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#ifndef _SURVIVE_H
#define _SURVIVE_H
#include <stdint.h>
#define SV_FLOAT double
struct SurviveContext;
//DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks
//for optimization on 32- and 64-bit systems.
struct SurviveObject
{
struct SurviveContext * ctx;
char codename[4]; //3 letters, null-terminated. Currently HMD, WM0, WM1.
int16_t buttonmask;
int16_t axis1;
int16_t axis2;
int16_t axis3;
int8_t charge;
int8_t charging:1;
int8_t ison:1;
int8_t additional_flags:6;
SV_FLOAT * sensor_locations;
SV_FLOAT * sensor_normals;
int8_t nr_locations;
//Flood info, for calculating which laser is currently sweeping.
int8_t oldcode;
uint32_t last_time[2]; //0 = master, 1 = slave. Hardcoded, because it cannot simply be expanded.
uint32_t last_length[2];
int8_t sync_set_number; //0 = master, 1 = slave, -1 = fault. Possibly more lighthouses???
int8_t did_handle_ootx;
uint32_t recent_sync_time;
uint32_t last_lighttime; //May be a 24- or 32- bit number depending on what device.
//Debug
int tsl;
};
typedef void (*text_feedback_fnptr)( struct SurviveContext * ctx, const char * fault );
typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
struct SurviveContext * survive_init();
//For any of these, you may pass in 0 for the function pointer to use default behavior.
void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp );
void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp );
void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp );
void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp );
void survive_close( struct SurviveContext * ctx );
int survive_poll();
struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name );
//Utilitiy functions.
int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );
//TODO: Need to make this do haptic responses for hands.
int survive_usb_send_magic( struct SurviveContext * ctx, int on );
#endif
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