diff options
Diffstat (limited to 'include/libsurvive/survive.h')
| -rw-r--r-- | include/libsurvive/survive.h | 60 |
1 files changed, 58 insertions, 2 deletions
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 1532d62..d9b5f08 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -18,7 +18,8 @@ struct SurviveObject char codename[4]; //3 letters, null-terminated. Currently HMD, WM0, WM1. char drivername[4]; //3 letters for driver. Currently "HTC" - int16_t buttonmask; + void *driver; + int32_t buttonmask; int16_t axis1; int16_t axis2; @@ -67,6 +68,7 @@ struct SurviveObject 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; //Debug int tsl; @@ -90,6 +92,34 @@ struct BaseStationData 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 + uint8_t eventType; + uint8_t buttonId; + uint8_t axis1Id; + uint16_t axis1Val; + uint8_t axis2Id; + uint16_t axis2Val; + SurviveObject *so; +} ButtonQueueEntry; + +typedef struct +{ + uint8_t nextReadIndex; //init to 0 + uint8_t nextWriteIndex; // init to 0 + void* buttonservicesem; + ButtonQueueEntry entry[BUTTON_QUEUE_MAX_LEN]; +} ButtonQueue; + struct SurviveContext { text_feedback_func faultfunction; @@ -97,11 +127,14 @@ struct SurviveContext light_process_func lightproc; imu_process_func imuproc; angle_process_func angleproc; + button_process_func buttonproc; + raw_pose_func rawposeproc; struct config_group* global_config_values; struct config_group* lh_config; //lighthouse configs //Calibration data: + int activeLighthouses; BaseStationData bsd[NUM_LIGHTHOUSES]; SurviveCalData * calptr; //If and only if the calibration subsystem is attached. @@ -113,9 +146,25 @@ struct SurviveContext DeviceDriverCb * drivercloses; DeviceDriverMagicCb * drivermagics; int driver_ct; + + uint8_t isClosing; // flag to indicate if threads should terminate themselves + + void* buttonservicethread; + ButtonQueue buttonQueue; + + void *user_ptr; + }; -SurviveContext * survive_init( int headless ); +SurviveContext * survive_init_internal( int headless ); + +// Baked in size of FLT to verify users of the library have the correct setting. +void survive_verify_FLT_size(uint32_t user_size); + +static inline SurviveContext * survive_init( int headless ) { + survive_verify_FLT_size(sizeof(FLT)); + return survive_init_internal( headless ); +} //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. @@ -124,6 +173,8 @@ 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_close( SurviveContext * ctx ); int survive_poll( SurviveContext * ctx ); @@ -141,11 +192,16 @@ void survive_cal_install( SurviveContext * ctx ); //XXX This will be removed if // Read back a human-readable string description of the calibration status int survive_cal_get_status( struct 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, FLT *position, FLT *quaternion); ////////////////////// Survive Drivers //////////////////////////// |