From fe88ef57cff4971664b252cb9def6a5ddcc4276d Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Fri, 9 Mar 2018 00:41:46 -0700 Subject: Spaces -> Tabs (code formatting change) --- data_recorder.c | 250 ++++++++++++++-------------- src/survive_default_devices.c | 309 +++++++++++++++++----------------- src/survive_default_devices.h | 18 +- src/survive_playback.c | 375 +++++++++++++++++++++--------------------- 4 files changed, 483 insertions(+), 469 deletions(-) mode change 100755 => 100644 src/survive_playback.c diff --git a/data_recorder.c b/data_recorder.c index 63746c3..6123d57 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -1,204 +1,204 @@ -//Data recorder mod with GUI showing light positions. +// Data recorder mod with GUI showing light positions. #ifdef __linux__ #include #endif +#include +#include +#include +#include #include #include -#include -#include #include -#include -#include -#include +#include #include -#include +#include #include "redist/os_generic.h" -struct SurviveContext * ctx; +struct SurviveContext *ctx; -FILE* output_file = 0; +FILE *output_file = 0; -void HandleKey( int keycode, int bDown ) -{ - if( !bDown ) return; +void HandleKey(int keycode, int bDown) { + if (!bDown) + return; - if( keycode == 'O' || keycode == 'o' ) - { - survive_send_magic(ctx,1,0,0); + if (keycode == 'O' || keycode == 'o') { + survive_send_magic(ctx, 1, 0, 0); } - if( keycode == 'F' || keycode == 'f' ) - { - survive_send_magic(ctx,0,0,0); + if (keycode == 'F' || keycode == 'f') { + survive_send_magic(ctx, 0, 0, 0); } } -void HandleButton( int x, int y, int button, int bDown ) -{ -} +void HandleButton(int x, int y, int button, int bDown) {} -void HandleMotion( int x, int y, int mask ) -{ -} +void HandleMotion(int x, int y, int mask) {} -void HandleDestroy() -{ -} +void HandleDestroy() {} -int bufferpts[32*2*3]; -char buffermts[32*128*3]; -int buffertimeto[32*3]; +int bufferpts[32 * 2 * 3]; +char buffermts[32 * 128 * 3]; +int buffertimeto[32 * 3]; double timestamp_in_us() { - static double start_time_us = 0; - if(start_time_us == 0) - start_time_us = OGGetAbsoluteTime(); - return OGGetAbsoluteTime() - start_time_us; + static double start_time_us = 0; + if (start_time_us == 0) + start_time_us = OGGetAbsoluteTime(); + return OGGetAbsoluteTime() - start_time_us; } -int write_to_output(const char *format, ...) -{ - va_list args; - va_start(args, format); - fprintf(output_file, "%.17g ", timestamp_in_us()); - vfprintf(output_file, format, args); +int write_to_output(const char *format, ...) { + va_list args; + va_start(args, format); + fprintf(output_file, "%.17g ", timestamp_in_us()); + vfprintf(output_file, format, args); - va_end(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); +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 ) { - write_to_output( "A %s %d %d %d %u %u %u\n", so->codename, sensor_id, acode, timeinsweep, timecode, length, lh ); - 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 (strcmp(so->codename, "WM0") == 0) + jumpoffset += 32; + else if (strcmp(so->codename, "WM1") == 0) + jumpoffset += 64; + + const char *LH_ID = 0; + const char *LH_Axis = 0; - const char* LH_ID = 0; - const char* LH_Axis = 0; - - switch(acode) { + switch (acode) { case 0: case 2: - bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500; - LH_ID = "L"; LH_Axis = "X"; break; + 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; + 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; + 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; - } + 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 ); + 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 ); - 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 ); +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); + 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); } - - - -void * GuiThread( void * v ) -{ +void *GuiThread(void *v) { CNFGBGColor = 0x000000; CNFGDialogColor = 0x444444; - CNFGSetup( "Survive GUI Debug", 640, 480 ); + CNFGSetup("Survive GUI Debug", 640, 480); short screenx, screeny; - while(1) - { + while (1) { CNFGHandleInput(); CNFGClearFrame(); - CNFGColor( 0xFFFFFF ); - CNFGGetDimensions( &screenx, &screeny ); + CNFGColor(0xFFFFFF); + CNFGGetDimensions(&screenx, &screeny); int i; - for( i = 0; i < 32*3; i++ ) - { - if( buffertimeto[i] < 50 ) - { + 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 ); + 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]++; } } CNFGSwapBuffers(); - OGUSleep( 10000 ); + OGUSleep(10000); } } -int SurviveThreadLoaded=0; +int SurviveThreadLoaded = 0; -void *SurviveThread(void *junk) -{ - ctx = survive_init( 0 ); +void *SurviveThread(void *junk) { + ctx = survive_init(0); - survive_install_light_fn( ctx, my_light_process ); - survive_install_imu_fn( ctx, my_imu_process ); + survive_install_light_fn(ctx, my_light_process); + survive_install_imu_fn(ctx, my_imu_process); - if( !ctx ) - { - fprintf( stderr, "Fatal. Could not start\n" ); + if (!ctx) { + fprintf(stderr, "Fatal. Could not start\n"); exit(1); } SurviveThreadLoaded = 1; - while(survive_poll(ctx) == 0) - { + while (survive_poll(ctx) == 0) { } - return 0; + return 0; } -int main(int argc, char** argv) -{ - 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); } - - // Run the Gui in the main thread - GuiThread(0); -} +int main(int argc, char **argv) { + 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); + } + + // Run the Gui in the main thread + GuiThread(0); +} diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index 1882002..6615f1e 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -1,93 +1,92 @@ +#include "survive_default_devices.h" #include +#include #include #include -#include "survive_default_devices.h" -#include #include "json_helpers.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; +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_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_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_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_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); +SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name, + void *driver) { + return survive_create_device(ctx, driver_name, driver, "WW0", 0); } - 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) { + 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 ) -{ +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; + int pts = t[i + 1].size; + jsmntok_t *tk; so->nr_locations = 0; - *floats_out = malloc( sizeof( **floats_out ) * 32 * 3 ); + *floats_out = malloc(sizeof(**floats_out) * 32 * 3); - for( k = 0; k < pts; k++ ) - { - tk = &t[i+2+k*4]; + for (k = 0; k < pts; k++) { + tk = &t[i + 2 + k * 4]; int m; - for( m = 0; m < 3; 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" ); + if (tk->type != 4 || elemlen > sizeof(ctt) - 1) { + SV_ERROR("Parse error in JSON\n"); return 1; } - memcpy( ctt, ct0conf + tk->start, elemlen ); + memcpy(ctt, ct0conf + tk->start, elemlen); ctt[elemlen] = 0; - FLT f = atof( ctt ); - int id = so->nr_locations*3+m; + FLT f = atof(ctt); + int id = so->nr_locations * 3 + m; (*floats_out)[id] = f; } so->nr_locations++; @@ -95,106 +94,106 @@ static int ParsePoints( SurviveContext * ctx, SurviveObject * so, char * ct0conf return 0; } -int survive_load_htc_config_format(char* ct0conf, int len, SurviveObject * so) { - if (len == 0) - return -1; - - SurviveContext* ctx = so->ctx; - //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; +int survive_load_htc_config_format(char *ct0conf, int len, SurviveObject *so) { + if (len == 0) + return -1; + + SurviveContext *ctx = so->ctx; + // 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 (jsoneq(ct0conf, tk, "modelNormals") == 0) { - if( ParsePoints( ctx, so, ct0conf, &so->sensor_normals, t, i ) ) - { - break; + if (r < 1 || t[0].type != JSMN_OBJECT) { + SV_INFO("Object expected in HMD configuration\n"); + return -2; } - } - - - 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; - } - } - } - - - char fname[64]; - - sprintf( fname, "calinfo/%s_points.csv", so->codename ); - FILE * f = fopen( fname, "w" ); - int j; - for( j = 0; j < so->nr_locations; j++ ) - { - fprintf( f, "%f %f %f\n", so->sensor_locations[j*3+0], so->sensor_locations[j*3+1], so->sensor_locations[j*3+2] ); - } - fclose( f ); - - sprintf( fname, "calinfo/%s_normals.csv", so->codename ); - f = fopen( fname, "w" ); - for( j = 0; j < so->nr_locations; j++ ) - { - fprintf( f, "%f %f %f\n", so->sensor_normals[j*3+0], so->sensor_normals[j*3+1], so->sensor_normals[j*3+2] ); - } - fclose( f ); - - - return 0; + + 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; + } + } + } + + char fname[64]; + + sprintf(fname, "calinfo/%s_points.csv", so->codename); + FILE *f = fopen(fname, "w"); + int j; + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_locations[j * 3 + 0], + so->sensor_locations[j * 3 + 1], + so->sensor_locations[j * 3 + 2]); + } + fclose(f); + + sprintf(fname, "calinfo/%s_normals.csv", so->codename); + f = fopen(fname, "w"); + for (j = 0; j < so->nr_locations; j++) { + fprintf(f, "%f %f %f\n", so->sensor_normals[j * 3 + 0], + so->sensor_normals[j * 3 + 1], so->sensor_normals[j * 3 + 2]); + } + fclose(f); + + return 0; } diff --git a/src/survive_default_devices.h b/src/survive_default_devices.h index fce199d..1fcca72 100644 --- a/src/survive_default_devices.h +++ b/src/survive_default_devices.h @@ -3,11 +3,17 @@ #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); +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); -int survive_load_htc_config_format(char* ct0conf, int length, SurviveObject * so); +int survive_load_htc_config_format(char *ct0conf, int length, + SurviveObject *so); #endif diff --git a/src/survive_playback.c b/src/survive_playback.c old mode 100755 new mode 100644 index 7c49f5b..4b25b4c --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -1,8 +1,9 @@ -//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. +// All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL +// or LGPL licenses. -#include #include #include +#include #include #include @@ -13,221 +14,229 @@ #include "redist/os_generic.h" struct SurvivePlaybackData { - SurviveContext * ctx; - const char* playback_dir; - FILE* playback_file; - int lineno; + SurviveContext *ctx; + const char *playback_dir; + FILE *playback_file; + int lineno; - FLT time_factor; - double next_time_us; + FLT time_factor; + double next_time_us; }; typedef struct SurvivePlaybackData SurvivePlaybackData; - double timestamp_in_us() { - static double start_time_us = 0; - if(start_time_us == 0.) - start_time_us = OGGetAbsoluteTime(); - return OGGetAbsoluteTime() - start_time_us; + static double start_time_us = 0; + if (start_time_us == 0.) + start_time_us = OGGetAbsoluteTime(); + return OGGetAbsoluteTime() - 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_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; + } -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; + 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); + + 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; - - if(sscanf(line, "%lf", &driver->next_time_us) != 1) { - free(line); - 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; + + if (sscanf(line, "%lf", &driver->next_time_us) != 1) { + free(line); + return 0; + } + free(line); + line = 0; + } + + if (driver->next_time_us * driver->time_factor > 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; } - free(line); - line = 0; - } - if(driver->next_time_us * driver->time_factor > 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; } -static 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 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) { + SurviveContext *ctx = sv->ctx; + char *ct0conf = 0; -static int LoadConfig( SurvivePlaybackData * sv, SurviveObject * so) -{ - 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" ); + 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; - 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); + fseek(f, 0, SEEK_SET); // same as rewind(f); - ct0conf = malloc(len+1); - int read = fread( ct0conf, len, 1, f); - fclose( f ); + ct0conf = malloc(len + 1); + int read = fread(ct0conf, len, 1, f); + fclose(f); ct0conf[len] = 0; - printf( "Loading config: %d\n", len ); + printf("Loading config: %d\n", len); return survive_load_htc_config_format(ct0conf, len, so); } +int DriverRegPlayback(SurviveContext *ctx) { + const char *playback_dir = + config_read_str(ctx->global_config_values, "PlaybackDir", ""); + if (strlen(playback_dir) == 0) { + 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; - sp->time_factor = config_read_float(ctx->global_config_values, "PlaybackFactor", 1.); - - printf("%s\n", playback_dir); + SurvivePlaybackData *sp = calloc(1, sizeof(SurvivePlaybackData)); + sp->ctx = ctx; + sp->playback_dir = playback_dir; + sp->time_factor = + config_read_float(ctx->global_config_values, "PlaybackFactor", 1.); + + 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)) { + survive_add_object(ctx, hmd); + } + if (!LoadConfig(sp, wm0)) { + survive_add_object(ctx, wm0); + } + if (!LoadConfig(sp, wm1)) { + survive_add_object(ctx, wm1); + } + if (!LoadConfig(sp, tr0)) { + survive_add_object(ctx, tr0); + } + if (!LoadConfig(sp, ww0)) { + survive_add_object(ctx, ww0); + } - 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 )) { survive_add_object( ctx, hmd ); } - if( !LoadConfig( sp, wm0 )) { survive_add_object( ctx, wm0 ); } - if( !LoadConfig( sp, wm1 )) { survive_add_object( ctx, wm1 ); } - if( !LoadConfig( sp, tr0 )) { survive_add_object( ctx, tr0 ); } - if( !LoadConfig( sp, ww0 )) { survive_add_object( ctx, ww0 ); } - - - survive_add_driver(ctx, sp, playback_poll, playback_close, 0); - return 0; - fail_gracefully: - return -1; + survive_add_driver(ctx, sp, playback_poll, playback_close, 0); + return 0; +fail_gracefully: + return -1; } -REGISTER_LINKTIME( DriverRegPlayback ); - +REGISTER_LINKTIME(DriverRegPlayback); -- cgit v1.2.3