logic/tracker: rename to pipeline

Could use a better name.

1 files changed, 505 insertions, 0 deletions

diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
new file mode 100644
index 00000000..a77aa54a
--- /dev/null
+++ b/logic/pipeline.cpp
@@ -0,0 +1,505 @@
+/* Copyright (c) 2012-2015 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+/*
+ * this file appeared originally in facetracknoir, was rewritten completely
+ * following opentrack fork.
+ *
+ * originally written by Wim Vriend.
+ */
+
+#include "compat/nan.hpp"
+#include "compat/sleep.hpp"
+#include "compat/util.hpp"
+
+#include "pipeline.hpp"
+
+#include <cmath>
+#include <algorithm>
+#include <cstdio>
+
+#ifdef _WIN32
+#   include <windows.h>
+#endif
+
+using namespace euler;
+using namespace gui_tracker_impl;
+using namespace time_units;
+
+constexpr double pipeline::r2d;
+constexpr double pipeline::d2r;
+
+pipeline::pipeline(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger) :
+    m(m),
+    ev(ev),
+    libs(libs),
+    logger(logger),
+    backlog_time(ns(0)),
+    tracking_started(false)
+{
+}
+
+pipeline::~pipeline()
+{
+    requestInterruption();
+    wait();
+}
+
+double pipeline::map(double pos, Map& axis)
+{
+    bool altp = (pos < 0) && axis.opts.altp;
+    axis.spline_main.set_tracking_active( !altp );
+    axis.spline_alt.set_tracking_active( altp );
+    auto& fc = altp ? axis.spline_alt : axis.spline_main;
+    return double(fc.get_value(pos));
+}
+
+void pipeline::t_compensate(const rmat& rmat, const euler_t& xyz, euler_t& output,
+                           bool disable_tx, bool disable_ty, bool disable_tz)
+{
+    enum { tb_Z, tb_X, tb_Y };
+
+    // TY is really yaw axis. need swapping accordingly.
+    // sign changes are due to right-vs-left handedness of coordinate system used
+    const euler_t ret = rmat * euler_t(xyz(TZ), -xyz(TX), -xyz(TY));
+
+    if (disable_tz)
+        output(TZ) = xyz(TZ);
+    else
+        output(TZ) = ret(tb_Z);
+
+    if (disable_ty)
+        output(TY) = xyz(TY);
+    else
+        output(TY) = -ret(tb_Y);
+
+    if (disable_tx)
+        output(TX) = xyz(TX);
+    else
+        output(TX) = -ret(tb_X);
+}
+
+static inline double elide_nan(double value, double def)
+{
+    if (nanp(value))
+    {
+        if (nanp(def))
+            return 0;
+        return def;
+    }
+    return value;
+}
+
+template<int u, int w>
+static bool is_nan(const dmat<u,w>& r)
+{
+    for (int i = 0; i < u; i++)
+        for (int j = 0; j < w; j++)
+            if (nanp(r(i, j)))
+                return true;
+
+    return false;
+}
+
+constexpr double pipeline::c_mult;
+constexpr double pipeline::c_div;
+
+void pipeline::logic()
+{
+    using namespace euler;
+    using EV = event_handler::event_ordinal;
+
+    logger.write_dt();
+    logger.reset_dt();
+
+    const bool center_ordered = get(f_center) && tracking_started;
+    set(f_center, false);
+    const bool own_center_logic = center_ordered && libs.pTracker->center();
+
+    {
+        Pose tmp;
+        libs.pTracker->data(tmp);
+        ev.run_events(EV::ev_raw, tmp);
+
+        if (get(f_enabled_p) ^ !get(f_enabled_h))
+            for (int i = 0; i < 6; i++)
+                newpose(i) = elide_nan(tmp(i), newpose(i));
+    }
+
+    Pose value, raw;
+
+    for (int i = 0; i < 6; i++)
+    {
+        auto& axis = m(i);
+        int k = axis.opts.src;
+        if (k < 0 || k >= 6)
+            value(i) = 0;
+        else
+            value(i) = newpose(k);
+        raw(i) = newpose(i);
+    }
+
+    // hatire, udp, and freepie trackers can mess up here
+    for (unsigned i = 3; i < 6; i++)
+    {
+        using std::fmod;
+        using std::copysign;
+        using std::fabs;
+
+        value(i) = std::fmod(value(i), 360);
+
+        const double x = value(i);
+        if (fabs(x) - 1e-2 > 180)
+            value(i) = fmod(x + copysign(180, x), 360) - copysign(180, x);
+        else
+            value(i) = clamp(x, -180, 180);
+    }
+
+    logger.write_pose(raw); // raw
+
+    bool nanp = is_nan(raw) | is_nan(value);
+
+    // TODO split this function, it's too big
+
+    {
+        euler_t tmp = d2r * euler_t(&value[Yaw]);
+        scaled_rotation.rotation = euler_to_rmat(c_div * tmp);
+        real_rotation.rotation = euler_to_rmat(tmp);
+    }
+
+    nanp |= is_nan(value) || is_nan(scaled_rotation.rotation) || is_nan(real_rotation.rotation);
+
+    if (!tracking_started)
+    {
+        using std::fabs;
+
+        for (int i = 0; i < 6; i++)
+            if (fabs(newpose(i)) != 0)
+            {
+                tracking_started = true;
+                break;
+            }
+
+        tracking_started &= !nanp;
+
+        if (tracking_started && s.center_at_startup)
+        {
+            set(f_center, true);
+        }
+    }
+
+    if (center_ordered)
+    {
+        if (libs.pFilter)
+            libs.pFilter->center();
+
+        if (own_center_logic)
+        {
+            scaled_rotation.rot_center = rmat::eye();
+            real_rotation.rot_center = rmat::eye();
+
+            t_center = euler_t();
+        }
+        else
+        {
+            real_rotation.rot_center = real_rotation.rotation.t();
+            scaled_rotation.rot_center = scaled_rotation.rotation.t();
+
+            t_center = euler_t(&value(TX));
+        }
+    }
+
+    {
+        rmat rotation = scaled_rotation.rotation;
+        euler_t pos = euler_t(&value[TX]) - t_center;
+
+        switch (s.center_method)
+        {
+        // inertial
+        case 0:
+            rotation = scaled_rotation.rot_center * rotation;
+            break;
+        // camera
+        default:
+        case 1:
+            rotation = rotation * scaled_rotation.rot_center;
+            t_compensate(real_rotation.rot_center, pos, pos, false, false, false);
+
+            break;
+        }
+
+        euler_t rot = r2d * c_mult * rmat_to_euler(rotation);
+
+        for (int i = 0; i < 3; i++)
+        {
+            // don't invert after t_compensate
+            // inverting here doesn't break centering
+
+            if (m(i+3).opts.invert)
+                rot(i) = -rot(i);
+            if (m(i).opts.invert)
+                pos(i) = -pos(i);
+        }
+
+        for (int i = 0; i < 3; i++)
+        {
+            value(i) = pos(i);
+            value(i+3) = rot(i);
+        }
+    }
+
+    ev.run_events(EV::ev_before_filter, value);
+
+    logger.write_pose(value); // "corrected" - after various transformations to account for camera position
+
+    nanp |= is_nan(value);
+
+    {
+        {
+            Pose tmp(value);
+
+            // nan/inf values will corrupt filter internal state
+            if (!nanp && libs.pFilter)
+                libs.pFilter->filter(tmp, value);
+
+            logger.write_pose(value); // "filtered"
+        }
+    }
+
+    nanp |= is_nan(value);
+
+    {
+        ev.run_events(EV::ev_before_mapping, value);
+
+        euler_t neck, rel;
+
+        if (s.neck_enable)
+        {
+            double nz = -s.neck_z;
+
+            if (nz != 0)
+            {
+                const rmat R = euler_to_rmat(
+                       euler_t(value(Yaw)   * d2r,
+                               value(Pitch) * d2r,
+                               value(Roll)  * d2r));
+                euler_t xyz(0, 0, nz);
+                t_compensate(R, xyz, xyz, false, false, false);
+                neck(TX) = xyz(TX);
+                neck(TY) = xyz(TY);
+                neck(TZ) = xyz(TZ) - nz;
+            }
+        }
+
+        // CAVEAT rotation only, due to tcomp
+        for (int i = 3; i < 6; i++)
+            value(i) = map(value(i), m(i));
+
+        if (s.tcomp_p)
+        {
+            const double tcomp_c[] =
+            {
+                double(!s.tcomp_disable_src_yaw),
+                double(!s.tcomp_disable_src_pitch),
+                double(!s.tcomp_disable_src_roll),
+            };
+            const rmat R = euler_to_rmat(
+                       euler_t(value(Yaw)   * d2r * tcomp_c[0],
+                               value(Pitch) * d2r * tcomp_c[1],
+                               value(Roll)  * d2r * tcomp_c[2]));
+            euler_t ret;
+            t_compensate(R,
+                         euler_t(value(TX), value(TY), value(TZ)),
+                         ret,
+                         s.tcomp_disable_tx,
+                         s.tcomp_disable_ty,
+                         s.tcomp_disable_tz);
+
+            for (int i = 0; i < 3; i++)
+                rel(i) = ret(i) - value(i);
+        }
+
+        // don't t_compensate existing compensated values
+        for (int i = 0; i < 3; i++)
+            value(i) += neck(i) + rel(i);
+
+        nanp |= is_nan(neck) | is_nan(rel) | is_nan(value);
+    }
+
+    // CAVEAT translation only, due to tcomp
+    for (int i = 0; i < 3; i++)
+        value(i) = map(value(i), m(i));
+
+    if (nanp)
+    {
+        QMutexLocker foo(&mtx);
+
+        value = output_pose;
+        raw = raw_6dof;
+
+        // for widget last value display
+        for (int i = 0; i < 6; i++)
+            (void) map(raw_6dof(i), m(i));
+    }
+
+    if (get(f_zero))
+        for (int i = 0; i < 6; i++)
+            value(i) = 0;
+
+    // custom zero position
+    for (int i = 0; i < 6; i++)
+        value(i) += m(i).opts.zero * (m(i).opts.invert ? -1 : 1);
+
+    ev.run_events(EV::ev_finished, value);
+
+    if (!nanp)
+        libs.pProtocol->pose(value);
+
+    QMutexLocker foo(&mtx);
+    output_pose = value;
+    raw_6dof = raw;
+
+    logger.write_pose(value); // "mapped"
+
+    logger.reset_dt();
+    logger.next_line();
+}
+
+void pipeline::run()
+{
+#if defined _WIN32
+    const MMRESULT mmres = timeBeginPeriod(1);
+#endif
+
+    {
+        static constexpr const char* posechannels[6] = { "TX", "TY", "TZ", "Yaw", "Pitch", "Roll" };
+        static constexpr const char* datachannels[5] = { "dt", "raw", "corrected", "filtered", "mapped" };
+        logger.write(datachannels[0]);
+        char buffer[128];
+        for (unsigned j = 1; j < 5; ++j)
+        {
+            for (unsigned i = 0; i < 6; ++i)
+            {
+                std::sprintf(buffer, "%s%s", datachannels[j], posechannels[i]);
+                logger.write(buffer);
+            }
+        }
+        logger.next_line();
+    }
+
+    logger.reset_dt();
+
+    t.start();
+
+    while (!isInterruptionRequested())
+    {
+        logic();
+
+        constexpr ns const_sleep_ms(time_cast<ns>(ms(4)));
+        const ns elapsed_nsecs = prog1(t.elapsed<ns>(), t.start());
+
+        if (backlog_time > secs_(3) || backlog_time < secs_(-3))
+        {
+            qDebug() << "tracker: backlog interval overflow"
+                     << time_cast<ms>(backlog_time).count() << "ms";
+            backlog_time = backlog_time.zero();
+        }
+
+        backlog_time += ns(elapsed_nsecs - const_sleep_ms);
+
+        const int sleep_time_ms = time_cast<ms>(clamp(const_sleep_ms - backlog_time,
+                                                      ms::zero(), ms(10))).count();
+
+#if 0
+        qDebug() << "sleepy time" << sleep_time_ms
+                 << "elapsed" << time_cast<ms>(elapsed_nsecs).count()
+                 << "backlog" << time_cast<ms>(backlog_time).count();
+#endif
+
+        portable::sleep(sleep_time_ms);
+    }
+
+    // filter may inhibit exact origin
+    Pose p;
+    libs.pProtocol->pose(p);
+
+    for (int i = 0; i < 6; i++)
+    {
+        m(i).spline_main.set_tracking_active(false);
+        m(i).spline_alt.set_tracking_active(false);
+    }
+
+#if defined _WIN32
+    if (mmres == 0)
+        (void) timeEndPeriod(1);
+#endif
+}
+
+void pipeline::raw_and_mapped_pose(double* mapped, double* raw) const
+{
+    QMutexLocker foo(&const_cast<pipeline&>(*this).mtx);
+
+    for (int i = 0; i < 6; i++)
+    {
+        raw[i] = raw_6dof(i);
+        mapped[i] = output_pose(i);
+    }
+}
+
+void pipeline::center() { set(f_center, true); }
+
+void pipeline::set_toggle(bool value) { set(f_enabled_h, value); }
+void pipeline::set_zero(bool value) { set(f_zero, value); }
+
+void pipeline::zero() { negate(f_zero); }
+void pipeline::toggle_enabled() { negate(f_enabled_p); }
+
+
+void bits::set(bits::flags flag_, bool val_)
+{
+    const unsigned flag = unsigned(flag_);
+    const unsigned val = unsigned(val_);
+
+    for (;;)
+    {
+        unsigned b_(b);
+        if (b.compare_exchange_weak(b_,
+                                    unsigned((b_ & ~flag) | (flag * val)),
+                                    std::memory_order_seq_cst,
+                                    std::memory_order_seq_cst))
+            break;
+    }
+}
+
+void bits::negate(bits::flags flag_)
+{
+    const unsigned flag = unsigned(flag_);
+
+    for (;;)
+    {
+        unsigned b_(b);
+
+        if (b.compare_exchange_weak(b_,
+                                    b_ ^ flag,
+                                    std::memory_order_seq_cst,
+                                    std::memory_order_seq_cst))
+            break;
+    }
+}
+
+bool bits::get(bits::flags flag)
+{
+    return !!(b & flag);
+}
+
+bits::bits() : b(0u)
+{
+    set(f_center, true);
+    set(f_enabled_p, true);
+    set(f_enabled_h, true);
+    set(f_zero, false);
+}