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Diffstat (limited to 'logic/pipeline.cpp')
| -rw-r--r-- | logic/pipeline.cpp | 505 |
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); +} |