From 280a6599fea76a7d2c16cfe0fcc5c8f37fde66de Mon Sep 17 00:00:00 2001 From: mwturvey Date: Thu, 23 Mar 2017 09:47:38 -0700 Subject: More cleanup --- calibrate.c | 2 +- data_recorder.c | 2 +- include/libsurvive/survive.h | 2 +- include/libsurvive/survive_types.h | 2 +- src/survive_cal.c | 2 +- src/survive_cal.h | 2 +- src/survive_data.c | 96 +++++++++++++++++++------------------- src/survive_process.c | 2 +- src/survive_vive.c | 2 +- 9 files changed, 57 insertions(+), 55 deletions(-) diff --git a/calibrate.c b/calibrate.c index 0f2d6ac..82869e0 100644 --- a/calibrate.c +++ b/calibrate.c @@ -51,7 +51,7 @@ int bufferpts[32*2*3][2]; char buffermts[32*128*3]; int buffertimeto[32*3][2]; -void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, int lh) +void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) { // if( timeinsweep < 0 ) return; survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh); diff --git a/data_recorder.c b/data_recorder.c index 6432f4f..04a219a 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -43,7 +43,7 @@ int bufferpts[32*2*3]; char buffermts[32*128*3]; int buffertimeto[32*3]; -void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, int lh) +void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) { survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh); diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index c3b6a03..1165e9d 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -130,7 +130,7 @@ void survive_cal_install( SurviveContext * ctx ); //XXX This will be removed if //Call these from your callback if overridden. //Accept higher-level data. -void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length , int lh); +void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length , uint32_t lh); void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, uint32_t timecode, int id ); void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 1600e11..def30b8 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -28,7 +28,7 @@ typedef struct BaseStationData BaseStationData; typedef struct SurviveCalData SurviveCalData; //XXX Warning: This may be removed. Check at a later time for its defunctness. typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault ); -typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse); typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id ); typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); diff --git a/src/survive_cal.c b/src/survive_cal.c index 51d12dd..dfa2e85 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -190,7 +190,7 @@ void survive_cal_install( struct SurviveContext * ctx ) } -void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, int lh) +void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) { struct SurviveContext * ctx = so->ctx; struct SurviveCalData * cd = ctx->calptr; diff --git a/src/survive_cal.h b/src/survive_cal.h index 8c488bd..9d7b3a9 100644 --- a/src/survive_cal.h +++ b/src/survive_cal.h @@ -29,7 +29,7 @@ int survive_cal_get_status( SurviveContext * ctx, char * description, int descri //void survive_cal_teardown( struct SurviveContext * ctx ); //Called from survive_default_light_process -void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse); void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); #define MAX_SENSORS_TO_CAL 96 diff --git a/src/survive_data.c b/src/survive_data.c index d92db36..00e66f0 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -10,11 +10,6 @@ typedef struct unsigned int sweep_time[SENSORS_PER_OBJECT]; unsigned int sweep_len[SENSORS_PER_OBJECT]; } lightcaps_sweep_data; -typedef struct -{ - lightcaps_sweep_data sweep; -} lightcap2_data; - typedef struct { int recent_sync_time; @@ -28,7 +23,14 @@ typedef struct } lightcap2_global_data; -static lightcap2_global_data lcgd = { 0 }; +typedef struct +{ + lightcaps_sweep_data sweep; + lightcap2_global_data global; +} lightcap2_data; + + +//static lightcap2_global_data lcgd = { 0 }; int handle_lightcap2_getAcodeFromSyncPulse(int pulseLen) { @@ -65,13 +67,13 @@ void handle_lightcap2_process_sweep_data(SurviveObject *so) { if (lcd->sweep.sweep_len[i] != 0) // if the sensor was hit, process it { - int offset_from = lcd->sweep.sweep_time[i] - lcgd.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; + int offset_from = lcd->sweep.sweep_time[i] - lcd->global.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; if (offset_from < 380000 && offset_from > 70000) { - if (longest_pulse *10 / 8 < -lcd->sweep.sweep_len[i]) + if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i]) { - so->ctx->lightproc(so, i, lcgd.activeAcode, offset_from, lcd->sweep.sweep_time[i], lcd->sweep.sweep_len[i], lcgd.activeLighthouse); + so->ctx->lightproc(so, i, lcd->global.activeAcode, offset_from, lcd->sweep.sweep_time[i], lcd->sweep.sweep_len[i], lcd->global.activeLighthouse); } } } @@ -94,54 +96,54 @@ void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le ) // Process any sweep data we have handle_lightcap2_process_sweep_data(so); - int time_since_last_sync = (le->timestamp - lcgd.recent_sync_time); + int time_since_last_sync = (le->timestamp - lcd->global.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) { - lcgd.recent_sync_time = le->timestamp; + lcd->global.recent_sync_time = le->timestamp; // it's the same sync pulse; so->sync_set_number = 1; so->recent_sync_time = le->timestamp; - lcgd.lh_pulse_len[lcgd.current_lh] = le->length; - lcgd.lh_start_time[lcgd.current_lh] = le->timestamp; + lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; + lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - lcgd.activeLighthouse = lcgd.current_lh; - lcgd.activeSweepStartTime = le->timestamp; - lcgd.activeAcode = acode; + lcd->global.activeLighthouse = lcd->global.current_lh; + lcd->global.activeSweepStartTime = le->timestamp; + lcd->global.activeAcode = acode; } else { - lcgd.activeLighthouse = -1; - lcgd.activeSweepStartTime = 0; - lcgd.activeAcode = 0; + lcd->global.activeLighthouse = -1; + lcd->global.activeSweepStartTime = 0; + lcd->global.activeAcode = 0; } } else if (time_since_last_sync < 24000) { - lcgd.recent_sync_time = le->timestamp; + lcd->global.recent_sync_time = le->timestamp; // I do believe we are lighthouse B - lcgd.current_lh = 1; - lcgd.lh_pulse_len[lcgd.current_lh] = le->length; - lcgd.lh_start_time[lcgd.current_lh] = le->timestamp; + lcd->global.current_lh = 1; + lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; + lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - if (lcgd.activeLighthouse != -1) + if (lcd->global.activeLighthouse != -1) { // 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"); } - lcgd.activeLighthouse = 1; - lcgd.activeSweepStartTime = le->timestamp; - lcgd.activeAcode = acode; + lcd->global.activeLighthouse = 1; + lcd->global.activeSweepStartTime = le->timestamp; + lcd->global.activeAcode = acode; } } @@ -151,49 +153,49 @@ void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le ) // first, send out the sync pulse data for the last round (for OOTX decoding { - if (lcgd.lh_pulse_len[0] != 0) + if (lcd->global.lh_pulse_len[0] != 0) { so->ctx->lightproc( so, -1, - handle_lightcap2_getAcodeFromSyncPulse(lcgd.lh_pulse_len[0]), - lcgd.lh_pulse_len[0], - lcgd.lh_start_time[0], + handle_lightcap2_getAcodeFromSyncPulse(lcd->global.lh_pulse_len[0]), + lcd->global.lh_pulse_len[0], + lcd->global.lh_start_time[0], 0, 0); } - if (lcgd.lh_pulse_len[1] != 0) + if (lcd->global.lh_pulse_len[1] != 0) { so->ctx->lightproc( so, -2, - handle_lightcap2_getAcodeFromSyncPulse(lcgd.lh_pulse_len[1]), - lcgd.lh_pulse_len[1], - lcgd.lh_start_time[1], + handle_lightcap2_getAcodeFromSyncPulse(lcd->global.lh_pulse_len[1]), + lcd->global.lh_pulse_len[1], + lcd->global.lh_start_time[1], 0, 1); } } // initialize here. - memset(&lcgd, 0, sizeof(lcgd)); - lcgd.activeLighthouse = -1; + memset(&lcd->global, 0, sizeof(lcd->global)); + lcd->global.activeLighthouse = -1; - lcgd.recent_sync_time = le->timestamp; + lcd->global.recent_sync_time = le->timestamp; // I do believe we are lighthouse A - lcgd.current_lh = 0; - lcgd.lh_pulse_len[lcgd.current_lh] = le->length; - lcgd.lh_start_time[lcgd.current_lh] = le->timestamp; + lcd->global.current_lh = 0; + lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; + lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - lcgd.activeLighthouse = 0; - lcgd.activeSweepStartTime = le->timestamp; - lcgd.activeAcode = acode; + lcd->global.activeLighthouse = 0; + lcd->global.activeSweepStartTime = le->timestamp; + lcd->global.activeAcode = acode; } } } @@ -383,8 +385,8 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) 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] ); + 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]; @@ -427,7 +429,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) //Make sure pulse is in valid window if( offset_from < 380000 && offset_from > 70000 ) { - ctx->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length ); + ctx->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length, so->sync_set_number ); } } else diff --git a/src/survive_process.c b/src/survive_process.c index 6735f10..463481a 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -6,7 +6,7 @@ //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( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, int lh) +void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh) { SurviveContext * ctx = so->ctx; int base_station = lh; diff --git a/src/survive_vive.c b/src/survive_vive.c index a9b295f..c04fc03 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -141,7 +141,7 @@ 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, SurviveObject * tr0 ); +int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0, struct SurviveObject * ww0 ); int survive_usb_poll( SurviveContext * ctx ); int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int iface, int send_extra_magic ); int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen ); -- cgit v1.2.3