1 files changed, 32 insertions, 47 deletions

diff --git a/src/survive_internal.h b/src/survive_internal.h
index 0d0b8a4..5962623 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -17,7 +17,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
-#include <libusb-1.0/libusb.h>
+#include "survive_driverman.h"
 #include <zlib.h>
 #include <survive.h>
 
@@ -27,38 +27,15 @@
 //XXX TODO This one needs to be rewritten.
 #define SV_KILL()		exit(0)
 
-#define USB_DEV_HMD			0
-#define USB_DEV_LIGHTHOUSE	1
-#define USB_DEV_WATCHMAN1	2
-#define USB_DEV_WATCHMAN2	3
-#define MAX_USB_DEVS				4
-
-
-#define USB_IF_HMD			0
-#define USB_IF_LIGHTHOUSE 	1
-#define USB_IF_WATCHMAN1	2
-#define USB_IF_WATCHMAN2	3
-#define USB_IF_LIGHTCAP		4
-#define MAX_INTERFACES				5
-
 #define INTBUFFSIZE			64
 #define SENSORS_PER_OBJECT	32
 
 struct SurviveContext;
 struct SurviveUSBInterface;
 
-typedef void (*usb_callback)( struct SurviveUSBInterface * ti );
+typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
+typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
 
-struct SurviveUSBInterface
-{
-	struct libusb_transfer * transfer;
-	struct SurviveContext * ctx;
-	int actual_len;
-	uint8_t buffer[INTBUFFSIZE];
-	usb_callback cb;
-	int which_interface_am_i;	//for indexing into uiface
-	const char * hname;			//human-readable names
-};
 
 //This is defined in survive.h
 struct SurviveObject;
@@ -67,49 +44,57 @@ struct SurviveCalData;
 struct BaseStationData
 {
 	uint8_t PositionSet:1;
-	float Position[3];
-	float Quaternion[4];
+	FLT Position[3];
+	FLT Quaternion[4];
 
 	uint8_t OOTXSet:1;
 	uint32_t BaseStationID;
-	float fcalphase[2];
-	float fcaltilt[2];
-	float fcalcurve[2];
-	float fcalgibpha[2];
-	float fcalgibmag[2];
+	FLT fcalphase[2];
+	FLT fcaltilt[2];
+	FLT fcalcurve[2];
+	FLT fcalgibpha[2];
+	FLT fcalgibmag[2];
 };
 
 struct SurviveContext
 {
-	//USB Subsystem
-    struct libusb_context* usbctx;
-	struct libusb_device_handle * udev[MAX_USB_DEVS];
-	struct SurviveUSBInterface uiface[MAX_INTERFACES];
-
 	text_feedback_func faultfunction;
 	text_feedback_func notefunction;
 	light_process_func lightproc;
 	imu_process_func imuproc;
 	angle_process_func angleproc;
 
-
 	//Calibration data:
 	struct BaseStationData bsd[NUM_LIGHTHOUSES];
 
 	struct SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
 
-	//Data Subsystem.  These should be last, as there may be additional surviveobjects.
-	struct SurviveObject headset;
-	struct SurviveObject watchman[2]; //Currently only two supported watchmen.
+	struct SurviveObject ** objs;
+	int objs_ct;
 
+	void ** drivers;
+	DeviceDriverCb * driverpolls;
+	DeviceDriverCb * drivercloses;
+	DeviceDriverMagicCb * drivermagics;
+	int driver_ct;
 };
 
+int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj );
+
+void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
+
+//For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
+struct LightcapElement
+{
+	uint8_t sensor_id;
+	uint8_t type;
+	uint16_t length;
+	uint32_t timestamp;
+} __attribute__((packed));
+
+//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
+void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le );
 
-//USB Subsystem 
-void survive_usb_close( struct SurviveContext * t );
-int survive_usb_init( struct SurviveContext * t );
-int survive_usb_poll( struct SurviveContext * ctx );
-int survive_get_config( char ** config, struct SurviveContext * ctx, int devno, int interface, int send_extra_magic );
 
 //Accept Data from backend.
 void survive_data_cb( struct SurviveUSBInterface * si );