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//<>< (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"
//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 )
{
SurviveContext * ctx = so->ctx;
int base_station = acode >> 2;
int axis = acode & 1;
if( ctx->calptr )
{
survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length );
}
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 );
}
void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
{
SurviveContext * ctx = so->ctx;
if( ctx->calptr )
{
survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
}
if( so->PoserFn )
{
PoserDataLight l = {
.pt = POSERDATA_LIGHT,
.sensor_id = sensor_id,
.acode = acode,
.timecode = timecode,
.length = length,
.angle = angle,
};
so->PoserFn( so, (PoserData *)&l );
}
}
void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
{
if( so->PoserFn )
{
PoserDataIMU imu = {
.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 );
}
}
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