diff options
Diffstat (limited to 'src/survive_data.c')
-rw-r--r-- | src/survive_data.c | 154 |
1 files changed, 91 insertions, 63 deletions
diff --git a/src/survive_data.c b/src/survive_data.c index 7b9d051..4f94106 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -6,7 +6,7 @@ #include <string.h> #include <math.h> /* for sqrt */ -#define USE_TURVEYBIGUATOR +//#define USE_TURVEYBIGUATOR #ifdef USE_TURVEYBIGUATOR @@ -432,13 +432,59 @@ void handle_lightcap2( SurviveObject * so, LightcapElement * le ) 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; } + +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]; + +/* + //Throw out everything if our sync pulses look like they're bad. + //This actually doesn't seem to hold anymore, now that we're looking for multiple LHs. + 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; +} + + //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 ) { @@ -449,6 +495,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * 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; @@ -482,6 +529,9 @@ 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) @@ -499,15 +549,37 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) { int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length; + //TRICKY: If we didn't see anything from the other lighthouse, we might just not see it... But, we still have to send our sync + //information to the rest of libsurvive. This could be turned into a function and combined with the code below. + if( !so->did_handle_ootx && is_new_pulse ) + { + HandleOOTX( ctx, so ); + } so->did_handle_ootx = 0; + + //printf( "INP: %d %d\n", is_new_pulse, so->sync_set_number ); + 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( 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; } @@ -544,15 +616,20 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) } } - //Extra tidbit for storing length-of-sync-pulses. +#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 ); - ctx->lightproc( so, le->sensor_id, -3 - so->sync_set_number, 0, le->timestamp, le->length, base_station); + 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 ) { @@ -569,68 +646,20 @@ 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] = - { - decode_acode(so->last_sync_length[0],main_divisor), - decode_acode(so->last_sync_length[1],main_divisor) - }; - - //XXX: TODO: Capture error count here. - if( acode_array[0] < 0 ) return; - if( acode_array[1] < 0 ) return; - - 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], 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]; - - //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, !(acode>>2) ); + 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 @@ -639,7 +668,6 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) //Runt pulse, or no sync pulses available. } #endif - } |