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 --- src/survive_playback.c | 374 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 374 insertions(+) create mode 100755 src/survive_playback.c (limited to 'src/survive_playback.c') 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 ); + -- cgit v1.2.3 From a90f380359b719befb96af624260057848e95dce Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 8 Mar 2018 15:30:19 -0700 Subject: Refactoring to reuse code standard to htc json format --- src/survive_playback.c | 154 ++++--------------------------------------------- 1 file changed, 11 insertions(+), 143 deletions(-) (limited to 'src/survive_playback.c') diff --git a/src/survive_playback.c b/src/survive_playback.c index bb66f25..426a2b9 100755 --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -11,68 +11,15 @@ //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; @@ -215,7 +162,7 @@ static int playback_poll( struct SurviveContext * ctx, void * _driver ) { return 0; } -int playback_close( struct SurviveContext * ctx, void * _driver ) { +static int playback_close( struct SurviveContext * ctx, void * _driver ) { SurvivePlaybackData* driver = _driver; if(driver->playback_file) fclose(driver->playback_file); @@ -224,7 +171,7 @@ int playback_close( struct SurviveContext * ctx, void * _driver ) { } -static int LoadConfig( SurvivePlaybackData * sv, SurviveObject * so, int devno, int iface, int extra_magic ) +static int LoadConfig( SurvivePlaybackData * sv, SurviveObject * so) { SurviveContext * ctx = sv->ctx; char * ct0conf = 0; @@ -241,91 +188,12 @@ static int LoadConfig( SurvivePlaybackData * sv, SurviveObject * so, int devno, fseek(f, 0, SEEK_SET); //same as rewind(f); ct0conf = malloc(len+1); - fread( ct0conf, len, 1, f); + int read = 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; + return survive_load_htc_config_format(ct0conf, len, so); } @@ -357,11 +225,11 @@ int DriverRegPlayback( SurviveContext * ctx ) 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 ); } + 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); -- cgit v1.2.3 From 82dc5c4452e2a58667c337e967200cb7760c16cd Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 8 Mar 2018 16:19:05 -0700 Subject: Added time factor to playback --- src/survive_playback.c | 19 ++++++------------- 1 file changed, 6 insertions(+), 13 deletions(-) (limited to 'src/survive_playback.c') diff --git a/src/survive_playback.c b/src/survive_playback.c index 426a2b9..d8c6fba 100755 --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -1,13 +1,3 @@ -//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 @@ -26,6 +16,7 @@ struct SurvivePlaybackData { FILE* playback_file; int lineno; + FLT time_factor; uint64_t next_time_us; }; typedef struct SurvivePlaybackData SurvivePlaybackData; @@ -128,7 +119,7 @@ static int playback_poll( struct SurviveContext * ctx, void * _driver ) { line = 0; } - if(driver->next_time_us > timestamp_in_us()) + if(driver->next_time_us * driver->time_factor > timestamp_in_us()) return 0; driver->next_time_us = 0; @@ -204,12 +195,14 @@ int DriverRegPlayback( SurviveContext * ctx ) "PlaybackDir", ""); if(strlen(playback_dir) == 0) { - return 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); char playback_file[100]; -- cgit v1.2.3 From 3ec96c9a81f0f770fac75a1bdfc16ea96df07d9b Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Fri, 9 Mar 2018 00:21:17 -0700 Subject: Swapped to OGGetAbsoluteTime for timestamp --- src/survive_playback.c | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) (limited to 'src/survive_playback.c') diff --git a/src/survive_playback.c b/src/survive_playback.c index d8c6fba..7c49f5b 100755 --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -10,6 +10,8 @@ #include "survive_config.h" #include "survive_default_devices.h" +#include "redist/os_generic.h" + struct SurvivePlaybackData { SurviveContext * ctx; const char* playback_dir; @@ -17,19 +19,16 @@ struct SurvivePlaybackData { int lineno; FLT time_factor; - uint64_t next_time_us; + double 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; +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 int parse_and_run_imu(const char* line, SurvivePlaybackData* driver) { @@ -110,8 +109,7 @@ static int playback_poll( struct SurviveContext * ctx, void * _driver ) { ssize_t r = getdelim( &line, &n, ' ', f ); if( r <= 0 ) return 0; - uint64_t timestamp; - if(sscanf(line, "%lu", &driver->next_time_us) != 1) { + if(sscanf(line, "%lf", &driver->next_time_us) != 1) { free(line); return 0; } -- cgit v1.2.3 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) --- src/survive_playback.c | 375 +++++++++++++++++++++++++------------------------ 1 file changed, 192 insertions(+), 183 deletions(-) mode change 100755 => 100644 src/survive_playback.c (limited to 'src/survive_playback.c') 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