diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/poser_dummy.c | 52 | ||||
-rw-r--r-- | src/survive.c | 77 | ||||
-rw-r--r-- | src/survive_cal.c | 10 | ||||
-rw-r--r-- | src/survive_cal.h | 16 | ||||
-rw-r--r-- | src/survive_cal_lhfind.c | 14 | ||||
-rw-r--r-- | src/survive_config.c | 243 | ||||
-rw-r--r-- | src/survive_config.h | 23 | ||||
-rw-r--r-- | src/survive_data.c | 13 | ||||
-rw-r--r-- | src/survive_driverman.c | 2 | ||||
-rw-r--r-- | src/survive_driverman.h | 38 | ||||
-rw-r--r-- | src/survive_internal.h | 94 | ||||
-rw-r--r-- | src/survive_process.c | 39 | ||||
-rw-r--r-- | src/survive_vive.c | 98 |
13 files changed, 457 insertions, 262 deletions
diff --git a/src/poser_dummy.c b/src/poser_dummy.c new file mode 100644 index 0000000..67f8edb --- /dev/null +++ b/src/poser_dummy.c @@ -0,0 +1,52 @@ +#include <survive.h> +#include <stdio.h> +#include <stdlib.h> + +typedef struct +{ + int something; + //Stuff +} DummyData; + +int PoserDummy( SurviveObject * so, PoserData * pd ) +{ + PoserType pt = pd->pt; + SurviveContext * ctx = so->ctx; + DummyData * dd = so->PoserData; + + if( !dd ) so->PoserData = dd = malloc( sizeof( DummyData ) ); + + switch( pt ) + { + case POSERDATA_IMU: + { + PoserDataIMU * imu = (PoserDataIMU*)pd; + //printf( "IMU:%s (%f %f %f) (%f %f %f)\n", so->codename, imu->accel[0], imu->accel[1], imu->accel[2], imu->gyro[0], imu->gyro[1], imu->gyro[2] ); + break; + } + case POSERDATA_LIGHT: + { + PoserDataLight * l = (PoserDataLight*)pd; + //printf( "LIG:%s %d @ %f rad, %f s (AC %d) (TC %d)\n", so->codename, l->sensor_id, l->angle, l->length, l->acode, l->timecode ); + break; + } + case POSERDATA_FULL_SCENE: + { + PoserDataFullScene * fs = (PoserDataFullScene*)pd; + //printf( "Full scene data.\n" ); + break; + } + case POSERDATA_DISASSOCIATE: + { + free( dd ); + so->PoserData = 0; + //printf( "Need to disassociate.\n" ); + break; + } + } + +} + + +REGISTER_LINKTIME( PoserDummy ); + diff --git a/src/survive.c b/src/survive.c index 9bc1a2c..09eb432 100644 --- a/src/survive.c +++ b/src/survive.c @@ -3,12 +3,13 @@ #include <survive.h> #include "survive_internal.h" -#include "survive_driverman.h" #include <stdio.h> #include <stdlib.h> #include <string.h> #include <zlib.h> +#include "survive_config.h" + static void survivefault( struct SurviveContext * ctx, const char * fault ) { fprintf( stderr, "Error: %s\n", fault ); @@ -21,11 +22,19 @@ static void survivenote( struct SurviveContext * ctx, const char * fault ) } -struct SurviveContext * survive_init( int headless ) +SurviveContext * survive_init( int headless ) { int r = 0; int i = 0; - struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) ); + SurviveContext * ctx = calloc( 1, sizeof( SurviveContext ) ); + + ctx->global_config_values = malloc( sizeof(config_group) ); + ctx->lh_config = malloc( sizeof(config_group) * NUM_LIGHTHOUSES); + + init_config_group(ctx->global_config_values,10); + init_config_group(ctx->lh_config,10); + + config_read(ctx, "config.json"); ctx->faultfunction = survivefault; ctx->notefunction = survivenote; @@ -36,7 +45,6 @@ struct SurviveContext * survive_init( int headless ) const char * DriverName; while( ( DriverName = GetDriverNameMatching( "DriverReg", i++ ) ) ) - { DeviceDriver dd = GetDriver( DriverName ); printf( "Loading driver %s (%p) (%d)\n", DriverName, dd, i ); @@ -44,10 +52,34 @@ struct SurviveContext * survive_init( int headless ) printf( "Driver %s reports status %d\n", DriverName, r ); } + i = 0; + const char * PreferredPoser = config_read_str( ctx->global_config_values, "DefualtPoser", "PoserDummy" ); + PoserCB PreferredPoserCB = 0; + const char * FirstPoser = 0; + printf( "Available posers:\n" ); + while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) ) + { + PoserCB p = GetDriver( DriverName ); + if( !PreferredPoserCB ) PreferredPoserCB = p; + int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0; + printf( "\t%c%s\n", ThisPoser?'*':' ', DriverName ); + if( ThisPoser ) PreferredPoserCB = p; + } + printf( "Totals %d posers. Using selected poser (or first!).\n", i-1 ); + if( !PreferredPoserCB ) + { + SV_ERROR( "Error. Cannot find any valid poser." ); + } + + for( i = 0; i < ctx->objs_ct; i++ ) + { + ctx->objs[i]->PoserFn = PreferredPoserCB; + } + return ctx; } -void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ) +void survive_install_info_fn( SurviveContext * ctx, text_feedback_func fbp ) { if( fbp ) ctx->notefunction = fbp; @@ -55,7 +87,7 @@ void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func f ctx->notefunction = survivenote; } -void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ) +void survive_install_error_fn( SurviveContext * ctx, text_feedback_func fbp ) { if( fbp ) ctx->faultfunction = fbp; @@ -63,7 +95,7 @@ void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func ctx->faultfunction = survivefault; } -void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp ) +void survive_install_light_fn( SurviveContext * ctx, light_process_func fbp ) { if( fbp ) ctx->lightproc = fbp; @@ -71,7 +103,7 @@ void survive_install_light_fn( struct SurviveContext * ctx, light_process_func f ctx->lightproc = survive_default_light_process; } -void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp ) +void survive_install_imu_fn( SurviveContext * ctx, imu_process_func fbp ) { if( fbp ) ctx->imuproc = fbp; @@ -80,7 +112,7 @@ void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp } -void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func fbp ) +void survive_install_angle_fn( SurviveContext * ctx, angle_process_func fbp ) { if( fbp ) ctx->angleproc = fbp; @@ -88,15 +120,15 @@ void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func ctx->angleproc = survive_default_angle_process; } -int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj ) +int survive_add_object( SurviveContext * ctx, SurviveObject * obj ) { int oldct = ctx->objs_ct; - ctx->objs = realloc( ctx->objs, sizeof( struct SurviveObject * ) * (oldct+1) ); + ctx->objs = realloc( ctx->objs, sizeof( SurviveObject * ) * (oldct+1) ); ctx->objs[oldct] = obj; ctx->objs_ct = oldct+1; } -void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic ) +void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic ) { int oldct = ctx->driver_ct; ctx->drivers = realloc( ctx->drivers, sizeof( void * ) * (oldct+1) ); @@ -110,7 +142,7 @@ void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriv ctx->driver_ct = oldct+1; } -int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen ) +int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen ) { int oldct = ctx->driver_ct; int i; @@ -120,7 +152,7 @@ int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data } } -void survive_close( struct SurviveContext * ctx ) +void survive_close( SurviveContext * ctx ) { const char * DriverName; int r = 0; @@ -134,16 +166,33 @@ void survive_close( struct SurviveContext * ctx ) int oldct = ctx->driver_ct; int i; + + for( i = 0; i < ctx->objs_ct; i++ ) + { + PoserData pd; + pd.pt = POSERDATA_DISASSOCIATE; + if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd ); + } + for( i = 0; i < oldct; i++ ) { ctx->drivercloses[i]( ctx, ctx->drivers[i] ); } + + config_save(ctx, "config.json"); + + destroy_config_group(ctx->global_config_values); + destroy_config_group(ctx->lh_config); + free( ctx->objs ); free( ctx->drivers ); free( ctx->driverpolls ); free( ctx->drivermagics ); free( ctx->drivercloses ); + free( ctx->global_config_values ); + free( ctx->lh_config ); + free( ctx ); } diff --git a/src/survive_cal.c b/src/survive_cal.c index f372309..06914eb 100644 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -27,8 +27,8 @@ static void reset_calibration( struct SurviveCalData * cd ); void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) { - struct SurviveContext * ctx = (struct SurviveContext*)(ct->user); - struct SurviveCalData * cd = ctx->calptr; + SurviveContext * ctx = (SurviveContext*)(ct->user); + SurviveCalData * cd = ctx->calptr; int id = ct->user1; SV_INFO( "Got OOTX packet %d %p", id, cd ); @@ -36,7 +36,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) lighthouse_info_v6 v6; init_lighthouse_info_v6(&v6, packet->data); - struct BaseStationData * b = &ctx->bsd[id]; + BaseStationData * b = &ctx->bsd[id]; //print_lighthouse_info_v6(&v6); b->BaseStationID = v6.id; @@ -52,8 +52,8 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) b->fcalgibmag[1] = v6.fcal_1_gibmag; b->OOTXSet = 1; - config_set_lighthouse(b,id); - config_save("config.json"); + config_set_lighthouse(ctx->lh_config,b,id); +// config_save("config.json"); } int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length ) diff --git a/src/survive_cal.h b/src/survive_cal.h index bb4eb32..dd2a1e2 100644 --- a/src/survive_cal.h +++ b/src/survive_cal.h @@ -2,6 +2,8 @@ // All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr. +//XXX XXX XXX Warning: This subsystem will likely be mostly re-written. + #ifndef _SURVIVE_CAL_H #define _SURVIVE_CAL_H @@ -21,21 +23,21 @@ #include "ootx_decoder.h" #include "survive_internal.h" -void survive_cal_install( struct SurviveContext * ctx ); -int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length ); +void survive_cal_install( SurviveContext * ctx ); +int survive_cal_get_status( SurviveContext * ctx, char * description, int description_length ); //void survive_cal_teardown( struct SurviveContext * ctx ); //Called from survive_default_light_process -void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); -void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); +void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); #define MAX_SENSORS_TO_CAL 96 #define DRPTS 1024 #define MAX_CAL_PT_DAT (MAX_SENSORS_TO_CAL*NUM_LIGHTHOUSES*2) struct SurviveCalData { - struct SurviveContext * ctx; + SurviveContext * ctx; //OOTX Data is sync'd off of the sync pulses coming from the lighthouses. ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES]; @@ -57,7 +59,7 @@ struct SurviveCalData int senid_of_checkpt; //This is a point on a watchman that can be used to check the lh solution. - struct SurviveObject * hmd; + SurviveObject * hmd; //Stage: // 0: Idle @@ -68,7 +70,7 @@ struct SurviveCalData //The following function is not included in the core survive_cal and must be compiled from a camfind file. //It should use data for stage 4 and report if it found the -int survive_cal_lhfind( struct SurviveCalData * cd ); +int survive_cal_lhfind( SurviveCalData * cd ); #endif diff --git a/src/survive_cal_lhfind.c b/src/survive_cal_lhfind.c index 93d9dc0..a1bb2cc 100644 --- a/src/survive_cal_lhfind.c +++ b/src/survive_cal_lhfind.c @@ -7,13 +7,13 @@ #define MIN_HITS_FOR_VALID 10 -FLT static RunOpti( struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat ); +FLT static RunOpti( SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat ); //Values used for RunTest() -int survive_cal_lhfind( struct SurviveCalData * cd ) +int survive_cal_lhfind( SurviveCalData * cd ) { - struct SurviveContext * ctx = cd->ctx; + SurviveContext * ctx = cd->ctx; int cycle, i; int lh = 0; FLT dx, dy, dz; @@ -137,8 +137,8 @@ int survive_cal_lhfind( struct SurviveCalData * cd ) } cd->ctx->bsd[lh].PositionSet = 1; - copy3d( cd->ctx->bsd[lh].Position, LighthousePos ); - quatcopy( cd->ctx->bsd[lh].Quaternion, LighthouseQuat ); + copy3d( cd->ctx->bsd[lh].Pose.Pos, LighthousePos ); + quatcopy( cd->ctx->bsd[lh].Pose.Rot, LighthouseQuat ); } return 0; //Return 0 if success. @@ -149,14 +149,14 @@ int survive_cal_lhfind( struct SurviveCalData * cd ) -static FLT RunOpti( struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat ) +static FLT RunOpti( SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat ) { int i, p; FLT UsToTarget[3]; FLT LastUsToTarget[3]; FLT mux = .9; quatsetnone( LighthouseQuat ); - struct SurviveObject * hmd = cd->hmd; + SurviveObject * hmd = cd->hmd; FLT * hmd_points = hmd->sensor_locations; FLT * hmd_normals = hmd->sensor_normals; diff --git a/src/survive_config.c b/src/survive_config.c index c46e300..3f0f199 100644 --- a/src/survive_config.c +++ b/src/survive_config.c @@ -4,55 +4,89 @@ #include "survive_config.h" #include <json_helpers.h> -#define MAX_CONFIG_ENTRIES 100 -#define MAX_LIGHTHOUSES 2 +#include <errno.h> +//#define MAX_CONFIG_ENTRIES 100 +//#define MAX_LIGHTHOUSES 2 - -config_group global_config_values; -config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs +//config_group global_config_values; +//config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs //static uint16_t used_entries = 0; -static FILE *config_file = NULL; +//static FILE *config_file = NULL; const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count); +void init_config_entry(config_entry* ce) { + ce->data = NULL; + ce->tag = NULL; + ce->type = CONFIG_UNKNOWN; + ce->elements = 0; +} + +void destroy_config_entry(config_entry* ce) { + if (ce->tag!=NULL) { free(ce->tag); ce->tag=NULL; } + if (ce->data!=NULL) { free(ce->data); ce->data=NULL; } +} + void init_config_group(config_group *cg, uint16_t count) { uint16_t i = 0; - cg->config_entries = malloc(count*sizeof(config_entry)); cg->used_entries = 0; cg->max_entries = count; + cg->config_entries = NULL; + + if (count==0) return; + + cg->config_entries = malloc(count*sizeof(config_entry)); for (i=0;i<count;++i) { - cg->config_entries[i].data = NULL; - cg->config_entries[i].tag = NULL; - cg->config_entries[i].type = CONFIG_UNKNOWN; - cg->config_entries[i].elements = 0; + init_config_entry(cg->config_entries+i); } } -void config_init() { +void destroy_config_group(config_group* cg) { uint16_t i = 0; - init_config_group(&global_config_values, MAX_CONFIG_ENTRIES); - for(i=0;i<MAX_LIGHTHOUSES;i++) { - init_config_group(lh_config+i, 9); + if (cg->config_entries==NULL) return; + + for (i=0;i<cg->max_entries;++i) { + destroy_config_entry(cg->config_entries+i); } + + free(cg->config_entries); } -void config_load(const char* path) { - config_file = fopen(path, "r"); +void resize_config_group(config_group *cg, uint16_t count) { + uint16_t i = 0; + + if (count > cg->max_entries) { + config_entry* ptr = realloc(cg->config_entries, sizeof(config_entry)*count); + assert(ptr!=NULL); + + cg->config_entries = ptr; + + for (i=cg->max_entries;i<count;++i) { + init_config_entry(cg->config_entries+i); + } + + cg->max_entries = count; + } } -void config_close() { - fclose(config_file); +/* +void config_init() { + uint16_t i = 0; + init_config_group(&global_config_values, MAX_CONFIG_ENTRIES); + for(i=0;i<MAX_LIGHTHOUSES;i++) { + init_config_group(lh_config+i, 9); + } } +*/ -void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) { +void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx) { config_group *cg = lh_config+idx; config_set_uint32(cg,"index", idx); config_set_uint32(cg,"id", bsd->BaseStationID); - config_set_float_a(cg,"position", bsd->Position, 3); - config_set_float_a(cg,"quaternion", bsd->Quaternion, 4); + config_set_float_a(cg,"pose", &bsd->Pose.Pos[0], 7); config_set_float_a(cg,"fcalphase", bsd->fcalphase, 2); config_set_float_a(cg,"fcaltilt", bsd->fcaltilt,2); config_set_float_a(cg,"fcalcurve", bsd->fcalcurve,2); @@ -64,11 +98,10 @@ void sstrcpy(char** dest, const char *src) { uint32_t len = strlen(src)+1; assert(dest!=NULL); - if (*dest == NULL) { - *dest = (char*)malloc(len); - } else { - *dest = (char*)realloc(*dest, len); - } + char* ptr = (char*)realloc(*dest, len); //acts like malloc if dest==NULL + assert(ptr!=NULL); + *dest = ptr; + strcpy(*dest,src); } @@ -106,9 +139,29 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) { return config_set_float(cg, tag, def); } +uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count) { + config_entry *cv = find_config_entry(cg, tag); + + if (cv != NULL) { + *values = (FLT*)cv->data; + return cv->elements; + } + + if (def == NULL) return 0; + + config_set_float_a(cg, tag, def, count); + *values = def; + return count; +} + config_entry* next_unused_entry(config_group *cg) { - config_entry *cv = cg->config_entries + cg->used_entries; - assert(cg->used_entries < cg->max_entries); + config_entry *cv = NULL; +// assert(cg->used_entries < cg->max_entries); + + if (cg->used_entries >= cg->max_entries) resize_config_group(cg, cg->max_entries + 10); + + cv = cg->config_entries + cg->used_entries; + cg->used_entries++; return cv; } @@ -152,12 +205,10 @@ const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* valu sstrcpy(&(cv->tag), tag); - if (cv->data == NULL) { - cv->data = (char*)malloc(sizeof(FLT)*count); - } - else { - cv->data = (char*)realloc(cv->data, sizeof(FLT)*count); - } + char* ptr = (char*)realloc(cv->data, sizeof(FLT)*count); + assert(ptr!=NULL); + cv->data = ptr; + printf("float array\n"); memcpy(cv->data,values,sizeof(FLT)*count); @@ -201,15 +252,129 @@ void write_config_group(FILE* f, config_group *cg, char *tag) { } } -void config_save(const char* path) { +//struct SurviveContext; +SurviveContext* survive_context; + +void config_save(SurviveContext* sctx, const char* path) { uint16_t i = 0; FILE* f = fopen(path, "w"); - write_config_group(f,&global_config_values, NULL); - write_config_group(f,lh_config, "lighthouse0"); - write_config_group(f,lh_config+1, "lighthouse1"); + write_config_group(f,sctx->global_config_values, NULL); + write_config_group(f,sctx->lh_config, "lighthouse0"); + write_config_group(f,sctx->lh_config+1, "lighthouse1"); fclose(f); } +void print_json_value(char* tag, char** values, uint16_t count) { + uint16_t i = 0; + for (i=0;i<count; ++i) { + printf("%s:%s \n", tag, values[i]); + } +} + +config_group* cg_stack[10]; //handle 10 nested objects deep +uint8_t cg_stack_head = 0; + +void handle_config_group(char* tag) { + cg_stack_head++; + if (strcmp("lighthouse0",tag) == 0) { + cg_stack[cg_stack_head] = survive_context->lh_config; + } else if (strcmp("lighthouse1",tag) == 0) { + cg_stack[cg_stack_head] = survive_context->lh_config+1; + } else { + cg_stack[cg_stack_head] = survive_context->global_config_values; + } +} + +void pop_config_group() { + cg_stack_head--; +} + + +int parse_floats(char* tag, char** values, uint16_t count) { + uint16_t i = 0; + FLT f[count]; + char* end = NULL; + config_group* cg = cg_stack[cg_stack_head]; + + for(i=0;i<count;++i) { + + #ifdef USE_DOUBLE + f[i] = strtod(values[i], &end); + #else + f[i] = strtof(values[i], &end); + #endif + +// if (values[i] == end) return 0; //not a float + if (*end != '\0') return 0; //not an integer + } + + if (count>1) { + config_set_float_a(cg, tag, f, count); + } + else { + config_set_float(cg, tag, f[0]); + } + + return 1; +} + +int parse_uint32(char* tag, char** values, uint16_t count) { + uint16_t i = 0; + uint32_t l[count]; + char* end = NULL; + config_group* cg = cg_stack[cg_stack_head]; + +/* + //look for non numeric values + for(end=values[0];*end!='\0';++end) { + if ((*end<48) || (*end>57)) return 0; + } + + end=NULL; +*/ + for(i=0;i<count;++i) { + l[i] = strtol(values[i], &end, 10); +// if (values[i] == end) return 0; //not an integer + if (*end != '\0') return 0; //not an integer + } + +// if (count>1) +// config_set_uint32_array(cg, tag, f, count); +// else + config_set_uint32(cg, tag, l[0]); + + return 1; +} + +void handle_tag_value(char* tag, char** values, uint16_t count) { + print_json_value(tag,values,count); + config_group* cg = cg_stack[cg_stack_head]; + + if (parse_uint32(tag,values,count) > 0) return; //parse integers first, stricter rules + + if (parse_floats(tag,values,count) > 0) return; + + //should probably also handle string arrays + config_set_str(cg,tag,values[0]); +// else if (count>1) config_set_str +} + +void config_read(SurviveContext* sctx, const char* path) { + survive_context = sctx; + + json_begin_object = handle_config_group; + json_end_object = pop_config_group; + json_tag_value = handle_tag_value; + + cg_stack[0] = sctx->global_config_values; + + json_load_file(path); + + json_begin_object = NULL; + json_end_object = NULL; + json_tag_value = NULL; +} + diff --git a/src/survive_config.h b/src/survive_config.h index 14e2fc6..c8c7762 100644 --- a/src/survive_config.h +++ b/src/survive_config.h @@ -26,29 +26,34 @@ typedef struct { uint32_t elements; } config_entry; -typedef struct { +typedef struct config_group { config_entry *config_entries; uint16_t used_entries; uint16_t max_entries; } config_group; -extern config_group global_config_values; -extern config_group lh_config[2]; //lighthouse configs +//extern config_group global_config_values; +//extern config_group lh_config[2]; //lighthouse configs + +void init_config_group(config_group *cg, uint16_t count); +void destroy_config_group(config_group* cg); +//void config_init(); +//void config_open(const char* path, const char* mode); -void config_init(); -void config_open(const char* path, const char* mode); -void config_close(); //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length); -void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx); +void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx); + +void config_read(SurviveContext* sctx, const char* path); +void config_save(SurviveContext* sctx, const char* path); -void config_save(const char* path); const FLT config_set_float(config_group *cg, const char *tag, const FLT value); const uint32_t config_set_uint32(config_group *cg, const char *tag, const uint32_t value); const char* config_set_str(config_group *cg, const char *tag, const char* value); FLT config_read_float(config_group *cg, const char *tag, const FLT def); +uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count); uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def); const char* config_read_str(config_group *cg, const char *tag, const char *def); -#endif
\ No newline at end of file +#endif diff --git a/src/survive_data.c b/src/survive_data.c index e55b640..63cc5c2 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -6,12 +6,19 @@ #include <string.h> //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 ) +void handle_lightcap( SurviveObject * so, LightcapElement * le ) { - struct SurviveContext * ctx = so->ctx; + SurviveContext * ctx = so->ctx; //int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; -// printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl ); + //if( so->codename[0] != 'H' ) + //printf( "*** %s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl ); + + if( le->sensor_id > SENSORS_PER_OBJECT ) + { + return; + } + so->tsl = le->timestamp; if( le->length < 20 ) return; ///Assuming 20 is an okay value for here. diff --git a/src/survive_driverman.c b/src/survive_driverman.c index 8cdfb71..d694e64 100644 --- a/src/survive_driverman.c +++ b/src/survive_driverman.c @@ -3,7 +3,7 @@ // See notice in survive_driverman.h // -#include "survive_driverman.h" +#include "survive_internal.h" #include <string.h> #include <stdio.h> diff --git a/src/survive_driverman.h b/src/survive_driverman.h deleted file mode 100644 index 5e13caf..0000000 --- a/src/survive_driverman.h +++ /dev/null @@ -1,38 +0,0 @@ -// (C) 2017 <>< C. N. Lohr, Under MIT/x11 License. -// -// This file is intended to be used for self-registering functions. By using -// this it means that you do not need to have complicated switch statements or -// #defines for dfferent inclusion of drivers/other code. You can simply -// register your function and it will be put into a list. -// -// - -#ifndef SURVIVE_DRIVERMAN_H -#define SURVIVE_DRIVERMAN_H - -//Driver registration -#define MAX_DRIVERS 32 - -void RegisterDriver( const char * name, void * data ); -void * GetDriver( const char * name ); -const char * GetDriverNameMatching( const char * prefix, int place ); -void ListDrivers(); - -#define REGISTER_LINKTIME( func ) \ - void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); } - - -// -// Specific types of drivers. -// - -struct SurviveContext; - -//Device drivers (prefix your drivers with "DriverReg") i.e. -// REGISTER_LINKTIME( DriverRegHTCVive ); -typedef int (*DeviceDriver)( struct SurviveContext * ctx ); - -//more driver types here? i.e. posefinders, etc. - -#endif - diff --git a/src/survive_internal.h b/src/survive_internal.h index 5962623..392104a 100644 --- a/src/survive_internal.h +++ b/src/survive_internal.h @@ -1,15 +1,5 @@ -//<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License. +//<>< (C) 2016-2017 C. N. Lohr, MOSTLY Under MIT/x11 License. // -//Based off of https://github.com/collabora/OSVR-Vive-Libre -// Originally Copyright 2016 Philipp Zabel -// Originally Copyright 2016 Lubosz Sarnecki <lubosz.sarnecki@collabora.co.uk> -// Originally Copyright (C) 2013 Fredrik Hultin -// Originally Copyright (C) 2013 Jakob Bornecrantz -// -//But, re-written as best as I can to get it put under an open souce license instead of a forced-source license. -//If there are portions of the code too similar to the original, I would like to know so they can be re-written. -//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. - #ifndef _SURVIVE_INTERNAL_H #define _SURVIVE_INTERNAL_H @@ -17,88 +7,16 @@ #include <stdlib.h> #include <stdio.h> #include <stdint.h> -#include "survive_driverman.h" #include <zlib.h> #include <survive.h> -#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); } -#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); } - -//XXX TODO This one needs to be rewritten. -#define SV_KILL() exit(0) - -#define INTBUFFSIZE 64 -#define SENSORS_PER_OBJECT 32 - -struct SurviveContext; -struct SurviveUSBInterface; - -typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver ); -typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen ); - - -//This is defined in survive.h -struct SurviveObject; -struct SurviveCalData; - -struct BaseStationData -{ - uint8_t PositionSet:1; - FLT Position[3]; - FLT Quaternion[4]; - - uint8_t OOTXSet:1; - uint32_t BaseStationID; - FLT fcalphase[2]; - FLT fcaltilt[2]; - FLT fcalcurve[2]; - FLT fcalgibpha[2]; - FLT fcalgibmag[2]; -}; - -struct SurviveContext -{ - 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. - - 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 ); - -//Accept Data from backend. -void survive_data_cb( struct SurviveUSBInterface * si ); +//Driver registration +#define MAX_DRIVERS 32 +void * GetDriver( const char * name ); +const char * GetDriverNameMatching( const char * prefix, int place ); +void ListDrivers(); #endif diff --git a/src/survive_process.c b/src/survive_process.c index 75453da..2fea99d 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -6,9 +6,9 @@ //XXX TODO: Once data is avialble in the context, use the stuff here to handle converting from time codes to //proper angles, then from there perform the rest of the solution. -void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ) +void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ) { - struct SurviveContext * ctx = so->ctx; + SurviveContext * ctx = so->ctx; int base_station = acode >> 2; int axis = acode & 1; @@ -25,7 +25,7 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in //Need to now do angle correction. #if 1 - struct BaseStationData * bsd = &ctx->bsd[base_station]; + BaseStationData * bsd = &ctx->bsd[base_station]; //XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18 angle += bsd->fcalphase[axis]; @@ -39,20 +39,41 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in } -void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) +void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) { - struct SurviveContext * ctx = so->ctx; + SurviveContext * ctx = so->ctx; if( ctx->calptr ) { survive_cal_angle( so, sensor_id, acode, timecode, length, angle ); } - - //TODO: Writeme! + if( so->PoserFn ) + { + PoserDataLight l = { + .pt = POSERDATA_LIGHT, + .sensor_id = sensor_id, + .acode = acode, + .timecode = timecode, + .length = length, + .angle = angle, + }; + so->PoserFn( so, (PoserData *)&l ); + } } -void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ) +void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id ) { - //TODO: Writeme! + if( so->PoserFn ) + { + PoserDataIMU imu = { + .pt = POSERDATA_IMU, + .datamask = mask, + .accel = { accelgyromag[0], accelgyromag[1], accelgyromag[2] }, + .gyro = { accelgyromag[3], accelgyromag[4], accelgyromag[5] }, + .mag = { accelgyromag[6], accelgyromag[7], accelgyromag[8] }, + .timecode = timecode, + }; + so->PoserFn( so, (PoserData *)&imu ); + } } diff --git a/src/survive_vive.c b/src/survive_vive.c index 47886c9..7da2897 100644 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -10,27 +10,18 @@ //If there are portions of the code too similar to the original, I would like to know so they can be re-written. //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. -#include "survive_internal.h" -#include "survive_driverman.h" +#include <survive.h> #include <jsmn.h> - -#include "survive_internal.h" #include <libusb-1.0/libusb.h> #include <stdio.h> -#include <unistd.h> //sleep if I ever use it. +#include <stdlib.h> +#include <unistd.h> #include <errno.h> #include <string.h> #include <sys/stat.h> struct SurviveViveData; -//USB Subsystem -void survive_usb_close( struct SurviveContext * t ); -int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1 ); -int survive_usb_poll( struct SurviveContext * ctx ); -int survive_get_config( char ** config, struct SurviveViveData * ctx, int devno, int interface, int send_extra_magic ); - - const short vidpids[] = { 0x0bb4, 0x2c87, 0, //The main HTC HMD device 0x28de, 0x2000, 0, //Valve lighthouse @@ -60,15 +51,18 @@ const char * devnames[] = { #define USB_IF_LIGHTCAP 4 #define MAX_INTERFACES 5 -typedef void (*usb_callback)( struct SurviveUSBInterface * ti ); +typedef struct SurviveUSBInterface SurviveUSBInterface; +typedef struct SurviveViveData SurviveViveData; + +typedef void (*usb_callback)( SurviveUSBInterface * ti ); struct SurviveUSBInterface { - struct SurviveViveData * sv; - struct SurviveContext * ctx; + SurviveViveData * sv; + SurviveContext * ctx; struct libusb_transfer * transfer; - struct SurviveObject * assoc_obj; + SurviveObject * assoc_obj; int actual_len; uint8_t buffer[INTBUFFSIZE]; usb_callback cb; @@ -78,16 +72,24 @@ struct SurviveUSBInterface struct SurviveViveData { - struct SurviveContext * ctx; + SurviveContext * ctx; //XXX TODO: UN-STATICIFY THIS. - struct SurviveUSBInterface uiface[MAX_INTERFACES]; + SurviveUSBInterface uiface[MAX_INTERFACES]; //USB Subsystem struct libusb_context* usbctx; struct libusb_device_handle * udev[MAX_USB_DEVS]; }; +void survive_data_cb( SurviveUSBInterface * si ); + +//USB Subsystem +void survive_usb_close( SurviveContext * t ); +int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1 ); +int survive_usb_poll( SurviveContext * ctx ); +int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int interface, int send_extra_magic ); + @@ -115,10 +117,10 @@ static void handle_transfer(struct libusb_transfer* transfer) -static int AttachInterface( struct SurviveViveData * sv, struct SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname ) +static int AttachInterface( SurviveViveData * sv, SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname ) { - struct SurviveContext * ctx = sv->ctx; - struct SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i]; + SurviveContext * ctx = sv->ctx; + SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i]; iface->ctx = ctx; iface->sv = sv; iface->which_interface_am_i = which_interface_am_i; @@ -593,7 +595,13 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata ) if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset. { propset |= 2; - w->ctx->imuproc( w, (int16_t *)&readdata[1], (time1<<24)|(time2<<16)|readdata[0], 0 ); + //XXX XXX BIG TODO!!! Actually recal gyro data. + FLT agm[9] = { readdata[1], readdata[2], readdata[3], + readdata[4], readdata[5], readdata[6], + 0,0,0 }; + + w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 ); + int16_t * k = (int16_t *)readdata+1; //printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] ); readdata += 13; qty -= 13; @@ -680,7 +688,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata ) } - struct LightcapElement les[10]; + LightcapElement les[10]; int lese = 0; //les's end //Second, go through all LEDs and extract the lightevent from them. @@ -711,7 +719,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata ) //reverse sorted, but that is to minimize operations. To read it //in sorted order simply read it back backwards. //Use insertion sort, since we should most of the time, be in order. - struct LightcapElement * le = &les[lese++]; + LightcapElement * le = &les[lese++]; le->sensor_id = led; le->type = 0xfe; @@ -725,7 +733,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata ) int swap = lese-2; while( swap >= 0 && les[swap].timestamp < les[swap+1].timestamp ) { - struct LightcapElement l; + LightcapElement l; memcpy( &l, &les[swap], sizeof( l ) ); memcpy( &les[swap], &les[swap+1], sizeof( l ) ); memcpy( &les[swap+1], &l, sizeof( l ) ); @@ -744,17 +752,17 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata ) return; end: { - struct SurviveContext * ctx = w->ctx; + SurviveContext * ctx = w->ctx; SV_INFO( "Light decoding fault: %d\n", fault ); } } } -void survive_data_cb( struct SurviveUSBInterface * si ) +void survive_data_cb( SurviveUSBInterface * si ) { int size = si->actual_len; - struct SurviveContext * ctx = si->ctx; + SurviveContext * ctx = si->ctx; #if 0 int i; printf( "%16s: %d: ", si->hname, len ); @@ -767,7 +775,7 @@ void survive_data_cb( struct SurviveUSBInterface * si ) #endif int iface = si->which_interface_am_i; - struct SurviveObject * obj = si->assoc_obj; + SurviveObject * obj = si->assoc_obj; uint8_t * readdata = si->buffer; int id = POP1; @@ -808,7 +816,13 @@ void survive_data_cb( struct SurviveUSBInterface * si ) if( cd > 0 ) { obj->oldcode = code; - ctx->imuproc( obj, acceldata, timecode, code ); + + //XXX XXX BIG TODO!!! Actually recal gyro data. + FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2], + acceldata[3], acceldata[4], acceldata[5], + 0,0,0 }; + + ctx->imuproc( obj, 3, agm, timecode, code ); } } @@ -818,7 +832,7 @@ void survive_data_cb( struct SurviveUSBInterface * si ) case USB_IF_WATCHMAN1: case USB_IF_WATCHMAN2: { - struct SurviveObject * w = obj; + SurviveObject * w = obj; if( id == 35 ) { handle_watchman( w, readdata); @@ -844,7 +858,7 @@ void survive_data_cb( struct SurviveUSBInterface * si ) int i; for( i = 0; i < 7; i++ ) { - handle_lightcap( obj, (struct LightcapElement*)&readdata[i*8] ); + handle_lightcap( obj, (LightcapElement*)&readdata[i*8] ); } break; } @@ -875,7 +889,7 @@ static int jsoneq(const char *json, jsmntok_t *tok, const char *s) { } -static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i ) +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; @@ -914,9 +928,9 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, return 0; } -static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, int devno, int iface, int extra_magic ) +static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int iface, int extra_magic ) { - struct SurviveContext * ctx = sv->ctx; + SurviveContext * ctx = sv->ctx; char * ct0conf = 0; int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic ); @@ -1002,21 +1016,21 @@ static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, i } -int survive_vive_close( struct SurviveContext * ctx, void * driver ) +int survive_vive_close( SurviveContext * ctx, void * driver ) { - struct SurviveViveData * sv = driver; + SurviveViveData * sv = driver; survive_vive_usb_close( sv ); } -int DriverRegHTCVive( struct SurviveContext * ctx ) +int DriverRegHTCVive( SurviveContext * ctx ) { int i, r; - struct SurviveObject * hmd = calloc( 1, sizeof( struct SurviveObject ) ); - struct SurviveObject * wm0 = calloc( 1, sizeof( struct SurviveObject ) ); - struct SurviveObject * wm1 = calloc( 1, sizeof( struct SurviveObject ) ); - struct SurviveViveData * sv = calloc( 1, sizeof( struct SurviveViveData ) ); + SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) ); + SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) ); + SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) ); + SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) ); sv->ctx = ctx; |