool hasData[2] = {0, 0}; - for (int lh = 0; lh < 1; lh++) { + int meas[2] = {0, 0}; + for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { if (so->ctx->bsd[lh].PositionSet) { epnp pnp = {.fu = 1, .fv = 1}; epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); - add_correspondences(so, &pnp, scene, lightData); + add_correspondences(so, &pnp, scene, lightData->timecode, lh); + static int required_meas = -1; + if (required_meas == -1) + required_meas = survive_configi(so->ctx, "epnp-required-meas", SC_GET, 4); - if (pnp.number_of_correspondences > 4) { + if (pnp.number_of_correspondences > required_meas) { - SurvivePose pose = solve_correspondence(so, &pnp, false); + SurvivePose objInLh = solve_correspondence(so, &pnp, false); + if (quatmagnitude(objInLh.Rot) != 0) { + SurvivePose *lh2world = &so->ctx->bsd[lh].Pose; - SurvivePose txPose = {}; - quatrotatevector(txPose.Pos, so->ctx->bsd[lh].Pose.Rot, pose.Pos); - for (int i = 0; i < 3; i++) { - txPose.Pos[i] += so->ctx->bsd[lh].Pose.Pos[i]; + SurvivePose txPose = {.Rot = {1}}; + ApplyPoseToPose(&txPose, lh2world, &objInLh); + posers[lh] = txPose; + meas[lh] = pnp.number_of_correspondences; } - - quatrotateabout(txPose.Rot, so->ctx->bsd[lh].Pose.Rot, pose.Rot); - - posers[lh] = txPose; - hasData[lh] = 1; } epnp_dtor(&pnp); } } - if (hasData[0] && hasData[1]) { + if (meas[0] > 0 && meas[1] > 0) { SurvivePose interpolate = {0}; - for (size_t i = 0; i < 3; i++) { - interpolate.Pos[i] = (posers[0].Pos[i] + posers[1].Pos[i]) / 2.; + bool winnerTakesAll = true; // Not convinced slerp does the right thing, will change this when i am + + if (winnerTakesAll) { + int winner = meas[0] > meas[1] ? 0 : 1; + PoserData_poser_raw_pose_func(pd, so, winner, &posers[winner]); + } else { + double a, b; + a = meas[0] * meas[0]; + b = meas[1] * meas[1]; + + double t = a + b; + for (size_t i = 0; i < 3; i++) { + interpolate.Pos[i] = (posers[0].Pos[i] * a + posers[1].Pos[i] * b) / (t); + } + quatslerp(interpolate.Rot, posers[0].Rot, posers[1].Rot, b / (t)); + PoserData_poser_raw_pose_func(pd, so, lightData->lh, &interpolate); } - quatslerp(interpolate.Rot, posers[0].Rot, posers[1].Rot, .5); - PoserData_poser_raw_pose_func(pd, so, lightData->lh, &interpolate); } else { - if (hasData[lightData->lh]) + if (meas[lightData->lh]) PoserData_poser_raw_pose_func(pd, so, lightData->lh, &posers[lightData->lh]); } return 0; diff --git a/src/poser_sba.c b/src/poser_sba.c index efdeeef..1dbc820 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -3,6 +3,7 @@ #define USE_DOUBLE #endif +#include <malloc.h> #include <sba/sba.h> #include "poser.h" @@ -18,7 +19,6 @@ #include "survive_reproject.h" typedef struct { - survive_calibration_config calibration_config; PoserData *pdfs; SurviveObject *so; SurvivePose obj_pose; @@ -32,26 +32,40 @@ typedef struct { } sba_context_single_sweep; typedef struct SBAData { - int last_acode; - int last_lh; - int failures_to_reset; - int failures_to_reset_cntr; - SurviveIMUTracker tracker; - bool useIMU; + int last_acode; + int last_lh; + + int failures_to_reset; + int failures_to_reset_cntr; + int successes_to_reset; + int successes_to_reset_cntr; + + FLT max_error; + + FLT sensor_variance; + FLT sensor_variance_per_second; + int sensor_time_window; + + int required_meas; + + SurviveIMUTracker tracker; + bool useIMU; + + SurviveObject *so; } SBAData; -void metric_function(int j, int i, double *aj, double *xij, void *adata) { +static void metric_function(int j, int i, double *aj, double *xij, void *adata) { sba_context *ctx = (sba_context *)(adata); SurviveObject *so = ctx->so; SurvivePose obj2world = ctx->obj_pose; - FLT sensorInWorld[3] = {}; + FLT sensorInWorld[3] = {0}; ApplyPoseToPoint(sensorInWorld, &obj2world, &so->sensor_locations[i * 3]); - survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, j, (SurvivePose *)aj, sensorInWorld, - xij); + survive_calibration_config cfg = so->ctx->calibration_config; + survive_reproject_from_pose_with_config(so->ctx, &cfg, j, (SurvivePose *)aj, sensorInWorld, xij); } -size_t construct_input(const SurviveObject *so, PoserDataFullScene *pdfs, char *vmask, double *meas) { +static size_t construct_input(const SurviveObject *so, PoserDataFullScene *pdfs, char *vmask, double *meas) { size_t measCount = 0; size_t size = so->sensor_ct * NUM_LIGHTHOUSES; // One set per lighthouse for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) { @@ -72,35 +86,29 @@ size_t construct_input(const SurviveObject *so, PoserDataFullScene *pdfs, char * return measCount; } -size_t construct_input_from_scene_single_sweep(const SurviveObject *so, PoserDataLight *pdl, - SurviveSensorActivations *scene, char *vmask, double *meas, int acode, - int lh) { - size_t rtn = 0; - - for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) { - const uint32_t *data_timecode = scene->timecode[sensor][lh]; - if (pdl->timecode - data_timecode[acode & 1] <= SurviveSensorActivations_default_tolerance) { - double *a = scene->angles[sensor][lh]; - vmask[sensor * NUM_LIGHTHOUSES + lh] = 1; - meas[rtn++] = a[acode & 0x1]; - } else { - vmask[sensor * NUM_LIGHTHOUSES + lh] = 0; - } - } - - return rtn; -} - -size_t construct_input_from_scene(const SurviveObject *so, PoserDataLight *pdl, SurviveSensorActivations *scene, - char *vmask, double *meas) { +static size_t construct_input_from_scene(SBAData *d, PoserDataLight *pdl, SurviveSensorActivations *scene, char *vmask, + double *meas, double *cov) { size_t rtn = 0; + SurviveObject *so = d->so; for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) { for (size_t lh = 0; lh < 2; lh++) { - if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, pdl->timecode, - sensor, lh)) { - double *a = scene->angles[sensor][lh]; + if (SurviveSensorActivations_isPairValid(scene, d->sensor_time_window, pdl->timecode, sensor, lh)) { + const double *a = scene->angles[sensor][lh]; + // FLT a[2]; + // survive_apply_bsd_calibration(so->ctx, lh, _a, a); vmask[sensor * NUM_LIGHTHOUSES + lh] = 1; + + if (cov) { + *(cov++) = d->sensor_variance + + abs(pdl->timecode - scene->timecode[sensor][lh][0]) * d->sensor_variance_per_second / + (double)so->timebase_hz; + *(cov++) = 0; + *(cov++) = 0; + *(cov++) = d->sensor_variance + + abs(pdl->timecode - scene->timecode[sensor][lh][1]) * d->sensor_variance_per_second / + (double)so->timebase_hz; + } meas[rtn++] = a[0]; meas[rtn++] = a[1]; } else { @@ -125,7 +133,7 @@ typedef struct { SurvivePose poses; } sba_set_position_t; -void sba_set_position(SurviveObject *so, uint8_t lighthouse, SurvivePose *new_pose, void *_user) { +static void sba_set_position(SurviveObject *so, uint8_t lighthouse, SurvivePose *new_pose, void *_user) { sba_set_position_t *user = _user; assert(user->hasInfo == false); user->hasInfo = 1; @@ -133,7 +141,7 @@ void sba_set_position(SurviveObject *so, uint8_t lighthouse, SurvivePose *new_po } void *GetDriver(const char *name); -void str_metric_function_single_sweep(int j, int i, double *bi, double *xij, void *adata) { +static void str_metric_function_single_sweep(int j, int i, double *bi, double *xij, void *adata) { SurvivePose obj = *(SurvivePose *)bi; int sensor_idx = j >> 1; @@ -153,11 +161,11 @@ void str_metric_function_single_sweep(int j, int i, double *bi, double *xij, voi SurvivePose *camera = &so->ctx->bsd[lh].Pose; FLT out[2]; - survive_reproject_from_pose_with_config(so->ctx, &ctx->hdr.calibration_config, lh, camera, xyz, out); + survive_reproject_from_pose(so->ctx, lh, camera, xyz, out); *xij = out[acode]; } -void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { +static void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { SurvivePose obj = *(SurvivePose *)bi; int sensor_idx = j >> 1; int lh = j & 1; @@ -174,116 +182,27 @@ void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { // std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl; SurvivePose *camera = &so->ctx->bsd[lh].Pose; - survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, lh, camera, xyz, xij); -} - -static double run_sba_find_3d_structure_single_sweep(survive_calibration_config options, PoserDataLight *pdl, - SurviveObject *so, SurviveSensorActivations *scene, int acode, - int lh, int max_iterations /* = 50*/, - double max_reproj_error /* = 0.005*/) { - double *covx = 0; - - char *vmask = alloca(sizeof(char) * so->sensor_ct); - double *meas = alloca(sizeof(double) * so->sensor_ct); - size_t meas_size = construct_input_from_scene_single_sweep(so, pdl, scene, vmask, meas, acode, lh); - - static int failure_count = 500; - if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 8) { - if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) { - SurviveContext *ctx = so->ctx; - SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size); - failure_count = 0; - } - return -1; - } - failure_count = 0; - - SurvivePose soLocation = so->OutPose; - bool currentPositionValid = quatmagnitude(&soLocation.Rot[0]); - - { - const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP"); - PoserCB driver = (PoserCB)GetDriver(subposer); - SurviveContext *ctx = so->ctx; - if (driver) { - PoserData hdr = pdl->hdr; - memset(&pdl->hdr, 0, sizeof(pdl->hdr)); // Clear callback functions - pdl->hdr.pt = hdr.pt; - pdl->hdr.rawposeproc = sba_set_position; - - sba_set_position_t locations = {}; - pdl->hdr.userdata = &locations; - driver(so, &pdl->hdr); - pdl->hdr = hdr; - - if (locations.hasInfo == false) { - - return -1; - } else if (locations.hasInfo) { - soLocation = locations.poses; - } - } else { - SV_INFO("Not using a seed poser for SBA; results will likely be way off"); - } - } - - double opts[SBA_OPTSSZ] = {}; - double info[SBA_INFOSZ] = {}; - - sba_context_single_sweep ctx = {.hdr = {options, &pdl->hdr, so}, .acode = acode, .lh = lh}; - - opts[0] = SBA_INIT_MU; - opts[1] = SBA_STOP_THRESH; - opts[2] = SBA_STOP_THRESH; - opts[3] = SBA_STOP_THRESH; - opts[3] = SBA_STOP_THRESH; // max_reproj_error * meas.size(); - opts[4] = 0.0; - - int status = sba_str_levmar(1, // Number of 3d points - 0, // Number of 3d points to fix in spot - so->sensor_ct, vmask, - soLocation.Pos, // Reads as the full pose though - 7, // pnp -- SurvivePose - meas, // x* -- measurement data - 0, // cov data - 1, // mnp -- 2 points per image - str_metric_function_single_sweep, - 0, // jacobia of metric_func - &ctx, // user data - max_iterations, // Max iterations - 0, // verbosity - opts, // options - info); // info - - if (status > 0) { - quatnormalize(soLocation.Rot, soLocation.Rot); - PoserData_poser_raw_pose_func(&pdl->hdr, so, 1, &soLocation); - - SurviveContext *ctx = so->ctx; - // Docs say info[0] should be divided by meas; I don't buy it really... - static int cnt = 0; - if (cnt++ > 1000 || meas_size < 8) { - SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (unsigned int)meas_size); - SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); - cnt = 0; - } - } - - return info[1] / meas_size * 2; + survive_reproject_from_pose(so->ctx, lh, camera, xyz, xij); } -static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config options, PoserDataLight *pdl, SurviveObject *so, - SurviveSensorActivations *scene, int max_iterations /* = 50*/, - double max_reproj_error /* = 0.005*/) { +static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, SurviveSensorActivations *scene, + int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) { double *covx = 0; + SurviveObject *so = d->so; char *vmask = alloca(sizeof(char) * so->sensor_ct * NUM_LIGHTHOUSES); double *meas = alloca(sizeof(double) * 2 * so->sensor_ct * NUM_LIGHTHOUSES); - size_t meas_size = construct_input_from_scene(so, pdl, scene, vmask, meas); + double *cov = + d->sensor_variance_per_second > 0. ? alloca(sizeof(double) * 2 * 2 * so->sensor_ct * NUM_LIGHTHOUSES) : 0; + size_t meas_size = construct_input_from_scene(d, pdl, scene, vmask, meas, cov); static int failure_count = 500; - if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 7) { - if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) { + bool hasAllBSDs = true; + for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) + hasAllBSDs &= so->ctx->bsd[lh].PositionSet; + + if (!hasAllBSDs || meas_size < d->required_meas) { + if (hasAllBSDs && failure_count++ == 500) { SurviveContext *ctx = so->ctx; SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size); failure_count = 0; @@ -295,10 +214,9 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o SurvivePose soLocation = so->OutPose; bool currentPositionValid = quatmagnitude(&soLocation.Rot[0]) != 0; - if(d->failures_to_reset_cntr == 0 || currentPositionValid == 0) - { - SurviveContext *ctx = so->ctx; - SV_INFO("Running seed poser"); + if (d->successes_to_reset_cntr == 0 || d->failures_to_reset_cntr == 0 || currentPositionValid == 0) { + SurviveContext *ctx = so->ctx; + // SV_INFO("Must rerun seed poser"); const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP"); PoserCB driver = (PoserCB)GetDriver(subposer); @@ -308,26 +226,27 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o pdl->hdr.pt = hdr.pt; pdl->hdr.rawposeproc = sba_set_position; - sba_set_position_t locations = {}; + sba_set_position_t locations = {0}; pdl->hdr.userdata = &locations; driver(so, &pdl->hdr); pdl->hdr = hdr; if (locations.hasInfo == false) { - return -1; } else if (locations.hasInfo) { soLocation = locations.poses; } + + d->successes_to_reset_cntr = d->successes_to_reset; } else { SV_INFO("Not using a seed poser for SBA; results will likely be way off"); } } - double opts[SBA_OPTSSZ] = {}; - double info[SBA_INFOSZ] = {}; + double opts[SBA_OPTSSZ] = {0}; + double info[SBA_INFOSZ] = {0}; - sba_context ctx = {options, &pdl->hdr, so}; + sba_context ctx = {&pdl->hdr, so}; opts[0] = SBA_INIT_MU; opts[1] = SBA_STOP_THRESH; @@ -342,7 +261,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o soLocation.Pos, // Reads as the full pose though 7, // pnp -- SurvivePose meas, // x* -- measurement data - 0, // cov data + cov, // cov data 2, // mnp -- 2 points per image str_metric_function, 0, // jacobia of metric_func @@ -352,8 +271,16 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o opts, // options info); // info - if (status > 0) { - d->failures_to_reset_cntr = d->failures_to_reset; + if (currentPositionValid) { + FLT distp[3]; + sub3d(distp, so->OutPose.Pos, soLocation.Pos); + FLT distance = magnitude3d(distp); + ; + if (distance > 1.) + status = -1; + } + if (status > 0 && (info[1] / meas_size * 2) < d->max_error) { + d->failures_to_reset_cntr = d->failures_to_reset; quatnormalize(soLocation.Rot, soLocation.Rot); PoserData_poser_raw_pose_func(&pdl->hdr, so, 1, &soLocation); } @@ -362,8 +289,8 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o SurviveContext *ctx = so->ctx; // Docs say info[0] should be divided by meas; I don't buy it really... static int cnt = 0; - if (cnt++ > 1000 || meas_size < 8) { - SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + if (cnt++ > 1000 || meas_size < d->required_meas || (info[1] / meas_size * 2) > d->max_error) { + SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); cnt = 0; } @@ -373,15 +300,15 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o } // Optimizes for LH position assuming object is posed at 0 -static double run_sba(survive_calibration_config options, PoserDataFullScene *pdfs, SurviveObject *so, - int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) { +static double run_sba(PoserDataFullScene *pdfs, SurviveObject *so, int max_iterations /* = 50*/, + double max_reproj_error /* = 0.005*/) { double *covx = 0; char *vmask = alloca(sizeof(char) * so->sensor_ct * NUM_LIGHTHOUSES); double *meas = alloca(sizeof(double) * 2 * so->sensor_ct * NUM_LIGHTHOUSES); size_t meas_size = construct_input(so, pdfs, vmask, meas); - sba_context sbactx = {options, &pdfs->hdr, so, .camera_params = {so->ctx->bsd[0].Pose, so->ctx->bsd[1].Pose}, + sba_context sbactx = {&pdfs->hdr, so, .camera_params = {so->ctx->bsd[0].Pose, so->ctx->bsd[1].Pose}, .obj_pose = so->OutPose}; { @@ -400,7 +327,7 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd } else { SV_INFO("Not using a seed poser for SBA; results will likely be way off"); for (int i = 0; i < 2; i++) { - so->ctx->bsd[i].Pose = (SurvivePose){}; + so->ctx->bsd[i].Pose = (SurvivePose){0}; so->ctx->bsd[i].Pose.Rot[0] = 1.; } } @@ -408,8 +335,8 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd // PoserCharlesSlow(so, (PoserData *)pdfs); } - double opts[SBA_OPTSSZ] = {}; - double info[SBA_INFOSZ] = {}; + double opts[SBA_OPTSSZ] = {0}; + double info[SBA_INFOSZ] = {0}; opts[0] = SBA_INIT_MU; opts[1] = SBA_STOP_THRESH; @@ -419,7 +346,7 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd opts[4] = 0.0; int status = sba_mot_levmar(so->sensor_ct, // number of 3d points - NUM_LIGHTHOUSES, // Number of cameras -- 2 lighthouses + so->ctx->activeLighthouses, // Number of cameras -- 2 lighthouses 0, // Number of cameras to not modify vmask, // boolean vis mask (double *)&sbactx.camera_params[0], // camera parameters @@ -436,9 +363,13 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd info); // info if (status >= 0) { - SurvivePose additionalTx = {}; - PoserData_lighthouse_pose_func(&pdfs->hdr, so, 0, &additionalTx, &sbactx.camera_params[0], &sbactx.obj_pose); - PoserData_lighthouse_pose_func(&pdfs->hdr, so, 1, &additionalTx, &sbactx.camera_params[1], &sbactx.obj_pose); + SurvivePose additionalTx = {0}; + for (int i = 0; i < so->ctx->activeLighthouses; i++) { + if (quatmagnitude(sbactx.camera_params[i].Rot) != 0) { + PoserData_lighthouse_pose_func(&pdfs->hdr, so, i, &additionalTx, &sbactx.camera_params[i], + &sbactx.obj_pose); + } + } } else { SurviveContext *ctx = so->ctx; SV_INFO("SBA was unable to run %d", status); @@ -457,14 +388,31 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd } int PoserSBA(SurviveObject *so, PoserData *pd) { + SurviveContext *ctx = so->ctx; if (so->PoserData == 0) { so->PoserData = calloc(1, sizeof(SBAData)); SBAData *d = so->PoserData; - d->failures_to_reset_cntr = 0; - d->failures_to_reset = 30; + d->failures_to_reset_cntr = 0; + d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1); + d->successes_to_reset_cntr = 0; + d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 100); + + d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8); + d->max_error = survive_configf(ctx, "sba-max-error", SC_GET, .0001); + d->sensor_time_window = + survive_configi(ctx, "sba-time-window", SC_GET, SurviveSensorActivations_default_tolerance * 2); + d->sensor_variance_per_second = survive_configf(ctx, "sba-sensor-variance-per-sec", SC_GET, 0.001); + d->sensor_variance = survive_configf(ctx, "sba-sensor-variance", SC_GET, 1.0); + d->so = so; + + SV_INFO("Initializing SBA:"); + SV_INFO("\tsba-required-meas: %d", d->required_meas); + SV_INFO("\tsba-sensor-variance: %f", d->sensor_variance); + SV_INFO("\tsba-sensor-variance-per-sec: %f", d->sensor_variance_per_second); + SV_INFO("\tsba-time-window: %d", d->sensor_time_window); + SV_INFO("\tsba-max-error: %f", d->max_error); } SBAData *d = so->PoserData; - SurviveContext *ctx = so->ctx; switch (pd->pt) { case POSERDATA_LIGHT: { // No poses if calibration is ongoing @@ -476,17 +424,21 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { // only process sweeps FLT error = -1; if (d->last_lh != lightData->lh || d->last_acode != lightData->acode) { - survive_calibration_config config = *survive_calibration_default_config(); - error = run_sba_find_3d_structure(d, config, lightData, so, scene, 50, .5); + error = run_sba_find_3d_structure(d, lightData, scene, 100, .5); + d->last_lh = lightData->lh; d->last_acode = lightData->acode; } if (error < 0) { - if(d->failures_to_reset_cntr > 0) - d->failures_to_reset_cntr--; - } else if(d->useIMU) { - survive_imu_tracker_set_pose(&d->tracker, lightData->timecode, &so->OutPose); + if (d->failures_to_reset_cntr > 0) + d->failures_to_reset_cntr--; + } else { + if (d->useIMU) { + survive_imu_tracker_set_pose(&d->tracker, lightData->timecode, &so->OutPose); + } + if (d->successes_to_reset_cntr > 0) + d->successes_to_reset_cntr--; } return 0; @@ -494,9 +446,7 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { case POSERDATA_FULL_SCENE: { SurviveContext *ctx = so->ctx; PoserDataFullScene *pdfs = (PoserDataFullScene *)(pd); - survive_calibration_config config = *survive_calibration_default_config(); - SV_INFO("Running sba with %u", (int)survive_calibration_config_index(&config)); - double error = run_sba(config, pdfs, so, 50, .005); + double error = run_sba(pdfs, so, 100, .005); // std::cerr << "Average reproj error: " << error << std::endl; return 0; } diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 2d3f802..4628207 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -13,6 +13,8 @@ #include <stdlib.h> #else #include <malloc.h> //for alloca +#include <survive_reproject.h> + #endif @@ -1443,7 +1445,7 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob lighthousePose.Pos[1] = refinedEstimateGd.y; lighthousePose.Pos[2] = refinedEstimateGd.z; - SurvivePose assumedObj = {}; + SurvivePose assumedObj = {0}; FLT negZ[3] = {0, 0, 1}; quatfrom2vectors(assumedObj.Rot, toriData->down, negZ); @@ -1786,8 +1788,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) to->sensor[sensorCount].point.x = point[0]; to->sensor[sensorCount].point.y = point[1]; to->sensor[sensorCount].point.z = point[2]; - to->sensor[sensorCount].theta = fs->angles[i][0][0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) - to->sensor[sensorCount].phi = fs->angles[i][0][1] + LINMATHPI / 2; // lighthouse 0, angle 1 (vertical) + + FLT out[2]; + survive_apply_bsd_calibration(ctx, 0, fs->angles[i][0], out); + + to->sensor[sensorCount].theta = out[0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) + to->sensor[sensorCount].phi = out[1] + LINMATHPI / 2; // lighthouse 0, angle 1 (vertical) sensorCount++; } @@ -1822,8 +1828,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) to->sensor[sensorCount].point.x = point[0]; to->sensor[sensorCount].point.y = point[1]; to->sensor[sensorCount].point.z = point[2]; - to->sensor[sensorCount].theta = fs->angles[i][lh][0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) - to->sensor[sensorCount].phi = fs->angles[i][lh][1] + LINMATHPI / 2; // lighthosue 0, angle 1 (vertical) + + FLT out[2]; + survive_apply_bsd_calibration(ctx, lh, fs->angles[i][lh], out); + + to->sensor[sensorCount].theta = out[0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) + to->sensor[sensorCount].phi = out[1] + LINMATHPI / 2; // lighthosue 0, angle 1 (vertical) sensorCount++; } } diff --git a/src/survive.c b/src/survive.c index e6bf69f..1a782a2 100644 --- a/src/survive.c +++ b/src/survive.c @@ -36,8 +36,8 @@ static void survivefault(struct SurviveContext *ctx, const char *fault) { } static void survivenote(struct SurviveContext *ctx, const char *fault) { - survive_recording_info_process(ctx, fault); - fprintf(stderr, "Info: %s\n", fault); + survive_recording_info_process(ctx, fault); + fprintf(stderr, "Info: %s\n", fault); } static void *button_servicer(void *context) { @@ -101,16 +101,28 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) { } #endif #ifdef MANUAL_REGISTRATION -// note: this manual registration is currently only in use on builds using Visual Studio. + // note: this manual registration is currently only in use on builds using Visual Studio. + static int did_manual_driver_registration = 0; + if (did_manual_driver_registration == 0) { #define MANUAL_DRIVER_REGISTRATION(func) \ int func(SurviveObject *so, PoserData *pd); \ RegisterDriver(#func, &func); - MANUAL_DRIVER_REGISTRATION(PoserCharlesSlow) - MANUAL_DRIVER_REGISTRATION(PoserDaveOrtho) - MANUAL_DRIVER_REGISTRATION(PoserDummy) - MANUAL_DRIVER_REGISTRATION(DriverRegHTCVive) + MANUAL_DRIVER_REGISTRATION(PoserCharlesSlow) + MANUAL_DRIVER_REGISTRATION(PoserDaveOrtho) + MANUAL_DRIVER_REGISTRATION(PoserDummy) + MANUAL_DRIVER_REGISTRATION(PoserEPNP) + MANUAL_DRIVER_REGISTRATION(PoserSBA) + + MANUAL_DRIVER_REGISTRATION(DriverRegHTCVive) + MANUAL_DRIVER_REGISTRATION(DriverRegPlayback) + + MANUAL_DRIVER_REGISTRATION(DisambiguatorCharles) + MANUAL_DRIVER_REGISTRATION(DisambiguatorStateBased) + MANUAL_DRIVER_REGISTRATION(DisambiguatorTurvey) + did_manual_driver_registration = 1; + } #endif SurviveContext *ctx = calloc(1, sizeof(SurviveContext)); @@ -159,11 +171,18 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) { } if (vartoupdate) { - if (av + 1 == argvend) { - fprintf(stderr, "Error: expected parameter after %s\n", *av); - showhelp = 1; + const char *name = *av + 2; // Skip the '--'; + bool flagArgument = (av + 1 == argvend) || av[1][0] == '-'; + + if (flagArgument) { + bool value = strncmp("no-", name, 3) != 0; + if (value == 0) { + name += 3; // Skip "no-" + } + survive_configi(ctx, name, SC_OVERRIDE | SC_SET, value); } else { - survive_configs(ctx, *av + 2, SC_OVERRIDE | SC_SET, *(av + 1)); + const char *value = *(av + 1); + survive_configs(ctx, name, SC_OVERRIDE | SC_SET, value); av++; } } @@ -177,7 +196,10 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) { fprintf(stderr, " -p [poser] - use a specific defaultposer.\n"); fprintf(stderr, " -l [lighthouse count] - use a specific number of lighthoses.\n"); fprintf(stderr, " -c [config file] - set config file\n"); - fprintf(stderr, " -p [lighthouse count] - use a specific number of lighthoses.\n"); + fprintf(stderr, " --record [log file] - Write all events to the given record file.\n"); + fprintf(stderr, " --playback [log file] - Read events from the given file instead of USB devices.\n"); + fprintf(stderr, " --playback-factor [f] - Time factor of playback -- 1 is run at the same timing as " + "original, 0 is run as fast as possible.\n"); return 0; } @@ -196,10 +218,14 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) { ctx->configfunction = survive_default_htc_config_process; ctx->rawposeproc = survive_default_raw_pose_process; + ctx->calibration_config = survive_calibration_config_ctor(); + ctx->calibration_config.use_flag = (enum SurviveCalFlag)survive_configi(ctx, "bsd-cal", SC_GET, SVCal_All); + return ctx; } -static void *setup_func_by_name(SurviveContext *ctx, const char *name, const char *configname, const char *configdef) { +void *GetDriverByConfig(SurviveContext *ctx, const char *name, const char *configname, const char *configdef, + int verbose) { const char *Preferred = survive_configs(ctx, configname, SC_SETCONFIG, configdef); const char *DriverName = 0; const char *picked = 0; @@ -207,12 +233,14 @@ static void *setup_func_by_name(SurviveContext *ctx, const char *name, const cha void *func = 0; int prefixLen = strlen(name); - SV_INFO("Available %s:", name); + if (verbose > 1) + SV_INFO("Available %ss:", name); while ((DriverName = GetDriverNameMatching(name, i++))) { void *p = GetDriver(DriverName); bool match = strcmp(DriverName, Preferred) == 0 || strcmp(DriverName + prefixLen, Preferred) == 0; - SV_INFO("\t%c%s", match ? '*' : ' ', DriverName + prefixLen); + if (verbose > 1) + SV_INFO("\t%c%s", match ? '*' : ' ', DriverName + prefixLen); if (!func || match) { func = p; picked = (DriverName + prefixLen); @@ -221,7 +249,10 @@ static void *setup_func_by_name(SurviveContext *ctx, const char *name, const cha if (!func) { SV_ERROR("Error. Cannot find any valid %s.", name); } - SV_INFO("Totals %d %ss. Using %s.", i - 1, name, picked); + if (verbose > 1) + SV_INFO("Totals %d %ss.", i - 1, name); + if (verbose > 0) + SV_INFO("Using '%s' for %s", picked, configname); return func; } @@ -230,6 +261,8 @@ int survive_startup(SurviveContext *ctx) { int r = 0; int i = 0; + survive_install_recording(ctx); + // initialize the button queue memset(&(ctx->buttonQueue), 0, sizeof(ctx->buttonQueue)); ctx->buttonQueue.buttonservicesem = OGCreateSema(); @@ -237,15 +270,13 @@ int survive_startup(SurviveContext *ctx) { // start the thread to process button data ctx->buttonservicethread = OGCreateThread(button_servicer, ctx); - PoserCB PreferredPoserCB = setup_func_by_name(ctx, "Poser", "defaultposer", "PoserTurveyTori"); - ctx->lightcapfunction = setup_func_by_name(ctx, "Disambiguator", "disambiguator", "Turvey"); + PoserCB PreferredPoserCB = GetDriverByConfig(ctx, "Poser", "defaultposer", "SBA", 2); + ctx->lightcapfunction = GetDriverByConfig(ctx, "Disambiguator", "disambiguator", "Turvey", 2); const char *DriverName; i = 0; - survive_install_recording(ctx); - while ((DriverName = GetDriverNameMatching("DriverReg", i++))) { DeviceDriver dd = GetDriver(DriverName); SV_INFO("Loading driver %s (%p) (%d)", DriverName, dd, i); @@ -263,6 +294,40 @@ int survive_startup(SurviveContext *ctx) { ctx->state = SURVIVE_RUNNING; + int calibrateMandatory = survive_configi(ctx, "calibrate", SC_GET, 0); + int calibrateForbidden = survive_configi(ctx, "calibrate", SC_GET, 1) == 0; + if (calibrateMandatory && calibrateForbidden) { + SV_INFO("Contradictory settings --calibrate and --no-calibrate specified. Switching to normal behavior."); + calibrateMandatory = calibrateForbidden = 0; + } + + if (!calibrateForbidden) { + bool isCalibrated = true; + for (int i = 0; i < ctx->activeLighthouses; i++) { + isCalibrated &= ctx->bsd[i].PositionSet; + } + + if (!isCalibrated) { + SV_INFO("Uncalibrated configuration detected. Attaching calibration. Please don't move tracked objects for " + "the duration of calibration. Pass '--no-calibrate' to skip calibration"); + } else { + SV_INFO("Calibration requested. Previous calibration will be overwritten."); + } + + bool doCalibrate = isCalibrated == false || calibrateMandatory; + + if (doCalibrate) { + survive_cal_install(ctx); + } + } + + // If lighthouse positions are known, broadcast them + for (int i = 0; i < ctx->activeLighthouses; i++) { + if (ctx->bsd[i].PositionSet) { + ctx->lighthouseposeproc(ctx, i, &ctx->bsd[i].Pose, 0); + } + } + return 0; } @@ -493,4 +558,9 @@ int survive_simple_inflate(struct SurviveContext *ctx, const char *input, int in return len; } +const char *survive_object_codename(SurviveObject *so) { return so->codename; } +int8_t survive_object_sensor_ct(SurviveObject *so) { return so->sensor_ct; } +const FLT *survive_object_sensor_locations(SurviveObject *so) { return so->sensor_locations; } +const FLT *survive_object_sensor_normals(SurviveObject *so) { return so->sensor_normals; } + #endif diff --git a/src/survive_cal.c b/src/survive_cal.c index 3367aa0..3015b68 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -13,12 +13,13 @@ #include "survive_internal.h" #include "survive_reproject.h" +#include <assert.h> +#include <linmath.h> #include <math.h> +#include <poser.h> #include <string.h> #include <sys/stat.h> #include <sys/types.h> -#include <linmath.h> -#include <assert.h> #include "survive_config.h" @@ -61,19 +62,20 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) //print_lighthouse_info_v6(&v6); b->BaseStationID = v6.id; - b->fcalphase[0] = v6.fcal_0_phase; - b->fcalphase[1] = v6.fcal_1_phase; - b->fcaltilt[0] = tan(v6.fcal_0_tilt); - b->fcaltilt[1] = tan(v6.fcal_1_tilt); //XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18 - b->fcalcurve[0] = v6.fcal_0_curve; - b->fcalcurve[1] = v6.fcal_1_curve; - b->fcalgibpha[0] = v6.fcal_0_gibphase; - b->fcalgibpha[1] = v6.fcal_1_gibphase; - b->fcalgibmag[0] = v6.fcal_0_gibmag; - b->fcalgibmag[1] = v6.fcal_1_gibmag; + b->fcal.phase[0] = v6.fcal_0_phase; + b->fcal.phase[1] = v6.fcal_1_phase; + b->fcal.tilt[0] = (v6.fcal_0_tilt); + b->fcal.tilt[1] = (v6.fcal_1_tilt); // XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18 + b->fcal.curve[0] = v6.fcal_0_curve; + b->fcal.curve[1] = v6.fcal_1_curve; + b->fcal.gibpha[0] = v6.fcal_0_gibphase; + b->fcal.gibpha[1] = v6.fcal_1_gibphase; + b->fcal.gibmag[0] = v6.fcal_0_gibmag; + b->fcal.gibmag[1] = v6.fcal_1_gibmag; b->accel[0] = v6.accel_dir_x; b->accel[1] = v6.accel_dir_y; b->accel[2] = v6.accel_dir_z; + b->mode = v6.mode_current; b->OOTXSet = 1; config_set_lighthouse(ctx->lh_config,b,id); @@ -116,6 +118,9 @@ int survive_cal_get_status( struct SurviveContext * ctx, char * description, int void survive_cal_install( struct SurviveContext * ctx ) { + if (ctx->calptr) + return; + int i; struct SurviveCalData * cd = ctx->calptr = calloc( 1, sizeof( struct SurviveCalData ) ); @@ -184,30 +189,8 @@ void survive_cal_install( struct SurviveContext * ctx ) } const char * DriverName; -// const char * PreferredPoser = survive_configs(ctx, "configposer", "PoserCharlesSlow"); - const char * PreferredPoser = survive_configs(ctx, "configposer", SC_SETCONFIG, "PoserTurveyTori"); - - SV_INFO( "Trying to load poser %s for cal.", PreferredPoser ); - PoserCB SelectedPoserCB = 0; - const char * SelectedPoserName = 0; - i = 0; - while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) ) - { - PoserCB p = GetDriver( DriverName ); - if( !SelectedPoserCB ) - { - SelectedPoserCB = p; - SelectedPoserName = DriverName; - } - int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0; - if( ThisPoser ) - { - SelectedPoserCB = p; - SelectedPoserName = DriverName; - } - } - cd->ConfigPoserFn = SelectedPoserCB; - SV_INFO( "Got config poser: %s (%p)", SelectedPoserName, cd->ConfigPoserFn ); + cd->ConfigPoserFn = GetDriverByConfig(ctx, "Poser", "configposer", "SBA", 0); + ootx_packet_clbk = ootx_packet_clbk_d; ctx->calptr = cd; @@ -618,7 +601,7 @@ static void handle_calibration( struct SurviveCalData *cd ) for( obj = 0; obj < cd->numPoseObjects; obj++ ) { int i, j; - PoserDataFullScene fsd = {}; + PoserDataFullScene fsd = {0}; fsd.hdr.pt = POSERDATA_FULL_SCENE; for( j = 0; j < NUM_LIGHTHOUSES; j++ ) for( i = 0; i < SENSORS_PER_OBJECT; i++ ) @@ -636,8 +619,8 @@ static void handle_calibration( struct SurviveCalData *cd ) } fsd.lengths[i][j][0] = cd->avglens[dataindex+0]; fsd.lengths[i][j][1] = cd->avglens[dataindex+1]; - fsd.angles[i][j][0] = cd->avgsweeps[dataindex+0]; - fsd.angles[i][j][1] = cd->avgsweeps[dataindex+1]; + fsd.angles[i][j][0] = cd->avgsweeps[dataindex + 0]; + fsd.angles[i][j][1] = cd->avgsweeps[dataindex + 1]; fsd.synctimes[i][j] = temp_syncs[i][j]; } diff --git a/src/survive_charlesbiguator.c b/src/survive_charlesbiguator.c index fbba888..83b3681 100644 --- a/src/survive_charlesbiguator.c +++ b/src/survive_charlesbiguator.c @@ -1,6 +1,7 @@ //<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License. // #include "survive_internal.h" +#include <assert.h> #include <math.h> /* for sqrt */ #include <stdint.h> #include <string.h> @@ -15,12 +16,16 @@ static int32_t decode_acode(uint32_t length, int32_t main_divisor) { if (acode & 1) return -1; - return (acode >> 1) - 6; + int32_t rtn = (acode >> 1) - 6; + if (rtn > 7 || rtn < 0) { + return -1; + } + return rtn; } //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////The charles disambiguator. Don't use this, mostly here for -///debugging./////////////////////////////////////////////////////// +/// debugging./////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// static void HandleOOTX(SurviveContext *ctx, SurviveObject *so) { @@ -169,21 +174,23 @@ void DisambiguatorCharles(SurviveObject *so, LightcapElement *le) { int32_t main_divisor = so->timebase_hz / 384000; // 125 @ 48 MHz. int acode = decode_acode(so->last_sync_length[0], main_divisor); - int whichlh; - if (acode < 0) - whichlh = 1; - else - whichlh = (acode >> 2); - int32_t dl = so->last_sync_time[whichlh]; - if (!so->did_handle_ootx) - HandleOOTX(ctx, so); + // If acode isn't right; don't even think of emitting an event + if (acode >= 0) { + int whichlh = (acode >> 2); + assert(whichlh <= 1); + int32_t dl = so->last_sync_time[whichlh]; - int32_t offset_from = le->timestamp - dl + le->length / 2; + if (!so->did_handle_ootx) + HandleOOTX(ctx, so); - // Make sure pulse is in valid window - if (offset_from < so->timecenter_ticks * 2 - so->pulse_in_clear_time && offset_from > so->pulse_in_clear_time) { - ctx->lightproc(so, le->sensor_id, acode, offset_from, le->timestamp, le->length, whichlh); + int32_t offset_from = le->timestamp - dl + le->length / 2; + + // Make sure pulse is in valid window + if (offset_from < so->timecenter_ticks * 2 - so->pulse_in_clear_time && + offset_from > so->pulse_in_clear_time) { + ctx->lightproc(so, le->sensor_id, acode, offset_from, le->timestamp, le->length, whichlh); + } } } else { // printf( "FAIL %d %d - %d = %d\n", le->length, so->last_photo_time, le->timestamp, so->last_photo_time - diff --git a/src/survive_config.c b/src/survive_config.c index 7b68ae4..d67cd8e 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -119,12 +119,13 @@ void config_read_lighthouse(config_group *lh_config, BaseStationData *bsd, uint8 FLT defaults[7] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; bsd->BaseStationID = config_read_uint32(cg, "id", 0); + bsd->mode = config_read_uint32(cg, "mode", 0); config_read_float_array(cg, "pose", &bsd->Pose.Pos[0], defaults, 7); - config_read_float_array(cg, "fcalphase", bsd->fcalphase, defaults, 2); - config_read_float_array(cg, "fcaltilt", bsd->fcaltilt, defaults, 2); - config_read_float_array(cg, "fcalcurve", bsd->fcalcurve, defaults, 2); - config_read_float_array(cg, "fcalgibpha", bsd->fcalgibpha, defaults, 2); - config_read_float_array(cg, "fcalgibmag", bsd->fcalgibmag, defaults, 2); + config_read_float_array(cg, "fcalphase", bsd->fcal.phase, defaults, 2); + config_read_float_array(cg, "fcaltilt", bsd->fcal.tilt, defaults, 2); + config_read_float_array(cg, "fcalcurve", bsd->fcal.curve, defaults, 2); + config_read_float_array(cg, "fcalgibpha", bsd->fcal.gibpha, defaults, 2); + config_read_float_array(cg, "fcalgibmag", bsd->fcal.gibmag, defaults, 2); bsd->PositionSet = config_read_uint32(cg, "PositionSet", 0); } @@ -132,12 +133,13 @@ void config_set_lighthouse(config_group *lh_config, BaseStationData *bsd, uint8_ config_group *cg = lh_config + idx; config_set_uint32(cg, "index", idx); config_set_uint32(cg, "id", bsd->BaseStationID); + config_set_uint32(cg, "mode", bsd->mode); config_set_float_a(cg, "pose", &bsd->Pose.Pos[0], 7); - config_set_float_a(cg, "fcalphase", bsd->fcalphase, 2); - config_set_float_a(cg, "fcaltilt", bsd->fcaltilt, 2); - config_set_float_a(cg, "fcalcurve", bsd->fcalcurve, 2); - config_set_float_a(cg, "fcalgibpha", bsd->fcalgibpha, 2); - config_set_float_a(cg, "fcalgibmag", bsd->fcalgibmag, 2); + config_set_float_a(cg, "fcalphase", bsd->fcal.phase, 2); + config_set_float_a(cg, "fcaltilt", bsd->fcal.tilt, 2); + config_set_float_a(cg, "fcalcurve", bsd->fcal.curve, 2); + config_set_float_a(cg, "fcalgibpha", bsd->fcal.gibpha, 2); + config_set_float_a(cg, "fcalgibmag", bsd->fcal.gibmag, 2); config_set_uint32(cg, "PositionSet", bsd->PositionSet); } diff --git a/src/survive_disambiguator.c b/src/survive_disambiguator.c index 39b23b6..73e61a8 100644 --- a/src/survive_disambiguator.c +++ b/src/survive_disambiguator.c @@ -1,3 +1,21 @@ #include "survive.h" -void handle_lightcap(SurviveObject *so, LightcapElement *le) { so->ctx->lightcapfunction(so, le); } +#include "survive_playback.h" +#include <os_generic.h> +#include <stdio.h> + +//#define LOG_LIGHTDATA + +void handle_lightcap(SurviveObject *so, LightcapElement *le) { + survive_recording_lightcap(so, le); +#ifdef LOG_LIGHTDATA + static FILE *flog; + static double start = 0; + if (!flog) { + flog = fopen("lightcap.txt", "wb"); + start = OGGetAbsoluteTime(); + } + fprintf(flog, "%.6f %2d %4d %9d\n", OGGetAbsoluteTime() - start, le->sensor_id, le->length, le->timestamp); +#endif + so->ctx->lightcapfunction(so, le); +} diff --git a/src/survive_internal.h b/src/survive_internal.h index 86b119f..9120f41 100644 --- a/src/survive_internal.h +++ b/src/survive_internal.h @@ -16,7 +16,8 @@ void * GetDriver( const char * name ); const char * GetDriverNameMatching( const char * prefix, int place ); void ListDrivers(); - +void *GetDriverByConfig(SurviveContext *ctx, const char *name, const char *configname, const char *configdef, + int verbose); #endif diff --git a/src/survive_playback.c b/src/survive_playback.c index 9261bb5..d5d1c08 100644 --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -6,7 +6,6 @@ #include <survive.h> #include <string.h> -#include <sys/time.h> #include "survive_config.h" #include "survive_default_devices.h" @@ -14,8 +13,17 @@ #include "os_generic.h" #include "stdarg.h" +#ifdef _WIN32 +typedef long ssize_t; +#define SSIZE_MAX LONG_MAX + +ssize_t getdelim(char **lineptr, size_t *n, int delimiter, FILE *stream); +ssize_t getline(char **lineptr, size_t *n, FILE *stream); +#endif + typedef struct SurviveRecordingData { bool alwaysWriteStdOut; + bool writeRawLight; FILE *output_file; } SurviveRecordingData; @@ -96,6 +104,16 @@ void survive_recording_angle_process(struct SurviveObject *so, int sensor_id, in angle, lh); } +void survive_recording_lightcap(SurviveObject *so, LightcapElement *le) { + SurviveRecordingData *recordingData = so->ctx->recptr; + if (recordingData == 0) + return; + + if (recordingData->writeRawLight) { + write_to_output(recordingData, "%s C %d %u %u\n", so->codename, le->sensor_id, le->timestamp, le->length); + } +} + void survive_recording_light_process(struct SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) { SurviveRecordingData *recordingData = so->ctx->recptr; @@ -133,6 +151,7 @@ void survive_recording_light_process(struct SurviveObject *so, int sensor_id, in LH_Axis = "Y"; break; } + write_to_output(recordingData, "%s %s %s %d %d %d %u %u %u\n", so->codename, LH_ID, LH_Axis, sensor_id, acode, timeinsweep, timecode, length, lh); } @@ -154,6 +173,7 @@ struct SurvivePlaybackData { FLT time_factor; double next_time_us; + bool hasRawLight; }; typedef struct SurvivePlaybackData SurvivePlaybackData; @@ -190,8 +210,31 @@ static int parse_and_run_imu(const char *line, SurvivePlaybackData *driver) { return 0; } -static int parse_and_run_lightcode(const char *line, - SurvivePlaybackData *driver) { +static int parse_and_run_rawlight(const char *line, SurvivePlaybackData *driver) { + driver->hasRawLight = 1; + + char dev[10]; + char op[10]; + LightcapElement le; + int rr = sscanf(line, "%s %s %hhu %u %hu\n", dev, op, &le.sensor_id, &le.timestamp, &le.length); + + SurviveObject *so = survive_get_so_by_name(driver->ctx, dev); + if (!so) { + static bool display_once = false; + SurviveContext *ctx = driver->ctx; + if (display_once == false) { + SV_ERROR("Could not find device named %s from lineno %d\n", dev, driver->lineno); + } + display_once = true; + + return -1; + } + + handle_lightcap(so, &le); + return 0; +} + +static int parse_and_run_lightcode(const char *line, SurvivePlaybackData *driver) { char lhn[10]; char axn[10]; char dev[10]; @@ -206,8 +249,7 @@ static int parse_and_run_lightcode(const char *line, &length, &lh); if (rr != 9) { - fprintf(stderr, "Warning: On line %d, only %d values read: '%s'\n", - driver->lineno, rr, line); + fprintf(stderr, "Warning: On line %d, only %d values read: '%s'\n", driver->lineno, rr, line); return -1; } @@ -232,12 +274,10 @@ static int playback_poll(struct SurviveContext *ctx, void *_driver) { FILE *f = driver->playback_file; if (f && !feof(f) && !ferror(f)) { - int i; driver->lineno++; - char *line; + char *line = 0; if (driver->next_time_us == 0) { - char *buffer; size_t n = 0; ssize_t r = getdelim(&line, &n, ' ', f); if (r <= 0) @@ -255,7 +295,6 @@ static int playback_poll(struct SurviveContext *ctx, void *_driver) { return 0; driver->next_time_us = 0; - char *buffer; size_t n = 0; ssize_t r = getline(&line, &n, f); if (r <= 0) @@ -263,16 +302,23 @@ static int playback_poll(struct SurviveContext *ctx, void *_driver) { char dev[10]; char op[10]; - if (sscanf(line, "%8s %8s", dev, op) < 2) + if (sscanf(line, "%8s %8s", dev, op) < 2) { + free(line); return 0; + } - if ((op[0] != 'R' && op[0] != 'L' && op[0] != 'I') || op[1] != 0) + if (op[1] != 0) { return 0; + } switch (op[0]) { + case 'C': + parse_and_run_rawlight(line, driver); + break; case 'L': case 'R': - parse_and_run_lightcode(line, driver); + if (driver->hasRawLight == false) + parse_and_run_lightcode(line, driver); break; case 'I': parse_and_run_imu(line, driver); @@ -301,15 +347,15 @@ static int playback_close(struct SurviveContext *ctx, void *_driver) { } void survive_install_recording(SurviveContext *ctx) { - const char *dataout_file = survive_configs(ctx, "record", SC_SETCONFIG, ""); - int record_to_stdout = survive_configi(ctx, "record-stdout", SC_SETCONFIG, 0); + const char *dataout_file = survive_configs(ctx, "record", SC_GET, ""); + int record_to_stdout = survive_configi(ctx, "record-stdout", SC_GET, 0); if (strlen(dataout_file) > 0 || record_to_stdout) { ctx->recptr = calloc(1, sizeof(struct SurviveRecordingData)); ctx->recptr->output_file = fopen(dataout_file, "w"); if (ctx->recptr->output_file == 0 && !record_to_stdout) { - SV_INFO("Could not open %s for writing\n", dataout_file); + SV_INFO("Could not open %s for writing", dataout_file); free(ctx->recptr); ctx->recptr = 0; return; @@ -319,11 +365,13 @@ void survive_install_recording(SurviveContext *ctx) { if (record_to_stdout) { SV_INFO("Recording to stdout"); } + + ctx->recptr->writeRawLight = survive_configi(ctx, "record-rawlight", SC_GET, 1); } } int DriverRegPlayback(SurviveContext *ctx) { - const char *playback_file = survive_configs(ctx, "playback", SC_SETCONFIG, ""); + const char *playback_file = survive_configs(ctx, "playback", SC_GET, ""); if (strlen(playback_file) == 0) { return 0; @@ -332,9 +380,7 @@ int DriverRegPlayback(SurviveContext *ctx) { SurvivePlaybackData *sp = calloc(1, sizeof(SurvivePlaybackData)); sp->ctx = ctx; sp->playback_dir = playback_file; - sp->time_factor = survive_configf(ctx, "playback-factor", SC_SETCONFIG, 1.f); - - printf("%s\n", playback_file); + sp->time_factor = survive_configf(ctx, "playback-factor", SC_GET, 1.f); sp->playback_file = fopen(playback_file, "r"); if (sp->playback_file == 0) { @@ -356,7 +402,7 @@ int DriverRegPlayback(SurviveContext *ctx) { while (!feof(sp->playback_file) && !ferror(sp->playback_file)) { char *line = 0; size_t n; - ssize_t r = getline(&line, &n, sp->playback_file); + int r = getline(&line, &n, sp->playback_file); if (r <= 0) continue; diff --git a/src/survive_playback.h b/src/survive_playback.h index 52638a9..c895120 100644 --- a/src/survive_playback.h +++ b/src/survive_playback.h @@ -5,7 +5,7 @@ void survive_recording_config_process(SurviveObject *so, char *ct0conf, int len) void survive_recording_lighthouse_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lh_pose, SurvivePose *obj); - +void survive_recording_lightcap(SurviveObject *so, LightcapElement *le); void survive_recording_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); void survive_recording_info_process(SurviveContext *ctx, const char *fault); void survive_recording_angle_process(struct SurviveObject *so, int sensor_id, int acode, uint32_t timecode, FLT length, diff --git a/src/survive_process.c b/src/survive_process.c index 6136148..e05e809 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -48,15 +48,22 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode FLT angle = (timeinsweep - so->timecenter_ticks) * (1./so->timecenter_ticks * 3.14159265359/2.0); //Need to now do angle correction. -#if 1 - BaseStationData * bsd = &ctx->bsd[base_station]; + static int use_bsd_cal = -1; + if (use_bsd_cal == -1) { + use_bsd_cal = survive_configi(ctx, "use-bsd-cal", SC_GET, 1); + if (use_bsd_cal == 0) { + SV_INFO("Not using BSD calibration values"); + } + } + if (use_bsd_cal) { + BaseStationData *bsd = &ctx->bsd[base_station]; - //XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18 - angle += bsd->fcalphase[axis]; -// angle += bsd->fcaltilt[axis] * predicted_angle(axis1); - - //TODO!!! -#endif + // XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18 + // angle += (use_bsd_cal == 2 ? -1 : 1) * bsd->fcal.phase[axis]; + // angle += bsd->fcaltilt[axis] * predicted_angle(axis1); + + // TODO!!! + } FLT length_sec = length / (FLT)so->timebase_hz; ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle, lh); @@ -80,7 +87,9 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode .lh = lh, }; - SurviveSensorActivations_add(&so->activations, &l); + // Simulate the use of only one lighthouse in playback mode. + if (lh < ctx->activeLighthouses) + SurviveSensorActivations_add(&so->activations, &l); survive_recording_angle_process(so, sensor_id, acode, timecode, length, angle, lh); diff --git a/src/survive_reproject.c b/src/survive_reproject.c index eabdb07..d6ba70b 100644 --- a/src/survive_reproject.c +++ b/src/survive_reproject.c @@ -1,80 +1,11 @@ #include "survive_reproject.h" #include <../redist/linmath.h> #include <math.h> +#include <stdio.h> #include <string.h> -static void survive_calibration_options_config_normalize( - survive_calibration_options_config *option) { - if (!option->enable[0]) - option->invert[0] = false; - if (!option->enable[1]) - option->invert[1] = false; - if (!option->enable[0] && !option->enable[1]) - option->swap = false; -} - -void survive_calibration_options_config_apply( - const survive_calibration_options_config *option, const FLT *input, - FLT *output) { - FLT tmp[2]; // In case they try to do in place - for (int i = 0; i < 2; i++) { - tmp[i] = option->enable[i] * (option->invert[i] ? -1 : 1) * - input[i ^ option->swap]; - } - for (int i = 0; i < 2; i++) { - output[i] = tmp[i]; - } -} - -survive_calibration_config -survive_calibration_config_create_from_idx(size_t v) { - survive_calibration_config config; - memset(&config, 0, sizeof(config)); - - bool *_this = (bool *)&config; - - for (size_t i = 0; i < sizeof(config); i++) { - _this[i] = (bool)(v & 1); - v = v >> 1; - } - - survive_calibration_options_config_normalize(&config.phase); - survive_calibration_options_config_normalize(&config.tilt); - survive_calibration_options_config_normalize(&config.curve); - survive_calibration_options_config_normalize(&config.gibMag); - - config.gibPhase.enable[0] = config.gibMag.enable[0]; - config.gibPhase.enable[1] = config.gibMag.enable[1]; - - survive_calibration_options_config_normalize(&config.gibPhase); - - if (!config.gibPhase.enable[0] && !config.gibPhase.enable[1]) - config.gibUseSin = false; - - return config; -} - -size_t -survive_calibration_config_index(const survive_calibration_config *config) { - bool *_this = (bool *)config; - size_t v = 0; - for (size_t i = 0; i < sizeof(*config); i++) { - v = (v | _this[sizeof(*config) - i - 1]); - v = v << 1; - } - v = v >> 1; - return v; -} - -static FLT gibf(bool useSin, FLT v) { - if (useSin) - return sin(v); - return cos(v); -} - -void survive_reproject_from_pose_with_config( - const SurviveContext *ctx, const survive_calibration_config *config, - int lighthouse, const SurvivePose *pose, const FLT *pt, FLT *out) { +void survive_reproject_from_pose_with_bsd(const BaseStationData *bsd, const survive_calibration_config *config, + const SurvivePose *pose, const FLT *pt, FLT *out) { LinmathQuat invq; quatgetreciprocal(invq, pose->Rot); @@ -88,57 +19,85 @@ void survive_reproject_from_pose_with_config( FLT x = -t_pt[0] / -t_pt[2]; FLT y = t_pt[1] / -t_pt[2]; + double xy[] = {x, y}; + double ang[] = {atan(x), atan(y)}; + + const FLT *phase = bsd->fcal.phase; + const FLT *curve = bsd->fcal.curve; + const FLT *tilt = bsd->fcal.tilt; + const FLT *gibPhase = bsd->fcal.gibpha; + const FLT *gibMag = bsd->fcal.gibmag; + enum SurviveCalFlag f = config->use_flag; + + for (int axis = 0; axis < 2; axis++) { + int opp_axis = axis == 0 ? 1 : 0; + + out[axis] = ang[axis]; + + if (f & SVCal_Phase) + out[axis] -= config->phase_scale * phase[axis]; + if (f & SVCal_Tilt) + out[axis] -= tan(config->tilt_scale * tilt[axis]) * xy[opp_axis]; + if (f & SVCal_Curve) + out[axis] -= config->curve_scale * curve[axis] * xy[opp_axis] * xy[opp_axis]; + if (f & SVCal_Gib) + out[axis] -= config->gib_scale * sin(gibPhase[axis] + ang[axis]) * gibMag[axis]; + } +} - double ang_x = atan(x); - double ang_y = atan(y); - - const BaseStationData *bsd = &ctx->bsd[lighthouse]; - double phase[2]; - survive_calibration_options_config_apply(&config->phase, bsd->fcalphase, - phase); - double tilt[2]; - survive_calibration_options_config_apply(&config->tilt, bsd->fcaltilt, - tilt); - double curve[2]; - survive_calibration_options_config_apply(&config->curve, bsd->fcalcurve, - curve); - double gibPhase[2]; - survive_calibration_options_config_apply(&config->gibPhase, bsd->fcalgibpha, - gibPhase); - double gibMag[2]; - survive_calibration_options_config_apply(&config->gibMag, bsd->fcalgibmag, - gibMag); +void survive_apply_bsd_calibration_by_config(SurviveContext *ctx, int lh, struct survive_calibration_config *config, + const FLT *in, FLT *out) { + const BaseStationCal *cal = &ctx->bsd[lh].fcal; + out[0] = in[0] + config->phase_scale * cal->phase[0]; + out[1] = in[1] + config->phase_scale * cal->phase[1]; + + enum SurviveCalFlag f = config->use_flag; + FLT phase_scale = config->phase_scale; + FLT tilt_scale = config->tilt_scale; + FLT curve_scale = config->curve_scale; + FLT gib_scale = config->gib_scale; + const int iterations = 4; + for (int i = 0; i < iterations; i++) { + FLT last_out[2] = {out[0], out[1]}; + FLT tlast_out[2] = {tan(out[0]), tan(out[1])}; + bool last_iteration = i == iterations - 1; + for (int j = 0; j < 2; j++) { + int oj = j == 0 ? 1 : 0; + out[j] = in[j]; + if (!last_iteration || (f & SVCal_Phase)) + out[j] += phase_scale * cal->phase[j]; + if (!last_iteration || (f & SVCal_Tilt)) + out[j] += tan(tilt_scale * cal->tilt[j]) * tlast_out[oj]; + if (!last_iteration || (f & SVCal_Curve)) + out[j] += (cal->curve[j] * curve_scale) * tlast_out[oj] * tlast_out[oj]; + if (!last_iteration || (f & SVCal_Gib)) + out[j] += sin(cal->gibpha[j] + last_out[j]) * cal->gibmag[j] * gib_scale; + } + } +} - out[0] = ang_x + phase[0] + tan(tilt[0]) * y + curve[0] * y * y + - gibf(config->gibUseSin, gibPhase[0] + ang_x) * gibMag[0]; - out[1] = ang_y + phase[1] + tan(tilt[1]) * x + curve[1] * x * x + - gibf(config->gibUseSin, gibPhase[1] + ang_y) * gibMag[1]; +void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, const SurvivePose *pose, FLT *pt, + FLT *out) { + survive_reproject_from_pose_with_bsd(&ctx->bsd[lighthouse], &ctx->calibration_config, pose, pt, out); } -void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, - const SurvivePose *pose, FLT *pt, FLT *out) { - survive_reproject_from_pose_with_config( - ctx, survive_calibration_default_config(), lighthouse, pose, pt, out); +void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, FLT *out) { + survive_reproject_from_pose(ctx, lighthouse, &ctx->bsd[lighthouse].Pose, point3d, out); } -void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, - FLT *out) { - survive_reproject_from_pose(ctx, lighthouse, &ctx->bsd[lighthouse].Pose, - point3d, out); +survive_calibration_config survive_calibration_config_ctor() { + return (survive_calibration_config){.use_flag = SVCal_All, + .phase_scale = 1., + .tilt_scale = 1. / 10., + .curve_scale = 1. / 10., + .gib_scale = -1. / 10.}; } -const survive_calibration_config *survive_calibration_default_config() { - static survive_calibration_config *def = 0; - if (def == 0) { - def = malloc(sizeof(survive_calibration_config)); - memset(def, 0, sizeof(survive_calibration_config)); - *def = survive_calibration_config_create_from_idx(0); - } - return def; +void survive_apply_bsd_calibration(SurviveContext *ctx, int lh, const FLT *in, FLT *out) { + survive_apply_bsd_calibration_by_config(ctx, lh, &ctx->calibration_config, in, out); } -size_t survive_calibration_config_max_idx() { - survive_calibration_config cfg; - memset(&cfg, 0x1, sizeof(survive_calibration_config)); - return survive_calibration_config_index(&cfg); +void survive_reproject_from_pose_with_config(const SurviveContext *ctx, struct survive_calibration_config *config, + int lighthouse, const SurvivePose *pose, FLT *point3d, FLT *out) { + return survive_reproject_from_pose_with_bsd(&ctx->bsd[lighthouse], config, pose, point3d, out); } diff --git a/src/survive_sensor_activations.c b/src/survive_sensor_activations.c index 4d1801c..dc5c0d4 100644 --- a/src/survive_sensor_activations.c +++ b/src/survive_sensor_activations.c @@ -1,3 +1,4 @@ +#include <math.h> #include <survive.h> bool SurviveSensorActivations_isPairValid(const SurviveSensorActivations *self, uint32_t tolerance, @@ -21,9 +22,11 @@ void SurviveSensorActivations_add(SurviveSensorActivations *self, struct PoserDa int axis = (lightData->acode & 1); uint32_t *data_timecode = &self->timecode[lightData->sensor_id][lightData->lh][axis]; FLT *angle = &self->angles[lightData->sensor_id][lightData->lh][axis]; + uint32_t *length = &self->lengths[lightData->sensor_id][lightData->lh][axis]; *angle = lightData->angle; *data_timecode = lightData->timecode; + *length = lightData->length * 48000000; } -uint32_t SurviveSensorActivations_default_tolerance = (uint32_t)(48000000 /*mhz*/ * (16.7 * 2 /*ms*/) / 1000);
\ No newline at end of file +uint32_t SurviveSensorActivations_default_tolerance = (uint32_t)(48000000 /*mhz*/ * (16.7 * 2 /*ms*/) / 1000) + 5000; diff --git a/src/survive_statebased_disambiguator.c b/src/survive_statebased_disambiguator.c new file mode 100644 index 0000000..6b217ee --- /dev/null +++ b/src/survive_statebased_disambiguator.c @@ -0,0 +1,488 @@ +// +#include "survive_internal.h" +#include <assert.h> +#include <math.h> /* for sqrt */ +#include <stdint.h> +#include <stdlib.h> +#include <string.h> + +//#define DEBUG_TB(...) SV_INFO(__VA_ARGS__) +#define DEBUG_TB(...) +/** + * The lighthouses go in the following order: + * + * Ticks State + * 0 ACode 0b1x0 (4) <--- B + * 20 000 ACode 0b0x0 (0) <--- A/c + * LH A X Sweep + * 400 000 ACode 0b1x1 (5) <--- B + * 420 000 ACode 0b0x1 (1) <--- A/c + * LH A Y SWEEP + * 800 000 ACode 0b0x0 (0) <--- B + * 820 000 ACode 0b1x0 (4) <--- A/c + * LH B X Sweep + * 1 200 000 ACode 0b0x1 (1) <--- B + * 1 220 000 ACode 0b1x1 (5) <--- A/c + * LH B Y SWEEP + * 1 600 000 < REPEAT > + * + * NOTE: Obviously you cut the data bit out for this + * + * This disambiguator works by finding where in that order it is, and tracking along with it. + * It is able to maintain this tracking for extended periods of time without further data + * by knowing the modulo of the start of the cycle and calculating appropriatly although this + * will run into issues when the timestamp rolls over or we simply drift off in accuracy. + * + * Neither case is terminal though; it will just have to find the modulo again which only takes + * a handful of pulses. + * + * The main advantage to this scheme is that its reasonably fast and is able to deal with being + * close enough to the lighthouse that the lengths are in a valid sync pulse range. + */ + +// Every pulse_window seems roughly 20k ticks long. That leaves ~360 to the capture window +#define PULSE_WINDOW 20000 +#define CAPTURE_WINDOW 360000 + +enum LighthouseState { + LS_UNKNOWN = 0, + + LS_WaitLHA_ACode4 = 1, + LS_WaitLHA_ACode0, + LS_SweepAX, + LS_WaitLHA_ACode5, + LS_WaitLHA_ACode1, + LS_SweepAY, + LS_WaitLHB_ACode0, + LS_WaitLHB_ACode4, + LS_SweepBX, + LS_WaitLHB_ACode1, + LS_WaitLHB_ACode5, + LS_SweepBY, + + LS_END +}; + +typedef struct { + int acode, lh, axis, window, offset; + bool is_sweep; +} LighthouseStateParameters; + +// clang-format off +const LighthouseStateParameters LS_Params[LS_END + 1] = { + {.acode = -1, .lh = -1, .axis = -1, .window = -1}, + + {.acode = 4, .lh = 0, .axis = 0, .window = PULSE_WINDOW, .offset = 0 * PULSE_WINDOW + 0 * CAPTURE_WINDOW}, // 0 + {.acode = 0, .lh = 1, .axis = 0, .window = PULSE_WINDOW, .offset = 1 * PULSE_WINDOW + 0 * CAPTURE_WINDOW}, // 20000 + {.acode = 4, .lh = 1, .axis = 0, .window = CAPTURE_WINDOW, .offset = 2 * PULSE_WINDOW + 0 * CAPTURE_WINDOW, .is_sweep = 1}, // 40000 + + {.acode = 5, .lh = 0, .axis = 1, .window = PULSE_WINDOW, .offset = 2 * PULSE_WINDOW + 1 * CAPTURE_WINDOW}, // 400000 + {.acode = 1, .lh = 1, .axis = 1, .window = PULSE_WINDOW, .offset = 3 * PULSE_WINDOW + 1 * CAPTURE_WINDOW}, // 420000 + {.acode = 5, .lh = 1, .axis = 1, .window = CAPTURE_WINDOW, .offset = 4 * PULSE_WINDOW + 1 * CAPTURE_WINDOW, .is_sweep = 1}, // 440000 + + {.acode = 0, .lh = 0, .axis = 0, .window = PULSE_WINDOW, .offset = 4 * PULSE_WINDOW + 2 * CAPTURE_WINDOW}, // 800000 + {.acode = 4, .lh = 1, .axis = 0, .window = PULSE_WINDOW, .offset = 5 * PULSE_WINDOW + 2 * CAPTURE_WINDOW}, // 820000 + {.acode = 0, .lh = 0, .axis = 0, .window = CAPTURE_WINDOW, .offset = 6 * PULSE_WINDOW + 2 * CAPTURE_WINDOW, .is_sweep = 1}, // 840000 + + {.acode = 1, .lh = 0, .axis = 1, .window = PULSE_WINDOW, .offset = 6 * PULSE_WINDOW + 3 * CAPTURE_WINDOW}, // 1200000 + {.acode = 5, .lh = 1, .axis = 1, .window = PULSE_WINDOW, .offset = 7 * PULSE_WINDOW + 3 * CAPTURE_WINDOW}, // 1220000 + {.acode = 1, .lh = 0, .axis = 1, .window = CAPTURE_WINDOW, .offset = 8 * PULSE_WINDOW + 3 * CAPTURE_WINDOW, .is_sweep = 1}, // 1240000 + + {.acode = -1, .lh = -1, .axis = -1, .window = -1, .offset = 8 * PULSE_WINDOW + 4 * CAPTURE_WINDOW} // 1600000 +}; +// clang-format on + +enum LighthouseState LighthouseState_findByOffset(int offset) { + for (int i = 2; i < LS_END + 1; i++) { + if (LS_Params[i].offset > offset) + return i - 1; + } + assert(false); + return -1; +} + +typedef struct { + SurviveObject *so; + /* We keep the last sync time per LH because lightproc expects numbers relative to it */ + uint32_t time_of_last_sync[NUM_LIGHTHOUSES]; + + /* Keep running average of sync signals as they come in */ + uint64_t last_sync_timestamp; + uint64_t last_sync_length; + int last_sync_count; + + /** This part of the structure is general use when we know our state */ + enum LighthouseState state; + uint32_t mod_offset; + int confidence; + + /** This rest of the structure is dedicated to finding a state when we are unknown */ + int encoded_acodes; + + int stabalize; + bool lastWasSync; + + LightcapElement sweep_data[]; +} Disambiguator_data_t; + +static uint32_t timestamp_diff(uint32_t recent, uint32_t prior) { + if (recent > prior) + return recent - prior; + return (0xFFFFFFFF - prior) + recent; +} + +static int find_acode(uint32_t pulseLen) { + const static int offset = 50; + if (pulseLen < 2500 + offset) + return -1; + + if (pulseLen < 3000 + offset) + return 0; + if (pulseLen < 3500 + offset) + return 1; + if (pulseLen < 4000 + offset) + return 2; + if (pulseLen < 4500 + offset) + return 3; + if (pulseLen < 5000 + offset) + return 4; + if (pulseLen < 5500 + offset) + return 5; + if (pulseLen < 6000 + offset) + return 6; + if (pulseLen < 6500 + offset) + return 7; + + return -1; +} + +static bool overlaps(const LightcapElement *a, const LightcapElement *b) { + int overlap = 0; + if (a->timestamp < b->timestamp && a->length + a->timestamp > b->timestamp) + overlap = a->length + a->timestamp - b->timestamp; + else if (b->timestamp < a->timestamp && b->length + b->timestamp > a->timestamp) + overlap = b->length + b->timestamp - a->timestamp; + + return overlap > a->length / 2; +} + +const int SKIP_BIT = 4; +const int DATA_BIT = 2; +const int AXIS_BIT = 1; + +#define LOWER_SYNC_TIME 2250 +#define UPPER_SYNC_TIME 6750 + +LightcapElement get_last_sync(Disambiguator_data_t *d) { + if (d->last_sync_count == 0) { + return (LightcapElement){0}; + } + + return (LightcapElement){.timestamp = (d->last_sync_timestamp + d->last_sync_count / 2) / d->last_sync_count, + .length = (d->last_sync_length + d->last_sync_count / 2) / d->last_sync_count, + .sensor_id = -d->last_sync_count}; +} + +enum LightcapClassification { LCC_SWEEP, LCC_SYNC }; +static enum LightcapClassification naive_classify(Disambiguator_data_t *d, const LightcapElement *le) { + bool clearlyNotSync = le->length < LOWER_SYNC_TIME || le->length > UPPER_SYNC_TIME; + + if (clearlyNotSync) { + return LCC_SWEEP; + } else { + return LCC_SYNC; + } +} + +#define ACODE_TIMING(acode) \ + ((3000 + ((acode)&1) * 500 + (((acode) >> 1) & 1) * 1000 + (((acode) >> 2) & 1) * 2000) - 250) +#define ACODE(s, d, a) ((s << 2) | (d << 1) | a) +#define SWEEP 0xFF + +static uint32_t SolveForMod_Offset(Disambiguator_data_t *d, enum LighthouseState state, const LightcapElement *le) { + assert(LS_Params[state].is_sweep == 0); // Doesn't work for sweep data + SurviveContext *ctx = d->so->ctx; + DEBUG_TB("Solve for mod %d (%u - %u) = %u", state, le->timestamp, LS_Params[state].offset, + (le->timestamp - LS_Params[state].offset)); + + return (le->timestamp - LS_Params[state].offset); +} + +static enum LighthouseState SetState(Disambiguator_data_t *d, const LightcapElement *le, + enum LighthouseState new_state); +static enum LighthouseState CheckEncodedAcode(Disambiguator_data_t *d, uint8_t newByte) { + + // We chain together acodes / sweep indicators to form an int we can just switch on. + SurviveContext *ctx = d->so->ctx; + d->encoded_acodes &= 0xFF; + d->encoded_acodes = (d->encoded_acodes << 8) | newByte; + + LightcapElement lastSync = get_last_sync(d); + + // These combinations are checked for specificaly to allow for the case one lighthouse is either + // missing or completely occluded. + switch (d->encoded_acodes) { + case (ACODE(0, 1, 0) << 8) | SWEEP: + d->mod_offset = SolveForMod_Offset(d, LS_SweepAX - 1, &lastSync); + + return (LS_SweepAX + 1); + case (ACODE(0, 1, 1) << 8) | SWEEP: + d->mod_offset = SolveForMod_Offset(d, LS_SweepAY - 1, &lastSync); + + return (LS_SweepAY + 1); + case (SWEEP << 8) | (ACODE(0, 1, 1)): + d->mod_offset = SolveForMod_Offset(d, LS_WaitLHB_ACode1, &lastSync); + + return (LS_WaitLHB_ACode1 + 1); + case (SWEEP << 8) | (ACODE(1, 1, 0)): + d->mod_offset = SolveForMod_Offset(d, LS_WaitLHA_ACode4, &lastSync); + + return (LS_WaitLHA_ACode4 + 1); + } + + return LS_UNKNOWN; +} +static enum LighthouseState EndSweep(Disambiguator_data_t *d, const LightcapElement *le) { + return CheckEncodedAcode(d, SWEEP); +} +static enum LighthouseState EndSync(Disambiguator_data_t *d, const LightcapElement *le) { + LightcapElement lastSync = get_last_sync(d); + int acode = find_acode(lastSync.length) > 0; + if (acode > 0) { + return CheckEncodedAcode(d, (acode | DATA_BIT)); + } else { + // If we can't resolve an acode, just reset + d->encoded_acodes = 0; + } + return LS_UNKNOWN; +} + +static enum LighthouseState AttemptFindState(Disambiguator_data_t *d, const LightcapElement *le) { + enum LightcapClassification classification = naive_classify(d, le); + + if (classification == LCC_SYNC) { + LightcapElement lastSync = get_last_sync(d); + + // Handle the case that this is a new SYNC coming in + if (d->lastWasSync == false || overlaps(&lastSync, le) == false) { + + if (d->lastWasSync && timestamp_diff(lastSync.timestamp, le->timestamp) > 30000) { + // Missed a sweep window; clear encoded values. + d->encoded_acodes = 0; + } + + // Now that the previous two states are in, check to see if they tell us where we are + enum LighthouseState new_state = d->lastWasSync ? EndSync(d, le) : EndSweep(d, le); + if (new_state != LS_UNKNOWN) + return new_state; + + // Otherwise, just reset the sync registers and do another + d->last_sync_timestamp = le->timestamp; + d->last_sync_length = le->length; + d->last_sync_count = 1; + } else { + d->last_sync_timestamp += le->timestamp; + d->last_sync_length += le->length; + d->last_sync_count++; + } + + d->lastWasSync = true; + } else { + // If this is the start of a new sweep, check to see if the end of the sync solves + // the state + if (d->lastWasSync) { + enum LighthouseState new_state = EndSync(d, le); + if (new_state != LS_UNKNOWN) + return new_state; + } + d->lastWasSync = false; + } + + return LS_UNKNOWN; +} + +static enum LighthouseState SetState(Disambiguator_data_t *d, const LightcapElement *le, + enum LighthouseState new_state) { + + SurviveContext *ctx = d->so->ctx; + if (new_state >= LS_END) + new_state = 1; + + d->encoded_acodes = 0; + d->state = new_state; + + d->last_sync_timestamp = d->last_sync_length = d->last_sync_count = 0; + memset(d->sweep_data, 0, sizeof(LightcapElement) * d->so->sensor_ct); + + return new_state; +} + +static void PropagateState(Disambiguator_data_t *d, const LightcapElement *le); +static void RunACodeCapture(int target_acode, Disambiguator_data_t *d, const LightcapElement *le) { + // Just ignore small signals; this has a measurable impact on signal quality + if (le->length < 100) + return; + + // We know what state we are in, so we verify that state as opposed to + // trying to suss out the acode. + + // Calculate what it would be with and without data + uint32_t time_error_d0 = abs(ACODE_TIMING(target_acode) - le->length); + uint32_t time_error_d1 = abs(ACODE_TIMING(target_acode | DATA_BIT) - le->length); + + // Take the least of the two erors + uint32_t error = time_error_d0 > time_error_d1 ? time_error_d1 : time_error_d0; + + // Errors do happen; either reflections or some other noise. Our scheme here is to + // keep a tally of hits and misses, and if we ever go into the negatives reset + // the state machine to find the state again. + if (error > 1250) { + // Penalize semi-harshly -- if it's ever off track it will take this many syncs + // to reset + const int penalty = 3; + if (d->confidence < penalty) { + SurviveContext *ctx = d->so->ctx; + SetState(d, le, LS_UNKNOWN); + SV_INFO("WARNING: Disambiguator got lost; refinding state for %s", d->so->codename); + } + d->confidence -= penalty; + return; + } + + if (d->confidence < 100) + d->confidence++; + + // If its a real timestep, integrate it here and we can take the average later + d->last_sync_timestamp += le->timestamp; + d->last_sync_length += le->length; + d->last_sync_count++; +} + +static void ProcessStateChange(Disambiguator_data_t *d, const LightcapElement *le, enum LighthouseState new_state) { + SurviveContext *ctx = d->so->ctx; + + // Leaving a sync ... + if (LS_Params[d->state].is_sweep == 0) { + if (d->last_sync_count > 0) { + // Use the average of the captured pulse to adjust where we are modulo against. + // This lets us handle drift in any of the timing chararacteristics + LightcapElement lastSync = get_last_sync(d); + d->mod_offset = SolveForMod_Offset(d, d->state, &lastSync); + + // Figure out if it looks more like it has data or doesn't. We need this for OOX + int lengthData = ACODE_TIMING(LS_Params[d->state].acode | DATA_BIT); + int lengthNoData = ACODE_TIMING(LS_Params[d->state].acode); + bool hasData = abs(lengthData - lastSync.length) < abs(lengthNoData - lastSync.length); + int acode = LS_Params[d->state].acode; + if (hasData) { + acode |= DATA_BIT; + } + ctx->lightproc(d->so, -LS_Params[d->state].lh - 1, acode, 0, lastSync.timestamp, lastSync.length, + LS_Params[d->state].lh); + + // Store last sync time for sweep calculations + d->time_of_last_sync[LS_Params[d->state].lh] = lastSync.timestamp; + } + } else { + // Leaving a sweep ... + size_t avg_length = 0; + size_t cnt = 0; + + for (int i = 0; i < d->so->sensor_ct; i++) { + LightcapElement le = d->sweep_data[i]; + // Only care if we actually have data AND we have a time of last sync. We won't have the latter + // if we synced with the LH at cetain times. + if (le.length > 0 && d->time_of_last_sync[LS_Params[d->state].lh] > 0) { + avg_length += le.length; + cnt++; + } + } + if (cnt > 0) { + double var = 1.5; + size_t minl = (1 / var) * (avg_length + cnt / 2) / cnt; + size_t maxl = var * (avg_length + cnt / 2) / cnt; + + for (int i = 0; i < d->so->sensor_ct; i++) { + LightcapElement le = d->sweep_data[i]; + // Only care if we actually have data AND we have a time of last sync. We won't have the latter + // if we synced with the LH at certain times. + if (le.length > 0 && d->time_of_last_sync[LS_Params[d->state].lh] > 0 && le.length >= minl && + le.length <= maxl) { + int32_t offset_from = + timestamp_diff(le.timestamp + le.length / 2, d->time_of_last_sync[LS_Params[d->state].lh]); + + // Send the lightburst out. + if (offset_from > 0) + d->so->ctx->lightproc(d->so, i, LS_Params[d->state].acode, offset_from, le.timestamp, le.length, + LS_Params[d->state].lh); + } + } + } + } + SetState(d, le, new_state); +} + +static void PropagateState(Disambiguator_data_t *d, const LightcapElement *le) { + int le_offset = le->timestamp > d->mod_offset + ? (le->timestamp - d->mod_offset + 10000) % LS_Params[LS_END].offset + : (0xFFFFFFFF - d->mod_offset + le->timestamp + 10000) % LS_Params[LS_END].offset; + + /** Find where this new element fits into our state machine. This can skip states if its been a while since + * its been able to process, or if a LH is missing. */ + enum LighthouseState new_state = LighthouseState_findByOffset(le_offset); + + if (d->state != new_state) { + // This processes the change -- think setting buffers, and sending OOTX / lightproc calls + ProcessStateChange(d, le, new_state); + } + + const LighthouseStateParameters *param = &LS_Params[d->state]; + if (param->is_sweep == 0) { + RunACodeCapture(param->acode, d, le); + } else if (le->length > d->sweep_data[le->sensor_id].length && + le->length < 7000 /*anything above 10k seems to be bullshit?*/) { + // Note we only select the highest length one per sweep. Also, we bundle everything up and send it later all at + // once. + // so that we can do this filtering. Might not be necessary? + d->sweep_data[le->sensor_id] = *le; + } +} + +void DisambiguatorStateBased(SurviveObject *so, const LightcapElement *le) { + SurviveContext *ctx = so->ctx; + + // Note, this happens if we don't have config yet -- just bail + if (so->sensor_ct == 0) { + return; + } + + if (so->disambiguator_data == NULL) { + DEBUG_TB("Initializing Disambiguator Data for TB %d", so->sensor_ct); + Disambiguator_data_t *d = calloc(1, sizeof(Disambiguator_data_t) + sizeof(LightcapElement) * so->sensor_ct); + d->so = so; + so->disambiguator_data = d; + } + + Disambiguator_data_t *d = so->disambiguator_data; + // It seems like the first few hundred lightcapelements are missing a ton of data; let it stabilize. + if (d->stabalize < 200) { + d->stabalize++; + return; + } + + if (d->state == LS_UNKNOWN) { + enum LighthouseState new_state = AttemptFindState(d, le); + if (new_state != LS_UNKNOWN) { + d->confidence = 0; + + int le_offset = (le->timestamp - d->mod_offset) % LS_Params[LS_END].offset; + enum LighthouseState new_state1 = LighthouseState_findByOffset(le_offset); + SetState(d, le, new_state1); + DEBUG_TB("Locked onto state %d(%d, %d) at %u", new_state, new_state1, le_offset, d->mod_offset); + } + } else { + PropagateState(d, le); + } +} + +REGISTER_LINKTIME(DisambiguatorStateBased); diff --git a/src/survive_vive.c b/src/survive_vive.c index 91f4b1f..53f6d42 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1715,19 +1715,9 @@ int survive_vive_close( SurviveContext * ctx, void * driver ) return 0; } -void init_SurviveObject(SurviveObject* so) { - so->acc_scale = NULL; - so->acc_bias = NULL; - so->gyro_scale = NULL; - so->gyro_bias = NULL; - so->haptic = NULL; - so->PoserData = NULL; - so->disambiguator_data = NULL; -} - int DriverRegHTCVive( SurviveContext * ctx ) { - const char *playback_dir = survive_configs(ctx, "playback", SC_SETCONFIG, ""); + const char *playback_dir = survive_configs(ctx, "playback", SC_GET, ""); if(strlen(playback_dir) != 0) { SV_INFO("Playback is active; disabling USB driver"); return 0; @@ -142,6 +142,9 @@ int main( int argc, char ** argv ) double Start = OGGetAbsoluteTime(); ctx = survive_init( argc, argv ); + if (ctx == 0) { // Implies --help or similiar + return -1; + } survive_install_button_fn(ctx, testprog_button_process); survive_install_raw_pose_fn(ctx, testprog_raw_pose_process); diff --git a/tools/findoptimalconfig/Makefile b/tools/findoptimalconfig/Makefile new file mode 100644 index 0000000..f174812 --- /dev/null +++ b/tools/findoptimalconfig/Makefile @@ -0,0 +1,16 @@ +all : findoptimalconfig + +SRT:=../.. + +LIBSURVIVE:=$(SRT)/lib/libsurvive.so + +CFLAGS:=-I$(SRT)/redist -I$(SRT)/include -O0 -g -DFLT=double -DUSE_DOUBLE #-fsanitize=address -fsanitize=undefined +LDFLAGS:=-lm -lpthread -llapacke -lcblas + +findoptimalconfig : findoptimalconfig.cc $(LIBSURVIVE) + cd ../..;make + g++ $(CFLAGS) -o $@ $^ $(LDFLAGS) + +clean : + rm -rf findoptimalconfig + diff --git a/tools/findoptimalconfig/findoptimalconfig.cc b/tools/findoptimalconfig/findoptimalconfig.cc new file mode 100644 index 0000000..b94590f --- /dev/null +++ b/tools/findoptimalconfig/findoptimalconfig.cc @@ -0,0 +1,380 @@ +#include <assert.h> +#include <iostream> +#include <libsurvive/survive.h> +#include <libsurvive/survive_reproject.h> +#include <map> +#include <math.h> +#include <memory> +#include <set> +#include <vector> + +#include <sba/sba.h> +#include <survive_reproject.h> + +struct SBAData { + int last_acode = -1; + int last_lh = -1; + + int failures_to_reset = 1; + int failures_to_reset_cntr = 0; + int successes_to_reset = 1; + int successes_to_reset_cntr = 0; + + FLT sensor_variance = 1.; + FLT sensor_variance_per_second = 0; + int sensor_time_window = SurviveSensorActivations_default_tolerance; + + int required_meas = 8; +}; + +struct PlaybackDataInput { + SurviveObject *so = nullptr; + SurvivePose position; + uint32_t timestamp; + std::vector<char> vmask; + std::vector<double> meas, cov; + SurviveSensorActivations activations; + PlaybackDataInput(SurviveObject *so, const SurvivePose &position) + : so(so), position(position), activations(so->activations) { + int32_t sensor_count = so->sensor_ct; + vmask.resize(sensor_count * NUM_LIGHTHOUSES); + cov.resize(4 * sensor_count * NUM_LIGHTHOUSES); + meas.resize(2 * sensor_count * NUM_LIGHTHOUSES); + } + void shrink(size_t new_size) { + cov.resize(4 * new_size); + meas.resize(2 * new_size); + } + ~PlaybackDataInput() {} +}; + +struct PlaybackData { + SurviveObject *so = nullptr; + BaseStationData bsd[2]; + std::vector<PlaybackDataInput> inputs; +}; + +SBAData settings; +static size_t construct_input_from_scene(SurviveObject *so, uint32_t timestamp, char *vmask, double *meas, + double *cov) { + size_t rtn = 0; + auto scene = &so->activations; + for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) { + for (size_t lh = 0; lh < 2; lh++) { + if (SurviveSensorActivations_isPairValid(scene, settings.sensor_time_window, timestamp, sensor, lh)) { + double *a = scene->angles[sensor][lh]; + vmask[sensor * NUM_LIGHTHOUSES + lh] = 1; + + if (cov) { + *(cov++) = settings.sensor_variance + + std::abs((double)timestamp - scene->timecode[sensor][lh][0]) * + settings.sensor_variance_per_second / (double)so->timebase_hz; + *(cov++) = 0; + *(cov++) = 0; + *(cov++) = settings.sensor_variance + + std::abs((double)timestamp - scene->timecode[sensor][lh][1]) * + settings.sensor_variance_per_second / (double)so->timebase_hz; + } + meas[rtn++] = a[0]; + meas[rtn++] = a[1]; + } else { + vmask[sensor * NUM_LIGHTHOUSES + lh] = 0; + } + } + } + return rtn; +} +uint32_t timestamp; + +void light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, + uint32_t lighthouse) { + timestamp = timecode; + survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); +} + +SurvivePose lastPose = {}; +void raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { + survive_default_raw_pose_process(so, lighthouse, pose); + PlaybackData *d = (PlaybackData *)so->ctx->user_ptr; + d->so = so; + d->inputs.emplace_back(so, *pose); + auto &input = d->inputs.back(); + input.timestamp = timestamp; + int meas = construct_input_from_scene(so, timestamp, &input.vmask.front(), &input.meas.front(), &input.cov.front()); + input.shrink(meas / 2); + + double dist = 0; + if (d->inputs.empty() == false) { + dist = dist3d(pose->Pos, lastPose.Pos); + } + if (meas / 2 < 8 || dist > .00009) + d->inputs.pop_back(); + lastPose = *pose; +} + +void lighthouse_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose, SurvivePose *obj_pose) { + survive_default_lighthouse_pose_process(ctx, lighthouse, pose, obj_pose); + PlaybackData *d = (PlaybackData *)ctx->user_ptr; + d->bsd[lighthouse] = ctx->bsd[lighthouse]; +} + +std::map<size_t, std::map<size_t, double>> errors; + +typedef struct { + survive_calibration_config calibration_config; + SurviveObject *so; + SurvivePose obj_pose; +} sba_context; + +static void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { + SurvivePose obj = *(SurvivePose *)bi; + int sensor_idx = j >> 1; + int lh = j & 1; + + sba_context *ctx = (sba_context *)(adata); + SurviveObject *so = ctx->so; + + assert(lh < 2); + assert(sensor_idx < so->sensor_ct); + + quatnormalize(obj.Rot, obj.Rot); + FLT xyz[3]; + ApplyPoseToPoint(xyz, &obj, &so->sensor_locations[sensor_idx * 3]); + + // std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl; + SurvivePose *camera = &so->ctx->bsd[lh].Pose; + survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, lh, camera, xyz, xij); +} + +double sba_opt(SurviveContext *ctx, const survive_calibration_config &config, PlaybackDataInput &data) { + double *covx = 0; + SurviveObject *so = data.so; + + SurvivePose soLocation = data.position; + + double opts[SBA_OPTSSZ] = {0}; + double info[SBA_INFOSZ] = {0}; + + sba_context _ctx = {config, so}; + + opts[0] = SBA_INIT_MU; + opts[1] = SBA_STOP_THRESH; + opts[2] = SBA_STOP_THRESH; + opts[3] = SBA_STOP_THRESH; + opts[3] = SBA_STOP_THRESH; // max_reproj_error * meas.size(); + opts[4] = 0.0; + + int status = sba_str_levmar(1, // Number of 3d points + 0, // Number of 3d points to fix in spot + NUM_LIGHTHOUSES * so->sensor_ct, &data.vmask.front(), + soLocation.Pos, // Reads as the full pose though + 7, // pnp -- SurvivePose + &data.meas.front(), // x* -- measurement data + &data.cov.front(), // cov data + 2, // mnp -- 2 points per image + str_metric_function, + 0, // jacobia of metric_func + &_ctx, // user data + 100, // Max iterations + 0, // verbosity + opts, // options + info); // info + + int meas_size = data.meas.size() / 2; + if (meas_size == 0) + return 0; + + { + SurviveContext *ctx = so->ctx; + // Docs say info[0] should be divided by meas; I don't buy it really... + static int cnt = 0; + if (cnt++ > 1000) { + SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); + cnt = 0; + } + } + assert(!isinf(info[1])); + return info[1] / meas_size * 2; +} + +struct optimal_cal_ctx { + std::vector<double> sensors; + std::vector<int> lighthouses; + SurviveContext *ctx; +}; + +static void metric_function(int j, int i, double *aj, double *xij, void *adata) { + optimal_cal_ctx *ctx = (optimal_cal_ctx *)(adata); + + FLT sensorInWorld[3] = {ctx->sensors[i * 3 + 0], ctx->sensors[i * 3 + 1], ctx->sensors[i * 3 + 2]}; + int lh = ctx->lighthouses[i]; + BaseStationData bsd = ctx->ctx->bsd[lh]; + survive_calibration_config cfg = *(survive_calibration_config *)aj; + + survive_reproject_from_pose_with_bsd(&bsd, &cfg, &ctx->ctx->bsd[lh].Pose, sensorInWorld, xij); +} + +double find_optimal_cal(SurviveContext *ctx, PlaybackData &data) { + optimal_cal_ctx _ctx; + std::vector<char> vmask; + std::vector<double> cov, meas; + _ctx.ctx = ctx; + for (auto &in : data.inputs) { + for (size_t sensor = 0; sensor < in.so->sensor_ct; sensor++) { + FLT p[3]; + ApplyPoseToPoint(p, &in.position, &data.so->sensor_locations[sensor * 3]); + for (size_t lh = 0; lh < 2; lh++) { + _ctx.sensors.emplace_back(p[0]); + _ctx.sensors.emplace_back(p[1]); + _ctx.sensors.emplace_back(p[2]); + _ctx.lighthouses.emplace_back(lh); + + auto scene = &in.activations; + if (SurviveSensorActivations_isPairValid(scene, settings.sensor_time_window, in.timestamp, sensor, + lh)) { + double *a = scene->angles[sensor][lh]; + vmask.emplace_back(1); //[sensor * NUM_LIGHTHOUSES + lh] = 1; + + meas.emplace_back(a[0]); + meas.emplace_back(a[1]); + } else { + vmask.emplace_back(0); + } + } + } + } + + double *covx = 0; + SurviveObject *so = data.so; + + double opts[SBA_OPTSSZ] = {0}; + double info[SBA_INFOSZ] = {0}; + + survive_calibration_config config = {0}; + config.use_flag = SVCal_All; + + opts[0] = SBA_INIT_MU; + opts[1] = SBA_STOP_THRESH; + opts[2] = SBA_STOP_THRESH; + opts[3] = SBA_STOP_THRESH; + opts[3] = SBA_STOP_THRESH; // max_reproj_error * meas.size(); + opts[4] = 0.0; + + int status = sba_mot_levmar(data.inputs.size() * so->sensor_ct * NUM_LIGHTHOUSES, // number of 3d points + 1, // Number of cameras -- 2 lighthouses + 0, // Number of cameras to not modify + &vmask[0], // boolean vis mask + (double *)&config, // camera parameters + 4, // sizeof(BaseStationCal) / sizeof(FLT), + &meas[0], // 2d points for 3d objs + covx, // covariance of measurement. Null sets to identity + 2, // 2 points per image + metric_function, + 0, // jacobia of metric_func + &_ctx, // user data + 50, // Max iterations + 0, // verbosity + opts, // options + info); // info + + if (status > 0) { + } else { + assert(false); + } + int meas_size = _ctx.sensors.size() / 2; + if (meas_size == 0) + return 0; + + { + SurviveContext *ctx = so->ctx; + // Docs say info[0] should be divided by meas; I don't buy it really... + static int cnt = 0; + if (cnt++ > 1000) { + SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); + cnt = 0; + } + } + assert(!isinf(info[1])); + std::cerr << "Used " << meas_size << " measurements" << std::endl; + + return info[1] / meas_size * 2; +} +double find_avg_reproj_error(SurviveContext *ctx, const survive_calibration_config &config, PlaybackDataInput &data) { + return sba_opt(ctx, config, data); + /* + for (size_t sensor = 0; sensor < data.so->sensor_ct; sensor++) { + for (size_t lh = 0; lh < 2; lh++) { + if( *(vmask++) ) { + cnt++; + FLT pt[3]; + ApplyPoseToPoint(pt, &data.position, data.so->sensor_locations + sensor * 3); + + FLT reproj_meas[2]; + survive_reproject_from_pose_with_config(ctx, &config, lh, &ctx->bsd[lh].Pose, pt, reproj_meas); + + auto x = reproj_meas[0] - meas[0]; + auto y = reproj_meas[1] - meas[1]; + err += cov[0]*x*x + cov[2]*y*y; + + meas += 2; + cov += 4; + } + } + }*/ +} + +double find_avg_reproj_error(SurviveContext *ctx, const survive_calibration_config &config, PlaybackData &data) { + double err = 0; + for (auto &in : data.inputs) { + err += find_avg_reproj_error(ctx, config, in); + } + return err / data.inputs.size(); +} + +int main(int argc, char **argv) { + std::vector<std::pair<size_t, size_t>> sections = { + {5, 0}, // phase + //{ 5, 5 }, // tilt + //{ 5, 10 }, // curve + //{ 11, 15 } // gibs + useSin + }; + + for (int i = 1; i < argc; i++) { + PlaybackData data; + + char const *args[] = {argv[0], + "--use-bsd-cal", + "0", + "--calibrate", + "--playback-factor", + "0", + "--disambiguator", + "StateBased", + "--defaultposer", + "SBA", + "--sba-required-meas", + "8", + "--sba-max-error", + ".1", + "--playback", + argv[i]}; + + auto ctx = survive_init(sizeof(args) / sizeof(args[0]), (char *const *)args); + ctx->user_ptr = &data; + + survive_install_raw_pose_fn(ctx, raw_pose_process); + survive_install_lighthouse_pose_fn(ctx, lighthouse_process); + survive_install_light_fn(ctx, light_process); + + while (survive_poll(ctx) == 0) { + } + + find_optimal_cal(ctx, data); + + survive_close(ctx); + } + + return 0; +} diff --git a/tools/lightlengthparams/Makefile b/tools/lightlengthparams/Makefile new file mode 100644 index 0000000..b743f4f --- /dev/null +++ b/tools/lightlengthparams/Makefile @@ -0,0 +1,15 @@ +all : lightlengthparams + +SRT:=../.. + +LIBSURVIVE:=$(SRT)/lib/libsurvive.so + +CFLAGS:=-I$(SRT)/redist -I$(SRT)/include -O0 -g -DFLT=double -DUSE_DOUBLE +LDFLAGS:=-lm -lpthread -llapacke -lcblas + +lightlengthparams : lightlengthparams.c $(LIBSURVIVE) + gcc $(CFLAGS) -o $@ $^ $(LDFLAGS) + +clean : + rm -rf lightlengthparams + diff --git a/tools/lightlengthparams/lightlengthparams.c b/tools/lightlengthparams/lightlengthparams.c new file mode 100644 index 0000000..3b28b3f --- /dev/null +++ b/tools/lightlengthparams/lightlengthparams.c @@ -0,0 +1,112 @@ +#include <assert.h> +#include <libsurvive/survive.h> +#include <math.h> +#include <stdio.h> +#include <string.h> + +uint32_t current_timecode; + +void light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, + uint32_t lighthouse) { + current_timecode = timecode; + survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); +} + +void raw_pose_process(SurviveObject *so, uint8_t _lh, SurvivePose *pose2w) { + survive_default_raw_pose_process(so, _lh, pose2w); + + /*printf("Pose: "); + for(int i = 0;i < 7;i++) { + printf("%f, ", pose2w->Pos[i]); + }; + printf("\n"); + */ + for (int lh = 0; lh < 2; lh++) { + SurvivePose pose2lh = {}; + SurvivePose w2lh = {}; + InvertPose(&w2lh, &so->ctx->bsd[lh].Pose); + ApplyPoseToPose(&pose2lh, &w2lh, pose2w); + + SurviveSensorActivations *scene = &so->activations; + for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) { + if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance / 2, + current_timecode, sensor_idx, lh)) { + uint32_t *lengths = scene->lengths[sensor_idx][lh]; + + const FLT *sensor_location = so->sensor_locations + 3 * sensor_idx; + const FLT *sensor_normals = so->sensor_normals + 3 * sensor_idx; + + LinmathPoint3d sensor = {}, sensorN = {}; + + scale3d(sensorN, sensor_normals, .01); + add3d(sensorN, sensor_location, sensor_normals); + + /* + printf("\n"); + printf("%f, %f, %f\n", sensor_location[0], sensor_location[1], sensor_location[2]); + printf("%f, %f, %f\n", sensorN[0], sensorN[1], sensorN[2]); + + FLT m[4][4]; + PoseToMatrix((FLT*)m, &pose2lh); + + for(int i = 0;i < 7;i++) { + printf("%f, ", pose2lh.Pos[i]); + }; + printf("\n"); + for(int i = 0;i < 4;i++) { + for(int j = 0;j < 4;j++) { + printf("%f, ", m[i][j]); + } + printf("\n"); + } + printf("\n"); + */ + ApplyPoseToPoint(sensor, &pose2lh, sensor_location); + ApplyPoseToPoint(sensorN, &pose2lh, sensorN); + + // printf("%f, %f, %f\n", sensor[0], sensor[1], sensor[2]); + // printf("%f, %f, %f\n", sensorN[0], sensorN[1], sensorN[2]); + FLT dist = magnitude3d(sensor); + LinmathVec3d zout = {0, 0, -dist}; + LinmathQuat r; + quatfrom2vectors(r, sensor, zout); + quatrotatevector(sensorN, r, sensorN); + sub3d(sensorN, sensorN, zout); + + FLT dot = dot3d(sensor, sensorN); + if (dist > 20 || dist < 0.25) + continue; + + FLT angs[2] = {}; + for (int axis = 0; axis < 2; axis++) { + angs[axis] = cos(atan2(fabs(sensorN[axis ? 0 : 1]), sensorN[2])); + } + FLT area = angs[0] * angs[1]; + + printf("%u\t%u\t%lu\t%f\t%f\t%f\t%f\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n", current_timecode, lh, + sensor_idx, dist, angs[0], angs[1], area, lengths[0], lengths[1], dot, sensor[0], sensor[1], + sensor[2], sensorN[0], sensorN[1], sensorN[2]); + + // assert(angs[0] >= 0); + } + } + } +} + +int main(int argc, char **argv) { + SurviveContext *ctx = survive_init(argc, argv); + if (ctx == 0) // implies -help or similiar + return 0; + + printf("timecode\tlh\tsensor_idx\tdistance\tnorm_x\tnorm_y\tarea\tlength_x\tlength_y\tdot\tx\ty\tz\tnx\tny\tnz\n"); + + survive_startup(ctx); + + survive_install_raw_pose_fn(ctx, raw_pose_process); + survive_install_light_fn(ctx, light_process); + while (survive_poll(ctx) == 0) { + } + + survive_close(ctx); + return 0; +} diff --git a/tools/showreproject/Makefile b/tools/showreproject/Makefile new file mode 100644 index 0000000..f6d5925 --- /dev/null +++ b/tools/showreproject/Makefile @@ -0,0 +1,16 @@ +all : showreproject + +SRT:=../.. + +LIBSURVIVE:=$(SRT)/lib/libsurvive.so + +CFLAGS:=-I$(SRT)/redist -I$(SRT)/include -O0 -g -DFLT=double -DUSE_DOUBLE #-fsanitize=address -fsanitize=undefined +LDFLAGS:=-lm -lpthread -llapacke -lcblas -lopencv_core -lopencv_highgui -lopencv_imgproc -lopencv_imgcodecs + +showreproject : showreproject.cc $(LIBSURVIVE) + cd ../..;make + g++ $(CFLAGS) -o $@ $^ $(LDFLAGS) + +clean : + rm -rf showreproject + diff --git a/tools/showreproject/showreproject.cc b/tools/showreproject/showreproject.cc new file mode 100644 index 0000000..caa7a66 --- /dev/null +++ b/tools/showreproject/showreproject.cc @@ -0,0 +1,271 @@ + +#include <chrono> +#include <iostream> +#include <libsurvive/survive.h> +#include <libsurvive/survive_reproject.h> +#include <map> +#include <math.h> +#include <memory> +#include <set> +#include <vector> + +#include "opencv2/imgproc.hpp" +#include <opencv2/highgui/highgui.hpp> +#include <opencv2/imgcodecs.hpp> + +uint32_t timestamp; + +cv::Mat_<cv::Vec3b> img; +cv::Mat_<cv::Vec3b> err[2]; + +cv::Vec3f flow2rgb(float x, float y, float scale = 1) { + cv::Mat_<cv::Vec3f> hsv(1, 1); + hsv(0, 0) = {atan2(y, x) * 180. / M_PI, 1.0, std::min(1.0f, sqrt(x * x + y * y) * scale)}; + cv::Mat_<cv::Vec3f> bgr(1, 1); + cv::cvtColor(hsv, bgr, CV_HSV2RGB_FULL); + return bgr(0, 0) * 255; +} + +static void draw_viz(cv::Mat &img, double scale = 1) { + double size = 50; + cv::Point2f origin(size, size); + for (double r = size; r > size / 100.; r -= size / 100.) { + for (double theta = 0; theta < 2 * M_PI; theta += .01) { + auto x = cos(theta) * r; + auto y = sin(theta) * r; + auto clr = flow2rgb(x, y, scale / size); + cv::line(img, cv::Point2f(x, y) + origin, origin, clr); + } + } +} + +double error = 0; +int error_count = 0; + +static void redraw(SurviveContext *ctx) { + int SIZE = 1000; + int shift = ctx->user_ptr ? 1 : 0; + + auto show_pov = 130. / 180; + auto fov = 120. / 180. * SIZE / show_pov; + + auto map = [&](const double *a) { + auto x = a[0] * SIZE / (M_PI) / show_pov + SIZE / 2; + return cv::Point(x, SIZE - (a[1] * SIZE / (M_PI) + SIZE / 2)); + }; + + auto region = img.data ? img(cv::Rect(SIZE * shift, 0, SIZE, SIZE)) : cv::Mat_<cv::Vec3b>(); + + if (region.data) { + + region.setTo(cv::Vec3b(0, 0, 0)); + cv::rectangle(region, cv::Point(SIZE / 2 - fov / 2, SIZE / 2 - fov / 2), + cv::Point(SIZE / 2 + fov / 2, SIZE / 2 + fov / 2), cv::Vec3b(255, 255, 255)); + } + + // eregion.copyTo(region); + + for (int i = 0; i < ctx->objs_ct; i++) { + auto so = ctx->objs[i]; + auto scene = &so->activations; + for (size_t lh = 0; lh < 2; lh++) { + auto eregion = err[lh](cv::Rect(SIZE * shift, 0, SIZE, SIZE)); + + for (size_t sensor = 0; sensor < so->sensor_ct; sensor++) { + + auto ncolor = cv::Vec3b(lh == 0 ? 255 : 0, + 255, // sensor / (double)so->sensor_ct * 255, + i / (double)ctx->objs_ct * 255); + auto rcolor = cv::Vec3b(lh == 0 ? 255 : 0, + 128, // sensor / (double)so->sensor_ct * 255, + i / (double)ctx->objs_ct * 255); + + if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, timestamp, + sensor, lh)) { + const double *a = scene->angles[sensor][lh]; + // FLT a[2]; + // survive_apply_bsd_calibration(so->ctx, lh, _a, a); + + auto l = scene->lengths[sensor][lh]; + double r = std::max(1., (l[0] + l[1]) / 1000.); + // std::cerr << lh << "\t" << sensor << "\t" << ((l[0] + l[1]) / 2000.) << "\t" << l[0] << "\t" << + // l[1] << std::endl; + if (region.data) + cv::circle(region, map(a), r, ncolor); + + FLT point3d[3]; + FLT out[2]; + ApplyPoseToPoint(point3d, &so->OutPose, so->sensor_locations + 3 * sensor); + survive_reproject(ctx, lh, point3d, out); + + double ex = out[0] - a[0]; + double ey = out[1] - a[1]; + double err_add = sqrt(ex * ex + ey * ey); + error += err_add; + error_count++; + + auto &e = eregion(map(a).y, map(a).x); + e = flow2rgb(ex, ey, 100); + + cv::putText(img, std::to_string(error / error_count), cv::Point2f(10, 20), CV_FONT_HERSHEY_PLAIN, 1, + cv::Scalar(255, 255, 255)); + + if (region.data) { + cv::line(region, map(a) + cv::Point(ex * 10000, -ey * 10000), map(a), + cv::Scalar(255, 255, 255)); + cv::rectangle(region, map(out) - cv::Point(r, r), map(out) + cv::Point(r, r), rcolor); + } + } + } + }; + } + if (img.data) { + cv::imshow("Reprojection", img); + } +} + +void light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, + uint32_t lighthouse) { + timestamp = timecode; + survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse); +} + +SurvivePose lastPose = {}; + +void raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { + survive_default_raw_pose_process(so, lighthouse, pose); + auto d = dist3d(lastPose.Pos, pose->Pos); + // std::cerr << d << std::endl; + if (d < .01) { + redraw(so->ctx); + } + lastPose = *pose; +} + +void lighthouse_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose, SurvivePose *obj_pose) { + survive_default_lighthouse_pose_process(ctx, lighthouse, pose, obj_pose); +} + +SurviveContext *create(int argc, char **argv) { + auto ctx = survive_init(argc, argv); + + survive_install_raw_pose_fn(ctx, raw_pose_process); + survive_install_lighthouse_pose_fn(ctx, lighthouse_process); + survive_install_light_fn(ctx, light_process); + + return ctx; +} + +void drawbsds(SurviveContext *ctx) { + int SIZE = 1000; + + std::vector<SurviveCalFlag> show_flags = { + SVCal_All, SVCal_Phase, SVCal_Gib, SVCal_Curve, SVCal_Tilt, + }; + + for (auto f : show_flags) { + for (int lh = 0; lh < 2; lh++) { + cv::Mat_<cv::Vec3b> img = cv::Mat_<cv::Vec3b>(SIZE, SIZE); + img.setTo(cv::Vec3b(0, 0, 0)); + for (int x = 0; x < SIZE; x++) { + for (int y = 0; y < SIZE; y++) { + FLT in[2] = {x * M_PI / SIZE - M_PI / 2., y * M_PI / SIZE - M_PI / 2.}; + if (fabs(in[0]) > 60. / 180 * M_PI || fabs(in[1]) > 60. / 180 * M_PI) + continue; + + FLT out[2]; + auto config = survive_calibration_config_ctor(); + config.use_flag = f; + survive_apply_bsd_calibration_by_config(ctx, lh, &config, in, out); + double ex = out[0] - in[0]; + double ey = out[1] - in[1]; + if (f == SVCal_All) { + ex -= ctx->bsd[lh].fcal.phase[0]; + ey -= ctx->bsd[lh].fcal.phase[1]; + } + + // Make it opposite of angles + ex *= -1; + ey *= -1; + + img(y, x) = flow2rgb(ex, ey, 100); + } + } + draw_viz(img); + cv::imwrite("BSD" + std::to_string(lh) + "_" + std::to_string(f) + ".png", img); + if (f == SVCal_All) + cv::imshow("BSD" + std::to_string(lh), img); + } + } +} + +int main(int argc, char **argv) { + // for (int i = 0; i < 1 << 5; i++) { + // size_t cidx = 15 | (i << 5); + + // auto conf = survive_calibration_config_create_from_idx(cidx); + // if (survive_calibration_config_index(&conf) != cidx) + // continue; + + auto ctx1 = create(argc, argv); + size_t cidx = survive_configi(ctx1, "default-cal-conf", SC_GET, 0); + size_t idx = survive_configi(ctx1, "default-cal-conf2", SC_GET, 0); + + SurviveContext *ctx2 = 0; + int numCtx = 1; + int ctx2_flag = 1; + if (idx != 0) { + numCtx++; + ctx2 = create(argc, argv); + ctx2->user_ptr = (void *)&ctx2_flag; + } + + size_t showui = survive_configi(ctx1, "show-ui", SC_GET, 0); + + drawbsds(ctx1); + + int waitUpdate = 100; + int SIZE = 1000; + if (showui) { + img = cv::Mat_<cv::Vec3b>(SIZE, numCtx * SIZE); + img.setTo(cv::Vec3b(0, 0, 0)); + } + for (int lh = 0; lh < 2; lh++) { + err[lh] = cv::Mat_<cv::Vec3b>(SIZE, numCtx * SIZE); + err[lh].setTo(cv::Vec3b(0, 0, 0)); + } + + if (img.data && false) { + cv::imshow("Reprojection", img); + cv::waitKey(0); + } + + auto start = std::chrono::high_resolution_clock::now(); + while (survive_poll(ctx1) == 0 && (ctx2 == 0 || survive_poll(ctx2) == 0)) { + auto now = std::chrono::high_resolution_clock::now(); + if ((now - start) > std::chrono::milliseconds(33)) { + cv::waitKey(1); + start = now; + } + } + + for (int i = 0; i < 2; i++) { + draw_viz(err[i]); + cv::putText(err[i], std::to_string(error / error_count), cv::Point2f(100, 20), CV_FONT_HERSHEY_PLAIN, 1, + cv::Scalar(255, 255, 255)); + cv::putText(err[i], std::to_string(cidx), cv::Point2f(100, 40), CV_FONT_HERSHEY_PLAIN, 1, + cv::Scalar(255, 255, 255)); + + auto name = "LH" + std::to_string(i); + cv::imwrite(name + "_" + std::to_string(cidx) + ".png", err[i]); + cv::imshow(name, err[i]); + } + + std::cerr << "Error: " << error / error_count << std::endl; + + int c = '\0'; + while (((c = cv::waitKey(0)) & 0xff) != 'q') { + std::cerr << (uint8_t)c << std::endl; + } + return 0; +} diff --git a/tools/viz/index.html b/tools/viz/index.html index b146b5d..2987555 100644 --- a/tools/viz/index.html +++ b/tools/viz/index.html @@ -12,6 +12,7 @@ <body> <div id="ThreeJS" style="z-index: 1; position: absolute; left:0px; top:0px"></div> <div id="cam-control" style="z-index: 2;border:1px solid white;position:absolute"> + <input type="checkbox" id="trails">Trails</input><br/> <button id="toggleBtn"> Toggle 2D View </button> @@ -25,6 +26,7 @@ position: absolute; bottom: 20px; overflow: auto; + white-space: pre-wrap; background-color: rgba(0,200,200, .25); z-index: 3;"> diff --git a/tools/viz/survive_viewer.js b/tools/viz/survive_viewer.js index 81de2a0..c8a7b23 100644 --- a/tools/viz/survive_viewer.js +++ b/tools/viz/survive_viewer.js @@ -5,6 +5,9 @@ var angles = {}; var ctx; var canvas; var oldDrawTime = 0; +var timecode = {}; +var oldPoseTime = 0, poseCnt = 0; +var scene, camera, renderer, floor; $(function() { $("#toggleBtn").click(function() { $("#cam").toggle(); }); }); @@ -16,16 +19,16 @@ function add_lighthouse(idx, p, q) { group.position.fromArray(p); group.quaternion.fromArray([ q[1], q[2], q[3], q[0] ]); - var height = 3; - var geometry = new THREE.ConeGeometry(Math.sin(1.0472) * height, height, 4, 1, true); + var height = 10; + + var geometry = new THREE.ConeGeometry(height / Math.cos(60 / 180 * Math.PI), height, 4, 1, true); var material = new THREE.MeshBasicMaterial({ - wireframe : true, - vertexColor : true, - color : 0x111111, - opacity : 0.09, + color : 0x1F1FFF, + opacity : 0.02, transparent : true, blending : THREE.AdditiveBlending, - side : THREE.BothSides + side : THREE.DoubleSide, + depthTest : false }); var cone = new THREE.Mesh(geometry, material); @@ -34,16 +37,14 @@ function add_lighthouse(idx, p, q) { var lhBox = new THREE.Mesh(lhBoxGeom, lhBoxMaterial); group.add(lhBox); - cone.translateZ(-height / 2) - cone.rotateZ(Math.PI / 4) - cone.rotateX(Math.PI / 2) - // cone.position.z + cone.translateZ(-height / 2); + cone.rotateZ(Math.PI / 4); + cone.rotateX(Math.PI / 2); group.add(cone); group.add(lh); scene.add(group); - // DrawCoordinateSystem(p[0], p[1], p[2], q[0], q[1], q[2], q[3]); } function recolorTrackers(when) { @@ -129,7 +130,7 @@ function redrawCanvas(when) { for (var key in angles) { for (var lh = 0; lh < 2; lh++) { - var bvalue = {"WW0" : "FF", "TR0" : "00"}; + var bvalue = {"WW0" : "FF", "TR0" : "00", "HMD" : "88"}; ctx.strokeStyle = (lh === 0 ? "#FF00" : "#00FF") + bvalue[key]; if (angles[key][lh]) @@ -157,22 +158,27 @@ function redrawCanvas(when) { } } -function create_object(info) { +function create_tracked_object(info) { var sensorGeometry = new THREE.SphereGeometry(.01, 32, 16); var group = new THREE.Group(); group.sensors = []; if (info.config && info.config.lighthouse_config) { for (var idx in info.config.lighthouse_config.modelPoints) { var p = info.config.lighthouse_config.modelPoints[idx]; - var color = 0xFFFFFF; // / info.points.length * idx; - if (idx === 10) + var pn = info.config.lighthouse_config.modelNormals[idx]; + var color = idx / info.config.lighthouse_config.modelPoints * 0xFFFFFF; + if (idx === 0) color = 0x00ff00; - if (idx === 12) - color = 0x0000ff; var sensorMaterial = new THREE.MeshBasicMaterial({color : color}); var newSensor = new THREE.Mesh(sensorGeometry, sensorMaterial); newSensor.position.set(p[0], p[1], p[2]); + var normalGeom = new THREE.Geometry(); + normalGeom.vertices.push(newSensor.position, + new THREE.Vector3(p[0] + pn[0] * .02, p[1] + pn[1] * .02, p[2] + pn[2] * .02)); + var normal = + new THREE.Line(normalGeom, new THREE.LineBasicMaterial({color : idx == 4 ? 0xFF0000 : 0x00FF00})); + group.add(normal); group.sensors[idx] = sensorMaterial; group.add(newSensor); } @@ -184,149 +190,171 @@ function create_object(info) { scene.add(group); } -var timecode = {}; +var trails; +var MAX_LINE_POINTS = 100000; +$(function() { + $("#trails").change(function() { + if (this.checked) { + var geometry = new THREE.Geometry(); + var material = new THREE.LineBasicMaterial({color : 0x305ea8}); -function parseLine(msg) { - var s = msg.split(' '); + for (i = 0; i < MAX_LINE_POINTS; i++) { + geometry.vertices.push(new THREE.Vector3(0, 0, 0)); + } + geometry.dynamic = true; + + trails = new THREE.Line(geometry, material); + + scene.add(trails); + } else { + if (trails) + scene.remove(trails); + } + }); +}); + +var survive_log_handlers = { + "LH_POSE" : function(v) { + var obj = { + lighthouse : parseInt(v[1]), + position : [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], + quat : [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] + }; - var command_mappings = { - "LH_POSE" : function(v) { - return { - type : "lighthouse_pose", - lighthouse : parseInt(v[1]), - position : [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], - quat : [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] - }; - }, - "POSE" : function(v) { - return { - type: "pose", position: [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], - quat: [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] + add_lighthouse(obj.lighthouse, obj.position, obj.quat); + }, + "POSE" : function(v, tracker) { + var obj = { + tracker : v[1], + position : [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], + quat : [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] + }; + + if (objs[obj.tracker]) { + var now = new Date().getTime(); + if (oldPoseTime + 5000 < now) { + oldPoseTime = now; + console.log((poseCnt / 5) + "hz"); + poseCnt = 0; } - }, - "CONFIG" : function(v) { - var configStr = s.slice(3).join(' '); - var config = JSON.parse(configStr); - - return { type: "htc_config", config: config } - - }, - 'A' : function(v) { - return { - type: 'angle', sensor_id: parseInt(v[3]), acode: parseInt(v[4]), timecode: parseInt(v[5]), - length: parseFloat(v[6]), angle: parseFloat(v[7]), lighthouse: parseInt(v[8]) + poseCnt++; + objs[obj.tracker].position.set(obj.position[0], obj.position[1], obj.position[2]); + objs[obj.tracker].quaternion.set(obj.quat[1], obj.quat[2], obj.quat[3], obj.quat[0]); + objs[obj.tracker].verticesNeedUpdate = true; + + if (trails) { + + trails.geometry.vertices.push(trails.geometry.vertices.shift()); // shift the array + trails.geometry.vertices[MAX_LINE_POINTS - 1] = + new THREE.Vector3(obj.position[0], obj.position[1], obj.position[2]); + trails.geometry.verticesNeedUpdate = true; } - }, - 'LOG' : function(v) { - return { type: "info", msg: s.slice(3).join(' ') } - }, - "I" : function(v) { - return { - type : "imu", - mask : parseInt(v[3]), - timecode : parseInt(v[4]), - accelgyro : [ - parseFloat(v[5]), parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]), - parseFloat(v[10]) - ] - - }; } - }; - if (command_mappings[s[2]]) { - var rtn = command_mappings[s[2]](s); - rtn.time = parseFloat(s[0]); - rtn.tracker = s[1]; - return rtn; + }, + "CONFIG" : function(v, tracker) { + var configStr = v.slice(3).join(' '); + var config = JSON.parse(configStr); + var obj = {config : config, tracker : v[1]}; + + create_tracked_object(obj); + }, + 'A' : function(v, tracker) { + var obj = { + tracker : v[1], + sensor_id : parseInt(v[3]), + acode : parseInt(v[4]), + timecode : parseInt(v[5]), + length : parseFloat(v[6]), + angle : parseFloat(v[7]), + lighthouse : parseInt(v[8]) + }; + + angles[obj.tracker] = angles[obj.tracker] || {}; + angles[obj.tracker][obj.lighthouse] = angles[obj.tracker][obj.lighthouse] || {}; + angles[obj.tracker][obj.lighthouse][obj.sensor_id] = angles[obj.tracker][obj.lighthouse][obj.sensor_id] || {}; + + angles[obj.tracker][obj.lighthouse][obj.sensor_id][obj.acode & 1] = [ obj.angle, obj.timecode ]; + timecode[obj.tracker] = obj.timecode; + }, + 'LOG' : function(v) { + var msg = v.slice(3).join(' '); + + var consoleDiv = $("#console"); + consoleDiv.append(msg + "</br>"); + consoleDiv[0].scrollTop = consoleDiv[0].scrollHeight; + + }, + "I" : function(v, tracker) { + var obj = { + mask : parseInt(v[3]), + timecode : parseInt(v[4]), + accelgyro : [ + parseFloat(v[5]), parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]), + parseFloat(v[10]) + ], + tracker : v[1] + }; + + if (objs[obj.tracker]) { + if (!downAxes[obj.tracker] && objs[obj.tracker]) { + downAxes[obj.tracker] = new THREE.Geometry(); + downAxes[obj.tracker].vertices.push(new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0, 0)); + + var line = new THREE.Line(downAxes[obj.tracker], new THREE.LineBasicMaterial({color : 0xffffff})); + scene.add(line); + } + + if (objs[obj.tracker].position) { + var q = obj.accelgyro; + + downAxes[obj.tracker].vertices[0] = objs[obj.tracker].position; + downAxes[obj.tracker].vertices[1].fromArray(q); + downAxes[obj.tracker].vertices[1].add(objs[obj.tracker].position); + downAxes[obj.tracker].verticesNeedUpdate = true; + } } + + } +}; + +function add_survive_log_handler(name, entry) { survive_log_handlers[name] = entry; } +function process_survive_handlers(msg) { + var s = msg.split(' '); + + if (survive_log_handlers[s[2]]) { + survive_log_handlers[s[2]](s); + } + return {}; } -var oldPoseTime = 0, poseCnt = 0; + +var survive_ws; + +// Dial up the websocket $(function() { setTimeout(function() { - var ws; - if (window.location.protocol === "file:") { - ws = new WebSocket("ws://localhost:8080/ws"); + var url = new URL(window.location.href); + var remote = url.searchParams.get("remote"); + + if (remote && remote.length) { + survive_ws = new WebSocket("ws://" + remote + "/ws"); + } else if (window.location.protocol === "file:") { + survive_ws = new WebSocket("ws://localhost:8080/ws"); } else { - ws = new WebSocket(((window.location.protocol === "https:") ? "wss://" : "ws://") + window.location.host + - "/ws"); + survive_ws = new WebSocket(((window.location.protocol === "https:") ? "wss://" : "ws://") + + window.location.host + "/ws"); } - ws.onopen = function(evt) { - // ws.send("!"); - }; - ws.onmessage = function(evt) { + survive_ws.onmessage = function(evt) { var msg = evt.data; - var obj; - if (msg[0] == "{") - obj = JSON.parse(msg); - else - obj = parseLine(msg); - - // console.log(obj); - if (obj.type === "pose") { - if (objs[obj.tracker]) { - var now = new Date().getTime(); - if(oldPoseTime + 5000 < now) { - oldPoseTime = now; - console.log( (poseCnt / 5) + "hz"); - poseCnt = 0; - } - poseCnt++; - objs[obj.tracker].position.set(obj.position[0], obj.position[1], obj.position[2]); - objs[obj.tracker].quaternion.set(obj.quat[1], obj.quat[2], obj.quat[3], obj.quat[0]); - objs[obj.tracker].verticesNeedUpdate = true; - timecode[obj.tracker] = obj.timecode; - } - } else if (obj.type === "info") { - var consoleDiv = $("#console"); - consoleDiv.append(obj.msg + "</br>"); - consoleDiv[0].scrollTop = consoleDiv[0].scrollHeight; - } else if (obj.type === "lighthouse_pose") { - add_lighthouse(obj.lighthouse, obj.position, obj.quat); - } else if (obj.type === "htc_config") { - create_object(obj); - } else if (obj.type === "imu") { - if (objs[obj.tracker]) { - if (!downAxes[obj.tracker] && objs[obj.tracker]) { - downAxes[obj.tracker] = new THREE.Geometry(); - downAxes[obj.tracker].vertices.push(new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0, 0)); - - var line = - new THREE.Line(downAxes[obj.tracker], new THREE.LineBasicMaterial({color : 0xffffff})); - scene.add(line); - } - - if (objs[obj.tracker].position) { - var q = obj.accelgyro; - - downAxes[obj.tracker].vertices[0] = objs[obj.tracker].position; - downAxes[obj.tracker].vertices[1].fromArray(q); - downAxes[obj.tracker].vertices[1].add(objs[obj.tracker].position); - downAxes[obj.tracker].verticesNeedUpdate = true; - } - } - - } else if (obj.type === "angle") { - angles[obj.tracker] = angles[obj.tracker] || {}; - angles[obj.tracker][obj.lighthouse] = angles[obj.tracker][obj.lighthouse] || {}; - angles[obj.tracker][obj.lighthouse][obj.sensor_id] = - angles[obj.tracker][obj.lighthouse][obj.sensor_id] || {}; - - angles[obj.tracker][obj.lighthouse][obj.sensor_id][obj.acode & 1] = [ obj.angle, obj.timecode ]; - timecode[obj.tracker] = obj.timecode; - } - - // ws.send("!"); + process_survive_handlers(msg); }; + }, 60); // Hacky, but this gives the server time to restart on CTRL+R }); -// standard global variables -var container, scene, camera, renderer, controls; - -// custom global variables +// Init and start the render loop $(function() { // initialization init(); @@ -367,7 +395,7 @@ init() { renderer.setSize(SCREEN_WIDTH, SCREEN_HEIGHT); // attach div element to variable to contain the renderer - container = document.getElementById('ThreeJS'); + var container = document.getElementById('ThreeJS'); // attach renderer to the container div container.appendChild(renderer.domElement); @@ -375,17 +403,17 @@ init() { // move mouse and: left click to rotate, // middle click to zoom, // right click to pan - controls = new THREE.OrbitControls(camera, renderer.domElement); + var controls = new THREE.OrbitControls(camera, renderer.domElement); // create a light var light = new THREE.PointLight(0xffffff); - light.position.set(0, 5, 0); + light.position.set(0, 0, 5); scene.add(light); var floorMaterial = new THREE.MeshBasicMaterial({color : 0x000000, opacity : 0.15, transparent : true, side : THREE.FrontSide}); var floorGeometry = new THREE.PlaneGeometry(10, 10); - var floor = new THREE.Mesh(floorGeometry, floorMaterial); + floor = new THREE.Mesh(floorGeometry, floorMaterial); floor.position.z = -1; scene.add(floor); diff --git a/useful_files/81-vive.rules b/useful_files/81-vive.rules index 02a57f1..ea5be37 100644 --- a/useful_files/81-vive.rules +++ b/useful_files/81-vive.rules @@ -6,6 +6,8 @@ KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2050", TAG+="uaccess" KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2011", TAG+="uaccess" KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2012", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2022", TAG+="uaccess" + SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="2c87", TAG+="uaccess" # HTC Camera USB Node SUBSYSTEM=="usb", ATTRS{idVendor}=="114d", ATTRS{idProduct}=="8328", TAG+="uaccess" @@ -18,6 +20,8 @@ SUBSYSTEM=="usb", ATTRS{idVendor}=="114d", ATTRS{idProduct}=="8a12", TAG+="uacce SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="2c87", MODE="0666" # HTC HMD SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2000", MODE="0666" # Light input SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2101", MODE="0666" # Watchman +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2012", MODE="0666" # Watchman wired +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2022", MODE="0666" # Tracker wired #KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="0bb4", ATTR{idProduct}=="2c87", MODE="0666" # HTC #KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTR{idProduct}=="2000", MODE="0666" # Valve diff --git a/useful_files/config_for_orangepi_linux_sunxi-next b/useful_files/config_for_orangepi_linux_sunxi-next new file mode 100644 index 0000000..0624fd8 --- /dev/null +++ b/useful_files/config_for_orangepi_linux_sunxi-next @@ -0,0 +1,4043 @@ +# +# Automatically generated file; DO NOT EDIT. +# Linux/arm 4.16.0-rc3 Kernel Configuration +# +CONFIG_ARM=y +CONFIG_ARM_HAS_SG_CHAIN=y +CONFIG_MIGHT_HAVE_PCI=y +CONFIG_SYS_SUPPORTS_APM_EMULATION=y +CONFIG_HAVE_PROC_CPU=y +CONFIG_STACKTRACE_SUPPORT=y +CONFIG_LOCKDEP_SUPPORT=y +CONFIG_TRACE_IRQFLAGS_SUPPORT=y +CONFIG_RWSEM_XCHGADD_ALGORITHM=y +CONFIG_FIX_EARLYCON_MEM=y +CONFIG_GENERIC_HWEIGHT=y +CONFIG_GENERIC_CALIBRATE_DELAY=y +CONFIG_NEED_DMA_MAP_STATE=y +CONFIG_ARCH_SUPPORTS_UPROBES=y +CONFIG_ARM_PATCH_PHYS_VIRT=y +CONFIG_GENERIC_BUG=y +CONFIG_PGTABLE_LEVELS=2 +CONFIG_DEFCONFIG_LIST="/lib/modules/$UNAME_RELEASE/.config" +CONFIG_IRQ_WORK=y +CONFIG_BUILDTIME_EXTABLE_SORT=y + +# +# General setup +# +CONFIG_INIT_ENV_ARG_LIMIT=32 +CONFIG_CROSS_COMPILE="" +# CONFIG_COMPILE_TEST is not set +CONFIG_LOCALVERSION="" +CONFIG_LOCALVERSION_AUTO=y +CONFIG_HAVE_KERNEL_GZIP=y +CONFIG_HAVE_KERNEL_LZMA=y +CONFIG_HAVE_KERNEL_XZ=y +CONFIG_HAVE_KERNEL_LZO=y +CONFIG_HAVE_KERNEL_LZ4=y +CONFIG_KERNEL_GZIP=y +# CONFIG_KERNEL_LZMA is not set +# CONFIG_KERNEL_XZ is not set +# CONFIG_KERNEL_LZO is not set +# CONFIG_KERNEL_LZ4 is not set +CONFIG_DEFAULT_HOSTNAME="(none)" +CONFIG_SWAP=y +# CONFIG_SYSVIPC is not set +# CONFIG_POSIX_MQUEUE is not set +CONFIG_CROSS_MEMORY_ATTACH=y +# CONFIG_USELIB is not set +# CONFIG_AUDIT is not set +CONFIG_HAVE_ARCH_AUDITSYSCALL=y + +# +# IRQ subsystem +# +CONFIG_GENERIC_IRQ_PROBE=y +CONFIG_GENERIC_IRQ_SHOW=y +CONFIG_GENERIC_IRQ_SHOW_LEVEL=y +CONFIG_GENERIC_IRQ_EFFECTIVE_AFF_MASK=y +CONFIG_HARDIRQS_SW_RESEND=y +CONFIG_GENERIC_IRQ_CHIP=y +CONFIG_IRQ_DOMAIN=y +CONFIG_IRQ_DOMAIN_HIERARCHY=y +CONFIG_HANDLE_DOMAIN_IRQ=y +CONFIG_IRQ_FORCED_THREADING=y +CONFIG_SPARSE_IRQ=y +# CONFIG_GENERIC_IRQ_DEBUGFS is not set +CONFIG_ARCH_CLOCKSOURCE_DATA=y +CONFIG_GENERIC_TIME_VSYSCALL=y +CONFIG_GENERIC_CLOCKEVENTS=y +CONFIG_ARCH_HAS_TICK_BROADCAST=y +CONFIG_GENERIC_CLOCKEVENTS_BROADCAST=y + +# +# Timers subsystem +# +CONFIG_TICK_ONESHOT=y +CONFIG_NO_HZ_COMMON=y +# CONFIG_HZ_PERIODIC is not set +CONFIG_NO_HZ_IDLE=y +# CONFIG_NO_HZ_FULL is not set +CONFIG_NO_HZ=y +CONFIG_HIGH_RES_TIMERS=y + +# +# CPU/Task time and stats accounting +# +CONFIG_TICK_CPU_ACCOUNTING=y +# CONFIG_VIRT_CPU_ACCOUNTING_GEN is not set +# CONFIG_IRQ_TIME_ACCOUNTING is not set +# CONFIG_BSD_PROCESS_ACCT is not set +# CONFIG_TASKSTATS is not set +CONFIG_CPU_ISOLATION=y + +# +# RCU Subsystem +# +CONFIG_TREE_RCU=y +# CONFIG_RCU_EXPERT is not set +CONFIG_SRCU=y +CONFIG_TREE_SRCU=y +# CONFIG_TASKS_RCU is not set +CONFIG_RCU_STALL_COMMON=y +CONFIG_RCU_NEED_SEGCBLIST=y +# CONFIG_BUILD_BIN2C is not set +# CONFIG_IKCONFIG is not set +CONFIG_LOG_BUF_SHIFT=17 +CONFIG_LOG_CPU_MAX_BUF_SHIFT=12 +CONFIG_PRINTK_SAFE_LOG_BUF_SHIFT=13 +CONFIG_GENERIC_SCHED_CLOCK=y +CONFIG_CGROUPS=y +# CONFIG_MEMCG is not set +# CONFIG_BLK_CGROUP is not set +# CONFIG_CGROUP_SCHED is not set +# CONFIG_CGROUP_PIDS is not set +# CONFIG_CGROUP_RDMA is not set +# CONFIG_CGROUP_FREEZER is not set +# CONFIG_CPUSETS is not set +# CONFIG_CGROUP_DEVICE is not set +# CONFIG_CGROUP_CPUACCT is not set +# CONFIG_CGROUP_PERF is not set +# CONFIG_SOCK_CGROUP_DATA is not set +CONFIG_NAMESPACES=y +CONFIG_UTS_NS=y +# CONFIG_USER_NS is not set +CONFIG_PID_NS=y +CONFIG_NET_NS=y +# CONFIG_SCHED_AUTOGROUP is not set +# CONFIG_SYSFS_DEPRECATED is not set +# CONFIG_RELAY is not set +CONFIG_BLK_DEV_INITRD=y +CONFIG_INITRAMFS_SOURCE="" +CONFIG_RD_GZIP=y +CONFIG_RD_BZIP2=y +CONFIG_RD_LZMA=y +CONFIG_RD_XZ=y +CONFIG_RD_LZO=y +CONFIG_RD_LZ4=y +CONFIG_CC_OPTIMIZE_FOR_PERFORMANCE=y +# CONFIG_CC_OPTIMIZE_FOR_SIZE is not set +CONFIG_SYSCTL=y +CONFIG_ANON_INODES=y +CONFIG_HAVE_UID16=y +CONFIG_BPF=y +# CONFIG_EXPERT is not set +CONFIG_UID16=y +CONFIG_MULTIUSER=y +# CONFIG_SGETMASK_SYSCALL is not set +CONFIG_SYSFS_SYSCALL=y +# CONFIG_SYSCTL_SYSCALL is not set +CONFIG_FHANDLE=y +CONFIG_POSIX_TIMERS=y +CONFIG_PRINTK=y +CONFIG_PRINTK_NMI=y +CONFIG_BUG=y +CONFIG_ELF_CORE=y +CONFIG_BASE_FULL=y +CONFIG_FUTEX=y +CONFIG_FUTEX_PI=y +CONFIG_EPOLL=y +CONFIG_SIGNALFD=y +CONFIG_TIMERFD=y +CONFIG_EVENTFD=y +CONFIG_SHMEM=y +CONFIG_AIO=y +CONFIG_ADVISE_SYSCALLS=y +CONFIG_MEMBARRIER=y +# CONFIG_CHECKPOINT_RESTORE is not set +CONFIG_KALLSYMS=y +# CONFIG_KALLSYMS_ABSOLUTE_PERCPU is not set +CONFIG_KALLSYMS_BASE_RELATIVE=y +# CONFIG_BPF_SYSCALL is not set +# CONFIG_USERFAULTFD is not set +# CONFIG_EMBEDDED is not set +CONFIG_HAVE_PERF_EVENTS=y +CONFIG_PERF_USE_VMALLOC=y +# CONFIG_PC104 is not set + +# +# Kernel Performance Events And Counters +# +CONFIG_PERF_EVENTS=y +CONFIG_VM_EVENT_COUNTERS=y +CONFIG_SLUB_DEBUG=y +CONFIG_COMPAT_BRK=y +# CONFIG_SLAB is not set +CONFIG_SLUB=y +CONFIG_SLAB_MERGE_DEFAULT=y +# CONFIG_SLAB_FREELIST_RANDOM is not set +# CONFIG_SLAB_FREELIST_HARDENED is not set +CONFIG_SLUB_CPU_PARTIAL=y +CONFIG_SYSTEM_DATA_VERIFICATION=y +# CONFIG_PROFILING is not set +CONFIG_HAVE_OPROFILE=y +# CONFIG_KPROBES is not set +# CONFIG_JUMP_LABEL is not set +# CONFIG_UPROBES is not set +# CONFIG_HAVE_64BIT_ALIGNED_ACCESS is not set +CONFIG_HAVE_EFFICIENT_UNALIGNED_ACCESS=y +CONFIG_ARCH_USE_BUILTIN_BSWAP=y +CONFIG_HAVE_KPROBES=y +CONFIG_HAVE_KRETPROBES=y +CONFIG_HAVE_OPTPROBES=y +CONFIG_HAVE_NMI=y +CONFIG_HAVE_ARCH_TRACEHOOK=y +CONFIG_HAVE_DMA_CONTIGUOUS=y +CONFIG_GENERIC_SMP_IDLE_THREAD=y +CONFIG_GENERIC_IDLE_POLL_SETUP=y +CONFIG_ARCH_HAS_SET_MEMORY=y +CONFIG_HAVE_ARCH_THREAD_STRUCT_WHITELIST=y +CONFIG_HAVE_REGS_AND_STACK_ACCESS_API=y +CONFIG_HAVE_CLK=y +CONFIG_HAVE_DMA_API_DEBUG=y +CONFIG_HAVE_HW_BREAKPOINT=y +CONFIG_HAVE_PERF_REGS=y +CONFIG_HAVE_PERF_USER_STACK_DUMP=y +CONFIG_HAVE_ARCH_JUMP_LABEL=y +CONFIG_ARCH_WANT_IPC_PARSE_VERSION=y +CONFIG_HAVE_ARCH_SECCOMP_FILTER=y +CONFIG_HAVE_GCC_PLUGINS=y +# CONFIG_GCC_PLUGINS is not set +CONFIG_HAVE_CC_STACKPROTECTOR=y +# CONFIG_CC_STACKPROTECTOR_NONE is not set +# CONFIG_CC_STACKPROTECTOR_REGULAR is not set +# CONFIG_CC_STACKPROTECTOR_STRONG is not set +CONFIG_CC_STACKPROTECTOR_AUTO=y +CONFIG_THIN_ARCHIVES=y +CONFIG_HAVE_CONTEXT_TRACKING=y +CONFIG_HAVE_VIRT_CPU_ACCOUNTING_GEN=y +CONFIG_HAVE_IRQ_TIME_ACCOUNTING=y +CONFIG_HAVE_MOD_ARCH_SPECIFIC=y +CONFIG_MODULES_USE_ELF_REL=y +CONFIG_ARCH_HAS_ELF_RANDOMIZE=y +CONFIG_HAVE_ARCH_MMAP_RND_BITS=y +CONFIG_HAVE_EXIT_THREAD=y +CONFIG_ARCH_MMAP_RND_BITS_MIN=8 +CONFIG_ARCH_MMAP_RND_BITS_MAX=16 +CONFIG_ARCH_MMAP_RND_BITS=8 +# CONFIG_HAVE_ARCH_HASH is not set +# CONFIG_ISA_BUS_API is not set +CONFIG_CLONE_BACKWARDS=y +CONFIG_OLD_SIGSUSPEND3=y +CONFIG_OLD_SIGACTION=y +# CONFIG_CPU_NO_EFFICIENT_FFS is not set +# CONFIG_HAVE_ARCH_VMAP_STACK is not set +CONFIG_ARCH_OPTIONAL_KERNEL_RWX=y +CONFIG_ARCH_OPTIONAL_KERNEL_RWX_DEFAULT=y +CONFIG_ARCH_HAS_STRICT_KERNEL_RWX=y +CONFIG_STRICT_KERNEL_RWX=y +CONFIG_ARCH_HAS_STRICT_MODULE_RWX=y +CONFIG_STRICT_MODULE_RWX=y +CONFIG_ARCH_HAS_PHYS_TO_DMA=y +CONFIG_REFCOUNT_FULL=y + +# +# GCOV-based kernel profiling +# +# CONFIG_GCOV_KERNEL is not set +CONFIG_ARCH_HAS_GCOV_PROFILE_ALL=y +CONFIG_HAVE_GENERIC_DMA_COHERENT=y +CONFIG_RT_MUTEXES=y +CONFIG_BASE_SMALL=0 +CONFIG_MODULES=y +# CONFIG_MODULE_FORCE_LOAD is not set +CONFIG_MODULE_UNLOAD=y +# CONFIG_MODULE_FORCE_UNLOAD is not set +# CONFIG_MODVERSIONS is not set +# CONFIG_MODULE_SRCVERSION_ALL is not set +# CONFIG_MODULE_SIG is not set +# CONFIG_MODULE_COMPRESS is not set +# CONFIG_TRIM_UNUSED_KSYMS is not set +CONFIG_MODULES_TREE_LOOKUP=y +CONFIG_BLOCK=y +CONFIG_LBDAF=y +CONFIG_BLK_SCSI_REQUEST=y +CONFIG_BLK_DEV_BSG=y +# CONFIG_BLK_DEV_BSGLIB is not set +# CONFIG_BLK_DEV_INTEGRITY is not set +# CONFIG_BLK_DEV_ZONED is not set +# CONFIG_BLK_CMDLINE_PARSER is not set +# CONFIG_BLK_WBT is not set +CONFIG_BLK_DEBUG_FS=y +# CONFIG_BLK_SED_OPAL is not set + +# +# Partition Types +# +# CONFIG_PARTITION_ADVANCED is not set +CONFIG_MSDOS_PARTITION=y +CONFIG_EFI_PARTITION=y + +# +# IO Schedulers +# +CONFIG_IOSCHED_NOOP=y +CONFIG_IOSCHED_DEADLINE=y +CONFIG_IOSCHED_CFQ=y +# CONFIG_DEFAULT_DEADLINE is not set +CONFIG_DEFAULT_CFQ=y +# CONFIG_DEFAULT_NOOP is not set +CONFIG_DEFAULT_IOSCHED="cfq" +CONFIG_MQ_IOSCHED_DEADLINE=y +CONFIG_MQ_IOSCHED_KYBER=y +# CONFIG_IOSCHED_BFQ is not set +CONFIG_ASN1=y +CONFIG_INLINE_SPIN_UNLOCK_IRQ=y +CONFIG_INLINE_READ_UNLOCK=y +CONFIG_INLINE_READ_UNLOCK_IRQ=y +CONFIG_INLINE_WRITE_UNLOCK=y +CONFIG_INLINE_WRITE_UNLOCK_IRQ=y +CONFIG_ARCH_SUPPORTS_ATOMIC_RMW=y +CONFIG_MUTEX_SPIN_ON_OWNER=y +CONFIG_RWSEM_SPIN_ON_OWNER=y +CONFIG_LOCK_SPIN_ON_OWNER=y +CONFIG_FREEZER=y + +# +# System Type +# +CONFIG_MMU=y +CONFIG_ARCH_MULTIPLATFORM=y +# CONFIG_ARCH_EBSA110 is not set +# CONFIG_ARCH_EP93XX is not set +# CONFIG_ARCH_FOOTBRIDGE is not set +# CONFIG_ARCH_NETX is not set +# CONFIG_ARCH_IOP13XX is not set +# CONFIG_ARCH_IOP32X is not set +# CONFIG_ARCH_IOP33X is not set +# CONFIG_ARCH_IXP4XX is not set +# CONFIG_ARCH_DOVE is not set +# CONFIG_ARCH_KS8695 is not set +# CONFIG_ARCH_W90X900 is not set +# CONFIG_ARCH_LPC32XX is not set +# CONFIG_ARCH_PXA is not set +# CONFIG_ARCH_RPC is not set +# CONFIG_ARCH_SA1100 is not set +# CONFIG_ARCH_S3C24XX is not set +# CONFIG_ARCH_DAVINCI is not set +# CONFIG_ARCH_OMAP1 is not set + +# +# Multiple platform selection +# + +# +# CPU Core family selection +# +# CONFIG_ARCH_MULTI_V6 is not set +CONFIG_ARCH_MULTI_V7=y +CONFIG_ARCH_MULTI_V6_V7=y +# CONFIG_ARCH_MULTI_CPU_AUTO is not set +# CONFIG_ARCH_VIRT is not set +# CONFIG_ARCH_MVEBU is not set +# CONFIG_ARCH_ACTIONS is not set +# CONFIG_ARCH_ALPINE is not set +# CONFIG_ARCH_ARTPEC is not set +# CONFIG_ARCH_AT91 is not set +# CONFIG_ARCH_BCM is not set +# CONFIG_ARCH_BERLIN is not set +# CONFIG_ARCH_DIGICOLOR is not set +# CONFIG_ARCH_HIGHBANK is not set +# CONFIG_ARCH_HISI is not set +# CONFIG_ARCH_KEYSTONE is not set +# CONFIG_ARCH_MESON is not set +# CONFIG_ARCH_MXC is not set +# CONFIG_ARCH_MEDIATEK is not set + +# +# TI OMAP/AM/DM/DRA Family +# +# CONFIG_ARCH_OMAP3 is not set +# CONFIG_ARCH_OMAP4 is not set +# CONFIG_SOC_OMAP5 is not set +# CONFIG_SOC_AM33XX is not set +# CONFIG_SOC_AM43XX is not set +# CONFIG_SOC_DRA7XX is not set +# CONFIG_ARCH_MMP is not set +# CONFIG_ARCH_QCOM is not set +# CONFIG_ARCH_REALVIEW is not set +# CONFIG_ARCH_ROCKCHIP is not set +# CONFIG_ARCH_SOCFPGA is not set +# CONFIG_PLAT_SPEAR is not set +# CONFIG_ARCH_STI is not set +# CONFIG_ARCH_S5PV210 is not set +# CONFIG_ARCH_EXYNOS is not set +# CONFIG_ARCH_RENESAS is not set +CONFIG_ARCH_SUNXI=y +CONFIG_MACH_SUN4I=y +CONFIG_MACH_SUN5I=y +CONFIG_MACH_SUN6I=y +CONFIG_MACH_SUN7I=y +CONFIG_MACH_SUN8I=y +CONFIG_MACH_SUN9I=y +CONFIG_ARCH_SUNXI_MC_SMP=y +# CONFIG_ARCH_SIRF is not set +# CONFIG_ARCH_TANGO is not set +# CONFIG_ARCH_TEGRA is not set +# CONFIG_ARCH_UNIPHIER is not set +# CONFIG_ARCH_U8500 is not set +# CONFIG_ARCH_VEXPRESS is not set +# CONFIG_ARCH_WM8850 is not set +# CONFIG_ARCH_ZX is not set +# CONFIG_ARCH_ZYNQ is not set + +# +# Processor Type +# +CONFIG_CPU_V7=y +CONFIG_CPU_THUMB_CAPABLE=y +CONFIG_CPU_32v6K=y +CONFIG_CPU_32v7=y +CONFIG_CPU_ABRT_EV7=y +CONFIG_CPU_PABRT_V7=y +CONFIG_CPU_CACHE_V7=y +CONFIG_CPU_CACHE_VIPT=y +CONFIG_CPU_COPY_V6=y +CONFIG_CPU_TLB_V7=y +CONFIG_CPU_HAS_ASID=y +CONFIG_CPU_CP15=y +CONFIG_CPU_CP15_MMU=y + +# +# Processor Features +# +# CONFIG_ARM_LPAE is not set +# CONFIG_ARCH_PHYS_ADDR_T_64BIT is not set +CONFIG_ARM_THUMB=y +# CONFIG_ARM_THUMBEE is not set +CONFIG_ARM_VIRT_EXT=y +CONFIG_SWP_EMULATE=y +# CONFIG_CPU_BIG_ENDIAN is not set +# CONFIG_CPU_ICACHE_DISABLE is not set +# CONFIG_CPU_BPREDICT_DISABLE is not set +CONFIG_KUSER_HELPERS=y +CONFIG_VDSO=y +CONFIG_OUTER_CACHE=y +CONFIG_OUTER_CACHE_SYNC=y +CONFIG_MIGHT_HAVE_CACHE_L2X0=y +CONFIG_CACHE_L2X0=y +# CONFIG_CACHE_L2X0_PMU is not set +# CONFIG_PL310_ERRATA_588369 is not set +# CONFIG_PL310_ERRATA_727915 is not set +# CONFIG_PL310_ERRATA_753970 is not set +# CONFIG_PL310_ERRATA_769419 is not set +CONFIG_ARM_L1_CACHE_SHIFT_6=y +CONFIG_ARM_L1_CACHE_SHIFT=6 +CONFIG_ARM_DMA_MEM_BUFFERABLE=y +CONFIG_ARM_HEAVY_MB=y +CONFIG_ARCH_SUPPORTS_BIG_ENDIAN=y +CONFIG_DEBUG_ALIGN_RODATA=y +CONFIG_MULTI_IRQ_HANDLER=y +# CONFIG_ARM_ERRATA_430973 is not set +CONFIG_ARM_ERRATA_643719=y +# CONFIG_ARM_ERRATA_720789 is not set +# CONFIG_ARM_ERRATA_754322 is not set +# CONFIG_ARM_ERRATA_754327 is not set +# CONFIG_ARM_ERRATA_764369 is not set +# CONFIG_ARM_ERRATA_775420 is not set +# CONFIG_ARM_ERRATA_798181 is not set +# CONFIG_ARM_ERRATA_773022 is not set +# CONFIG_ARM_ERRATA_818325_852422 is not set +# CONFIG_ARM_ERRATA_821420 is not set +# CONFIG_ARM_ERRATA_825619 is not set +# CONFIG_ARM_ERRATA_852421 is not set +# CONFIG_ARM_ERRATA_852423 is not set + +# +# Bus support +# +# CONFIG_PCI is not set +# CONFIG_PCI_DOMAINS_GENERIC is not set +# CONFIG_PCI_SYSCALL is not set + +# +# Cadence PCIe controllers support +# + +# +# DesignWare PCI Core Support +# + +# +# PCI Endpoint +# +# CONFIG_PCI_ENDPOINT is not set +# CONFIG_PCCARD is not set + +# +# Kernel Features +# +CONFIG_HAVE_SMP=y +CONFIG_SMP=y +CONFIG_SMP_ON_UP=y +CONFIG_ARM_CPU_TOPOLOGY=y +# CONFIG_SCHED_MC is not set +# CONFIG_SCHED_SMT is not set +CONFIG_HAVE_ARM_ARCH_TIMER=y +# CONFIG_MCPM is not set +# CONFIG_BIG_LITTLE is not set +CONFIG_VMSPLIT_3G=y +# CONFIG_VMSPLIT_3G_OPT is not set +# CONFIG_VMSPLIT_2G is not set +# CONFIG_VMSPLIT_1G is not set +CONFIG_PAGE_OFFSET=0xC0000000 +CONFIG_NR_CPUS=8 +CONFIG_HOTPLUG_CPU=y +CONFIG_ARM_PSCI=y +CONFIG_ARCH_NR_GPIO=416 +CONFIG_PREEMPT_NONE=y +# CONFIG_PREEMPT_VOLUNTARY is not set +# CONFIG_PREEMPT is not set +CONFIG_HZ_FIXED=0 +CONFIG_HZ_100=y +# CONFIG_HZ_200 is not set +# CONFIG_HZ_250 is not set +# CONFIG_HZ_300 is not set +# CONFIG_HZ_500 is not set +# CONFIG_HZ_1000 is not set +CONFIG_HZ=100 +CONFIG_SCHED_HRTICK=y +# CONFIG_THUMB2_KERNEL is not set +CONFIG_ARM_PATCH_IDIV=y +CONFIG_AEABI=y +# CONFIG_OABI_COMPAT is not set +# CONFIG_ARCH_SPARSEMEM_DEFAULT is not set +# CONFIG_ARCH_SELECT_MEMORY_MODEL is not set +CONFIG_HAVE_ARCH_PFN_VALID=y +CONFIG_HIGHMEM=y +CONFIG_HIGHPTE=y +CONFIG_CPU_SW_DOMAIN_PAN=y +CONFIG_HW_PERF_EVENTS=y +CONFIG_ARCH_WANT_GENERAL_HUGETLB=y +# CONFIG_ARM_MODULE_PLTS is not set +CONFIG_FLATMEM=y +CONFIG_FLAT_NODE_MEM_MAP=y +CONFIG_HAVE_MEMBLOCK=y +CONFIG_NO_BOOTMEM=y +CONFIG_MEMORY_ISOLATION=y +# CONFIG_HAVE_BOOTMEM_INFO_NODE is not set +CONFIG_SPLIT_PTLOCK_CPUS=4 +CONFIG_COMPACTION=y +CONFIG_MIGRATION=y +# CONFIG_PHYS_ADDR_T_64BIT is not set +CONFIG_BOUNCE=y +# CONFIG_KSM is not set +CONFIG_DEFAULT_MMAP_MIN_ADDR=4096 +# CONFIG_ARCH_WANTS_THP_SWAP is not set +# CONFIG_CLEANCACHE is not set +# CONFIG_FRONTSWAP is not set +CONFIG_CMA=y +# CONFIG_CMA_DEBUGFS is not set +CONFIG_CMA_AREAS=7 +# CONFIG_ZPOOL is not set +# CONFIG_ZBUD is not set +# CONFIG_ZSMALLOC is not set +CONFIG_GENERIC_EARLY_IOREMAP=y +# CONFIG_IDLE_PAGE_TRACKING is not set +# CONFIG_PERCPU_STATS is not set +# CONFIG_GUP_BENCHMARK is not set +CONFIG_FORCE_MAX_ZONEORDER=11 +CONFIG_ALIGNMENT_TRAP=y +# CONFIG_UACCESS_WITH_MEMCPY is not set +# CONFIG_SECCOMP is not set +CONFIG_SWIOTLB=y +CONFIG_IOMMU_HELPER=y +# CONFIG_PARAVIRT is not set +# CONFIG_PARAVIRT_TIME_ACCOUNTING is not set +# CONFIG_XEN is not set + +# +# Boot options +# +CONFIG_USE_OF=y +CONFIG_ATAGS=y +# CONFIG_DEPRECATED_PARAM_STRUCT is not set +CONFIG_ZBOOT_ROM_TEXT=0 +CONFIG_ZBOOT_ROM_BSS=0 +CONFIG_ARM_APPENDED_DTB=y +CONFIG_ARM_ATAG_DTB_COMPAT=y +CONFIG_ARM_ATAG_DTB_COMPAT_CMDLINE_FROM_BOOTLOADER=y +# CONFIG_ARM_ATAG_DTB_COMPAT_CMDLINE_EXTEND is not set +CONFIG_CMDLINE="" +# CONFIG_KEXEC is not set +# CONFIG_CRASH_DUMP is not set +CONFIG_AUTO_ZRELADDR=y +# CONFIG_EFI is not set + +# +# CPU Power Management +# + +# +# CPU Frequency scaling +# +CONFIG_CPU_FREQ=y +# CONFIG_CPU_FREQ_STAT is not set +CONFIG_CPU_FREQ_DEFAULT_GOV_PERFORMANCE=y +# CONFIG_CPU_FREQ_DEFAULT_GOV_POWERSAVE is not set +# CONFIG_CPU_FREQ_DEFAULT_GOV_USERSPACE is not set +# CONFIG_CPU_FREQ_DEFAULT_GOV_ONDEMAND is not set +# CONFIG_CPU_FREQ_DEFAULT_GOV_CONSERVATIVE is not set +# CONFIG_CPU_FREQ_DEFAULT_GOV_SCHEDUTIL is not set +CONFIG_CPU_FREQ_GOV_PERFORMANCE=y +# CONFIG_CPU_FREQ_GOV_POWERSAVE is not set +# CONFIG_CPU_FREQ_GOV_USERSPACE is not set +# CONFIG_CPU_FREQ_GOV_ONDEMAND is not set +# CONFIG_CPU_FREQ_GOV_CONSERVATIVE is not set +# CONFIG_CPU_FREQ_GOV_SCHEDUTIL is not set + +# +# CPU frequency scaling drivers +# +CONFIG_CPUFREQ_DT=y +CONFIG_CPUFREQ_DT_PLATDEV=y +# CONFIG_ARM_BIG_LITTLE_CPUFREQ is not set +# CONFIG_ARM_KIRKWOOD_CPUFREQ is not set +# CONFIG_QORIQ_CPUFREQ is not set + +# +# CPU Idle +# +# CONFIG_CPU_IDLE is not set +# CONFIG_ARCH_NEEDS_CPU_IDLE_COUPLED is not set + +# +# Floating point emulation +# + +# +# At least one emulation must be selected +# +CONFIG_VFP=y +CONFIG_VFPv3=y +CONFIG_NEON=y +# CONFIG_KERNEL_MODE_NEON is not set + +# +# Userspace binary formats +# +CONFIG_BINFMT_ELF=y +# CONFIG_BINFMT_ELF_FDPIC is not set +CONFIG_ELFCORE=y +CONFIG_CORE_DUMP_DEFAULT_ELF_HEADERS=y +CONFIG_BINFMT_SCRIPT=y +# CONFIG_BINFMT_FLAT is not set +# CONFIG_HAVE_AOUT is not set +# CONFIG_BINFMT_MISC is not set +CONFIG_COREDUMP=y + +# +# Power management options +# +CONFIG_SUSPEND=y +CONFIG_SUSPEND_FREEZER=y +# CONFIG_HIBERNATION is not set +CONFIG_PM_SLEEP=y +CONFIG_PM_SLEEP_SMP=y +# CONFIG_PM_AUTOSLEEP is not set +# CONFIG_PM_WAKELOCKS is not set +CONFIG_PM=y +# CONFIG_PM_DEBUG is not set +# CONFIG_APM_EMULATION is not set +CONFIG_PM_CLK=y +# CONFIG_WQ_POWER_EFFICIENT_DEFAULT is not set +CONFIG_CPU_PM=y +CONFIG_ARCH_SUSPEND_POSSIBLE=y +CONFIG_ARM_CPU_SUSPEND=y +CONFIG_ARCH_HIBERNATION_POSSIBLE=y +CONFIG_NET=y + +# +# Networking options +# +CONFIG_PACKET=y +# CONFIG_PACKET_DIAG is not set +CONFIG_UNIX=y +# CONFIG_UNIX_DIAG is not set +# CONFIG_TLS is not set +# CONFIG_XFRM_USER is not set +# CONFIG_NET_KEY is not set +CONFIG_INET=y +# CONFIG_IP_MULTICAST is not set +# CONFIG_IP_ADVANCED_ROUTER is not set +CONFIG_IP_PNP=y +CONFIG_IP_PNP_DHCP=y +CONFIG_IP_PNP_BOOTP=y +# CONFIG_IP_PNP_RARP is not set +# CONFIG_NET_IPIP is not set +# CONFIG_NET_IPGRE_DEMUX is not set +# CONFIG_NET_IP_TUNNEL is not set +# CONFIG_SYN_COOKIES is not set +# CONFIG_NET_UDP_TUNNEL is not set +# CONFIG_NET_FOU is not set +# CONFIG_INET_AH is not set +# CONFIG_INET_ESP is not set +# CONFIG_INET_IPCOMP is not set +# CONFIG_INET_XFRM_TUNNEL is not set +# CONFIG_INET_TUNNEL is not set +# CONFIG_INET_XFRM_MODE_TRANSPORT is not set +# CONFIG_INET_XFRM_MODE_TUNNEL is not set +# CONFIG_INET_XFRM_MODE_BEET is not set +# CONFIG_INET_DIAG is not set +# CONFIG_TCP_CONG_ADVANCED is not set +CONFIG_TCP_CONG_CUBIC=y +CONFIG_DEFAULT_TCP_CONG="cubic" +# CONFIG_TCP_MD5SIG is not set +# CONFIG_IPV6 is not set +# CONFIG_NETWORK_SECMARK is not set +CONFIG_NET_PTP_CLASSIFY=y +# CONFIG_NETWORK_PHY_TIMESTAMPING is not set +# CONFIG_NETFILTER is not set +# CONFIG_IP_DCCP is not set +# CONFIG_IP_SCTP is not set +# CONFIG_RDS is not set +# CONFIG_TIPC is not set +# CONFIG_ATM is not set +# CONFIG_L2TP is not set +# CONFIG_BRIDGE is not set +CONFIG_HAVE_NET_DSA=y +# CONFIG_NET_DSA is not set +# CONFIG_VLAN_8021Q is not set +# CONFIG_DECNET is not set +# CONFIG_LLC2 is not set +# CONFIG_ATALK is not set +# CONFIG_X25 is not set +# CONFIG_LAPB is not set +# CONFIG_PHONET is not set +# CONFIG_IEEE802154 is not set +# CONFIG_NET_SCHED is not set +# CONFIG_DCB is not set +CONFIG_DNS_RESOLVER=y +# CONFIG_BATMAN_ADV is not set +# CONFIG_OPENVSWITCH is not set +# CONFIG_VSOCKETS is not set +# CONFIG_NETLINK_DIAG is not set +# CONFIG_MPLS is not set +# CONFIG_NET_NSH is not set +# CONFIG_HSR is not set +# CONFIG_NET_SWITCHDEV is not set +# CONFIG_NET_L3_MASTER_DEV is not set +# CONFIG_NET_NCSI is not set +CONFIG_RPS=y +CONFIG_RFS_ACCEL=y +CONFIG_XPS=y +# CONFIG_CGROUP_NET_PRIO is not set +# CONFIG_CGROUP_NET_CLASSID is not set +CONFIG_NET_RX_BUSY_POLL=y +CONFIG_BQL=y +# CONFIG_BPF_JIT is not set +CONFIG_NET_FLOW_LIMIT=y + +# +# Network testing +# +# CONFIG_NET_PKTGEN is not set +# CONFIG_HAMRADIO is not set +CONFIG_CAN=y +CONFIG_CAN_RAW=y +CONFIG_CAN_BCM=y +CONFIG_CAN_GW=y + +# +# CAN Device Drivers +# +# CONFIG_CAN_VCAN is not set +# CONFIG_CAN_VXCAN is not set +# CONFIG_CAN_SLCAN is not set +CONFIG_CAN_DEV=y +CONFIG_CAN_CALC_BITTIMING=y +# CONFIG_CAN_LEDS is not set +# CONFIG_CAN_FLEXCAN is not set +# CONFIG_CAN_GRCAN is not set +CONFIG_CAN_SUN4I=y +# CONFIG_CAN_TI_HECC is not set +# CONFIG_CAN_C_CAN is not set +# CONFIG_CAN_CC770 is not set +# CONFIG_CAN_IFI_CANFD is not set +# CONFIG_CAN_M_CAN is not set +# CONFIG_CAN_RCAR is not set +# CONFIG_CAN_RCAR_CANFD is not set +# CONFIG_CAN_SJA1000 is not set +# CONFIG_CAN_SOFTING is not set + +# +# CAN SPI interfaces +# +# CONFIG_CAN_HI311X is not set +# CONFIG_CAN_MCP251X is not set + +# +# CAN USB interfaces +# +# CONFIG_CAN_EMS_USB is not set +# CONFIG_CAN_ESD_USB2 is not set +# CONFIG_CAN_GS_USB is not set +# CONFIG_CAN_KVASER_USB is not set +# CONFIG_CAN_PEAK_USB is not set +# CONFIG_CAN_8DEV_USB is not set +# CONFIG_CAN_MCBA_USB is not set +# CONFIG_CAN_DEBUG_DEVICES is not set +# CONFIG_BT is not set +# CONFIG_AF_RXRPC is not set +# CONFIG_AF_KCM is not set +# CONFIG_STREAM_PARSER is not set +CONFIG_WIRELESS=y +CONFIG_WEXT_CORE=y +CONFIG_WEXT_PROC=y +CONFIG_CFG80211=y +# CONFIG_NL80211_TESTMODE is not set +# CONFIG_CFG80211_DEVELOPER_WARNINGS is not set +CONFIG_CFG80211_REQUIRE_SIGNED_REGDB=y +CONFIG_CFG80211_USE_KERNEL_REGDB_KEYS=y +CONFIG_CFG80211_DEFAULT_PS=y +# CONFIG_CFG80211_DEBUGFS is not set +CONFIG_CFG80211_CRDA_SUPPORT=y +CONFIG_CFG80211_WEXT=y +# CONFIG_LIB80211 is not set +CONFIG_MAC80211=y +CONFIG_MAC80211_HAS_RC=y +CONFIG_MAC80211_RC_MINSTREL=y +CONFIG_MAC80211_RC_MINSTREL_HT=y +# CONFIG_MAC80211_RC_MINSTREL_VHT is not set +CONFIG_MAC80211_RC_DEFAULT_MINSTREL=y +CONFIG_MAC80211_RC_DEFAULT="minstrel_ht" +# CONFIG_MAC80211_MESH is not set +CONFIG_MAC80211_LEDS=y +# CONFIG_MAC80211_DEBUGFS is not set +# CONFIG_MAC80211_MESSAGE_TRACING is not set +# CONFIG_MAC80211_DEBUG_MENU is not set +CONFIG_MAC80211_STA_HASH_MAX_SIZE=0 +# CONFIG_WIMAX is not set +# CONFIG_RFKILL is not set +# CONFIG_NET_9P is not set +# CONFIG_CAIF is not set +# CONFIG_CEPH_LIB is not set +# CONFIG_NFC is not set +# CONFIG_PSAMPLE is not set +# CONFIG_NET_IFE is not set +# CONFIG_LWTUNNEL is not set +# CONFIG_DST_CACHE is not set +# CONFIG_GRO_CELLS is not set +# CONFIG_NET_DEVLINK is not set +CONFIG_MAY_USE_DEVLINK=y +CONFIG_HAVE_EBPF_JIT=y + +# +# Device Drivers +# + +# +# Generic Driver Options +# +CONFIG_UEVENT_HELPER=y +CONFIG_UEVENT_HELPER_PATH="" +CONFIG_DEVTMPFS=y +CONFIG_DEVTMPFS_MOUNT=y +CONFIG_STANDALONE=y +CONFIG_PREVENT_FIRMWARE_BUILD=y +CONFIG_FW_LOADER=y +CONFIG_EXTRA_FIRMWARE="" +# CONFIG_FW_LOADER_USER_HELPER_FALLBACK is not set +CONFIG_WANT_DEV_COREDUMP=y +CONFIG_ALLOW_DEV_COREDUMP=y +CONFIG_DEV_COREDUMP=y +# CONFIG_TEST_ASYNC_DRIVER_PROBE is not set +# CONFIG_SYS_HYPERVISOR is not set +# CONFIG_GENERIC_CPU_DEVICES is not set +CONFIG_GENERIC_CPU_AUTOPROBE=y +CONFIG_REGMAP=y +CONFIG_REGMAP_I2C=y +CONFIG_REGMAP_SPI=y +CONFIG_REGMAP_MMIO=y +CONFIG_REGMAP_IRQ=y +CONFIG_DMA_SHARED_BUFFER=y +# CONFIG_DMA_FENCE_TRACE is not set +CONFIG_DMA_CMA=y + +# +# Default contiguous memory area size: +# +CONFIG_CMA_SIZE_MBYTES=16 +CONFIG_CMA_SIZE_SEL_MBYTES=y +# CONFIG_CMA_SIZE_SEL_PERCENTAGE is not set +# CONFIG_CMA_SIZE_SEL_MIN is not set +# CONFIG_CMA_SIZE_SEL_MAX is not set +CONFIG_CMA_ALIGNMENT=8 +CONFIG_GENERIC_ARCH_TOPOLOGY=y + +# +# Bus devices +# +CONFIG_ARM_CCI=y +CONFIG_ARM_CCI400_COMMON=y +# CONFIG_ARM_CCI400_PMU is not set +CONFIG_ARM_CCI400_PORT_CTRL=y +# CONFIG_ARM_CCI5xx_PMU is not set +# CONFIG_ARM_CCN is not set +# CONFIG_BRCMSTB_GISB_ARB is not set +# CONFIG_SIMPLE_PM_BUS is not set +CONFIG_SUNXI_RSB=y +# CONFIG_VEXPRESS_CONFIG is not set +# CONFIG_CONNECTOR is not set +# CONFIG_MTD is not set +CONFIG_DTC=y +CONFIG_OF=y +# CONFIG_OF_UNITTEST is not set +CONFIG_OF_FLATTREE=y +CONFIG_OF_EARLY_FLATTREE=y +CONFIG_OF_KOBJ=y +CONFIG_OF_ADDRESS=y +CONFIG_OF_IRQ=y +CONFIG_OF_NET=y +CONFIG_OF_MDIO=y +CONFIG_OF_RESERVED_MEM=y +# CONFIG_OF_OVERLAY is not set +CONFIG_ARCH_MIGHT_HAVE_PC_PARPORT=y +# CONFIG_PARPORT is not set +CONFIG_BLK_DEV=y +# CONFIG_BLK_DEV_NULL_BLK is not set +# CONFIG_BLK_DEV_COW_COMMON is not set +# CONFIG_BLK_DEV_LOOP is not set +# CONFIG_BLK_DEV_DRBD is not set +# CONFIG_BLK_DEV_NBD is not set +# CONFIG_BLK_DEV_RAM is not set +# CONFIG_CDROM_PKTCDVD is not set +# CONFIG_ATA_OVER_ETH is not set +# CONFIG_BLK_DEV_RBD is not set + +# +# NVME Support +# +# CONFIG_NVME_FC is not set + +# +# Misc devices +# +# CONFIG_SENSORS_LIS3LV02D is not set +# CONFIG_AD525X_DPOT is not set +# CONFIG_DUMMY_IRQ is not set +# CONFIG_ICS932S401 is not set +# CONFIG_ENCLOSURE_SERVICES is not set +# CONFIG_APDS9802ALS is not set +# CONFIG_ISL29003 is not set +# CONFIG_ISL29020 is not set +# CONFIG_SENSORS_TSL2550 is not set +# CONFIG_SENSORS_BH1770 is not set +# CONFIG_SENSORS_APDS990X is not set +# CONFIG_HMC6352 is not set +# CONFIG_DS1682 is not set +# CONFIG_USB_SWITCH_FSA9480 is not set +# CONFIG_LATTICE_ECP3_CONFIG is not set +# CONFIG_SRAM is not set +# CONFIG_MISC_RTSX is not set +# CONFIG_C2PORT is not set + +# +# EEPROM support +# +# CONFIG_EEPROM_AT24 is not set +# CONFIG_EEPROM_AT25 is not set +# CONFIG_EEPROM_LEGACY is not set +# CONFIG_EEPROM_MAX6875 is not set +# CONFIG_EEPROM_93CX6 is not set +# CONFIG_EEPROM_93XX46 is not set +# CONFIG_EEPROM_IDT_89HPESX is not set + +# +# Texas Instruments shared transport line discipline +# +# CONFIG_TI_ST is not set +# CONFIG_SENSORS_LIS3_SPI is not set +# CONFIG_SENSORS_LIS3_I2C is not set +# CONFIG_ALTERA_STAPL is not set + +# +# Intel MIC & related support +# + +# +# Intel MIC Bus Driver +# + +# +# SCIF Bus Driver +# + +# +# VOP Bus Driver +# + +# +# Intel MIC Host Driver +# + +# +# Intel MIC Card Driver +# + +# +# SCIF Driver +# + +# +# Intel MIC Coprocessor State Management (COSM) Drivers +# + +# +# VOP Driver +# +# CONFIG_ECHO is not set +# CONFIG_CXL_BASE is not set +# CONFIG_CXL_AFU_DRIVER_OPS is not set +# CONFIG_CXL_LIB is not set +# CONFIG_OCXL_BASE is not set +# CONFIG_MISC_RTSX_USB is not set + +# +# SCSI device support +# +CONFIG_SCSI_MOD=y +# CONFIG_RAID_ATTRS is not set +CONFIG_SCSI=y +CONFIG_SCSI_DMA=y +# CONFIG_SCSI_NETLINK is not set +# CONFIG_SCSI_MQ_DEFAULT is not set +CONFIG_SCSI_PROC_FS=y + +# +# SCSI support type (disk, tape, CD-ROM) +# +CONFIG_BLK_DEV_SD=y +# CONFIG_CHR_DEV_ST is not set +# CONFIG_CHR_DEV_OSST is not set +# CONFIG_BLK_DEV_SR is not set +# CONFIG_CHR_DEV_SG is not set +# CONFIG_CHR_DEV_SCH is not set +# CONFIG_SCSI_CONSTANTS is not set +# CONFIG_SCSI_LOGGING is not set +# CONFIG_SCSI_SCAN_ASYNC is not set + +# +# SCSI Transports +# +# CONFIG_SCSI_SPI_ATTRS is not set +# CONFIG_SCSI_FC_ATTRS is not set +# CONFIG_SCSI_ISCSI_ATTRS is not set +# CONFIG_SCSI_SAS_ATTRS is not set +# CONFIG_SCSI_SAS_LIBSAS is not set +# CONFIG_SCSI_SRP_ATTRS is not set +CONFIG_SCSI_LOWLEVEL=y +# CONFIG_ISCSI_TCP is not set +# CONFIG_ISCSI_BOOT_SYSFS is not set +# CONFIG_SCSI_UFSHCD is not set +# CONFIG_SCSI_DEBUG is not set +# CONFIG_SCSI_DH is not set +# CONFIG_SCSI_OSD_INITIATOR is not set +CONFIG_ATA=y +# CONFIG_ATA_NONSTANDARD is not set +CONFIG_ATA_VERBOSE_ERROR=y +CONFIG_SATA_PMP=y + +# +# Controllers with non-SFF native interface +# +# CONFIG_SATA_AHCI_PLATFORM is not set +# CONFIG_AHCI_CEVA is not set +CONFIG_AHCI_SUNXI=y +# CONFIG_AHCI_QORIQ is not set +CONFIG_ATA_SFF=y + +# +# SFF controllers with custom DMA interface +# +CONFIG_ATA_BMDMA=y + +# +# SATA SFF controllers with BMDMA +# +# CONFIG_SATA_DWC is not set + +# +# PATA SFF controllers with BMDMA +# + +# +# PIO-only SFF controllers +# + +# +# Generic fallback / legacy drivers +# +# CONFIG_MD is not set +# CONFIG_TARGET_CORE is not set +CONFIG_NETDEVICES=y +CONFIG_MII=y +CONFIG_NET_CORE=y +# CONFIG_BONDING is not set +# CONFIG_DUMMY is not set +# CONFIG_EQUALIZER is not set +# CONFIG_NET_TEAM is not set +# CONFIG_MACVLAN is not set +# CONFIG_VXLAN is not set +# CONFIG_MACSEC is not set +# CONFIG_NETCONSOLE is not set +# CONFIG_NETPOLL is not set +# CONFIG_NET_POLL_CONTROLLER is not set +# CONFIG_TUN is not set +# CONFIG_TUN_VNET_CROSS_LE is not set +# CONFIG_VETH is not set +# CONFIG_NLMON is not set + +# +# CAIF transport drivers +# + +# +# Distributed Switch Architecture drivers +# +CONFIG_ETHERNET=y +CONFIG_NET_VENDOR_ALACRITECH=y +CONFIG_NET_VENDOR_ALLWINNER=y +CONFIG_SUN4I_EMAC=y +# CONFIG_ALTERA_TSE is not set +CONFIG_NET_VENDOR_AMAZON=y +CONFIG_NET_VENDOR_AQUANTIA=y +# CONFIG_NET_VENDOR_ARC is not set +# CONFIG_NET_VENDOR_AURORA is not set +# CONFIG_NET_CADENCE is not set +# CONFIG_NET_VENDOR_BROADCOM is not set +# CONFIG_NET_VENDOR_CIRRUS is not set +CONFIG_NET_VENDOR_CORTINA=y +# CONFIG_GEMINI_ETHERNET is not set +# CONFIG_DM9000 is not set +# CONFIG_DNET is not set +CONFIG_NET_VENDOR_EZCHIP=y +# CONFIG_EZCHIP_NPS_MANAGEMENT_ENET is not set +# CONFIG_NET_VENDOR_FARADAY is not set +CONFIG_NET_VENDOR_HISILICON=y +# CONFIG_HIX5HD2_GMAC is not set +# CONFIG_HISI_FEMAC is not set +# CONFIG_HIP04_ETH is not set +# CONFIG_HNS is not set +# CONFIG_HNS_DSAF is not set +# CONFIG_HNS_ENET is not set +CONFIG_NET_VENDOR_HUAWEI=y +# CONFIG_NET_VENDOR_INTEL is not set +# CONFIG_NET_VENDOR_MARVELL is not set +CONFIG_NET_VENDOR_MELLANOX=y +# CONFIG_MLXSW_CORE is not set +# CONFIG_MLXFW is not set +# CONFIG_NET_VENDOR_MICREL is not set +# CONFIG_NET_VENDOR_MICROCHIP is not set +# CONFIG_NET_VENDOR_NATSEMI is not set +CONFIG_NET_VENDOR_NETRONOME=y +# CONFIG_ETHOC is not set +CONFIG_NET_VENDOR_QUALCOMM=y +# CONFIG_QCA7000_SPI is not set +# CONFIG_QCOM_EMAC is not set +# CONFIG_RMNET is not set +CONFIG_NET_VENDOR_RENESAS=y +CONFIG_NET_VENDOR_ROCKER=y +# CONFIG_NET_VENDOR_SAMSUNG is not set +# CONFIG_NET_VENDOR_SEEQ is not set +CONFIG_NET_VENDOR_SOLARFLARE=y +# CONFIG_NET_VENDOR_SMSC is not set +CONFIG_NET_VENDOR_SOCIONEXT=y +CONFIG_NET_VENDOR_STMICRO=y +CONFIG_STMMAC_ETH=y +CONFIG_STMMAC_PLATFORM=y +# CONFIG_DWMAC_DWC_QOS_ETH is not set +CONFIG_DWMAC_GENERIC=y +CONFIG_DWMAC_SUNXI=y +CONFIG_DWMAC_SUN8I=y +# CONFIG_NET_VENDOR_VIA is not set +# CONFIG_NET_VENDOR_WIZNET is not set +CONFIG_NET_VENDOR_SYNOPSYS=y +# CONFIG_DWC_XLGMAC is not set +CONFIG_MDIO_DEVICE=y +CONFIG_MDIO_BUS=y +# CONFIG_MDIO_BCM_UNIMAC is not set +# CONFIG_MDIO_BITBANG is not set +CONFIG_MDIO_BUS_MUX=y +# CONFIG_MDIO_BUS_MUX_GPIO is not set +# CONFIG_MDIO_BUS_MUX_MMIOREG is not set +# CONFIG_MDIO_HISI_FEMAC is not set +CONFIG_MDIO_SUN4I=y +CONFIG_PHYLIB=y +CONFIG_SWPHY=y +# CONFIG_LED_TRIGGER_PHY is not set + +# +# MII PHY device drivers +# +# CONFIG_AMD_PHY is not set +# CONFIG_AQUANTIA_PHY is not set +# CONFIG_AT803X_PHY is not set +# CONFIG_BCM7XXX_PHY is not set +# CONFIG_BCM87XX_PHY is not set +# CONFIG_BROADCOM_PHY is not set +# CONFIG_CICADA_PHY is not set +# CONFIG_CORTINA_PHY is not set +# CONFIG_DAVICOM_PHY is not set +# CONFIG_DP83822_PHY is not set +# CONFIG_DP83848_PHY is not set +# CONFIG_DP83867_PHY is not set +CONFIG_FIXED_PHY=y +# CONFIG_ICPLUS_PHY is not set +# CONFIG_INTEL_XWAY_PHY is not set +# CONFIG_LSI_ET1011C_PHY is not set +# CONFIG_LXT_PHY is not set +# CONFIG_MARVELL_PHY is not set +# CONFIG_MARVELL_10G_PHY is not set +# CONFIG_MICREL_PHY is not set +# CONFIG_MICROCHIP_PHY is not set +# CONFIG_MICROSEMI_PHY is not set +# CONFIG_NATIONAL_PHY is not set +# CONFIG_QSEMI_PHY is not set +# CONFIG_REALTEK_PHY is not set +# CONFIG_RENESAS_PHY is not set +# CONFIG_ROCKCHIP_PHY is not set +# CONFIG_SMSC_PHY is not set +# CONFIG_STE10XP is not set +# CONFIG_TERANETICS_PHY is not set +# CONFIG_VITESSE_PHY is not set +# CONFIG_XILINX_GMII2RGMII is not set +# CONFIG_MICREL_KS8995MA is not set +# CONFIG_PPP is not set +# CONFIG_SLIP is not set +CONFIG_USB_NET_DRIVERS=y +# CONFIG_USB_CATC is not set +# CONFIG_USB_KAWETH is not set +# CONFIG_USB_PEGASUS is not set +# CONFIG_USB_RTL8150 is not set +# CONFIG_USB_RTL8152 is not set +# CONFIG_USB_LAN78XX is not set +# CONFIG_USB_USBNET is not set +# CONFIG_USB_IPHETH is not set +CONFIG_WLAN=y +CONFIG_WLAN_VENDOR_ADMTEK=y +CONFIG_ATH_COMMON=m +CONFIG_WLAN_VENDOR_ATH=y +# CONFIG_ATH_DEBUG is not set +CONFIG_ATH9K_HW=m +CONFIG_ATH9K_COMMON=m +CONFIG_ATH9K_BTCOEX_SUPPORT=y +CONFIG_ATH9K=m +# CONFIG_ATH9K_AHB is not set +# CONFIG_ATH9K_DEBUGFS is not set +# CONFIG_ATH9K_DYNACK is not set +# CONFIG_ATH9K_WOW is not set +# CONFIG_ATH9K_CHANNEL_CONTEXT is not set +CONFIG_ATH9K_PCOEM=y +CONFIG_ATH9K_HTC=m +# CONFIG_ATH9K_HTC_DEBUGFS is not set +CONFIG_CARL9170=m +CONFIG_CARL9170_LEDS=y +CONFIG_CARL9170_WPC=y +# CONFIG_ATH6KL is not set +# CONFIG_AR5523 is not set +CONFIG_ATH10K=m +# CONFIG_ATH10K_SDIO is not set +CONFIG_ATH10K_USB=m +# CONFIG_ATH10K_DEBUG is not set +# CONFIG_ATH10K_DEBUGFS is not set +# CONFIG_WCN36XX is not set +CONFIG_WLAN_VENDOR_ATMEL=y +# CONFIG_AT76C50X_USB is not set +CONFIG_WLAN_VENDOR_BROADCOM=y +CONFIG_B43=m +CONFIG_B43_BCMA=y +CONFIG_B43_SSB=y +CONFIG_B43_BUSES_BCMA_AND_SSB=y +# CONFIG_B43_BUSES_BCMA is not set +# CONFIG_B43_BUSES_SSB is not set +# CONFIG_B43_SDIO is not set +CONFIG_B43_BCMA_PIO=y +CONFIG_B43_PIO=y +CONFIG_B43_PHY_G=y +CONFIG_B43_PHY_N=y +CONFIG_B43_PHY_LP=y +CONFIG_B43_PHY_HT=y +CONFIG_B43_LEDS=y +# CONFIG_B43_DEBUG is not set +# CONFIG_B43LEGACY is not set +# CONFIG_BRCMSMAC is not set +# CONFIG_BRCMFMAC is not set +CONFIG_WLAN_VENDOR_CISCO=y +CONFIG_WLAN_VENDOR_INTEL=y +CONFIG_WLAN_VENDOR_INTERSIL=y +# CONFIG_HOSTAP is not set +# CONFIG_P54_COMMON is not set +CONFIG_WLAN_VENDOR_MARVELL=y +# CONFIG_LIBERTAS is not set +# CONFIG_LIBERTAS_THINFIRM is not set +# CONFIG_MWIFIEX is not set +CONFIG_WLAN_VENDOR_MEDIATEK=y +# CONFIG_MT7601U is not set +CONFIG_WLAN_VENDOR_RALINK=y +CONFIG_RT2X00=m +CONFIG_RT2500USB=m +CONFIG_RT73USB=m +CONFIG_RT2800USB=m +CONFIG_RT2800USB_RT33XX=y +CONFIG_RT2800USB_RT35XX=y +CONFIG_RT2800USB_RT3573=y +CONFIG_RT2800USB_RT53XX=y +CONFIG_RT2800USB_RT55XX=y +CONFIG_RT2800USB_UNKNOWN=y +CONFIG_RT2800_LIB=m +CONFIG_RT2X00_LIB_USB=m +CONFIG_RT2X00_LIB=m +CONFIG_RT2X00_LIB_FIRMWARE=y +CONFIG_RT2X00_LIB_CRYPTO=y +CONFIG_RT2X00_LIB_LEDS=y +# CONFIG_RT2X00_DEBUG is not set +CONFIG_WLAN_VENDOR_REALTEK=y +# CONFIG_RTL8187 is not set +CONFIG_RTL_CARDS=m +# CONFIG_RTL8192CU is not set +# CONFIG_RTL8XXXU is not set +CONFIG_WLAN_VENDOR_RSI=y +# CONFIG_RSI_91X is not set +CONFIG_WLAN_VENDOR_ST=y +# CONFIG_CW1200 is not set +CONFIG_WLAN_VENDOR_TI=y +# CONFIG_WL1251 is not set +# CONFIG_WL12XX is not set +# CONFIG_WL18XX is not set +# CONFIG_WLCORE is not set +CONFIG_WLAN_VENDOR_ZYDAS=y +# CONFIG_USB_ZD1201 is not set +# CONFIG_ZD1211RW is not set +CONFIG_WLAN_VENDOR_QUANTENNA=y +# CONFIG_MAC80211_HWSIM is not set +# CONFIG_USB_NET_RNDIS_WLAN is not set + +# +# Enable WiMAX (Networking options) to see the WiMAX drivers +# +# CONFIG_WAN is not set +# CONFIG_NETDEVSIM is not set +# CONFIG_ISDN is not set + +# +# Input device support +# +CONFIG_INPUT=y +CONFIG_INPUT_LEDS=y +# CONFIG_INPUT_FF_MEMLESS is not set +# CONFIG_INPUT_POLLDEV is not set +# CONFIG_INPUT_SPARSEKMAP is not set +# CONFIG_INPUT_MATRIXKMAP is not set + +# +# Userland interfaces +# +# CONFIG_INPUT_MOUSEDEV is not set +# CONFIG_INPUT_JOYDEV is not set +CONFIG_INPUT_EVDEV=y +# CONFIG_INPUT_EVBUG is not set + +# +# Input Device Drivers +# +CONFIG_INPUT_KEYBOARD=y +# CONFIG_KEYBOARD_ADC is not set +# CONFIG_KEYBOARD_ADP5588 is not set +# CONFIG_KEYBOARD_ADP5589 is not set +CONFIG_KEYBOARD_ATKBD=y +# CONFIG_KEYBOARD_QT1070 is not set +# CONFIG_KEYBOARD_QT2160 is not set +# CONFIG_KEYBOARD_DLINK_DIR685 is not set +# CONFIG_KEYBOARD_LKKBD is not set +# CONFIG_KEYBOARD_GPIO is not set +# CONFIG_KEYBOARD_GPIO_POLLED is not set +# CONFIG_KEYBOARD_TCA6416 is not set +# CONFIG_KEYBOARD_TCA8418 is not set +# CONFIG_KEYBOARD_MATRIX is not set +# CONFIG_KEYBOARD_LM8323 is not set +# CONFIG_KEYBOARD_LM8333 is not set +# CONFIG_KEYBOARD_MAX7359 is not set +# CONFIG_KEYBOARD_MCS is not set +# CONFIG_KEYBOARD_MPR121 is not set +# CONFIG_KEYBOARD_NEWTON is not set +# CONFIG_KEYBOARD_OPENCORES is not set +# CONFIG_KEYBOARD_SAMSUNG is not set +# CONFIG_KEYBOARD_STOWAWAY is not set +# CONFIG_KEYBOARD_SUNKBD is not set +CONFIG_KEYBOARD_SUN4I_LRADC=y +# CONFIG_KEYBOARD_OMAP4 is not set +# CONFIG_KEYBOARD_TM2_TOUCHKEY is not set +# CONFIG_KEYBOARD_XTKBD is not set +# CONFIG_KEYBOARD_CAP11XX is not set +# CONFIG_KEYBOARD_BCM is not set +# CONFIG_INPUT_MOUSE is not set +# CONFIG_INPUT_JOYSTICK is not set +# CONFIG_INPUT_TABLET is not set +CONFIG_INPUT_TOUCHSCREEN=y +CONFIG_TOUCHSCREEN_PROPERTIES=y +# CONFIG_TOUCHSCREEN_ADS7846 is not set +# CONFIG_TOUCHSCREEN_AD7877 is not set +# CONFIG_TOUCHSCREEN_AD7879 is not set +# CONFIG_TOUCHSCREEN_AR1021_I2C is not set +# CONFIG_TOUCHSCREEN_ATMEL_MXT is not set +# CONFIG_TOUCHSCREEN_AUO_PIXCIR is not set +# CONFIG_TOUCHSCREEN_BU21013 is not set +# CONFIG_TOUCHSCREEN_CHIPONE_ICN8318 is not set +# CONFIG_TOUCHSCREEN_CY8CTMG110 is not set +# CONFIG_TOUCHSCREEN_CYTTSP_CORE is not set +# CONFIG_TOUCHSCREEN_CYTTSP4_CORE is not set +# CONFIG_TOUCHSCREEN_DYNAPRO is not set +# CONFIG_TOUCHSCREEN_HAMPSHIRE is not set +# CONFIG_TOUCHSCREEN_EETI is not set +# CONFIG_TOUCHSCREEN_EGALAX is not set +# CONFIG_TOUCHSCREEN_EGALAX_SERIAL is not set +# CONFIG_TOUCHSCREEN_EXC3000 is not set +# CONFIG_TOUCHSCREEN_FUJITSU is not set +# CONFIG_TOUCHSCREEN_GOODIX is not set +# CONFIG_TOUCHSCREEN_HIDEEP is not set +# CONFIG_TOUCHSCREEN_ILI210X is not set +# CONFIG_TOUCHSCREEN_S6SY761 is not set +# CONFIG_TOUCHSCREEN_GUNZE is not set +# CONFIG_TOUCHSCREEN_EKTF2127 is not set +# CONFIG_TOUCHSCREEN_ELAN is not set +# CONFIG_TOUCHSCREEN_ELO is not set +# CONFIG_TOUCHSCREEN_WACOM_W8001 is not set +# CONFIG_TOUCHSCREEN_WACOM_I2C is not set +# CONFIG_TOUCHSCREEN_MAX11801 is not set +# CONFIG_TOUCHSCREEN_MCS5000 is not set +# CONFIG_TOUCHSCREEN_MMS114 is not set +# CONFIG_TOUCHSCREEN_MELFAS_MIP4 is not set +# CONFIG_TOUCHSCREEN_MTOUCH is not set +# CONFIG_TOUCHSCREEN_IMX6UL_TSC is not set +# CONFIG_TOUCHSCREEN_INEXIO is not set +# CONFIG_TOUCHSCREEN_MK712 is not set +# CONFIG_TOUCHSCREEN_PENMOUNT is not set +# CONFIG_TOUCHSCREEN_EDT_FT5X06 is not set +# CONFIG_TOUCHSCREEN_TOUCHRIGHT is not set +# CONFIG_TOUCHSCREEN_TOUCHWIN is not set +# CONFIG_TOUCHSCREEN_PIXCIR is not set +# CONFIG_TOUCHSCREEN_WDT87XX_I2C is not set +# CONFIG_TOUCHSCREEN_USB_COMPOSITE is not set +# CONFIG_TOUCHSCREEN_TOUCHIT213 is not set +# CONFIG_TOUCHSCREEN_TSC_SERIO is not set +# CONFIG_TOUCHSCREEN_TSC2004 is not set +# CONFIG_TOUCHSCREEN_TSC2005 is not set +# CONFIG_TOUCHSCREEN_TSC2007 is not set +# CONFIG_TOUCHSCREEN_RM_TS is not set +# CONFIG_TOUCHSCREEN_SILEAD is not set +# CONFIG_TOUCHSCREEN_SIS_I2C is not set +# CONFIG_TOUCHSCREEN_ST1232 is not set +# CONFIG_TOUCHSCREEN_STMFTS is not set +CONFIG_TOUCHSCREEN_SUN4I=y +# CONFIG_TOUCHSCREEN_SURFACE3_SPI is not set +# CONFIG_TOUCHSCREEN_SX8654 is not set +# CONFIG_TOUCHSCREEN_TPS6507X is not set +# CONFIG_TOUCHSCREEN_ZET6223 is not set +# CONFIG_TOUCHSCREEN_ZFORCE is not set +# CONFIG_TOUCHSCREEN_ROHM_BU21023 is not set +CONFIG_INPUT_MISC=y +# CONFIG_INPUT_AD714X is not set +# CONFIG_INPUT_ATMEL_CAPTOUCH is not set +# CONFIG_INPUT_BMA150 is not set +# CONFIG_INPUT_E3X0_BUTTON is not set +# CONFIG_INPUT_MMA8450 is not set +# CONFIG_INPUT_GP2A is not set +# CONFIG_INPUT_GPIO_BEEPER is not set +# CONFIG_INPUT_GPIO_DECODER is not set +# CONFIG_INPUT_ATI_REMOTE2 is not set +# CONFIG_INPUT_KEYSPAN_REMOTE is not set +# CONFIG_INPUT_KXTJ9 is not set +# CONFIG_INPUT_POWERMATE is not set +# CONFIG_INPUT_YEALINK is not set +# CONFIG_INPUT_CM109 is not set +# CONFIG_INPUT_REGULATOR_HAPTIC is not set +CONFIG_INPUT_AXP20X_PEK=y +# CONFIG_INPUT_UINPUT is not set +# CONFIG_INPUT_PCF8574 is not set +# CONFIG_INPUT_PWM_BEEPER is not set +# CONFIG_INPUT_PWM_VIBRA is not set +# CONFIG_INPUT_GPIO_ROTARY_ENCODER is not set +# CONFIG_INPUT_ADXL34X is not set +# CONFIG_INPUT_IMS_PCU is not set +# CONFIG_INPUT_CMA3000 is not set +# CONFIG_INPUT_DRV260X_HAPTICS is not set +# CONFIG_INPUT_DRV2665_HAPTICS is not set +# CONFIG_INPUT_DRV2667_HAPTICS is not set +# CONFIG_RMI4_CORE is not set + +# +# Hardware I/O ports +# +CONFIG_SERIO=y +CONFIG_SERIO_SERPORT=y +CONFIG_SERIO_LIBPS2=y +# CONFIG_SERIO_RAW is not set +# CONFIG_SERIO_ALTERA_PS2 is not set +# CONFIG_SERIO_PS2MULT is not set +# CONFIG_SERIO_ARC_PS2 is not set +# CONFIG_SERIO_APBPS2 is not set +# CONFIG_SERIO_SUN4I_PS2 is not set +# CONFIG_SERIO_GPIO_PS2 is not set +# CONFIG_USERIO is not set +# CONFIG_GAMEPORT is not set + +# +# Character devices +# +CONFIG_TTY=y +CONFIG_VT=y +CONFIG_CONSOLE_TRANSLATIONS=y +CONFIG_VT_CONSOLE=y +CONFIG_VT_CONSOLE_SLEEP=y +CONFIG_HW_CONSOLE=y +CONFIG_VT_HW_CONSOLE_BINDING=y +CONFIG_UNIX98_PTYS=y +CONFIG_LEGACY_PTYS=y +CONFIG_LEGACY_PTY_COUNT=256 +# CONFIG_SERIAL_NONSTANDARD is not set +# CONFIG_N_GSM is not set +# CONFIG_TRACE_SINK is not set +CONFIG_DEVMEM=y +# CONFIG_DEVKMEM is not set + +# +# Serial drivers +# +CONFIG_SERIAL_EARLYCON=y +CONFIG_SERIAL_8250=y +CONFIG_SERIAL_8250_DEPRECATED_OPTIONS=y +# CONFIG_SERIAL_8250_FINTEK is not set +CONFIG_SERIAL_8250_CONSOLE=y +CONFIG_SERIAL_8250_DMA=y +CONFIG_SERIAL_8250_NR_UARTS=8 +CONFIG_SERIAL_8250_RUNTIME_UARTS=8 +# CONFIG_SERIAL_8250_EXTENDED is not set +# CONFIG_SERIAL_8250_ASPEED_VUART is not set +CONFIG_SERIAL_8250_FSL=y +CONFIG_SERIAL_8250_DW=y +# CONFIG_SERIAL_8250_EM is not set +# CONFIG_SERIAL_8250_RT288X is not set +CONFIG_SERIAL_OF_PLATFORM=y + +# +# Non-8250 serial port support +# +# CONFIG_SERIAL_EARLYCON_ARM_SEMIHOST is not set +# CONFIG_SERIAL_MAX3100 is not set +# CONFIG_SERIAL_MAX310X is not set +# CONFIG_SERIAL_UARTLITE is not set +CONFIG_SERIAL_CORE=y +CONFIG_SERIAL_CORE_CONSOLE=y +# CONFIG_SERIAL_SCCNXP is not set +# CONFIG_SERIAL_SC16IS7XX is not set +# CONFIG_SERIAL_BCM63XX is not set +# CONFIG_SERIAL_ALTERA_JTAGUART is not set +# CONFIG_SERIAL_ALTERA_UART is not set +# CONFIG_SERIAL_IFX6X60 is not set +# CONFIG_SERIAL_XILINX_PS_UART is not set +# CONFIG_SERIAL_ARC is not set +# CONFIG_SERIAL_FSL_LPUART is not set +# CONFIG_SERIAL_CONEXANT_DIGICOLOR is not set +# CONFIG_SERIAL_ST_ASC is not set +# CONFIG_SERIAL_DEV_BUS is not set +# CONFIG_HVC_DCC is not set +# CONFIG_IPMI_HANDLER is not set +# CONFIG_HW_RANDOM is not set +# CONFIG_R3964 is not set +# CONFIG_RAW_DRIVER is not set +# CONFIG_TCG_TPM is not set +# CONFIG_XILLYBUS is not set + +# +# I2C support +# +CONFIG_I2C=y +CONFIG_I2C_BOARDINFO=y +CONFIG_I2C_COMPAT=y +CONFIG_I2C_CHARDEV=y +# CONFIG_I2C_MUX is not set +CONFIG_I2C_HELPER_AUTO=y +CONFIG_I2C_ALGOBIT=m + +# +# I2C Hardware Bus support +# + +# +# I2C system bus drivers (mostly embedded / system-on-chip) +# +# CONFIG_I2C_CBUS_GPIO is not set +# CONFIG_I2C_DESIGNWARE_PLATFORM is not set +# CONFIG_I2C_EMEV2 is not set +# CONFIG_I2C_GPIO is not set +CONFIG_I2C_MV64XXX=y +# CONFIG_I2C_OCORES is not set +# CONFIG_I2C_PCA_PLATFORM is not set +# CONFIG_I2C_PXA_PCI is not set +# CONFIG_I2C_RK3X is not set +# CONFIG_I2C_SIMTEC is not set +CONFIG_I2C_SUN6I_P2WI=y +# CONFIG_I2C_XILINX is not set + +# +# External I2C/SMBus adapter drivers +# +# CONFIG_I2C_DIOLAN_U2C is not set +# CONFIG_I2C_PARPORT_LIGHT is not set +# CONFIG_I2C_ROBOTFUZZ_OSIF is not set +# CONFIG_I2C_TAOS_EVM is not set +# CONFIG_I2C_TINY_USB is not set + +# +# Other I2C/SMBus bus drivers +# +# CONFIG_I2C_STUB is not set +# CONFIG_I2C_SLAVE is not set +# CONFIG_I2C_DEBUG_CORE is not set +# CONFIG_I2C_DEBUG_ALGO is not set +# CONFIG_I2C_DEBUG_BUS is not set +CONFIG_SPI=y +CONFIG_SPI_MASTER=y + +# +# SPI Master Controller Drivers +# +# CONFIG_SPI_ALTERA is not set +# CONFIG_SPI_AXI_SPI_ENGINE is not set +# CONFIG_SPI_BITBANG is not set +# CONFIG_SPI_CADENCE is not set +# CONFIG_SPI_DESIGNWARE is not set +# CONFIG_SPI_GPIO is not set +# CONFIG_SPI_FSL_SPI is not set +# CONFIG_SPI_OC_TINY is not set +# CONFIG_SPI_PXA2XX_PCI is not set +# CONFIG_SPI_ROCKCHIP is not set +# CONFIG_SPI_SC18IS602 is not set +CONFIG_SPI_SUN4I=y +CONFIG_SPI_SUN6I=y +# CONFIG_SPI_XCOMM is not set +# CONFIG_SPI_XILINX is not set +# CONFIG_SPI_ZYNQMP_GQSPI is not set + +# +# SPI Protocol Masters +# +# CONFIG_SPI_SPIDEV is not set +# CONFIG_SPI_LOOPBACK_TEST is not set +# CONFIG_SPI_TLE62X0 is not set +# CONFIG_SPI_SLAVE is not set +# CONFIG_SPMI is not set +# CONFIG_HSI is not set +CONFIG_PPS=y +# CONFIG_PPS_DEBUG is not set + +# +# PPS clients support +# +# CONFIG_PPS_CLIENT_KTIMER is not set +# CONFIG_PPS_CLIENT_LDISC is not set +# CONFIG_PPS_CLIENT_GPIO is not set + +# +# PPS generators support +# + +# +# PTP clock support +# +CONFIG_PTP_1588_CLOCK=y + +# +# Enable PHYLIB and NETWORK_PHY_TIMESTAMPING to see the additional clocks. +# +CONFIG_PINCTRL=y +CONFIG_PINMUX=y +CONFIG_PINCONF=y +CONFIG_GENERIC_PINCONF=y +# CONFIG_PINCTRL_AXP209 is not set +# CONFIG_PINCTRL_AMD is not set +# CONFIG_PINCTRL_MCP23S08 is not set +# CONFIG_PINCTRL_SINGLE is not set +# CONFIG_PINCTRL_SX150X is not set +CONFIG_PINCTRL_SUNXI=y +CONFIG_PINCTRL_SUN4I_A10=y +CONFIG_PINCTRL_SUN5I=y +CONFIG_PINCTRL_SUN6I_A31=y +CONFIG_PINCTRL_SUN6I_A31_R=y +CONFIG_PINCTRL_SUN8I_A23=y +CONFIG_PINCTRL_SUN8I_A33=y +CONFIG_PINCTRL_SUN8I_A83T=y +CONFIG_PINCTRL_SUN8I_A83T_R=y +CONFIG_PINCTRL_SUN8I_A23_R=y +CONFIG_PINCTRL_SUN8I_H3=y +CONFIG_PINCTRL_SUN8I_H3_R=y +CONFIG_PINCTRL_SUN8I_V3S=y +CONFIG_PINCTRL_SUN9I_A80=y +CONFIG_PINCTRL_SUN9I_A80_R=y +# CONFIG_PINCTRL_SUN50I_A64 is not set +# CONFIG_PINCTRL_SUN50I_A64_R is not set +# CONFIG_PINCTRL_SUN50I_H5 is not set +CONFIG_ARCH_HAVE_CUSTOM_GPIO_H=y +CONFIG_GPIOLIB=y +CONFIG_OF_GPIO=y +CONFIG_GPIO_SYSFS=y + +# +# Memory mapped GPIO drivers +# +# CONFIG_GPIO_74XX_MMIO is not set +# CONFIG_GPIO_ALTERA is not set +# CONFIG_GPIO_DWAPB is not set +# CONFIG_GPIO_FTGPIO010 is not set +# CONFIG_GPIO_GENERIC_PLATFORM is not set +# CONFIG_GPIO_GRGPIO is not set +# CONFIG_GPIO_MB86S7X is not set +# CONFIG_GPIO_MOCKUP is not set +# CONFIG_GPIO_MPC8XXX is not set +# CONFIG_GPIO_SYSCON is not set +# CONFIG_GPIO_XILINX is not set +# CONFIG_GPIO_ZEVIO is not set + +# +# I2C GPIO expanders +# +# CONFIG_GPIO_ADP5588 is not set +# CONFIG_GPIO_ADNP is not set +# CONFIG_GPIO_MAX7300 is not set +# CONFIG_GPIO_MAX732X is not set +# CONFIG_GPIO_PCA953X is not set +# CONFIG_GPIO_PCF857X is not set +# CONFIG_GPIO_TPIC2810 is not set + +# +# MFD GPIO expanders +# +# CONFIG_HTC_EGPIO is not set + +# +# SPI GPIO expanders +# +# CONFIG_GPIO_74X164 is not set +# CONFIG_GPIO_MAX3191X is not set +# CONFIG_GPIO_MAX7301 is not set +# CONFIG_GPIO_MC33880 is not set +# CONFIG_GPIO_PISOSR is not set +# CONFIG_GPIO_XRA1403 is not set + +# +# USB GPIO expanders +# +# CONFIG_W1 is not set +# CONFIG_POWER_AVS is not set +# CONFIG_POWER_RESET is not set +CONFIG_POWER_SUPPLY=y +# CONFIG_POWER_SUPPLY_DEBUG is not set +# CONFIG_PDA_POWER is not set +# CONFIG_GENERIC_ADC_BATTERY is not set +# CONFIG_TEST_POWER is not set +# CONFIG_BATTERY_DS2780 is not set +# CONFIG_BATTERY_DS2781 is not set +# CONFIG_BATTERY_DS2782 is not set +# CONFIG_BATTERY_LEGO_EV3 is not set +# CONFIG_BATTERY_SBS is not set +# CONFIG_CHARGER_SBS is not set +# CONFIG_BATTERY_BQ27XXX is not set +CONFIG_CHARGER_AXP20X=y +CONFIG_BATTERY_AXP20X=y +CONFIG_AXP20X_POWER=y +# CONFIG_AXP288_FUEL_GAUGE is not set +# CONFIG_BATTERY_MAX17040 is not set +# CONFIG_BATTERY_MAX17042 is not set +# CONFIG_CHARGER_ISP1704 is not set +# CONFIG_CHARGER_MAX8903 is not set +# CONFIG_CHARGER_LP8727 is not set +# CONFIG_CHARGER_GPIO is not set +# CONFIG_CHARGER_MANAGER is not set +# CONFIG_CHARGER_LTC3651 is not set +# CONFIG_CHARGER_DETECTOR_MAX14656 is not set +# CONFIG_CHARGER_BQ2415X is not set +# CONFIG_CHARGER_BQ24190 is not set +# CONFIG_CHARGER_BQ24257 is not set +# CONFIG_CHARGER_BQ24735 is not set +# CONFIG_CHARGER_BQ25890 is not set +# CONFIG_CHARGER_SMB347 is not set +# CONFIG_BATTERY_GAUGE_LTC2941 is not set +# CONFIG_CHARGER_RT9455 is not set +CONFIG_HWMON=y +# CONFIG_HWMON_DEBUG_CHIP is not set + +# +# Native drivers +# +# CONFIG_SENSORS_AD7314 is not set +# CONFIG_SENSORS_AD7414 is not set +# CONFIG_SENSORS_AD7418 is not set +# CONFIG_SENSORS_ADM1021 is not set +# CONFIG_SENSORS_ADM1025 is not set +# CONFIG_SENSORS_ADM1026 is not set +# CONFIG_SENSORS_ADM1029 is not set +# CONFIG_SENSORS_ADM1031 is not set +# CONFIG_SENSORS_ADM9240 is not set +# CONFIG_SENSORS_ADT7310 is not set +# CONFIG_SENSORS_ADT7410 is not set +# CONFIG_SENSORS_ADT7411 is not set +# CONFIG_SENSORS_ADT7462 is not set +# CONFIG_SENSORS_ADT7470 is not set +# CONFIG_SENSORS_ADT7475 is not set +# CONFIG_SENSORS_ASC7621 is not set +# CONFIG_SENSORS_ASPEED is not set +# CONFIG_SENSORS_ATXP1 is not set +# CONFIG_SENSORS_DS620 is not set +# CONFIG_SENSORS_DS1621 is not set +# CONFIG_SENSORS_F71805F is not set +# CONFIG_SENSORS_F71882FG is not set +# CONFIG_SENSORS_F75375S is not set +# CONFIG_SENSORS_FTSTEUTATES is not set +# CONFIG_SENSORS_GL518SM is not set +# CONFIG_SENSORS_GL520SM is not set +# CONFIG_SENSORS_G760A is not set +# CONFIG_SENSORS_G762 is not set +# CONFIG_SENSORS_GPIO_FAN is not set +# CONFIG_SENSORS_HIH6130 is not set +# CONFIG_SENSORS_IIO_HWMON is not set +# CONFIG_SENSORS_IT87 is not set +# CONFIG_SENSORS_JC42 is not set +# CONFIG_SENSORS_POWR1220 is not set +# CONFIG_SENSORS_LINEAGE is not set +# CONFIG_SENSORS_LTC2945 is not set +# CONFIG_SENSORS_LTC2990 is not set +# CONFIG_SENSORS_LTC4151 is not set +# CONFIG_SENSORS_LTC4215 is not set +# CONFIG_SENSORS_LTC4222 is not set +# CONFIG_SENSORS_LTC4245 is not set +# CONFIG_SENSORS_LTC4260 is not set +# CONFIG_SENSORS_LTC4261 is not set +# CONFIG_SENSORS_MAX1111 is not set +# CONFIG_SENSORS_MAX16065 is not set +# CONFIG_SENSORS_MAX1619 is not set +# CONFIG_SENSORS_MAX1668 is not set +# CONFIG_SENSORS_MAX197 is not set +# CONFIG_SENSORS_MAX31722 is not set +# CONFIG_SENSORS_MAX6621 is not set +# CONFIG_SENSORS_MAX6639 is not set +# CONFIG_SENSORS_MAX6642 is not set +# CONFIG_SENSORS_MAX6650 is not set +# CONFIG_SENSORS_MAX6697 is not set +# CONFIG_SENSORS_MAX31790 is not set +# CONFIG_SENSORS_MCP3021 is not set +# CONFIG_SENSORS_TC654 is not set +# CONFIG_SENSORS_ADCXX is not set +# CONFIG_SENSORS_LM63 is not set +# CONFIG_SENSORS_LM70 is not set +# CONFIG_SENSORS_LM73 is not set +# CONFIG_SENSORS_LM75 is not set +# CONFIG_SENSORS_LM77 is not set +# CONFIG_SENSORS_LM78 is not set +# CONFIG_SENSORS_LM80 is not set +# CONFIG_SENSORS_LM83 is not set +# CONFIG_SENSORS_LM85 is not set +# CONFIG_SENSORS_LM87 is not set +# CONFIG_SENSORS_LM90 is not set +# CONFIG_SENSORS_LM92 is not set +# CONFIG_SENSORS_LM93 is not set +# CONFIG_SENSORS_LM95234 is not set +# CONFIG_SENSORS_LM95241 is not set +# CONFIG_SENSORS_LM95245 is not set +# CONFIG_SENSORS_PC87360 is not set +# CONFIG_SENSORS_PC87427 is not set +# CONFIG_SENSORS_NTC_THERMISTOR is not set +# CONFIG_SENSORS_NCT6683 is not set +# CONFIG_SENSORS_NCT6775 is not set +# CONFIG_SENSORS_NCT7802 is not set +# CONFIG_SENSORS_NCT7904 is not set +# CONFIG_SENSORS_PCF8591 is not set +# CONFIG_PMBUS is not set +# CONFIG_SENSORS_PWM_FAN is not set +# CONFIG_SENSORS_SHT15 is not set +# CONFIG_SENSORS_SHT21 is not set +# CONFIG_SENSORS_SHT3x is not set +# CONFIG_SENSORS_SHTC1 is not set +# CONFIG_SENSORS_DME1737 is not set +# CONFIG_SENSORS_EMC1403 is not set +# CONFIG_SENSORS_EMC2103 is not set +# CONFIG_SENSORS_EMC6W201 is not set +# CONFIG_SENSORS_SMSC47M1 is not set +# CONFIG_SENSORS_SMSC47M192 is not set +# CONFIG_SENSORS_SMSC47B397 is not set +# CONFIG_SENSORS_SCH5627 is not set +# CONFIG_SENSORS_SCH5636 is not set +# CONFIG_SENSORS_STTS751 is not set +# CONFIG_SENSORS_SMM665 is not set +# CONFIG_SENSORS_ADC128D818 is not set +# CONFIG_SENSORS_ADS1015 is not set +# CONFIG_SENSORS_ADS7828 is not set +# CONFIG_SENSORS_ADS7871 is not set +# CONFIG_SENSORS_AMC6821 is not set +# CONFIG_SENSORS_INA209 is not set +# CONFIG_SENSORS_INA2XX is not set +# CONFIG_SENSORS_INA3221 is not set +# CONFIG_SENSORS_TC74 is not set +# CONFIG_SENSORS_THMC50 is not set +# CONFIG_SENSORS_TMP102 is not set +# CONFIG_SENSORS_TMP103 is not set +# CONFIG_SENSORS_TMP108 is not set +# CONFIG_SENSORS_TMP401 is not set +# CONFIG_SENSORS_TMP421 is not set +# CONFIG_SENSORS_VT1211 is not set +# CONFIG_SENSORS_W83773G is not set +# CONFIG_SENSORS_W83781D is not set +# CONFIG_SENSORS_W83791D is not set +# CONFIG_SENSORS_W83792D is not set +# CONFIG_SENSORS_W83793 is not set +# CONFIG_SENSORS_W83795 is not set +# CONFIG_SENSORS_W83L785TS is not set +# CONFIG_SENSORS_W83L786NG is not set +# CONFIG_SENSORS_W83627HF is not set +# CONFIG_SENSORS_W83627EHF is not set +CONFIG_THERMAL=y +CONFIG_THERMAL_EMERGENCY_POWEROFF_DELAY_MS=0 +CONFIG_THERMAL_HWMON=y +CONFIG_THERMAL_OF=y +# CONFIG_THERMAL_WRITABLE_TRIPS is not set +CONFIG_THERMAL_DEFAULT_GOV_STEP_WISE=y +# CONFIG_THERMAL_DEFAULT_GOV_FAIR_SHARE is not set +# CONFIG_THERMAL_DEFAULT_GOV_USER_SPACE is not set +# CONFIG_THERMAL_DEFAULT_GOV_POWER_ALLOCATOR is not set +# CONFIG_THERMAL_GOV_FAIR_SHARE is not set +CONFIG_THERMAL_GOV_STEP_WISE=y +# CONFIG_THERMAL_GOV_BANG_BANG is not set +# CONFIG_THERMAL_GOV_USER_SPACE is not set +# CONFIG_THERMAL_GOV_POWER_ALLOCATOR is not set +CONFIG_CPU_THERMAL=y +# CONFIG_CLOCK_THERMAL is not set +# CONFIG_THERMAL_EMULATION is not set +# CONFIG_QORIQ_THERMAL is not set + +# +# ACPI INT340X thermal drivers +# +# CONFIG_GENERIC_ADC_THERMAL is not set +CONFIG_WATCHDOG=y +CONFIG_WATCHDOG_CORE=y +# CONFIG_WATCHDOG_NOWAYOUT is not set +CONFIG_WATCHDOG_HANDLE_BOOT_ENABLED=y +# CONFIG_WATCHDOG_SYSFS is not set + +# +# Watchdog Device Drivers +# +# CONFIG_SOFT_WATCHDOG is not set +# CONFIG_GPIO_WATCHDOG is not set +# CONFIG_XILINX_WATCHDOG is not set +# CONFIG_ZIIRAVE_WATCHDOG is not set +# CONFIG_CADENCE_WATCHDOG is not set +# CONFIG_FTWDT010_WATCHDOG is not set +# CONFIG_DW_WATCHDOG is not set +CONFIG_SUNXI_WATCHDOG=y +# CONFIG_MAX63XX_WATCHDOG is not set +# CONFIG_MEN_A21_WDT is not set + +# +# USB-based Watchdog Cards +# +# CONFIG_USBPCWATCHDOG is not set + +# +# Watchdog Pretimeout Governors +# +# CONFIG_WATCHDOG_PRETIMEOUT_GOV is not set +CONFIG_SSB_POSSIBLE=y +CONFIG_SSB=m +CONFIG_SSB_BLOCKIO=y +CONFIG_SSB_SDIOHOST_POSSIBLE=y +# CONFIG_SSB_SDIOHOST is not set +# CONFIG_SSB_DEBUG is not set +# CONFIG_SSB_DRIVER_GPIO is not set +CONFIG_BCMA_POSSIBLE=y +CONFIG_BCMA=m +CONFIG_BCMA_BLOCKIO=y +# CONFIG_BCMA_HOST_SOC is not set +# CONFIG_BCMA_DRIVER_GMAC_CMN is not set +# CONFIG_BCMA_DRIVER_GPIO is not set +# CONFIG_BCMA_DEBUG is not set + +# +# Multifunction device drivers +# +CONFIG_MFD_CORE=y +# CONFIG_MFD_ACT8945A is not set +# CONFIG_MFD_AS3711 is not set +# CONFIG_MFD_AS3722 is not set +# CONFIG_PMIC_ADP5520 is not set +# CONFIG_MFD_AAT2870_CORE is not set +# CONFIG_MFD_ATMEL_FLEXCOM is not set +# CONFIG_MFD_ATMEL_HLCDC is not set +# CONFIG_MFD_BCM590XX is not set +# CONFIG_MFD_BD9571MWV is not set +CONFIG_MFD_AC100=y +CONFIG_MFD_AXP20X=y +CONFIG_MFD_AXP20X_I2C=y +CONFIG_MFD_AXP20X_RSB=y +# CONFIG_MFD_CROS_EC is not set +# CONFIG_MFD_ASIC3 is not set +# CONFIG_PMIC_DA903X is not set +# CONFIG_MFD_DA9052_SPI is not set +# CONFIG_MFD_DA9052_I2C is not set +# CONFIG_MFD_DA9055 is not set +# CONFIG_MFD_DA9062 is not set +# CONFIG_MFD_DA9063 is not set +# CONFIG_MFD_DA9150 is not set +# CONFIG_MFD_DLN2 is not set +# CONFIG_MFD_MC13XXX_SPI is not set +# CONFIG_MFD_MC13XXX_I2C is not set +# CONFIG_MFD_HI6421_PMIC is not set +# CONFIG_HTC_PASIC3 is not set +# CONFIG_HTC_I2CPLD is not set +# CONFIG_MFD_KEMPLD is not set +# CONFIG_MFD_88PM800 is not set +# CONFIG_MFD_88PM805 is not set +# CONFIG_MFD_88PM860X is not set +# CONFIG_MFD_MAX14577 is not set +# CONFIG_MFD_MAX77620 is not set +# CONFIG_MFD_MAX77686 is not set +# CONFIG_MFD_MAX77693 is not set +# CONFIG_MFD_MAX77843 is not set +# CONFIG_MFD_MAX8907 is not set +# CONFIG_MFD_MAX8925 is not set +# CONFIG_MFD_MAX8997 is not set +# CONFIG_MFD_MAX8998 is not set +# CONFIG_MFD_MT6397 is not set +# CONFIG_MFD_MENF21BMC is not set +# CONFIG_EZX_PCAP is not set +# CONFIG_MFD_CPCAP is not set +# CONFIG_MFD_VIPERBOARD is not set +# CONFIG_MFD_RETU is not set +# CONFIG_MFD_PCF50633 is not set +# CONFIG_MFD_PM8XXX is not set +# CONFIG_MFD_RT5033 is not set +# CONFIG_MFD_RC5T583 is not set +# CONFIG_MFD_RK808 is not set +# CONFIG_MFD_RN5T618 is not set +# CONFIG_MFD_SEC_CORE is not set +# CONFIG_MFD_SI476X_CORE is not set +# CONFIG_MFD_SM501 is not set +# CONFIG_MFD_SKY81452 is not set +# CONFIG_MFD_SMSC is not set +# CONFIG_ABX500_CORE is not set +# CONFIG_MFD_STMPE is not set +CONFIG_MFD_SUN6I_PRCM=y +CONFIG_MFD_SYSCON=y +# CONFIG_MFD_TI_AM335X_TSCADC is not set +# CONFIG_MFD_LP3943 is not set +# CONFIG_MFD_LP8788 is not set +# CONFIG_MFD_TI_LMU is not set +# CONFIG_MFD_PALMAS is not set +# CONFIG_TPS6105X is not set +# CONFIG_TPS65010 is not set +# CONFIG_TPS6507X is not set +# CONFIG_MFD_TPS65086 is not set +# CONFIG_MFD_TPS65090 is not set +# CONFIG_MFD_TPS65217 is not set +# CONFIG_MFD_TI_LP873X is not set +# CONFIG_MFD_TI_LP87565 is not set +# CONFIG_MFD_TPS65218 is not set +# CONFIG_MFD_TPS6586X is not set +# CONFIG_MFD_TPS65910 is not set +# CONFIG_MFD_TPS65912_I2C is not set +# CONFIG_MFD_TPS65912_SPI is not set +# CONFIG_MFD_TPS80031 is not set +# CONFIG_TWL4030_CORE is not set +# CONFIG_TWL6040_CORE is not set +# CONFIG_MFD_WL1273_CORE is not set +# CONFIG_MFD_LM3533 is not set +# CONFIG_MFD_TC3589X is not set +# CONFIG_MFD_TMIO is not set +# CONFIG_MFD_T7L66XB is not set +# CONFIG_MFD_TC6387XB is not set +# CONFIG_MFD_TC6393XB is not set +# CONFIG_MFD_ARIZONA_I2C is not set +# CONFIG_MFD_ARIZONA_SPI is not set +# CONFIG_MFD_WM8400 is not set +# CONFIG_MFD_WM831X_I2C is not set +# CONFIG_MFD_WM831X_SPI is not set +# CONFIG_MFD_WM8350_I2C is not set +# CONFIG_MFD_WM8994 is not set +CONFIG_REGULATOR=y +# CONFIG_REGULATOR_DEBUG is not set +CONFIG_REGULATOR_FIXED_VOLTAGE=y +# CONFIG_REGULATOR_VIRTUAL_CONSUMER is not set +# CONFIG_REGULATOR_USERSPACE_CONSUMER is not set +# CONFIG_REGULATOR_ACT8865 is not set +# CONFIG_REGULATOR_AD5398 is not set +# CONFIG_REGULATOR_ANATOP is not set +CONFIG_REGULATOR_AXP20X=y +# CONFIG_REGULATOR_DA9210 is not set +# CONFIG_REGULATOR_DA9211 is not set +# CONFIG_REGULATOR_FAN53555 is not set +CONFIG_REGULATOR_GPIO=y +# CONFIG_REGULATOR_ISL9305 is not set +# CONFIG_REGULATOR_ISL6271A is not set +# CONFIG_REGULATOR_LP3971 is not set +# CONFIG_REGULATOR_LP3972 is not set +# CONFIG_REGULATOR_LP872X is not set +# CONFIG_REGULATOR_LP8755 is not set +# CONFIG_REGULATOR_LTC3589 is not set +# CONFIG_REGULATOR_LTC3676 is not set +# CONFIG_REGULATOR_MAX1586 is not set +# CONFIG_REGULATOR_MAX8649 is not set +# CONFIG_REGULATOR_MAX8660 is not set +# CONFIG_REGULATOR_MAX8952 is not set +# CONFIG_REGULATOR_MAX8973 is not set +# CONFIG_REGULATOR_MT6311 is not set +# CONFIG_REGULATOR_PFUZE100 is not set +# CONFIG_REGULATOR_PV88060 is not set +# CONFIG_REGULATOR_PV88080 is not set +# CONFIG_REGULATOR_PV88090 is not set +# CONFIG_REGULATOR_PWM is not set +# CONFIG_REGULATOR_TPS51632 is not set +# CONFIG_REGULATOR_TPS62360 is not set +# CONFIG_REGULATOR_TPS65023 is not set +# CONFIG_REGULATOR_TPS6507X is not set +# CONFIG_REGULATOR_TPS65132 is not set +# CONFIG_REGULATOR_TPS6524X is not set +# CONFIG_REGULATOR_VCTRL is not set +CONFIG_CEC_CORE=m +CONFIG_CEC_PIN=y +CONFIG_RC_CORE=y +CONFIG_RC_MAP=y +# CONFIG_LIRC is not set +CONFIG_RC_DECODERS=y +CONFIG_IR_NEC_DECODER=y +CONFIG_IR_RC5_DECODER=y +CONFIG_IR_RC6_DECODER=y +CONFIG_IR_JVC_DECODER=y +CONFIG_IR_SONY_DECODER=y +CONFIG_IR_SANYO_DECODER=y +CONFIG_IR_SHARP_DECODER=y +CONFIG_IR_MCE_KBD_DECODER=y +CONFIG_IR_XMP_DECODER=y +CONFIG_RC_DEVICES=y +# CONFIG_RC_ATI_REMOTE is not set +# CONFIG_IR_HIX5HD2 is not set +# CONFIG_IR_IMON is not set +# CONFIG_IR_MCEUSB is not set +# CONFIG_IR_REDRAT3 is not set +# CONFIG_IR_STREAMZAP is not set +# CONFIG_IR_IGORPLUGUSB is not set +# CONFIG_IR_IGUANA is not set +# CONFIG_IR_TTUSBIR is not set +# CONFIG_RC_LOOPBACK is not set +# CONFIG_IR_GPIO_CIR is not set +CONFIG_IR_SUNXI=y +# CONFIG_IR_SERIAL is not set +# CONFIG_IR_SIR is not set +CONFIG_MEDIA_SUPPORT=y + +# +# Multimedia core support +# +# CONFIG_MEDIA_CAMERA_SUPPORT is not set +# CONFIG_MEDIA_ANALOG_TV_SUPPORT is not set +# CONFIG_MEDIA_DIGITAL_TV_SUPPORT is not set +# CONFIG_MEDIA_RADIO_SUPPORT is not set +# CONFIG_MEDIA_SDR_SUPPORT is not set +# CONFIG_MEDIA_CEC_SUPPORT is not set +# CONFIG_MEDIA_CEC_RC is not set +# CONFIG_VIDEO_ADV_DEBUG is not set +# CONFIG_VIDEO_FIXED_MINOR_RANGES is not set +# CONFIG_TTPCI_EEPROM is not set + +# +# Media drivers +# +# CONFIG_MEDIA_USB_SUPPORT is not set + +# +# Supported MMC/SDIO adapters +# +# CONFIG_CYPRESS_FIRMWARE is not set + +# +# Media ancillary drivers (tuners, sensors, i2c, spi, frontends) +# + +# +# Customise DVB Frontends +# + +# +# Tools to develop new frontends +# + +# +# Graphics support +# +# CONFIG_IMX_IPUV3_CORE is not set +CONFIG_DRM=m +# CONFIG_DRM_DP_AUX_CHARDEV is not set +CONFIG_DRM_KMS_HELPER=m +CONFIG_DRM_KMS_FB_HELPER=y +CONFIG_DRM_FBDEV_EMULATION=y +CONFIG_DRM_FBDEV_OVERALLOC=200 +# CONFIG_DRM_LOAD_EDID_FIRMWARE is not set +CONFIG_DRM_GEM_CMA_HELPER=y +CONFIG_DRM_KMS_CMA_HELPER=y + +# +# I2C encoder or helper chips +# +# CONFIG_DRM_I2C_CH7006 is not set +# CONFIG_DRM_I2C_SIL164 is not set +# CONFIG_DRM_I2C_NXP_TDA998X is not set +CONFIG_DRM_ARM=y +# CONFIG_DRM_HDLCD is not set +CONFIG_DRM_MALI_DISPLAY=m + +# +# ACP (Audio CoProcessor) Configuration +# + +# +# AMD Library routines +# +# CONFIG_CHASH is not set +# CONFIG_DRM_VGEM is not set +# CONFIG_DRM_EXYNOS is not set +# CONFIG_DRM_UDL is not set +# CONFIG_DRM_ARMADA is not set +# CONFIG_DRM_RCAR_DW_HDMI is not set +CONFIG_DRM_SUN4I=m +CONFIG_DRM_SUN4I_HDMI=m +CONFIG_DRM_SUN4I_HDMI_CEC=y +CONFIG_DRM_SUN4I_BACKEND=m +CONFIG_DRM_SUN8I_DW_HDMI=m +CONFIG_DRM_SUN8I_MIXER=m +# CONFIG_DRM_OMAP is not set +# CONFIG_DRM_TILCDC is not set +# CONFIG_DRM_FSL_DCU is not set +# CONFIG_DRM_STM is not set +CONFIG_DRM_PANEL=y + +# +# Display Panels +# +# CONFIG_DRM_PANEL_ARM_VERSATILE is not set +# CONFIG_DRM_PANEL_ILITEK_IL9322 is not set +# CONFIG_DRM_PANEL_SAMSUNG_LD9040 is not set +# CONFIG_DRM_PANEL_LG_LG4573 is not set +# CONFIG_DRM_PANEL_SAMSUNG_S6E8AA0 is not set +CONFIG_DRM_BRIDGE=y +CONFIG_DRM_PANEL_BRIDGE=y + +# +# Display Interface Bridges +# +# CONFIG_DRM_ANALOGIX_ANX78XX is not set +CONFIG_DRM_DUMB_VGA_DAC=m +# CONFIG_DRM_LVDS_ENCODER is not set +# CONFIG_DRM_MEGACHIPS_STDPXXXX_GE_B850V3_FW is not set +# CONFIG_DRM_NXP_PTN3460 is not set +# CONFIG_DRM_PARADE_PS8622 is not set +# CONFIG_DRM_SIL_SII8620 is not set +# CONFIG_DRM_SII902X is not set +# CONFIG_DRM_SII9234 is not set +# CONFIG_DRM_TOSHIBA_TC358767 is not set +# CONFIG_DRM_TI_TFP410 is not set +# CONFIG_DRM_I2C_ADV7511 is not set +CONFIG_DRM_DW_HDMI=m +# CONFIG_DRM_DW_HDMI_AHB_AUDIO is not set +# CONFIG_DRM_DW_HDMI_I2S_AUDIO is not set +# CONFIG_DRM_DW_HDMI_CEC is not set +# CONFIG_DRM_STI is not set +# CONFIG_DRM_ARCPGU is not set +# CONFIG_DRM_MXSFB is not set +# CONFIG_DRM_TINYDRM is not set +# CONFIG_DRM_PL111 is not set +# CONFIG_DRM_TVE200 is not set +# CONFIG_DRM_LEGACY is not set +CONFIG_DRM_PANEL_ORIENTATION_QUIRKS=m +# CONFIG_DRM_LIB_RANDOM is not set + +# +# Frame buffer Devices +# +CONFIG_FB=y +CONFIG_FIRMWARE_EDID=y +CONFIG_FB_CMDLINE=y +CONFIG_FB_NOTIFY=y +# CONFIG_FB_DDC is not set +# CONFIG_FB_BOOT_VESA_SUPPORT is not set +CONFIG_FB_CFB_FILLRECT=y +CONFIG_FB_CFB_COPYAREA=y +CONFIG_FB_CFB_IMAGEBLIT=y +# CONFIG_FB_CFB_REV_PIXELS_IN_BYTE is not set +CONFIG_FB_SYS_FILLRECT=m +CONFIG_FB_SYS_COPYAREA=m +CONFIG_FB_SYS_IMAGEBLIT=m +# CONFIG_FB_PROVIDE_GET_FB_UNMAPPED_AREA is not set +# CONFIG_FB_FOREIGN_ENDIAN is not set +CONFIG_FB_SYS_FOPS=m +CONFIG_FB_DEFERRED_IO=y +# CONFIG_FB_SVGALIB is not set +# CONFIG_FB_MACMODES is not set +# CONFIG_FB_BACKLIGHT is not set +# CONFIG_FB_MODE_HELPERS is not set +# CONFIG_FB_TILEBLITTING is not set + +# +# Frame buffer hardware drivers +# +# CONFIG_FB_OPENCORES is not set +# CONFIG_FB_S1D13XXX is not set +# CONFIG_FB_SMSCUFX is not set +# CONFIG_FB_UDL is not set +# CONFIG_FB_IBM_GXT4500 is not set +# CONFIG_FB_VIRTUAL is not set +# CONFIG_FB_METRONOME is not set +# CONFIG_FB_BROADSHEET is not set +# CONFIG_FB_AUO_K190X is not set +CONFIG_FB_SIMPLE=y +# CONFIG_FB_SSD1307 is not set +# CONFIG_BACKLIGHT_LCD_SUPPORT is not set +# CONFIG_VGASTATE is not set +CONFIG_VIDEOMODE_HELPERS=y +CONFIG_HDMI=y + +# +# Console display driver support +# +CONFIG_DUMMY_CONSOLE=y +CONFIG_FRAMEBUFFER_CONSOLE=y +CONFIG_FRAMEBUFFER_CONSOLE_DETECT_PRIMARY=y +# CONFIG_FRAMEBUFFER_CONSOLE_ROTATION is not set +# CONFIG_LOGO is not set +CONFIG_SOUND=y +# CONFIG_SOUND_OSS_CORE is not set +CONFIG_SND=y +CONFIG_SND_TIMER=y +CONFIG_SND_PCM=y +CONFIG_SND_DMAENGINE_PCM=y +CONFIG_SND_JACK=y +CONFIG_SND_JACK_INPUT_DEV=y +# CONFIG_SND_OSSEMUL is not set +CONFIG_SND_PCM_TIMER=y +# CONFIG_SND_HRTIMER is not set +# CONFIG_SND_DYNAMIC_MINORS is not set +CONFIG_SND_SUPPORT_OLD_API=y +CONFIG_SND_PROC_FS=y +CONFIG_SND_VERBOSE_PROCFS=y +# CONFIG_SND_VERBOSE_PRINTK is not set +# CONFIG_SND_DEBUG is not set +# CONFIG_SND_SEQUENCER is not set +# CONFIG_SND_OPL3_LIB_SEQ is not set +# CONFIG_SND_OPL4_LIB_SEQ is not set +CONFIG_SND_DRIVERS=y +# CONFIG_SND_DUMMY is not set +# CONFIG_SND_ALOOP is not set +# CONFIG_SND_MTPAV is not set +# CONFIG_SND_SERIAL_U16550 is not set +# CONFIG_SND_MPU401 is not set + +# +# HD-Audio +# +CONFIG_SND_HDA_PREALLOC_SIZE=64 +CONFIG_SND_ARM=y +CONFIG_SND_SPI=y +CONFIG_SND_USB=y +# CONFIG_SND_USB_AUDIO is not set +# CONFIG_SND_USB_UA101 is not set +# CONFIG_SND_USB_CAIAQ is not set +# CONFIG_SND_USB_6FIRE is not set +# CONFIG_SND_USB_HIFACE is not set +# CONFIG_SND_BCD2000 is not set +# CONFIG_SND_USB_POD is not set +# CONFIG_SND_USB_PODHD is not set +# CONFIG_SND_USB_TONEPORT is not set +# CONFIG_SND_USB_VARIAX is not set +CONFIG_SND_SOC=y +CONFIG_SND_SOC_GENERIC_DMAENGINE_PCM=y +# CONFIG_SND_SOC_AMD_ACP is not set +# CONFIG_SND_ATMEL_SOC is not set +# CONFIG_SND_DESIGNWARE_I2S is not set + +# +# SoC Audio for Freescale CPUs +# + +# +# Common SoC Audio options for Freescale CPUs: +# +# CONFIG_SND_SOC_FSL_ASRC is not set +# CONFIG_SND_SOC_FSL_SAI is not set +# CONFIG_SND_SOC_FSL_SSI is not set +# CONFIG_SND_SOC_FSL_SPDIF is not set +# CONFIG_SND_SOC_FSL_ESAI is not set +# CONFIG_SND_SOC_IMX_AUDMUX is not set +# CONFIG_SND_I2S_HI6210_I2S is not set +# CONFIG_SND_SOC_IMG is not set + +# +# STMicroelectronics STM32 SOC audio support +# + +# +# Allwinner SoC Audio support +# +CONFIG_SND_SUN4I_CODEC=y +# CONFIG_SND_SUN8I_CODEC is not set +# CONFIG_SND_SUN8I_CODEC_ANALOG is not set +# CONFIG_SND_SUN4I_I2S is not set +# CONFIG_SND_SUN4I_SPDIF is not set +# CONFIG_SND_SOC_XTFPGA_I2S is not set +# CONFIG_ZX_TDM is not set +CONFIG_SND_SOC_I2C_AND_SPI=y + +# +# CODEC drivers +# +# CONFIG_SND_SOC_AC97_CODEC is not set +# CONFIG_SND_SOC_ADAU1701 is not set +# CONFIG_SND_SOC_ADAU1761_I2C is not set +# CONFIG_SND_SOC_ADAU1761_SPI is not set +# CONFIG_SND_SOC_ADAU7002 is not set +# CONFIG_SND_SOC_AK4104 is not set +# CONFIG_SND_SOC_AK4554 is not set +# CONFIG_SND_SOC_AK4613 is not set +# CONFIG_SND_SOC_AK4642 is not set +# CONFIG_SND_SOC_AK5386 is not set +# CONFIG_SND_SOC_ALC5623 is not set +# CONFIG_SND_SOC_BT_SCO is not set +# CONFIG_SND_SOC_CS35L32 is not set +# CONFIG_SND_SOC_CS35L33 is not set +# CONFIG_SND_SOC_CS35L34 is not set +# CONFIG_SND_SOC_CS35L35 is not set +# CONFIG_SND_SOC_CS42L42 is not set +# CONFIG_SND_SOC_CS42L51_I2C is not set +# CONFIG_SND_SOC_CS42L52 is not set +# CONFIG_SND_SOC_CS42L56 is not set +# CONFIG_SND_SOC_CS42L73 is not set +# CONFIG_SND_SOC_CS4265 is not set +# CONFIG_SND_SOC_CS4270 is not set +# CONFIG_SND_SOC_CS4271_I2C is not set +# CONFIG_SND_SOC_CS4271_SPI is not set +# CONFIG_SND_SOC_CS42XX8_I2C is not set +# CONFIG_SND_SOC_CS43130 is not set +# CONFIG_SND_SOC_CS4349 is not set +# CONFIG_SND_SOC_CS53L30 is not set +# CONFIG_SND_SOC_DIO2125 is not set +# CONFIG_SND_SOC_ES7134 is not set +# CONFIG_SND_SOC_ES8316 is not set +# CONFIG_SND_SOC_ES8328_I2C is not set +# CONFIG_SND_SOC_ES8328_SPI is not set +# CONFIG_SND_SOC_GTM601 is not set +# CONFIG_SND_SOC_INNO_RK3036 is not set +# CONFIG_SND_SOC_MAX98504 is not set +# CONFIG_SND_SOC_MAX98927 is not set +# CONFIG_SND_SOC_MAX98373 is not set +# CONFIG_SND_SOC_MAX9860 is not set +# CONFIG_SND_SOC_MSM8916_WCD_DIGITAL is not set +# CONFIG_SND_SOC_PCM1681 is not set +# CONFIG_SND_SOC_PCM179X_I2C is not set +# CONFIG_SND_SOC_PCM179X_SPI is not set +# CONFIG_SND_SOC_PCM186X_I2C is not set +# CONFIG_SND_SOC_PCM186X_SPI is not set +# CONFIG_SND_SOC_PCM3168A_I2C is not set +# CONFIG_SND_SOC_PCM3168A_SPI is not set +# CONFIG_SND_SOC_PCM512x_I2C is not set +# CONFIG_SND_SOC_PCM512x_SPI is not set +# CONFIG_SND_SOC_RT5514_SPI_BUILTIN is not set +# CONFIG_SND_SOC_RT5616 is not set +# CONFIG_SND_SOC_RT5631 is not set +# CONFIG_SND_SOC_RT5677_SPI is not set +# CONFIG_SND_SOC_SGTL5000 is not set +# CONFIG_SND_SOC_SIRF_AUDIO_CODEC is not set +# CONFIG_SND_SOC_SPDIF is not set +# CONFIG_SND_SOC_SSM2602_SPI is not set +# CONFIG_SND_SOC_SSM2602_I2C is not set +# CONFIG_SND_SOC_SSM4567 is not set +# CONFIG_SND_SOC_STA32X is not set +# CONFIG_SND_SOC_STA350 is not set +# CONFIG_SND_SOC_STI_SAS is not set +# CONFIG_SND_SOC_TAS2552 is not set +# CONFIG_SND_SOC_TAS5086 is not set +# CONFIG_SND_SOC_TAS571X is not set +# CONFIG_SND_SOC_TAS5720 is not set +# CONFIG_SND_SOC_TAS6424 is not set +# CONFIG_SND_SOC_TFA9879 is not set +# CONFIG_SND_SOC_TLV320AIC23_I2C is not set +# CONFIG_SND_SOC_TLV320AIC23_SPI is not set +# CONFIG_SND_SOC_TLV320AIC31XX is not set +# CONFIG_SND_SOC_TLV320AIC32X4_I2C is not set +# CONFIG_SND_SOC_TLV320AIC32X4_SPI is not set +# CONFIG_SND_SOC_TLV320AIC3X is not set +# CONFIG_SND_SOC_TS3A227E is not set +# CONFIG_SND_SOC_TSCS42XX is not set +# CONFIG_SND_SOC_WM8510 is not set +# CONFIG_SND_SOC_WM8523 is not set +# CONFIG_SND_SOC_WM8524 is not set +# CONFIG_SND_SOC_WM8580 is not set +# CONFIG_SND_SOC_WM8711 is not set +# CONFIG_SND_SOC_WM8728 is not set +# CONFIG_SND_SOC_WM8731 is not set +# CONFIG_SND_SOC_WM8737 is not set +# CONFIG_SND_SOC_WM8741 is not set +# CONFIG_SND_SOC_WM8750 is not set +# CONFIG_SND_SOC_WM8753 is not set +# CONFIG_SND_SOC_WM8770 is not set +# CONFIG_SND_SOC_WM8776 is not set +# CONFIG_SND_SOC_WM8804_I2C is not set +# CONFIG_SND_SOC_WM8804_SPI is not set +# CONFIG_SND_SOC_WM8903 is not set +# CONFIG_SND_SOC_WM8960 is not set +# CONFIG_SND_SOC_WM8962 is not set +# CONFIG_SND_SOC_WM8974 is not set +# CONFIG_SND_SOC_WM8978 is not set +# CONFIG_SND_SOC_WM8985 is not set +# CONFIG_SND_SOC_ZX_AUD96P22 is not set +# CONFIG_SND_SOC_NAU8540 is not set +# CONFIG_SND_SOC_NAU8810 is not set +# CONFIG_SND_SOC_NAU8824 is not set +# CONFIG_SND_SOC_TPA6130A2 is not set +# CONFIG_SND_SIMPLE_CARD is not set +# CONFIG_SND_SIMPLE_SCU_CARD is not set +# CONFIG_SND_AUDIO_GRAPH_CARD is not set +# CONFIG_SND_AUDIO_GRAPH_SCU_CARD is not set + +# +# HID support +# +CONFIG_HID=y +# CONFIG_HID_BATTERY_STRENGTH is not set +# CONFIG_HIDRAW is not set +# CONFIG_UHID is not set +CONFIG_HID_GENERIC=y + +# +# Special HID drivers +# +CONFIG_HID_A4TECH=y +# CONFIG_HID_ACCUTOUCH is not set +# CONFIG_HID_ACRUX is not set +CONFIG_HID_APPLE=y +# CONFIG_HID_APPLEIR is not set +# CONFIG_HID_ASUS is not set +# CONFIG_HID_AUREAL is not set +CONFIG_HID_BELKIN=y +# CONFIG_HID_BETOP_FF is not set +CONFIG_HID_CHERRY=y +CONFIG_HID_CHICONY=y +# CONFIG_HID_CORSAIR is not set +# CONFIG_HID_PRODIKEYS is not set +# CONFIG_HID_CMEDIA is not set +CONFIG_HID_CYPRESS=y +# CONFIG_HID_DRAGONRISE is not set +# CONFIG_HID_EMS_FF is not set +# CONFIG_HID_ELECOM is not set +# CONFIG_HID_ELO is not set +CONFIG_HID_EZKEY=y +# CONFIG_HID_GEMBIRD is not set +# CONFIG_HID_GFRM is not set +# CONFIG_HID_HOLTEK is not set +# CONFIG_HID_GT683R is not set +# CONFIG_HID_KEYTOUCH is not set +# CONFIG_HID_KYE is not set +# CONFIG_HID_UCLOGIC is not set +# CONFIG_HID_WALTOP is not set +# CONFIG_HID_GYRATION is not set +# CONFIG_HID_ICADE is not set +CONFIG_HID_ITE=y +# CONFIG_HID_JABRA is not set +# CONFIG_HID_TWINHAN is not set +CONFIG_HID_KENSINGTON=y +# CONFIG_HID_LCPOWER is not set +# CONFIG_HID_LED is not set +# CONFIG_HID_LENOVO is not set +CONFIG_HID_LOGITECH=y +# CONFIG_HID_LOGITECH_HIDPP is not set +# CONFIG_LOGITECH_FF is not set +# CONFIG_LOGIRUMBLEPAD2_FF is not set +# CONFIG_LOGIG940_FF is not set +# CONFIG_LOGIWHEELS_FF is not set +# CONFIG_HID_MAGICMOUSE is not set +# CONFIG_HID_MAYFLASH is not set +CONFIG_HID_MICROSOFT=y +CONFIG_HID_MONTEREY=y +# CONFIG_HID_MULTITOUCH is not set +# CONFIG_HID_NTI is not set +# CONFIG_HID_NTRIG is not set +# CONFIG_HID_ORTEK is not set +# CONFIG_HID_PANTHERLORD is not set +# CONFIG_HID_PENMOUNT is not set +# CONFIG_HID_PETALYNX is not set +# CONFIG_HID_PICOLCD is not set +# CONFIG_HID_PLANTRONICS is not set +# CONFIG_HID_PRIMAX is not set +# CONFIG_HID_RETRODE is not set +# CONFIG_HID_ROCCAT is not set +# CONFIG_HID_SAITEK is not set +# CONFIG_HID_SAMSUNG is not set +# CONFIG_HID_SONY is not set +# CONFIG_HID_SPEEDLINK is not set +# CONFIG_HID_STEELSERIES is not set +# CONFIG_HID_SUNPLUS is not set +# CONFIG_HID_RMI is not set +# CONFIG_HID_GREENASIA is not set +# CONFIG_HID_SMARTJOYPLUS is not set +# CONFIG_HID_TIVO is not set +# CONFIG_HID_TOPSEED is not set +# CONFIG_HID_THINGM is not set +# CONFIG_HID_THRUSTMASTER is not set +# CONFIG_HID_UDRAW_PS3 is not set +# CONFIG_HID_WACOM is not set +# CONFIG_HID_WIIMOTE is not set +# CONFIG_HID_XINMO is not set +# CONFIG_HID_ZEROPLUS is not set +# CONFIG_HID_ZYDACRON is not set +# CONFIG_HID_SENSOR_HUB is not set +# CONFIG_HID_ALPS is not set + +# +# USB HID support +# +CONFIG_USB_HID=y +# CONFIG_HID_PID is not set +# CONFIG_USB_HIDDEV is not set + +# +# I2C HID support +# +# CONFIG_I2C_HID is not set +CONFIG_USB_OHCI_LITTLE_ENDIAN=y +CONFIG_USB_SUPPORT=y +CONFIG_USB_COMMON=y +CONFIG_USB_ARCH_HAS_HCD=y +CONFIG_USB=y +# CONFIG_USB_ANNOUNCE_NEW_DEVICES is not set + +# +# Miscellaneous USB options +# +CONFIG_USB_DEFAULT_PERSIST=y +# CONFIG_USB_DYNAMIC_MINORS is not set +# CONFIG_USB_OTG is not set +# CONFIG_USB_OTG_WHITELIST is not set +# CONFIG_USB_LEDS_TRIGGER_USBPORT is not set +# CONFIG_USB_MON is not set +# CONFIG_USB_WUSB_CBAF is not set + +# +# USB Host Controller Drivers +# +# CONFIG_USB_C67X00_HCD is not set +# CONFIG_USB_XHCI_HCD is not set +CONFIG_USB_EHCI_HCD=y +# CONFIG_USB_EHCI_ROOT_HUB_TT is not set +CONFIG_USB_EHCI_TT_NEWSCHED=y +CONFIG_USB_EHCI_HCD_PLATFORM=y +# CONFIG_USB_OXU210HP_HCD is not set +# CONFIG_USB_ISP116X_HCD is not set +# CONFIG_USB_ISP1362_HCD is not set +# CONFIG_USB_FOTG210_HCD is not set +# CONFIG_USB_MAX3421_HCD is not set +CONFIG_USB_OHCI_HCD=y +CONFIG_USB_OHCI_HCD_PLATFORM=y +# CONFIG_USB_SL811_HCD is not set +# CONFIG_USB_R8A66597_HCD is not set +# CONFIG_USB_HCD_BCMA is not set +# CONFIG_USB_HCD_SSB is not set +# CONFIG_USB_HCD_TEST_MODE is not set + +# +# USB Device Class drivers +# +# CONFIG_USB_ACM is not set +# CONFIG_USB_PRINTER is not set +# CONFIG_USB_WDM is not set +# CONFIG_USB_TMC is not set + +# +# NOTE: USB_STORAGE depends on SCSI but BLK_DEV_SD may +# + +# +# also be needed; see USB_STORAGE Help for more info +# +# CONFIG_USB_STORAGE is not set + +# +# USB Imaging devices +# +# CONFIG_USB_MDC800 is not set +# CONFIG_USB_MICROTEK is not set +# CONFIG_USBIP_CORE is not set +CONFIG_USB_MUSB_HDRC=y +# CONFIG_USB_MUSB_HOST is not set +# CONFIG_USB_MUSB_GADGET is not set +CONFIG_USB_MUSB_DUAL_ROLE=y + +# +# Platform Glue Layer +# +CONFIG_USB_MUSB_SUNXI=y + +# +# MUSB DMA mode +# +# CONFIG_MUSB_PIO_ONLY is not set +# CONFIG_USB_DWC3 is not set +# CONFIG_USB_DWC2 is not set +# CONFIG_USB_CHIPIDEA is not set +# CONFIG_USB_ISP1760 is not set + +# +# USB port drivers +# +# CONFIG_USB_SERIAL is not set + +# +# USB Miscellaneous drivers +# +# CONFIG_USB_EMI62 is not set +# CONFIG_USB_EMI26 is not set +# CONFIG_USB_ADUTUX is not set +# CONFIG_USB_SEVSEG is not set +# CONFIG_USB_RIO500 is not set +# CONFIG_USB_LEGOTOWER is not set +# CONFIG_USB_LCD is not set +# CONFIG_USB_CYPRESS_CY7C63 is not set +# CONFIG_USB_CYTHERM is not set +# CONFIG_USB_IDMOUSE is not set +# CONFIG_USB_FTDI_ELAN is not set +# CONFIG_USB_APPLEDISPLAY is not set +# CONFIG_USB_SISUSBVGA is not set +# CONFIG_USB_LD is not set +# CONFIG_USB_TRANCEVIBRATOR is not set +# CONFIG_USB_IOWARRIOR is not set +# CONFIG_USB_TEST is not set +# CONFIG_USB_EHSET_TEST_FIXTURE is not set +# CONFIG_USB_ISIGHTFW is not set +# CONFIG_USB_YUREX is not set +# CONFIG_USB_EZUSB_FX2 is not set +# CONFIG_USB_HUB_USB251XB is not set +# CONFIG_USB_HSIC_USB3503 is not set +# CONFIG_USB_HSIC_USB4604 is not set +# CONFIG_USB_LINK_LAYER_TEST is not set + +# +# USB Physical Layer drivers +# +CONFIG_USB_PHY=y +CONFIG_NOP_USB_XCEIV=y +# CONFIG_AM335X_PHY_USB is not set +# CONFIG_USB_GPIO_VBUS is not set +# CONFIG_USB_ISP1301 is not set +# CONFIG_USB_ULPI is not set +CONFIG_USB_GADGET=y +# CONFIG_USB_GADGET_DEBUG_FILES is not set +# CONFIG_USB_GADGET_DEBUG_FS is not set +CONFIG_USB_GADGET_VBUS_DRAW=2 +CONFIG_USB_GADGET_STORAGE_NUM_BUFFERS=2 + +# +# USB Peripheral Controller +# +# CONFIG_USB_FUSB300 is not set +# CONFIG_USB_FOTG210_UDC is not set +# CONFIG_USB_GR_UDC is not set +# CONFIG_USB_R8A66597 is not set +# CONFIG_USB_PXA27X is not set +# CONFIG_USB_MV_UDC is not set +# CONFIG_USB_MV_U3D is not set +# CONFIG_USB_SNP_UDC_PLAT is not set +# CONFIG_USB_M66592 is not set +# CONFIG_USB_BDC_UDC is not set +# CONFIG_USB_NET2272 is not set +# CONFIG_USB_GADGET_XILINX is not set +# CONFIG_USB_DUMMY_HCD is not set +# CONFIG_USB_CONFIGFS is not set +# CONFIG_TYPEC is not set +# CONFIG_USB_LED_TRIG is not set +# CONFIG_USB_ULPI_BUS is not set +# CONFIG_UWB is not set +CONFIG_MMC=y +CONFIG_PWRSEQ_EMMC=y +CONFIG_PWRSEQ_SIMPLE=y +CONFIG_MMC_BLOCK=y +CONFIG_MMC_BLOCK_MINORS=8 +# CONFIG_SDIO_UART is not set +# CONFIG_MMC_TEST is not set + +# +# MMC/SD/SDIO Host Controller Drivers +# +# CONFIG_MMC_DEBUG is not set +# CONFIG_MMC_SDHCI is not set +# CONFIG_MMC_SPI is not set +# CONFIG_MMC_DW is not set +# CONFIG_MMC_VUB300 is not set +# CONFIG_MMC_USHC is not set +# CONFIG_MMC_USDHI6ROL0 is not set +CONFIG_MMC_SUNXI=y +# CONFIG_MMC_CQHCI is not set +# CONFIG_MMC_MTK is not set +# CONFIG_MEMSTICK is not set +CONFIG_NEW_LEDS=y +CONFIG_LEDS_CLASS=y +# CONFIG_LEDS_CLASS_FLASH is not set +# CONFIG_LEDS_BRIGHTNESS_HW_CHANGED is not set + +# +# LED drivers +# +# CONFIG_LEDS_BCM6328 is not set +# CONFIG_LEDS_BCM6358 is not set +# CONFIG_LEDS_LM3530 is not set +# CONFIG_LEDS_LM3642 is not set +# CONFIG_LEDS_LM3692X is not set +# CONFIG_LEDS_PCA9532 is not set +CONFIG_LEDS_GPIO=y +# CONFIG_LEDS_LP3944 is not set +# CONFIG_LEDS_LP3952 is not set +# CONFIG_LEDS_LP5521 is not set +# CONFIG_LEDS_LP5523 is not set +# CONFIG_LEDS_LP5562 is not set +# CONFIG_LEDS_LP8501 is not set +# CONFIG_LEDS_LP8860 is not set +# CONFIG_LEDS_PCA955X is not set +# CONFIG_LEDS_PCA963X is not set +# CONFIG_LEDS_DAC124S085 is not set +# CONFIG_LEDS_PWM is not set +# CONFIG_LEDS_REGULATOR is not set +# CONFIG_LEDS_BD2802 is not set +# CONFIG_LEDS_LT3593 is not set +# CONFIG_LEDS_TCA6507 is not set +# CONFIG_LEDS_TLC591XX is not set +# CONFIG_LEDS_LM355x is not set +# CONFIG_LEDS_IS31FL319X is not set +# CONFIG_LEDS_IS31FL32XX is not set + +# +# LED driver for blink(1) USB RGB LED is under Special HID drivers (HID_THINGM) +# +# CONFIG_LEDS_BLINKM is not set +# CONFIG_LEDS_SYSCON is not set +# CONFIG_LEDS_USER is not set + +# +# LED Triggers +# +CONFIG_LEDS_TRIGGERS=y +# CONFIG_LEDS_TRIGGER_TIMER is not set +# CONFIG_LEDS_TRIGGER_ONESHOT is not set +# CONFIG_LEDS_TRIGGER_DISK is not set +CONFIG_LEDS_TRIGGER_HEARTBEAT=y +# CONFIG_LEDS_TRIGGER_BACKLIGHT is not set +# CONFIG_LEDS_TRIGGER_CPU is not set +# CONFIG_LEDS_TRIGGER_ACTIVITY is not set +# CONFIG_LEDS_TRIGGER_GPIO is not set +CONFIG_LEDS_TRIGGER_DEFAULT_ON=y + +# +# iptables trigger is under Netfilter config (LED target) +# +# CONFIG_LEDS_TRIGGER_TRANSIENT is not set +# CONFIG_LEDS_TRIGGER_CAMERA is not set +# CONFIG_LEDS_TRIGGER_PANIC is not set +# CONFIG_LEDS_TRIGGER_NETDEV is not set +# CONFIG_ACCESSIBILITY is not set +# CONFIG_INFINIBAND is not set +CONFIG_EDAC_ATOMIC_SCRUB=y +CONFIG_EDAC_SUPPORT=y +CONFIG_RTC_LIB=y +CONFIG_RTC_CLASS=y +CONFIG_RTC_HCTOSYS=y +CONFIG_RTC_HCTOSYS_DEVICE="rtc0" +CONFIG_RTC_SYSTOHC=y +CONFIG_RTC_SYSTOHC_DEVICE="rtc0" +# CONFIG_RTC_DEBUG is not set +CONFIG_RTC_NVMEM=y + +# +# RTC interfaces +# +# CONFIG_RTC_INTF_SYSFS is not set +# CONFIG_RTC_INTF_PROC is not set +CONFIG_RTC_INTF_DEV=y +# CONFIG_RTC_INTF_DEV_UIE_EMUL is not set +# CONFIG_RTC_DRV_TEST is not set + +# +# I2C RTC drivers +# +# CONFIG_RTC_DRV_ABB5ZES3 is not set +# CONFIG_RTC_DRV_ABX80X is not set +CONFIG_RTC_DRV_AC100=y +# CONFIG_RTC_DRV_DS1307 is not set +# CONFIG_RTC_DRV_DS1374 is not set +# CONFIG_RTC_DRV_DS1672 is not set +# CONFIG_RTC_DRV_HYM8563 is not set +# CONFIG_RTC_DRV_MAX6900 is not set +# CONFIG_RTC_DRV_RS5C372 is not set +# CONFIG_RTC_DRV_ISL1208 is not set +# CONFIG_RTC_DRV_ISL12022 is not set +# CONFIG_RTC_DRV_X1205 is not set +# CONFIG_RTC_DRV_PCF8523 is not set +# CONFIG_RTC_DRV_PCF85063 is not set +# CONFIG_RTC_DRV_PCF85363 is not set +# CONFIG_RTC_DRV_PCF8563 is not set +# CONFIG_RTC_DRV_PCF8583 is not set +# CONFIG_RTC_DRV_M41T80 is not set +# CONFIG_RTC_DRV_BQ32K is not set +# CONFIG_RTC_DRV_S35390A is not set +# CONFIG_RTC_DRV_FM3130 is not set +# CONFIG_RTC_DRV_RX8010 is not set +# CONFIG_RTC_DRV_RX8581 is not set +# CONFIG_RTC_DRV_RX8025 is not set +# CONFIG_RTC_DRV_EM3027 is not set +# CONFIG_RTC_DRV_RV8803 is not set + +# +# SPI RTC drivers +# +# CONFIG_RTC_DRV_M41T93 is not set +# CONFIG_RTC_DRV_M41T94 is not set +# CONFIG_RTC_DRV_DS1302 is not set +# CONFIG_RTC_DRV_DS1305 is not set +# CONFIG_RTC_DRV_DS1343 is not set +# CONFIG_RTC_DRV_DS1347 is not set +# CONFIG_RTC_DRV_DS1390 is not set +# CONFIG_RTC_DRV_MAX6916 is not set +# CONFIG_RTC_DRV_R9701 is not set +# CONFIG_RTC_DRV_RX4581 is not set +# CONFIG_RTC_DRV_RX6110 is not set +# CONFIG_RTC_DRV_RS5C348 is not set +# CONFIG_RTC_DRV_MAX6902 is not set +# CONFIG_RTC_DRV_PCF2123 is not set +# CONFIG_RTC_DRV_MCP795 is not set +CONFIG_RTC_I2C_AND_SPI=y + +# +# SPI and I2C RTC drivers +# +# CONFIG_RTC_DRV_DS3232 is not set +# CONFIG_RTC_DRV_PCF2127 is not set +# CONFIG_RTC_DRV_RV3029C2 is not set + +# +# Platform RTC drivers +# +# CONFIG_RTC_DRV_CMOS is not set +# CONFIG_RTC_DRV_DS1286 is not set +# CONFIG_RTC_DRV_DS1511 is not set +# CONFIG_RTC_DRV_DS1553 is not set +# CONFIG_RTC_DRV_DS1685_FAMILY is not set +# CONFIG_RTC_DRV_DS1742 is not set +# CONFIG_RTC_DRV_DS2404 is not set +# CONFIG_RTC_DRV_STK17TA8 is not set +# CONFIG_RTC_DRV_M48T86 is not set +# CONFIG_RTC_DRV_M48T35 is not set +# CONFIG_RTC_DRV_M48T59 is not set +# CONFIG_RTC_DRV_MSM6242 is not set +# CONFIG_RTC_DRV_BQ4802 is not set +# CONFIG_RTC_DRV_RP5C01 is not set +# CONFIG_RTC_DRV_V3020 is not set +# CONFIG_RTC_DRV_ZYNQMP is not set + +# +# on-CPU RTC drivers +# +CONFIG_RTC_DRV_SUN6I=y +CONFIG_RTC_DRV_SUNXI=y +# CONFIG_RTC_DRV_FTRTC010 is not set +# CONFIG_RTC_DRV_SNVS is not set +# CONFIG_RTC_DRV_R7301 is not set + +# +# HID Sensor RTC drivers +# +# CONFIG_RTC_DRV_HID_SENSOR_TIME is not set +CONFIG_DMADEVICES=y +# CONFIG_DMADEVICES_DEBUG is not set + +# +# DMA Devices +# +CONFIG_DMA_ENGINE=y +CONFIG_DMA_VIRTUAL_CHANNELS=y +CONFIG_DMA_OF=y +# CONFIG_ALTERA_MSGDMA is not set +CONFIG_DMA_SUN4I=y +CONFIG_DMA_SUN6I=y +# CONFIG_FSL_EDMA is not set +# CONFIG_INTEL_IDMA64 is not set +# CONFIG_NBPFAXI_DMA is not set +# CONFIG_QCOM_HIDMA_MGMT is not set +# CONFIG_QCOM_HIDMA is not set +# CONFIG_DW_DMAC is not set + +# +# DMA Clients +# +# CONFIG_ASYNC_TX_DMA is not set +# CONFIG_DMATEST is not set + +# +# DMABUF options +# +CONFIG_SYNC_FILE=y +# CONFIG_SW_SYNC is not set +# CONFIG_AUXDISPLAY is not set +# CONFIG_UIO is not set +# CONFIG_VIRT_DRIVERS is not set +CONFIG_VIRTIO_MENU=y +# CONFIG_VIRTIO_MMIO is not set + +# +# Microsoft Hyper-V guest support +# +# CONFIG_HYPERV_TSCPAGE is not set +# CONFIG_STAGING is not set +# CONFIG_GOLDFISH is not set +# CONFIG_CHROME_PLATFORMS is not set +# CONFIG_MELLANOX_PLATFORM is not set +CONFIG_CLKDEV_LOOKUP=y +CONFIG_HAVE_CLK_PREPARE=y +CONFIG_COMMON_CLK=y + +# +# Common Clock Framework +# +# CONFIG_CLK_HSDK is not set +# CONFIG_COMMON_CLK_SI5351 is not set +# CONFIG_COMMON_CLK_SI514 is not set +# CONFIG_COMMON_CLK_SI570 is not set +# CONFIG_COMMON_CLK_CDCE706 is not set +# CONFIG_COMMON_CLK_CDCE925 is not set +# CONFIG_COMMON_CLK_CS2000_CP is not set +# CONFIG_CLK_QORIQ is not set +# CONFIG_COMMON_CLK_NXP is not set +# CONFIG_COMMON_CLK_PWM is not set +# CONFIG_COMMON_CLK_PXA is not set +# CONFIG_COMMON_CLK_PIC32 is not set +# CONFIG_COMMON_CLK_VC5 is not set +CONFIG_SUNXI_CCU=y +CONFIG_SUN4I_A10_CCU=y +CONFIG_SUN5I_CCU=y +CONFIG_SUN6I_A31_CCU=y +CONFIG_SUN8I_A23_CCU=y +CONFIG_SUN8I_A33_CCU=y +CONFIG_SUN8I_A83T_CCU=y +CONFIG_SUN8I_H3_CCU=y +CONFIG_SUN8I_V3S_CCU=y +CONFIG_SUN8I_DE2_CCU=y +CONFIG_SUN8I_R40_CCU=y +CONFIG_SUN9I_A80_CCU=y +CONFIG_SUN8I_R_CCU=y +# CONFIG_HWSPINLOCK is not set + +# +# Clock Source drivers +# +CONFIG_TIMER_OF=y +CONFIG_TIMER_PROBE=y +CONFIG_CLKSRC_MMIO=y +CONFIG_SUN4I_TIMER=y +CONFIG_SUN5I_HSTIMER=y +CONFIG_ARM_ARCH_TIMER=y +CONFIG_ARM_ARCH_TIMER_EVTSTREAM=y +# CONFIG_ARM_TIMER_SP804 is not set +# CONFIG_ATMEL_PIT is not set +# CONFIG_SH_TIMER_CMT is not set +# CONFIG_SH_TIMER_MTU2 is not set +# CONFIG_SH_TIMER_TMU is not set +# CONFIG_EM_TIMER_STI is not set +# CONFIG_MAILBOX is not set +# CONFIG_IOMMU_SUPPORT is not set + +# +# Remoteproc drivers +# +# CONFIG_REMOTEPROC is not set + +# +# Rpmsg drivers +# +# CONFIG_RPMSG_VIRTIO is not set +# CONFIG_SOUNDWIRE is not set + +# +# SOC (System On Chip) specific Drivers +# + +# +# Amlogic SoC drivers +# + +# +# Broadcom SoC drivers +# +# CONFIG_SOC_BRCMSTB is not set + +# +# i.MX SoC drivers +# + +# +# Qualcomm SoC drivers +# +CONFIG_SUNXI_SRAM=y +# CONFIG_SOC_TI is not set + +# +# Xilinx SoC drivers +# +# CONFIG_XILINX_VCU is not set +# CONFIG_PM_DEVFREQ is not set +CONFIG_EXTCON=y + +# +# Extcon Device Drivers +# +# CONFIG_EXTCON_ADC_JACK is not set +# CONFIG_EXTCON_AXP288 is not set +# CONFIG_EXTCON_GPIO is not set +# CONFIG_EXTCON_MAX3355 is not set +# CONFIG_EXTCON_RT8973A is not set +# CONFIG_EXTCON_SM5502 is not set +# CONFIG_EXTCON_USB_GPIO is not set +# CONFIG_MEMORY is not set +CONFIG_IIO=y +# CONFIG_IIO_BUFFER is not set +# CONFIG_IIO_CONFIGFS is not set +# CONFIG_IIO_TRIGGER is not set +# CONFIG_IIO_SW_DEVICE is not set +# CONFIG_IIO_SW_TRIGGER is not set + +# +# Accelerometers +# +# CONFIG_ADXL345_I2C is not set +# CONFIG_ADXL345_SPI is not set +# CONFIG_BMA180 is not set +# CONFIG_BMA220 is not set +# CONFIG_BMC150_ACCEL is not set +# CONFIG_DA280 is not set +# CONFIG_DA311 is not set +# CONFIG_DMARD06 is not set +# CONFIG_DMARD09 is not set +# CONFIG_DMARD10 is not set +# CONFIG_IIO_CROS_EC_ACCEL_LEGACY is not set +# CONFIG_IIO_ST_ACCEL_3AXIS is not set +# CONFIG_KXSD9 is not set +# CONFIG_KXCJK1013 is not set +# CONFIG_MC3230 is not set +# CONFIG_MMA7455_I2C is not set +# CONFIG_MMA7455_SPI is not set +# CONFIG_MMA7660 is not set +# CONFIG_MMA8452 is not set +# CONFIG_MMA9551 is not set +# CONFIG_MMA9553 is not set +# CONFIG_MXC4005 is not set +# CONFIG_MXC6255 is not set +# CONFIG_SCA3000 is not set +# CONFIG_STK8312 is not set +# CONFIG_STK8BA50 is not set + +# +# Analog to digital converters +# +# CONFIG_AD7266 is not set +# CONFIG_AD7291 is not set +# CONFIG_AD7298 is not set +# CONFIG_AD7476 is not set +# CONFIG_AD7766 is not set +# CONFIG_AD7791 is not set +# CONFIG_AD7793 is not set +# CONFIG_AD7887 is not set +# CONFIG_AD7923 is not set +# CONFIG_AD799X is not set +CONFIG_AXP20X_ADC=y +# CONFIG_AXP288_ADC is not set +# CONFIG_CC10001_ADC is not set +# CONFIG_ENVELOPE_DETECTOR is not set +# CONFIG_HI8435 is not set +# CONFIG_HX711 is not set +# CONFIG_INA2XX_ADC is not set +# CONFIG_LTC2471 is not set +# CONFIG_LTC2485 is not set +# CONFIG_LTC2497 is not set +# CONFIG_MAX1027 is not set +# CONFIG_MAX11100 is not set +# CONFIG_MAX1118 is not set +# CONFIG_MAX1363 is not set +# CONFIG_MAX9611 is not set +# CONFIG_MCP320X is not set +# CONFIG_MCP3422 is not set +# CONFIG_NAU7802 is not set +# CONFIG_SD_ADC_MODULATOR is not set +# CONFIG_SUN4I_GPADC is not set +# CONFIG_TI_ADC081C is not set +# CONFIG_TI_ADC0832 is not set +# CONFIG_TI_ADC084S021 is not set +# CONFIG_TI_ADC12138 is not set +# CONFIG_TI_ADC108S102 is not set +# CONFIG_TI_ADC128S052 is not set +# CONFIG_TI_ADC161S626 is not set +# CONFIG_TI_ADS1015 is not set +# CONFIG_TI_ADS7950 is not set +# CONFIG_TI_ADS8688 is not set +# CONFIG_TI_TLC4541 is not set +# CONFIG_VF610_ADC is not set + +# +# Amplifiers +# +# CONFIG_AD8366 is not set + +# +# Chemical Sensors +# +# CONFIG_ATLAS_PH_SENSOR is not set +# CONFIG_CCS811 is not set +# CONFIG_IAQCORE is not set +# CONFIG_VZ89X is not set + +# +# Hid Sensor IIO Common +# + +# +# SSP Sensor Common +# +# CONFIG_IIO_SSP_SENSORHUB is not set + +# +# Counters +# + +# +# Digital to analog converters +# +# CONFIG_AD5064 is not set +# CONFIG_AD5360 is not set +# CONFIG_AD5380 is not set +# CONFIG_AD5421 is not set +# CONFIG_AD5446 is not set +# CONFIG_AD5449 is not set +# CONFIG_AD5592R is not set +# CONFIG_AD5593R is not set +# CONFIG_AD5504 is not set +# CONFIG_AD5624R_SPI is not set +# CONFIG_LTC2632 is not set +# CONFIG_AD5686 is not set +# CONFIG_AD5755 is not set +# CONFIG_AD5761 is not set +# CONFIG_AD5764 is not set +# CONFIG_AD5791 is not set +# CONFIG_AD7303 is not set +# CONFIG_AD8801 is not set +# CONFIG_DPOT_DAC is not set +# CONFIG_DS4424 is not set +# CONFIG_M62332 is not set +# CONFIG_MAX517 is not set +# CONFIG_MAX5821 is not set +# CONFIG_MCP4725 is not set +# CONFIG_MCP4922 is not set +# CONFIG_TI_DAC082S085 is not set +# CONFIG_VF610_DAC is not set + +# +# IIO dummy driver +# + +# +# Frequency Synthesizers DDS/PLL +# + +# +# Clock Generator/Distribution +# +# CONFIG_AD9523 is not set + +# +# Phase-Locked Loop (PLL) frequency synthesizers +# +# CONFIG_ADF4350 is not set + +# +# Digital gyroscope sensors +# +# CONFIG_ADIS16080 is not set +# CONFIG_ADIS16130 is not set +# CONFIG_ADIS16136 is not set +# CONFIG_ADIS16260 is not set +# CONFIG_ADXRS450 is not set +# CONFIG_BMG160 is not set +# CONFIG_MPU3050_I2C is not set +# CONFIG_IIO_ST_GYRO_3AXIS is not set +# CONFIG_ITG3200 is not set + +# +# Health Sensors +# + +# +# Heart Rate Monitors +# +# CONFIG_AFE4403 is not set +# CONFIG_AFE4404 is not set +# CONFIG_MAX30100 is not set +# CONFIG_MAX30102 is not set + +# +# Humidity sensors +# +# CONFIG_AM2315 is not set +# CONFIG_DHT11 is not set +# CONFIG_HDC100X is not set +# CONFIG_HTS221 is not set +# CONFIG_HTU21 is not set +# CONFIG_SI7005 is not set +# CONFIG_SI7020 is not set + +# +# Inertial measurement units +# +# CONFIG_ADIS16400 is not set +# CONFIG_ADIS16480 is not set +# CONFIG_BMI160_I2C is not set +# CONFIG_BMI160_SPI is not set +# CONFIG_KMX61 is not set +# CONFIG_INV_MPU6050_SPI is not set +# CONFIG_IIO_ST_LSM6DSX is not set + +# +# Light sensors +# +# CONFIG_ADJD_S311 is not set +# CONFIG_AL3320A is not set +# CONFIG_APDS9300 is not set +# CONFIG_APDS9960 is not set +# CONFIG_BH1750 is not set +# CONFIG_BH1780 is not set +# CONFIG_CM32181 is not set +# CONFIG_CM3232 is not set +# CONFIG_CM3323 is not set +# CONFIG_CM3605 is not set +# CONFIG_CM36651 is not set +# CONFIG_GP2AP020A00F is not set +# CONFIG_SENSORS_ISL29018 is not set +# CONFIG_SENSORS_ISL29028 is not set +# CONFIG_ISL29125 is not set +# CONFIG_JSA1212 is not set +# CONFIG_RPR0521 is not set +# CONFIG_LTR501 is not set +# CONFIG_MAX44000 is not set +# CONFIG_OPT3001 is not set +# CONFIG_PA12203001 is not set +# CONFIG_SI1145 is not set +# CONFIG_STK3310 is not set +# CONFIG_ST_UVIS25 is not set +# CONFIG_TCS3414 is not set +# CONFIG_TCS3472 is not set +# CONFIG_SENSORS_TSL2563 is not set +# CONFIG_TSL2583 is not set +# CONFIG_TSL4531 is not set +# CONFIG_US5182D is not set +# CONFIG_VCNL4000 is not set +# CONFIG_VEML6070 is not set +# CONFIG_VL6180 is not set +# CONFIG_ZOPT2201 is not set + +# +# Magnetometer sensors +# +# CONFIG_AK8974 is not set +# CONFIG_AK8975 is not set +# CONFIG_AK09911 is not set +# CONFIG_BMC150_MAGN_I2C is not set +# CONFIG_BMC150_MAGN_SPI is not set +# CONFIG_MAG3110 is not set +# CONFIG_MMC35240 is not set +# CONFIG_IIO_ST_MAGN_3AXIS is not set +# CONFIG_SENSORS_HMC5843_I2C is not set +# CONFIG_SENSORS_HMC5843_SPI is not set + +# +# Multiplexers +# +# CONFIG_IIO_MUX is not set + +# +# Inclinometer sensors +# + +# +# Digital potentiometers +# +# CONFIG_AD5272 is not set +# CONFIG_DS1803 is not set +# CONFIG_MAX5481 is not set +# CONFIG_MAX5487 is not set +# CONFIG_MCP4131 is not set +# CONFIG_MCP4531 is not set +# CONFIG_TPL0102 is not set + +# +# Digital potentiostats +# +# CONFIG_LMP91000 is not set + +# +# Pressure sensors +# +# CONFIG_ABP060MG is not set +# CONFIG_BMP280 is not set +# CONFIG_HP03 is not set +# CONFIG_MPL115_I2C is not set +# CONFIG_MPL115_SPI is not set +# CONFIG_MPL3115 is not set +# CONFIG_MS5611 is not set +# CONFIG_MS5637 is not set +# CONFIG_IIO_ST_PRESS is not set +# CONFIG_T5403 is not set +# CONFIG_HP206C is not set +# CONFIG_ZPA2326 is not set + +# +# Lightning sensors +# +# CONFIG_AS3935 is not set + +# +# Proximity and distance sensors +# +# CONFIG_LIDAR_LITE_V2 is not set +# CONFIG_RFD77402 is not set +# CONFIG_SRF04 is not set +# CONFIG_SX9500 is not set +# CONFIG_SRF08 is not set + +# +# Temperature sensors +# +# CONFIG_MAXIM_THERMOCOUPLE is not set +# CONFIG_MLX90614 is not set +# CONFIG_MLX90632 is not set +# CONFIG_TMP006 is not set +# CONFIG_TMP007 is not set +# CONFIG_TSYS01 is not set +# CONFIG_TSYS02D is not set +CONFIG_PWM=y +CONFIG_PWM_SYSFS=y +# CONFIG_PWM_FSL_FTM is not set +# CONFIG_PWM_PCA9685 is not set +CONFIG_PWM_SUN4I=y + +# +# IRQ chip support +# +CONFIG_IRQCHIP=y +CONFIG_ARM_GIC=y +CONFIG_ARM_GIC_MAX_NR=1 +# CONFIG_ARM_GIC_V3_ITS is not set +# CONFIG_IPACK_BUS is not set +CONFIG_ARCH_HAS_RESET_CONTROLLER=y +CONFIG_RESET_CONTROLLER=y +# CONFIG_RESET_ATH79 is not set +# CONFIG_RESET_AXS10X is not set +# CONFIG_RESET_BERLIN is not set +# CONFIG_RESET_IMX7 is not set +# CONFIG_RESET_LANTIQ is not set +# CONFIG_RESET_LPC18XX is not set +# CONFIG_RESET_MESON is not set +# CONFIG_RESET_PISTACHIO is not set +CONFIG_RESET_SIMPLE=y +CONFIG_RESET_SUNXI=y +# CONFIG_RESET_TI_SYSCON is not set +# CONFIG_RESET_ZYNQ is not set +# CONFIG_RESET_TEGRA_BPMP is not set +# CONFIG_FMC is not set + +# +# PHY Subsystem +# +CONFIG_GENERIC_PHY=y +CONFIG_PHY_SUN4I_USB=y +CONFIG_PHY_SUN9I_USB=y +# CONFIG_BCM_KONA_USB2_PHY is not set +# CONFIG_PHY_PXA_28NM_HSIC is not set +# CONFIG_PHY_PXA_28NM_USB2 is not set +# CONFIG_PHY_CPCAP_USB is not set +# CONFIG_POWERCAP is not set +# CONFIG_MCB is not set + +# +# Performance monitor support +# +CONFIG_ARM_PMU=y +# CONFIG_RAS is not set + +# +# Android +# +# CONFIG_ANDROID is not set +# CONFIG_DAX is not set +CONFIG_NVMEM=y +CONFIG_NVMEM_SUNXI_SID=y +# CONFIG_STM is not set +# CONFIG_INTEL_TH is not set +# CONFIG_FPGA is not set +# CONFIG_FSI is not set +# CONFIG_TEE is not set +CONFIG_PM_OPP=y +# CONFIG_SIOX is not set +# CONFIG_SLIMBUS is not set + +# +# Firmware Drivers +# +CONFIG_ARM_PSCI_FW=y +# CONFIG_FIRMWARE_MEMMAP is not set +# CONFIG_FW_CFG_SYSFS is not set +CONFIG_HAVE_ARM_SMCCC=y +# CONFIG_GOOGLE_FIRMWARE is not set + +# +# Tegra firmware driver +# + +# +# File systems +# +CONFIG_DCACHE_WORD_ACCESS=y +CONFIG_FS_IOMAP=y +# CONFIG_EXT2_FS is not set +# CONFIG_EXT3_FS is not set +CONFIG_EXT4_FS=y +CONFIG_EXT4_USE_FOR_EXT2=y +# CONFIG_EXT4_FS_POSIX_ACL is not set +# CONFIG_EXT4_FS_SECURITY is not set +# CONFIG_EXT4_ENCRYPTION is not set +# CONFIG_EXT4_DEBUG is not set +CONFIG_JBD2=y +# CONFIG_JBD2_DEBUG is not set +CONFIG_FS_MBCACHE=y +# CONFIG_REISERFS_FS is not set +# CONFIG_JFS_FS is not set +# CONFIG_XFS_FS is not set +# CONFIG_GFS2_FS is not set +# CONFIG_BTRFS_FS is not set +# CONFIG_NILFS2_FS is not set +# CONFIG_F2FS_FS is not set +CONFIG_FS_POSIX_ACL=y +CONFIG_EXPORTFS=y +# CONFIG_EXPORTFS_BLOCK_OPS is not set +CONFIG_FILE_LOCKING=y +CONFIG_MANDATORY_FILE_LOCKING=y +# CONFIG_FS_ENCRYPTION is not set +CONFIG_FSNOTIFY=y +CONFIG_DNOTIFY=y +CONFIG_INOTIFY_USER=y +# CONFIG_FANOTIFY is not set +# CONFIG_QUOTA is not set +# CONFIG_QUOTACTL is not set +# CONFIG_AUTOFS4_FS is not set +# CONFIG_FUSE_FS is not set +# CONFIG_OVERLAY_FS is not set + +# +# Caches +# +# CONFIG_FSCACHE is not set + +# +# CD-ROM/DVD Filesystems +# +# CONFIG_ISO9660_FS is not set +# CONFIG_UDF_FS is not set + +# +# DOS/FAT/NT Filesystems +# +CONFIG_FAT_FS=y +# CONFIG_MSDOS_FS is not set +CONFIG_VFAT_FS=y +CONFIG_FAT_DEFAULT_CODEPAGE=437 +CONFIG_FAT_DEFAULT_IOCHARSET="iso8859-1" +# CONFIG_FAT_DEFAULT_UTF8 is not set +# CONFIG_NTFS_FS is not set + +# +# Pseudo filesystems +# +CONFIG_PROC_FS=y +CONFIG_PROC_SYSCTL=y +CONFIG_PROC_PAGE_MONITOR=y +# CONFIG_PROC_CHILDREN is not set +CONFIG_KERNFS=y +CONFIG_SYSFS=y +CONFIG_TMPFS=y +# CONFIG_TMPFS_POSIX_ACL is not set +# CONFIG_TMPFS_XATTR is not set +# CONFIG_HUGETLB_PAGE is not set +# CONFIG_CONFIGFS_FS is not set +CONFIG_MISC_FILESYSTEMS=y +# CONFIG_ORANGEFS_FS is not set +# CONFIG_ADFS_FS is not set +# CONFIG_AFFS_FS is not set +# CONFIG_ECRYPT_FS is not set +# CONFIG_HFS_FS is not set +# CONFIG_HFSPLUS_FS is not set +# CONFIG_BEFS_FS is not set +# CONFIG_BFS_FS is not set +# CONFIG_EFS_FS is not set +# CONFIG_CRAMFS is not set +# CONFIG_SQUASHFS is not set +# CONFIG_VXFS_FS is not set +# CONFIG_MINIX_FS is not set +# CONFIG_OMFS_FS is not set +# CONFIG_HPFS_FS is not set +# CONFIG_QNX4FS_FS is not set +# CONFIG_QNX6FS_FS is not set +# CONFIG_ROMFS_FS is not set +# CONFIG_PSTORE is not set +# CONFIG_SYSV_FS is not set +# CONFIG_UFS_FS is not set +CONFIG_NETWORK_FILESYSTEMS=y +CONFIG_NFS_FS=y +CONFIG_NFS_V2=y +CONFIG_NFS_V3=y +CONFIG_NFS_V3_ACL=y +CONFIG_NFS_V4=y +# CONFIG_NFS_SWAP is not set +# CONFIG_NFS_V4_1 is not set +CONFIG_ROOT_NFS=y +# CONFIG_NFS_USE_LEGACY_DNS is not set +CONFIG_NFS_USE_KERNEL_DNS=y +# CONFIG_NFSD is not set +CONFIG_GRACE_PERIOD=y +CONFIG_LOCKD=y +CONFIG_LOCKD_V4=y +CONFIG_NFS_ACL_SUPPORT=y +CONFIG_NFS_COMMON=y +CONFIG_SUNRPC=y +CONFIG_SUNRPC_GSS=y +# CONFIG_SUNRPC_DEBUG is not set +# CONFIG_CEPH_FS is not set +# CONFIG_CIFS is not set +# CONFIG_CODA_FS is not set +# CONFIG_AFS_FS is not set +CONFIG_NLS=y +CONFIG_NLS_DEFAULT="iso8859-1" +CONFIG_NLS_CODEPAGE_437=y +# CONFIG_NLS_CODEPAGE_737 is not set +# CONFIG_NLS_CODEPAGE_775 is not set +# CONFIG_NLS_CODEPAGE_850 is not set +# CONFIG_NLS_CODEPAGE_852 is not set +# CONFIG_NLS_CODEPAGE_855 is not set +# CONFIG_NLS_CODEPAGE_857 is not set +# CONFIG_NLS_CODEPAGE_860 is not set +# CONFIG_NLS_CODEPAGE_861 is not set +# CONFIG_NLS_CODEPAGE_862 is not set +# CONFIG_NLS_CODEPAGE_863 is not set +# CONFIG_NLS_CODEPAGE_864 is not set +# CONFIG_NLS_CODEPAGE_865 is not set +# CONFIG_NLS_CODEPAGE_866 is not set +# CONFIG_NLS_CODEPAGE_869 is not set +# CONFIG_NLS_CODEPAGE_936 is not set +# CONFIG_NLS_CODEPAGE_950 is not set +# CONFIG_NLS_CODEPAGE_932 is not set +# CONFIG_NLS_CODEPAGE_949 is not set +# CONFIG_NLS_CODEPAGE_874 is not set +# CONFIG_NLS_ISO8859_8 is not set +# CONFIG_NLS_CODEPAGE_1250 is not set +# CONFIG_NLS_CODEPAGE_1251 is not set +# CONFIG_NLS_ASCII is not set +CONFIG_NLS_ISO8859_1=y +# CONFIG_NLS_ISO8859_2 is not set +# CONFIG_NLS_ISO8859_3 is not set +# CONFIG_NLS_ISO8859_4 is not set +# CONFIG_NLS_ISO8859_5 is not set +# CONFIG_NLS_ISO8859_6 is not set +# CONFIG_NLS_ISO8859_7 is not set +# CONFIG_NLS_ISO8859_9 is not set +# CONFIG_NLS_ISO8859_13 is not set +# CONFIG_NLS_ISO8859_14 is not set +# CONFIG_NLS_ISO8859_15 is not set +# CONFIG_NLS_KOI8_R is not set +# CONFIG_NLS_KOI8_U is not set +# CONFIG_NLS_MAC_ROMAN is not set +# CONFIG_NLS_MAC_CELTIC is not set +# CONFIG_NLS_MAC_CENTEURO is not set +# CONFIG_NLS_MAC_CROATIAN is not set +# CONFIG_NLS_MAC_CYRILLIC is not set +# CONFIG_NLS_MAC_GAELIC is not set +# CONFIG_NLS_MAC_GREEK is not set +# CONFIG_NLS_MAC_ICELAND is not set +# CONFIG_NLS_MAC_INUIT is not set +# CONFIG_NLS_MAC_ROMANIAN is not set +# CONFIG_NLS_MAC_TURKISH is not set +# CONFIG_NLS_UTF8 is not set + +# +# Kernel hacking +# + +# +# printk and dmesg options +# +CONFIG_PRINTK_TIME=y +CONFIG_CONSOLE_LOGLEVEL_DEFAULT=7 +CONFIG_MESSAGE_LOGLEVEL_DEFAULT=4 +# CONFIG_DYNAMIC_DEBUG is not set + +# +# Compile-time checks and compiler options +# +CONFIG_ENABLE_WARN_DEPRECATED=y +CONFIG_ENABLE_MUST_CHECK=y +CONFIG_FRAME_WARN=1024 +# CONFIG_STRIP_ASM_SYMS is not set +# CONFIG_UNUSED_SYMBOLS is not set +CONFIG_DEBUG_FS=y +# CONFIG_HEADERS_CHECK is not set +# CONFIG_DEBUG_SECTION_MISMATCH is not set +CONFIG_SECTION_MISMATCH_WARN_ONLY=y +# CONFIG_MAGIC_SYSRQ is not set +# CONFIG_DEBUG_KERNEL is not set + +# +# Memory Debugging +# +# CONFIG_PAGE_EXTENSION is not set +# CONFIG_PAGE_POISONING is not set +# CONFIG_DEBUG_RODATA_TEST is not set +# CONFIG_SLUB_DEBUG_ON is not set +# CONFIG_SLUB_STATS is not set +CONFIG_HAVE_DEBUG_KMEMLEAK=y +CONFIG_ARCH_HAS_DEBUG_VIRTUAL=y +CONFIG_DEBUG_MEMORY_INIT=y + +# +# Debug Lockups and Hangs +# +# CONFIG_PANIC_ON_OOPS is not set +CONFIG_PANIC_ON_OOPS_VALUE=0 +CONFIG_PANIC_TIMEOUT=0 +# CONFIG_SCHED_INFO is not set +# CONFIG_DEBUG_TIMEKEEPING is not set + +# +# Lock Debugging (spinlocks, mutexes, etc...) +# +# CONFIG_WW_MUTEX_SELFTEST is not set +# CONFIG_STACKTRACE is not set +# CONFIG_WARN_ALL_UNSEEDED_RANDOM is not set +CONFIG_DEBUG_BUGVERBOSE=y + +# +# RCU Debugging +# +# CONFIG_PROVE_RCU is not set +# CONFIG_TORTURE_TEST is not set +CONFIG_RCU_CPU_STALL_TIMEOUT=21 +CONFIG_HAVE_FUNCTION_TRACER=y +CONFIG_HAVE_FUNCTION_GRAPH_TRACER=y +CONFIG_HAVE_DYNAMIC_FTRACE=y +CONFIG_HAVE_DYNAMIC_FTRACE_WITH_REGS=y +CONFIG_HAVE_FTRACE_MCOUNT_RECORD=y +CONFIG_HAVE_SYSCALL_TRACEPOINTS=y +CONFIG_HAVE_C_RECORDMCOUNT=y +CONFIG_TRACING_SUPPORT=y +# CONFIG_FTRACE is not set +# CONFIG_DMA_API_DEBUG is not set +# CONFIG_RUNTIME_TESTING_MENU is not set +# CONFIG_MEMTEST is not set +# CONFIG_BUG_ON_DATA_CORRUPTION is not set +# CONFIG_SAMPLES is not set +CONFIG_HAVE_ARCH_KGDB=y +# CONFIG_ARCH_WANTS_UBSAN_NO_NULL is not set +# CONFIG_UBSAN is not set +CONFIG_ARCH_HAS_DEVMEM_IS_ALLOWED=y +# CONFIG_STRICT_DEVMEM is not set +# CONFIG_ARM_PTDUMP_CORE is not set +# CONFIG_DEBUG_WX is not set +CONFIG_ARM_UNWIND=y +# CONFIG_DEBUG_USER is not set +CONFIG_DEBUG_LL_INCLUDE="mach/debug-macro.S" +# CONFIG_DEBUG_UART_8250 is not set +CONFIG_UNCOMPRESS_INCLUDE="debug/uncompress.h" +# CONFIG_PID_IN_CONTEXTIDR is not set +# CONFIG_CORESIGHT is not set + +# +# Security options +# +CONFIG_KEYS=y +# CONFIG_PERSISTENT_KEYRINGS is not set +# CONFIG_BIG_KEYS is not set +# CONFIG_ENCRYPTED_KEYS is not set +# CONFIG_KEY_DH_OPERATIONS is not set +# CONFIG_SECURITY_DMESG_RESTRICT is not set +# CONFIG_SECURITY is not set +# CONFIG_SECURITYFS is not set +CONFIG_HAVE_HARDENED_USERCOPY_ALLOCATOR=y +# CONFIG_HARDENED_USERCOPY is not set +# CONFIG_STATIC_USERMODEHELPER is not set +CONFIG_DEFAULT_SECURITY_DAC=y +CONFIG_DEFAULT_SECURITY="" +CONFIG_CRYPTO=y + +# +# Crypto core or helper +# +CONFIG_CRYPTO_ALGAPI=y +CONFIG_CRYPTO_ALGAPI2=y +CONFIG_CRYPTO_AEAD=y +CONFIG_CRYPTO_AEAD2=y +CONFIG_CRYPTO_BLKCIPHER=y +CONFIG_CRYPTO_BLKCIPHER2=y +CONFIG_CRYPTO_HASH=y +CONFIG_CRYPTO_HASH2=y +CONFIG_CRYPTO_RNG=y +CONFIG_CRYPTO_RNG2=y +CONFIG_CRYPTO_RNG_DEFAULT=y +CONFIG_CRYPTO_AKCIPHER2=y +CONFIG_CRYPTO_AKCIPHER=y +CONFIG_CRYPTO_KPP2=y +CONFIG_CRYPTO_ACOMP2=y +CONFIG_CRYPTO_RSA=y +# CONFIG_CRYPTO_DH is not set +# CONFIG_CRYPTO_ECDH is not set +CONFIG_CRYPTO_MANAGER=y +CONFIG_CRYPTO_MANAGER2=y +# CONFIG_CRYPTO_USER is not set +CONFIG_CRYPTO_MANAGER_DISABLE_TESTS=y +CONFIG_CRYPTO_GF128MUL=y +CONFIG_CRYPTO_NULL=y +CONFIG_CRYPTO_NULL2=y +# CONFIG_CRYPTO_PCRYPT is not set +CONFIG_CRYPTO_WORKQUEUE=y +# CONFIG_CRYPTO_CRYPTD is not set +# CONFIG_CRYPTO_MCRYPTD is not set +# CONFIG_CRYPTO_AUTHENC is not set +# CONFIG_CRYPTO_TEST is not set + +# +# Authenticated Encryption with Associated Data +# +CONFIG_CRYPTO_CCM=y +CONFIG_CRYPTO_GCM=y +# CONFIG_CRYPTO_CHACHA20POLY1305 is not set +CONFIG_CRYPTO_SEQIV=y +CONFIG_CRYPTO_ECHAINIV=m + +# +# Block modes +# +# CONFIG_CRYPTO_CBC is not set +CONFIG_CRYPTO_CTR=y +# CONFIG_CRYPTO_CTS is not set +# CONFIG_CRYPTO_ECB is not set +# CONFIG_CRYPTO_LRW is not set +# CONFIG_CRYPTO_PCBC is not set +# CONFIG_CRYPTO_XTS is not set +# CONFIG_CRYPTO_KEYWRAP is not set + +# +# Hash modes +# +CONFIG_CRYPTO_CMAC=y +CONFIG_CRYPTO_HMAC=y +# CONFIG_CRYPTO_XCBC is not set +# CONFIG_CRYPTO_VMAC is not set + +# +# Digest +# +CONFIG_CRYPTO_CRC32C=y +# CONFIG_CRYPTO_CRC32 is not set +# CONFIG_CRYPTO_CRCT10DIF is not set +CONFIG_CRYPTO_GHASH=y +# CONFIG_CRYPTO_POLY1305 is not set +# CONFIG_CRYPTO_MD4 is not set +CONFIG_CRYPTO_MD5=y +# CONFIG_CRYPTO_MICHAEL_MIC is not set +# CONFIG_CRYPTO_RMD128 is not set +# CONFIG_CRYPTO_RMD160 is not set +# CONFIG_CRYPTO_RMD256 is not set +# CONFIG_CRYPTO_RMD320 is not set +CONFIG_CRYPTO_SHA1=y +CONFIG_CRYPTO_SHA256=y +# CONFIG_CRYPTO_SHA512 is not set +# CONFIG_CRYPTO_SHA3 is not set +# CONFIG_CRYPTO_SM3 is not set +# CONFIG_CRYPTO_TGR192 is not set +# CONFIG_CRYPTO_WP512 is not set + +# +# Ciphers +# +CONFIG_CRYPTO_AES=y +# CONFIG_CRYPTO_AES_TI is not set +# CONFIG_CRYPTO_ANUBIS is not set +CONFIG_CRYPTO_ARC4=y +# CONFIG_CRYPTO_BLOWFISH is not set +# CONFIG_CRYPTO_CAMELLIA is not set +# CONFIG_CRYPTO_CAST5 is not set +# CONFIG_CRYPTO_CAST6 is not set +CONFIG_CRYPTO_DES=y +# CONFIG_CRYPTO_FCRYPT is not set +# CONFIG_CRYPTO_KHAZAD is not set +# CONFIG_CRYPTO_SALSA20 is not set +# CONFIG_CRYPTO_CHACHA20 is not set +# CONFIG_CRYPTO_SEED is not set +# CONFIG_CRYPTO_SERPENT is not set +# CONFIG_CRYPTO_TEA is not set +# CONFIG_CRYPTO_TWOFISH is not set + +# +# Compression +# +# CONFIG_CRYPTO_DEFLATE is not set +# CONFIG_CRYPTO_LZO is not set +# CONFIG_CRYPTO_842 is not set +# CONFIG_CRYPTO_LZ4 is not set +# CONFIG_CRYPTO_LZ4HC is not set + +# +# Random Number Generation +# +# CONFIG_CRYPTO_ANSI_CPRNG is not set +CONFIG_CRYPTO_DRBG_MENU=y +CONFIG_CRYPTO_DRBG_HMAC=y +# CONFIG_CRYPTO_DRBG_HASH is not set +# CONFIG_CRYPTO_DRBG_CTR is not set +CONFIG_CRYPTO_DRBG=y +CONFIG_CRYPTO_JITTERENTROPY=y +# CONFIG_CRYPTO_USER_API_HASH is not set +# CONFIG_CRYPTO_USER_API_SKCIPHER is not set +# CONFIG_CRYPTO_USER_API_RNG is not set +# CONFIG_CRYPTO_USER_API_AEAD is not set +CONFIG_CRYPTO_HASH_INFO=y +CONFIG_CRYPTO_HW=y +# CONFIG_CRYPTO_DEV_FSL_CAAM_CRYPTO_API_DESC is not set +CONFIG_CRYPTO_DEV_SUN4I_SS=y +# CONFIG_CRYPTO_DEV_SUN4I_SS_PRNG is not set +CONFIG_ASYMMETRIC_KEY_TYPE=y +CONFIG_ASYMMETRIC_PUBLIC_KEY_SUBTYPE=y +CONFIG_X509_CERTIFICATE_PARSER=y +CONFIG_PKCS7_MESSAGE_PARSER=y +# CONFIG_PKCS7_TEST_KEY is not set +# CONFIG_SIGNED_PE_FILE_VERIFICATION is not set + +# +# Certificates for signature checking +# +CONFIG_SYSTEM_TRUSTED_KEYRING=y +CONFIG_SYSTEM_TRUSTED_KEYS="" +# CONFIG_SYSTEM_EXTRA_CERTIFICATE is not set +# CONFIG_SECONDARY_TRUSTED_KEYRING is not set +# CONFIG_SYSTEM_BLACKLIST_KEYRING is not set +# CONFIG_ARM_CRYPTO is not set +# CONFIG_BINARY_PRINTF is not set + +# +# Library routines +# +CONFIG_BITREVERSE=y +CONFIG_HAVE_ARCH_BITREVERSE=y +CONFIG_RATIONAL=y +CONFIG_GENERIC_STRNCPY_FROM_USER=y +CONFIG_GENERIC_STRNLEN_USER=y +CONFIG_GENERIC_NET_UTILS=y +CONFIG_GENERIC_PCI_IOMAP=y +CONFIG_ARCH_USE_CMPXCHG_LOCKREF=y +CONFIG_CRC_CCITT=m +CONFIG_CRC16=y +# CONFIG_CRC_T10DIF is not set +CONFIG_CRC_ITU_T=m +CONFIG_CRC32=y +# CONFIG_CRC32_SELFTEST is not set +CONFIG_CRC32_SLICEBY8=y +# CONFIG_CRC32_SLICEBY4 is not set +# CONFIG_CRC32_SARWATE is not set +# CONFIG_CRC32_BIT is not set +# CONFIG_CRC4 is not set +# CONFIG_CRC7 is not set +# CONFIG_LIBCRC32C is not set +# CONFIG_CRC8 is not set +# CONFIG_AUDIT_ARCH_COMPAT_GENERIC is not set +# CONFIG_RANDOM32_SELFTEST is not set +CONFIG_ZLIB_INFLATE=y +CONFIG_LZO_DECOMPRESS=y +CONFIG_LZ4_DECOMPRESS=y +CONFIG_XZ_DEC=y +CONFIG_XZ_DEC_X86=y +CONFIG_XZ_DEC_POWERPC=y +CONFIG_XZ_DEC_IA64=y +CONFIG_XZ_DEC_ARM=y +CONFIG_XZ_DEC_ARMTHUMB=y +CONFIG_XZ_DEC_SPARC=y +CONFIG_XZ_DEC_BCJ=y +# CONFIG_XZ_DEC_TEST is not set +CONFIG_DECOMPRESS_GZIP=y +CONFIG_DECOMPRESS_BZIP2=y +CONFIG_DECOMPRESS_LZMA=y +CONFIG_DECOMPRESS_XZ=y +CONFIG_DECOMPRESS_LZO=y +CONFIG_DECOMPRESS_LZ4=y +CONFIG_GENERIC_ALLOCATOR=y +CONFIG_ASSOCIATIVE_ARRAY=y +CONFIG_HAS_IOMEM=y +CONFIG_HAS_IOPORT_MAP=y +CONFIG_HAS_DMA=y +CONFIG_SGL_ALLOC=y +# CONFIG_DMA_DIRECT_OPS is not set +# CONFIG_DMA_VIRT_OPS is not set +CONFIG_CPU_RMAP=y +CONFIG_DQL=y +CONFIG_GLOB=y +# CONFIG_GLOB_SELFTEST is not set +CONFIG_NLATTR=y +CONFIG_CLZ_TAB=y +# CONFIG_CORDIC is not set +# CONFIG_DDR is not set +# CONFIG_IRQ_POLL is not set +CONFIG_MPILIB=y +CONFIG_LIBFDT=y +CONFIG_OID_REGISTRY=y +CONFIG_FONT_SUPPORT=y +# CONFIG_FONTS is not set +CONFIG_FONT_8x8=y +CONFIG_FONT_8x16=y +# CONFIG_SG_SPLIT is not set +CONFIG_SG_POOL=y +CONFIG_ARCH_HAS_SG_CHAIN=y +CONFIG_SBITMAP=y +# CONFIG_STRING_SELFTEST is not set +# CONFIG_VIRTUALIZATION is not set diff --git a/useful_files/git-hooks/install.sh b/useful_files/git-hooks/install.sh new file mode 100755 index 0000000..adefea7 --- /dev/null +++ b/useful_files/git-hooks/install.sh @@ -0,0 +1,2 @@ +ROOT=`git rev-parse --show-toplevel` +cp * $ROOT/.git/hooks diff --git a/useful_files/git-hooks/pre-commit b/useful_files/git-hooks/pre-commit new file mode 100755 index 0000000..a475759 --- /dev/null +++ b/useful_files/git-hooks/pre-commit @@ -0,0 +1,4 @@ +#!/bin/sh + +DIRNAME=`dirname "$0"` +python2.7 $DIRNAME/pre-commit.py $@ diff --git a/useful_files/git-hooks/pre-commit.py b/useful_files/git-hooks/pre-commit.py new file mode 100755 index 0000000..565c363 --- /dev/null +++ b/useful_files/git-hooks/pre-commit.py @@ -0,0 +1,23 @@ +import subprocess + +try: + run_args = ["git", "clang-format"] + + print("Running clang-format...") + output = subprocess.check_output(run_args) + print output + changed_list = output.split('\n') + if changed_list[0] == 'changed files:': + changed_list.pop(0) + for changed in changed_list: + if len(changed.strip()) > 0: + add_output = subprocess.check_output(['git', 'add', changed.strip()]) + if len(add_output) > 0: + print(add_output) + exit(0) +except subprocess.CalledProcessError as e: + print(e.output) + exit(1) +except Exception as e: + print "Clang format not installed; please install: ", e + exit(0) diff --git a/useful_files/light_reading.md b/useful_files/light_reading.md new file mode 100644 index 0000000..f8613c4 --- /dev/null +++ b/useful_files/light_reading.md @@ -0,0 +1,10 @@ + +Here's an awesome course about VR that gives a ton of background and is great for anyone interested: +https://stanford.edu/class/ee267/lectures/ + + +Nairol's discussion of the lighthouses used with the HTC Vive. +https://github.com/nairol/LighthouseRedox/tree/master/docs + +This is probably what the parameters map to for the lens correction: +https://docs.opencv.org/trunk/db/d58/group__calib3d__fisheye.html diff --git a/winbuild/calibrate/calibrate.vcxproj b/winbuild/calibrate/calibrate.vcxproj index 7a62c14..d0b1c48 100644 --- a/winbuild/calibrate/calibrate.vcxproj +++ b/winbuild/calibrate/calibrate.vcxproj @@ -75,6 +75,7 @@ </PropertyGroup> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"> <LinkIncremental>true</LinkIncremental> + <LibraryPath>$(LibraryPath)</LibraryPath> </PropertyGroup> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"> <LinkIncremental>false</LinkIncremental> @@ -111,6 +112,7 @@ <Optimization>Disabled</Optimization> <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUMX;HIDAPI;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions> <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories> + <ShowIncludes>true</ShowIncludes> </ClCompile> <Link> <SubSystem>Console</SubSystem> @@ -176,16 +178,30 @@ </ItemDefinitionGroup> <ItemGroup> <ClCompile Include="..\..\calibrate.c" /> + <ClCompile Include="..\..\redist\CNFG3D.c" /> + <ClCompile Include="..\..\redist\CNFGFunctions.c" /> + <ClCompile Include="..\..\redist\CNFGWinDriver.c" /> </ItemGroup> <ItemGroup> - <ClInclude Include="..\..\windows\hidapi.h" /> + <ClInclude Include="..\..\redist\CNFG3D.h" /> + <ClInclude Include="..\..\redist\CNFGFunctions.h" /> </ItemGroup> <ItemGroup> <ProjectReference Include="..\libsurvive\libsurvive.vcxproj"> <Project>{435cfd2c-8724-42ee-8fde-71ef7d2c6b2f}</Project> </ProjectReference> </ItemGroup> + <ItemGroup> + <None Include="packages.config" /> + </ItemGroup> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> <ImportGroup Label="ExtensionTargets"> + <Import Project="..\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets" Condition="Exists('..\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets')" /> </ImportGroup> + <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild"> + <PropertyGroup> + <ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText> + </PropertyGroup> + <Error Condition="!Exists('..\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets'))" /> + </Target> </Project>
\ No newline at end of file diff --git a/winbuild/calibrate/calibrate.vcxproj.filters b/winbuild/calibrate/calibrate.vcxproj.filters index 546497e..1498023 100644 --- a/winbuild/calibrate/calibrate.vcxproj.filters +++ b/winbuild/calibrate/calibrate.vcxproj.filters @@ -18,10 +18,25 @@ <ClCompile Include="..\..\calibrate.c"> <Filter>Source Files</Filter> </ClCompile> + <ClCompile Include="..\..\redist\CNFG3D.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\CNFGFunctions.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\CNFGWinDriver.c"> + <Filter>Source Files</Filter> + </ClCompile> </ItemGroup> <ItemGroup> - <ClInclude Include="..\..\windows\hidapi.h"> + <ClInclude Include="..\..\redist\CNFG3D.h"> + <Filter>Header Files</Filter> + </ClInclude> + <ClInclude Include="..\..\redist\CNFGFunctions.h"> <Filter>Header Files</Filter> </ClInclude> </ItemGroup> + <ItemGroup> + <None Include="packages.config" /> + </ItemGroup> </Project>
\ No newline at end of file diff --git a/winbuild/data_recorder/data_recorder.vcxproj b/winbuild/data_recorder/data_recorder.vcxproj index 59a1e77..e63d474 100644 --- a/winbuild/data_recorder/data_recorder.vcxproj +++ b/winbuild/data_recorder/data_recorder.vcxproj @@ -72,6 +72,7 @@ <PropertyGroup Label="UserMacros" /> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"> <LinkIncremental>true</LinkIncremental> + <LibraryPath>$(VC_LibraryPath_x64);$(WindowsSDK_LibraryPath_x64);$(NETFXKitsDir)Lib\um\x64</LibraryPath> </PropertyGroup> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> <LinkIncremental>true</LinkIncremental> diff --git a/winbuild/getdelim.c b/winbuild/getdelim.c new file mode 100644 index 0000000..69020ee --- /dev/null +++ b/winbuild/getdelim.c @@ -0,0 +1,133 @@ +/* Implementations of the getdelim() and getline() functions from POSIX 2008, + just in case your libc doesn't have them. + + getdelim() reads from a stream until a specified delimiter is encountered. + getline() reads from a stream until a newline is encountered. + + See: http://pubs.opengroup.org/onlinepubs/9699919799/functions/getdelim.html + + NOTE: It is always the caller's responsibility to free the line buffer, even + when an error occurs. + + Copyright (c) 2011 James E. Ingram + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. +*/ + +#include <errno.h> +#include <limits.h> +#include <stdio.h> +#include <stdlib.h> + +#if __STDC_VERSION__ >= 199901L +/* restrict is a keyword */ +#else +#define restrict +#endif + +#ifndef _POSIX_SOURCE +typedef long ssize_t; +#define SSIZE_MAX LONG_MAX +#endif + +ssize_t getdelim(char **restrict lineptr, size_t *restrict n, int delimiter, FILE *restrict stream); +ssize_t getline(char **restrict lineptr, size_t *restrict n, FILE *restrict stream); + +#define _GETDELIM_GROWBY 128 /* amount to grow line buffer by */ +#define _GETDELIM_MINLEN 4 /* minimum line buffer size */ + +ssize_t getdelim(char **restrict lineptr, size_t *restrict n, int delimiter, FILE *restrict stream) { + char *buf, *pos; + int c; + ssize_t bytes; + + if (lineptr == NULL || n == NULL) { + errno = EINVAL; + return -1; + } + if (stream == NULL) { + errno = EBADF; + return -1; + } + + /* resize (or allocate) the line buffer if necessary */ + buf = *lineptr; + if (buf == NULL || *n < _GETDELIM_MINLEN) { + buf = realloc(*lineptr, _GETDELIM_GROWBY); + if (buf == NULL) { + /* ENOMEM */ + return -1; + } + *n = _GETDELIM_GROWBY; + *lineptr = buf; + } + + /* read characters until delimiter is found, end of file is reached, or an + error occurs. */ + bytes = 0; + pos = buf; + while ((c = getc(stream)) != EOF) { + if (bytes + 1 >= SSIZE_MAX) { + errno = EOVERFLOW; + return -1; + } + bytes++; + if (bytes >= *n - 1) { + buf = realloc(*lineptr, *n + _GETDELIM_GROWBY); + if (buf == NULL) { + /* ENOMEM */ + return -1; + } + *n += _GETDELIM_GROWBY; + pos = buf + bytes - 1; + *lineptr = buf; + } + + *pos++ = (char)c; + if (c == delimiter) { + break; + } + } + + if (ferror(stream) || (feof(stream) && (bytes == 0))) { + /* EOF, or an error from getc(). */ + return -1; + } + + *pos = '\0'; + return bytes; +} + +ssize_t getline(char **restrict lineptr, size_t *restrict n, FILE *restrict stream) { + return getdelim(lineptr, n, '\n', stream); +} + +#ifdef _TEST_GETDELIM + +/* TODO: this isn't a very extensive test. */ +int main(void) { + char *line = NULL; + size_t n = 0; + while (getline(&line, &n, stdin) > 0) { + printf("%s", line); + } + return 0; +} + +#endif diff --git a/winbuild/libsurvive/Test.txt b/winbuild/libsurvive/Test.txt new file mode 100644 index 0000000..5cf8680 --- /dev/null +++ b/winbuild/libsurvive/Test.txt @@ -0,0 +1,3479 @@ + libsurvive + + Timestamp is 5ab9467b (Mon Mar 26 21:14:03 2018) + + Preferred load address is 0000000180000000 + + Start Length Name Class + 0001:00000000 0001d166H .textbss DATA + 0002:00000000 0003cf90H .text$mn CODE + 0002:0003cf90 00001110H .text$mn$00 CODE + 0002:0003e0a0 00001132H .text$x CODE + 0003:00000000 00000110H .CRT$XCA DATA + 0003:00000110 00000110H .CRT$XCZ DATA + 0003:00000220 00000110H .CRT$XIA DATA + 0003:00000330 00000110H .CRT$XIZ DATA + 0003:00000440 00000110H .CRT$XPA DATA + 0003:00000550 00000110H .CRT$XPZ DATA + 0003:00000660 00000110H .CRT$XTA DATA + 0003:00000770 00000110H .CRT$XTZ DATA + 0003:00000880 0000e914H .rdata DATA + 0003:0000f194 00000174H .rdata$zzzdbg DATA + 0003:0000f308 00000110H .rtc$IAA DATA + 0003:0000f418 00000308H .rtc$IMZ DATA + 0003:0000f720 00000110H .rtc$IZZ DATA + 0003:0000f830 00000110H .rtc$TAA DATA + 0003:0000f940 00000308H .rtc$TMZ DATA + 0003:0000fc48 00000110H .rtc$TZZ DATA + 0003:0000fd58 000028e8H .xdata DATA + 0003:00012640 000004feH .edata DATA + 0004:00000000 000008e0H .data DATA + 0004:000008e0 00001b89H .bss DATA + 0005:00000000 000033f0H .pdata DATA + 0006:00000000 000006d8H .idata$5 DATA + 0006:000006d8 00000064H .idata$2 DATA + 0006:0000073c 00000014H .idata$3 DATA + 0006:00000750 000006d8H .idata$4 DATA + 0006:00000e28 00000afeH .idata$6 DATA + 0007:00000000 0000013fH .00cfg DATA + 0008:00000000 00000170H .rsrc$01 DATA + 0008:00000170 000002ccH .rsrc$02 DATA + + Address Publics by Value Rva+Base Lib:Object + + 0000:00000000 __hybrid_auxiliary_iat 0000000000000000 <absolute> + 0000:00000000 __guard_fids_count 0000000000000000 <absolute> + 0000:00000000 __guard_longjmp_count 0000000000000000 <absolute> + 0000:00000000 __guard_fids_table 0000000000000000 <absolute> + 0000:00000000 __guard_iat_table 0000000000000000 <absolute> + 0000:00000000 __guard_iat_count 0000000000000000 <absolute> + 0000:00000000 __dynamic_value_reloc_table 0000000000000000 <absolute> + 0000:00000000 ___safe_se_handler_table 0000000000000000 <absolute> + 0000:00000000 __enclave_config 0000000000000000 <absolute> + 0000:00000000 __hybrid_code_map_count 0000000000000000 <absolute> + 0000:00000000 __hybrid_code_map 0000000000000000 <absolute> + 0000:00000000 __guard_longjmp_table 0000000000000000 <absolute> + 0000:00000000 ___safe_se_handler_count 0000000000000000 <absolute> + 0000:00000100 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0002:000298c0 config_set_float 00000001800488c0 f survive_config.obj + 0002:00029990 config_set_float_a 0000000180048990 f survive_config.obj + 0002:00029b00 config_set_lighthouse 0000000180048b00 f survive_config.obj + 0002:00029cf0 config_set_str 0000000180048cf0 f survive_config.obj + 0002:00029df0 config_set_uint32 0000000180048df0 f survive_config.obj + 0002:00029ec0 destroy_config_entry 0000000180048ec0 f survive_config.obj + 0002:00029f70 destroy_config_group 0000000180048f70 f survive_config.obj + 0002:0002a040 find_config_entry 0000000180049040 f survive_config.obj + 0002:0002a110 handle_config_group 0000000180049110 f survive_config.obj + 0002:0002a220 handle_tag_value 0000000180049220 f survive_config.obj + 0002:0002a320 init_config_entry 0000000180049320 f survive_config.obj + 0002:0002a3b0 init_config_group 00000001800493b0 f survive_config.obj + 0002:0002a4c0 next_unused_entry 00000001800494c0 f survive_config.obj + 0002:0002a5a0 parse_floats 00000001800495a0 f survive_config.obj + 0002:0002a7e0 parse_uint32 00000001800497e0 f survive_config.obj + 0002:0002aa00 pop_config_group 0000000180049a00 f survive_config.obj + 0002:0002aa50 print_json_value 0000000180049a50 f survive_config.obj + 0002:0002ab00 resize_config_group 0000000180049b00 f survive_config.obj + 0002:0002acf0 sstrcpy 0000000180049cf0 f survive_config.obj + 0002:0002ae10 survive_configf 0000000180049e10 f survive_config.obj + 0002:0002af60 survive_configi 0000000180049f60 f survive_config.obj + 0002:0002b0a0 survive_configs 000000018004a0a0 f survive_config.obj + 0002:0002b1e0 write_config_group 000000018004a1e0 f survive_config.obj + 0002:0002baa0 survive_create_hmd 000000018004aaa0 f survive_default_devices.obj + 0002:0002bb30 survive_create_tr0 000000018004ab30 f survive_default_devices.obj + 0002:0002bbc0 survive_create_wm0 000000018004abc0 f survive_default_devices.obj + 0002:0002bc50 survive_create_wm1 000000018004ac50 f survive_default_devices.obj + 0002:0002bce0 survive_create_ww0 000000018004ace0 f survive_default_devices.obj + 0002:0002bd70 survive_load_htc_config_format 000000018004ad70 f survive_default_devices.obj + 0002:0002c750 handle_lightcap 000000018004b750 f survive_disambiguator.obj + 0002:0002c7d0 GetDriver 000000018004b7d0 f survive_driverman.obj + 0002:0002c880 GetDriverNameMatching 000000018004b880 f survive_driverman.obj + 0002:0002c9a0 ListDrivers 000000018004b9a0 f survive_driverman.obj + 0002:0002ca40 RegisterDriver 000000018004ba40 f survive_driverman.obj + 0002:0002cae0 DriverRegPlayback 000000018004bae0 f survive_playback.obj + 0002:0002d120 REGISTERDriverRegPlayback 000000018004c120 f survive_playback.obj + 0002:0002d170 __local_stdio_scanf_options 000000018004c170 f i survive_playback.obj + 0002:0002d1b0 _vsscanf_l 000000018004c1b0 f i survive_playback.obj + 0002:0002dd80 sscanf 000000018004cd80 f i survive_playback.obj + 0002:0002de30 survive_install_recording 000000018004ce30 f survive_playback.obj + 0002:0002e120 survive_recording_angle_process 000000018004d120 f survive_playback.obj + 0002:0002e210 survive_recording_config_process 000000018004d210 f survive_playback.obj + 0002:0002e350 survive_recording_imu_process 000000018004d350 f survive_playback.obj + 0002:0002e4f0 survive_recording_info_process 000000018004d4f0 f survive_playback.obj + 0002:0002e580 survive_recording_light_process 000000018004d580 f survive_playback.obj + 0002:0002e7f0 survive_recording_lightcap 000000018004d7f0 f survive_playback.obj + 0002:0002e8d0 survive_recording_lighthouse_process 000000018004d8d0 f survive_playback.obj + 0002:0002ea70 survive_recording_raw_pose_process 000000018004da70 f survive_playback.obj + 0002:0002ec80 vfprintf 000000018004dc80 f i survive_playback.obj + 0002:0002ee70 survive_default_angle_process 000000018004de70 f survive_process.obj + 0002:0002f070 survive_default_button_process 000000018004e070 f survive_process.obj + 0002:0002f0c0 survive_default_htc_config_process 000000018004e0c0 f survive_process.obj + 0002:0002f150 survive_default_imu_process 000000018004e150 f survive_process.obj + 0002:0002f3d0 survive_default_light_process 000000018004e3d0 f survive_process.obj + 0002:0002f750 survive_default_lighthouse_pose_process 000000018004e750 f survive_process.obj + 0002:0002f8f0 survive_default_raw_pose_process 000000018004e8f0 f survive_process.obj + 0002:0002fa30 survive_calibration_config_create_from_idx 000000018004ea30 f survive_reproject.obj + 0002:0002fc40 survive_calibration_config_index 000000018004ec40 f survive_reproject.obj + 0002:0002fd10 survive_calibration_config_max_idx 000000018004ed10 f survive_reproject.obj + 0002:0002fdb0 survive_calibration_default_config 000000018004edb0 f survive_reproject.obj + 0002:0002fe50 survive_calibration_options_config_apply 000000018004ee50 f survive_reproject.obj + 0002:000300a0 survive_reproject 000000018004f0a0 f survive_reproject.obj + 0002:00030150 survive_reproject_from_pose 000000018004f150 f survive_reproject.obj + 0002:000301f0 survive_reproject_from_pose_with_config 000000018004f1f0 f survive_reproject.obj + 0002:00030730 SurviveSensorActivations_add 000000018004f730 f survive_sensor_activations.obj + 0002:00030850 SurviveSensorActivations_add_imu 000000018004f850 f survive_sensor_activations.obj + 0002:00030a20 SurviveSensorActivations_isPairValid 000000018004fa20 f survive_sensor_activations.obj + 0002:00030b20 DisambiguatorTurvey 000000018004fb20 f survive_turveybiguator.obj + 0002:00030c70 REGISTERDisambiguatorTurvey 000000018004fc70 f survive_turveybiguator.obj + 0002:00031e20 DriverRegHTCVive 0000000180050e20 f survive_vive.obj + 0002:000324d0 HAPIReceiver 00000001800514d0 f survive_vive.obj + 0002:00032790 REGISTERDriverRegHTCVive 0000000180051790 f survive_vive.obj + 0002:000327e0 _vfwprintf_l 00000001800517e0 f i survive_vive.obj + 0002:00032870 calibrate_acc 0000000180051870 f survive_vive.obj + 0002:00032b00 calibrate_gyro 0000000180051b00 f survive_vive.obj + 0002:00034020 incrementAndPostButtonQueue 0000000180053020 f survive_vive.obj + 0002:000341a0 init_SurviveObject 00000001800531a0 f survive_vive.obj + 0002:00034280 registerButtonEvent 0000000180053280 f survive_vive.obj + 0002:00034840 survive_data_cb 0000000180053840 f survive_vive.obj + 0002:000353c0 survive_get_config 00000001800543c0 f survive_vive.obj + 0002:00035a70 survive_usb_init 0000000180054a70 f survive_vive.obj + 0002:000366f0 survive_vive_close 00000001800556f0 f survive_vive.obj + 0002:00036760 survive_vive_send_haptic 0000000180055760 f survive_vive.obj + 0002:00036980 survive_vive_send_magic 0000000180055980 f survive_vive.obj + 0002:00036eb0 survive_vive_usb_close 0000000180055eb0 f survive_vive.obj + 0002:00036f90 survive_vive_usb_poll 0000000180055f90 f survive_vive.obj + 0002:00037090 wprintf 0000000180056090 f i survive_vive.obj + 0002:00037150 getdelim 0000000180056150 f getdelim.obj + 0002:00037410 getline 0000000180056410 f getdelim.obj + 0002:00037485 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QueryPerformanceFrequency 0000000180056527 f kernel32:KERNEL32.dll + 0002:0003752d ReleaseSemaphore 000000018005652d f kernel32:KERNEL32.dll + 0002:00037533 ReleaseMutex 0000000180056533 f kernel32:KERNEL32.dll + 0002:00037539 CreateMutexA 0000000180056539 f kernel32:KERNEL32.dll + 0002:0003753f Sleep 000000018005653f f kernel32:KERNEL32.dll + 0002:00037545 CreateThread 0000000180056545 f kernel32:KERNEL32.dll + 0002:0003754b GetModuleHandleA 000000018005654b f kernel32:KERNEL32.dll + 0002:00037551 CreateSemaphoreA 0000000180056551 f kernel32:KERNEL32.dll + 0002:00037557 GetCurrentProcess 0000000180056557 f kernel32:KERNEL32.dll + 0002:0003755d CreateDirectoryA 000000018005655d f kernel32:KERNEL32.dll + 0002:00037570 _CRT_RTC_INIT 0000000180056570 f MSVCRTD:_init_.obj + 0002:00037580 _CRT_RTC_INITW 0000000180056580 f MSVCRTD:_init_.obj + 0002:00037590 _RTC_InitBase 0000000180056590 f MSVCRTD:_init_.obj + 0002:000375e0 _RTC_Shutdown 00000001800565e0 f MSVCRTD:_init_.obj + 0002:00037610 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MSVCRTD:utility.obj + 0002:00039360 ?__crt_rotate_pointer_value@@YA_K_KH@Z 0000000180058360 f i MSVCRTD:utility.obj + 0002:00039380 ?configure_argv@__scrt_narrow_argv_policy@@SAHXZ 0000000180058380 f i MSVCRTD:utility.obj + 0002:000394a0 ?initialize_environment@__scrt_narrow_environment_policy@@SAHXZ 00000001800584a0 f i MSVCRTD:utility.obj + 0002:00039570 NtCurrentTeb 0000000180058570 f i MSVCRTD:utility.obj + 0002:00039580 __scrt_acquire_startup_lock 0000000180058580 f MSVCRTD:utility.obj + 0002:00039600 __scrt_dllmain_after_initialize_c 0000000180058600 f MSVCRTD:utility.obj + 0002:00039640 __scrt_dllmain_before_initialize_c 0000000180058640 f MSVCRTD:utility.obj + 0002:00039670 __scrt_dllmain_crt_thread_attach 0000000180058670 f MSVCRTD:utility.obj + 0002:000396b0 __scrt_dllmain_crt_thread_detach 00000001800586b0 f MSVCRTD:utility.obj + 0002:000396d0 __scrt_dllmain_exception_filter 00000001800586d0 f MSVCRTD:utility.obj + 0002:00039750 __scrt_dllmain_uninitialize_c 0000000180058750 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__scrt_get_show_window_mode 0000000180058e30 f MSVCRTD:utility_desktop.obj + 0002:00039ea0 __scrt_initialize_winrt 0000000180058ea0 f MSVCRTD:utility_desktop.obj + 0002:00039eb0 __scrt_is_managed_app 0000000180058eb0 f MSVCRTD:utility_desktop.obj + 0002:00039f80 __scrt_set_unhandled_exception_filter 0000000180058f80 f MSVCRTD:utility_desktop.obj + 0002:00039fa0 __scrt_unhandled_exception_filter 0000000180058fa0 f MSVCRTD:utility_desktop.obj + 0002:0003a030 _RTC_Initialize 0000000180059030 f MSVCRTD:_initsect_.obj + 0002:0003a090 _RTC_Terminate 0000000180059090 f MSVCRTD:_initsect_.obj + 0002:0003a0f0 _guard_check_icall 00000001800590f0 f i MSVCRTD:checkcfg.obj + 0002:0003a780 ?_RTC_GetSrcLine@@YAHPEAEPEA_WKPEAH1K@Z 0000000180059780 f MSVCRTD:_pdblkup_.obj + 0002:0003ad10 __isa_available_init 0000000180059d10 f MSVCRTD:_cpu_disp_.obj + 0002:0003b160 _get_startup_argv_mode 000000018005a160 f MSVCRTD:argv_mode.obj + 0002:0003b170 __scrt_is_ucrt_dll_in_use 000000018005a170 f MSVCRTD:ucrt_detection.obj + 0002:0003b1a0 _guard_check_icall_nop 000000018005a1a0 f i MSVCRTD:guard_support.obj + 0002:0003b1b0 ReadNoFence64 000000018005a1b0 f i MSVCRTD:guard_support.obj + 0002:0003b1e0 ReadPointerNoFence 000000018005a1e0 f i MSVCRTD:guard_support.obj + 0002:0003b200 __guard_ss_common_verify_stub 000000018005a200 f i MSVCRTD:guard_support.obj + 0002:0003b210 _guard_icall_checks_enforced 000000018005a210 f i MSVCRTD:guard_support.obj + 0002:0003b260 _guard_rf_checks_enforced 000000018005a260 f i MSVCRTD:guard_support.obj + 0002:0003b2b0 memcpy 000000018005a2b0 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2b6 memset 000000018005a2b6 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2bc strstr 000000018005a2bc f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2c2 longjmp 000000018005a2c2 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2c8 memcmp 000000018005a2c8 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2ce _setjmp 000000018005a2ce f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2ce __intrinsic_setjmp 000000018005a2ce f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2d4 __C_specific_handler 000000018005a2d4 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2da __std_type_info_destroy_list 000000018005a2da f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2e0 __vcrt_GetModuleFileNameW 000000018005a2e0 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2e6 __vcrt_GetModuleHandleW 000000018005a2e6 f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2ec __vcrt_LoadLibraryExW 000000018005a2ec f vcruntimed:VCRUNTIME140D.dll + 0002:0003b2f2 _wcsdup 000000018005a2f2 f ucrtd:ucrtbased.dll + 0002:0003b2f8 wcscmp 000000018005a2f8 f ucrtd:ucrtbased.dll + 0002:0003b2fe strcmp 000000018005a2fe f ucrtd:ucrtbased.dll + 0002:0003b304 strlen 000000018005a304 f ucrtd:ucrtbased.dll + 0002:0003b30a strncpy 000000018005a30a f ucrtd:ucrtbased.dll + 0002:0003b310 calloc 000000018005a310 f ucrtd:ucrtbased.dll + 0002:0003b316 free 000000018005a316 f ucrtd:ucrtbased.dll + 0002:0003b31c malloc 000000018005a31c f ucrtd:ucrtbased.dll + 0002:0003b322 strtol 000000018005a322 f ucrtd:ucrtbased.dll + 0002:0003b328 fclose 000000018005a328 f ucrtd:ucrtbased.dll + 0002:0003b32e fopen 000000018005a32e f ucrtd:ucrtbased.dll + 0002:0003b334 fputs 000000018005a334 f ucrtd:ucrtbased.dll + 0002:0003b33a fread 000000018005a33a f ucrtd:ucrtbased.dll + 0002:0003b340 fseek 000000018005a340 f ucrtd:ucrtbased.dll + 0002:0003b346 ftell 000000018005a346 f ucrtd:ucrtbased.dll + 0002:0003b34c __stdio_common_vfprintf 000000018005a34c f ucrtd:ucrtbased.dll + 0002:0003b352 __stdio_common_vsprintf 000000018005a352 f ucrtd:ucrtbased.dll + 0002:0003b358 strtod 000000018005a358 f ucrtd:ucrtbased.dll + 0002:0003b35e acos 000000018005a35e f ucrtd:ucrtbased.dll + 0002:0003b364 asin 000000018005a364 f ucrtd:ucrtbased.dll + 0002:0003b36a atan2 000000018005a36a f ucrtd:ucrtbased.dll + 0002:0003b370 cos 000000018005a370 f ucrtd:ucrtbased.dll + 0002:0003b376 fabs 000000018005a376 f ucrtd:ucrtbased.dll + 0002:0003b37c sin 000000018005a37c f ucrtd:ucrtbased.dll + 0002:0003b382 sqrt 000000018005a382 f ucrtd:ucrtbased.dll + 0002:0003b388 __acrt_iob_func 000000018005a388 f ucrtd:ucrtbased.dll + 0002:0003b38e tan 000000018005a38e f ucrtd:ucrtbased.dll + 0002:0003b394 _dclass 000000018005a394 f ucrtd:ucrtbased.dll + 0002:0003b39a qsort 000000018005a39a f ucrtd:ucrtbased.dll + 0002:0003b3a0 atan 000000018005a3a0 f ucrtd:ucrtbased.dll + 0002:0003b3a6 realloc 000000018005a3a6 f ucrtd:ucrtbased.dll + 0002:0003b3ac exit 000000018005a3ac f ucrtd:ucrtbased.dll + 0002:0003b3b2 strncmp 000000018005a3b2 f ucrtd:ucrtbased.dll + 0002:0003b3b8 atof 000000018005a3b8 f ucrtd:ucrtbased.dll + 0002:0003b3be atoi 000000018005a3be f ucrtd:ucrtbased.dll + 0002:0003b3c4 _wassert 000000018005a3c4 f ucrtd:ucrtbased.dll + 0002:0003b3ca strcpy 000000018005a3ca f ucrtd:ucrtbased.dll + 0002:0003b3d0 roundf 000000018005a3d0 f ucrtd:ucrtbased.dll + 0002:0003b3d6 feof 000000018005a3d6 f ucrtd:ucrtbased.dll + 0002:0003b3dc ferror 000000018005a3dc f ucrtd:ucrtbased.dll + 0002:0003b3e2 __stdio_common_vsscanf 000000018005a3e2 f ucrtd:ucrtbased.dll + 0002:0003b3e8 abs 000000018005a3e8 f ucrtd:ucrtbased.dll + 0002:0003b3ee sqrtf 000000018005a3ee f ucrtd:ucrtbased.dll + 0002:0003b3f4 _errno 000000018005a3f4 f ucrtd:ucrtbased.dll + 0002:0003b3fa __stdio_common_vfwprintf 000000018005a3fa f ucrtd:ucrtbased.dll + 0002:0003b400 fwrite 000000018005a400 f ucrtd:ucrtbased.dll + 0002:0003b406 getc 000000018005a406 f ucrtd:ucrtbased.dll + 0002:0003b40c _CrtDbgReport 000000018005a40c f ucrtd:ucrtbased.dll + 0002:0003b412 _CrtDbgReportW 000000018005a412 f ucrtd:ucrtbased.dll + 0002:0003b418 _initterm 000000018005a418 f ucrtd:ucrtbased.dll + 0002:0003b41e _initterm_e 000000018005a41e f ucrtd:ucrtbased.dll + 0002:0003b424 strcpy_s 000000018005a424 f ucrtd:ucrtbased.dll + 0002:0003b42a strcat_s 000000018005a42a f ucrtd:ucrtbased.dll + 0002:0003b430 __stdio_common_vsprintf_s 000000018005a430 f ucrtd:ucrtbased.dll + 0002:0003b436 _seh_filter_dll 000000018005a436 f ucrtd:ucrtbased.dll + 0002:0003b43c _configure_narrow_argv 000000018005a43c f ucrtd:ucrtbased.dll + 0002:0003b442 _initialize_narrow_environment 000000018005a442 f ucrtd:ucrtbased.dll + 0002:0003b448 _initialize_onexit_table 000000018005a448 f ucrtd:ucrtbased.dll + 0002:0003b44e _register_onexit_function 000000018005a44e f ucrtd:ucrtbased.dll + 0002:0003b454 _execute_onexit_table 000000018005a454 f ucrtd:ucrtbased.dll + 0002:0003b45a _crt_atexit 000000018005a45a f ucrtd:ucrtbased.dll + 0002:0003b460 _crt_at_quick_exit 000000018005a460 f ucrtd:ucrtbased.dll + 0002:0003b466 _cexit 000000018005a466 f ucrtd:ucrtbased.dll + 0002:0003b46c terminate 000000018005a46c f ucrtd:ucrtbased.dll + 0002:0003b472 _wmakepath_s 000000018005a472 f ucrtd:ucrtbased.dll + 0002:0003b478 _wsplitpath_s 000000018005a478 f ucrtd:ucrtbased.dll + 0002:0003b47e wcscpy_s 000000018005a47e f ucrtd:ucrtbased.dll + 0002:0003b484 mkdir 000000018005a484 f ucrtd:ucrtbased.dll + 0002:0003b484 _mkdir 000000018005a484 f ucrtd:ucrtbased.dll + 0002:0003b48a RtlCaptureContext 000000018005a48a f kernel32:KERNEL32.dll + 0002:0003b490 RtlLookupFunctionEntry 000000018005a490 f kernel32:KERNEL32.dll + 0002:0003b496 RtlVirtualUnwind 000000018005a496 f kernel32:KERNEL32.dll + 0002:0003b49c UnhandledExceptionFilter 000000018005a49c f kernel32:KERNEL32.dll + 0002:0003b4a2 SetUnhandledExceptionFilter 000000018005a4a2 f kernel32:KERNEL32.dll + 0002:0003b4a8 TerminateProcess 000000018005a4a8 f kernel32:KERNEL32.dll + 0002:0003b4ae IsProcessorFeaturePresent 000000018005a4ae f kernel32:KERNEL32.dll + 0002:0003b4b4 IsDebuggerPresent 000000018005a4b4 f kernel32:KERNEL32.dll + 0002:0003b4ba RaiseException 000000018005a4ba f kernel32:KERNEL32.dll + 0002:0003b4c0 MultiByteToWideChar 000000018005a4c0 f kernel32:KERNEL32.dll + 0002:0003b4c6 WideCharToMultiByte 000000018005a4c6 f kernel32:KERNEL32.dll + 0002:0003b4cc GetCurrentProcessId 000000018005a4cc f kernel32:KERNEL32.dll + 0002:0003b4d2 GetCurrentThreadId 000000018005a4d2 f kernel32:KERNEL32.dll + 0002:0003b4d8 GetSystemTimeAsFileTime 000000018005a4d8 f kernel32:KERNEL32.dll + 0002:0003b4de DisableThreadLibraryCalls 000000018005a4de f kernel32:KERNEL32.dll + 0002:0003b4e4 InitializeSListHead 000000018005a4e4 f kernel32:KERNEL32.dll + 0002:0003b4ea GetStartupInfoW 000000018005a4ea f kernel32:KERNEL32.dll + 0002:0003b4f0 GetModuleHandleW 000000018005a4f0 f kernel32:KERNEL32.dll + 0002:0003b4f6 HeapAlloc 000000018005a4f6 f kernel32:KERNEL32.dll + 0002:0003b4fc HeapFree 000000018005a4fc f kernel32:KERNEL32.dll + 0002:0003b502 GetProcessHeap 000000018005a502 f kernel32:KERNEL32.dll + 0002:0003b508 VirtualQuery 000000018005a508 f kernel32:KERNEL32.dll + 0002:0003b510 __acrt_initialize 000000018005a510 f MSVCRTD:ucrt_stubs.obj + 0002:0003b510 __scrt_stub_for_acrt_initialize 000000018005a510 f MSVCRTD:ucrt_stubs.obj + 0002:0003b510 __vcrt_initialize 000000018005a510 f MSVCRTD:ucrt_stubs.obj + 0002:0003b520 __acrt_thread_attach 000000018005a520 f MSVCRTD:ucrt_stubs.obj + 0002:0003b520 __scrt_stub_for_acrt_thread_attach 000000018005a520 f MSVCRTD:ucrt_stubs.obj + 0002:0003b520 __vcrt_thread_attach 000000018005a520 f MSVCRTD:ucrt_stubs.obj + 0002:0003b530 __acrt_thread_detach 000000018005a530 f MSVCRTD:ucrt_stubs.obj + 0002:0003b530 __vcrt_thread_detach 000000018005a530 f MSVCRTD:ucrt_stubs.obj + 0002:0003b530 __scrt_stub_for_acrt_thread_detach 000000018005a530 f MSVCRTD:ucrt_stubs.obj + 0002:0003b540 __acrt_uninitialize 000000018005a540 f MSVCRTD:ucrt_stubs.obj + 0002:0003b540 __vcrt_uninitialize 000000018005a540 f MSVCRTD:ucrt_stubs.obj + 0002:0003b540 __scrt_stub_for_acrt_uninitialize 000000018005a540 f MSVCRTD:ucrt_stubs.obj + 0002:0003b550 __scrt_stub_for_acrt_uninitialize_critical 000000018005a550 f MSVCRTD:ucrt_stubs.obj + 0002:0003b550 __vcrt_uninitialize_critical 000000018005a550 f MSVCRTD:ucrt_stubs.obj + 0002:0003b550 __acrt_uninitialize_critical 000000018005a550 f MSVCRTD:ucrt_stubs.obj + 0002:0003b560 _is_c_termination_complete 000000018005a560 f MSVCRTD:ucrt_stubs.obj + 0002:0003b560 __scrt_stub_for_is_c_termination_complete 000000018005a560 f MSVCRTD:ucrt_stubs.obj + 0002:0003cfa0 _guard_dispatch_icall_nop 000000018005bfa0 f MSVCRTD:_guard_dispatch_.obj + 0002:0003cfc0 __guard_ss_verify_failure 000000018005bfc0 f MSVCRTD:_rfgfailure_.obj + 0002:0003cfcb __guard_ss_verify_failure_rcx 000000018005bfcb MSVCRTD:_rfgfailure_.obj + 0002:0003cfd1 __guard_ss_verify_failure_rdx 000000018005bfd1 MSVCRTD:_rfgfailure_.obj + 0002:0003cfd7 __guard_ss_verify_failure_r8 000000018005bfd7 MSVCRTD:_rfgfailure_.obj + 0002:0003cfdd __guard_ss_verify_failure_r9 000000018005bfdd MSVCRTD:_rfgfailure_.obj + 0002:0003cfe3 __guard_ss_verify_failure_r10 000000018005bfe3 MSVCRTD:_rfgfailure_.obj + 0002:0003cff0 __guard_ss_verify_failure_default 000000018005bff0 f MSVCRTD:_rfgfailure_.obj + 0002:0003d050 __guard_ss_verify_sp 000000018005c050 f MSVCRTD:_rfgfailure_.obj + 0002:0003d060 __guard_ss_verify_sp_default 000000018005c060 f MSVCRTD:_rfgfailure_.obj + 0003:00000000 __xc_a 000000018005f000 MSVCRTD:initializers.obj + 0003:00000110 __xc_z 000000018005f110 MSVCRTD:initializers.obj + 0003:00000220 __xi_a 000000018005f220 MSVCRTD:initializers.obj + 0003:00000330 __xi_z 000000018005f330 MSVCRTD:initializers.obj + 0003:00000440 __xp_a 000000018005f440 MSVCRTD:initializers.obj + 0003:00000550 __xp_z 000000018005f550 MSVCRTD:initializers.obj + 0003:00000660 __xt_a 000000018005f660 MSVCRTD:initializers.obj + 0003:00000770 __xt_z 000000018005f770 MSVCRTD:initializers.obj + 0003:00000fb8 ??_C@_07FGKIDIDM@hid?4dll?$AA@ 000000018005ffb8 hid-windows.obj + 0003:00000fc8 ??_C@_0BD@CBOMEPHA@HidD_GetAttributes?$AA@ 000000018005ffc8 hid-windows.obj + 0003:00000fe0 ??_C@_0BL@OEJFEOIE@HidD_GetSerialNumberString?$AA@ 000000018005ffe0 hid-windows.obj + 0003:00001000 ??_C@_0BL@NLNJBEKH@HidD_GetManufacturerString?$AA@ 0000000180060000 hid-windows.obj + 0003:00001020 ??_C@_0BG@NNFFPJLB@HidD_GetProductString?$AA@ 0000000180060020 hid-windows.obj + 0003:00001040 ??_C@_0BA@ENIKBGID@HidD_SetFeature?$AA@ 0000000180060040 hid-windows.obj + 0003:00001058 ??_C@_0BA@FDKFKBMK@HidD_GetFeature?$AA@ 0000000180060058 hid-windows.obj + 0003:00001070 ??_C@_0BG@HBEPJNGD@HidD_GetIndexedString?$AA@ 0000000180060070 hid-windows.obj + 0003:00001090 ??_C@_0BG@NCCNKODK@HidD_GetPreparsedData?$AA@ 0000000180060090 hid-windows.obj + 0003:000010b0 ??_C@_0BH@HPJNKOKM@HidD_FreePreparsedData?$AA@ 00000001800600b0 hid-windows.obj + 0003:000010d0 ??_C@_0N@PAEDFHIM@HidP_GetCaps?$AA@ 00000001800600d0 hid-windows.obj + 0003:000010e0 ??_C@_0BI@HGIMLKHJ@HidD_SetNumInputBuffers?$AA@ 00000001800600e0 hid-windows.obj + 0003:00001100 ??_C@_08POBLEMDG@HIDClass?$AA@ 0000000180060100 hid-windows.obj + 0003:0000110c ??_C@_04MEDFEMKM@?$CGmi_?$AA@ 000000018006010c hid-windows.obj + 0003:00001118 ??_C@_0L@KLBPNCIB@CreateFile?$AA@ 0000000180060118 hid-windows.obj + 0003:00001128 ??_C@_09NOIIIIGM@WriteFile?$AA@ 0000000180060128 hid-windows.obj + 0003:00001138 ??_C@_0BE@LHCFOKBA@GetOverlappedResult?$AA@ 0000000180060138 hid-windows.obj + 0003:00001150 ??_C@_0CE@GNMMJCPJ@Send?5Feature?5Report?5DeviceIoCont@ 0000000180060150 hid-windows.obj + 0003:00001180 ??_C@_0CI@PDMBNDLH@Send?5Feature?5Report?5GetOverLappe@ 0000000180060180 hid-windows.obj + 0003:000015e4 ??_C@_06KJCKIFMC@?$CC?$CFs?$CC?3?$FL?$AA@ 00000001800605e4 json_helpers.obj + 0003:000015ec ??_C@_06LFKFJLAP@?$CFs?$CC?$CFf?$CC?$AA@ 00000001800605ec json_helpers.obj + 0003:000015f8 ??_C@_07KJDLNDKE@?$CFs?$CC?$CFf?$CC?0?$AA@ 00000001800605f8 json_helpers.obj + 0003:00001604 ??_C@_03BAPFIKPP@?$CFs?$FN?$AA@ 0000000180060604 json_helpers.obj + 0003:00001608 ??_C@_09IECGBPDB@?$CC?$CFs?$CC?3?$CC?$CFd?$CC?$AA@ 0000000180060608 json_helpers.obj + 0003:00001618 ??_C@_09IHKCMLFP@?$CC?$CFs?$CC?3?$CC?$CFf?$CC?$AA@ 0000000180060618 json_helpers.obj + 0003:00001628 ??_C@_09JNEPKKME@?$CC?$CFs?$CC?3?$CC?$CFs?$CC?$AA@ 0000000180060628 json_helpers.obj + 0003:00001634 ??_C@_01KDCPPGHE@r?$AA@ 0000000180060634 json_helpers.obj + 0003:00001f08 __real@0000000000000000 0000000180060f08 linmath.obj + 0003:00001f18 __real@38aa95a5c0000000 0000000180060f18 linmath.obj + 0003:00001f28 __real@3e80000000000000 0000000180060f28 linmath.obj + 0003:00001f38 __real@3f50624dd2f1a9fc 0000000180060f38 linmath.obj + 0003:00001f48 __real@3fd0000000000000 0000000180060f48 linmath.obj + 0003:00001f58 __real@3fe0000000000000 0000000180060f58 linmath.obj + 0003:00001f68 __real@3fefffffca501acb 0000000180060f68 linmath.obj + 0003:00001f78 __real@3ff0000000000000 0000000180060f78 linmath.obj + 0003:00001f88 __real@4000000000000000 0000000180060f88 linmath.obj + 0003:00001f98 __real@400921fb5444261e 0000000180060f98 linmath.obj + 0003:00001fa8 __real@bfeffffde0000000 0000000180060fa8 linmath.obj + 0003:00001fb8 __real@bfefffffca501acb 0000000180060fb8 linmath.obj + 0003:00001fc8 __real@bff0000000000000 0000000180060fc8 linmath.obj + 0003:00001fe0 __xmm@80000000000000008000000000000000 0000000180060fe0 linmath.obj + 0003:00002178 ??_C@_0BB@IKGLGKED@NtQuerySemaphore?$AA@ 0000000180061178 os_generic.obj + 0003:00002190 ??_C@_09FLKFJBLM@ntdll?4dll?$AA@ 0000000180061190 os_generic.obj + 0003:000026f9 ??_C@_00CNPNBAHC@?$AA@ 00000001800616f9 symbol_enumerator.obj + 0003:000026fc ??_C@_03EHNAIPEG@?$CK?$CB?$CK?$AA@ 00000001800616fc symbol_enumerator.obj + 0003:00002900 ??_C@_0EN@MLPNKHEM@?7?$CFX?6?7?$CFX?6?7?$CFf?6?7?$CFf?6?7?$CFf?6?7?$CFf?6?7?$CFd?6?7?$CFd?6@ 0000000180061900 ootx_decoder.obj + 0003:00002d38 __real@3ff921fb54442d18 0000000180061d38 poser.obj + 0003:00003620 ??_C@_09MALOBAAJ@?$CFf?5?$CFf?5?$CFf?6?$AA@ 0000000180062620 poser_charlesslow.obj + 0003:00003630 ??_C@_0BK@LDEHLEFM@calinfo?1?$CFd_lighthouse?4dat?$AA@ 0000000180062630 poser_charlesslow.obj + 0003:00003650 ??_C@_02GMLFBBN@wb?$AA@ 0000000180062650 poser_charlesslow.obj + 0003:00003654 ??_C@_02HAOIJKIC@?$CFc?$AA@ 0000000180062654 poser_charlesslow.obj + 0003:00003658 ??_C@_0BE@GGBICEJG@?$CFf?5?$CFf?5?$CFf?5?$CI?$CFf?$CJ?5?$DN?5?$CFf?6?$AA@ 0000000180062658 poser_charlesslow.obj + 0003:00003670 ??_C@_0CD@NDLIGHJL@LH?3?5?$CFd?5?1?5Best?5E?5?$CFf?5Error?5too?5hig@ 0000000180062670 poser_charlesslow.obj + 0003:000036a0 ??_C@_0BB@LNALCBBN@PoserCharlesSlow?$AA@ 00000001800626a0 poser_charlesslow.obj + 0003:000036b4 ??_C@_06PFFCCCHO@?5?$DN?5?$CFf?6?$AA@ 00000001800626b4 poser_charlesslow.obj + 0003:000036c0 __real@3eb0c6f7a0b5ed8d 00000001800626c0 poser_charlesslow.obj + 0003:000036d0 __real@3f1a36e2eb1c432d 00000001800626d0 poser_charlesslow.obj + 0003:000036e0 __real@3fb999999999999a 00000001800626e0 poser_charlesslow.obj + 0003:000036f0 __real@3feccccccccccccd 00000001800626f0 poser_charlesslow.obj + 0003:00003700 __real@3fee147ae147ae14 0000000180062700 poser_charlesslow.obj + 0003:00003710 __real@4010000000000000 0000000180062710 poser_charlesslow.obj + 0003:00003720 __real@4014000000000000 0000000180062720 poser_charlesslow.obj + 0003:00003730 __real@4020000000000000 0000000180062730 poser_charlesslow.obj + 0003:00003740 __real@4024000000000000 0000000180062740 poser_charlesslow.obj + 0003:00003750 __real@402a000000000000 0000000180062750 poser_charlesslow.obj + 0003:00003760 __real@4040000000000000 0000000180062760 poser_charlesslow.obj + 0003:00003770 __real@406fe00000000000 0000000180062770 poser_charlesslow.obj + 0003:00003780 __real@408f400000000000 0000000180062780 poser_charlesslow.obj + 0003:00003790 __real@4415af1d78b58c40 0000000180062790 poser_charlesslow.obj + 0003:000037a0 __real@bf847ae147ae147b 00000001800627a0 poser_charlesslow.obj + 0003:000049b0 ??_C@_0CF@KIPLGGHP@INQUAT?3?5?$CFf?5?$CFf?5?$CFf?5?$CFf?5?$DN?5?$CFf?5?$FL?$CFf?5?$CFf?5@ 00000001800639b0 poser_daveortho.obj + 0003:000049e0 ??_C@_0CD@IDEDNI@QUAT?3?5?$CFf?5?$CFf?5?$CFf?5?$CFf?5?$DN?5?$CFf?5?$FL?$CFf?5?$CFf?5?$CFf@ 00000001800639e0 poser_daveortho.obj + 0003:00004a10 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__guard_ss_verify_sp_fptr 000000018007b030 MSVCRTD:guard_support.obj + + entry point at 0002:00000a0f + + Static symbols + + 0003:fffa1000 printf$rtcName$0 0000000180000000 survive_cal.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive_turveybiguator.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 poser_daveortho.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 poser_daveortho.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 poser_daveortho.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 poser_daveortho.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 poser_daveortho.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive_cal.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive_turveybiguator.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 poser_daveortho.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 poser_daveortho.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 poser_daveortho.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive_cal.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive_cal.obj + 0003:fffa1000 $unwind$printf 0000000180000000 poser_daveortho.obj + 0005:fff8b000 $pdata$printf 0000000180000000 poser_daveortho.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_vive.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive_turveybiguator.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_turveybiguator.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_turveybiguator.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_turveybiguator.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_turveybiguator.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_vive.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 survive_vive.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive_cal.obj + 0003:fffa1000 $unwind$printf 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$printf 0000000180000000 survive_vive.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive_vive.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 poser_octavioradii.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 poser_octavioradii.obj + 0000:fff82000 .debug$S 0000000180000000 libsurvive.exp + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 poser_octavioradii.obj + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 poser_octavioradii.obj + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0000:fff82000 .debug$S 0000000180000000 ucrtd:ucrtbased.dll + 0003:fffa1000 printf$rtcName$0 0000000180000000 poser_octavioradii.obj + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0000:fff82000 .debug$S 0000000180000000 vcruntimed:VCRUNTIME140D.dll + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$printf 0000000180000000 survive_cal.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive_vive.obj + 0003:fffa1000 $unwind$printf 0000000180000000 poser_octavioradii.obj + 0005:fff8b000 $pdata$printf 0000000180000000 poser_octavioradii.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive_vive.obj + 0003:fffa1000 $unwind$printf 0000000180000000 survive_cal.obj + 0000:fff85000 __guard_fids__guard_icall_checks_enforced 0000000180000000 MSVCRTD:guard_support.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive_vive.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive_playback.obj + 0000:fff85000 __guard_fids__ 0000000180000000 MSVCRTD:guard_support.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive_cal.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive_cal.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 poser_charlesslow.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 poser_charlesslow.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_playback.obj + 0005:fff8b000 $pdata$printf 0000000180000000 poser_charlesslow.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_playback.obj + 0003:fffa1000 $unwind$printf 0000000180000000 poser_charlesslow.obj + 0005:fff8b000 $pdata$printf 0000000180000000 survive_driverman.obj + 0003:fffa1000 $unwind$printf 0000000180000000 survive_driverman.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive_cal.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 survive_driverman.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_driverman.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_driverman.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_driverman.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_driverman.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive_cal.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 poser_turveytori.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 poser_turveytori.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 poser_turveytori.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 poser_turveytori.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 poser_turveytori.obj + 0000:fff85000 __guard_fids_?dllmain_dispatch@@YAHQEAUHINSTANCE__@@KQEAX@Z 0000000180000000 MSVCRTD:dll_dllmain.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive_cal.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$printf 0000000180000000 poser_turveytori.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$printf 0000000180000000 poser_turveytori.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_default_devices.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_cal.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 poser_charlesslow.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 poser_charlesslow.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_default_devices.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 poser_charlesslow.obj + 0000:fff82000 .debug$S 0000000180000000 DbgHelp:dbghelp.dll + 0000:fff82000 .debug$S 0000000180000000 DbgHelp:dbghelp.dll + 0000:fff82000 .debug$S 0000000180000000 DbgHelp:dbghelp.dll + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_cal.obj + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 poser_charlesslow.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 poser_charlesslow.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 poser_charlesslow.obj + 0000:fff85000 __guard_fids___scrt_set_unhandled_exception_filter 0000000180000000 MSVCRTD:utility_desktop.obj + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 poser_charlesslow.obj + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 poser_charlesslow.obj + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0000:fff82000 .debug$S 0000000180000000 SetupAPI:SETUPAPI.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_cal.obj + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 survive.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_cal.obj + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0003:fffa1000 $unwind$printf 0000000180000000 survive.obj + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0005:fff8b000 $pdata$printf 0000000180000000 survive.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_charlesbiguator.obj + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff82000 .debug$S 0000000180000000 kernel32:KERNEL32.dll + 0000:fff85000 __guard_fids__CRT_RTC_INIT 0000000180000000 MSVCRTD:_init_.obj + 0000:fff85000 __guard_fids__CRT_RTC_INITW 0000000180000000 MSVCRTD:_init_.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive.obj + 0005:fff8b000 $pdata$printf 0000000180000000 survive_config.obj + 0003:fffa1000 $unwind$printf 0000000180000000 survive_config.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_charlesbiguator.obj + 0003:fffa1000 printf$rtcName$0 0000000180000000 survive_config.obj + 0005:fff8b000 $pdata$fprintf 0000000180000000 survive_config.obj + 0003:fffa1000 $unwind$fprintf 0000000180000000 survive_config.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 ootx_decoder.obj + 0003:fffa1000 fprintf$rtcName$0 0000000180000000 survive_config.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 survive_config.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 survive_config.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 survive_config.obj + 0003:fffa1000 $unwind$__local_stdio_printf_options 0000000180000000 survive_config.obj + 0005:fff8b000 $pdata$sprintf 0000000180000000 survive_charlesbiguator.obj + 0003:fffa1000 $unwind$sprintf 0000000180000000 survive_charlesbiguator.obj + 0005:fff8b000 $pdata$__local_stdio_printf_options 0000000180000000 ootx_decoder.obj + 0003:fffa1000 sprintf$rtcName$0 0000000180000000 survive_charlesbiguator.obj + 0005:fff8b000 $pdata$_vsprintf_l 0000000180000000 survive_charlesbiguator.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive_charlesbiguator.obj + 0005:fff8b000 $pdata$_vsnprintf_l 0000000180000000 survive_charlesbiguator.obj + 0003:fffa1000 $unwind$_vsnprintf_l 0000000180000000 survive_charlesbiguator.obj + 0005:fff8b000 $pdata$_vfprintf_l 0000000180000000 ootx_decoder.obj + 0003:fffa1000 $unwind$_vfprintf_l 0000000180000000 ootx_decoder.obj + 0003:fffa1000 $unwind$_vsprintf_l 0000000180000000 survive_cal.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive_config.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 survive_config.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 survive.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 poser_charlesslow.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 poser_charlesslow.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive_default_devices.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive_cal.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 poser_turveytori.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive_default_devices.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 survive_driverman.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive_playback.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 survive_cal.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive_playback.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive_cal.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive_vive.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 poser_octavioradii.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 survive_vive.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 survive_turveybiguator.obj + 0003:fffa1010 printf$rtcVarDesc 0000000180000010 poser_daveortho.obj + 0003:fffa1010 fprintf$rtcVarDesc 0000000180000010 poser_daveortho.obj + 0003:fffa1010 sprintf$rtcVarDesc 0000000180000010 survive_charlesbiguator.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive_vive.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive_config.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 poser_charlesslow.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 survive_driverman.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 survive_vive.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive_charlesbiguator.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 survive_cal.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive_cal.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 survive.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive_default_devices.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 poser_octavioradii.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 survive_config.obj + 0003:fffa1050 sprintf$rtcFrameData 0000000180000050 survive_playback.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 poser_daveortho.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive_turveybiguator.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 poser_charlesslow.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive_default_devices.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive_cal.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 poser_turveytori.obj + 0003:fffa1050 printf$rtcFrameData 0000000180000050 poser_daveortho.obj + 0003:fffa1050 fprintf$rtcFrameData 0000000180000050 survive_playback.obj + 0002:000015d0 free_hid_device 00000001800205d0 f hid-windows.obj + 0002:00003200 lookup_functions 0000000180022200 f hid-windows.obj + 0002:000034f0 new_hid_device 00000001800224f0 f hid-windows.obj + 0002:000035f0 open_device 00000001800225f0 f hid-windows.obj + 0002:000036c0 register_error 00000001800226c0 f hid-windows.obj + 0002:000037d0 jsmn_alloc_token 00000001800227d0 f jsmn.obj + 0002:000038b0 jsmn_fill_token 00000001800228b0 f jsmn.obj + 0002:00003f74 $LN50 0000000180022f74 jsmn.obj + 0002:00003f90 $LN49 0000000180022f90 jsmn.obj + 0002:000041a0 jsmn_parse_primitive 00000001800231a0 f jsmn.obj + 0002:00004368 $LN14 0000000180023368 jsmn.obj + 0002:00004370 $LN13 0000000180023370 jsmn.obj + 0002:00004480 jsmn_parse_string 0000000180023480 f jsmn.obj + 0002:000047b8 $LN23 00000001800237b8 jsmn.obj + 0002:000047c4 $LN22 00000001800237c4 jsmn.obj + 0002:00004e60 json_load_array 0000000180023e60 f json_helpers.obj + 0002:00005cd0 substr 0000000180024cd0 f json_helpers.obj + 0002:0000cc40 bits 000000018002bc40 f puff.obj + 0002:0000cde0 codes 000000018002bde0 f puff.obj + 0002:0000d100 construct 000000018002c100 f puff.obj + 0002:0000d410 decode 000000018002c410 f puff.obj + 0002:0000d6e0 dynamic 000000018002c6e0 f puff.obj + 0002:0000dc00 fixed 000000018002cc00 f puff.obj + 0002:0000e070 stored 000000018002d070 f puff.obj + 0002:000109c0 RunOpti 000000018002f9c0 f poser_charlesslow.obj + 0002:00018e30 QuickPose 0000000180037e30 f poser_octavioradii.obj + 0002:00019470 RefineEstimateUsingGradientDescentRadii 0000000180038470 f poser_octavioradii.obj + 0002:000199b0 SolveForLighthouseRadii 00000001800389b0 f poser_octavioradii.obj + 0002:00019d60 angleBetweenSensors 0000000180038d60 f poser_octavioradii.obj + 0002:00019e20 calculateFitness 0000000180038e20 f poser_octavioradii.obj + 0002:0001a280 distance 0000000180039280 f poser_octavioradii.obj + 0002:0001a370 getGradient 0000000180039370 f poser_octavioradii.obj + 0002:0001a500 normalizeAndMultiplyVector 0000000180039500 f poser_octavioradii.obj + 0002:0001bb60 QuickPose 000000018003ab60 f poser_turveytori.obj + 0002:0001c210 RefineEstimateUsingModifiedGradientDescent1 000000018003b210 f poser_turveytori.obj + 0002:0001c830 RefineRotationEstimateAxisAngle 000000018003b830 f poser_turveytori.obj + 0002:0001cc40 RefineRotationEstimateQuaternion 000000018003bc40 f poser_turveytori.obj + 0002:0001e3f0 SolveForLighthouse 000000018003d3f0 f poser_turveytori.obj + 0002:0001fd40 WhereIsTheTrackedObjectAxisAngle 000000018003ed40 f poser_turveytori.obj + 0002:00020700 distance 000000018003f700 f poser_turveytori.obj + 0002:00022b00 button_servicer 0000000180041b00 f survive.obj + 0002:00024c50 survivefault 0000000180043c50 f survive.obj + 0002:00024cd0 survivenote 0000000180043cd0 f survive.obj + 0002:00024d60 handle_calibration 0000000180043d60 f survive_cal.obj + 0002:00026b80 reset_calibration 0000000180045b80 f survive_cal.obj + 0002:00028a10 HandleOOTX 0000000180047a10 f survive_charlesbiguator.obj + 0002:00028d10 decode_acode 0000000180047d10 f survive_charlesbiguator.obj + 0002:00028e30 config_entry_as_FLT 0000000180047e30 f survive_config.obj + 0002:00028f10 config_entry_as_uint32_t 0000000180047f10 f survive_config.obj + 0002:0002ac50 sc_search 0000000180049c50 f survive_config.obj + 0002:0002b510 ParsePoints 000000018004a510 f survive_default_devices.obj + 0002:0002b800 jsoneq 000000018004a800 f survive_default_devices.obj + 0002:0002b8f0 survive_create_device 000000018004a8f0 f survive_default_devices.obj + 0002:0002d250 parse_and_run_imu 000000018004c250 f survive_playback.obj + 0002:0002d500 parse_and_run_lightcode 000000018004c500 f survive_playback.obj + 0002:0002d7d0 parse_and_run_rawlight 000000018004c7d0 f survive_playback.obj + 0002:0002d980 playback_close 000000018004c980 f survive_playback.obj + 0002:0002da10 playback_poll 000000018004ca10 f survive_playback.obj + 0002:0002e74c $LN11 000000018004d74c survive_playback.obj + 0002:0002ec10 timestamp_in_us 000000018004dc10 f survive_playback.obj + 0002:0002ed00 write_to_output 000000018004dd00 f survive_playback.obj + 0002:0002f9b0 gibf 000000018004e9b0 f survive_reproject.obj + 0002:0002ffa0 survive_calibration_options_config_normalize 000000018004efa0 f survive_reproject.obj + 0002:00030cc0 handle_lightcap2_getAcodeFromSyncPulse 000000018004fcc0 f survive_turveybiguator.obj + 0002:00030e60 handle_lightcap2_process_sweep_data 000000018004fe60 f survive_turveybiguator.obj + 0002:00031390 handle_lightcap2_sweep 0000000180050390 f survive_turveybiguator.obj + 0002:00031540 handle_lightcap2_sync 0000000180050540 f survive_turveybiguator.obj + 0002:000318d0 remove_outliers 00000001800508d0 f survive_turveybiguator.obj + 0002:00031cd0 AttachInterface 0000000180050cd0 f survive_vive.obj + 0002:000325c0 LoadConfig 00000001800515c0 f survive_vive.obj + 0002:00032d90 getupdate_feature_report 0000000180051d90 f survive_vive.obj + 0002:00032e20 handle_watchman 0000000180051e20 f survive_vive.obj + 0002:00033f40 hid_get_feature_report_timeout 0000000180052f40 f survive_vive.obj + 0002:00035138 $LN35 0000000180054138 survive_vive.obj + 0002:00037010 update_feature_report 0000000180056010 f survive_vive.obj + 0002:000379c0 capture_current_context 00000001800569c0 f MSVCRTD:gs_report.obj + 0002:00037a80 capture_previous_context 0000000180056a80 f MSVCRTD:gs_report.obj + 0002:00037f40 $$000000 0000000180056f40 MSVCRTD:_amdsecgs_.obj + 0002:00037f80 $$000000 0000000180056f80 MSVCRTD:_chkstk_.obj + 0002:00038000 ?dllmain_crt_dispatch@@YAHQEAUHINSTANCE__@@KQEAX@Z 0000000180057000 f MSVCRTD:dll_dllmain.obj + 0002:000380b0 ?dllmain_crt_process_attach@@YAHQEAUHINSTANCE__@@QEAX@Z 00000001800570b0 f MSVCRTD:dll_dllmain.obj + 0002:00038230 ?dllmain_crt_process_detach@@YAH_N@Z 0000000180057230 f MSVCRTD:dll_dllmain.obj + 0002:000382e0 ?dllmain_dispatch@@YAHQEAUHINSTANCE__@@KQEAX@Z 00000001800572e0 f MSVCRTD:dll_dllmain.obj + 0002:00038470 ?dllmain_raw@@YAHQEAUHINSTANCE__@@KQEAX@Z 0000000180057470 f MSVCRTD:dll_dllmain.obj + 0002:00038640 ?DebuggerProbe@@YA_NK@Z 0000000180057640 f MSVCRTD:_error_.obj + 0002:00038690 ?DebuggerRuntime@@YA_NKHPEAXPEB_W@Z 0000000180057690 f MSVCRTD:_error_.obj + 0002:00038a20 ?_getMemBlockDataString@@YAXPEAD0PEBD_K@Z 0000000180057a20 f MSVCRTD:_error_.obj + 0002:00038b00 ?_strlen_priv@@YA_KPEBD@Z 0000000180057b00 f MSVCRTD:_error_.obj + 0002:00038b20 ?failwithmessage@@YAXPEAXHHPEBD@Z 0000000180057b20 f MSVCRTD:_error_.obj + 0002:00038e40 ?notify_debugger@@YAXAEBUtagEXCEPTION_VISUALCPP_DEBUG_INFO@@@Z 0000000180057e40 f MSVCRTD:_error_.obj + 0002:00039040 __get_entropy 0000000180058040 f MSVCRTD:gs_support.obj + 0002:000393a0 ?find_pe_section@@YAPEAU_IMAGE_SECTION_HEADER@@QEAE_K@Z 00000001800583a0 f MSVCRTD:utility.obj + 0002:000394c0 ?is_potentially_valid_image_base@@YA_NQEAX@Z 00000001800584c0 f MSVCRTD:utility.obj + 0002:0003a110 ?GetPdbDll@@YAPEAUHINSTANCE__@@XZ 0000000180059110 f MSVCRTD:_pdblkup_.obj + 0002:0003a2b0 ?GetPdbDllFromInstallPath@@YAPEAUHINSTANCE__@@XZ 00000001800592b0 f MSVCRTD:_pdblkup_.obj + 0002:0003a630 ?GetPdbDllPathFromFilePath@@YAHPEB_WPEA_W_K@Z 0000000180059630 f MSVCRTD:_pdblkup_.obj + 0002:0003cf90 $$000000 000000018005bf90 MSVCRTD:_guard_dispatch_.obj + 0002:0003cfb0 $$000000 000000018005bfb0 MSVCRTD:_rfgfailure_.obj + 0002:0003e0a0 ?fin$0@?0??dllmain_crt_process_attach@@YAHQEAUHINSTANCE__@@QEAX@Z@4HA 000000018005d0a0 f MSVCRTD:dll_dllmain.obj + 0002:0003e0c0 ?fin$0@?0??dllmain_crt_process_detach@@YAH_N@Z@4HA 000000018005d0c0 f MSVCRTD:dll_dllmain.obj + 0002:0003e0f0 ?filt$0@?0??dllmain_dispatch@@YAHQEAUHINSTANCE__@@KQEAX@Z@4HA 000000018005d0f0 f MSVCRTD:dll_dllmain.obj + 0002:0003e150 ?filt$0@?0??notify_debugger@@YAXAEBUtagEXCEPTION_VISUALCPP_DEBUG_INFO@@@Z@4HA 000000018005d150 f MSVCRTD:_error_.obj + 0002:0003e180 __scrt_is_nonwritable_in_current_image$filt$0 000000018005d180 f MSVCRTD:utility.obj + 0003:00000880 hid_enumerate$rtcName$0 000000018005f880 hid-windows.obj + 0003:00000898 hid_enumerate$rtcName$1 000000018005f898 hid-windows.obj + 0003:000008a8 hid_enumerate$rtcName$2 000000018005f8a8 hid-windows.obj + 0003:000008c0 hid_enumerate$rtcName$3 000000018005f8c0 hid-windows.obj + 0003:000008d0 hid_enumerate$rtcName$4 000000018005f8d0 hid-windows.obj + 0003:000008d8 hid_enumerate$rtcName$5 000000018005f8d8 hid-windows.obj + 0003:000008e8 hid_enumerate$rtcName$6 000000018005f8e8 hid-windows.obj + 0003:000008f0 hid_enumerate$rtcName$7 000000018005f8f0 hid-windows.obj + 0003:000008f8 hid_enumerate$rtcName$8 000000018005f8f8 hid-windows.obj + 0003:00000900 hid_enumerate$rtcName$9 000000018005f900 hid-windows.obj + 0003:00000908 hid_enumerate$rtcFrameData 000000018005f908 hid-windows.obj + 0003:00000920 hid_enumerate$rtcVarDesc 000000018005f920 hid-windows.obj + 0003:00000c40 hid_open_path$rtcName$0 000000018005fc40 hid-windows.obj + 0003:00000c48 hid_open_path$rtcName$1 000000018005fc48 hid-windows.obj + 0003:00000c50 hid_open_path$rtcVarDesc 000000018005fc50 hid-windows.obj + 0003:00000cd0 hid_open_path$rtcFrameData 000000018005fcd0 hid-windows.obj + 0003:00000d00 hid_write$rtcName$0 000000018005fd00 hid-windows.obj + 0003:00000d10 hid_write$rtcName$1 000000018005fd10 hid-windows.obj + 0003:00000d20 hid_write$rtcVarDesc 000000018005fd20 hid-windows.obj + 0003:00000da0 hid_write$rtcFrameData 000000018005fda0 hid-windows.obj + 0003:00000de0 hid_read_timeout$rtcName$0 000000018005fde0 hid-windows.obj + 0003:00000df0 hid_read_timeout$rtcVarDesc 000000018005fdf0 hid-windows.obj + 0003:00000e30 hid_read_timeout$rtcFrameData 000000018005fe30 hid-windows.obj + 0003:00000e60 hid_get_feature_report$rtcName$0 000000018005fe60 hid-windows.obj + 0003:00000e70 hid_get_feature_report$rtcName$1 000000018005fe70 hid-windows.obj + 0003:00000e80 hid_get_feature_report$rtcVarDesc 000000018005fe80 hid-windows.obj + 0003:00000f00 hid_get_feature_report$rtcFrameData 000000018005ff00 hid-windows.obj + 0003:00000f40 register_error$rtcName$0 000000018005ff40 hid-windows.obj + 0003:00000f50 register_error$rtcVarDesc 000000018005ff50 hid-windows.obj + 0003:00000f90 register_error$rtcFrameData 000000018005ff90 hid-windows.obj + 0003:000011b0 fprintf$rtcName$0 00000001800601b0 json_helpers.obj + 0003:000011c0 fprintf$rtcVarDesc 00000001800601c0 json_helpers.obj + 0003:00001200 fprintf$rtcFrameData 0000000180060200 json_helpers.obj + 0003:00001230 json_write_float_array$rtcName$0 0000000180060230 json_helpers.obj + 0003:00001238 json_write_float_array$rtcName$1 0000000180060238 json_helpers.obj + 0003:00001240 json_write_float_array$rtcVarDesc 0000000180060240 json_helpers.obj + 0003:000012c0 json_write_float_array$rtcFrameData 00000001800602c0 json_helpers.obj + 0003:000012f0 json_write_double_array$rtcName$0 00000001800602f0 json_helpers.obj + 0003:000012f8 json_write_double_array$rtcName$1 00000001800602f8 json_helpers.obj + 0003:00001300 json_write_double_array$rtcVarDesc 0000000180060300 json_helpers.obj + 0003:00001380 json_write_double_array$rtcFrameData 0000000180060380 json_helpers.obj + 0003:000013b0 parse_float_array$rtcName$0 00000001800603b0 json_helpers.obj + 0003:000013c0 parse_float_array$rtcVarDesc 00000001800603c0 json_helpers.obj + 0003:00001400 parse_float_array$rtcFrameData 0000000180060400 json_helpers.obj + 0003:00001430 json_load_file$rtcName$0 0000000180060430 json_helpers.obj + 0003:00001438 json_load_file$rtcName$1 0000000180060438 json_helpers.obj + 0003:00001440 json_load_file$rtcVarDesc 0000000180060440 json_helpers.obj + 0003:000014c0 json_load_file$rtcFrameData 00000001800604c0 json_helpers.obj + 0003:000014f0 asprintf$rtcName$0 00000001800604f0 json_helpers.obj + 0003:00001500 asprintf$rtcVarDesc 0000000180060500 json_helpers.obj + 0003:00001540 asprintf$rtcFrameData 0000000180060540 json_helpers.obj + 0003:00001570 json_load_array$rtcName$0 0000000180060570 json_helpers.obj + 0003:00001580 json_load_array$rtcVarDesc 0000000180060580 json_helpers.obj + 0003:000015c0 json_load_array$rtcFrameData 00000001800605c0 json_helpers.obj + 0003:00001640 anglebetween3d$rtcName$0 0000000180060640 linmath.obj + 0003:00001644 anglebetween3d$rtcName$1 0000000180060644 linmath.obj + 0003:00001650 anglebetween3d$rtcVarDesc 0000000180060650 linmath.obj + 0003:000016d0 anglebetween3d$rtcFrameData 00000001800606d0 linmath.obj + 0003:00001700 angleaxisfrom2vect$rtcName$0 0000000180060700 linmath.obj + 0003:00001704 angleaxisfrom2vect$rtcName$1 0000000180060704 linmath.obj + 0003:00001710 angleaxisfrom2vect$rtcVarDesc 0000000180060710 linmath.obj + 0003:00001790 angleaxisfrom2vect$rtcFrameData 0000000180060790 linmath.obj + 0003:000017c0 axisanglefromquat$rtcName$0 00000001800607c0 linmath.obj + 0003:000017d0 axisanglefromquat$rtcVarDesc 00000001800607d0 linmath.obj + 0003:00001810 axisanglefromquat$rtcFrameData 0000000180060810 linmath.obj + 0003:00001840 quatfromaxisangle$rtcName$0 0000000180060840 linmath.obj + 0003:00001850 quatfromaxisangle$rtcVarDesc 0000000180060850 linmath.obj + 0003:00001890 quatfromaxisangle$rtcFrameData 0000000180060890 linmath.obj + 0003:000018c0 quattomatrix$rtcName$0 00000001800608c0 linmath.obj + 0003:000018d0 quattomatrix$rtcVarDesc 00000001800608d0 linmath.obj + 0003:00001910 quattomatrix$rtcFrameData 0000000180060910 linmath.obj + 0003:00001940 quatslerp$rtcName$0 0000000180060940 linmath.obj + 0003:00001944 quatslerp$rtcName$1 0000000180060944 linmath.obj + 0003:00001948 quatslerp$rtcName$2 0000000180060948 linmath.obj + 0003:00001950 quatslerp$rtcName$3 0000000180060950 linmath.obj + 0003:00001958 quatslerp$rtcFrameData 0000000180060958 linmath.obj + 0003:00001970 quatslerp$rtcVarDesc 0000000180060970 linmath.obj + 0003:00001ab0 quatrotatevector$rtcName$0 0000000180060ab0 linmath.obj + 0003:00001ab4 quatrotatevector$rtcName$1 0000000180060ab4 linmath.obj + 0003:00001ac0 quatrotatevector$rtcVarDesc 0000000180060ac0 linmath.obj + 0003:00001b40 quatrotatevector$rtcFrameData 0000000180060b40 linmath.obj + 0003:00001b70 quatfrom2vectors$rtcName$0 0000000180060b70 linmath.obj + 0003:00001b74 quatfrom2vectors$rtcName$1 0000000180060b74 linmath.obj + 0003:00001b78 quatfrom2vectors$rtcName$2 0000000180060b78 linmath.obj + 0003:00001b80 quatfrom2vectors$rtcName$3 0000000180060b80 linmath.obj + 0003:00001b88 quatfrom2vectors$rtcName$4 0000000180060b88 linmath.obj + 0003:00001b90 quatfrom2vectors$rtcName$5 0000000180060b90 linmath.obj + 0003:00001b98 quatfrom2vectors$rtcFrameData 0000000180060b98 linmath.obj + 0003:00001bb0 quatfrom2vectors$rtcVarDesc 0000000180060bb0 linmath.obj + 0003:00001d90 rotation_between_vecs_to_m3$rtcName$0 0000000180060d90 linmath.obj + 0003:00001da0 rotation_between_vecs_to_m3$rtcVarDesc 0000000180060da0 linmath.obj + 0003:00001de0 rotation_between_vecs_to_m3$rtcFrameData 0000000180060de0 linmath.obj + 0003:00001e10 inverseM33$rtcName$0 0000000180060e10 linmath.obj + 0003:00001e20 inverseM33$rtcVarDesc 0000000180060e20 linmath.obj + 0003:00001e60 inverseM33$rtcFrameData 0000000180060e60 linmath.obj + 0003:00001e90 quattomatrix33$rtcName$0 0000000180060e90 linmath.obj + 0003:00001ea0 quattomatrix33$rtcVarDesc 0000000180060ea0 linmath.obj + 0003:00001ee0 quattomatrix33$rtcFrameData 0000000180060ee0 linmath.obj + 0003:00002000 OGGetAbsoluteTime$rtcName$0 0000000180061000 os_generic.obj + 0003:00002010 OGGetAbsoluteTime$rtcVarDesc 0000000180061010 os_generic.obj + 0003:00002050 OGGetAbsoluteTime$rtcFrameData 0000000180061050 os_generic.obj + 0003:00002080 OGGetFileTime$rtcName$0 0000000180061080 os_generic.obj + 0003:00002090 OGGetFileTime$rtcVarDesc 0000000180061090 os_generic.obj + 0003:000020d0 OGGetFileTime$rtcFrameData 00000001800610d0 os_generic.obj + 0003:00002100 OGGetSema$rtcName$0 0000000180061100 os_generic.obj + 0003:00002110 OGGetSema$rtcVarDesc 0000000180061110 os_generic.obj + 0003:00002150 OGGetSema$rtcFrameData 0000000180061150 os_generic.obj + 0003:000021a0 ?lens@?1??codes@@9@9 00000001800611a0 puff.obj + 0003:000021e0 ?lext@?1??codes@@9@9 00000001800611e0 puff.obj + 0003:00002220 ?dists@?1??codes@@9@9 0000000180061220 puff.obj + 0003:00002260 ?dext@?1??codes@@9@9 0000000180061260 puff.obj + 0003:000022a0 ?order@?1??dynamic@@9@9 00000001800612a0 puff.obj + 0003:00002300 puff$rtcName$0 0000000180061300 puff.obj + 0003:00002310 puff$rtcVarDesc 0000000180061310 puff.obj + 0003:00002350 puff$rtcFrameData 0000000180061350 puff.obj + 0003:00002380 construct$rtcName$0 0000000180061380 puff.obj + 0003:00002390 construct$rtcVarDesc 0000000180061390 puff.obj + 0003:000023d0 construct$rtcFrameData 00000001800613d0 puff.obj + 0003:00002400 fixed$rtcName$0 0000000180061400 puff.obj + 0003:00002410 fixed$rtcVarDesc 0000000180061410 puff.obj + 0003:00002450 fixed$rtcFrameData 0000000180061450 puff.obj + 0003:00002480 dynamic$rtcName$0 0000000180061480 puff.obj + 0003:00002488 dynamic$rtcName$1 0000000180061488 puff.obj + 0003:00002490 dynamic$rtcName$2 0000000180061490 puff.obj + 0003:00002498 dynamic$rtcName$3 0000000180061498 puff.obj + 0003:000024a0 dynamic$rtcName$4 00000001800614a0 puff.obj + 0003:000024a8 dynamic$rtcName$5 00000001800614a8 puff.obj + 0003:000024b0 dynamic$rtcName$6 00000001800614b0 puff.obj + 0003:000024c0 dynamic$rtcVarDesc 00000001800614c0 puff.obj + 0003:00002680 dynamic$rtcFrameData 0000000180061680 puff.obj + 0003:00002700 printf$rtcName$0 0000000180061700 ootx_decoder.obj + 0003:00002710 printf$rtcVarDesc 0000000180061710 ootx_decoder.obj + 0003:00002750 printf$rtcFrameData 0000000180061750 ootx_decoder.obj + 0003:00002780 init_lighthouse_info_v6$rtcName$0 0000000180061780 ootx_decoder.obj + 0003:00002790 init_lighthouse_info_v6$rtcVarDesc 0000000180061790 ootx_decoder.obj + 0003:000027d0 init_lighthouse_info_v6$rtcFrameData 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0003:0000bb68 survive_install_recording$rtcFrameData 000000018006ab68 survive_playback.obj + 0003:0000bb80 survive_install_recording$rtcVarDesc 000000018006ab80 survive_playback.obj + 0003:0000bc70 DriverRegPlayback$rtcName$0 000000018006ac70 survive_playback.obj + 0003:0000bc78 DriverRegPlayback$rtcName$1 000000018006ac78 survive_playback.obj + 0003:0000bc80 DriverRegPlayback$rtcName$2 000000018006ac80 survive_playback.obj + 0003:0000bc88 DriverRegPlayback$rtcName$3 000000018006ac88 survive_playback.obj + 0003:0000bc90 DriverRegPlayback$rtcName$4 000000018006ac90 survive_playback.obj + 0003:0000bc94 DriverRegPlayback$rtcName$5 000000018006ac94 survive_playback.obj + 0003:0000bc98 DriverRegPlayback$rtcName$6 000000018006ac98 survive_playback.obj + 0003:0000bca0 DriverRegPlayback$rtcName$7 000000018006aca0 survive_playback.obj + 0003:0000bca8 DriverRegPlayback$rtcFrameData 000000018006aca8 survive_playback.obj + 0003:0000bcc0 DriverRegPlayback$rtcVarDesc 000000018006acc0 survive_playback.obj + 0003:0000c340 survive_default_light_process$rtcName$0 000000018006b340 survive_process.obj + 0003:0000c350 survive_default_light_process$rtcVarDesc 000000018006b350 survive_process.obj + 0003:0000c390 survive_default_light_process$rtcFrameData 000000018006b390 survive_process.obj + 0003:0000c3c0 survive_default_imu_process$rtcName$0 000000018006b3c0 survive_process.obj + 0003:0000c3d0 survive_default_imu_process$rtcVarDesc 000000018006b3d0 survive_process.obj + 0003:0000c410 survive_default_imu_process$rtcFrameData 000000018006b410 survive_process.obj + 0003:0000c440 survive_default_angle_process$rtcName$0 000000018006b440 survive_process.obj + 0003:0000c450 survive_default_angle_process$rtcVarDesc 000000018006b450 survive_process.obj + 0003:0000c490 survive_default_angle_process$rtcFrameData 000000018006b490 survive_process.obj + 0003:0000c4d0 survive_calibration_options_config_apply$rtcName$0 000000018006b4d0 survive_reproject.obj + 0003:0000c4e0 survive_calibration_options_config_apply$rtcVarDesc 000000018006b4e0 survive_reproject.obj + 0003:0000c520 survive_calibration_options_config_apply$rtcFrameData 000000018006b520 survive_reproject.obj + 0003:0000c550 survive_calibration_config_max_idx$rtcName$0 000000018006b550 survive_reproject.obj + 0003:0000c560 survive_calibration_config_max_idx$rtcVarDesc 000000018006b560 survive_reproject.obj + 0003:0000c5a0 survive_calibration_config_max_idx$rtcFrameData 000000018006b5a0 survive_reproject.obj + 0003:0000c5d0 survive_calibration_config_create_from_idx$rtcName$0 000000018006b5d0 survive_reproject.obj + 0003:0000c5e0 survive_calibration_config_create_from_idx$rtcVarDesc 000000018006b5e0 survive_reproject.obj + 0003:0000c620 survive_calibration_config_create_from_idx$rtcFrameData 000000018006b620 survive_reproject.obj + 0003:0000c650 survive_reproject_from_pose_with_config$rtcName$0 000000018006b650 survive_reproject.obj + 0003:0000c658 survive_reproject_from_pose_with_config$rtcName$1 000000018006b658 survive_reproject.obj + 0003:0000c660 survive_reproject_from_pose_with_config$rtcName$2 000000018006b660 survive_reproject.obj + 0003:0000c668 survive_reproject_from_pose_with_config$rtcName$3 000000018006b668 survive_reproject.obj + 0003:0000c670 survive_reproject_from_pose_with_config$rtcName$4 000000018006b670 survive_reproject.obj + 0003:0000c678 survive_reproject_from_pose_with_config$rtcName$5 000000018006b678 survive_reproject.obj + 0003:0000c680 survive_reproject_from_pose_with_config$rtcName$6 000000018006b680 survive_reproject.obj + 0003:0000c68c survive_reproject_from_pose_with_config$rtcName$7 000000018006b68c survive_reproject.obj + 0003:0000c698 survive_reproject_from_pose_with_config$rtcFrameData 000000018006b698 survive_reproject.obj + 0003:0000c6b0 survive_reproject_from_pose_with_config$rtcVarDesc 000000018006b6b0 survive_reproject.obj + 0003:0000c930 tau_table 000000018006b930 survive_turveybiguator.obj + 0003:0000cb50 wprintf$rtcName$0 000000018006bb50 survive_vive.obj + 0003:0000cb60 wprintf$rtcVarDesc 000000018006bb60 survive_vive.obj + 0003:0000cba0 wprintf$rtcFrameData 000000018006bba0 survive_vive.obj + 0003:0000cbd0 survive_data_cb$rtcName$0 000000018006bbd0 survive_vive.obj + 0003:0000cbd4 survive_data_cb$rtcName$1 000000018006bbd4 survive_vive.obj + 0003:0000cbdc survive_data_cb$rtcName$2 000000018006bbdc survive_vive.obj + 0003:0000cbe0 survive_data_cb$rtcName$3 000000018006bbe0 survive_vive.obj + 0003:0000cbe4 survive_data_cb$rtcName$4 000000018006bbe4 survive_vive.obj + 0003:0000cbf0 survive_data_cb$rtcVarDesc 000000018006bbf0 survive_vive.obj + 0003:0000cd30 survive_data_cb$rtcFrameData 000000018006bd30 survive_vive.obj + 0003:0000cd90 survive_usb_init$rtcName$0 000000018006bd90 survive_vive.obj + 0003:0000cd98 survive_usb_init$rtcName$1 000000018006bd98 survive_vive.obj + 0003:0000cda0 survive_usb_init$rtcName$2 000000018006bda0 survive_vive.obj + 0003:0000cda8 survive_usb_init$rtcName$3 000000018006bda8 survive_vive.obj + 0003:0000cdb0 survive_usb_init$rtcName$4 000000018006bdb0 survive_vive.obj + 0003:0000cdb8 survive_usb_init$rtcFrameData 000000018006bdb8 survive_vive.obj + 0003:0000cdd0 survive_usb_init$rtcVarDesc 000000018006bdd0 survive_vive.obj + 0003:0000cf60 survive_get_config$rtcName$0 000000018006bf60 survive_vive.obj + 0003:0000cf68 survive_get_config$rtcName$1 000000018006bf68 survive_vive.obj + 0003:0000cf78 survive_get_config$rtcName$2 000000018006bf78 survive_vive.obj + 0003:0000cf90 survive_get_config$rtcName$3 000000018006bf90 survive_vive.obj + 0003:0000cfa0 survive_get_config$rtcName$4 000000018006bfa0 survive_vive.obj + 0003:0000cfb0 survive_get_config$rtcName$5 000000018006bfb0 survive_vive.obj + 0003:0000cfb8 survive_get_config$rtcName$6 000000018006bfb8 survive_vive.obj + 0003:0000cfc0 survive_get_config$rtcName$7 000000018006bfc0 survive_vive.obj + 0003:0000cfc8 survive_get_config$rtcName$8 000000018006bfc8 survive_vive.obj + 0003:0000cfd0 survive_get_config$rtcName$9 000000018006bfd0 survive_vive.obj + 0003:0000cfd8 survive_get_config$rtcName$10 000000018006bfd8 survive_vive.obj + 0003:0000cfe0 survive_get_config$rtcName$11 000000018006bfe0 survive_vive.obj + 0003:0000cfe8 survive_get_config$rtcName$12 000000018006bfe8 survive_vive.obj + 0003:0000cff0 survive_get_config$rtcVarDesc 000000018006bff0 survive_vive.obj + 0003:0000d330 survive_get_config$rtcFrameData 000000018006c330 survive_vive.obj + 0003:0000d410 survive_vive_send_magic$rtcName$0 000000018006c410 survive_vive.obj + 0003:0000d418 survive_vive_send_magic$rtcName$1 000000018006c418 survive_vive.obj + 0003:0000d420 survive_vive_send_magic$rtcVarDesc 000000018006c420 survive_vive.obj + 0003:0000d4a0 survive_vive_send_magic$rtcFrameData 000000018006c4a0 survive_vive.obj + 0003:0000d4d0 survive_vive_send_haptic$rtcName$0 000000018006c4d0 survive_vive.obj + 0003:0000d4f0 survive_vive_send_haptic$rtcName$1 000000018006c4f0 survive_vive.obj + 0003:0000d500 survive_vive_send_haptic$rtcVarDesc 000000018006c500 survive_vive.obj + 0003:0000d580 survive_vive_send_haptic$rtcFrameData 000000018006c580 survive_vive.obj + 0003:0000d5c0 handle_watchman$rtcName$0 000000018006c5c0 survive_vive.obj + 0003:0000d5cc handle_watchman$rtcName$1 000000018006c5cc survive_vive.obj + 0003:0000d5d4 handle_watchman$rtcName$2 000000018006c5d4 survive_vive.obj + 0003:0000d5d8 handle_watchman$rtcName$3 000000018006c5d8 survive_vive.obj + 0003:0000d5e0 handle_watchman$rtcName$4 000000018006c5e0 survive_vive.obj + 0003:0000d5e4 handle_watchman$rtcName$5 000000018006c5e4 survive_vive.obj + 0003:0000d5e8 handle_watchman$rtcName$6 000000018006c5e8 survive_vive.obj + 0003:0000d5f0 handle_watchman$rtcName$7 000000018006c5f0 survive_vive.obj + 0003:0000d600 handle_watchman$rtcVarDesc 000000018006c600 survive_vive.obj + 0003:0000d800 handle_watchman$rtcFrameData 000000018006c800 survive_vive.obj + 0003:0000d890 LoadConfig$rtcName$0 000000018006c890 survive_vive.obj + 0003:0000d898 LoadConfig$rtcName$1 000000018006c898 survive_vive.obj + 0003:0000d8a0 LoadConfig$rtcName$2 000000018006c8a0 survive_vive.obj + 0003:0000d8b0 LoadConfig$rtcVarDesc 000000018006c8b0 survive_vive.obj + 0003:0000d970 LoadConfig$rtcFrameData 000000018006c970 survive_vive.obj + 0003:0000d9b0 DriverRegHTCVive$rtcName$0 000000018006c9b0 survive_vive.obj + 0003:0000d9b8 DriverRegHTCVive$rtcName$1 000000018006c9b8 survive_vive.obj + 0003:0000d9c0 DriverRegHTCVive$rtcName$2 000000018006c9c0 survive_vive.obj + 0003:0000d9c8 DriverRegHTCVive$rtcName$3 000000018006c9c8 survive_vive.obj + 0003:0000d9d0 DriverRegHTCVive$rtcName$4 000000018006c9d0 survive_vive.obj + 0003:0000d9d8 DriverRegHTCVive$rtcName$5 000000018006c9d8 survive_vive.obj + 0003:0000d9e0 DriverRegHTCVive$rtcName$6 000000018006c9e0 survive_vive.obj + 0003:0000d9e8 DriverRegHTCVive$rtcFrameData 000000018006c9e8 survive_vive.obj + 0003:0000da00 DriverRegHTCVive$rtcVarDesc 000000018006ca00 survive_vive.obj + 0003:0000e1f8 GS_ExceptionPointers 000000018006d1f8 MSVCRTD:gs_report.obj + 0003:0000e220 ?_RTC_errlist@@3QBQEBDB 000000018006d220 MSVCRTD:_userapi_.obj + 0003:0000e328 ?_RTC_ErrorMessages@@3QBQEBDB 000000018006d328 MSVCRTD:_error_.obj + 0003:0000e358 ?_RTC_NoFalsePositives@@3QBHB 000000018006d358 MSVCRTD:_error_.obj + 0003:0000e370 ?stack_premsg@@3QBDB 000000018006d370 MSVCRTD:_error_.obj + 0003:0000e390 ?stack_postmsg@@3QBDB 000000018006d390 MSVCRTD:_error_.obj + 0003:0000e3a8 ?uninit_premsg@@3QBDB 000000018006d3a8 MSVCRTD:_error_.obj + 0003:0000e3b8 ?uninit_postmsg@@3QBDB 000000018006d3b8 MSVCRTD:_error_.obj + 0003:0000ea38 ?mspdbName@@3QB_WB 000000018006da38 MSVCRTD:_pdblkup_.obj + 0003:0000ea68 ?debugCrtFileName@@3QB_WB 000000018006da68 MSVCRTD:_pdblkup_.obj + 0003:0000ec00 ?dllExt@?1??GetPdbDllPathFromFilePath@@YAHPEB_WPEA_W_K@Z@4QB_WB 000000018006dc00 MSVCRTD:_pdblkup_.obj + 0003:0000ec10 ?mspdbFilename@?1??GetPdbDllPathFromFilePath@@YAHPEB_WPEA_W_K@Z@4QB_WB 000000018006dc10 MSVCRTD:_pdblkup_.obj + 0003:0000f418 _RTC_InitBase.rtc$IMZ 000000018006e418 crc32.obj + 0003:0000f428 _RTC_InitBase.rtc$IMZ 000000018006e428 hid-windows.obj + 0003:0000f438 _RTC_InitBase.rtc$IMZ 000000018006e438 jsmn.obj + 0003:0000f448 _RTC_InitBase.rtc$IMZ 000000018006e448 json_helpers.obj + 0003:0000f458 _RTC_InitBase.rtc$IMZ 000000018006e458 linmath.obj + 0003:0000f468 _RTC_InitBase.rtc$IMZ 000000018006e468 os_generic.obj + 0003:0000f478 _RTC_InitBase.rtc$IMZ 000000018006e478 puff.obj + 0003:0000f488 _RTC_InitBase.rtc$IMZ 000000018006e488 symbol_enumerator.obj + 0003:0000f498 _RTC_InitBase.rtc$IMZ 000000018006e498 ootx_decoder.obj + 0003:0000f4a8 _RTC_InitBase.rtc$IMZ 000000018006e4a8 poser.obj + 0003:0000f4b8 _RTC_InitBase.rtc$IMZ 000000018006e4b8 poser_charlesslow.obj + 0003:0000f4c8 _RTC_InitBase.rtc$IMZ 000000018006e4c8 poser_daveortho.obj + 0003:0000f4d8 _RTC_InitBase.rtc$IMZ 000000018006e4d8 poser_dummy.obj + 0003:0000f4e8 _RTC_InitBase.rtc$IMZ 000000018006e4e8 poser_octavioradii.obj + 0003:0000f4f8 _RTC_InitBase.rtc$IMZ 000000018006e4f8 poser_turveytori.obj + 0003:0000f508 _RTC_InitBase.rtc$IMZ 000000018006e508 survive.obj + 0003:0000f518 _RTC_InitBase.rtc$IMZ 000000018006e518 survive_cal.obj + 0003:0000f528 _RTC_InitBase.rtc$IMZ 000000018006e528 survive_charlesbiguator.obj + 0003:0000f538 _RTC_InitBase.rtc$IMZ 000000018006e538 survive_config.obj + 0003:0000f548 _RTC_InitBase.rtc$IMZ 000000018006e548 survive_default_devices.obj + 0003:0000f558 _RTC_InitBase.rtc$IMZ 000000018006e558 survive_disambiguator.obj + 0003:0000f568 _RTC_InitBase.rtc$IMZ 000000018006e568 survive_driverman.obj + 0003:0000f578 _RTC_InitBase.rtc$IMZ 000000018006e578 survive_playback.obj + 0003:0000f588 _RTC_InitBase.rtc$IMZ 000000018006e588 survive_process.obj + 0003:0000f598 _RTC_InitBase.rtc$IMZ 000000018006e598 survive_reproject.obj + 0003:0000f5a8 _RTC_InitBase.rtc$IMZ 000000018006e5a8 survive_sensor_activations.obj + 0003:0000f5b8 _RTC_InitBase.rtc$IMZ 000000018006e5b8 survive_turveybiguator.obj + 0003:0000f5c8 _RTC_InitBase.rtc$IMZ 000000018006e5c8 survive_vive.obj + 0003:0000f5d8 _RTC_InitBase.rtc$IMZ 000000018006e5d8 getdelim.obj + 0003:0000f940 _RTC_Shutdown.rtc$TMZ 000000018006e940 crc32.obj + 0003:0000f950 _RTC_Shutdown.rtc$TMZ 000000018006e950 hid-windows.obj + 0003:0000f960 _RTC_Shutdown.rtc$TMZ 000000018006e960 jsmn.obj + 0003:0000f970 _RTC_Shutdown.rtc$TMZ 000000018006e970 json_helpers.obj + 0003:0000f980 _RTC_Shutdown.rtc$TMZ 000000018006e980 linmath.obj + 0003:0000f990 _RTC_Shutdown.rtc$TMZ 000000018006e990 os_generic.obj + 0003:0000f9a0 _RTC_Shutdown.rtc$TMZ 000000018006e9a0 puff.obj + 0003:0000f9b0 _RTC_Shutdown.rtc$TMZ 000000018006e9b0 symbol_enumerator.obj + 0003:0000f9c0 _RTC_Shutdown.rtc$TMZ 000000018006e9c0 ootx_decoder.obj + 0003:0000f9d0 _RTC_Shutdown.rtc$TMZ 000000018006e9d0 poser.obj + 0003:0000f9e0 _RTC_Shutdown.rtc$TMZ 000000018006e9e0 poser_charlesslow.obj + 0003:0000f9f0 _RTC_Shutdown.rtc$TMZ 000000018006e9f0 poser_daveortho.obj + 0003:0000fa00 _RTC_Shutdown.rtc$TMZ 000000018006ea00 poser_dummy.obj + 0003:0000fa10 _RTC_Shutdown.rtc$TMZ 000000018006ea10 poser_octavioradii.obj + 0003:0000fa20 _RTC_Shutdown.rtc$TMZ 000000018006ea20 poser_turveytori.obj + 0003:0000fa30 _RTC_Shutdown.rtc$TMZ 000000018006ea30 survive.obj + 0003:0000fa40 _RTC_Shutdown.rtc$TMZ 000000018006ea40 survive_cal.obj + 0003:0000fa50 _RTC_Shutdown.rtc$TMZ 000000018006ea50 survive_charlesbiguator.obj + 0003:0000fa60 _RTC_Shutdown.rtc$TMZ 000000018006ea60 survive_config.obj + 0003:0000fa70 _RTC_Shutdown.rtc$TMZ 000000018006ea70 survive_default_devices.obj + 0003:0000fa80 _RTC_Shutdown.rtc$TMZ 000000018006ea80 survive_disambiguator.obj + 0003:0000fa90 _RTC_Shutdown.rtc$TMZ 000000018006ea90 survive_driverman.obj + 0003:0000faa0 _RTC_Shutdown.rtc$TMZ 000000018006eaa0 survive_playback.obj + 0003:0000fab0 _RTC_Shutdown.rtc$TMZ 000000018006eab0 survive_process.obj + 0003:0000fac0 _RTC_Shutdown.rtc$TMZ 000000018006eac0 survive_reproject.obj + 0003:0000fad0 _RTC_Shutdown.rtc$TMZ 000000018006ead0 survive_sensor_activations.obj + 0003:0000fae0 _RTC_Shutdown.rtc$TMZ 000000018006eae0 survive_turveybiguator.obj + 0003:0000faf0 _RTC_Shutdown.rtc$TMZ 000000018006eaf0 survive_vive.obj + 0003:0000fb00 _RTC_Shutdown.rtc$TMZ 000000018006eb00 getdelim.obj + 0003:0000fd58 $unwind$crc32 000000018006ed58 crc32.obj + 0003:0000fd6c $unwind$hid_init 000000018006ed6c hid-windows.obj + 0003:0000fd80 $unwind$hid_exit 000000018006ed80 hid-windows.obj + 0003:0000fd94 $unwind$hid_enumerate 000000018006ed94 hid-windows.obj + 0003:0000fdb0 $unwind$hid_free_enumeration 000000018006edb0 hid-windows.obj + 0003:0000fdc4 $unwind$hid_open 000000018006edc4 hid-windows.obj + 0003:0000fdd8 $unwind$hid_open_path 000000018006edd8 hid-windows.obj + 0003:0000fdf4 $unwind$hid_write 000000018006edf4 hid-windows.obj + 0003:0000fe08 $unwind$hid_read_timeout 000000018006ee08 hid-windows.obj + 0003:0000fe1c $unwind$hid_read 000000018006ee1c hid-windows.obj + 0003:0000fe30 $unwind$hid_set_nonblocking 000000018006ee30 hid-windows.obj + 0003:0000fe44 $unwind$hid_send_feature_report 000000018006ee44 hid-windows.obj + 0003:0000fe58 $unwind$hid_get_feature_report 000000018006ee58 hid-windows.obj + 0003:0000fe6c $unwind$hid_close 000000018006ee6c hid-windows.obj + 0003:0000fe80 $unwind$hid_get_manufacturer_string 000000018006ee80 hid-windows.obj + 0003:0000fe94 $unwind$hid_get_product_string 000000018006ee94 hid-windows.obj + 0003:0000fea8 $unwind$hid_get_serial_number_string 000000018006eea8 hid-windows.obj + 0003:0000febc $unwind$hid_get_indexed_string 000000018006eebc hid-windows.obj + 0003:0000fed0 $unwind$hid_error 000000018006eed0 hid-windows.obj + 0003:0000fee4 $unwind$new_hid_device 000000018006eee4 hid-windows.obj + 0003:0000fef8 $unwind$free_hid_device 000000018006eef8 hid-windows.obj + 0003:0000ff0c $unwind$register_error 000000018006ef0c hid-windows.obj + 0003:0000ff20 $unwind$lookup_functions 000000018006ef20 hid-windows.obj + 0003:0000ff34 $unwind$open_device 000000018006ef34 hid-windows.obj + 0003:0000ff48 $unwind$jsmn_init 000000018006ef48 jsmn.obj + 0003:0000ff5c $unwind$jsmn_parse 000000018006ef5c jsmn.obj + 0003:0000ff70 $unwind$jsmn_alloc_token 000000018006ef70 jsmn.obj + 0003:0000ff84 $unwind$jsmn_fill_token 000000018006ef84 jsmn.obj + 0003:0000ff98 $unwind$jsmn_parse_primitive 000000018006ef98 jsmn.obj + 0003:0000ffac $unwind$jsmn_parse_string 000000018006efac jsmn.obj + 0003:0000ffc0 $unwind$__local_stdio_printf_options 000000018006efc0 json_helpers.obj + 0003:0000ffd4 $unwind$_vfprintf_l 000000018006efd4 json_helpers.obj + 0003:0000ffe8 $unwind$fprintf 000000018006efe8 json_helpers.obj + 0003:0000fffc $unwind$_vsnprintf_l 000000018006effc json_helpers.obj + 0003:00010010 $unwind$_vsnprintf 000000018006f010 json_helpers.obj + 0003:00010024 $unwind$_vscprintf_l 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MSVCRTD:dll_dllmain.obj + 0005:00002e08 $pdata$?filt$0@?0??dllmain_dispatch@@YAHQEAUHINSTANCE__@@KQEAX@Z@4HA 0000000180077e08 MSVCRTD:dll_dllmain.obj + 0005:00002e14 $pdata$?filt$0@?0??notify_debugger@@YAXAEBUtagEXCEPTION_VISUALCPP_DEBUG_INFO@@@Z@4HA 0000000180077e14 MSVCRTD:_error_.obj + 0005:00002e20 $pdata$__scrt_is_nonwritable_in_current_image$filt$0 0000000180077e20 MSVCRTD:utility.obj + 0006:00000e58 .idata$6 0000000180079e58 DbgHelp:dbghelp.dll + 0006:00000f1a .idata$6 0000000180079f1a SetupAPI:SETUPAPI.dll + 0006:00001102 .idata$6 000000018007a102 kernel32:KERNEL32.dll + 0006:000011de .idata$6 000000018007a1de vcruntimed:VCRUNTIME140D.dll + 0006:0000155a .idata$6 000000018007a55a ucrtd:ucrtbased.dll + 0008:00000170 $R000000 000000018007c170 * linker generated manifest res * + + Exports + + ordinal name + + 1 REGISTERDisambiguatorCharles + 2 REGISTERDisambiguatorTurvey + 3 REGISTERDriverRegHTCVive + 4 REGISTERDriverRegPlayback + 5 REGISTERPoserCharlesSlow + 6 REGISTERPoserDaveOrtho + 7 REGISTERPoserDummy + 8 REGISTERPoserOctavioRadii + 9 REGISTERPoserTurveyTori + 10 hid_close + 11 hid_enumerate + 12 hid_error + 13 hid_exit + 14 hid_free_enumeration + 15 hid_get_feature_report + 16 hid_get_indexed_string + 17 hid_get_manufacturer_string + 18 hid_get_product_string + 19 hid_get_serial_number_string + 20 hid_init + 21 hid_open + 22 hid_open_path + 23 hid_read + 24 hid_read_timeout + 25 hid_send_feature_report + 26 hid_set_nonblocking + 27 hid_write diff --git a/winbuild/libsurvive/libsurvive.def b/winbuild/libsurvive/libsurvive.def new file mode 100644 index 0000000..3a50ce6 --- /dev/null +++ b/winbuild/libsurvive/libsurvive.def @@ -0,0 +1,30 @@ +LIBRARY LIBSURVIVE +EXPORTS + survive_verify_FLT_size + survive_init_internal + survive_startup + survive_poll + survive_close + survive_configi + survive_configs + survive_install_light_fn + survive_install_imu_fn + survive_install_angle_fn + survive_install_htc_config_fn + survive_send_magic + survive_cal_install + survive_cal_get_status + survive_default_light_process + survive_default_imu_process + survive_default_angle_process + survive_install_button_fn + survive_install_raw_pose_fn + survive_install_lighthouse_pose_fn + survive_get_so_by_name + survive_haptic + survive_default_button_process + survive_default_raw_pose_process + survive_default_lighthouse_pose_process + quatnormalize + quatrotatevector +
\ No newline at end of file diff --git a/winbuild/libsurvive/libsurvive.vcxproj b/winbuild/libsurvive/libsurvive.vcxproj index 725243a..5caa159 100644 --- a/winbuild/libsurvive/libsurvive.vcxproj +++ b/winbuild/libsurvive/libsurvive.vcxproj @@ -27,7 +27,7 @@ </PropertyGroup> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> - <ConfigurationType>StaticLibrary</ConfigurationType> + <ConfigurationType>DynamicLibrary</ConfigurationType> <UseDebugLibraries>true</UseDebugLibraries> <PlatformToolset>v141</PlatformToolset> <CharacterSet>MultiByte</CharacterSet> @@ -40,7 +40,7 @@ <CharacterSet>MultiByte</CharacterSet> </PropertyGroup> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration"> - <ConfigurationType>StaticLibrary</ConfigurationType> + <ConfigurationType>DynamicLibrary</ConfigurationType> <UseDebugLibraries>true</UseDebugLibraries> <PlatformToolset>v141</PlatformToolset> <CharacterSet>MultiByte</CharacterSet> @@ -56,6 +56,7 @@ <ImportGroup Label="ExtensionSettings"> </ImportGroup> <ImportGroup Label="Shared"> + <Import Project="$(SolutionDir)\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets" Condition="Exists('$(SolutionDir)\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets')" /> </ImportGroup> <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" /> @@ -70,20 +71,33 @@ <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" /> </ImportGroup> <PropertyGroup Label="UserMacros" /> - <PropertyGroup /> + <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"> + <IncludePath>$(IncludePath)</IncludePath> + <LibraryPath>$(LibraryPath)</LibraryPath> + </PropertyGroup> <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"> <ClCompile> <PrecompiledHeader> </PrecompiledHeader> <WarningLevel>Level3</WarningLevel> <Optimization>Disabled</Optimization> - <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUM;RUNTIME_SYMNUMX;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions> + <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions> <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories> + <DiagnosticsFormat>Caret</DiagnosticsFormat> </ClCompile> <Link> <SubSystem>Windows</SubSystem> + <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies> + <GenerateMapFile>true</GenerateMapFile> + <MapFileName>$(IntDir)Test.txt</MapFileName> + <MapExports>true</MapExports> + <ModuleDefinitionFile>$(MSBuildProjectDirectory)\libsurvive.def</ModuleDefinitionFile> </Link> <ProjectReference /> + <Lib> + <AdditionalDependencies>libblas.lib;liblapacke.lib;liblapack.lib%(AdditionalDependencies)</AdditionalDependencies> + <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories> + </Lib> </ItemDefinitionGroup> <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> <ClCompile> @@ -139,51 +153,76 @@ <Text Include="ReadMe.txt" /> </ItemGroup> <ItemGroup> - <ClCompile Include="..\..\redist\CNFGFunctions.c" /> - <ClCompile Include="..\..\redist\CNFGWinDriver.c" /> <ClCompile Include="..\..\redist\crc32.c" /> <ClCompile Include="..\..\redist\hid-windows.c" /> <ClCompile Include="..\..\redist\jsmn.c" /> <ClCompile Include="..\..\redist\json_helpers.c" /> <ClCompile Include="..\..\redist\linmath.c" /> - <ClCompile Include="..\..\redist\os_generic.c" /> + <ClCompile Include="..\..\redist\minimal_opencv.c" /> <ClCompile Include="..\..\redist\puff.c" /> + <ClCompile Include="..\..\redist\sba\sba_chkjac.c" /> + <ClCompile Include="..\..\redist\sba\sba_crsm.c" /> + <ClCompile Include="..\..\redist\sba\sba_lapack.c" /> + <ClCompile Include="..\..\redist\sba\sba_levmar.c" /> + <ClCompile Include="..\..\redist\sba\sba_levmar_wrap.c" /> <ClCompile Include="..\..\redist\symbol_enumerator.c" /> + <ClCompile Include="..\..\src\epnp\epnp.c" /> <ClCompile Include="..\..\src\ootx_decoder.c" /> + <ClCompile Include="..\..\src\poser.c" /> <ClCompile Include="..\..\src\poser_charlesslow.c" /> <ClCompile Include="..\..\src\poser_daveortho.c" /> <ClCompile Include="..\..\src\poser_dummy.c" /> + <ClCompile Include="..\..\src\poser_epnp.c" /> <ClCompile Include="..\..\src\poser_octavioradii.c" /> + <ClCompile Include="..\..\src\poser_sba.c" /> <ClCompile Include="..\..\src\poser_turveytori.c" /> <ClCompile Include="..\..\src\survive.c" /> <ClCompile Include="..\..\src\survive_cal.c" /> + <ClCompile Include="..\..\src\survive_charlesbiguator.c" /> <ClCompile Include="..\..\src\survive_config.c" /> - <ClCompile Include="..\..\src\survive_data.c" /> <ClCompile Include="..\..\src\survive_default_devices.c" /> + <ClCompile Include="..\..\src\survive_disambiguator.c" /> <ClCompile Include="..\..\src\survive_driverman.c" /> + <ClCompile Include="..\..\src\survive_playback.c" /> <ClCompile Include="..\..\src\survive_process.c" /> + <ClCompile Include="..\..\src\survive_reproject.c" /> + <ClCompile Include="..\..\src\survive_sensor_activations.c" /> + <ClCompile Include="..\..\src\survive_statebased_disambiguator.c" /> + <ClCompile Include="..\..\src\survive_turveybiguator.c" /> <ClCompile Include="..\..\src\survive_usb.c" /> <ClCompile Include="..\..\src\survive_vive.c" /> + <ClCompile Include="..\getdelim.c" /> </ItemGroup> <ItemGroup> <ClInclude Include="..\..\include\libsurvive\poser.h" /> <ClInclude Include="..\..\include\libsurvive\survive.h" /> <ClInclude Include="..\..\include\libsurvive\survive_types.h" /> - <ClInclude Include="..\..\redist\CNFGFunctions.h" /> <ClInclude Include="..\..\redist\crc32.h" /> <ClInclude Include="..\..\redist\jsmn.h" /> <ClInclude Include="..\..\redist\json_helpers.h" /> <ClInclude Include="..\..\redist\linmath.h" /> + <ClInclude Include="..\..\redist\minimal_opencv.h" /> <ClInclude Include="..\..\redist\os_generic.h" /> + <ClInclude Include="..\..\redist\sba\sba.h" /> <ClInclude Include="..\..\redist\symbol_enumerator.h" /> + <ClInclude Include="..\..\src\epnp\epnp.h" /> <ClInclude Include="..\..\src\ootx_decoder.h" /> <ClInclude Include="..\..\src\survive_cal.h" /> <ClInclude Include="..\..\src\survive_config.h" /> <ClInclude Include="..\..\src\survive_default_devices.h" /> <ClInclude Include="..\..\src\survive_internal.h" /> - <ClInclude Include="..\hidapi.h" /> + </ItemGroup> + <ItemGroup> + <None Include="libsurvive.def" /> + <None Include="packages.config"> + <SubType>Designer</SubType> + </None> </ItemGroup> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> - <ImportGroup Label="ExtensionTargets"> - </ImportGroup> + <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild"> + <PropertyGroup> + <ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText> + </PropertyGroup> + <Error Condition="!Exists('$(SolutionDir)\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\OpenBLAS.0.2.14.1\build\native\openblas.targets'))" /> + </Target> </Project>
\ No newline at end of file diff --git a/winbuild/libsurvive/libsurvive.vcxproj.filters b/winbuild/libsurvive/libsurvive.vcxproj.filters index 4c8c3c5..ffddee9 100644 --- a/winbuild/libsurvive/libsurvive.vcxproj.filters +++ b/winbuild/libsurvive/libsurvive.vcxproj.filters @@ -39,9 +39,6 @@ <ClCompile Include="..\..\src\survive_config.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\src\survive_data.c"> - <Filter>Source Files</Filter> - </ClCompile> <ClCompile Include="..\..\src\survive_driverman.c"> <Filter>Source Files</Filter> </ClCompile> @@ -54,9 +51,6 @@ <ClCompile Include="..\..\src\survive_vive.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\redist\os_generic.c"> - <Filter>Source Files</Filter> - </ClCompile> <ClCompile Include="..\..\redist\puff.c"> <Filter>Source Files</Filter> </ClCompile> @@ -78,19 +72,67 @@ <ClCompile Include="..\..\redist\hid-windows.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\redist\CNFGFunctions.c"> + <ClCompile Include="..\..\src\poser_turveytori.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\redist\CNFGWinDriver.c"> + <ClCompile Include="..\..\src\poser_octavioradii.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\src\poser_turveytori.c"> + <ClCompile Include="..\..\src\survive_default_devices.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\src\poser_octavioradii.c"> + <ClCompile Include="..\..\src\survive_disambiguator.c"> <Filter>Source Files</Filter> </ClCompile> - <ClCompile Include="..\..\src\survive_default_devices.c"> + <ClCompile Include="..\..\src\survive_charlesbiguator.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\survive_turveybiguator.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\survive_reproject.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\survive_sensor_activations.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\survive_playback.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\getdelim.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\survive_statebased_disambiguator.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\minimal_opencv.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\epnp\epnp.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser_epnp.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser_sba.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\sba\sba_crsm.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\sba\sba_lapack.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\sba\sba_levmar.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\sba\sba_levmar_wrap.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\redist\sba\sba_chkjac.c"> <Filter>Source Files</Filter> </ClCompile> </ItemGroup> @@ -134,14 +176,21 @@ <ClInclude Include="..\..\redist\linmath.h"> <Filter>Header Files</Filter> </ClInclude> - <ClInclude Include="..\hidapi.h"> - <Filter>Header Files</Filter> + <ClInclude Include="..\..\src\survive_default_devices.h"> + <Filter>Source Files</Filter> + </ClInclude> + <ClInclude Include="..\..\redist\minimal_opencv.h"> + <Filter>Source Files</Filter> </ClInclude> - <ClInclude Include="..\..\redist\CNFGFunctions.h"> + <ClInclude Include="..\..\src\epnp\epnp.h"> <Filter>Header Files</Filter> </ClInclude> - <ClInclude Include="..\..\src\survive_default_devices.h"> + <ClInclude Include="..\..\redist\sba\sba.h"> <Filter>Source Files</Filter> </ClInclude> </ItemGroup> + <ItemGroup> + <None Include="libsurvive.def" /> + <None Include="packages.config" /> + </ItemGroup> </Project>
\ No newline at end of file diff --git a/winbuild/libsurvive/packages.config b/winbuild/libsurvive/packages.config new file mode 100644 index 0000000..c283d9d --- /dev/null +++ b/winbuild/libsurvive/packages.config @@ -0,0 +1,5 @@ +<?xml version="1.0" encoding="utf-8"?> +<packages> + <package id="lapacke" version="0.1.0" targetFramework="native" /> + <package id="OpenBLAS" version="0.2.14.1" targetFramework="native" /> +</packages>
\ No newline at end of file diff --git a/winbuild/test/test.vcxproj b/winbuild/test/test.vcxproj index e6ee3fb..5ceff3d 100644 --- a/winbuild/test/test.vcxproj +++ b/winbuild/test/test.vcxproj @@ -72,6 +72,8 @@ <PropertyGroup Label="UserMacros" /> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"> <LinkIncremental>true</LinkIncremental> + <LibraryPath>$(LibraryPath)</LibraryPath> + <ReferencePath>$(VC_ReferencesPath_x64);</ReferencePath> </PropertyGroup> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> <LinkIncremental>true</LinkIncremental> @@ -93,7 +95,7 @@ </ClCompile> <Link> <SubSystem>Console</SubSystem> - <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies> + <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;libblas.lib;liblapacke.lib;liblapack.lib;%(AdditionalDependencies)</AdditionalDependencies> <GenerateDebugInformation>true</GenerateDebugInformation> <LinkTimeCodeGeneration>UseFastLinkTimeCodeGeneration</LinkTimeCodeGeneration> </Link> |