From 6fe8d04961c927d22a8b91e04d30450699867817 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Sat, 25 Feb 2017 16:20:42 -0500 Subject: Update code to allow for headless mode. --- Makefile | 5 +- calibrate.c | 2 +- calibrate_client.c | 212 ++++++++++++++++++++++++++++++++++++++++ data_recorder.c | 4 +- include/survive.h | 2 +- src/survive.c | 33 ++++--- test.c | 2 +- tools/data_server/data_server.c | 15 ++- 8 files changed, 252 insertions(+), 23 deletions(-) create mode 100644 calibrate_client.c diff --git a/Makefile b/Makefile index fb74e75..9940260 100644 --- a/Makefile +++ b/Makefile @@ -1,4 +1,4 @@ -all : lib data_recorder test calibrate +all : lib data_recorder test calibrate calibrate_client CFLAGS:=-Iinclude -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -lm -flto -g @@ -17,6 +17,9 @@ data_recorder : data_recorder.c lib/libsurvive.so redist/os_generic.o redist/Dra calibrate : calibrate.c lib/libsurvive.so redist/os_generic.c redist/DrawFunctions.c redist/XDriver.c gcc -o $@ $^ $(LDFLAGS) $(CFLAGS) +calibrate_client : calibrate_client.c lib/libsurvive.so redist/os_generic.c redist/DrawFunctions.c redist/XDriver.c + gcc -o $@ $^ $(LDFLAGS) $(CFLAGS) + lib: mkdir lib diff --git a/calibrate.c b/calibrate.c index 04ea9a8..8eedc88 100644 --- a/calibrate.c +++ b/calibrate.c @@ -140,7 +140,7 @@ void * GuiThread( void * v ) int main() { - ctx = survive_init( ); + ctx = survive_init( 0 ); survive_install_light_fn( ctx, my_light_process ); survive_install_imu_fn( ctx, my_imu_process ); diff --git a/calibrate_client.c b/calibrate_client.c new file mode 100644 index 0000000..25b6303 --- /dev/null +++ b/calibrate_client.c @@ -0,0 +1,212 @@ +//Totally hacky "client" for absorbing data from a network source of the vive data. + +#include +#include +#include +#include +#include +#include +#include +#include "src/survive_cal.h" +#include + +struct SurviveContext * ctx; + +void HandleKey( int keycode, int bDown ) +{ + if( !bDown ) return; + + if( keycode == 'O' || keycode == 'o' ) + { + survive_usb_send_magic(ctx,1); + } + if( keycode == 'F' || keycode == 'f' ) + { + survive_usb_send_magic(ctx,0); + } +} + +void HandleButton( int x, int y, int button, int bDown ) +{ +} + +void HandleMotion( int x, int y, int mask ) +{ +} + +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 ) +{ + survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length ); + + if( acode == -1 ) return; +//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 + { + bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; + buffertimeto[jumpoffset] = 0; + } + if( acode == 1 || acode == 3 ) //data = 1 + { + bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; + buffertimeto[jumpoffset] = 0; + } + + + if( acode == 4 || acode == 6 ) //data = 0 + { + bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; + buffertimeto[jumpoffset] = 0; + } + if( acode == 5 || acode == 7 ) //data = 1 + { + bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500; + buffertimeto[jumpoffset] = 0; + } +} + +void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ) +{ + survive_default_imu_process( so, accelgyro, timecode, id ); + +return; + //if( so->codename[0] == 'H' ) + if( 1 ) + { + printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id ); + } +} + + +void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) +{ + survive_default_angle_process( so, sensor_id, acode, timecode, length, angle ); +} + + +void * GuiThread( void * v ) +{ + short screenx, screeny; + while(1) + { + CNFGHandleInput(); + CNFGClearFrame(); + CNFGColor( 0xFFFFFF ); + CNFGGetDimensions( &screenx, &screeny ); + + int i; + for( i = 0; i < 32*3; i++ ) + { + if( buffertimeto[i] < 50 ) + { + uint32_t color = i * 3231349; + uint8_t r = color & 0xff; + uint8_t g = (color>>8) & 0xff; + uint8_t b = (color>>16) & 0xff; + r = (r * (5-buffertimeto[i])) / 5 ; + g = (g * (5-buffertimeto[i])) / 5 ; + b = (b * (5-buffertimeto[i])) / 5 ; + CNFGColor( (b<<16) | (g<<8) | r ); + CNFGTackRectangle( bufferpts[i*2+0], bufferpts[i*2+1], bufferpts[i*2+0] + 5, bufferpts[i*2+1] + 5 ); + CNFGPenX = bufferpts[i*2+0]; CNFGPenY = bufferpts[i*2+1]; + CNFGDrawText( buffermts, 2 ); + buffertimeto[i]++; + } + } + + CNFGColor( 0xffffff ); + char caldesc[256]; + survive_cal_get_status( ctx, caldesc, sizeof( caldesc ) ); + CNFGPenX = 3; + CNFGPenY = 3; + CNFGDrawText( caldesc, 4 ); + + + CNFGSwapBuffers(); + OGUSleep( 10000 ); + } +} + + + + +int main() +{ + ctx = survive_init( 1 ); + + survive_install_light_fn( ctx, my_light_process ); + survive_install_imu_fn( ctx, my_imu_process ); + survive_install_angle_fn( ctx, my_angle_process ); + + survive_cal_install( ctx ); + + CNFGBGColor = 0x000000; + CNFGDialogColor = 0x444444; + CNFGSetup( "Survive GUI Debug", 640, 480 ); + OGCreateThread( GuiThread, 0 ); + + + if( !ctx ) + { + fprintf( stderr, "Fatal. Could not start\n" ); + return 1; + } + + while(survive_poll(ctx) == 0) + { + char * lineptr; + size_t n; + lineptr = 0; + n = 0; + ssize_t gl = getline( &lineptr, &n, stdin ); +// printf( "%d %s\n", gl, lineptr ); + + switch( lineptr[0] ) + { + case 'I': + //IMU data + //I WM0 -695533550 -321 1357 -3928 -16 -2 -2 0 + break; + case 'R': + case 'L': + { + //Light data + //R X HMD -878577652 -1 6 380498 6004 + char lhn[10]; + char beam[10]; + char dev[10]; + int timecode, sensor_id, acode, timeinsweep, length; + + sscanf( lineptr, "%9s %9s %9s %d %d %d %d %d\n", + lhn, beam, dev, &timecode, &sensor_id, &acode, &timeinsweep, &length ); + + struct SurviveObject * so = 0; + if( strcmp( dev, "HMD" ) == 0 ) + so = &ctx->headset; + if( strcmp( dev, "WM0" ) == 0 ) + so = &ctx->watchman[0]; + if( strcmp( dev, "WM1" ) == 0 ) + so = &ctx->watchman[1]; + + if( so ) + my_light_process( so, sensor_id, acode, timeinsweep, timecode, length ); + + break; + } + } + + free( lineptr ); + + //printf( "!!!\n" ); + //Do stuff. + } +} + diff --git a/data_recorder.c b/data_recorder.c index ced82c4..4fc3ffa 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -81,7 +81,7 @@ void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t ti { survive_default_imu_process( so, accelgyro, timecode, id ); -return; +//return; //if( so->codename[0] == 'H' ) if( 1 ) { @@ -132,7 +132,7 @@ void * GuiThread( void * v ) int main() { - ctx = survive_init( ); + ctx = survive_init( 0 ); survive_install_light_fn( ctx, my_light_process ); survive_install_imu_fn( ctx, my_imu_process ); diff --git a/include/survive.h b/include/survive.h index 1b9c29c..02c5969 100644 --- a/include/survive.h +++ b/include/survive.h @@ -68,7 +68,7 @@ typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, in 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(); +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 ); diff --git a/src/survive.c b/src/survive.c index aab2ae6..473a26d 100644 --- a/src/survive.c +++ b/src/survive.c @@ -134,7 +134,7 @@ static int LoadConfig( struct SurviveContext * ctx, struct SurviveObject * so, i return 0; } -struct SurviveContext * survive_init() +struct SurviveContext * survive_init( int headless ) { int r = 0; struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) ); @@ -153,17 +153,20 @@ struct SurviveContext * survive_init() ctx->watchman[1].ctx = ctx; memcpy( ctx->watchman[1].codename, "WM1", 4 ); - //USB must happen last. - if( r = survive_usb_init( ctx ) ) - { - //TODO: Cleanup any libUSB stuff sitting around. - goto fail_gracefully; - } - - //Next, pull out the config stuff. - if( LoadConfig( ctx, &ctx->headset, 1, 0, 0 ) ) goto fail_gracefully; - if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) { SV_INFO( "Watchman 0 config issue." ); } - if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) { SV_INFO( "Watchman 1 config issue." ); } + if( !headless ) + { + //USB must happen last. + if( r = survive_usb_init( ctx ) ) + { + //TODO: Cleanup any libUSB stuff sitting around. + goto fail_gracefully; + } + + //Next, pull out the config stuff. + if( LoadConfig( ctx, &ctx->headset, 1, 0, 0 ) ) goto fail_gracefully; + if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) { SV_INFO( "Watchman 0 config issue." ); } + if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) { SV_INFO( "Watchman 1 config issue." ); } + } ctx->headset.timebase_hz = ctx->watchman[0].timebase_hz = ctx->watchman[1].timebase_hz = 48000000; ctx->headset.pulsedist_max_ticks = ctx->watchman[0].pulsedist_max_ticks = ctx->watchman[1].pulsedist_max_ticks = 500000; @@ -253,12 +256,14 @@ void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func void survive_close( struct SurviveContext * ctx ) { - survive_usb_close( ctx ); + if( ctx->usbctx ) + survive_usb_close( ctx ); } int survive_poll( struct SurviveContext * ctx ) { - survive_usb_poll( ctx ); + if( ctx->usbctx ) + survive_usb_poll( ctx ); } int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen ) diff --git a/test.c b/test.c index 17fa7f3..3256350 100644 --- a/test.c +++ b/test.c @@ -42,7 +42,7 @@ int main() int magicon = 0; double Start = OGGetAbsoluteTime(); - ctx = survive_init( ); + ctx = survive_init( 0 ); if( !ctx ) { diff --git a/tools/data_server/data_server.c b/tools/data_server/data_server.c index 29f5ead..5147d97 100644 --- a/tools/data_server/data_server.c +++ b/tools/data_server/data_server.c @@ -19,6 +19,7 @@ #define MAX_CONNS 32 int SocketList[MAX_CONNS]; +int droppedct[MAX_CONNS]; void error(char *msg) { perror(msg); @@ -44,10 +45,17 @@ void * SendThread( void * v ) int ss = send( sockc, buff, rd, MSG_DONTWAIT | MSG_NOSIGNAL ); if( ss < rd ) { - fprintf( stderr, "Dropped %d\n", i ); - close( SocketList[i] ); - SocketList[i] = 0; + if( droppedct[i]++ > 20 ) + { + fprintf( stderr, "Dropped %d\n", i ); + close( SocketList[i] ); + SocketList[i] = 0; + } } + else + { + droppedct[i] = 0; + } } } } @@ -142,6 +150,7 @@ int main( int argc, char ** argv ) if( SocketList[il] == 0 ) { SocketList[il] = childfd; + droppedct[il] = 0; printf("Conn %s At %d\n", hostaddrp, il); break; -- cgit v1.2.3