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#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 * 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.
}
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