From ee0fd0be34cd6715b704be534b7e97087905571f Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Sun, 11 Mar 2018 16:24:13 -0600 Subject: Redirected posers to used passed in callbacks --- Makefile | 2 +- include/libsurvive/poser.h | 9 +++++++++ src/poser.c | 20 ++++++++++++++++++++ src/poser_charlesslow.c | 4 +--- src/poser_turveytori.c | 30 +++++++++--------------------- src/survive_cal.c | 2 +- 6 files changed, 41 insertions(+), 26 deletions(-) create mode 100644 src/poser.c diff --git a/Makefile b/Makefile index 332f59d..b9cfbdc 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_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.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 src/survive_reproject.o src/poser.o #If you want to use HIDAPI on Linux. diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h index 7e05184..57a8599 100644 --- a/include/libsurvive/poser.h +++ b/include/libsurvive/poser.h @@ -17,11 +17,20 @@ typedef enum PoserType_t POSERDATA_DISASSOCIATE, //If you get this, it doesn't contain data. It just tells you to please disassociate from the current SurviveObject and delete your poserdata. } PoserType; +typedef void (*poser_raw_pose_func)(SurviveObject *so, uint8_t lighthouse, FLT *pose, void *user); +typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user); + typedef struct { PoserType pt; + poser_raw_pose_func rawposeproc; + poser_lighthouse_pose_func lighthouseposeproc; + void *userdata; } PoserData; +void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, FLT *pose); +void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); + typedef struct { PoserData hdr; diff --git a/src/poser.c b/src/poser.c new file mode 100644 index 0000000..73fc7e8 --- /dev/null +++ b/src/poser.c @@ -0,0 +1,20 @@ +#include + +#include "poser.h" +#include "survive_internal.h" + +void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, FLT *pose) { + if (poser_data->rawposeproc) { + poser_data->rawposeproc(so, lighthouse, pose, poser_data->userdata); + } else { + so->ctx->rawposeproc(so, lighthouse, pose); + } +} + +void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { + if (poser_data->lighthouseposeproc) { + poser_data->lighthouseposeproc(so, lighthouse, pose, poser_data->userdata); + } else { + so->ctx->lighthouseposeproc(so->ctx, lighthouse, pose); + } +} diff --git a/src/poser_charlesslow.c b/src/poser_charlesslow.c index 30fc677..0839d59 100644 --- a/src/poser_charlesslow.c +++ b/src/poser_charlesslow.c @@ -174,9 +174,7 @@ int PoserCharlesSlow( SurviveObject * so, PoserData * pd ) quatrotateabout(tmp, lighthousePose.Rot, rt); memcpy(lighthousePose.Rot, tmp, sizeof(FLT) * 4); - if (ctx->lighthouseposeproc) { - ctx->lighthouseposeproc(ctx, lh, &lighthousePose); - } + PoserData_lighthouse_pose_func(pd, so, lh, &lighthousePose); #define ALT_COORDS #ifdef ALT_COORDS diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index ddc4ad2..db46b09 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1234,9 +1234,8 @@ void SolveForRotationQuat(FLT rotOut[4], TrackedObject *obj, Point lh) } - -static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *obj, SurviveObject *so, char doLogOutput,const int lh,const int setLhCalibration) -{ +static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *obj, SurviveObject *so, PoserData *pd, + char doLogOutput, const int lh, const int setLhCalibration) { ToriData *toriData = so->PoserData; //printf("Solving for Lighthouse\n"); @@ -1444,9 +1443,7 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob lighthousePose.Pos[1] = refinedEstimateGd.y; lighthousePose.Pos[2] = refinedEstimateGd.z; - if (so->ctx->lighthouseposeproc) { - so->ctx->lighthouseposeproc(so->ctx, lh, &lighthousePose); - } + PoserData_lighthouse_pose_func(pd, so, lh, &lighthousePose); } @@ -1531,16 +1528,7 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob return refinedEstimateGd; } - - - - - - - -static void QuickPose(SurviveObject *so, int lh) -{ - +static void QuickPose(SurviveObject *so, PoserData *pd, int lh) { ToriData * td = so->PoserData; @@ -1634,7 +1622,7 @@ static void QuickPose(SurviveObject *so, int lh) // SolveForLighthouse(pos, quat, to, so, 0, lh, 0); //} - SolveForLighthouse(&pose.Pos[0], &pose.Rot[0], to, so, 0, lh, 0); + SolveForLighthouse(&pose.Pos[0], &pose.Rot[0], to, so, pd, 0, lh, 0); //printf("P&O: [% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); if (so->ctx->rawposeproc) @@ -1717,7 +1705,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) // let's just do this occasionally for now... if (counter % 4 == 0) - QuickPose(so, 0); + QuickPose(so, poserData, 0); } if (1 == l->lh && axis) // only once per full cycle... { @@ -1727,7 +1715,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) // let's just do this occasionally for now... if (counter % 4 == 0) - QuickPose(so, 1); + QuickPose(so, poserData, 1); } // axis changed, time to increment the circular buffer index. td->angleIndex[l->lh][axis]++; @@ -1802,7 +1790,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT pos[3], quat[4]; - SolveForLighthouse(pos, quat, to, so, 0, 0, 1); + SolveForLighthouse(pos, quat, to, so, poserData, 0, 0, 1); } { int sensorCount = 0; @@ -1838,7 +1826,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT pos[3], quat[4]; - SolveForLighthouse(pos, quat, to, so, 0, 1, 1); + SolveForLighthouse(pos, quat, to, so, poserData, 0, 1, 1); } diff --git a/src/survive_cal.c b/src/survive_cal.c index 26ed1ad..fb3b240 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -603,7 +603,7 @@ static void handle_calibration( struct SurviveCalData *cd ) for( obj = 0; obj < cd->numPoseObjects; obj++ ) { int i, j; - PoserDataFullScene fsd; + PoserDataFullScene fsd = {}; fsd.hdr.pt = POSERDATA_FULL_SCENE; for( j = 0; j < NUM_LIGHTHOUSES; j++ ) for( i = 0; i < SENSORS_PER_OBJECT; i++ ) -- cgit v1.2.3