tracker/tobii: add prototype support for accumulative mode

1 files changed, 89 insertions, 0 deletions

diff --git a/tracker-tobii-eyex/head-tracking.cpp b/tracker-tobii-eyex/head-tracking.cpp
new file mode 100644
index 00000000..8973293d
--- /dev/null
+++ b/tracker-tobii-eyex/head-tracking.cpp
@@ -0,0 +1,89 @@
+#include "tobii-eyex.hpp"
+#include "compat/math.hpp"
+#include "compat/math-imports.hpp"
+
+real tobii_eyex_tracker::gain(real x)
+{
+    // simple sigmoid
+    x = clamp(x * 12 - 6, -6, 6);
+    x = 1 / (1 + exp(-x));
+    x = x * 2 - 1;
+    return clamp(x, -1, 1);
+}
+
+void tobii_eyex_tracker::data(double* data)
+{
+    real px, py, max_x, max_y;
+    bool fresh;
+
+    {
+        QMutexLocker l(&global_state_mtx);
+
+        if (!dev_state.is_valid())
+            return;
+
+        px = dev_state.px;
+        py = dev_state.py;
+        max_x = dev_state.display_res_x - 1;
+        max_y = dev_state.display_res_y - 1;
+
+        fresh = dev_state.fresh;
+        dev_state.fresh = false;
+    }
+
+    if (fresh)
+    {
+        real x = (2*px - max_x)/max_x; // (-1)->1
+        real y = (2*py - max_y)/max_y; // idem
+
+        data[TX] = x * 50;
+        data[TY] = y * -50;
+
+        const double dt = t.elapsed_seconds();
+        t.start();
+
+        const double max_yaw = *s.acc_max_yaw, max_pitch = *s.acc_max_pitch;
+        const double dz_ = *s.acc_dz; // closed set of 0->x, some arbitrary x < 1
+
+        for (auto* k_ : { &x, &y })
+        {
+            real& k = *k_;
+
+            if (std::fabs(k) < dz_)
+                k = 0;
+            else
+            {
+                // input has reduced dynamic range
+                k -= copysign(dz_, k);
+                k *= 1 + dz_;
+            }
+        }
+
+        const double c = *s.acc_speed;
+
+        // XXX check this for stability -sh 20180709
+        const double yaw_delta = gain(x) * c * dt;
+        const double pitch_delta = gain(y) * c * dt;
+
+        yaw += yaw_delta;
+        pitch += pitch_delta;
+
+        yaw = clamp(yaw, -max_yaw, max_yaw);
+        pitch = clamp(pitch, -max_pitch, max_pitch);
+    }
+
+    if (do_center)
+    {
+        do_center = false;
+        yaw = 0;
+        pitch = 0;
+    }
+
+    data[Yaw] = yaw;
+    data[Pitch] = pitch;
+    data[Roll] = 0;
+    data[TZ] = 0; // XXX TODO
+
+    // tan(x) in 0->.7 is almost linear. we don't need to adjust.
+    // .7 is 40 degrees which is already quite a lot from the monitor.
+}