diff options
Diffstat (limited to 'logic/tracker.cpp')
| -rw-r--r-- | logic/tracker.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp index 798b2cac..d979b0b2 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -33,8 +33,9 @@ using namespace time_units; constexpr double Tracker::r2d; constexpr double Tracker::d2r; -Tracker::Tracker(Mappings& m, runtime_libraries& libs, TrackLogger& logger) : +Tracker::Tracker(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger) : m(m), + ev(ev), libs(libs), logger(logger), backlog_time(ns(0)), @@ -110,6 +111,7 @@ constexpr double Tracker::c_div; void Tracker::logic() { using namespace euler; + using EV = event_handler::event_ordinal; logger.write_dt(); logger.reset_dt(); @@ -121,10 +123,11 @@ void Tracker::logic() { 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)); + newpose(i) = elide_nan(tmp(i), newpose(i)); } Pose value, raw; @@ -249,6 +252,8 @@ void Tracker::logic() } } + 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); @@ -268,6 +273,8 @@ void Tracker::logic() nanp |= is_nan(value); { + ev.run_events(EV::ev_before_mapping, value); + euler_t neck, rel; if (s.neck_enable) @@ -347,6 +354,8 @@ void Tracker::logic() 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); |