From 58b19da6848e64c9ca7aa47d8b3e0cd30db89d44 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Fri, 3 Mar 2017 02:15:04 -0500 Subject: Split out into some more things in the include folder. Getting closer to trying to have posers. --- Makefile | 2 +- include/libsurvive/poser.h | 54 +++++++++++++++++ include/libsurvive/survive.h | 95 +++++++++++++++++++++++++++++ include/libsurvive/survive_types.h | 29 +++++++++ include/survive.h | 118 ------------------------------------- src/survive_internal.h | 2 - 6 files changed, 179 insertions(+), 121 deletions(-) create mode 100644 include/libsurvive/poser.h create mode 100644 include/libsurvive/survive.h create mode 100644 include/libsurvive/survive_types.h delete mode 100644 include/survive.h diff --git a/Makefile b/Makefile index 75b5606..470cbe3 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,6 @@ all : lib data_recorder test calibrate calibrate_client -CFLAGS:=-Iinclude -I. -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99 +CFLAGS:=-Iinclude/libsurvive -I. -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99 LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -lm -flto -g diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h new file mode 100644 index 0000000..4894acf --- /dev/null +++ b/include/libsurvive/poser.h @@ -0,0 +1,54 @@ +#ifndef _LSPOSER_H +#define _LSPOSER_H + +#include "survive_types.h" + +typedef enum PoserType_t +{ + POSERDATA_NONE = 0, + POSERDATA_IMU, + POSERDATA_LIGHT, //Single lighting event. + POSERDATA_FULL_SCENE, //Full, statified X, Y sweep data for both lighthouses. +} PoserType; + +struct PoserData +{ + PoserType pt; + uint8_t data[0]; +}; + +struct PoserDataIMU +{ + PoserType pt; + uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present. + FLT accel[3]; + FLT gyro[3]; + FLT mag[3]; +}; + +struct PoserDataLight +{ + PoserType pt; + int sensor_id; + int acode; //OOTX Code associated with this sweep. base_station = acode >> 2; axis = acode & 1; + uint32_t timecode; //In object-local ticks. + FLT length; //In seconds + FLT angle; //In radians from center of lighthouse. +}; + +struct PoserDataFullScene +{ + PoserType pt; + + //If "lengths[...]" < 0, means not a valid piece of sweep information. + FLT lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; + FLT angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; //2 Axes + + struct PoserDataIMU lastimu; +}; + +//When you register your posers using the internal system, +typedef int (*PoserCB)( struct SurviveObject * so, struct PoserData * pd ); + + +#endif diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h new file mode 100644 index 0000000..536c7fb --- /dev/null +++ b/include/libsurvive/survive.h @@ -0,0 +1,95 @@ +#ifndef _SURVIVE_H +#define _SURVIVE_H + +#include +#include "poser.h" + +struct SurviveContext; + +//DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks +//for optimization on 32- and 64-bit systems. + +struct SurviveObject +{ + struct SurviveContext * ctx; + + char codename[4]; //3 letters, null-terminated. Currently HMD, WM0, WM1. + char drivername[4]; //3 letters for driver. Currently "HTC" + int16_t buttonmask; + int16_t axis1; + + int16_t axis2; + int16_t axis3; + int8_t charge; + int8_t charging:1; + int8_t ison:1; + int8_t additional_flags:6; + + //Pose Information, also "resolver" field. + FLT PoseConfidence; //0..1 + FLT Position[3]; + FLT Rotation[4]; + void * PoserData; //Initialized to zero, configured by poser, can be anything the poser wants. + PoserCB * PoserFn; + + //Device-specific information about the location of the sensors. This data will be used by the poser. + int8_t nr_locations; + FLT * sensor_locations; + FLT * sensor_normals; + + //Timing sensitive data (mostly for disambiguation) + int32_t timebase_hz; //48,000,000 for normal vive hardware. (checked) + int32_t timecenter_ticks; //200,000 for normal vive hardware. (checked) + int32_t pulsedist_max_ticks; //500,000 for normal vive hardware. (guessed) + int32_t pulselength_min_sync; //2,200 for normal vive hardware. (guessed) + int32_t pulse_in_clear_time; //35,000 for normal vive hardware. (guessed) + int32_t pulse_max_for_sweep; //1,800 for normal vive hardware. (guessed) + int32_t pulse_synctime_offset; //20,000 for normal vive hardware. (guessed) + int32_t pulse_synctime_slack; //5,000 for normal vive hardware. (guessed) + + //Flood info, for calculating which laser is currently sweeping. + int8_t oldcode; + int8_t sync_set_number; //0 = master, 1 = slave, -1 = fault. + int8_t did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit. + uint32_t last_time[NUM_LIGHTHOUSES]; + uint32_t last_length[NUM_LIGHTHOUSES]; + uint32_t recent_sync_time; + + uint32_t last_lighttime; //May be a 24- or 32- bit number depending on what device. + + + //Debug + int tsl; +}; + +struct SurviveContext * survive_init( int headless ); + +//For any of these, you may pass in 0 for the function pointer to use default behavior. +void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ); +void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ); +void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp ); +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_close( struct SurviveContext * ctx ); +int survive_poll(); + +struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name ); + +//Utilitiy functions. +int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen ); + +int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen ); + +//Install the calibrator. +void survive_cal_install( struct SurviveContext * ctx ); + +//Call these from your callback if overridden. +//Accept higher-level data. +void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); +void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); + + +#endif + diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h new file mode 100644 index 0000000..593819f --- /dev/null +++ b/include/libsurvive/survive_types.h @@ -0,0 +1,29 @@ +#ifndef _SURVIVE_TYPES_H +#define _SURVIVE_TYPES_H + +#ifndef FLT +#ifdef USE_DOUBLE +#define FLT double +#else +#define FLT float +#endif +#endif + + +//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools. +//It will also require a recompile. TODO: revisit this and correct the comment once fixed. +#define NUM_LIGHTHOUSES 2 + +#define INTBUFFSIZE 64 +#define SENSORS_PER_OBJECT 32 + +struct SurviveObject; +struct SurviveContext; + +typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault ); +typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); +typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); + +#endif + diff --git a/include/survive.h b/include/survive.h deleted file mode 100644 index 0d43465..0000000 --- a/include/survive.h +++ /dev/null @@ -1,118 +0,0 @@ -#ifndef _SURVIVE_H -#define _SURVIVE_H - -#include - -#ifndef FLT -#ifdef USE_DOUBLE -#define FLT double -#else -#define FLT float -#endif -#endif - -struct SurviveContext; - -//DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks -//for optimization on 32- and 64-bit systems. - -//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools. -//It will also require a recompile. TODO: revisit this and correct the comment once fixed. -#define NUM_LIGHTHOUSES 2 - -struct SurviveObject; - -//XXX TODO -> Probably should be one function to take multiple types of input? -typedef int (*ResolverCB)( struct SurviveObject * so ); - -struct SurviveObject -{ - struct SurviveContext * ctx; - - char codename[4]; //3 letters, null-terminated. Currently HMD, WM0, WM1. - char drivername[4]; //3 letters for driver. Currently "HTC" - int16_t buttonmask; - int16_t axis1; - - int16_t axis2; - int16_t axis3; - int8_t charge; - int8_t charging:1; - int8_t ison:1; - int8_t additional_flags:6; - - //Pose Information, also "resolver" field. - FLT PoseConfidence; //0..1 - FLT Position[3]; - FLT Rotation[4]; - void * Resolver; - ResolverCB * PreferredResolverFn; //XXX TODO - - int8_t nr_locations; - FLT * sensor_locations; - FLT * sensor_normals; - - //Timing sensitive data (mostly for disambiguation) - int32_t timebase_hz; //48,000,000 for normal vive hardware. (checked) - int32_t timecenter_ticks; //200,000 for normal vive hardware. (checked) - int32_t pulsedist_max_ticks; //500,000 for normal vive hardware. (guessed) - int32_t pulselength_min_sync; //2,200 for normal vive hardware. (guessed) - int32_t pulse_in_clear_time; //35,000 for normal vive hardware. (guessed) - int32_t pulse_max_for_sweep; //1,800 for normal vive hardware. (guessed) - int32_t pulse_synctime_offset; //20,000 for normal vive hardware. (guessed) - int32_t pulse_synctime_slack; //5,000 for normal vive hardware. (guessed) - - //Flood info, for calculating which laser is currently sweeping. - int8_t oldcode; - int8_t sync_set_number; //0 = master, 1 = slave, -1 = fault. - int8_t did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit. - uint32_t last_time[NUM_LIGHTHOUSES]; - uint32_t last_length[NUM_LIGHTHOUSES]; - uint32_t recent_sync_time; - - uint32_t last_lighttime; //May be a 24- or 32- bit number depending on what device. - - - //Debug - int tsl; -}; - - - - -typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault ); -typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); -typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); -typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); - -struct SurviveContext * survive_init( int headless ); - -//For any of these, you may pass in 0 for the function pointer to use default behavior. -void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ); -void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp ); -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_close( struct SurviveContext * ctx ); -int survive_poll(); - -struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name ); - -//Utilitiy functions. -int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen ); - -int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen ); - -//Install the calibrator. -void survive_cal_install( struct SurviveContext * ctx ); - -//Call these from your callback if overridden. -//Accept higher-level data. -void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); -void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); -void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); - - -#endif - diff --git a/src/survive_internal.h b/src/survive_internal.h index 1fdef41..9d04d93 100644 --- a/src/survive_internal.h +++ b/src/survive_internal.h @@ -27,8 +27,6 @@ //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; -- cgit v1.2.3