Added missing transmitter files

interface/src/Transmitter.cpp

@@ -0,0 +1,107 @@
+//
+//  Transmitter.cpp
+//  hifi
+//
+//  Created by Philip Rosedale on 5/20/13.
+//
+//
+
+#include "Transmitter.h"
+#include "InterfaceConfig.h"
+#include "Util.h"
+#include <cstring>
+#include <glm/glm.hpp>
+
+const float DELTA_TIME = 1.f / 60.f;
+const float DECAY_RATE = 0.15f;
+
+Transmitter::Transmitter() :
+    _isConnected(false),
+    _lastRotationRate(0,0,0),
+    _lastAcceleration(0,0,0),
+    _estimatedRotation(0,0,0)
+{
+    
+}
+
+void Transmitter::resetLevels() {
+    _lastRotationRate *= 0.f;
+    _estimatedRotation *= 0.f; 
+}
+
+void Transmitter::processIncomingData(unsigned char* packetData, int numBytes) {
+    if (numBytes == 3 + sizeof(_lastRotationRate) +
+        sizeof(_lastAcceleration)) {
+        memcpy(&_lastRotationRate, packetData + 2, sizeof(_lastRotationRate));
+        memcpy(&_lastAcceleration, packetData + 3 + sizeof(_lastAcceleration), sizeof(_lastAcceleration));
+       
+        //  Update estimated absolute position from rotation rates
+        _estimatedRotation += _lastRotationRate * DELTA_TIME;
+        
+        //  Decay estimated absolute position to slowly return to zero regardless
+        _estimatedRotation *= (1.f - DECAY_RATE * DELTA_TIME); 
+    
+        if (!_isConnected) {
+            printf("Transmitter V2 Connected.\n");
+            _isConnected = true;
+            _estimatedRotation *= 0.0;
+        }
+    } else {
+        printf("Transmitter V2 packet read error.\n");
+    }
+}
+
+void Transmitter::renderLevels(int width, int height) {
+    char val[50];
+    const int LEVEL_CORNER_X = 10;
+    const int LEVEL_CORNER_Y = 400;
+    
+    // Draw the numeric degree/sec values from the gyros
+    sprintf(val, "Pitch Rate %4.1f", _lastRotationRate.x);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    sprintf(val, "Yaw Rate   %4.1f", _lastRotationRate.y);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    sprintf(val, "Roll Rate  %4.1f", _lastRotationRate.z);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    sprintf(val, "Pitch      %4.3f", _estimatedRotation.x);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 45, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    sprintf(val, "Yaw        %4.3f", _estimatedRotation.y);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 60, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    sprintf(val, "Roll       %4.3f", _estimatedRotation.z);
+    drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 75, 0.10, 0, 1.0, 1, val, 0, 1, 0);
+    
+    //  Draw the levels as horizontal lines
+    const int LEVEL_CENTER = 150;
+    const float ACCEL_VIEW_SCALING = 1.f;
+    glLineWidth(2.0);
+    glColor4f(1, 1, 1, 1);
+    glBegin(GL_LINES);
+    // Gyro rates
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.x, LEVEL_CORNER_Y - 3);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.y, LEVEL_CORNER_Y + 12);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.z, LEVEL_CORNER_Y + 27);
+    // Acceleration
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 42);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.x * ACCEL_VIEW_SCALING),
+               LEVEL_CORNER_Y + 42);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 57);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.y * ACCEL_VIEW_SCALING),
+               LEVEL_CORNER_Y + 57);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 72);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.z * ACCEL_VIEW_SCALING),
+               LEVEL_CORNER_Y + 72);
+    
+    glEnd();
+    //  Draw green vertical centerline
+    glColor4f(0, 1, 0, 0.5);
+    glBegin(GL_LINES);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 6);
+    glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
+    glEnd();
+
+    
+}
+

interface/src/Transmitter.h

@@ -0,0 +1,38 @@
+//
+//  Transmitter.h
+//  hifi
+//
+//  Created by Philip Rosedale on 5/20/13.
+//
+//
+
+#ifndef __hifi__Transmitter__
+#define __hifi__Transmitter__
+
+#include <iostream>
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <cstring>
+#include "world.h"
+
+class Transmitter
+{
+public:
+    Transmitter();
+    void render();
+    void resetLevels();
+    void renderLevels(int width, int height);
+    bool isConnected() { return _isConnected; };
+    const glm::vec3 getLastRotationRate() const { return _lastRotationRate; };
+    const glm::vec3 getLastAcceleration() const { return _lastRotationRate; };
+    const glm::vec3 getEstimatedRotation() const { return _estimatedRotation; };
+    void processIncomingData(unsigned char* packetData, int numBytes);
+
+private:
+    bool _isConnected;
+    glm::vec3 _lastRotationRate;
+    glm::vec3 _lastAcceleration;
+    glm::vec3 _estimatedRotation;
+
+#endif /* defined(__hifi__Transmitter__) */
+};