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
|
//<>< (C) 2016 C. N. Lohr, FULLY Under MIT/x11 License.
//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
#include "survive_cal.h"
#include "survive_config.h"
//XXX TODO: Once data is avialble in the context, use the stuff here to handle converting from time codes to
//proper angles, then from there perform the rest of the solution.
void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh)
{
SurviveContext * ctx = so->ctx;
int base_station = lh;
int axis = acode & 1;
if( ctx->calptr )
{
survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length, lh);
}
//We don't use sync times, yet.
if( acode < -1 ) return;
if( base_station > NUM_LIGHTHOUSES ) return;
//No loner need sync information past this point.
if( sensor_id < 0 ) return;
FLT angle = (timeinsweep - so->timecenter_ticks) * (1./so->timecenter_ticks * 3.14159265359/2.0);
//Need to now do angle correction.
#if 1
BaseStationData * bsd = &ctx->bsd[base_station];
//XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18
angle += bsd->fcalphase[axis];
// angle += bsd->fcaltilt[axis] * predicted_angle(axis1);
//TODO!!!
#endif
FLT length_sec = length / (FLT)so->timebase_hz;
ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle, lh);
}
void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
{
SurviveContext * ctx = so->ctx;
if( ctx->calptr )
{
survive_cal_angle( so, sensor_id, acode, timecode, length, angle, lh );
}
if( so->PoserFn )
{
PoserDataLight l = {
.hdr =
{
.pt = POSERDATA_LIGHT,
},
.sensor_id = sensor_id,
.acode = acode,
.timecode = timecode,
.length = length,
.angle = angle,
.lh = lh,
};
so->PoserFn( so, (PoserData *)&l );
}
}
void survive_default_button_process(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val)
{
// do nothing.
//printf("ButtonEntry: eventType:%x, buttonId:%d, axis1:%d, axis1Val:%8.8x, axis2:%d, axis2Val:%8.8x\n",
// eventType,
// buttonId,
// axis1Id,
// axis1Val,
// axis2Id,
// axis2Val);
//if (buttonId == 24 && eventType == 1) // trigger engage
//{
// for (int j = 0; j < 6; j++)
// {
// for (int i = 0; i < 0x5; i++)
// {
// survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100);
// //survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100);
// OGUSleep(1000);
// }
// OGUSleep(20000);
// }
//}
//if (buttonId == 2 && eventType == 1) // trigger engage
//{
// for (int j = 0; j < 6; j++)
// {
// for (int i = 0; i < 0x1; i++)
// {
// survive_haptic(so, 0, 0xf401, 0x05a2, 0xf100);
// //survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100);
// OGUSleep(5000);
// }
// OGUSleep(20000);
// }
//}
}
void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) {
// print the pose;
//printf("Pose: [%1.1x][%s][% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", lighthouse, so->codename, pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]);
}
void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose) {
if (pose) {
ctx->bsd[lighthouse].Pose = *pose;
ctx->bsd[lighthouse].PositionSet = 1;
} else {
ctx->bsd[lighthouse].PositionSet = 0;
}
config_set_lighthouse(ctx->lh_config, &ctx->bsd[lighthouse], lighthouse);
config_save(ctx, "config.json");
}
void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
{
if( so->PoserFn )
{
PoserDataIMU imu = {
.hdr =
{
.pt = POSERDATA_IMU,
},
.datamask = mask,
.accel = {accelgyromag[0], accelgyromag[1], accelgyromag[2]},
.gyro = {accelgyromag[3], accelgyromag[4], accelgyromag[5]},
.mag = {accelgyromag[6], accelgyromag[7], accelgyromag[8]},
.timecode = timecode,
};
so->PoserFn( so, (PoserData *)&imu );
}
}
|
