diff options
| -rw-r--r-- | include/libsurvive/survive.h | 101 | ||||
| -rw-r--r-- | include/libsurvive/survive_types.h | 10 | ||||
| -rw-r--r-- | src/survive_driverman.h | 24 | ||||
| -rw-r--r-- | src/survive_internal.h | 75 |
4 files changed, 98 insertions, 112 deletions
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 20e50ca..01b5e2b 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -2,10 +2,9 @@ #define _SURVIVE_H #include <stdint.h> +#include "survive_types.h" #include "poser.h" -typedef struct SurviveContext SurviveContext; - //DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks //for optimization on 32- and 64-bit systems. @@ -25,7 +24,7 @@ struct SurviveObject int8_t ison:1; int8_t additional_flags:6; - //Pose Information, also "resolver" field. + //Pose Information, also "poser" field. FLT PoseConfidence; //0..1 SurvivePose OutPose; SurvivePose FromLHPose[NUM_LIGHTHOUSES]; //Optionally filled out by poser, contains computed position from each lighthouse. @@ -62,34 +61,102 @@ struct SurviveObject int tsl; }; -struct SurviveContext * survive_init( int headless ); + +struct BaseStationData +{ + uint8_t PositionSet:1; + + SurvivePose Pose; + + uint8_t OOTXSet:1; + uint32_t BaseStationID; + FLT fcalphase[2]; + FLT fcaltilt[2]; + FLT fcalcurve[2]; + FLT fcalgibpha[2]; + FLT fcalgibmag[2]; +}; + +struct SurviveContext +{ + text_feedback_func faultfunction; + text_feedback_func notefunction; + light_process_func lightproc; + imu_process_func imuproc; + angle_process_func angleproc; + + //Calibration data: + BaseStationData bsd[NUM_LIGHTHOUSES]; + + SurviveCalData * calptr; //If and only if the calibration subsystem is attached. + + SurviveObject ** objs; + int objs_ct; + + void ** drivers; + DeviceDriverCb * driverpolls; + DeviceDriverCb * drivercloses; + DeviceDriverMagicCb * drivermagics; + int driver_ct; +}; + +SurviveContext * survive_init( int headless ); //For any of these, you may pass in 0 for the function pointer to use default behavior. -void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp ); -void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp ); -void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_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_close( struct SurviveContext * ctx ); +void survive_close( SurviveContext * ctx ); int survive_poll(); -struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name ); +SurviveObject * survive_get_so_by_name( SurviveContext * ctx, const char * name ); //Utilitiy functions. -int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen ); +int survive_simple_inflate( SurviveContext * ctx, const char * input, int inlen, char * output, int outlen ); -int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen ); +int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen ); //Install the calibrator. -void survive_cal_install( struct SurviveContext * ctx ); +void survive_cal_install( SurviveContext * ctx ); //Call these from your callback if overridden. //Accept higher-level data. -void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); -void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); -void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); +void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +void survive_default_imu_process( SurviveObject * so, int16_t * 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 ); + + +////////////////////// Survive Drivers //////////////////////////// + +void RegisterDriver( const char * name, void * data ); +void * GetDriver( const char * name ); +const char * GetDriverNameMatching( const char * prefix, int place ); +void ListDrivers(); +#define REGISTER_LINKTIME( func ) \ + void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); } + +int survive_add_object( SurviveContext * ctx, SurviveObject * obj ); +void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic ); + + +////////////////////// Lightcap driver data /////////////////////// + +//For lightcap, etc. Don't change this structure at all. Regular vive is dependent on it being exactly as-is. +//When you write drivers, you can use this to send survive lightcap data. +typedef struct +{ + uint8_t sensor_id; + uint8_t type; //Mostly unused. Set to 255 to ignore it. + uint16_t length; + uint32_t timestamp; +} __attribute__((packed)) LightcapElement; + +//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 ); #endif diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 6137774..f235330 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -24,11 +24,21 @@ typedef struct SurvivePose typedef struct SurviveObject SurviveObject; typedef struct SurviveContext SurviveContext; +typedef struct BaseStationData BaseStationData; +typedef struct SurviveCalData SurviveCalData; //XXX Warning: This may be removed. Check at a later time for its defunctness. typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault ); typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); typedef void (*imu_process_func)( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); + +//Device drivers (prefix your drivers with "DriverReg") i.e. +// REGISTER_LINKTIME( DriverRegHTCVive ); +typedef int (*DeviceDriver)( SurviveContext * ctx ); +typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver ); +typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen ); + + #endif diff --git a/src/survive_driverman.h b/src/survive_driverman.h index 5e13caf..216333a 100644 --- a/src/survive_driverman.h +++ b/src/survive_driverman.h @@ -10,29 +10,13 @@ #ifndef SURVIVE_DRIVERMAN_H #define SURVIVE_DRIVERMAN_H -//Driver registration -#define MAX_DRIVERS 32 - -void RegisterDriver( const char * name, void * data ); -void * GetDriver( const char * name ); -const char * GetDriverNameMatching( const char * prefix, int place ); -void ListDrivers(); - -#define REGISTER_LINKTIME( func ) \ - void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); } - +#include "survive.h" -// -// Specific types of drivers. -// - -struct SurviveContext; +//Very little here. Mostly included in survive.h. -//Device drivers (prefix your drivers with "DriverReg") i.e. -// REGISTER_LINKTIME( DriverRegHTCVive ); -typedef int (*DeviceDriver)( struct SurviveContext * ctx ); +//Driver registration +#define MAX_DRIVERS 32 -//more driver types here? i.e. posefinders, etc. #endif diff --git a/src/survive_internal.h b/src/survive_internal.h index 83a429c..ff156ad 100644 --- a/src/survive_internal.h +++ b/src/survive_internal.h @@ -1,15 +1,5 @@ //<>< (C) 2016-2017 C. N. Lohr, MOSTLY Under MIT/x11 License. // -//Based off of https://github.com/collabora/OSVR-Vive-Libre -// Originally Copyright 2016 Philipp Zabel -// Originally Copyright 2016 Lubosz Sarnecki <lubosz.sarnecki@collabora.co.uk> -// Originally Copyright (C) 2013 Fredrik Hultin -// Originally Copyright (C) 2013 Jakob Bornecrantz -// -//But, re-written as best as I can to get it put under an open souce license instead of a forced-source license. -//If there are portions of the code too similar to the original, I would like to know so they can be re-written. -//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. - #ifndef _SURVIVE_INTERNAL_H #define _SURVIVE_INTERNAL_H @@ -28,71 +18,6 @@ #define SV_KILL() exit(0) -struct SurviveContext; -struct SurvivecalData; - -typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver ); -typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen ); - -//This is defined in survive.h -typedef struct SurviveObject SurviveObject; -typedef struct SurviveCalData SurviveCalData; - -typedef struct -{ - uint8_t PositionSet:1; - - SurvivePose Pose; - - uint8_t OOTXSet:1; - uint32_t BaseStationID; - FLT fcalphase[2]; - FLT fcaltilt[2]; - FLT fcalcurve[2]; - FLT fcalgibpha[2]; - FLT fcalgibmag[2]; -} BaseStationData; - -struct SurviveContext -{ - text_feedback_func faultfunction; - text_feedback_func notefunction; - light_process_func lightproc; - imu_process_func imuproc; - angle_process_func angleproc; - - //Calibration data: - BaseStationData bsd[NUM_LIGHTHOUSES]; - - SurviveCalData * calptr; //If and only if the calibration subsystem is attached. - - SurviveObject ** objs; - int objs_ct; - - void ** drivers; - DeviceDriverCb * driverpolls; - DeviceDriverCb * drivercloses; - DeviceDriverMagicCb * drivermagics; - int driver_ct; -}; - -int survive_add_object( SurviveContext * ctx, SurviveObject * obj ); - -void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic ); - -//For lightcap, etc. Don't change this structure at all. Regular vive is dependent on it being exactly as-is. -typedef struct -{ - uint8_t sensor_id; - uint8_t type; - uint16_t length; - uint32_t timestamp; -} __attribute__((packed)) LightcapElement; - -//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 ); - - #endif |