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// (C) 2016, 2017 <>< C. N. Lohr, Under MIT/x11 License.
// 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
//This is a file that is intended for use with capturing vive data during the
//setup phase. This and survive_cal.c/.h should not be included on embedded
//uses of libsurvive.
//This file handles the following:
// 1: Decoding the OOTX data from the lighthouses.
// 2: Setting OOTX props in the survive context.
// 3: Collect a bunch of data with the vive pointed up and the watchment to either side.
// 4: Running the code to find the lighthouses.
// 5: Setting the information needed to develop the worldspace model in the SurviveContext.
#include <stdint.h>
#include "ootx_decoder.h"
#include "survive_internal.h"
void survive_cal_install( SurviveContext * ctx );
int survive_cal_get_status( SurviveContext * ctx, char * description, int description_length );
//void survive_cal_teardown( struct SurviveContext * ctx );
//Called from survive_default_light_process
void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
#define MAX_SENSORS_PER_DEVICE 32
#define MAX_DEVICES_TO_CAL 3
#define MAX_SENSORS_TO_CAL (MAX_SENSORS_PER_DEVICE * MAX_DEVICES_TO_CAL)
#define MIN_PTS_BEFORE_CAL 24
#define DRPTS 32 //Number of samples required in collection phase.
#define MAX_POSE_OBJECTS 10
#define MAX_CAL_PT_DAT (MAX_SENSORS_TO_CAL*NUM_LIGHTHOUSES*2)
struct SurviveCalData
{
SurviveContext * ctx;
//OOTX Data is sync'd off of the sync pulses coming from the lighthouses.
ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
//For statistics-gathering phase. (Stage 2/3)
FLT all_lengths[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
FLT all_angles[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
int16_t all_counts[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2];
int16_t peak_counts;
int8_t found_common;
int8_t times_found_common;
FLT all_sync_times[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][DRPTS];
int16_t all_sync_counts[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES];
//For camfind (4+)
//Index is calculated with: int dataindex = sen*(2*NUM_LIGHTHOUSES)+lh*2+axis;
FLT avgsweeps[MAX_CAL_PT_DAT];
FLT avglens[MAX_CAL_PT_DAT];
FLT stdsweeps[MAX_CAL_PT_DAT];
FLT stdlens[MAX_CAL_PT_DAT];
int ctsweeps[MAX_CAL_PT_DAT];
int senid_of_checkpt; //This is a point on a watchman that can be used to check the lh solution.
SurviveObject * poseobjects[MAX_POSE_OBJECTS];
size_t numPoseObjects;
PoserCB ConfigPoserFn;
//Stage:
// 0: Idle
// 1: Collecting OOTX data.
int8_t stage;
};
//The following function is not included in the core survive_cal and must be compiled from a camfind file.
//It should use data for stage 4 and report if it found the
int survive_cal_lhfind( SurviveCalData * cd );
#endif
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