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authorStanislaw Halik <sthalik@misaki.pl>2017-10-21 13:26:38 +0200
committerStanislaw Halik <sthalik@misaki.pl>2017-10-21 13:26:38 +0200
commit207a70f1cd99e9719a878b9c6b3909302a020e93 (patch)
tree57292ec9f356ce4bbafd5e45e3305cff0a529a82 /logic/pipeline.hpp
parent3b5a3500766abd38907824a8b02991708309488e (diff)
logic/tracker: rename to pipeline
Could use a better name.
Diffstat (limited to 'logic/pipeline.hpp')
-rw-r--r--logic/pipeline.hpp118
1 files changed, 118 insertions, 0 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
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+++ b/logic/pipeline.hpp
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+/* Copyright (c) 2014-2015, 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.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "compat/timer.hpp"
+#include "api/plugin-support.hpp"
+#include "mappings.hpp"
+#include "compat/euler.hpp"
+#include "runtime-libraries.hpp"
+#include "extensions.hpp"
+
+#include "spline/spline.hpp"
+#include "main-settings.hpp"
+#include "options/options.hpp"
+#include "tracklogger.hpp"
+
+#include <QMutex>
+#include <QThread>
+
+#include <atomic>
+#include <cmath>
+
+#include "export.hpp"
+
+namespace gui_tracker_impl {
+
+struct OTR_LOGIC_EXPORT bits
+{
+ enum flags : unsigned {
+ f_center = 1 << 0,
+ f_enabled_h = 1 << 1,
+ f_enabled_p = 1 << 2,
+ f_zero = 1 << 3,
+ };
+
+ std::atomic<unsigned> b;
+
+ void set(flags flag_, bool val_);
+ void negate(flags flag_);
+ bool get(flags flag);
+ bits();
+};
+
+class OTR_LOGIC_EXPORT pipeline : private QThread, private bits
+{
+ Q_OBJECT
+private:
+ using rmat = euler::rmat;
+ using euler_t = euler::euler_t;
+
+ QMutex mtx;
+ main_settings s;
+ Mappings& m;
+ event_handler& ev;
+
+ Timer t;
+ Pose output_pose, raw_6dof, last_mapped, last_raw;
+
+ Pose newpose;
+ runtime_libraries const& libs;
+ // The owner of the reference is the main window.
+ // This design might be usefull if we decide later on to swap out
+ // the logger while the tracker is running.
+ TrackLogger& logger;
+
+ struct state
+ {
+ rmat rot_center;
+ rmat rotation;
+
+ state() : rot_center(rmat::eye())
+ {}
+ };
+
+ state real_rotation, scaled_rotation;
+ euler_t t_center;
+
+ time_units::ns backlog_time;
+
+ bool tracking_started;
+
+ double map(double pos, Map& axis);
+ void logic();
+ void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output,
+ bool disable_tx, bool disable_ty, bool disable_tz);
+ void run() override;
+
+ static constexpr double r2d = 180. / M_PI;
+ static constexpr double d2r = M_PI / 180.;
+
+ // note: float exponent base is 2
+ static constexpr double c_mult = 16;
+ static constexpr double c_div = 1./c_mult;
+public:
+ pipeline(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger);
+ ~pipeline();
+
+ void raw_and_mapped_pose(double* mapped, double* raw) const;
+ void start() { QThread::start(QThread::HighPriority); }
+
+ void center();
+ void set_toggle(bool value);
+ void set_zero(bool value);
+ void zero();
+ void toggle_enabled();
+};
+
+} // ns impl
+
+using gui_tracker_impl::pipeline;