diff options
Diffstat (limited to 'src/survive_data.c')
| -rw-r--r-- | src/survive_data.c | 644 |
1 files changed, 577 insertions, 67 deletions
diff --git a/src/survive_data.c b/src/survive_data.c index 4a2cfb6..157650d 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -4,21 +4,546 @@ #include "survive_internal.h" #include <stdint.h> #include <string.h> +#include <math.h> /* for sqrt */ + +//#define USE_TURVEYBIGUATOR + +#ifdef USE_TURVEYBIGUATOR + +static const float tau_table[33] = { 0, 0, 0, 1.151140982, 1.425, 1.5712213707, 1.656266074, 1.7110275587, 1.7490784054, + 1.7770229476, 1.798410005, 1.8153056661, 1.8289916275, 1.8403044103, 1.8498129961, 1.8579178211, + 1.864908883, 1.8710013691, 1.8763583296, 1.881105575, 1.885341741, 1.8891452542, 1.8925792599, + 1.8956951735, 1.8985352854, 1.9011347009, 1.9035228046, 1.9057243816, 1.9077604832, 1.9096491058, + 1.9114057255, 1.9130437248, 1.914574735 +}; + +typedef struct +{ + unsigned int sweep_time[SENSORS_PER_OBJECT]; + uint16_t sweep_len[SENSORS_PER_OBJECT]; //might want to align this to cache lines, will be hot for frequent access +} lightcaps_sweep_data; + +typedef struct +{ + int recent_sync_time; + int activeLighthouse; + int activeSweepStartTime; + int activeAcode; + +// int lh_pulse_len[NUM_LIGHTHOUSES]; + int lh_start_time[NUM_LIGHTHOUSES]; + int lh_max_pulse_length[NUM_LIGHTHOUSES]; + int8_t lh_acode[NUM_LIGHTHOUSES]; + int current_lh; // used knowing which sync pulse we're looking at. + +} lightcap2_per_sweep_data; + +typedef struct +{ + double acode_offset; +} lightcap2_global_data; + +typedef struct +{ + lightcaps_sweep_data sweep; + lightcap2_per_sweep_data per_sweep; + lightcap2_global_data global; +} lightcap2_data; + + +//static lightcap2_global_data lcgd = { 0 }; + +int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject * so, int pulseLen) +{ + double oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset; + + int modifiedPulseLen = pulseLen - (int)oldOffset; + + double newOffset = (((pulseLen) + 250) % 500) - 250; + + ((lightcap2_data*)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1; + +//fprintf(stderr, " %f\n", oldOffset); +#define ACODE_OFFSET 0 + if (pulseLen < 3250 - ACODE_OFFSET) return 0; + if (pulseLen < 3750 - ACODE_OFFSET) return 1; + if (pulseLen < 4250 - ACODE_OFFSET) return 2; + if (pulseLen < 4750 - ACODE_OFFSET) return 3; + if (pulseLen < 5250 - ACODE_OFFSET) return 4; + if (pulseLen < 5750 - ACODE_OFFSET) return 5; + if (pulseLen < 6250 - ACODE_OFFSET) return 6; + return 7; +} + +uint8_t remove_outliers(SurviveObject *so) { + return 0; // disabling this for now because it seems remove almost all the points for wired watchman and wired tracker. + lightcap2_data *lcd = so->disambiguator_data; + + uint32_t sum = 0; + uint8_t non_zero_count = 0; + uint32_t mean = 0; + + uint16_t* min = NULL; + uint16_t* max = NULL; + uint8_t found_first = 0; + + //future: https://gcc.gnu.org/projects/tree-ssa/vectorization.html#vectorizab + + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) + { + sum += lcd->sweep.sweep_len[i]; + if (lcd->sweep.sweep_len[i] > 0) ++non_zero_count; + } + + if (non_zero_count==0) return 0; + + mean = sum/non_zero_count; + + float standard_deviation = 0.0f; + sum = 0; + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) + { + uint16_t len = lcd->sweep.sweep_len[i]; + if (len > 0) { + sum += (len - mean)*(len - mean); + + if (found_first==0) { + max = min = lcd->sweep.sweep_len + i; + found_first=1; + } else { + if(lcd->sweep.sweep_len[i] < *min) min=lcd->sweep.sweep_len + i; + if(lcd->sweep.sweep_len[i] > *max) max=lcd->sweep.sweep_len + i; + } + } + } + standard_deviation = sqrtf( ((float)sum)/((float)non_zero_count) ); + +// printf("%f\n", standard_deviation); + + float tau_test = standard_deviation; + + if (non_zero_count > 2) tau_test = standard_deviation*tau_table[non_zero_count]; + +// uint8_t removed_outliers = 0; + + uint32_t d1 = abs(*min - mean); + uint32_t d2 = abs(*max - mean); + + if (d1>d2) { + if (d1 > tau_test) { + *min = 0; + return 1; + } + } + else if (d2>tau_test) { + *max = 0; + return 1; + } + + return 0; +/* + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) + { + uint16_t len = lcd->sweep.sweep_len[i]; + if (len == 0) continue; + + if ( abs(len-mean) > tau_test ) + { +// fprintf(stderr, "removing %d\n", len); + lcd->sweep.sweep_len[i] = 0; + removed_outliers = 1; + } + } +*/ +// return removed_outliers; +} + +void handle_lightcap2_process_sweep_data(SurviveObject *so) +{ + lightcap2_data *lcd = so->disambiguator_data; + + while(remove_outliers(so)); + + // look at all of the sensors we found, and process the ones that were hit. + // TODO: find the sensor(s) with the longest pulse length, and assume + // those are the "highest quality". Then, reject any pulses that are sufficiently + // different from those values, assuming that they are reflections. + { + unsigned int longest_pulse = 0; + unsigned int timestamp_of_longest_pulse = 0; + for (int i = 0; i < SENSORS_PER_OBJECT; i++) + { + if (lcd->sweep.sweep_len[i] > longest_pulse) + { + longest_pulse = lcd->sweep.sweep_len[i]; + timestamp_of_longest_pulse = lcd->sweep.sweep_time[i]; + } + } + + int allZero = 1; + for (int q=0; q< 32; q++) + if (lcd->sweep.sweep_len[q] != 0) + allZero=0; + //if (!allZero) + // printf("a[%d]l[%d] ", lcd->per_sweep.activeAcode & 5, lcd->per_sweep.activeLighthouse); + for (int i = 0; i < SENSORS_PER_OBJECT; i++) + { + + { + static int counts[SENSORS_PER_OBJECT][2] = {0}; + +// if (lcd->per_sweep.activeLighthouse == 0 && !allZero) + if (lcd->per_sweep.activeLighthouse > -1 && !allZero) + { + if (lcd->sweep.sweep_len[i] != 0) + { + //printf("%d ", i); + //counts[i][lcd->per_sweep.activeAcode & 1] ++; + } + else + { + counts[i][lcd->per_sweep.activeAcode & 1] =0; + } + + //if (counts[i][0] > 10 && counts[i][1] > 10) + //{ + //printf("%d(%d,%d), ", i, counts[i][0], counts[i][1]); + //} + } + } + + + if (lcd->sweep.sweep_len[i] != 0) // if the sensor was hit, process it + { +//printf("%4d\n", lcd->sweep.sweep_len[i]); + int offset_from = lcd->sweep.sweep_time[i] - lcd->per_sweep.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; + +// if (offset_from < 380000 && offset_from > 70000) + { + //if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i]) + { + so->ctx->lightproc(so, i, lcd->per_sweep.activeAcode, offset_from, lcd->sweep.sweep_time[i], lcd->sweep.sweep_len[i], lcd->per_sweep.activeLighthouse); + } + } + } + } + //if (!allZero) + // printf(" ..:..\n"); + +// if (!allZero) printf("\n"); + } + + // clear out sweep data (could probably limit this to only after a "first" sync. + // this is slightly more robust, so doing it here for now. + memset(&(((lightcap2_data*)so->disambiguator_data)->sweep), 0, sizeof(lightcaps_sweep_data)); +} +void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le ) +{ + //fprintf(stderr, "%6.6d %4.4d \n", le->timestamp - so->recent_sync_time, le->length); + lightcap2_data *lcd = so->disambiguator_data; + + //static unsigned int recent_sync_time = 0; + //static unsigned int recent_sync_count = -1; + //static unsigned int activeSweepStartTime; + + int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); //acode for this sensor reading + + // Process any sweep data we have + handle_lightcap2_process_sweep_data(so); + + int time_since_last_sync = (le->timestamp - lcd->per_sweep.recent_sync_time); + + +// fprintf(stderr, " %2d %8d %d\n", le->sensor_id, time_since_last_sync, le->length); + // need to store up sync pulses, so we can take the earliest starting time for all sensors. + if (time_since_last_sync < 2400) + { + lcd->per_sweep.recent_sync_time = le->timestamp; + // it's the same sync pulse; +// so->sync_set_number = 1; + so->recent_sync_time = le->timestamp; + +// lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; +// lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + + if (le->length > lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh]) { + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + } + +/* + //this stuff should probably be happening on the sweep so that we can filter out erroneous a codes + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + lcd->per_sweep.activeLighthouse = lcd->per_sweep.current_lh; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + else + { + //this causes the master lighthouse to be ignored from the HMD + lcd->per_sweep.activeLighthouse = -1; + lcd->per_sweep.activeSweepStartTime = 0; + lcd->per_sweep.activeAcode = 0; + } + */ + } + else if (time_since_last_sync < 24000) + { + lcd->per_sweep.activeLighthouse = -1; + + lcd->per_sweep.recent_sync_time = le->timestamp; + // I do believe we are lighthouse B + lcd->per_sweep.current_lh = 1; +// lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + +/* + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + if (lcd->per_sweep.activeLighthouse != -1) + { + static int pulseWarningCount=0; + + if (pulseWarningCount < 5) + { + pulseWarningCount++; + // hmm, it appears we got two non-skip pulses at the same time. That should never happen + fprintf(stderr, "WARNING: Two non-skip pulses received on the same cycle!\n"); + } + } + + lcd->per_sweep.activeLighthouse = 1; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + */ + + } + else if (time_since_last_sync > 370000) + { + // XXX CAUTION: if we lose sight of a lighthouse then, the remaining lighthouse will default to master + //this should probably be fixed. Maybe some kind of timing based guess at which lighthouse. + + // looks like this is the first sync pulse. Cool! + + // first, send out the sync pulse data for the last round (for OOTX decoding + { + if (lcd->per_sweep.lh_max_pulse_length[0] != 0) + { + so->ctx->lightproc( + so, + -1, + handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[0]), + lcd->per_sweep.lh_max_pulse_length[0], + lcd->per_sweep.lh_start_time[0], + 0, + 0); + } + if (lcd->per_sweep.lh_max_pulse_length[1] != 0) + { + so->ctx->lightproc( + so, + -2, + handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[1]), + lcd->per_sweep.lh_max_pulse_length[1], + lcd->per_sweep.lh_start_time[1], + 0, + 1); + } + } + + //fprintf(stderr, "************************************ Reinitializing Disambiguator!!!\n"); + // initialize here. + memset(&lcd->per_sweep, 0, sizeof(lcd->per_sweep)); + lcd->per_sweep.activeLighthouse = -1; + + for (uint8_t i=0; i < NUM_LIGHTHOUSES;++i) { + lcd->per_sweep.lh_acode[i] = -1; + } + + lcd->per_sweep.recent_sync_time = le->timestamp; + // I do believe we are lighthouse A + lcd->per_sweep.current_lh = 0; +// lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + +// int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); + +/* + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + lcd->per_sweep.activeLighthouse = 0; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + */ + } + +// printf("%d %d\n", acode, lcd->per_sweep.activeLighthouse ); +} + +void handle_lightcap2_sweep(SurviveObject * so, LightcapElement * le ) +{ + lightcap2_data *lcd = so->disambiguator_data; + + // If we see multiple "hits" on the sweep for a given sensor, + // assume that the longest (i.e. strongest signal) is most likely + // the non-reflected signal. + + //if (le->length < 80) + //{ + // // this is a low-quality read. Better to throw it out than to use it. + // //fprintf(stderr, "%2d %d\n", le->sensor_id, le->length); + // return; + //} + //fprintf(stderr, "%2d %d\n", le->sensor_id, le->length); + //fprintf(stderr, "."); + + lcd->per_sweep.activeLighthouse = -1; + lcd->per_sweep.activeSweepStartTime = 0; + lcd->per_sweep.activeAcode = 0; + + for (uint8_t i=0; i < NUM_LIGHTHOUSES;++i) { + int acode = lcd->per_sweep.lh_acode[i]; + if ( (acode>=0) && !(acode >> 2 & 1)) { + lcd->per_sweep.activeLighthouse = i; + lcd->per_sweep.activeSweepStartTime = lcd->per_sweep.lh_start_time[i]; + lcd->per_sweep.activeAcode = acode; + } + } + + if (lcd->per_sweep.activeLighthouse < 0) { + fprintf(stderr, "WARNING: No active lighthouse!\n"); + fprintf(stderr, " %2d %8d %d %d\n", le->sensor_id, le->length,lcd->per_sweep.lh_acode[0],lcd->per_sweep.lh_acode[1]); + return; + } + + if (lcd->sweep.sweep_len[le->sensor_id] < le->length) + { + lcd->sweep.sweep_len[le->sensor_id] = le->length; + lcd->sweep.sweep_time[le->sensor_id] = le->timestamp; + } +} + +void handle_lightcap2( SurviveObject * so, LightcapElement * le ) +{ + SurviveContext * ctx = so->ctx; + + if (so->disambiguator_data == NULL) + { + fprintf(stderr, "Initializing Disambiguator Data\n"); + so->disambiguator_data = malloc(sizeof(lightcap2_data)); + memset(so->disambiguator_data, 0, sizeof(lightcap2_data)); + } + + if( le->sensor_id > SENSORS_PER_OBJECT ) + { + return; + } + + if (le->length > 6750) + { + // Should never get a reading so high. Odd. + return; + } +// if (le->length >= 2750) + if (le->length >= 2500) + { + // Looks like a sync pulse, process it! + handle_lightcap2_sync(so, le); + return; + } + + // must be a sweep pulse, process it! + handle_lightcap2_sweep(so, le); + +} + + +#endif + + +int32_t decode_acode(uint32_t length, int32_t main_divisor) { + //+50 adds a small offset and seems to help always get it right. + //Check the +50 in the future to see how well this works on a variety of hardware. + if( !main_divisor ) return -1; + int32_t acode = (length+main_divisor+50)/(main_divisor*2); + if( acode & 1 ) return -1; + + return (acode>>1) - 6; +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +///////The charles disambiguator. Don't use this, mostly here for debugging./////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + +void HandleOOTX( SurviveContext * ctx, SurviveObject * so ) +{ + int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. + + int32_t acode_array[2] = + { + decode_acode(so->last_sync_length[0],main_divisor), + decode_acode(so->last_sync_length[1],main_divisor) + }; + + + int32_t delta1 = so->last_sync_time[0] - so->recent_sync_time; + int32_t delta2 = so->last_sync_time[1] - so->last_sync_time[0]; + + //printf( "%p %p %d %d %d %p\n", ctx, so, so->last_sync_time[0], acode_array, so->last_sync_length[0], ctx->lightproc ); + if( acode_array[0] >= 0 ) ctx->lightproc( so, -1, acode_array[0], delta1, so->last_sync_time[0], so->last_sync_length[0], 0 ); + if( acode_array[1] >= 0 ) ctx->lightproc( so, -2, acode_array[1], delta2, so->last_sync_time[1], so->last_sync_length[1], 1 ); + + so->recent_sync_time = so->last_sync_time[1]; + + so->did_handle_ootx = 1; +} + //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 ) { SurviveContext * ctx = so->ctx; - //int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; - //if( so->codename[0] != 'H' ) +#ifdef USE_TURVEYBIGUATOR + handle_lightcap2(so,le); + return; +#else + //printf( "LE%3d%6d%12d\n", le->sensor_id, le->length, le->timestamp ); + + //int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; if( le->sensor_id > SENSORS_PER_OBJECT ) { return; } +#if 0 + if( so->codename[0] == 'H' ) + { + static int lt; + static int last; + if( le->length > 1000 ) + { + int dl = le->timestamp - lt; + lt = le->timestamp; + if( dl > 10000 || dl < -10000 ) + printf( "+++%s %3d %5d %9d ", so->codename, le->sensor_id, le->length, dl ); + if( dl > 100000 ) printf(" \n" ); + } + last=le->length; + } +#endif + so->tsl = le->timestamp; if( le->length < 20 ) return; ///Assuming 20 is an okay value for here. @@ -27,6 +552,9 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) //unified driver. int ssn = so->sync_set_number; //lighthouse number if( ssn < 0 ) ssn = 0; +#ifdef DEBUG + if( ssn >= NUM_LIGHTHOUSES ) { SV_INFO( "ALGORITHMIC WARNING: ssn exceeds NUM_LIGHTHOUSES" ); } +#endif int last_sync_time = so->last_sync_time [ssn]; int last_sync_length = so->last_sync_length[ssn]; int32_t delta = le->timestamp - last_sync_time; //Handle time wrapping (be sure to be int32) @@ -44,17 +572,39 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) { int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length; -// printf("m sync %d %d %d %d\n", le->sensor_id, so->last_sync_time[ssn], le->timestamp, delta); - so->did_handle_ootx = 0; + if( is_new_pulse ) { int is_master_sync_pulse = delta > so->pulse_in_clear_time /*40000*/; + int is_pulse_from_same_lh_as_last_sweep; + int tp = delta % ( so->timecenter_ticks * 2); + is_pulse_from_same_lh_as_last_sweep = tp < so->pulse_synctime_slack && tp > -so->pulse_synctime_slack; + + if( !so->did_handle_ootx ) + { + HandleOOTX( ctx, so ); + } + if( !is_master_sync_pulse ) + { + so->did_handle_ootx = 0; + } + - if( is_master_sync_pulse ) + if( is_master_sync_pulse ) //Could also be called by slave if no master was seen. { - ssn = so->sync_set_number = 0; + ssn = so->sync_set_number = is_pulse_from_same_lh_as_last_sweep?(so->sync_set_number):0; //If repeated lighthouse, just back off one. + if( ssn < 0 ) { SV_INFO( "SEVERE WARNING: Pulse codes for tracking not able to be backed out.\n" ); ssn = 0; } + if( ssn != 0 ) + { + //If it's the slave that is repeated, be sure to zero out its sync info. + so->last_sync_length[0] = 0; + } + else + { + so->last_sync_length[1] = 0; + } so->last_sync_time[ssn] = le->timestamp; so->last_sync_length[ssn] = le->length; } @@ -65,6 +615,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) else { ssn = ++so->sync_set_number; + if( so->sync_set_number >= NUM_LIGHTHOUSES ) { SV_INFO( "Warning. Received an extra, unassociated sync pulse." ); @@ -89,9 +640,20 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) } } } - } +#if 0 + //Extra tidbit for storing length-of-sync-pulses, if you want to try to use this to determine AoI or distance to LH. + //We don't actually use this anywhere, and I doubt we ever will? Though, it could be useful at a later time to improve tracking. + { + int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. + int base_station = is_new_pulse; + printf( "%s %d %d %d\n", so->codename, le->sensor_id, so->sync_set_number, le->length ); //XXX sync_set_number is wrong here. + ctx->lightproc( so, le->sensor_id, -3 - so->sync_set_number, 0, le->timestamp, le->length, base_station); //XXX sync_set_number is wrong here. + } +#endif + } + //Any else- statements below here are //See if this is a valid actual pulse. else if( le->length < so->pulse_max_for_sweep && delta > so->pulse_in_clear_time && ssn >= 0 ) @@ -109,73 +671,20 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) //Make sure it fits nicely into a divisible-by-500 time. int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. - - int32_t acode_array[2] = - { - (so->last_sync_length[0]+main_divisor+50)/(main_divisor*2), //+50 adds a small offset and seems to help always get it right. - (so->last_sync_length[1]+main_divisor+50)/(main_divisor*2), //Check the +50 in the future to see how well this works on a variety of hardware. - }; - - //XXX: TODO: Capture error count here. - if( acode_array[0] & 1 ) return; - if( acode_array[1] & 1 ) return; - - acode_array[0] = (acode_array[0]>>1) - 6; - acode_array[1] = (acode_array[1]>>1) - 6; - - - int acode = acode_array[0]; + int acode = decode_acode(so->last_sync_length[0],main_divisor); if( !so->did_handle_ootx ) - { - int32_t delta1 = so->last_sync_time[0] - so->recent_sync_time; - int32_t delta2 = so->last_sync_time[1] - so->last_sync_time[0]; - - ctx->lightproc( so, -1, acode_array[0], delta1, so->last_sync_time[0], so->last_sync_length[0] ); - ctx->lightproc( so, -2, acode_array[1], delta2, so->last_sync_time[1], so->last_sync_length[1] ); - - so->recent_sync_time = so->last_sync_time[1]; - - //Throw out everything if our sync pulses look like they're bad. - - int32_t center_1 = so->timecenter_ticks*2 - so->pulse_synctime_offset; - int32_t center_2 = so->pulse_synctime_offset; - int32_t slack = so->pulse_synctime_slack; - - if( delta1 < center_1 - slack || delta1 > center_1 + slack ) - { - //XXX: TODO: Count faults. - so->sync_set_number = -1; - return; - } - - if( delta2 < center_2 - slack || delta2 > center_2 + slack ) - { - //XXX: TODO: Count faults. - so->sync_set_number = -1; - return; - } - - so->did_handle_ootx = 1; - } - - - if (acode > 3) { - if( ssn == 0 ) - { - //SV_INFO( "Warning: got a slave marker but only got a master sync." ); - //This happens too frequently. Consider further examination. - } - dl = so->last_sync_time[1]; - tpco = so->last_sync_length[1]; - } + HandleOOTX( ctx, so ); int32_t offset_from = le->timestamp - dl + le->length/2; //Make sure pulse is in valid window - if( offset_from < 380000 && offset_from > 70000 ) + 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 ); + int whichlh; + if( acode < 0 ) whichlh = 1; + else whichlh = !(acode>>2); + ctx->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length, whichlh ); } } else @@ -183,6 +692,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) //printf( "FAIL %d %d - %d = %d\n", le->length, so->last_photo_time, le->timestamp, so->last_photo_time - le->timestamp ); //Runt pulse, or no sync pulses available. } +#endif } |