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Merge branch 'master' of https://github.com/worklist/hifi

Browse source 
Conflicts:
	interface/src/main.cpp
This commit is contained in:
Andrzej Kapolka 2013-05-14 11:32:43 -07:00
commit 174fdb8109
10 changed files with 1282 additions and 94 deletions
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44
cmake/modules/FindPortAudio.cmake Normal file
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@ -0,0 +1,44 @@
# Find the static PortAudio library
#
# You must provide a PORTAUDIO_ROOT_DIR which contains lib and include directories
#
# Once done this will define
#
# PORTAUDIO_FOUND - system found PortAudio
# PORTAUDIO_INCLUDE_DIRS - the PortAudio include directory
# PORTAUDIO_LIBRARY - Link this to use PortAudio
#
# Created on 5/14/2013 by Stephen Birarda
# Copyright (c) 2013 High Fidelity
#
if (PORTAUDIO_LIBRARY AND PORTAUDIO_INCLUDE_DIRS)
# in cache already
set(PORTAUDIO_FOUND TRUE)
else (PORTAUDIO_LIBRARY AND PORTAUDIO_INCLUDE_DIRS)
set(PORTAUDIO_INCLUDE_DIRS ${PORTAUDIO_ROOT_DIR}/include)
if (APPLE)
set(PORTAUDIO_LIBRARY ${PORTAUDIO_ROOT_DIR}/lib/MacOS/libportaudio.a)
else (WIN32)
set(PORTAUDIO_LIBRARY ${PORTAUDIO_ROOT_DIR}/lib/UNIX/libportaudio.a)
endif ()
if (PORTAUDIO_INCLUDE_DIRS AND PORTAUDIO_LIBRARY)
set(PORTAUDIO_FOUND TRUE)
endif (PORTAUDIO_INCLUDE_DIRS AND PORTAUDIO_LIBRARY)
if (PORTAUDIO_FOUND)
if (NOT PortAudio_FIND_QUIETLY)
message(STATUS "Found PortAudio: ${PORTAUDIO_LIBRARY}")
endif (NOT PortAudio_FIND_QUIETLY)
else (PORTAUDIO_FOUND)
if (PortAudio_FIND_REQUIRED)
message(FATAL_ERROR "Could not find PortAudio")
endif (PortAudio_FIND_REQUIRED)
endif (PORTAUDIO_FOUND)
# show the PORTAUDIO_INCLUDE_DIRS and PORTAUDIO_LIBRARY variables only in the advanced view
mark_as_advanced(PORTAUDIO_INCLUDE_DIRS PORTAUDIO_LIBRARY)
endif (PORTAUDIO_LIBRARY AND PORTAUDIO_INCLUDE_DIRS)

26
interface/CMakeLists.txt
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@ -10,7 +10,7 @@ project(${TARGET_NAME})
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../cmake/modules/")
set(LODEPNG_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LodePNG)
set(LIBOVR_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LibOVR)
set(PORTAUDIO_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/portaudio)
set(PORTAUDIO_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/portaudio)
if (APPLE)
set(GL_HEADERS "#include <GLUT/glut.h>\n#include <OpenGL/glext.h>")
@ -131,28 +131,10 @@ if (WIN32)
else (WIN32)
target_link_libraries(${TARGET_NAME} ${LODEPNG_LIBRARY})
# include PortAudio as external project
include(ExternalProject)
set(PORTAUDIO_PROJ_DIR external/portaudio)
ExternalProject_Add(
portaudio
PREFIX ${PORTAUDIO_PROJ_DIR}
BINARY_DIR ${PORTAUDIO_PROJ_DIR}/src/portaudio
URL ${PORTAUDIO_DIR}/pa_snapshot_020813.tgz
CONFIGURE_COMMAND <SOURCE_DIR>/configure --prefix "${PROJECT_BINARY_DIR}/${PORTAUDIO_PROJ_DIR}"
BUILD_COMMAND make
)
# make PortAudio a dependency of the interface executable
add_dependencies(${TARGET_NAME} portaudio)
# include the PortAudio headers
ExternalProject_Get_Property(portaudio source_dir)
include_directories(${source_dir}/include)
# link the PortAudio library
ExternalProject_Get_Property(portaudio binary_dir)
target_link_libraries(${TARGET_NAME} ${binary_dir}/lib/.libs/libportaudio.a)
find_package(PortAudio REQUIRED)
include_directories(${PORTAUDIO_INCLUDE_DIRS})
target_link_libraries(${TARGET_NAME} ${PORTAUDIO_LIBRARY})
# link required libraries on UNIX
if (UNIX AND NOT APPLE)

1174
interface/external/PortAudio/include/portaudio.h vendored Normal file
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interface/external/PortAudio/lib/MacOS/libportaudio.a vendored Normal file
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interface/external/PortAudio/lib/UNIX/libportaudio.a vendored Normal file
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interface/external/portaudio/pa_snapshot_020813.tgz vendored
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3
interface/src/Application.cpp
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@ -1900,6 +1900,9 @@ void Application::resetSensors() {
_headMouseX = _glWidget->width() / 2;
_headMouseY = _glWidget->height() / 2;
if (_serialPort.active) {
_serialPort.resetAverages();
}
_myAvatar.reset();
}

116
interface/src/SerialInterface.cpp
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@ -2,16 +2,7 @@
// SerialInterface.cpp
// 2012 by Philip Rosedale for High Fidelity Inc.
//
// Read interface data from the gyros/accelerometer board using SerialUSB
//
// Channels are received in the following order (integer 0-4096 based on voltage 0-3.3v)
//
// 0 - AIN 15: Pitch Gyro (nodding your head 'yes')
// 1 - AIN 16: Yaw Gyro (shaking your head 'no')
// 2 - AIN 17: Roll Gyro (looking quizzical, tilting your head)
// 3 - AIN 18: Lateral acceleration (moving from side-to-side in front of your monitor)
// 4 - AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor)
// 5 - AIN 20: Forward/Back acceleration (Toward or away from your monitor)
// Read interface data from the gyros/accelerometer Invensense board using the SerialUSB
//
#include "SerialInterface.h"
@ -22,14 +13,8 @@
#include <string>
#endif
const int MAX_BUFFER = 255;
char serialBuffer[MAX_BUFFER];
int serialBufferPos = 0;
const int ZERO_OFFSET = 2048;
const short NO_READ_MAXIMUM_MSECS = 3000;
const short SAMPLES_TO_DISCARD = 100; // Throw out the first few samples
const int GRAVITY_SAMPLES = 60; // Use the first samples to compute gravity vector
const int GRAVITY_SAMPLES = 60; // Use the first few samples to baseline values
const bool USING_INVENSENSE_MPU9150 = 1;
@ -51,7 +36,7 @@ void SerialInterface::pair() {
char *serialPortname = new char[100];
sprintf(serialPortname, "/dev/%s", entry->d_name);
initializePort(serialPortname, 115200);
initializePort(serialPortname);
delete [] serialPortname;
}
@ -63,7 +48,7 @@ void SerialInterface::pair() {
}
// connect to the serial port
void SerialInterface::initializePort(char* portname, int baud) {
void SerialInterface::initializePort(char* portname) {
#ifdef __APPLE__
_serialDescriptor = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
@ -72,35 +57,20 @@ void SerialInterface::initializePort(char* portname, int baud) {
if (_serialDescriptor == -1) {
printLog("Failed.\n");
return;
}
struct termios options;
tcgetattr(_serialDescriptor, &options);
switch(baud) {
case 9600: cfsetispeed(&options,B9600);
cfsetospeed(&options,B9600);
break;
case 19200: cfsetispeed(&options,B19200);
cfsetospeed(&options,B19200);
break;
case 38400: cfsetispeed(&options,B38400);
cfsetospeed(&options,B38400);
break;
case 115200: cfsetispeed(&options,B115200);
cfsetospeed(&options,B115200);
break;
default:cfsetispeed(&options,B9600);
cfsetospeed(&options,B9600);
break;
}
options.c_cflag |= (CLOCAL | CREAD);
struct termios options;
tcgetattr(_serialDescriptor, &options);
options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
tcsetattr(_serialDescriptor, TCSANOW, &options);
cfsetispeed(&options,B115200);
cfsetospeed(&options,B115200);
if (USING_INVENSENSE_MPU9150) {
// block on invensense reads until there is data to read
int currentFlags = fcntl(_serialDescriptor, F_GETFL);
@ -140,11 +110,11 @@ void SerialInterface::renderLevels(int width, int height) {
const int LEVEL_CORNER_Y = 200;
// Draw the numeric degree/sec values from the gyros
sprintf(val, "Yaw %4.1f", _lastYawRate);
sprintf(val, "Yaw %4.1f", getLastYawRate());
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Pitch %4.1f", _lastPitchRate);
sprintf(val, "Pitch %4.1f", getLastPitchRate());
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Roll %4.1f", _lastRollRate);
sprintf(val, "Roll %4.1f", getLastRollRate());
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "X %4.3f", _lastAccelX);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 45, 0.10, 0, 1.0, 1, val, 0, 1, 0);
@ -161,11 +131,11 @@ void SerialInterface::renderLevels(int width, int height) {
glBegin(GL_LINES);
// Gyro rates
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYawRate, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastYawRate(), LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitchRate, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastPitchRate(), LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRollRate, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastRollRate(), LEVEL_CORNER_Y + 27);
// Acceleration
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 42);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelX - _gravity.x)* ACCEL_VIEW_SCALING),
@ -232,26 +202,33 @@ void SerialInterface::readData() {
convertHexToInt(sensorBuffer + 30, pitchRate);
// Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
const float PITCH_BIAS = 2.0; // Strangely, there is a small DC bias in the
// invensense pitch reading. Gravity?
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
_lastRollRate = ((float) rollRate) * LSB_TO_DEGREES_PER_SECOND;
_lastYawRate = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND;
_lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND + PITCH_BIAS;
_lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND;
// Accumulate an initial reading for gravity
// Use a set of initial samples to compute gravity
if (totalSamples < GRAVITY_SAMPLES) {
_gravity.x += _lastAccelX;
_gravity.y += _lastAccelY;
_gravity.z += _lastAccelZ;
}
if (totalSamples == GRAVITY_SAMPLES) {
_gravity /= (float) totalSamples;
printLog("Gravity: %f\n", glm::length(_gravity));
}
// Accumulate a set of initial baseline readings for setting gravity
if (totalSamples == 0) {
_averageGyroRates[0] = _lastRollRate;
_averageGyroRates[1] = _lastYawRate;
_averageGyroRates[2] = _lastPitchRate;
_gravity.x = _lastAccelX;
_gravity.y = _lastAccelY;
_gravity.z = _lastAccelZ;
}
else if (totalSamples < GRAVITY_SAMPLES) {
_gravity = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _gravity +
1.f/(float)GRAVITY_SAMPLES * glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ);
_averageGyroRates[0] = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _averageGyroRates[0] +
1.f/(float)GRAVITY_SAMPLES * _lastRollRate;
_averageGyroRates[1] = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _averageGyroRates[1] +
1.f/(float)GRAVITY_SAMPLES * _lastYawRate;
_averageGyroRates[2] = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _averageGyroRates[2] +
1.f/(float)GRAVITY_SAMPLES * _lastPitchRate;
}
totalSamples++;
}
@ -269,14 +246,17 @@ void SerialInterface::readData() {
#endif
}
void SerialInterface::resetSerial() {
#ifdef __APPLE__
active = false;
void SerialInterface::resetAverages() {
totalSamples = 0;
_gravity = glm::vec3(0, 0, 0);
_averageGyroRates = glm::vec3(0, 0, 0);
}
void SerialInterface::resetSerial() {
#ifdef __APPLE__
resetAverages();
active = false;
gettimeofday(&lastGoodRead, NULL);
#endif
}

12
interface/src/SerialInterface.h
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@ -37,6 +37,8 @@ extern const bool USING_INVENSENSE_MPU9150;
class SerialInterface {
public:
SerialInterface() : active(false),
_gravity(0,0,0),
_averageGyroRates(0,0,0),
_lastAccelX(0),
_lastAccelY(0),
_lastAccelZ(0),
@ -47,23 +49,25 @@ public:
void pair();
void readData();
float getLastYawRate() const { return _lastYawRate; }
float getLastPitchRate() const { return _lastPitchRate; }
float getLastRollRate() const { return _lastRollRate; }
float getLastYawRate() const { return _lastYawRate - _averageGyroRates[1]; }
float getLastPitchRate() const { return _lastPitchRate - _averageGyroRates[2]; }
float getLastRollRate() const { return _lastRollRate - _averageGyroRates[0]; }
glm::vec3 getLastAcceleration() { return glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ); };
glm::vec3 getGravity() {return _gravity;};
void renderLevels(int width, int height);
void resetAverages();
bool active;
private:
void initializePort(char* portname, int baud);
void initializePort(char* portname);
void resetSerial();
int _serialDescriptor;
int totalSamples;
timeval lastGoodRead;
glm::vec3 _gravity;
glm::vec3 _averageGyroRates;
float _lastAccelX;
float _lastAccelY;
float _lastAccelZ;

1
libraries/avatars/src/AvatarData.h
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@ -34,6 +34,7 @@ public:
_headRoll(0),
_headLeanSideways(0),
_headLeanForward(0),
_audioLoudness(0),
_handState(0),
_cameraPosition(0,0,0),
_cameraDirection(0,0,0),