void Alg_UpdateProximityData(pIvhAlgo algo, int proximity)
{
IvhSensorData data;
data.data.proximityMiniMeter = proximity;
if(algo->proximity)
{
algo->proximity->Update(algo->proximity, &data, IVH_SENSOR_TYPE_PROXIMITY);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]proximity = %d",proximity);
}
void Alg_UpdateTemperatureData(pIvhAlgo algo, int temperature)
{
IvhSensorData data;
data.data.temperatureMiniCentigrade = temperature;
if(algo->thermometer)
{
algo->thermometer->Update(algo->thermometer, &data, IVH_SENSOR_TYPE_THERMOMETER);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]temperature = %d",temperature);
}
/* -----------------------------------------------
Plug-and-play and power management events
----------------------------------------------- */
static void EDEN_EventHandler(WD_EVENT *pEvent, PVOID pData)
{
PWDC_DEVICE pDev = (PWDC_DEVICE)pData;
PEDEN_DEV_CTX pDevCtx = (PEDEN_DEV_CTX)WDC_GetDevContext(pDev);
TraceLog("EDEN_EventHandler entered, pData: 0x%p, dwAction 0x%lx\n",
pData, pEvent->dwAction);
/* Execute the diagnostics application's event handler function */
pDevCtx->funcDiagEventHandler((WDC_DEVICE_HANDLE)pDev, pEvent->dwAction);
}
void Alg_UpdateAmbientlightData(pIvhAlgo algo, unsigned als)
{
IvhSensorData data;
data.data.alsMilliLux = als;
if(algo->ambientlight != NULL)
{
algo->ambientlight->Update(algo->ambientlight, &data, IVH_SENSOR_TYPE_AMBIENTLIGHT);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]als = %d",als);
}
// Resume music playing
void ResumeMusicStream(void)
{
// Resume music playing... if music available!
ALenum state;
alGetSourcei(currentMusic.source, AL_SOURCE_STATE, &state);
if (state == AL_PAUSED)
{
TraceLog(INFO, "Resuming music stream");
alSourcePlay(currentMusic.source);
musicEnabled = true;
}
}
static ERROR_T DataUpdate(IvhSensor* me, const IvhSensorData* data, const IvhSensorType type)
{
ERROR_T retVal = ERROR_OK;
pIvhSensorOrientation sensor = (pIvhSensorOrientation)(me);
const int16_t MIN_ACCEL_CHANGE = 10;
switch(type)
{
case IVH_SENSOR_TYPE_ACCELEROMETER3D :
// The normal minimum sensitivity for accel is 35mg. We can set it
// to zero and get all samples, but it's too jittery. This is a secondary
// filter that works as if we specified a sensitivity of 10mg
if (fabs(sensor->lastCalibratedAccel[AXIS_X] - data->data.accel.xyz.x) > MIN_ACCEL_CHANGE ||
fabs(sensor->lastCalibratedAccel[AXIS_Y] - data->data.accel.xyz.y) > MIN_ACCEL_CHANGE ||
fabs(sensor->lastCalibratedAccel[AXIS_Z] - data->data.accel.xyz.z) > MIN_ACCEL_CHANGE)
{
sensor->lastCalibratedAccel[AXIS_X] = (ROTATION_VECTOR_T)(data->data.accel.xyz.x);
sensor->lastCalibratedAccel[AXIS_Y] = (ROTATION_VECTOR_T)(data->data.accel.xyz.y);
sensor->lastCalibratedAccel[AXIS_Z] = (ROTATION_VECTOR_T)(data->data.accel.xyz.z);
}
sensor->lastTimestampAccel = data->timeStampInMs;
break;
case IVH_SENSOR_TYPE_GYROSCOPE3D :
sensor->lastCalibratedGyro[AXIS_X] = (ROTATION_VECTOR_T)(data->data.gyro.xyz.x);
sensor->lastCalibratedGyro[AXIS_Y] = (ROTATION_VECTOR_T)(data->data.gyro.xyz.y);
sensor->lastCalibratedGyro[AXIS_Z] = (ROTATION_VECTOR_T)(data->data.gyro.xyz.z);
sensor->lastTimestampGyro = data->timeStampInMs;
Calibrate(me);
break;
case IVH_SENSOR_TYPE_MAGNETOMETER3D :
sensor->lastCalibratedMag[AXIS_X] = data->data.mag.xyzCalibrated.x;
sensor->lastCalibratedMag[AXIS_Y] = data->data.mag.xyzCalibrated.y;
sensor->lastCalibratedMag[AXIS_Z] = data->data.mag.xyzCalibrated.z;
sensor->lastRotatedMag[AXIS_X] = data->data.mag.xyzRotated.x;
sensor->lastRotatedMag[AXIS_Y] = data->data.mag.xyzRotated.y;
sensor->lastRotatedMag[AXIS_Z] = data->data.mag.xyzRotated.z;
sensor->lastRawMag[AXIS_X] = (ROTATION_VECTOR_T)(data->data.mag.xyzRaw.x);
sensor->lastRawMag[AXIS_Y] = (ROTATION_VECTOR_T)(data->data.mag.xyzRaw.y);
sensor->lastRawMag[AXIS_Z] = (ROTATION_VECTOR_T)(data->data.mag.xyzRaw.z);
memcpy(&sensor->lastMagCovariance,
data->data.mag.covariance,
(COVARIANCE_MATRIX_SIZE * sizeof(float)));
sensor->lastTimestampMag = data->timeStampInMs;
break;
default:
TraceLog(TRACE_LEVEL_ERROR, TRACE_ALGO, "[%!FUNC!]invalid sensor type, expect [IVH_SENSOR_TYPE_ACCELEROMETER3D|IVH_SENSOR_TYPE_GYROSCOPE3D|IVH_SENSOR_TYPE_MAGNETOMETER3D]");
}
return retVal;
}
// Load sound from wave data
Sound LoadSoundFromWave(Wave wave)
{
Sound sound;
if (wave.data != NULL)
{
ALenum format = 0;
// The OpenAL format is worked out by looking at the number of channels and the bits per sample
if (wave.channels == 1)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_MONO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_MONO16;
}
else if (wave.channels == 2)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_STEREO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_STEREO16;
}
// Create an audio source
ALuint source;
alGenSources(1, &source); // Generate pointer to audio source
alSourcef(source, AL_PITCH, 1);
alSourcef(source, AL_GAIN, 1);
alSource3f(source, AL_POSITION, 0, 0, 0);
alSource3f(source, AL_VELOCITY, 0, 0, 0);
alSourcei(source, AL_LOOPING, AL_FALSE);
// Convert loaded data to OpenAL buffer
//----------------------------------------
ALuint buffer;
alGenBuffers(1, &buffer); // Generate pointer to buffer
// Upload sound data to buffer
alBufferData(buffer, format, wave.data, wave.dataSize, wave.sampleRate);
// Attach sound buffer to source
alSourcei(source, AL_BUFFER, buffer);
// Unallocate WAV data
UnloadWave(wave);
TraceLog(INFO, "[Wave] Sound file loaded successfully (SampleRate: %i, BitRate: %i, Channels: %i)", wave.sampleRate, wave.bitsPerSample, wave.channels);
sound.source = source;
sound.buffer = buffer;
}
return sound;
}
// Public interface
void BackupRegistersInit(HANDLE_DEV dev)
{
memset(gs_backupRegisters, BKP_UNINITIALIZED_VALUE, sizeof(gs_backupRegisters));
ReadBackupRegistersFromRegistry(dev);
#ifdef ENABLE_TIMER_DPC
LARGE_INTEGER due;
due.QuadPart = 10000*10000UL;
dpc = (PRKDPC)SAFE_ALLOCATE_POOL(NonPagedPool, sizeof(KDPC), IVH_BACKUP_POOL_TAG);
if (dpc)
{ // init it!
KeInitializeDpc(dpc, TimerHandle, dev);
TraceLog(TRACE_LEVEL_INFORMATION, TRACE_ALGO, "malloc memory for backup dpc");
}
else
{
// No memory
TraceLog(TRACE_LEVEL_ERROR, TRACE_ALGO, "[%!FUNC!]not enough memory");
return;
}
timer = (PKTIMER)SAFE_ALLOCATE_POOL(NonPagedPool, sizeof(KTIMER), IVH_BACKUP_POOL_TAG);
if (timer)
{ // init it!
KeInitializeTimer(timer);
TraceLog(TRACE_LEVEL_INFORMATION, TRACE_ALGO, "malloc memory for backup timer");
}
else
{
// No memory
TraceLog(TRACE_LEVEL_ERROR, TRACE_ALGO, "[%!FUNC!]not enough memory");
return;
}
KeSetTimerEx(timer, due, (ULONG)(due.QuadPart), dpc);
#endif
}
void Alg_UpdateMagnetometerData(pIvhAlgo algo, int MagX, int MagY, int MagZ, int ts)
{
IvhSensorData data;
data.timeStampInMs = ts;
data.data.mag.xyzRaw.x = MagX;
data.data.mag.xyzRaw.y = MagY;
data.data.mag.xyzRaw.z = MagZ;
if(algo->magnetometer != NULL)
{
algo->magnetometer->Update(algo->magnetometer, &data, IVH_SENSOR_TYPE_MAGNETOMETER3D);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]mag(%d,%d,%d)",data.data.mag.xyzRaw.x,data.data.mag.xyzRaw.y,data.data.mag.xyzRaw.z);
}
void Alg_UpdateAccelerometerData(pIvhAlgo algo, int AccX, int AccY, int AccZ, int ts)
{
IvhSensorData data;
data.timeStampInMs = ts;
data.data.accel.xyz.x = AccX;
data.data.accel.xyz.y = AccY;
data.data.accel.xyz.z = AccZ;
if(algo->accelerometer != NULL)
{
algo->accelerometer->Update(algo->accelerometer, &data, IVH_SENSOR_TYPE_ACCELEROMETER3D);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]accel(%d,%d,%d)",data.data.accel.xyz.x,data.data.accel.xyz.y,data.data.accel.xyz.z);
}
void Alg_UpdateGyrometerData(pIvhAlgo algo, int GyrX, int GyrY, int GyrZ, int ts)
{
IvhSensorData data;
data.timeStampInMs = ts;
data.data.gyro.xyz.x = GyrX;
data.data.gyro.xyz.y = GyrY;
data.data.gyro.xyz.z = GyrZ;
if(algo->gyrometer != NULL)
{
algo->gyrometer->Update(algo->gyrometer, &data, IVH_SENSOR_TYPE_GYROSCOPE3D);
}
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "[%!FUNC!]gyro(%d,%d,%d)",data.data.gyro.xyz.x,data.data.gyro.xyz.y,data.data.gyro.xyz.z);
}
// Unload SpriteFont from GPU memory
void UnloadSpriteFont(SpriteFont spriteFont)
{
// NOTE: Make sure spriteFont is not default font (fallback)
if (spriteFont.texture.id != defaultFont.texture.id)
{
UnloadTexture(spriteFont.texture);
free(spriteFont.charValues);
free(spriteFont.charRecs);
free(spriteFont.charOffsets);
free(spriteFont.charAdvanceX);
TraceLog(DEBUG, "Unloaded sprite font data");
}
}
// Fill music buffers with new data from music stream
static bool BufferMusicStream(ALuint buffer)
{
short pcm[MUSIC_BUFFER_SIZE];
int size = 0; // Total size of data steamed (in bytes)
int streamedBytes = 0; // Bytes of data obtained in one samples get
bool active = true; // We can get more data from stream (not finished)
if (musicEnabled)
{
while (size < MUSIC_BUFFER_SIZE)
{
streamedBytes = stb_vorbis_get_samples_short_interleaved(currentMusic.stream, currentMusic.channels, pcm + size, MUSIC_BUFFER_SIZE - size);
if (streamedBytes > 0) size += (streamedBytes*currentMusic.channels);
else break;
}
TraceLog(DEBUG, "Streaming music data to buffer. Bytes streamed: %i", size);
}
if (size > 0)
{
alBufferData(buffer, currentMusic.format, pcm, size*sizeof(short), currentMusic.sampleRate);
currentMusic.totalSamplesLeft -= size;
}
else
{
active = false;
TraceLog(WARNING, "No more data obtained from stream");
}
return active;
}
// Close the audio device for the current context, and destroys the context
void CloseAudioDevice()
{
StopMusicStream(); // Stop music streaming and close current stream
ALCdevice *device;
ALCcontext *context = alcGetCurrentContext();
if (context == NULL) TraceLog(WARNING, "Could not get current audio context for closing");
device = alcGetContextsDevice(context);
alcMakeContextCurrent(NULL);
alcDestroyContext(context);
alcCloseDevice(device);
}
/* -----------------------------------------------
Device open/close
----------------------------------------------- */
WDC_DEVICE_HANDLE PCIE_SW_DeviceOpen(const WD_PCI_CARD_INFO *pDeviceInfo)
{
DWORD dwStatus;
PPCIE_SW_DEV_CTX pDevCtx = NULL;
WDC_DEVICE_HANDLE hDev = NULL;
/* Validate arguments */
if (!pDeviceInfo)
{
ErrLog("PCIE_SW_DeviceOpen: Error - NULL device information struct pointer\n");
return NULL;
}
/* Allocate memory for the PCIE_SW device context */
pDevCtx = (PPCIE_SW_DEV_CTX)malloc(sizeof (PCIE_SW_DEV_CTX));
if (!pDevCtx)
{
ErrLog("Failed allocating memory for PCIE_SW device context\n");
return NULL;
}
BZERO(*pDevCtx);
/* Open a WDC device handle */
dwStatus = WDC_PciDeviceOpen(&hDev, pDeviceInfo, pDevCtx, NULL, NULL, NULL);
if (WD_STATUS_SUCCESS != dwStatus)
{
ErrLog("Failed opening a WDC device handle. Error 0x%lx - %s\n",
dwStatus, Stat2Str(dwStatus));
goto Error;
}
/* Validate device information */
if (!DeviceValidate((PWDC_DEVICE)hDev))
goto Error;
/* Return handle to the new device */
TraceLog("PCIE_SW_DeviceOpen: Opened a PCIE_SW device (handle 0x%p)\n", hDev);
return hDev;
Error:
if (hDev)
PCIE_SW_DeviceClose(hDev);
else
free(pDevCtx);
return NULL;
}
// Update (re-fill) music buffers if data already processed
extern void UpdateMusicStream()
{
ALuint buffer = 0;
ALint processed = 0;
bool active = true;
if (musicEnabled)
{
// Get the number of already processed buffers (if any)
alGetSourcei(currentMusic.source, AL_BUFFERS_PROCESSED, &processed);
while (processed > 0)
{
// Recover processed buffer for refill
alSourceUnqueueBuffers(currentMusic.source, 1, &buffer);
// Refill buffer
active = BufferMusicStream(buffer);
// If no more data to stream, restart music (if loop)
if ((!active) && (currentMusic.loop))
{
if (currentMusic.loop)
{
stb_vorbis_seek_start(currentMusic.stream);
currentMusic.totalSamplesLeft = stb_vorbis_stream_length_in_samples(currentMusic.stream) * currentMusic.channels;
active = BufferMusicStream(buffer);
}
}
// Add refilled buffer to queue again... don't let the music stop!
alSourceQueueBuffers(currentMusic.source, 1, &buffer);
if(alGetError() != AL_NO_ERROR) TraceLog(WARNING, "Ogg playing, error buffering data...");
processed--;
}
ALenum state;
alGetSourcei(currentMusic.source, AL_SOURCE_STATE, &state);
if ((state != AL_PLAYING) && active) alSourcePlay(currentMusic.source);
if (!active) StopMusicStream();
}
}
// Play a sound
void PlaySound(Sound sound)
{
alSourcePlay(sound.source); // Play the sound
TraceLog(INFO, "Playing sound");
// Find the current position of the sound being played
// NOTE: Only work when the entire file is in a single buffer
//int byteOffset;
//alGetSourcei(sound.source, AL_BYTE_OFFSET, &byteOffset);
//
//int sampleRate;
//alGetBufferi(sound.buffer, AL_FREQUENCY, &sampleRate); // AL_CHANNELS, AL_BITS (bps)
//float seconds = (float)byteOffset / sampleRate; // Number of seconds since the beginning of the sound
//or
//float result;
//alGetSourcef(sound.source, AL_SEC_OFFSET, &result); // AL_SAMPLE_OFFSET
}
static BOOL DeviceValidate(const PWDC_DEVICE pDev)
{
DWORD i, dwNumAddrSpaces = pDev->dwNumAddrSpaces;
/* TODO: You can modify the implementation of this function in order to
verify that the device has all expected resources. */
/* Verify that the device has at least one active address space */
for (i = 0; i < dwNumAddrSpaces; i++)
{
if (WDC_AddrSpaceIsActive(pDev, i))
return TRUE;
}
/* In this sample we accept the device even if it doesn't have any
* address spaces */
TraceLog("Device does not have any active memory or I/O address spaces\n");
return TRUE;
}
// ======================== [ FUNCTIONS ] ==============================================
void ArCan_Schedule(void)
{
ArMsgType Message;
for(int i=0;i<PortNumber;i++)
{
if(Poll(Ports[i],&Message))
{
TraceLog(Ports[i],(ArCanMsgType*)&Message);
for(int j=0;j<PortNumber;j++)
{
if(i!=j)
{
Forward(Ports[j],&Message);
}
}
// Tester may do something
Ardl_RxIndication(&Message);
}
}
}
BOOL PCIE_SW_DeviceClose(WDC_DEVICE_HANDLE hDev)
{
DWORD dwStatus;
PWDC_DEVICE pDev = (PWDC_DEVICE)hDev;
PPCIE_SW_DEV_CTX pDevCtx;
TraceLog("PCIE_SW_DeviceClose entered. Device handle: 0x%p\n", hDev);
if (!hDev)
{
ErrLog("PCIE_SW_DeviceClose: Error - NULL device handle\n");
return FALSE;
}
pDevCtx = (PPCIE_SW_DEV_CTX)WDC_GetDevContext(pDev);
/* Disable interrupts */
if (WDC_IntIsEnabled(hDev))
{
dwStatus = PCIE_SW_IntDisable(hDev);
if (WD_STATUS_SUCCESS != dwStatus)
{
ErrLog("Failed disabling interrupts. Error 0x%lx - %s\n",
dwStatus, Stat2Str(dwStatus));
}
}
/* Close the device */
dwStatus = WDC_PciDeviceClose(hDev);
if (WD_STATUS_SUCCESS != dwStatus)
{
ErrLog("Failed closing a WDC device handle (0x%p). Error 0x%lx - %s\n",
hDev, dwStatus, Stat2Str(dwStatus));
}
/* Free PCIE_SW device context memory */
if (pDevCtx)
free (pDevCtx);
return (WD_STATUS_SUCCESS == dwStatus);
}
/*
int RTFile::CheckCache(MCounter * pCounter)
{
MLocalSection local;
FileList * pstList = NULL;
return 1;
}
void * __stdcall RTFile::UpdateCacheThread(void * In)
{
RTFile * classptr;
MCounter counter;
int ret;
classptr = (RTFile *)In;
counter.SetCurTickCount();
while ( classptr->m_stUpdateCacheThread.GetThreadStopFlag( ) == false )
{
try
{
ret = 0;
while(ret >= 0)
{
ret = classptr->CheckCache(&counter);
if(ret == 2)
MThread::Sleep(100);
}
// MThread::Sleep(Global_Option.GetCheckFileCycle());
}
catch( ... )
{
TraceLog( LOG_ERROR_NORMAL, MODULENAME, "缓存更新线程发生未知异常");
}
}
return 0;
}
*/
void * __stdcall RTFile::ProcessFileThread(void * In)
{
int no;
no = (int)In;
while (Global_DataIO.m_stProcessFileThread[no].GetThreadStopFlag( ) == false )
{
Global_DataIO.CheckFile();
try
{
//Global_DataIO.CheckFile();
MThread::Sleep(50);
}
catch( ... )
{
TraceLog( LOG_ERROR_NORMAL, MODULENAME, "文件检查线程发生未知异常");
}
}
return 0;
}
// Once connected to the network, check the sockets for pending information
// and when information is ready, send either a Ping or a Pong.
void NetworkUpdate()
{
// CheckSockets
//
// If any of the sockets in the socket_set are pending (received data, or requests)
// then mark the socket as being ready. You can check this with IsSocketReady(client_res->socket)
int active = CheckSockets(socket_set, 0);
if (active != 0) {
TraceLog(LOG_DEBUG,
"There are currently %d socket(s) with data to be processed.", active);
}
// IsSocketReady
//
// If the socket is ready, attempt to receive data from the socket
// int bytesRecv = 0;
// if (IsSocketReady(server_res->socket)) {
// bytesRecv = SocketReceive(server_res->socket, recvBuffer, msglen);
// }
int bytesRecv = SocketReceive(server_res->socket, recvBuffer, msglen);
// If we received data, was that data a "Ping!" or a "Pong!"
if (bytesRecv > 0) {
if (strcmp(recvBuffer, pingmsg) == 0) { pong = true; }
if (strcmp(recvBuffer, pongmsg) == 0) { ping = true; }
}
// After each delay has expired, send a response "Ping!" for a "Pong!" and vice versa
elapsed += GetFrameTime();
if (elapsed > delay) {
if (ping) {
ping = false;
SocketSend(server_res->socket, pingmsg, msglen);
} else if (pong) {
pong = false;
SocketSend(server_res->socket, pongmsg, msglen);
}
elapsed = 0.0f;
}
}
/*
#define fork forkX
*/
int ForkY(PCStr(what),int (*xproc)(const char *what,int xpid))
{ register int pid;
endhostent();
MyPID = 0;
pid = fork();
if( xproc )
if( pid == -1 && errno == EAGAIN ) {
int fi,xi,xn = 0,xid = 0;
for( fi = 0; fi < 30 && pid < 0 && errno == EAGAIN; fi++ ) {
usleep((100+fi*10)*1000);
if( 0 < (xi = NoHangWait()) ) {
xid = xi;
xn++;
if( (*xproc)(what,xi) != 0 )
break;
}
pid = fork();
}
if( pid != 0 ) {
fprintf(stderr,"----[%d] Fork(%s) AGAIN(%d/%d/%d)=%d\n",
getpid(),what,fi,xn,xid,pid);
}
}
if( pid == -1 ) {
/*
syslog_ERROR("-- FAILED fork(%s), errno=%d\n",what,errno);
*/
daemonlog("F","-- FAILED fork(%s), errno=%d\n",what,errno);
} else if( pid == 0 ) {
syslog_ERROR("-- Fork(%s): %d -> %d\n",what,getppid(),MyPID);
}
else {
if( lTRVERB() )
if( doTracePid == getpid() )
TraceLog("+ Fork(%s) = %d\n",what,pid);
}
return pid;
}
// Load OGG file into Wave structure
static Wave LoadOGG(char *fileName)
{
Wave wave;
stb_vorbis *oggFile = stb_vorbis_open_filename(fileName, NULL, NULL);
stb_vorbis_info info = stb_vorbis_get_info(oggFile);
wave.sampleRate = info.sample_rate;
wave.bitsPerSample = 16;
wave.channels = info.channels;
TraceLog(DEBUG, "[%s] Ogg sample rate: %i", fileName, info.sample_rate);
TraceLog(DEBUG, "[%s] Ogg channels: %i", fileName, info.channels);
int totalSamplesLength = (stb_vorbis_stream_length_in_samples(oggFile) * info.channels);
wave.dataSize = totalSamplesLength*sizeof(short); // Size must be in bytes
TraceLog(DEBUG, "[%s] Samples length: %i", fileName, totalSamplesLength);
float totalSeconds = stb_vorbis_stream_length_in_seconds(oggFile);
TraceLog(DEBUG, "[%s] Total seconds: %f", fileName, totalSeconds);
if (totalSeconds > 10) TraceLog(WARNING, "[%s] Ogg audio lenght is larger than 10 seconds (%f), that's a big file in memory, consider music streaming", fileName, totalSeconds);
int totalSamples = totalSeconds*info.sample_rate*info.channels;
TraceLog(DEBUG, "[%s] Total samples calculated: %i", fileName, totalSamples);
//short *data
wave.data = malloc(sizeof(short)*totalSamplesLength);
int samplesObtained = stb_vorbis_get_samples_short_interleaved(oggFile, info.channels, wave.data, totalSamplesLength);
TraceLog(DEBUG, "[%s] Samples obtained: %i", fileName, samplesObtained);
stb_vorbis_close(oggFile);
return wave;
}
pIvhSensor CreateSensorOrientation9Axis(const pIvhPlatform platform, pIvhSensor accl, pIvhSensor gyro, pIvhSensor magn)
{
pIvhSensorOrientation sensor = (pIvhSensorOrientation)SAFE_ALLOCATE_POOL(NonPagedPool, sizeof(IvhSensorOrientation), IVH_SENSOR_ORIENTATIONT_9AXIS__POOL_TAG);
if (sensor)
{
// ZERO it!
SAFE_FILL_MEM (sensor, sizeof (IvhSensorOrientation), 0);
TraceLog(TRACE_LEVEL_INFORMATION, TRACE_ALGO, "malloc memory for orientation9axis");
}
else
{
// No memory
TraceLog(TRACE_LEVEL_ERROR, TRACE_ALGO, "not enough memory");
return NULL;
}
sensor->sensor.Update = DataUpdate;
sensor->sensor.Notify = SensorNotify;
sensor->sensor.Attach = SensorAttach;
sensor->sensor.QueryData = SensorQueryData;
sensor->sensor.type = IVH_SENSOR_TYPE_ORIENTATION_9AXIS;
sensor->sensor.d[0] = &sensor->input;
sensor->sensor.d[1] = &sensor->output;
accl->Attach(accl, &(sensor->sensor));
gyro->Attach(gyro, &(sensor->sensor));
magn->Attach(magn, &(sensor->sensor));
ROTATION_MATRIX_T rm[] = {1, 0, 0, \
0, 1, 0, \
0, 0, 1};
SAFE_MEMSET(sensor->lastCalibratedAccel, 0);
SAFE_MEMSET(sensor->lastCalibratedGyro, 0);
SAFE_MEMSET(sensor->lastCalibratedMag, 0);
SAFE_MEMSET(sensor->lastRotatedMag, 0);
SAFE_MEMSET(sensor->lastRawMag, 0);
SAFE_MEMSET(sensor->lastMagCovariance, 0);
sensor->magConfidence = 0;
sensor->lastTimestampAccel = 0;
sensor->lastTimestampGyro = 0;
sensor->lastTimestampMag = 0;
sensor->estimatedHeadingError = MAX_HEADING_ERROR;
// Don't apply ZRT until at least one sample has been calculated and
// SensorManager has been notified.
sensor->atLeastOneSampleCalculated = FALSE;
SAFE_MEMCPY(sensor->rotationMatrixStruct, rm);
SAFE_MEMSET(sensor->driftCorrection, 0);
SAFE_MEMSET(sensor->s_prevGyro, 0);
sensor->s_motionlessTime = 0;
sensor->s_startMotionlessTime = 0;
sensor->s_firstTime = TRUE;
SAFE_MEMSET(sensor->prevGyro, 0);
SAFE_MEMSET(sensor->prevAccel, 0);
sensor->previousTimestampMag = 0;
sensor->platform = platform;
InitRotationParameters(&sensor->Rotation);
sensor->Calibration = platform->Calibrate;
return (pIvhSensor)(sensor);
}
ERROR_T CalculateRotation(pIvhSensorOrientation fusion)
{
ERROR_T retVal = ERROR_OK;
// ZRT was removed from GyroCalibrated, so there will be jitter in the incoming
// gyro. Apply a weak LPF to reduce the jittery behavior
const float GYRO_LPF_ALPHA = 0.4f;
ApplyLowPassFilter(fusion->lastCalibratedGyro,
fusion->prevGyro,
3,
GYRO_LPF_ALPHA);
// ZRT was removed from AccelerometerCalibrated, so there will be jitter in the incoming
// accel. Apply a weak LPF to reduce the jittery behavior
const float ACCEL_LPF_ALPHA = 0.3f;
ApplyLowPassFilter(fusion->lastCalibratedAccel ,
fusion->prevAccel,
3,
ACCEL_LPF_ALPHA);
// Calibrated magnetometer microdriver just maps the axes for this device
// We need to send it to MagDynamicCali to get the mag data centered at zero
// and mapped to a unit circle
if (fusion->platform->CalibrationFeatures.enableMagCalibratedDynamicFilter)
{
//use dynamic filter aligning with gyro speed to filter out jitter
ApplyDynamicLowPassFilter(fusion, fusion->lastCalibratedMag, fusion->lastCalibratedGyro);
}
// If gyro has been motionless for some time, there is no need to
// run the device orientation algo. This will prevent jitter at rest.
if (TRUE == fusion->atLeastOneSampleCalculated && TRUE == ShouldApplyZRT(fusion))
{
fusion->lastCalibratedGyro[AXIS_X] = fusion->lastCalibratedGyro[AXIS_Y] = fusion->lastCalibratedGyro[AXIS_Z] = 0;
}
else
{
ROTATION_VECTOR_T incrementalRotationDegrees[3] = {0, 0, 0};
// Use the ROTATED mag with differential correction for finding direction
TraceLog(TRACE_LEVEL_VERBOSE, TRACE_ALGO, "a(%f,%f,%f)g(%f,%f,%f)m(%f,%f,%f)",
fusion->lastCalibratedAccel[0],fusion->lastCalibratedAccel[1],fusion->lastCalibratedAccel[2],
fusion->lastCalibratedGyro[0],fusion->lastCalibratedGyro[1],fusion->lastCalibratedGyro[2],
fusion->lastRotatedMag[0],fusion->lastRotatedMag[1],fusion->lastRotatedMag[2]);
CalculateRotationUsingGyro(&fusion->Rotation,
fusion->lastCalibratedAccel , fusion->lastCalibratedGyro , fusion->lastRotatedMag,
fusion->lastTimestampGyro,
fusion->lastTimestampMag,
fusion->lastTimestampAccel,
fusion->magConfidence,
fusion->rotationMatrixStruct,
fusion->driftCorrection,
incrementalRotationDegrees);
if (fusion->lastTimestampMag > fusion->previousTimestampMag)
{
// Use the calibrated mag, NOT the rotated mag to check anomaly and refine offsets
MagDetectAnomalyWithGyro(fusion->Calibration, fusion->lastCalibratedMag, fusion->lastCalibratedGyro , &fusion->magConfidence);
RefineMagOffsetsWithGyro(fusion->Calibration, fusion->lastRawMag, fusion->lastCalibratedGyro, fusion->magConfidence);
fusion->previousTimestampMag = fusion->lastTimestampMag;
}
EstimateHeadingError(fusion->magConfidence, incrementalRotationDegrees, &fusion->estimatedHeadingError);
fusion->estimatedHeadingError = (uint8_t)(fusion->Calibration->Error);
}
fusion->atLeastOneSampleCalculated = TRUE;
return retVal;
}
//----------------------------------------------------------------------------------
// Main Entry point
//----------------------------------------------------------------------------------
int main(void)
{
// Initialization
//--------------------------------------------------------------------------------------
int screenWidth = 1080; // Mirror screen width (set to hmdDesc.Resolution.w/2)
int screenHeight = 600; // Mirror screen height (set to hmdDesc.Resolution.h/2)
// NOTE: Mirror screen size can be set to any desired resolution!
// GLFW3 Initialization + OpenGL 3.3 Context + Extensions
//--------------------------------------------------------
glfwSetErrorCallback(ErrorCallback);
if (!glfwInit())
{
TraceLog(WARNING, "GLFW3: Can not initialize GLFW");
return 1;
}
else TraceLog(INFO, "GLFW3: GLFW initialized successfully");
glfwWindowHint(GLFW_SAMPLES, 4);
glfwWindowHint(GLFW_DEPTH_BITS, 16);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
glfwWindowHint(GLFW_OPENGL_DEBUG_CONTEXT, GL_TRUE);
GLFWwindow *window = glfwCreateWindow(screenWidth, screenHeight, "rlgl oculus rift", NULL, NULL);
if (!window)
{
glfwTerminate();
return 2;
}
else TraceLog(INFO, "GLFW3: Window created successfully");
glfwSetKeyCallback(window, KeyCallback);
glfwMakeContextCurrent(window);
glfwSwapInterval(0);
// Load OpenGL 3.3 supported extensions
rlglLoadExtensions(glfwGetProcAddress);
//--------------------------------------------------------
// Initialize OpenGL context (states and resources)
rlglInit(screenWidth, screenHeight);
rlClearColor(245, 245, 245, 255); // Define clear color
rlEnableDepthTest(); // Enable DEPTH_TEST for 3D
// Define custom camera to initialize projection and view matrices
Camera camera;
camera.position = (Vector3){ 5.0f, 5.0f, 5.0f }; // Camera position
camera.target = (Vector3){ 0.0f, 0.0f, 0.0f }; // Camera looking at point
camera.up = (Vector3){ 0.0f, 1.0f, 0.0f }; // Camera up vector (rotation towards target)
camera.fovy = 45.0f; // Camera field-of-view Y
// Initialize viewport and internal projection/modelview matrices
rlViewport(0, 0, screenWidth, screenHeight);
rlMatrixMode(RL_PROJECTION); // Switch to PROJECTION matrix
rlLoadIdentity(); // Reset current matrix (PROJECTION)
// Setup perspective projection
float aspect = (float)screenWidth/(float)screenHeight;
double top = 0.01*tan(camera.fovy*PI/360.0);
double right = top*aspect;
rlFrustum(-right, right, -top, top, 0.01, 1000.0);
rlMatrixMode(RL_MODELVIEW); // Switch back to MODELVIEW matrix
rlLoadIdentity(); // Reset current matrix (MODELVIEW)
// Setup Camera view
Matrix cameraView = MatrixLookAt(camera.position, camera.target, camera.up);
rlMultMatrixf(MatrixToFloat(cameraView)); // Multiply MODELVIEW matrix by view matrix (camera)
InitOculusDevice(); // Initialize Oculus Rift CV1
Vector3 cubePosition = { 0.0f, 0.0f, 0.0f };
//--------------------------------------------------------------------------------------
// Main game loop
while (!glfwWindowShouldClose(window))
{
// Update
//----------------------------------------------------------------------------------
UpdateOculusTracking();
//----------------------------------------------------------------------------------
// Draw
//----------------------------------------------------------------------------------
BeginOculusDrawing();
rlClearScreenBuffers(); // Clear current framebuffer(s)
DrawCube(cubePosition, 2.0f, 2.0f, 2.0f, RED);
DrawCubeWires(cubePosition, 2.0f, 2.0f, 2.0f, RAYWHITE);
DrawGrid(10, 1.0f);
// NOTE: Internal buffers drawing (3D data)
rlglDraw();
EndOculusDrawing();
glfwSwapBuffers(window);
glfwPollEvents();
//----------------------------------------------------------------------------------
}
// De-Initialization
//--------------------------------------------------------------------------------------
CloseOculusDevice(); // Close Oculus device and clear resources
rlglClose(); // Unload rlgl internal buffers and default shader/texture
glfwDestroyWindow(window); // Close window
glfwTerminate(); // Free GLFW3 resources
//--------------------------------------------------------------------------------------
return 0;
}
// Load WAV file into Wave structure
static Wave LoadWAV(const char *fileName)
{
// Basic WAV headers structs
typedef struct {
char chunkID[4];
long chunkSize;
char format[4];
} RiffHeader;
typedef struct {
char subChunkID[4];
long subChunkSize;
short audioFormat;
short numChannels;
long sampleRate;
long byteRate;
short blockAlign;
short bitsPerSample;
} WaveFormat;
typedef struct {
char subChunkID[4];
long subChunkSize;
} WaveData;
RiffHeader riffHeader;
WaveFormat waveFormat;
WaveData waveData;
Wave wave;
FILE *wavFile;
wavFile = fopen(fileName, "rb");
if (!wavFile)
{
TraceLog(WARNING, "[%s] Could not open WAV file", fileName);
}
else
{
// Read in the first chunk into the struct
fread(&riffHeader, sizeof(RiffHeader), 1, wavFile);
// Check for RIFF and WAVE tags
if (((riffHeader.chunkID[0] != 'R') || (riffHeader.chunkID[1] != 'I') || (riffHeader.chunkID[2] != 'F') || (riffHeader.chunkID[3] != 'F')) ||
((riffHeader.format[0] != 'W') || (riffHeader.format[1] != 'A') || (riffHeader.format[2] != 'V') || (riffHeader.format[3] != 'E')))
{
TraceLog(WARNING, "[%s] Invalid RIFF or WAVE Header", fileName);
}
else
{
// Read in the 2nd chunk for the wave info
fread(&waveFormat, sizeof(WaveFormat), 1, wavFile);
// Check for fmt tag
if ((waveFormat.subChunkID[0] != 'f') || (waveFormat.subChunkID[1] != 'm') ||
(waveFormat.subChunkID[2] != 't') || (waveFormat.subChunkID[3] != ' '))
{
TraceLog(WARNING, "[%s] Invalid Wave format", fileName);
}
else
{
// Check for extra parameters;
if (waveFormat.subChunkSize > 16) fseek(wavFile, sizeof(short), SEEK_CUR);
// Read in the the last byte of data before the sound file
fread(&waveData, sizeof(WaveData), 1, wavFile);
// Check for data tag
if ((waveData.subChunkID[0] != 'd') || (waveData.subChunkID[1] != 'a') ||
(waveData.subChunkID[2] != 't') || (waveData.subChunkID[3] != 'a'))
{
TraceLog(WARNING, "[%s] Invalid data header", fileName);
}
else
{
// Allocate memory for data
wave.data = (unsigned char *)malloc(sizeof(unsigned char) * waveData.subChunkSize);
// Read in the sound data into the soundData variable
fread(wave.data, waveData.subChunkSize, 1, wavFile);
// Now we set the variables that we need later
wave.dataSize = waveData.subChunkSize;
wave.sampleRate = waveFormat.sampleRate;
wave.channels = waveFormat.numChannels;
wave.bitsPerSample = waveFormat.bitsPerSample;
TraceLog(INFO, "[%s] Wave file loaded successfully", fileName);
}
}
}
fclose(wavFile);
}
return wave;
}
// Load sound to memory
Sound LoadSound(char *fileName)
{
Sound sound;
Wave wave;
// NOTE: The entire file is loaded to memory to play it all at once (no-streaming)
// Audio file loading
// NOTE: Buffer space is allocated inside function, Wave must be freed
if (strcmp(GetExtension(fileName),"wav") == 0) wave = LoadWAV(fileName);
else if (strcmp(GetExtension(fileName),"ogg") == 0) wave = LoadOGG(fileName);
else TraceLog(WARNING, "[%s] Sound extension not recognized, it can't be loaded", fileName);
if (wave.data != NULL)
{
ALenum format = 0;
// The OpenAL format is worked out by looking at the number of channels and the bits per sample
if (wave.channels == 1)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_MONO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_MONO16;
}
else if (wave.channels == 2)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_STEREO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_STEREO16;
}
// Create an audio source
ALuint source;
alGenSources(1, &source); // Generate pointer to audio source
alSourcef(source, AL_PITCH, 1);
alSourcef(source, AL_GAIN, 1);
alSource3f(source, AL_POSITION, 0, 0, 0);
alSource3f(source, AL_VELOCITY, 0, 0, 0);
alSourcei(source, AL_LOOPING, AL_FALSE);
// Convert loaded data to OpenAL buffer
//----------------------------------------
ALuint buffer;
alGenBuffers(1, &buffer); // Generate pointer to buffer
// Upload sound data to buffer
alBufferData(buffer, format, wave.data, wave.dataSize, wave.sampleRate);
// Attach sound buffer to source
alSourcei(source, AL_BUFFER, buffer);
// Unallocate WAV data
UnloadWave(wave);
TraceLog(INFO, "[%s] Sound file loaded successfully", fileName);
TraceLog(INFO, "[%s] Sample rate: %i - Channels: %i", fileName, wave.sampleRate, wave.channels);
sound.source = source;
sound.buffer = buffer;
}
return sound;
}
// Load sound to memory from rRES file (raylib Resource)
Sound LoadSoundFromRES(const char *rresName, int resId)
{
// NOTE: rresName could be directly a char array with all the data!!! --> TODO
Sound sound;
bool found = false;
char id[4]; // rRES file identifier
unsigned char version; // rRES file version and subversion
char useless; // rRES header reserved data
short numRes;
ResInfoHeader infoHeader;
FILE *rresFile = fopen(rresName, "rb");
if (!rresFile) TraceLog(WARNING, "[%s] Could not open raylib resource file", rresName);
else
{
// Read rres file (basic file check - id)
fread(&id[0], sizeof(char), 1, rresFile);
fread(&id[1], sizeof(char), 1, rresFile);
fread(&id[2], sizeof(char), 1, rresFile);
fread(&id[3], sizeof(char), 1, rresFile);
fread(&version, sizeof(char), 1, rresFile);
fread(&useless, sizeof(char), 1, rresFile);
if ((id[0] != 'r') && (id[1] != 'R') && (id[2] != 'E') &&(id[3] != 'S'))
{
TraceLog(WARNING, "[%s] This is not a valid raylib resource file", rresName);
}
else
{
// Read number of resources embedded
fread(&numRes, sizeof(short), 1, rresFile);
for (int i = 0; i < numRes; i++)
{
fread(&infoHeader, sizeof(ResInfoHeader), 1, rresFile);
if (infoHeader.id == resId)
{
found = true;
// Check data is of valid SOUND type
if (infoHeader.type == 1) // SOUND data type
{
// TODO: Check data compression type
// NOTE: We suppose compression type 2 (DEFLATE - default)
// Reading SOUND parameters
Wave wave;
short sampleRate, bps;
char channels, reserved;
fread(&sampleRate, sizeof(short), 1, rresFile); // Sample rate (frequency)
fread(&bps, sizeof(short), 1, rresFile); // Bits per sample
fread(&channels, 1, 1, rresFile); // Channels (1 - mono, 2 - stereo)
fread(&reserved, 1, 1, rresFile); // <reserved>
wave.sampleRate = sampleRate;
wave.dataSize = infoHeader.srcSize;
wave.bitsPerSample = bps;
wave.channels = (short)channels;
unsigned char *data = malloc(infoHeader.size);
fread(data, infoHeader.size, 1, rresFile);
wave.data = DecompressData(data, infoHeader.size, infoHeader.srcSize);
free(data);
// Convert wave to Sound (OpenAL)
ALenum format = 0;
// The OpenAL format is worked out by looking at the number of channels and the bits per sample
if (wave.channels == 1)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_MONO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_MONO16;
}
else if (wave.channels == 2)
{
if (wave.bitsPerSample == 8 ) format = AL_FORMAT_STEREO8;
else if (wave.bitsPerSample == 16) format = AL_FORMAT_STEREO16;
}
// Create an audio source
ALuint source;
alGenSources(1, &source); // Generate pointer to audio source
alSourcef(source, AL_PITCH, 1);
alSourcef(source, AL_GAIN, 1);
alSource3f(source, AL_POSITION, 0, 0, 0);
alSource3f(source, AL_VELOCITY, 0, 0, 0);
alSourcei(source, AL_LOOPING, AL_FALSE);
// Convert loaded data to OpenAL buffer
//----------------------------------------
ALuint buffer;
alGenBuffers(1, &buffer); // Generate pointer to buffer
// Upload sound data to buffer
alBufferData(buffer, format, (void*)wave.data, wave.dataSize, wave.sampleRate);
// Attach sound buffer to source
alSourcei(source, AL_BUFFER, buffer);
// Unallocate WAV data
UnloadWave(wave);
TraceLog(INFO, "[%s] Sound loaded successfully from resource, sample rate: %i", rresName, (int)sampleRate);
sound.source = source;
sound.buffer = buffer;
}
else
{
TraceLog(WARNING, "[%s] Required resource do not seem to be a valid SOUND resource", rresName);
}
}
else
{
// Depending on type, skip the right amount of parameters
switch (infoHeader.type)
{
case 0: fseek(rresFile, 6, SEEK_CUR); break; // IMAGE: Jump 6 bytes of parameters
case 1: fseek(rresFile, 6, SEEK_CUR); break; // SOUND: Jump 6 bytes of parameters
case 2: fseek(rresFile, 5, SEEK_CUR); break; // MODEL: Jump 5 bytes of parameters (TODO: Review)
case 3: break; // TEXT: No parameters
case 4: break; // RAW: No parameters
default: break;
}
// Jump DATA to read next infoHeader
fseek(rresFile, infoHeader.size, SEEK_CUR);
}
}
}
fclose(rresFile);
}
if (!found) TraceLog(WARNING, "[%s] Required resource id [%i] could not be found in the raylib resource file", rresName, resId);
return sound;
}