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#include "fileutil.h"
#include <stdio.h>
#include <stdlib.h>
#define PI 3.14159265358979323846264
og_mutex_t read_mutex;
og_thread_t read_thread;
double read_hmdAngles[NUM_SWEEP][NUM_HMD];
int read_hmdAngleViewed[NUM_SWEEP][NUM_HMD];
int read_frameno=0;
static FILE *fopen_orDie(const char *path, const char *flag)
{
FILE *f = fopen(path, flag);
if (f == NULL) {
printf("ERROR could not oepn %s for %s\n", path, flag);
exit(1);
}
return f;
}
static void SeekToken(FILE *f, const char *keyword)
{
char token[4096];
do {
fscanf(f, "%s", token);
} while( strcmp(token,keyword)!=0 && !feof(f) );
}
void LoadLighthousePos(
const char *path,
float *x, float *y, float *z,
float *qi, float *qj, float *qk, float *qreal)
{
FILE *f = fopen_orDie(path,"r");
SeekToken(f, "POS:");
fscanf(f, "%f %f %f\n", x, y, z);
SeekToken(f, "QUAT:");
fscanf(f, "%f %f %f %f\n", qreal, qi, qj, qk);
fclose (f);
}
void LoadHmdProcessedDataAngles(
const char *path,
double angles[NUM_SWEEP][NUM_HMD])
{
int i,j;
char type[256];
char sweep[256];
int id;
int nSweep;
double ang;
double d1,d2,d3; // revisit these numbers later
// Initialize all of the angles to -9999
for (i=0; i<NUM_SWEEP; i++) {
for (j=0; j<NUM_HMD; j++) {
angles[i][j] = -9999.0; // Initially no value
}
}
FILE *f = fopen_orDie(path, "r");
while (!feof(f))
{
// Read the line from the file
int rt=fscanf(f, "%s %s %d %d %lf %lf %lf %lf",
&type, &sweep, &id, &nSweep, &ang,
&d1,&d2,&d3);
if (rt<8) { break; }
// Only hmd points
if ( strcmp(type,"HMD")!=0 ) { continue; }
// Which sweep is it?
int sweepId=-1;
if ( strcmp(sweep,"LX")==0 ) { sweepId=SWEEP_LX; }
else if ( strcmp(sweep,"LY")==0 ) { sweepId=SWEEP_LY; }
else if ( strcmp(sweep,"RX")==0 ) { sweepId=SWEEP_RX; }
else if ( strcmp(sweep,"RY")==0 ) { sweepId=SWEEP_RY; }
else { continue; }
// Convert the angle from ticks to radians
angles[sweepId][id] = (PI / 400000.0) * ( ang-200000.0 );
}
fclose(f);
}
void *ThreadReadHmtAngles(void *junk)
{
char house[256];
char xy[256];
char hmd[256];
double ts;
int id;
int syncid;
int timeInSweep;
int length;
//lighthouse sweep hmdOrwmd timestamp id syncid timeinsweep length
while(1) {
scanf("%s %s %s %lf %d %d %d %d", house, xy, hmd, &ts, &id, &syncid, &timeInSweep, &length);
int sweepId=0;
if ( house[0]=='R' ) { sweepId+=2; }
if ( xy[0] =='Y' ) { sweepId++; }
double angle = (PI / 400000.0) * ( (double)timeInSweep-200000.0 );
if ( strcmp(hmd,"HMD")!=0 ) { continue; }
if ( id<0 || id >NUM_HMD) { continue; }
OGLockMutex (read_mutex);
read_hmdAngles[sweepId][id] = angle;
OGUnlockMutex(read_mutex);
read_hmdAngleViewed[sweepId][id] = read_frameno;
}
}
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