From 3ec21bdcad82968bbed5ee1035d9ebedff7c67cf Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 22 Mar 2018 08:32:04 -0600 Subject: Split out disambiguators into seperate compilation units --- src/survive_turveybiguator.c | 465 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 465 insertions(+) create mode 100644 src/survive_turveybiguator.c (limited to 'src/survive_turveybiguator.c') diff --git a/src/survive_turveybiguator.c b/src/survive_turveybiguator.c new file mode 100644 index 0000000..bc69938 --- /dev/null +++ b/src/survive_turveybiguator.c @@ -0,0 +1,465 @@ +//<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License. +// + +#include "survive_internal.h" +#include /* for sqrt */ +#include +#include + +static const float tau_table[33] = {0, + 0, + 0, + 1.151140982, + 1.425, + 1.5712213707, + 1.656266074, + 1.7110275587, + 1.7490784054, + 1.7770229476, + 1.798410005, + 1.8153056661, + 1.8289916275, + 1.8403044103, + 1.8498129961, + 1.8579178211, + 1.864908883, + 1.8710013691, + 1.8763583296, + 1.881105575, + 1.885341741, + 1.8891452542, + 1.8925792599, + 1.8956951735, + 1.8985352854, + 1.9011347009, + 1.9035228046, + 1.9057243816, + 1.9077604832, + 1.9096491058, + 1.9114057255, + 1.9130437248, + 1.914574735}; + +typedef struct { + unsigned int sweep_time[SENSORS_PER_OBJECT]; + uint16_t sweep_len[SENSORS_PER_OBJECT]; // might want to align this to cache lines, will be hot for frequent access +} lightcaps_sweep_data; + +typedef struct { + int recent_sync_time; + int activeLighthouse; + int activeSweepStartTime; + int activeAcode; + + // int lh_pulse_len[NUM_LIGHTHOUSES]; + int lh_start_time[NUM_LIGHTHOUSES]; + int lh_max_pulse_length[NUM_LIGHTHOUSES]; + int8_t lh_acode[NUM_LIGHTHOUSES]; + int current_lh; // used knowing which sync pulse we're looking at. + +} lightcap2_per_sweep_data; + +typedef struct { + double acode_offset; + int sent_out_ootx_bits; +} lightcap2_global_data; + +typedef struct { + lightcaps_sweep_data sweep; + lightcap2_per_sweep_data per_sweep; + lightcap2_global_data global; +} lightcap2_data; + +// static lightcap2_global_data lcgd = { 0 }; + +static int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject *so, int pulseLen) { + double oldOffset = ((lightcap2_data *)so->disambiguator_data)->global.acode_offset; + + int modifiedPulseLen = pulseLen - (int)oldOffset; + + double newOffset = (((pulseLen) + 250) % 500) - 250; + + ((lightcap2_data *)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1; + +// fprintf(stderr, " %f\n", oldOffset); +#define ACODE_OFFSET 0 + if (pulseLen < 3250 - ACODE_OFFSET) + return 0; + if (pulseLen < 3750 - ACODE_OFFSET) + return 1; + if (pulseLen < 4250 - ACODE_OFFSET) + return 2; + if (pulseLen < 4750 - ACODE_OFFSET) + return 3; + if (pulseLen < 5250 - ACODE_OFFSET) + return 4; + if (pulseLen < 5750 - ACODE_OFFSET) + return 5; + if (pulseLen < 6250 - ACODE_OFFSET) + return 6; + return 7; +} + +static uint8_t remove_outliers(SurviveObject *so) { + return 0; // disabling this for now because it seems remove almost all the points for wired watchman and wired + // tracker. + lightcap2_data *lcd = so->disambiguator_data; + + uint32_t sum = 0; + uint8_t non_zero_count = 0; + uint32_t mean = 0; + + uint16_t *min = NULL; + uint16_t *max = NULL; + uint8_t found_first = 0; + + // future: https://gcc.gnu.org/projects/tree-ssa/vectorization.html#vectorizab + + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) { + sum += lcd->sweep.sweep_len[i]; + if (lcd->sweep.sweep_len[i] > 0) + ++non_zero_count; + } + + if (non_zero_count == 0) + return 0; + + mean = sum / non_zero_count; + + float standard_deviation = 0.0f; + sum = 0; + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) { + uint16_t len = lcd->sweep.sweep_len[i]; + if (len > 0) { + sum += (len - mean) * (len - mean); + + if (found_first == 0) { + max = min = lcd->sweep.sweep_len + i; + found_first = 1; + } else { + if (lcd->sweep.sweep_len[i] < *min) + min = lcd->sweep.sweep_len + i; + if (lcd->sweep.sweep_len[i] > *max) + max = lcd->sweep.sweep_len + i; + } + } + } + standard_deviation = sqrtf(((float)sum) / ((float)non_zero_count)); + + // printf("%f\n", standard_deviation); + + float tau_test = standard_deviation; + + if (non_zero_count > 2) + tau_test = standard_deviation * tau_table[non_zero_count]; + + // uint8_t removed_outliers = 0; + + uint32_t d1 = abs(*min - mean); + uint32_t d2 = abs(*max - mean); + + if (d1 > d2) { + if (d1 > tau_test) { + *min = 0; + return 1; + } + } else if (d2 > tau_test) { + *max = 0; + return 1; + } + + return 0; + /* + for (uint8_t i = 0; i < SENSORS_PER_OBJECT; i++) + { + uint16_t len = lcd->sweep.sweep_len[i]; + if (len == 0) continue; + + if ( abs(len-mean) > tau_test ) + { + // fprintf(stderr, "removing %d\n", len); + lcd->sweep.sweep_len[i] = 0; + removed_outliers = 1; + } + } + */ + // return removed_outliers; +} + +static void handle_lightcap2_process_sweep_data(SurviveObject *so) { + lightcap2_data *lcd = so->disambiguator_data; + + while (remove_outliers(so)) + ; + + // look at all of the sensors we found, and process the ones that were hit. + // TODO: find the sensor(s) with the longest pulse length, and assume + // those are the "highest quality". Then, reject any pulses that are sufficiently + // different from those values, assuming that they are reflections. + { + unsigned int longest_pulse = 0; + unsigned int timestamp_of_longest_pulse = 0; + for (int i = 0; i < SENSORS_PER_OBJECT; i++) { + if (lcd->sweep.sweep_len[i] > longest_pulse) { + longest_pulse = lcd->sweep.sweep_len[i]; + timestamp_of_longest_pulse = lcd->sweep.sweep_time[i]; + } + } + + int allZero = 1; + for (int q = 0; q < 32; q++) + if (lcd->sweep.sweep_len[q] != 0) + allZero = 0; + // if (!allZero) + // printf("a[%d]l[%d] ", lcd->per_sweep.activeAcode & 5, lcd->per_sweep.activeLighthouse); + for (int i = 0; i < SENSORS_PER_OBJECT; i++) { + + { + static int counts[SENSORS_PER_OBJECT][2] = {0}; + + // if (lcd->per_sweep.activeLighthouse == 0 && !allZero) + if (lcd->per_sweep.activeLighthouse > -1 && !allZero) { + if (lcd->sweep.sweep_len[i] != 0) { + // printf("%d ", i); + // counts[i][lcd->per_sweep.activeAcode & 1] ++; + } else { + counts[i][lcd->per_sweep.activeAcode & 1] = 0; + } + + // if (counts[i][0] > 10 && counts[i][1] > 10) + //{ + // printf("%d(%d,%d), ", i, counts[i][0], counts[i][1]); + //} + } + } + + if (lcd->sweep.sweep_len[i] != 0) // if the sensor was hit, process it + { + // printf("%4d\n", lcd->sweep.sweep_len[i]); + int offset_from = + lcd->sweep.sweep_time[i] - lcd->per_sweep.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; + + // first, send out the sync pulse data for the last round (for OOTX decoding + if (!lcd->global.sent_out_ootx_bits) { + if (lcd->per_sweep.lh_max_pulse_length[0] != 0) { + so->ctx->lightproc( + so, -1, handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[0]), + lcd->per_sweep.lh_max_pulse_length[0], lcd->per_sweep.lh_start_time[0], 0, 0); + } + if (lcd->per_sweep.lh_max_pulse_length[1] != 0) { + so->ctx->lightproc( + so, -2, handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_max_pulse_length[1]), + lcd->per_sweep.lh_max_pulse_length[1], lcd->per_sweep.lh_start_time[1], 0, 1); + } + lcd->global.sent_out_ootx_bits = 1; + } + + // if (offset_from < 380000 && offset_from > 70000) + { + // if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i]) + { + so->ctx->lightproc(so, i, lcd->per_sweep.activeAcode, offset_from, lcd->sweep.sweep_time[i], + lcd->sweep.sweep_len[i], lcd->per_sweep.activeLighthouse); + } + } + } + } + // if (!allZero) + // printf(" ..:..\n"); + + // if (!allZero) printf("\n"); + } + + // clear out sweep data (could probably limit this to only after a "first" sync. + // this is slightly more robust, so doing it here for now. + memset(&(((lightcap2_data *)so->disambiguator_data)->sweep), 0, sizeof(lightcaps_sweep_data)); +} + +static void handle_lightcap2_sync(SurviveObject *so, LightcapElement *le) { + // fprintf(stderr, "%6.6d %4.4d \n", le->timestamp - so->recent_sync_time, le->length); + lightcap2_data *lcd = so->disambiguator_data; + + // static unsigned int recent_sync_time = 0; + // static unsigned int recent_sync_count = -1; + // static unsigned int activeSweepStartTime; + + int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); // acode for this sensor reading + + // Process any sweep data we have + handle_lightcap2_process_sweep_data(so); + + int time_since_last_sync = (le->timestamp - lcd->per_sweep.recent_sync_time); + + // fprintf(stderr, " %2d %8d %d\n", le->sensor_id, time_since_last_sync, le->length); + // need to store up sync pulses, so we can take the earliest starting time for all sensors. + if (time_since_last_sync < 2400) { + lcd->per_sweep.recent_sync_time = le->timestamp; + // it's the same sync pulse; + // so->sync_set_number = 1; + so->recent_sync_time = le->timestamp; + + // lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + // lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + + if (le->length > lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh]) { + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + } + + /* + //this stuff should probably be happening on the sweep so that we can filter out erroneous a codes + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + lcd->per_sweep.activeLighthouse = lcd->per_sweep.current_lh; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + else + { + //this causes the master lighthouse to be ignored from the HMD + lcd->per_sweep.activeLighthouse = -1; + lcd->per_sweep.activeSweepStartTime = 0; + lcd->per_sweep.activeAcode = 0; + } + */ + } else if (time_since_last_sync < 24000) { + lcd->per_sweep.activeLighthouse = -1; + + lcd->per_sweep.recent_sync_time = le->timestamp; + // I do believe we are lighthouse B + lcd->per_sweep.current_lh = 1; + // lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + + /* + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + if (lcd->per_sweep.activeLighthouse != -1) + { + static int pulseWarningCount=0; + + if (pulseWarningCount < 5) + { + pulseWarningCount++; + // hmm, it appears we got two non-skip pulses at the same time. That should never happen + fprintf(stderr, "WARNING: Two non-skip pulses received on the same cycle!\n"); + } + } + + lcd->per_sweep.activeLighthouse = 1; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + */ + + } else if (time_since_last_sync > 370000) { + // XXX CAUTION: if we lose sight of a lighthouse then, the remaining lighthouse will default to master + // this should probably be fixed. Maybe some kind of timing based guess at which lighthouse. + + // looks like this is the first sync pulse. Cool! + lcd->global.sent_out_ootx_bits = 0; + + // fprintf(stderr, "************************************ Reinitializing Disambiguator!!!\n"); + // initialize here. + memset(&lcd->per_sweep, 0, sizeof(lcd->per_sweep)); + lcd->per_sweep.activeLighthouse = -1; + + for (uint8_t i = 0; i < NUM_LIGHTHOUSES; ++i) { + lcd->per_sweep.lh_acode[i] = -1; + } + + lcd->per_sweep.recent_sync_time = le->timestamp; + // I do believe we are lighthouse A + lcd->per_sweep.current_lh = 0; + // lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; + lcd->per_sweep.lh_max_pulse_length[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_acode[lcd->per_sweep.current_lh] = acode; + + // int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); + + /* + if (!(acode >> 2 & 1)) // if the skip bit is not set + { + lcd->per_sweep.activeLighthouse = 0; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; + } + */ + } + // printf("%d %d\n", acode, lcd->per_sweep.activeLighthouse ); +} + +static void handle_lightcap2_sweep(SurviveObject *so, LightcapElement *le) { + lightcap2_data *lcd = so->disambiguator_data; + + // If we see multiple "hits" on the sweep for a given sensor, + // assume that the longest (i.e. strongest signal) is most likely + // the non-reflected signal. + + // if (le->length < 80) + //{ + // // this is a low-quality read. Better to throw it out than to use it. + // //fprintf(stderr, "%2d %d\n", le->sensor_id, le->length); + // return; + //} + // fprintf(stderr, "%2d %d\n", le->sensor_id, le->length); + // fprintf(stderr, "."); + + lcd->per_sweep.activeLighthouse = -1; + lcd->per_sweep.activeSweepStartTime = 0; + lcd->per_sweep.activeAcode = 0; + + for (uint8_t i = 0; i < NUM_LIGHTHOUSES; ++i) { + int acode = lcd->per_sweep.lh_acode[i]; + if ((acode >= 0) && !(acode >> 2 & 1)) { + lcd->per_sweep.activeLighthouse = i; + lcd->per_sweep.activeSweepStartTime = lcd->per_sweep.lh_start_time[i]; + lcd->per_sweep.activeAcode = acode; + } + } + + if (lcd->per_sweep.activeLighthouse < 0) { + // fprintf(stderr, "WARNING: No active lighthouse!\n"); + // fprintf(stderr, " %2d %8d %d %d\n", le->sensor_id, + // le->length,lcd->per_sweep.lh_acode[0],lcd->per_sweep.lh_acode[1]); + return; + } + + if (lcd->sweep.sweep_len[le->sensor_id] < le->length) { + lcd->sweep.sweep_len[le->sensor_id] = le->length; + lcd->sweep.sweep_time[le->sensor_id] = le->timestamp; + } +} + +void handle_lightcap_turveybiguator(SurviveObject *so, LightcapElement *le) { + SurviveContext *ctx = so->ctx; + + if (so->disambiguator_data == NULL) { + fprintf(stderr, "Initializing Disambiguator Data\n"); + so->disambiguator_data = malloc(sizeof(lightcap2_data)); + memset(so->disambiguator_data, 0, sizeof(lightcap2_data)); + } + + if (le->sensor_id > SENSORS_PER_OBJECT) { + return; + } + + if (le->length > 6750) { + // Should never get a reading so high. Odd. + return; + } + // if (le->length >= 2750) + if (le->length >= 2500) { + // Looks like a sync pulse, process it! + handle_lightcap2_sync(so, le); + return; + } + + // must be a sweep pulse, process it! + handle_lightcap2_sweep(so, le); +} + -- cgit v1.2.3