int LayoutInput( Layout layout, View *view, int *row, int *column ) {
float ix, iy;
int event;
event = DisplayInput( layout->display, &ix, &iy );
for ( *row = 0; *row < layout->rows; (*row)++ ) {
for ( *column = 0; *column < layout->columns; (*column)++ ) {
*view = LayoutView( layout, *row, *column );
if ( ViewDisplayPointInside( *view, ix, iy ) ) {
return( event );
}
}
}
*view = 0;
return( event );
}
int main (void) {
uint8_t SequenceNumber = 0;
uint8_t Char;
int8_t NumberSent = 0, NumberToSend = 0, LoopCount = 0, UnexpectedPacketCount = 0, NoAckCount = 0;
InitPinInActive (RED_LED_PIN);
InitPinInActive (GREEN_LED_PIN);
SerialInit (57600);
SendString (UI8_P("JeeNodeRfm12B (1.8 wcb)\r\n"));
SendString (UI8_P("a(uto-test), e(nd-test), (r)eset, [n](s)end\r\n"));
Radio.Initialize ();
while(1) {
if ((Char = ReadChar()))
switch (Char) {
case 'a':
if (NumberToSend == -1)
break;
SendString (UI8_P("Starting auto-test\r\n"));
NumberToSend = -1;
SequenceNumber = MacLayer.MakeRequestPacket (PacketBfr, 1, 2, UI8_P("123"), 3);
SendPacket (PacketBfr, SequenceNumber);
LoopCount = UnexpectedPacketCount = NoAckCount = 0;
SetPinActive (GREEN_LED_PIN);
break;
case 'e':
if (NumberToSend == 0)
break;
SendString (UI8_P("Ending auto-test\r\n"));
sprintf ((char*) StrBfr, "unexpected # = %d, no_ack # = %d\r\n", UnexpectedPacketCount, NoAckCount);
SendString (StrBfr);
NumberToSend = 0;
break;
case 'r':
SendString (UI8_P("RESETING!\r\n"));
cli(); // irq's off
wdt_enable (WDTO_15MS); // watch dog on, 15ms
while(1); // loop until watch dog fires
case 's':
if (NumberToSend <= 0)
NumberToSend = 1;
SendStringAndInt (UI8_P("Sending "), NumberToSend, UI8_P(" packets\r\n"));
NumberSent = -1;
while (NumberToSend > ++NumberSent) {
SequenceNumber = MacLayer.MakeRequestPacket (PacketBfr, 1, 2, UI8_P("123"), 3);
if (0 == SendPacket (PacketBfr, SequenceNumber)) {
NumberSent = -1;
break;
}
}
if (NumberToSend == NumberSent) {
SetPinActive (GREEN_LED_PIN);
_delay_ms (100);
SetPinInActive (GREEN_LED_PIN);
}
NumberToSend = 0;
break;
default :
if ((0x30 <= Char) && (Char <= 0x39))
NumberToSend = (NumberToSend * 10) + Char - 0x30;
else {
sprintf ((char*) StrBfr, "Unexpected input character %c\r\n", Char);
SendString (StrBfr);
}
}
if (Radio.Recv (&Input[0]) > 0) {
DisplayInput ();
if ((Input[PACKET_TYPE_INDEX] == MAC_RESPONSE_PACKET_TYPE) &&
(Input[PACKET_SEQUENCE_INDEX] == SequenceNumber)) {
sprintf ((char*) StrBfr, "Got ack response for %d\r\n", SequenceNumber);
SendString (StrBfr);
if (NumberToSend < 0) {
_delay_ms (100);
SequenceNumber = MacLayer.MakeRequestPacket (PacketBfr, 1, 2, UI8_P("123"), 3);
SendPacket (PacketBfr, SequenceNumber);
SetPinActive (GREEN_LED_PIN);
LoopCount = 0;
}
//Radio.DisplayStatus ();
//Radio.ResetStatus();
//NumberSent = 0;
}
else if (Input[PACKET_TYPE_INDEX] == MAC_REQUEST_PACKET_TYPE) {
sprintf ((char*) StrBfr, "Got request packet with sequence %d\r\n", Input[PACKET_SEQUENCE_INDEX]);
SendString (StrBfr);
SetPinActive (GREEN_LED_PIN);
LoopCount = 0;
SequenceNumber = Input[PACKET_SEQUENCE_INDEX];
MacLayer.MakeResponsePacket (PacketBfr, 1, 2, SequenceNumber, UI8_P("123"), 3);
if (0 == SendPacket (PacketBfr, SequenceNumber))
SendStringAndInt (UI8_P("Could not send response for "), Input[PACKET_SEQUENCE_INDEX], UI8_P("\r\n"));
}
else {
sprintf ((char*) StrBfr, "\r\nGot unexpected packet !!!!!!!!!!!!!!!!!!!!!!\r\n\n");
SendString (StrBfr);
UnexpectedPacketCount++;
}
}
_delay_ms (10);
LoopCount++;
if (LoopCount == 10)
SetPinInActive (GREEN_LED_PIN);
else if ((NumberToSend < 0) && (LoopCount == 100)) {
SendStringAndInt (UI8_P("!!!!!!!!!!!!!!!!!!!!!!! Did not get Ack for "),
SequenceNumber,
UI8_P(" !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n"));
NoAckCount++;
SendPacket (PacketBfr, SequenceNumber);
LoopCount = 0;
SetPinActive (GREEN_LED_PIN);
}
//else if (NumberSent > 0) {
//Radio.DisplayStatus ();
//Radio.ResetStatus();
//NumberSent = 0;
//}
}
}
DisplayConfigPtr DisplayConfigFactory::create(OSVR_ClientContext ctx) {
DisplayConfigPtr cfg(new DisplayConfig);
try {
auto const descriptorString = ctx->getStringParameter("/display");
auto desc = display_schema_1::DisplayDescriptor(descriptorString);
cfg->m_viewers.container().emplace_back(Viewer(ctx, HEAD_PATH));
auto &viewer = cfg->m_viewers.container().front();
auto eyesDesc = desc.getEyes();
/// Set up stereo vs mono
std::vector<uint8_t> eyeIndices;
Eigen::Vector3d offset;
if (eyesDesc.size() == 2) {
// stereo
offset = desc.getIPDMeters() / 2. * Eigen::Vector3d::UnitX();
eyeIndices = {0, 1};
} else {
// if (eyesDesc.size() == 1)
// mono
offset = Eigen::Vector3d::Zero();
eyeIndices = {0};
}
/// Handle radial distortion parameters
boost::optional<OSVR_RadialDistortionParameters> distort;
auto k1 = desc.getDistortion();
if (k1.k1_red != 0 || k1.k1_green != 0 || k1.k1_blue != 0) {
OSVR_RadialDistortionParameters params;
params.k1.data[0] = k1.k1_red;
params.k1.data[1] = k1.k1_green;
params.k1.data[2] = k1.k1_blue;
distort = params;
}
/// Compute angular offset about Y of the optical (view) axis
util::Angle axisOffset = 0. * util::radians;
{
auto overlapPct = desc.getOverlapPercent();
if (overlapPct < 1.) {
const auto hfov = desc.getHorizontalFOV();
const auto angularOverlap = hfov * overlapPct;
axisOffset = (hfov - angularOverlap) / 2.;
}
}
/// Infer the number of display inputs and their association with
/// eyes (actually surfaces) based on the descriptor.
std::vector<OSVR_DisplayInputCount> displayInputIndices;
if (eyesDesc.size() == 2 &&
display_schema_1::DisplayDescriptor::FULL_SCREEN ==
desc.getDisplayMode()) {
// two eyes, full screen - that means two screens.
displayInputIndices = {0, 1};
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
} else {
// everything else, assume 1 screen.
// Note that it's OK that displayInputIndices.size() >=
// eyesDesc.size(), we'll just not end up using the second
// entry.
displayInputIndices = {0, 0};
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
}
BOOST_ASSERT_MSG(displayInputIndices.size() >= eyesDesc.size(),
"Must have at least as many indices as eyes");
/// Create the actual eye (with implied surface) objects
for (auto eye : eyeIndices) {
// This little computation turns 0 into -1 and 1 into 1, used as
// a coefficient to make the two eyes do opposite things.
// Doesn't affect mono, which has a zero offset vector.
double offsetFactor = (2. * eye) - 1.;
// Set up per-eye distortion parameters, if needed
boost::optional<OSVR_RadialDistortionParameters> distortEye(
distort);
if (distortEye) {
distortEye->centerOfProjection.data[0] =
eyesDesc[eye].m_CenterProjX;
distortEye->centerOfProjection.data[1] =
eyesDesc[eye].m_CenterProjY;
}
// precompute translation offset for this eye
auto xlateOffset = (offsetFactor * offset).eval();
// precompute the optical axis rotation for this eye
// here, the left eye should get a positive offset since it's a
// positive rotation about y, hence the -1 factor.
auto eyeAxisOffset = axisOffset * -1. * offsetFactor;
// Look up the display index for this eye.
auto displayInputIdx = displayInputIndices[eye];
/// Create the ViewerEye[Surface] and add it to the container.
viewer.container().emplace_back(ViewerEye(
ctx, xlateOffset, HEAD_PATH, computeViewport(eye, desc),
computeRect(desc), eyesDesc[eye].m_rotate180,
desc.getPitchTilt().value(), distortEye, displayInputIdx,
eyeAxisOffset));
}
OSVR_DEV_VERBOSE("Display: " << desc.getHumanReadableDescription());
return cfg;
} catch (std::exception const &e) {
OSVR_DEV_VERBOSE(
"Couldn't create a display config internally! Exception: "
<< e.what());
return DisplayConfigPtr{};
} catch (...) {
OSVR_DEV_VERBOSE("Couldn't create a display config internally! "
"Unknown exception!");
return DisplayConfigPtr{};
}
}
