From 7d1d930dcb99559eee95fc8a94cc68d12a968353 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Tue, 3 Apr 2018 16:08:00 -0600 Subject: Added simple API --- include/libsurvive/survive.h | 34 ++++++++++++++-------------------- include/libsurvive/survive_api.h | 30 ++++++++++++++++++++++++++++++ include/libsurvive/survive_types.h | 19 +++++++++++++------ 3 files changed, 57 insertions(+), 26 deletions(-) create mode 100644 include/libsurvive/survive_api.h (limited to 'include') diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 65343b7..52dcc0d 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -10,19 +10,13 @@ extern "C" { #endif -#ifdef _WIN32 -#define SURVIVE_EXPORT __declspec(dllexport) -#else -#define SURVIVE_EXPORT __attribute__((visibility("default"))) -#endif - /** * This struct encodes what the last effective angles seen on a sensor were, and when they occured. */ typedef struct { FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) - uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks - uint32_t lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks + survive_timecode timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks + survive_timecode lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks FLT accel[3]; FLT gyro[3]; @@ -43,15 +37,15 @@ void SurviveSensorActivations_add_imu(SurviveSensorActivations *self, struct Pos * Returns true iff both angles for the given sensor and lighthouse were seen at most `tolerance` ticks before the given * `timecode_now`. */ -bool SurviveSensorActivations_isPairValid(const SurviveSensorActivations *self, uint32_t tolerance, - uint32_t timecode_now, uint32_t sensor_idx, int lh); +bool SurviveSensorActivations_isPairValid(const SurviveSensorActivations *self, survive_timecode tolerance, + survive_timecode timecode_now, uint32_t sensor_idx, int lh); /** * Default tolerance that gives a somewhat accuate representation of current state. * * Don't rely on this to be a given value. */ -extern uint32_t SurviveSensorActivations_default_tolerance; +extern survive_timecode SurviveSensorActivations_default_tolerance; // DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks // for optimization on 32- and 64-bit systems. @@ -75,7 +69,7 @@ struct SurviveObject { // Pose Information, also "poser" field. FLT PoseConfidence; // 0..1 SurvivePose OutPose; // Final pose? (some day, one can dream!) - uint32_t OutPose_timecode; + survive_timecode OutPose_timecode; SurvivePose FromLHPose[NUM_LIGHTHOUSES]; // Filled out by poser, contains computed position from each lighthouse. void *PoserData; // Initialized to zero, configured by poser, can be anything the poser wants. PoserCB PoserFn; @@ -101,11 +95,11 @@ struct SurviveObject { 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_sync_time[NUM_LIGHTHOUSES]; - uint32_t last_sync_length[NUM_LIGHTHOUSES]; - uint32_t recent_sync_time; + survive_timecode last_sync_time[NUM_LIGHTHOUSES]; + survive_timecode last_sync_length[NUM_LIGHTHOUSES]; + survive_timecode recent_sync_time; - uint32_t last_lighttime; // May be a 24- or 32- bit number depending on what device. + survive_timecode last_lighttime; // May be a 24- or 32- bit number depending on what device. FLT *acc_bias; // size is FLT*3. contains x,y,z FLT *acc_scale; // size is FLT*3. contains x,y,z @@ -305,14 +299,14 @@ SURVIVE_EXPORT int survive_haptic(SurviveObject *so, uint8_t reserved, uint16_t // Call these from your callback if overridden. // Accept higher-level data. SURVIVE_EXPORT void survive_default_light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, - uint32_t timecode, uint32_t length, uint32_t lh); -SURVIVE_EXPORT void survive_default_imu_process(SurviveObject *so, int mode, FLT *accelgyro, uint32_t timecode, int id); -SURVIVE_EXPORT void survive_default_angle_process(SurviveObject *so, int sensor_id, int acode, uint32_t timecode, + survive_timecode timecode, survive_timecode length, uint32_t lh); +SURVIVE_EXPORT void survive_default_imu_process(SurviveObject *so, int mode, FLT *accelgyro, survive_timecode timecode, int id); +SURVIVE_EXPORT void survive_default_angle_process(SurviveObject *so, int sensor_id, int acode, survive_timecode timecode, FLT length, FLT angle, uint32_t lh); SURVIVE_EXPORT void survive_default_button_process(SurviveObject *so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val); -SURVIVE_EXPORT void survive_default_raw_pose_process(SurviveObject *so, uint32_t timecode, SurvivePose *pose); +SURVIVE_EXPORT void survive_default_raw_pose_process(SurviveObject *so, survive_timecode timecode, SurvivePose *pose); SURVIVE_EXPORT void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lh_pose, SurvivePose *obj_pose); SURVIVE_EXPORT int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len); diff --git a/include/libsurvive/survive_api.h b/include/libsurvive/survive_api.h new file mode 100644 index 0000000..30e30ac --- /dev/null +++ b/include/libsurvive/survive_api.h @@ -0,0 +1,30 @@ +#include "survive_types.h" +#include + +#ifdef __cplusplus +extern "C" { +#endif + + struct SurviveAsyncContext; + typedef struct SurviveAsyncContext SurviveAsyncContext; + + SURVIVE_EXPORT SurviveAsyncContext *survive_asyc_init(int argc, char *const *argv); + SURVIVE_EXPORT void survive_async_close(SurviveAsyncContext* actx); + + SURVIVE_EXPORT void survive_async_start_thread(SurviveAsyncContext* actx); + SURVIVE_EXPORT int survive_async_stop_thread(SurviveAsyncContext* actx); + SURVIVE_EXPORT bool survive_async_is_running(SurviveAsyncContext* actx); + + struct SurviveAsyncObject; + typedef struct SurviveAsyncObject SurviveAsyncObject; + + SURVIVE_EXPORT const SurviveAsyncObject* survive_async_get_first_tracked(SurviveAsyncContext* actx); + SURVIVE_EXPORT const SurviveAsyncObject* survive_async_get_next_tracked(SurviveAsyncContext* actx, const SurviveAsyncObject* curr); + SURVIVE_EXPORT const SurviveAsyncObject* survive_async_get_next_updated(SurviveAsyncContext* actx); + + SURVIVE_EXPORT survive_timecode survive_async_object_get_latest_pose(const SurviveAsyncObject* sao, SurvivePose* pose); + SURVIVE_EXPORT const char* survive_async_object_name(SurviveAsyncObject* sao); + +#ifdef __cplusplus +} +#endif diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 367c391..b9d145f 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -4,6 +4,12 @@ #include "linmath.h" #include "stdint.h" +#ifdef _WIN32 +#define SURVIVE_EXPORT __declspec(dllexport) +#else +#define SURVIVE_EXPORT __attribute__((visibility("default"))) +#endif + #ifdef __cplusplus extern "C" { #endif @@ -38,6 +44,8 @@ typedef LinmathPose SurvivePose; #define BUTTON_EVENT_BUTTON_UP 2 #define BUTTON_EVENT_AXIS_CHANGED 3 +typedef uint32_t survive_timecode; + typedef struct SurviveObject SurviveObject; typedef struct SurviveContext SurviveContext; typedef struct BaseStationData BaseStationData; @@ -45,13 +53,12 @@ typedef struct SurviveCalData SurviveCalData; //XXX Warning: This may be remov typedef int (*htc_config_func)(SurviveObject *so, char *ct0conf, int len); typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault ); -typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse); -typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id ); -typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh); +typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, survive_timecode timecode, survive_timecode length, uint32_t lighthouse); +typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, survive_timecode timecode, int id ); +typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, survive_timecode timecode, FLT length, FLT angle, uint32_t lh); typedef void(*button_process_func)(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val); -typedef void (*pose_func)(SurviveObject *so, uint32_t timecode, SurvivePose *pose); -typedef void (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose, - SurvivePose *object_pose); +typedef void (*pose_func)(SurviveObject *so, survive_timecode timecode, SurvivePose *pose); +typedef void (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose, SurvivePose *object_pose); // For lightcap, etc. Don't change this structure at all. Regular vive is dependent on it being exactly as-is. // When you write drivers, you can use this to send survive lightcap data. -- cgit v1.2.3