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#ifndef _SURVIVE_H
#define _SURVIVE_H
#include <stdint.h>
#ifndef FLT
#ifdef USE_DOUBLE
#define FLT double
#else
#define FLT float
#endif
#endif
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.
//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools.
//It will also require a recompile. TODO: revisit this and correct the comment once fixed.
#define NUM_LIGHTHOUSES 2
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;
FLT * sensor_locations;
FLT * sensor_normals;
int8_t nr_locations;
//Timing sensitive data (mostly for disambiguation)
int32_t timebase_hz; //48,000,000 for normal vive hardware. (checked)
int32_t timecenter_ticks; //200,000 for normal vive hardware. (checked)
int32_t pulsedist_max_ticks; //500,000 for normal vive hardware. (guessed)
int32_t pulselength_min_sync; //2,200 for normal vive hardware. (guessed)
int32_t pulse_in_clear_time; //35,000 for normal vive hardware. (guessed)
int32_t pulse_max_for_sweep; //1,800 for normal vive hardware. (guessed)
int32_t pulse_synctime_offset; //20,000 for normal vive hardware. (guessed)
int32_t pulse_synctime_slack; //5,000 for normal vive hardware. (guessed)
//Flood info, for calculating which laser is currently sweeping.
int8_t oldcode;
int8_t sync_set_number; //0 = master, 1 = slave, -1 = fault.
int8_t did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit.
uint32_t last_time[NUM_LIGHTHOUSES];
uint32_t last_length[NUM_LIGHTHOUSES];
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_func)( 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 );
typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
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_func fbp );
void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func 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_install_angle_fn( struct SurviveContext * ctx, angle_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 );
//Install the calibrator.
void survive_cal_install( struct SurviveContext * ctx );
//Call these from your callback if overridden.
//Accept higher-level data.
void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
#endif
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