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#include "survive_default_devices.h"
#include <jsmn.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "json_helpers.h"
static SurviveObject *
survive_create_device(SurviveContext *ctx, const char *driver_name,
void *driver, const char *device_name, haptic_func fn) {
SurviveObject *device = calloc(1, sizeof(SurviveObject));
device->ctx = ctx;
device->driver = driver;
memcpy(device->codename, device_name, strlen(device_name));
memcpy(device->drivername, driver_name, strlen(driver_name));
device->timebase_hz = 48000000;
device->pulsedist_max_ticks = 500000;
device->pulselength_min_sync = 2200;
device->pulse_in_clear_time = 35000;
device->pulse_max_for_sweep = 1800;
device->pulse_synctime_offset = 20000;
device->pulse_synctime_slack = 5000;
device->timecenter_ticks = device->timebase_hz / 240;
device->haptic = fn;
return device;
}
SurviveObject *survive_create_hmd(SurviveContext *ctx, const char *driver_name,
void *driver) {
return survive_create_device(ctx, driver_name, driver, "HMD", 0);
}
SurviveObject *survive_create_wm0(SurviveContext *ctx, const char *driver_name,
void *driver, haptic_func fn) {
return survive_create_device(ctx, driver_name, driver, "WM0", fn);
}
SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name,
void *driver, haptic_func fn) {
return survive_create_device(ctx, driver_name, driver, "WM1", fn);
}
SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name,
void *driver) {
return survive_create_device(ctx, driver_name, driver, "TR0", 0);
}
SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name,
void *driver) {
return survive_create_device(ctx, driver_name, driver, "WW0", 0);
}
static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
if (tok->type == JSMN_STRING && (int)strlen(s) == tok->end - tok->start &&
strncmp(json + tok->start, s, tok->end - tok->start) == 0) {
return 0;
}
return -1;
}
static int ParsePoints(SurviveContext *ctx, SurviveObject *so, char *ct0conf,
FLT **floats_out, jsmntok_t *t, int i) {
int k;
int pts = t[i + 1].size;
jsmntok_t *tk;
so->sensor_ct = 0;
*floats_out = malloc(sizeof(**floats_out) * 32 * 3);
for (k = 0; k < pts; k++) {
tk = &t[i + 2 + k * 4];
int m;
for (m = 0; m < 3; m++) {
char ctt[128];
tk++;
int elemlen = tk->end - tk->start;
if (tk->type != 4 || elemlen > sizeof(ctt) - 1) {
SV_ERROR("Parse error in JSON\n");
return 1;
}
memcpy(ctt, ct0conf + tk->start, elemlen);
ctt[elemlen] = 0;
FLT f = atof(ctt);
int id = so->sensor_ct * 3 + m;
(*floats_out)[id] = f;
}
so->sensor_ct++;
}
return 0;
}
int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) {
if (len == 0)
return -1;
SurviveContext *ctx = so->ctx;
// From JSMN example.
jsmn_parser p;
jsmntok_t t[4096];
jsmn_init(&p);
int i;
int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t) / sizeof(t[0]));
if (r < 0) {
SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r);
return -1;
}
if (r < 1 || t[0].type != JSMN_OBJECT) {
SV_INFO("Object expected in HMD configuration\n");
return -2;
}
for (i = 1; i < r; i++) {
jsmntok_t *tk = &t[i];
char ctxo[100];
int ilen = tk->end - tk->start;
if (ilen > 99)
ilen = 99;
memcpy(ctxo, ct0conf + tk->start, ilen);
ctxo[ilen] = 0;
// printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start,
//tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") );
// printf( "%.*s\n", ilen, ct0conf + tk->start );
if (jsoneq(ct0conf, tk, "modelPoints") == 0) {
if (ParsePoints(ctx, so, ct0conf, &so->sensor_locations, t, i)) {
break;
}
}
if (jsoneq(ct0conf, tk, "modelNormals") == 0) {
if (ParsePoints(ctx, so, ct0conf, &so->sensor_normals, t, i)) {
break;
}
}
if (jsoneq(ct0conf, tk, "acc_bias") == 0) {
int32_t count = (tk + 1)->size;
FLT *values = NULL;
if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
so->acc_bias = values;
const FLT bias_units = 1. / 1000.; // I deeply suspect bias is in milligravities -JB
so->acc_bias[0] *= bias_units;
so->acc_bias[1] *= bias_units;
so->acc_bias[2] *= bias_units;
}
}
if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
int32_t count = (tk + 1)->size;
FLT *values = NULL;
if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
so->acc_scale = values;
}
}
if (jsoneq(ct0conf, tk, "gyro_bias") == 0) {
int32_t count = (tk + 1)->size;
FLT *values = NULL;
if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
so->gyro_bias = values;
}
}
if (jsoneq(ct0conf, tk, "gyro_scale") == 0) {
int32_t count = (tk + 1)->size;
FLT *values = NULL;
if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
so->gyro_scale = values;
}
}
}
char fname[64];
sprintf(fname, "calinfo/%s_points.csv", so->codename);
FILE *f = fopen(fname, "w");
int j;
if(f) {
for (j = 0; j < so->sensor_ct; j++) {
fprintf(f, "%f %f %f\n", so->sensor_locations[j * 3 + 0],
so->sensor_locations[j * 3 + 1],
so->sensor_locations[j * 3 + 2]);
}
fclose(f);
}
if(f) {
sprintf(fname, "calinfo/%s_normals.csv", so->codename);
f = fopen(fname, "w");
for (j = 0; j < so->sensor_ct; j++) {
fprintf(f, "%f %f %f\n", so->sensor_normals[j * 3 + 0],
so->sensor_normals[j * 3 + 1], so->sensor_normals[j * 3 + 2]);
}
fclose(f);
}
return 0;
}
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