From 5aa1b9214745a625ab644846ada3034e7c38f493 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 8 Mar 2018 15:08:14 -0700 Subject: Added playback device driver --- Makefile | 2 +- data_recorder.c | 118 +++++++----- include/libsurvive/survive_types.h | 6 + src/survive_default_devices.c | 46 +++++ src/survive_default_devices.h | 12 ++ src/survive_playback.c | 374 +++++++++++++++++++++++++++++++++++++ src/survive_vive.c | 101 +++------- 7 files changed, 539 insertions(+), 120 deletions(-) create mode 100644 src/survive_default_devices.c create mode 100644 src/survive_default_devices.h create mode 100755 src/survive_playback.c diff --git a/Makefile b/Makefile index 69b8e37..e57dae5 100644 --- a/Makefile +++ b/Makefile @@ -37,7 +37,7 @@ REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic. ifeq ($(UNAME), Darwin) REDISTS:=$(REDISTS) redist/hid-osx.c endif -LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_vive.o src/survive_config.o src/survive_cal.o +LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o #If you want to use HIDAPI on Linux. diff --git a/data_recorder.c b/data_recorder.c index 002357e..323d208 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -3,6 +3,7 @@ #ifdef __linux__ #include #endif + #include #include #include @@ -10,9 +11,14 @@ #include #include #include +#include +#include +#include struct SurviveContext * ctx; +FILE* output_file = 0; + void HandleKey( int keycode, int bDown ) { if( !bDown ) return; @@ -43,56 +49,70 @@ int bufferpts[32*2*3]; char buffermts[32*128*3]; int buffertimeto[32*3]; +uint64_t timestamp_in_us() { + static uint64_t start_time_us = 0; + struct timeval tv; + gettimeofday(&tv,NULL); + uint64_t now = (uint64_t)tv.tv_sec * 1000000L + tv.tv_usec; + if(start_time_us == 0) + start_time_us = now; + return now - start_time_us; +} + +int write_to_output(const char *format, ...) +{ + va_list args; + va_start(args, format); + fprintf(output_file, "%lu ", timestamp_in_us()); + vfprintf(output_file, format, args); + + va_end(args); +} + 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); - if( acode == -1 ) return; -//return; + if( acode == -1 ) { + write_to_output( "A %s %d %d %d %u %u %u\n", so->codename, sensor_id, acode, timeinsweep, timecode, length, lh ); + return; + } + int jumpoffset = sensor_id; if( strcmp( so->codename, "WM0" ) == 0 ) jumpoffset += 32; else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64; - - if( acode == 0 || acode == 2 ) //data = 0 - { - printf( "L X %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } - if( acode == 1 || acode == 3 ) //data = 1 - { - printf( "L Y %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } - - - if( acode == 4 || acode == 6 ) //data = 0 - { - printf( "R X %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } - if( acode == 5 || acode == 7 ) //data = 1 - { - printf( "R Y %s %d %d %d %d %d\n", so->codename, timecode, sensor_id, acode, timeinsweep, length ); - bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; - buffertimeto[jumpoffset] = 0; - } + const char* LH_ID = 0; + const char* LH_Axis = 0; + + switch(acode) { + case 0: + case 2: + bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; + LH_ID = "L"; LH_Axis = "X"; break; + case 1: + case 3: + bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; + LH_ID = "L"; LH_Axis = "Y"; break; + case 4: + case 6: + bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; + LH_ID = "R"; LH_Axis = "X"; break; + case 5: + case 7: + bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; + LH_ID = "R"; LH_Axis = "Y"; break; + } + + write_to_output( "%s %s %s %u %d %d %d %u %u\n", LH_ID, LH_Axis, so->codename, timecode, sensor_id, acode, timeinsweep, length, lh ); + buffertimeto[jumpoffset] = 0; } void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id ) { survive_default_imu_process( so, mask, accelgyro, timecode, id ); - -//return; - //if( so->codename[0] == 'H' ) - if( 1 ) - { - printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id ); - } + write_to_output( "I %s %d %u %.17g %.17g %.17g %.17g %.17g %.17g %d\n", so->codename, mask, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id ); } @@ -156,22 +176,30 @@ void *SurviveThread(void *junk) while(survive_poll(ctx) == 0) { - printf("Do stuff.\n"); - //Do stuff. } return 0; } -int main() +int main(int argc, char** argv) { - // Create the libsurvive thread - OGCreateThread(SurviveThread, 0); + if(argc > 1) { + output_file = fopen(argv[1], "w"); + if(output_file == 0) { + fprintf(stderr, "Could not open %s for writing", argv[1]); + return -1; + } + } else { + output_file = stdout; + } + + // Create the libsurvive thread + OGCreateThread(SurviveThread, 0); - // Wait for the survive thread to load - while (!SurviveThreadLoaded) { OGUSleep(100); } + // Wait for the survive thread to load + while (!SurviveThreadLoaded) { OGUSleep(100); } - // Run the Gui in the main thread - GuiThread(0); + // Run the Gui in the main thread + GuiThread(0); } diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 5384345..be1115b 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -14,6 +14,12 @@ extern "C" { #endif #endif +#define float_format "%f" +#define double_format "%lf" +#define _FLT_format2(f) f##_format +#define _FLT_format(f) _FLT_format2(f) +#define FLT_format _FLT_format(FLT) + typedef struct SurvivePose { FLT Pos[3]; diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c new file mode 100644 index 0000000..5d2cda7 --- /dev/null +++ b/src/survive_default_devices.c @@ -0,0 +1,46 @@ +#include +#include +#include "survive_default_devices.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); +} diff --git a/src/survive_default_devices.h b/src/survive_default_devices.h new file mode 100644 index 0000000..c2ebc0b --- /dev/null +++ b/src/survive_default_devices.h @@ -0,0 +1,12 @@ +#ifndef _SURVIVE_DEFAULT_DEVICES_H +#define _SURVIVE_DEFAULT_DEVICES_H + +#include + +SurviveObject* survive_create_hmd(SurviveContext * ctx, const char* driver_name, void* driver); +SurviveObject* survive_create_wm0(SurviveContext * ctx, const char* driver_name, void* driver, haptic_func cb); +SurviveObject* survive_create_wm1(SurviveContext * ctx, const char* driver_name, void* driver, haptic_func cb); +SurviveObject* survive_create_tr0(SurviveContext * ctx, const char* driver_name, void* driver); +SurviveObject* survive_create_ww0(SurviveContext * ctx, const char* driver_name, void* driver); + +#endif diff --git a/src/survive_playback.c b/src/survive_playback.c new file mode 100755 index 0000000..bb66f25 --- /dev/null +++ b/src/survive_playback.c @@ -0,0 +1,374 @@ +//Unofficial driver for the official Valve/HTC Vive hardware. +// +//Based off of https://github.com/collabora/OSVR-Vive-Libre +// Originally Copyright 2016 Philipp Zabel +// Originally Copyright 2016 Lubosz Sarnecki +// 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. + +#include +#include +#include +#include +#include +#include +#include +#include +#if !defined(__FreeBSD__) && !defined(__APPLE__) +#include // for alloca +#endif +#include +#include "json_helpers.h" +#include "survive_config.h" +#include "survive_default_devices.h" + +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; +} + +struct SurvivePlaybackData { + SurviveContext * ctx; + const char* playback_dir; + FILE* playback_file; + int lineno; + + uint64_t next_time_us; +}; +typedef struct SurvivePlaybackData SurvivePlaybackData; + + +uint64_t timestamp_in_us() { + static uint64_t start_time_us = 0; + struct timeval tv; + gettimeofday(&tv,NULL); + uint64_t now = (uint64_t)tv.tv_sec * 1000000L + tv.tv_usec; + if(start_time_us == 0) + start_time_us = now; + return now - start_time_us; +} + +static int parse_and_run_imu(const char* line, SurvivePlaybackData* driver) { + char dev[10]; + int timecode = 0; + FLT accelgyro[6]; + int mask; + int id; + + int rr = sscanf(line,"I %s %d %d " FLT_format " " FLT_format " " FLT_format " " FLT_format " " FLT_format " " FLT_format "%d", dev, + &mask, + &timecode, + &accelgyro[0], &accelgyro[1], &accelgyro[2], + &accelgyro[3], &accelgyro[4], &accelgyro[5], &id ); + + if( rr != 10 ) + { + fprintf( stderr, "Warning: On line %d, only %d values read: '%s'\n", driver->lineno, rr, line ); + return -1; + } + + SurviveObject * so = survive_get_so_by_name( driver->ctx, dev); + if(!so) { + fprintf(stderr, "Could not find device named %s from lineno %d\n", dev, driver->lineno); + return -1; + } + + driver->ctx->imuproc( so, mask, accelgyro, timecode, id); + return 0; +} + + +static int parse_and_run_lightcode(const char* line, SurvivePlaybackData* driver) { + char lhn[10]; + char axn[10]; + char dev[10]; + uint32_t timecode = 0; + int sensor = 0; + int acode = 0; + int timeinsweep = 0; + uint32_t pulselength = 0; + uint32_t lh = 0; + + int rr = sscanf(line,"%8s %8s %8s %u %d %d %d %u %u\n", + lhn, axn, dev, + &timecode, &sensor, &acode, + &timeinsweep, &pulselength, &lh ); + + if( rr != 9 ) + { + fprintf( stderr, "Warning: On line %d, only %d values read: '%s'\n", driver->lineno, rr, line ); + return -1; + } + + SurviveObject * so = survive_get_so_by_name( driver->ctx, dev); + if(!so) { + fprintf(stderr, "Could not find device named %s from lineno %d\n", dev, driver->lineno); + return -1; + } + + driver->ctx->lightproc( so, sensor, acode, timeinsweep, timecode, pulselength, lh); + return 0; +} + +static int playback_poll( struct SurviveContext * ctx, void * _driver ) { + SurvivePlaybackData* driver = _driver; + FILE* f = driver->playback_file; + + if(f && !feof(f) && !ferror(f) ) + { + int i; + driver->lineno++; + char * line; + + if(driver->next_time_us == 0) { + char * buffer; + size_t n = 0; + ssize_t r = getdelim( &line, &n, ' ', f ); + if( r <= 0 ) return 0; + + uint64_t timestamp; + if(sscanf(line, "%lu", &driver->next_time_us) != 1) { + free(line); + return 0; + } + free(line); + line = 0; + } + + if(driver->next_time_us > timestamp_in_us()) + return 0; + driver->next_time_us = 0; + + char * buffer; + size_t n = 0; + ssize_t r = getline( &line, &n, f ); + if( r <= 0 ) return 0; + + if((line[0] != 'R' && line[0] != 'L' && line[0] != 'I') || line[1] != ' ' ) + return 0; + + switch(line[0]) { + case 'L': + case 'R': + parse_and_run_lightcode(line, driver); + break; + case 'I': + parse_and_run_imu(line, driver); + break; + } + + free( line ); + } else { + if(f) { + fclose(driver->playback_file); + } + driver->playback_file = 0; + return -1; + } + + return 0; +} + +int playback_close( struct SurviveContext * ctx, void * _driver ) { + SurvivePlaybackData* driver = _driver; + if(driver->playback_file) + fclose(driver->playback_file); + driver->playback_file = 0; + return 0; +} + + +static int LoadConfig( SurvivePlaybackData * sv, SurviveObject * so, int devno, int iface, int extra_magic ) +{ + SurviveContext * ctx = sv->ctx; + char * ct0conf = 0; + + char fname[100]; + sprintf( fname, "%s/%s_config.json", sv->playback_dir, so->codename ); + FILE * f = fopen( fname, "r" ); + + if(f == 0 || feof(f) || ferror(f) ) + return 1; + + fseek(f, 0, SEEK_END); + int len = ftell(f); + fseek(f, 0, SEEK_SET); //same as rewind(f); + + ct0conf = malloc(len+1); + fread( ct0conf, len, 1, f); + fclose( f ); + ct0conf[len] = 0; + + printf( "Loading config: %d\n", len ); + + if (len == 0) + return 1; + + //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; + } + } + } + + return 0; +} + + + +int DriverRegPlayback( SurviveContext * ctx ) +{ + const char* playback_dir = config_read_str(ctx->global_config_values, + "PlaybackDir", ""); + + if(strlen(playback_dir) == 0) { + return 0; +} + + SurvivePlaybackData * sp = calloc( 1, sizeof( SurvivePlaybackData ) ); + sp->ctx = ctx; + sp->playback_dir = playback_dir; + printf("%s\n", playback_dir); + + char playback_file[100]; + sprintf( playback_file, "%s/events", playback_dir ); + sp->playback_file = fopen( playback_file, "r"); + if(sp->playback_file == 0) { + fprintf(stderr, "Could not open playback events file %s", playback_file); + return -1; +} + SurviveObject * hmd = survive_create_hmd(ctx, "Playback", sp); + SurviveObject * wm0 = survive_create_wm0(ctx, "Playback", sp, 0); + SurviveObject * wm1 = survive_create_wm1(ctx, "Playback", sp, 0); + SurviveObject * tr0 = survive_create_tr0(ctx, "Playback", sp); + SurviveObject * ww0 = survive_create_ww0(ctx, "Playback", sp); + + if( !LoadConfig( sp, hmd, 1, 0, 0 )) { survive_add_object( ctx, hmd ); } + if( !LoadConfig( sp, wm0, 2, 0, 1 )) { survive_add_object( ctx, wm0 ); } + if( !LoadConfig( sp, wm1, 3, 0, 1 )) { survive_add_object( ctx, wm1 ); } + if( !LoadConfig( sp, tr0, 4, 0, 0 )) { survive_add_object( ctx, tr0 ); } + if( !LoadConfig( sp, ww0, 5, 0, 0 )) { survive_add_object( ctx, ww0 ); } + + + survive_add_driver(ctx, sp, playback_poll, playback_close, 0); + return 0; + fail_gracefully: + return -1; +} + +REGISTER_LINKTIME( DriverRegPlayback ); + diff --git a/src/survive_vive.c b/src/survive_vive.c index cb05efc..e21d419 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -23,6 +23,7 @@ #endif #include "json_helpers.h" +#include "survive_default_devices.h" #ifdef HIDAPI #if defined(WINDOWS) || defined(WIN32) || defined (_WIN32) @@ -1699,15 +1700,16 @@ static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int SurviveContext * ctx = sv->ctx; char * ct0conf = 0; int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic ); -printf( "Loading config: %d\n", len ); -#if 0 - char fname[100]; - sprintf( fname, "%s_config.json", so->codename ); - FILE * f = fopen( fname, "w" ); - fwrite( ct0conf, strlen(ct0conf), 1, f ); - fclose( f ); -#endif + printf( "Loading config: %d\n", len ); + { + char raw_fname[100]; + sprintf( raw_fname, "%s_config.json", so->codename ); + FILE * f = fopen( raw_fname, "w" ); + fwrite( ct0conf, strlen(ct0conf), 1, f ); + fclose( f ); + } + if( len > 0 ) { @@ -1836,18 +1838,13 @@ void init_SurviveObject(SurviveObject* so) { int DriverRegHTCVive( SurviveContext * ctx ) { int r; - SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * tr0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveObject * ww0 = calloc( 1, sizeof( SurviveObject ) ); - SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) ); - - init_SurviveObject(hmd); - init_SurviveObject(wm0); - init_SurviveObject(wm1); - init_SurviveObject(tr0); - init_SurviveObject(ww0); + + SurviveViveData * sv = calloc(1, sizeof(SurviveViveData) ); + SurviveObject * hmd = survive_create_hmd(ctx, "HTC", sv); + SurviveObject * wm0 = survive_create_wm0(ctx, "HTC", sv, 0); + SurviveObject * wm1 = survive_create_wm1(ctx, "HTC", sv, 0); + SurviveObject * tr0 = survive_create_tr0(ctx, "HTC", sv); + SurviveObject * ww0 = survive_create_ww0(ctx, "HTC", sv); sv->ctx = ctx; @@ -1859,28 +1856,6 @@ int DriverRegHTCVive( SurviveContext * ctx ) mkdir( "calinfo", 0755 ); #endif - - hmd->ctx = ctx; - hmd->driver = sv; - memcpy( hmd->codename, "HMD", 4 ); - memcpy( hmd->drivername, "HTC", 4 ); - wm0->ctx = ctx; - wm0->driver = sv; - memcpy( wm0->codename, "WM0", 4 ); - memcpy( wm0->drivername, "HTC", 4 ); - wm1->ctx = ctx; - wm1->driver = sv; - memcpy( wm1->codename, "WM1", 4 ); - memcpy( wm1->drivername, "HTC", 4 ); - tr0->ctx = ctx; - tr0->driver = sv; - memcpy( tr0->codename, "TR0", 4 ); - memcpy( tr0->drivername, "HTC", 4 ); - ww0->ctx = ctx; - ww0->driver = sv; - memcpy( ww0->codename, "WW0", 4 ); - memcpy( ww0->drivername, "HTC", 4 ); - //USB must happen last. if( r = survive_usb_init( sv, hmd, wm0, wm1, tr0, ww0) ) { @@ -1894,36 +1869,6 @@ int DriverRegHTCVive( SurviveContext * ctx ) if( sv->udev[USB_DEV_WATCHMAN2] && LoadConfig( sv, wm1, 3, 0, 1 )) { SV_INFO( "Watchman 1 config issue." ); } if( sv->udev[USB_DEV_TRACKER0] && LoadConfig( sv, tr0, 4, 0, 0 )) { SV_INFO( "Tracker 0 config issue." ); } if( sv->udev[USB_DEV_W_WATCHMAN1] && LoadConfig( sv, ww0, 5, 0, 0 )) { SV_INFO( "Wired Watchman 0 config issue." ); } - - hmd->timebase_hz = wm0->timebase_hz = wm1->timebase_hz = 48000000; - tr0->timebase_hz = ww0->timebase_hz = hmd->timebase_hz; - - hmd->pulsedist_max_ticks = wm0->pulsedist_max_ticks = wm1->pulsedist_max_ticks = 500000; - tr0->pulsedist_max_ticks = ww0->pulsedist_max_ticks = hmd->pulsedist_max_ticks; - - hmd->pulselength_min_sync = wm0->pulselength_min_sync = wm1->pulselength_min_sync = 2200; - tr0->pulselength_min_sync = ww0->pulselength_min_sync = hmd->pulselength_min_sync; - - hmd->pulse_in_clear_time = wm0->pulse_in_clear_time = wm1->pulse_in_clear_time = 35000; - tr0->pulse_in_clear_time = ww0->pulse_in_clear_time = hmd->pulse_in_clear_time; - - hmd->pulse_max_for_sweep = wm0->pulse_max_for_sweep = wm1->pulse_max_for_sweep = 1800; - tr0->pulse_max_for_sweep = ww0->pulse_max_for_sweep = hmd->pulse_max_for_sweep; - - hmd->pulse_synctime_offset = wm0->pulse_synctime_offset = wm1->pulse_synctime_offset = 20000; - tr0->pulse_synctime_offset = ww0->pulse_synctime_offset = hmd->pulse_synctime_offset; - - hmd->pulse_synctime_slack = wm0->pulse_synctime_slack = wm1->pulse_synctime_slack = 5000; - tr0->pulse_synctime_slack = ww0->pulse_synctime_slack = hmd->pulse_synctime_slack; - - hmd->timecenter_ticks = hmd->timebase_hz / 240; - wm0->timecenter_ticks = wm0->timebase_hz / 240; - wm1->timecenter_ticks = wm1->timebase_hz / 240; - tr0->timecenter_ticks = tr0->timebase_hz / 240; - ww0->timecenter_ticks = ww0->timebase_hz / 240; - - wm0->haptic = survive_vive_send_haptic; - wm1->haptic = survive_vive_send_haptic; /* int i; int locs = hmd->nr_locations; @@ -1945,7 +1890,7 @@ int DriverRegHTCVive( SurviveContext * ctx ) } } */ - + //Add the drivers. if( sv->udev[USB_DEV_HMD_IMU_LH] ) { survive_add_object( ctx, hmd ); } if( sv->udev[USB_DEV_WATCHMAN1] ) { survive_add_object( ctx, wm0 ); } @@ -1953,7 +1898,15 @@ int DriverRegHTCVive( SurviveContext * ctx ) if( sv->udev[USB_DEV_TRACKER0] ) { survive_add_object( ctx, tr0 ); } if( sv->udev[USB_DEV_W_WATCHMAN1] ) { survive_add_object( ctx, ww0 ); } - survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic ); + if( sv->udev[USB_DEV_HMD_IMU_LH] || + sv->udev[USB_DEV_WATCHMAN1] || + sv->udev[USB_DEV_WATCHMAN2] || + sv->udev[USB_DEV_TRACKER0] || + sv->udev[USB_DEV_W_WATCHMAN1] ) { + survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic ); + } else { + fprintf(stderr, "No USB devices detected\n"); + } return 0; fail_gracefully: -- cgit v1.2.3