diff options
Diffstat (limited to 'src/survive_api.c')
-rw-r--r-- | src/survive_api.c | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/src/survive_api.c b/src/survive_api.c new file mode 100644 index 0000000..a39524b --- /dev/null +++ b/src/survive_api.c @@ -0,0 +1,165 @@ +#include "survive_api.h" +#include "os_generic.h" +#include "survive.h" +#include "stdio.h" + +struct SurviveSimpleObject { + struct SurviveSimpleContext *actx; + + enum SurviveSimpleObject_type { SurviveSimpleObject_LIGHTHOUSE, SurviveSimpleObject_OBJECT } type; + + union { + int lighthouse; + struct SurviveObject* so; + } data; + + char name[32]; + bool has_update; +}; + +struct SurviveSimpleContext { + SurviveContext* ctx; + + bool running; + og_thread_t thread; + og_mutex_t poll_mutex; + + size_t object_ct; + struct SurviveSimpleObject objects[]; +}; + +static void pose_fn(SurviveObject *so, uint32_t timecode, SurvivePose *pose) { + struct SurviveSimpleContext *actx = so->ctx->user_ptr; + OGLockMutex(actx->poll_mutex); + survive_default_raw_pose_process(so, timecode, pose); + + intptr_t idx = (intptr_t)so->user_ptr; + actx->objects[idx].has_update = true; + OGUnlockMutex(actx->poll_mutex); +} +static void lh_fn(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose, + SurvivePose *object_pose) { + struct SurviveSimpleContext *actx = ctx->user_ptr; + OGLockMutex(actx->poll_mutex); + survive_default_lighthouse_pose_process(ctx, lighthouse, lighthouse_pose, object_pose); + + actx->objects[lighthouse].has_update = true; + + OGUnlockMutex(actx->poll_mutex); +} + +struct SurviveSimpleContext *survive_simple_init(int argc, char *const *argv) { + SurviveContext* ctx = survive_init(argc, argv); + if (ctx == 0) + return 0; + + survive_startup(ctx); + + int object_ct = ctx->activeLighthouses + ctx->objs_ct; + struct SurviveSimpleContext *actx = + calloc(1, sizeof(struct SurviveSimpleContext) + sizeof(struct SurviveSimpleObject) * object_ct); + actx->object_ct = object_ct; + actx->ctx = ctx; + actx->poll_mutex = OGCreateMutex(); + ctx->user_ptr = actx; + intptr_t i = 0; + for (i = 0; i < ctx->activeLighthouses; i++) { + struct SurviveSimpleObject *obj = &actx->objects[i]; + obj->data.lighthouse = i; + obj->type = SurviveSimpleObject_LIGHTHOUSE; + obj->actx = actx; + obj->has_update = ctx->bsd[i].PositionSet; + snprintf(obj->name, 32, "LH%ld", i); + } + for (; i < object_ct; i++) { + struct SurviveSimpleObject *obj = &actx->objects[i]; + int so_idx = i - ctx->activeLighthouses; + obj->data.so = ctx->objs[so_idx]; + obj->type = SurviveSimpleObject_OBJECT; + obj->actx = actx; + obj->data.so->user_ptr = (void*)i; + snprintf(obj->name, 32, "%s", obj->data.so->codename); + } + + survive_install_pose_fn(ctx, pose_fn); + survive_install_lighthouse_pose_fn(ctx, lh_fn); + return actx; +} + +int survive_simple_stop_thread(struct SurviveSimpleContext *actx) { + actx->running = false; + intptr_t error = (intptr_t)OGJoinThread(actx->thread); + if (error != 0) { + SurviveContext *ctx = actx->ctx; + SV_INFO("Warning: Loope exited with error %ld", error); + } + return error; +} + +void survive_simple_close(struct SurviveSimpleContext *actx) { + if (actx->running) { + survive_simple_stop_thread(actx); + } + + survive_close(actx->ctx); +} + +static inline void *__simple_thread(void *_actx) { + struct SurviveSimpleContext *actx = _actx; + intptr_t error = 0; + while (actx->running && error == 0) { + error = survive_poll(actx->ctx); + } + actx->running = false; + return (void*)error; +} +bool survive_simple_is_running(struct SurviveSimpleContext *actx) { return actx->running; } +void survive_simple_start_thread(struct SurviveSimpleContext *actx) { + actx->running = true; + actx->thread = OGCreateThread(__simple_thread, actx); +} + +const struct SurviveSimpleObject *survive_simple_get_next_object(struct SurviveSimpleContext *actx, + const struct SurviveSimpleObject *curr) { + const struct SurviveSimpleObject *next = curr + 1; + if (next >= actx->objects + actx->object_ct) + return 0; + return next; +} + +const struct SurviveSimpleObject *survive_simple_get_first_object(struct SurviveSimpleContext *actx) { + return actx->objects; +} + +const struct SurviveSimpleObject *survive_simple_get_next_updated(struct SurviveSimpleContext *actx) { + for (int i = 0; i < actx->object_ct; i++) { + if (actx->objects[i].has_update) { + actx->objects[i].has_update = false; + return &actx->objects[i]; + } + } + return 0; +} + +uint32_t survive_simple_object_get_latest_pose(const struct SurviveSimpleObject *sao, SurvivePose *pose) { + uint32_t timecode = 0; + OGLockMutex(sao->actx->poll_mutex); + + switch (sao->type) { + case SurviveSimpleObject_LIGHTHOUSE: { + if(pose) + *pose = sao->actx->ctx->bsd[sao->data.lighthouse].Pose; + break; + } + case SurviveSimpleObject_OBJECT: + if(pose) + *pose = sao->data.so->OutPose; + timecode = sao->data.so->OutPose_timecode; + break; + } + + OGUnlockMutex(sao->actx->poll_mutex); + return timecode; +} + +const char *survive_simple_object_name(const SurviveSimpleObject *sao) { return sao->name; } |