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

Conflicts:
	interface/src/main.cpp

cmake/modules/FindPortAudio.cmake

@@ -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)

interface/CMakeLists.txt

@@ -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(${source_dir}/include)
-
   # link the PortAudio library
-  ExternalProject_Get_Property(portaudio binary_dir)
+  find_package(PortAudio REQUIRED)
-  target_link_libraries(${TARGET_NAME} ${binary_dir}/lib/.libs/libportaudio.a)
+  include_directories(${PORTAUDIO_INCLUDE_DIRS})
+  target_link_libraries(${TARGET_NAME} ${PORTAUDIO_LIBRARY})
   
   # link required libraries on UNIX
   if (UNIX AND NOT APPLE) 

interface/src/Application.cpp

@@ -1900,6 +1900,9 @@ void Application::resetSensors() {
     _headMouseX = _glWidget->width() / 2;
     _headMouseY = _glWidget->height() / 2;
     
+    if (_serialPort.active) {
+        _serialPort.resetAverages();
+    } 
     _myAvatar.reset();
 }
 

interface/src/SerialInterface.cpp

@@ -2,16 +2,7 @@
 //  SerialInterface.cpp
 //  2012 by Philip Rosedale for High Fidelity Inc.
 //
-//  Read interface data from the gyros/accelerometer board using SerialUSB
+//  Read interface data from the gyros/accelerometer Invensense board using the 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)
 //
 
 #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 few samples to baseline values
-const int GRAVITY_SAMPLES = 60;                     //  Use the first samples to compute gravity vector
 
 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 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?
-        
         _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
+        //  Accumulate a set of initial baseline readings for setting gravity
-        //  Use a set of initial samples to compute gravity
+        if (totalSamples == 0) {
-        if (totalSamples < GRAVITY_SAMPLES) {
+            _averageGyroRates[0] = _lastRollRate;
-            _gravity.x += _lastAccelX;
+            _averageGyroRates[1] = _lastYawRate;
-            _gravity.y += _lastAccelY;
+            _averageGyroRates[2] = _lastPitchRate;
-            _gravity.z += _lastAccelZ;
+            _gravity.x = _lastAccelX;
-        }
+            _gravity.y = _lastAccelY;
-        if (totalSamples == GRAVITY_SAMPLES) {
+            _gravity.z = _lastAccelZ;
-            _gravity /= (float) totalSamples;
-            printLog("Gravity: %f\n", glm::length(_gravity));
-        }
 
+        }
+        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() {
+void SerialInterface::resetAverages() {
-#ifdef __APPLE__
-    active = false;
     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
 }
 

interface/src/SerialInterface.h

@@ -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 getLastYawRate() const { return _lastYawRate - _averageGyroRates[1]; }
-    float getLastPitchRate() const { return _lastPitchRate; }
+    float getLastPitchRate() const { return _lastPitchRate - _averageGyroRates[2]; }
-    float getLastRollRate() const { return _lastRollRate; }
+    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;

libraries/avatars/src/AvatarData.h

@@ -34,6 +34,7 @@ public:
     _headRoll(0),
     _headLeanSideways(0),
     _headLeanForward(0),
+    _audioLoudness(0),
     _handState(0),
     _cameraPosition(0,0,0),
     _cameraDirection(0,0,0),