diff options
Diffstat (limited to 'src/survive_default_devices.c')
| -rw-r--r-- | src/survive_default_devices.c | 199 |
1 files changed, 199 insertions, 0 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c new file mode 100644 index 0000000..6615f1e --- /dev/null +++ b/src/survive_default_devices.c @@ -0,0 +1,199 @@ +#include "survive_default_devices.h" +#include <jsmn.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include "json_helpers.h" + +static SurviveObject * +survive_create_device(SurviveContext *ctx, const char *driver_name, + void *driver, const char *device_name, haptic_func fn) { + SurviveObject *device = calloc(1, sizeof(SurviveObject)); + + device->ctx = ctx; + device->driver = driver; + memcpy(device->codename, device_name, strlen(device_name)); + memcpy(device->drivername, driver_name, strlen(driver_name)); + + device->timebase_hz = 48000000; + device->pulsedist_max_ticks = 500000; + device->pulselength_min_sync = 2200; + device->pulse_in_clear_time = 35000; + device->pulse_max_for_sweep = 1800; + device->pulse_synctime_offset = 20000; + device->pulse_synctime_slack = 5000; + device->timecenter_ticks = device->timebase_hz / 240; + + device->haptic = fn; + + return device; +} + +SurviveObject *survive_create_hmd(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "HMD", 0); +} + +SurviveObject *survive_create_wm0(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func fn) { + return survive_create_device(ctx, driver_name, driver, "WM0", fn); +} +SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name, + void *driver, haptic_func fn) { + return survive_create_device(ctx, driver_name, driver, "WM1", fn); +} +SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "TR0", 0); +} +SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "WW0", 0); +} + +static int jsoneq(const char *json, jsmntok_t *tok, const char *s) { + if (tok->type == JSMN_STRING && (int)strlen(s) == tok->end - tok->start && + strncmp(json + tok->start, s, tok->end - tok->start) == 0) { + return 0; + } + return -1; +} +static int ParsePoints(SurviveContext *ctx, SurviveObject *so, char *ct0conf, + FLT **floats_out, jsmntok_t *t, int i) { + int k; + int pts = t[i + 1].size; + jsmntok_t *tk; + + so->nr_locations = 0; + *floats_out = malloc(sizeof(**floats_out) * 32 * 3); + + for (k = 0; k < pts; k++) { + tk = &t[i + 2 + k * 4]; + + int m; + for (m = 0; m < 3; m++) { + char ctt[128]; + + tk++; + int elemlen = tk->end - tk->start; + + if (tk->type != 4 || elemlen > sizeof(ctt) - 1) { + SV_ERROR("Parse error in JSON\n"); + return 1; + } + + memcpy(ctt, ct0conf + tk->start, elemlen); + ctt[elemlen] = 0; + FLT f = atof(ctt); + int id = so->nr_locations * 3 + m; + (*floats_out)[id] = f; + } + so->nr_locations++; + } + return 0; +} + +int survive_load_htc_config_format(char *ct0conf, int len, SurviveObject *so) { + if (len == 0) + return -1; + + SurviveContext *ctx = so->ctx; + // From JSMN example. + jsmn_parser p; + jsmntok_t t[4096]; + jsmn_init(&p); + int i; + int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t) / sizeof(t[0])); + if (r < 0) { + SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r); + return -1; + } + if (r < 1 || t[0].type != JSMN_OBJECT) { + SV_INFO("Object expected in HMD configuration\n"); + return -2; + } + + for (i = 1; i < r; i++) { + jsmntok_t *tk = &t[i]; + + char ctxo[100]; + int ilen = tk->end - tk->start; + if (ilen > 99) + ilen = 99; + memcpy(ctxo, ct0conf + tk->start, ilen); + ctxo[ilen] = 0; + + // printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start, + //tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") ); + // printf( "%.*s\n", ilen, ct0conf + tk->start ); + + if (jsoneq(ct0conf, tk, "modelPoints") == 0) { + if (ParsePoints(ctx, so, ct0conf, &so->sensor_locations, t, i)) { + break; + } + } + if (jsoneq(ct0conf, tk, "modelNormals") == 0) { + if (ParsePoints(ctx, so, ct0conf, &so->sensor_normals, t, i)) { + break; + } + } + + if (jsoneq(ct0conf, tk, "acc_bias") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->acc_bias = values; + so->acc_bias[0] *= .125; // XXX Wat? Observed by CNL. Biasing + // by more than this seems to hose + // things. + so->acc_bias[1] *= .125; + so->acc_bias[2] *= .125; + } + } + if (jsoneq(ct0conf, tk, "acc_scale") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->acc_scale = values; + } + } + + if (jsoneq(ct0conf, tk, "gyro_bias") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->gyro_bias = values; + } + } + if (jsoneq(ct0conf, tk, "gyro_scale") == 0) { + int32_t count = (tk + 1)->size; + FLT *values = NULL; + if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { + so->gyro_scale = values; + } + } + } + + char fname[64]; + + sprintf(fname, "calinfo/%s_points.csv", so->codename); + FILE *f = fopen(fname, "w"); + int j; + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_locations[j * 3 + 0], + so->sensor_locations[j * 3 + 1], + so->sensor_locations[j * 3 + 2]); + } + fclose(f); + + sprintf(fname, "calinfo/%s_normals.csv", so->codename); + f = fopen(fname, "w"); + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_normals[j * 3 + 0], + so->sensor_normals[j * 3 + 1], so->sensor_normals[j * 3 + 2]); + } + fclose(f); + + return 0; +} |