From 394cbc465e776137834eea830038b43ea98f6268 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 00:30:48 -0500
Subject: Switch types over to avoiding extra struct keyword.  Switch poses to
 "SurvivePose" type.

---
 src/survive_vive.c | 74 ++++++++++++++++++++++++++++--------------------------
 1 file changed, 39 insertions(+), 35 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 47886c9..6be5114 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -24,13 +24,6 @@
 
 struct SurviveViveData;
 
-//USB Subsystem 
-void survive_usb_close( struct SurviveContext * t );
-int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1 );
-int survive_usb_poll( struct SurviveContext * ctx );
-int survive_get_config( char ** config, struct SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
-
-
 const short vidpids[] = {
 	0x0bb4, 0x2c87, 0, //The main HTC HMD device
 	0x28de, 0x2000, 0, //Valve lighthouse
@@ -60,15 +53,18 @@ const char * devnames[] = {
 #define USB_IF_LIGHTCAP		4
 #define MAX_INTERFACES				5
 
-typedef void (*usb_callback)( struct SurviveUSBInterface * ti );
+typedef struct SurviveUSBInterface SurviveUSBInterface;
+typedef struct SurviveViveData SurviveViveData;
+
+typedef void (*usb_callback)( SurviveUSBInterface * ti );
 
 struct SurviveUSBInterface
 {
-	struct SurviveViveData * sv;
-	struct SurviveContext * ctx;
+	SurviveViveData * sv;
+	SurviveContext * ctx;
 
 	struct libusb_transfer * transfer;
-	struct SurviveObject * assoc_obj;
+	SurviveObject * assoc_obj;
 	int actual_len;
 	uint8_t buffer[INTBUFFSIZE];
 	usb_callback cb;
@@ -78,16 +74,24 @@ struct SurviveUSBInterface
 
 struct SurviveViveData
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 
 	//XXX TODO: UN-STATICIFY THIS.
-	struct SurviveUSBInterface uiface[MAX_INTERFACES];
+	SurviveUSBInterface uiface[MAX_INTERFACES];
 	//USB Subsystem
 	struct libusb_context* usbctx;
 	struct libusb_device_handle * udev[MAX_USB_DEVS];
 
 };
 
+void survive_data_cb( SurviveUSBInterface * si );
+
+//USB Subsystem 
+void survive_usb_close( SurviveContext * t );
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1 );
+int survive_usb_poll( SurviveContext * ctx );
+int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
+
 
 
 
@@ -115,10 +119,10 @@ static void handle_transfer(struct libusb_transfer* transfer)
 
 
 
-static int AttachInterface( struct SurviveViveData * sv, struct SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
+static int AttachInterface( SurviveViveData * sv, SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
 {
-	struct SurviveContext * ctx = sv->ctx;
-	struct SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
+	SurviveContext * ctx = sv->ctx;
+	SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
 	iface->ctx = ctx;
 	iface->sv = sv;
 	iface->which_interface_am_i = which_interface_am_i;
@@ -680,7 +684,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		}
 
 
-		struct LightcapElement les[10];
+		LightcapElement les[10];
 		int lese = 0; //les's end
 
 		//Second, go through all LEDs and extract the lightevent from them. 
@@ -711,7 +715,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				//reverse sorted, but that is to minimize operations.  To read it
 				//in sorted order simply read it back backwards.
 				//Use insertion sort, since we should most of the time, be in order.
-				struct LightcapElement * le = &les[lese++];
+				LightcapElement * le = &les[lese++];
 				le->sensor_id = led;
 				le->type = 0xfe;
 
@@ -725,7 +729,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				int swap = lese-2;
 				while( swap >= 0 && les[swap].timestamp < les[swap+1].timestamp )
 				{
-					struct LightcapElement l;
+					LightcapElement l;
 					memcpy( &l, &les[swap], sizeof( l ) );
 					memcpy( &les[swap], &les[swap+1], sizeof( l ) );
 					memcpy( &les[swap+1], &l, sizeof( l ) );
@@ -744,17 +748,17 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		return;
 	end:
 		{
-			struct SurviveContext * ctx = w->ctx;
+			SurviveContext * ctx = w->ctx;
 			SV_INFO( "Light decoding fault: %d\n", fault );
 		}
 	}
 }
 
 
-void survive_data_cb( struct SurviveUSBInterface * si )
+void survive_data_cb( SurviveUSBInterface * si )
 {
 	int size = si->actual_len;
-	struct SurviveContext * ctx = si->ctx;
+	SurviveContext * ctx = si->ctx;
 #if 0
 	int i;
 	printf( "%16s: %d: ", si->hname, len );
@@ -767,7 +771,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 #endif 
 
 	int iface = si->which_interface_am_i;
-	struct SurviveObject * obj = si->assoc_obj;
+	SurviveObject * obj = si->assoc_obj;
 	uint8_t * readdata = si->buffer;
 
 	int id = POP1;
@@ -818,7 +822,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 	case USB_IF_WATCHMAN1:
 	case USB_IF_WATCHMAN2:
 	{
-		struct SurviveObject * w = obj;
+		SurviveObject * w = obj;
 		if( id == 35 )
 		{
 			handle_watchman( w, readdata);
@@ -844,7 +848,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 		int i;
 		for( i = 0; i < 7; i++ )
 		{
-			handle_lightcap( obj, (struct LightcapElement*)&readdata[i*8] );
+			handle_lightcap( obj, (LightcapElement*)&readdata[i*8] );
 		}
 		break;
 	}
@@ -875,7 +879,7 @@ static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
 }
 
 
-static int ParsePoints( struct SurviveContext * ctx, struct 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;
@@ -914,9 +918,9 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so,
 	return 0;
 }
 
-static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, int devno, int iface, int extra_magic )
+static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int iface, int extra_magic )
 {
-	struct SurviveContext * ctx = sv->ctx;
+	SurviveContext * ctx = sv->ctx;
 	char * ct0conf = 0;
 	int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic );
 
@@ -1002,21 +1006,21 @@ static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, i
 }
 
 
-int survive_vive_close( struct SurviveContext * ctx, void * driver )
+int survive_vive_close( SurviveContext * ctx, void * driver )
 {
-	struct SurviveViveData * sv = driver;
+	SurviveViveData * sv = driver;
  
 	survive_vive_usb_close( sv );
 }
 
 
-int DriverRegHTCVive( struct SurviveContext * ctx )
+int DriverRegHTCVive( SurviveContext * ctx )
 {
 	int i, r;
-	struct SurviveObject * hmd = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm0 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm1 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveViveData * sv = calloc( 1, sizeof( struct SurviveViveData ) );
+	SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) );
 
 	sv->ctx = ctx;
 
-- 
cgit v1.3.1


From 2a4a803b2f162692ca11e700b32da0a77049bfd2 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 01:01:42 -0500
Subject: cleaning up more header stuff

---
 include/libsurvive/survive.h | 18 +++++++++++-------
 src/survive.c                |  1 -
 src/survive_driverman.c      |  2 +-
 src/survive_driverman.h      | 22 ----------------------
 src/survive_internal.h       | 10 +++++-----
 src/survive_vive.c           |  8 +++-----
 6 files changed, 20 insertions(+), 41 deletions(-)
 delete mode 100644 src/survive_driverman.h

(limited to 'src/survive_vive.c')

diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 01b5e2b..c35e43c 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -103,6 +103,7 @@ struct SurviveContext
 SurviveContext * survive_init( int headless );
 
 //For any of these, you may pass in 0 for the function pointer to use default behavior.
+//In general unless you are doing wacky things like recording or playing back data, you won't need to use this.
 void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp );
 void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp );
 void survive_install_light_fn( SurviveContext * ctx,  light_process_func fbp );
@@ -120,7 +121,7 @@ int survive_simple_inflate( SurviveContext * ctx, const char * input, int inlen,
 int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen );
 
 //Install the calibrator.
-void survive_cal_install( SurviveContext * ctx );
+void survive_cal_install( SurviveContext * ctx );  //XXX This will be removed if not already done so.
 
 //Call these from your callback if overridden.  
 //Accept higher-level data.
@@ -132,18 +133,17 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode
 ////////////////////// Survive Drivers ////////////////////////////
 
 void   RegisterDriver( const char * name, void * data );
-void * GetDriver( const char * name );
-const char * GetDriverNameMatching( const char * prefix, int place );
-void   ListDrivers();
 
 #define REGISTER_LINKTIME( func ) \
 	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }
 
-int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
-void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
 
 
-////////////////////// Lightcap driver data ///////////////////////
+///////////////////////// General stuff for writing drivers ///////
+
+//For device drivers to call.  This actually attaches them.
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
 
 //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.
@@ -158,5 +158,9 @@ typedef struct
 //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
 void handle_lightcap( SurviveObject * so, LightcapElement * le );
 
+#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); }
+#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); }
+#define SV_KILL()		exit(0)  //XXX This should likely be re-defined.
+
 #endif
 
diff --git a/src/survive.c b/src/survive.c
index 9bc1a2c..e1ab943 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -3,7 +3,6 @@
 
 #include <survive.h>
 #include "survive_internal.h"
-#include "survive_driverman.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/survive_driverman.c b/src/survive_driverman.c
index 8cdfb71..d694e64 100644
--- a/src/survive_driverman.c
+++ b/src/survive_driverman.c
@@ -3,7 +3,7 @@
 // See notice in survive_driverman.h
 //
 
-#include "survive_driverman.h"
+#include "survive_internal.h"
 #include <string.h>
 #include <stdio.h>
 
diff --git a/src/survive_driverman.h b/src/survive_driverman.h
deleted file mode 100644
index 216333a..0000000
--- a/src/survive_driverman.h
+++ /dev/null
@@ -1,22 +0,0 @@
-// (C) 2017 <>< C. N. Lohr, Under MIT/x11 License.
-//
-// This file is intended to be used for self-registering functions.  By using
-// this it means that you do not need to have complicated switch statements or
-// #defines for dfferent inclusion of drivers/other code.  You can simply
-// register your function and it will be put into a list.
-//
-//
-
-#ifndef SURVIVE_DRIVERMAN_H
-#define SURVIVE_DRIVERMAN_H
-
-#include "survive.h"
-
-//Very little here.  Mostly included in survive.h.
-
-//Driver registration
-#define MAX_DRIVERS 32
-
-
-#endif
-
diff --git a/src/survive_internal.h b/src/survive_internal.h
index ff156ad..392104a 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -7,16 +7,16 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
-#include "survive_driverman.h"
 #include <zlib.h>
 #include <survive.h>
 
-#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); }
-#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); }
 
-//XXX TODO This one needs to be rewritten.
-#define SV_KILL()		exit(0)
+//Driver registration
+#define MAX_DRIVERS 32
 
+void * GetDriver( const char * name );
+const char * GetDriverNameMatching( const char * prefix, int place );
+void   ListDrivers();
 
 #endif
 
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 6be5114..61716d3 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -10,14 +10,12 @@
 //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 "survive_internal.h"
-#include "survive_driverman.h"
+#include <survive.h>
 #include <jsmn.h>
-
-#include "survive_internal.h"
 #include <libusb-1.0/libusb.h>
 #include <stdio.h>
-#include <unistd.h> //sleep if I ever use it.
+#include <stdlib.h>
+#include <unistd.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/stat.h>
-- 
cgit v1.3.1


From c65498054c77192b2a12fdb5ef44439a14110292 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 01:43:56 -0500
Subject: Architect the way the posers receive data.

---
 Makefile                           |  2 +-
 calibrate.c                        |  9 +++---
 calibrate_client.c                 |  9 +++---
 data_recorder.c                    |  6 ++--
 include/libsurvive/poser.h         |  4 ++-
 include/libsurvive/survive.h       |  4 +--
 include/libsurvive/survive_types.h |  2 +-
 src/survive.c                      | 57 +++++++++++++++++++++++++++++---------
 src/survive_cal.h                  |  2 ++
 src/survive_process.c              | 29 ++++++++++++++++---
 src/survive_vive.c                 | 16 +++++++++--
 11 files changed, 103 insertions(+), 37 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/Makefile b/Makefile
index 470cbe3..3c8431b 100644
--- a/Makefile
+++ b/Makefile
@@ -23,7 +23,7 @@ calibrate_client :  calibrate_client.c lib/libsurvive.so redist/os_generic.c red
 lib:
 	mkdir lib
 
-lib/libsurvive.so : src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o redist/jsmn.o src/ootx_decoder.o redist/linmath.o src/survive_driverman.o src/survive_vive.o src/survive_config.o redist/json_helpers.o $(DEBUGSTUFF) $(CALS)
+lib/libsurvive.so : src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o redist/jsmn.o src/ootx_decoder.o redist/linmath.o src/survive_driverman.o src/survive_vive.o src/survive_config.o redist/json_helpers.o src/PoserDummy.o $(DEBUGSTUFF) $(CALS)
 	gcc -o $@ $^ $(LDFLAGS) -shared
 
 clean :
diff --git a/calibrate.c b/calibrate.c
index a04c269..c557251 100644
--- a/calibrate.c
+++ b/calibrate.c
@@ -76,15 +76,14 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 	}
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
-return;
 	//if( so->codename[0] == 'H' )
-	if( 1 )
+	if( 0 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
diff --git a/calibrate_client.c b/calibrate_client.c
index 9867d67..b15b9db 100644
--- a/calibrate_client.c
+++ b/calibrate_client.c
@@ -75,15 +75,14 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 	}
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
-return;
 	//if( so->codename[0] == 'H' )
-	if( 1 )
+	if( 0 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
diff --git a/data_recorder.c b/data_recorder.c
index 951f234..5504d42 100644
--- a/data_recorder.c
+++ b/data_recorder.c
@@ -77,15 +77,15 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 
 }
 
-void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
 {
-	survive_default_imu_process( so, accelgyro, timecode, id );
+	survive_default_imu_process( so, mask, accelgyro, timecode, id );
 
 //return;
 	//if( so->codename[0] == 'H' )
 	if( 1 )
 	{
-		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+		printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
 	}
 }
 
diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
index c514953..98c926e 100644
--- a/include/libsurvive/poser.h
+++ b/include/libsurvive/poser.h
@@ -9,6 +9,7 @@ typedef enum PoserType_t
 	POSERDATA_IMU,
 	POSERDATA_LIGHT,		//Single lighting event.  
 	POSERDATA_FULL_SCENE, 	//Full, statified X, Y sweep data for both lighthouses.
+	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 struct
@@ -24,6 +25,7 @@ typedef struct
 	FLT accel[3];
 	FLT gyro[3];
 	FLT mag[3];
+	uint32_t timecode; //In object-local ticks.
 } PoserDataIMU;
 
 typedef struct
@@ -47,7 +49,7 @@ typedef struct
 	PoserDataIMU lastimu;
 } PoserDataFullScene;
 
-//When you register your posers using the internal system, 
+//When you write your posers, use the following definition, and register with REGISTER_LINKTIME.
 typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
 
 
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index c35e43c..7fd6046 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -29,7 +29,7 @@ struct SurviveObject
 	SurvivePose OutPose;
 	SurvivePose FromLHPose[NUM_LIGHTHOUSES]; //Optionally 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;
+	PoserCB PoserFn;
 
 	//Device-specific information about the location of the sensors.  This data will be used by the poser.
 	int8_t nr_locations;
@@ -126,7 +126,7 @@ void survive_cal_install( SurviveContext * ctx );  //XXX This will be removed if
 //Call these from your callback if overridden.  
 //Accept higher-level data.
 void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
-void survive_default_imu_process( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
+void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, uint32_t timecode, int id );
 void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
 
 
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index f235330..1600e11 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -29,7 +29,7 @@ typedef struct SurviveCalData SurviveCalData;   //XXX Warning: This may be remov
 
 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 );
-typedef void (*imu_process_func)( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
+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 );
 
 
diff --git a/src/survive.c b/src/survive.c
index e1ab943..efa5d82 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -20,11 +20,11 @@ static void survivenote( struct SurviveContext * ctx, const char * fault )
 }
 
 
-struct SurviveContext * survive_init( int headless )
+SurviveContext * survive_init( int headless )
 {
 	int r = 0;
 	int i = 0;
-	struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) );
+	SurviveContext * ctx = calloc( 1, sizeof( SurviveContext ) );
 
 	ctx->faultfunction = survivefault;
 	ctx->notefunction = survivenote;
@@ -35,7 +35,6 @@ struct SurviveContext * survive_init( int headless )
 
 	const char * DriverName;
 	while( ( DriverName = GetDriverNameMatching( "DriverReg", i++ ) ) )
-
 	{
 		DeviceDriver dd = GetDriver( DriverName );
 		printf( "Loading driver %s (%p) (%d)\n", DriverName, dd, i );
@@ -43,10 +42,34 @@ struct SurviveContext * survive_init( int headless )
 		printf( "Driver %s reports status %d\n", DriverName, r );
 	}
 
+	i = 0;
+	const char * PreferredPoser = "PoserDummy"; //config_read_str( cg, "DefualtPoser", "PoserDummy" ); /XXX Axlecrusher, can you add config stuff for this?
+	PoserCB PreferredPoserCB = 0;
+	const char * FirstPoser = 0;
+	printf( "Available posers:\n" );
+	while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) )
+	{
+		PoserCB p = GetDriver( DriverName );
+		if( !PreferredPoserCB ) PreferredPoserCB = p;
+		int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0;
+		printf( "\t%c%s\n", ThisPoser?'*':' ', DriverName );
+		if( ThisPoser ) PreferredPoserCB = p;
+	}
+	printf( "Totals %d posers.  Using selected poser (or first!).\n", i-1 );
+	if( !PreferredPoserCB )
+	{
+		SV_ERROR( "Error.  Cannot find any valid poser." );
+	}
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		ctx->objs[i]->PoserFn = PreferredPoserCB;
+	}
+
 	return ctx;
 }
 
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->notefunction = fbp;
@@ -54,7 +77,7 @@ void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func f
 		ctx->notefunction = survivenote;
 }
 
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->faultfunction = fbp;
@@ -62,7 +85,7 @@ void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func
 		ctx->faultfunction = survivefault;
 }
 
-void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp )
+void survive_install_light_fn( SurviveContext * ctx, light_process_func fbp )
 {
 	if( fbp )
 		ctx->lightproc = fbp;
@@ -70,7 +93,7 @@ void survive_install_light_fn( struct SurviveContext * ctx, light_process_func f
 		ctx->lightproc = survive_default_light_process;
 }
 
-void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp )
+void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp )
 {
 	if( fbp )
 		ctx->imuproc = fbp;
@@ -79,7 +102,7 @@ void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp
 }
 
 
-void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp )
+void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp )
 {
 	if( fbp )
 		ctx->angleproc = fbp;
@@ -87,15 +110,15 @@ void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func
 		ctx->angleproc = survive_default_angle_process;
 }
 
-int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj )
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj )
 {
 	int oldct = ctx->objs_ct;
-	ctx->objs = realloc( ctx->objs, sizeof( struct SurviveObject * ) * (oldct+1) );
+	ctx->objs = realloc( ctx->objs, sizeof( SurviveObject * ) * (oldct+1) );
 	ctx->objs[oldct] = obj;
 	ctx->objs_ct = oldct+1;
 }
 
-void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
 {
 	int oldct = ctx->driver_ct;
 	ctx->drivers = realloc( ctx->drivers, sizeof( void * ) * (oldct+1) );
@@ -109,7 +132,7 @@ void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriv
 	ctx->driver_ct = oldct+1;
 }
 
-int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen )
+int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen )
 {
 	int oldct = ctx->driver_ct;
 	int i;
@@ -119,7 +142,7 @@ int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data
 	}	
 }
 
-void survive_close( struct SurviveContext * ctx )
+void survive_close( SurviveContext * ctx )
 {
 	const char * DriverName;
 	int r = 0;
@@ -133,6 +156,14 @@ void survive_close( struct SurviveContext * ctx )
 
 	int oldct = ctx->driver_ct;
 	int i;
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		PoserData pd;
+		pd.pt = POSERDATA_DISASSOCIATE;
+		if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd );
+	}
+
 	for( i = 0; i < oldct; i++ )
 	{
 		ctx->drivercloses[i]( ctx, ctx->drivers[i] );
diff --git a/src/survive_cal.h b/src/survive_cal.h
index a5e372e..dd2a1e2 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -2,6 +2,8 @@
 
 // All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
 
+//XXX XXX XXX Warning:  This subsystem will likely be mostly re-written.
+
 #ifndef _SURVIVE_CAL_H
 #define _SURVIVE_CAL_H
 
diff --git a/src/survive_process.c b/src/survive_process.c
index edabfff..2fea99d 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -46,13 +46,34 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode
 	{
 		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
 	}
-
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataLight l = {
+			.pt = POSERDATA_LIGHT,
+			.sensor_id = sensor_id,
+			.acode = acode,
+			.timecode = timecode,
+			.length = length,
+			.angle = angle,
+		};
+		so->PoserFn( so, (PoserData *)&l );
+	}
 }	
 
 
-void survive_default_imu_process( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
 {
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataIMU imu = {
+			.pt = POSERDATA_IMU,
+			.datamask = mask,
+			.accel = { accelgyromag[0], accelgyromag[1], accelgyromag[2] },
+			.gyro = {  accelgyromag[3], accelgyromag[4], accelgyromag[5] },
+			.mag = {   accelgyromag[6], accelgyromag[7], accelgyromag[8] },
+			.timecode = timecode,
+		};
+		so->PoserFn( so, (PoserData *)&imu );
+	}
 }
 
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 61716d3..7da2897 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -595,7 +595,13 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 	if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset.
 	{
 		propset |= 2;
-		w->ctx->imuproc( w, (int16_t *)&readdata[1], (time1<<24)|(time2<<16)|readdata[0], 0 );
+		//XXX XXX BIG TODO!!! Actually recal gyro data.
+		FLT agm[9] = { readdata[1], readdata[2], readdata[3],
+						readdata[4], readdata[5], readdata[6],
+						0,0,0 };
+
+		w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 );
+
 		int16_t * k = (int16_t *)readdata+1;
 		//printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] );
 		readdata += 13; qty -= 13;
@@ -810,7 +816,13 @@ void survive_data_cb( SurviveUSBInterface * si )
 			if( cd > 0 )
 			{
 				obj->oldcode = code;
-				ctx->imuproc( obj, acceldata, timecode, code );
+
+				//XXX XXX BIG TODO!!! Actually recal gyro data.
+				FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2],
+								acceldata[3], acceldata[4], acceldata[5],
+								0,0,0 };
+
+				ctx->imuproc( obj, 3, agm, timecode, code );
 			}
 		}
 
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