1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
|
#ifdef __linux__
#include <unistd.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <survive.h>
#include "src/survive_cal.h"
#include <CNFG3D.h>
#include <os_generic.h>
#include <CNFGFunctions.h>
#include <string.h>
#include <linmath.h>
struct SurviveContext * ctx;
void HandleKey( int keycode, int bDown )
{
if( !bDown ) return;
if( keycode == 'O' || keycode == 'o' )
{
survive_send_magic(ctx,1,0,0);
}
if( keycode == 'F' || keycode == 'f' )
{
survive_send_magic(ctx,0,0,0);
}
}
float viewX = 0.7853975;
float viewY = 0.7853975;
int down, downx, downy;
void HandleButton( int x, int y, int button, int bDown )
{
if( button == 1 )
{
if( bDown )
{
down = 1;
downx = x;
downy = y;
}
else
{
down = 0;
}
}
}
void HandleMotion( int x, int y, int mask )
{
if( down )
{
viewX += (x-downx)/100.0;
viewY -= (y-downy)/100.0;
if( viewY < 0.01 ) viewY = 0.01;
if( viewY > 3.14 ) viewY = 3.14;
downx = x;
downy = y;
}
}
void HandleDestroy()
{
}
FLT hpos[3];
FLT hpos2[3];
FLT hposx[3];
void testprog_raw_pose_process(SurviveObject *so, uint32_t timecode, SurvivePose *pose) {
survive_default_raw_pose_process(so, timecode, pose);
// if (strcmp(so->codename, "WW0") != 0)
// return;
// print the pose;
/* double qw = quat[0];
double qx = quat[1];
double qy = quat[2];
double qz = quat[3];
hra = 2 * acos(qw);
hrx = qx / sqrt(1-qw*qw);
hry = qy / sqrt(1-qw*qw);
hrz = qz / sqrt(1-qw*qw);
hra *= 180/3.14159;
hx = pos[0];
hy = pos[1];
hz = pos[2];*/
printf("Pose: [%u][%s][% 08.8f,% 08.8f,% 08.8f] [ang:%08.2f %08.2f %08.2f %08.2f]\n", timecode, so->codename,
pose->Pos[0], pose->Pos[1], pose->Pos[2], pose->Rot[0], pose->Rot[1], pose->Rot[2], pose->Rot[3]);
hpos[0] = pose->Pos[0];
hpos[1] = pose->Pos[1];
hpos[2] = pose->Pos[2];
FLT hposin[3] = { 0, 0, 1 };
ApplyPoseToPoint(hpos2, pose, hposin);
FLT hposinx[3] = { .1, 0, 0 };
ApplyPoseToPoint(hposx, pose, hposinx);
fflush(stdout);
}
void testprog_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh )
{
// printf( "%d: %d %d\n", sensor_id, acode, timecode );
}
void DrawLineSegment( float x, float y, float z, float x2, float y2, float z2 )
{
//float pti[6] = { 1, sin(TimeSinceStart), cos(TimeSinceStart ), 1, 0, 0};
float pa[3] = { x, y, z };
float pb[3] = { x2, y2, z2 };
tdFinalPoint( pa, pa );
tdFinalPoint( pb, pb );
if( pa[2] >= 1.0 ) return;
if( pb[2] >= 1.0 ) return;
if( pa[2] < 0 ) return;
if( pb[2] < 0 ) return;
int dx, dy;
for( dx = 0; dx < 2; dx++ )
for( dy = 0; dy < 2; dy++ )
{
CNFGTackPixel( pa[0]+dx, pa[1]+dy );
CNFGTackSegment( pa[0]+dx, pa[1]+dy, pb[0]+dx, pb[1]+dy );
}
}
void *GUIThread(void*v)
{
CNFGSetup( "Orientation test", 640, 480 );
double fLast = 0;
short screenx, screeny;
double TimeSinceStart = 0;
while(1)
{
double Now = OGGetAbsoluteTime();
double dt = Now - fLast;
fLast = Now;
TimeSinceStart += dt;
CNFGClearFrame();
CNFGHandleInput();
CNFGColor( 0xFFFFFF );
CNFGGetDimensions( &screenx, &screeny );
int x, y;
float eye[3] = { 3*sin(viewX)*sin(viewY), 3*cos(viewX)*sin(viewY), 3*cos(viewY)}; //Create a 2-rotation with Z primarily up.
//float up[3] = { 0, cos(viewY), sin(viewY)}; //Create a 2-rotation with Z primarily up.
float at[3] = { 0,0, 0 };
float up[3] = { 0,0, 1.0 };
float right[3];
tdCross( up, eye, right );
tdCross( eye, right, up ); //Have to make sure we're making a coordinate frame for lookat.
tdNormalizeSelf( right );
tdSetViewport( -1, -1, 1, 1, screenx, screeny );
tdMode( tdPROJECTION );
tdIdentity( gSMatrix );
tdPerspective( 40, ((float)screenx)/((float)screeny), .1, 200., gSMatrix );
tdMode( tdMODELVIEW );
tdIdentity( gSMatrix );
tdLookAt( gSMatrix, eye, at, up );
CNFGColor( 0x00ffff ); DrawLineSegment( hpos[0], hpos[1], hpos[2], hpos2[0], hpos2[1], hpos2[2] );
CNFGColor( 0xff00ff ); DrawLineSegment( hpos[0], hpos[1], hpos[2], hpos[0], hpos[1], hpos[2] );
CNFGColor( 0xffff00 ); DrawLineSegment( hpos[0], hpos[1], hpos[2], hposx[0], hposx[1], hposx[2] );
CNFGColor( 0x0000ff ); DrawLineSegment( 0, 0, 0, 1, 0, 0 );
CNFGColor( 0xff0000 ); DrawLineSegment( 0, 0, 0, 0, 1, 0 );
CNFGColor( 0x00ff00 ); DrawLineSegment( 0, 0, 0, 0, 0, 1 );
CNFGColor( 0xffffff ); DrawLineSegment( 0, 0, 0, 0, 0, 0 );
CNFGSwapBuffers();
OGUSleep(10000);
}
}
int main( int argc, char ** argv )
{
int magicon = 0;
double Start = OGGetAbsoluteTime();
ctx = survive_init( argc, argv );
if (ctx == 0) { // Implies --help or similiar
return -1;
}
//survive_install_button_fn(ctx, testprog_button_process);
survive_install_pose_fn(ctx, testprog_raw_pose_process);
//survive_install_imu_fn(ctx, testprog_imu_process);
survive_install_pose_fn(ctx, testprog_raw_pose_process);
//survive_install_angle_fn(ctx, testprog_angle_process );
#if 0 // Don't reset poses
ctx->bsd[0].PositionSet = ctx->bsd[1].PositionSet = 1;
int i;
for( i = 0; i < 2; i++ )
{
SurvivePose * p = &ctx->bsd[i].Pose;
p->Pos[0] = 0;
p->Pos[1] = 0;
p->Pos[2] = 0;
p->Rot[0] = 1;
p->Rot[1] = 0;
p->Rot[2] = 0;
p->Rot[3] = 0;
}
#endif
OGCreateThread( GUIThread, 0 );
if( !ctx )
{
fprintf( stderr, "Fatal. Could not start\n" );
return 1;
}
//survive_cal_install(ctx);
while(survive_poll(ctx) == 0)
{
//Do Stuff
}
}
|
