initial setup of polling for newly connected headset

interface/src/SerialInterface.cpp

@@ -15,6 +15,12 @@
 //
 
 #include "SerialInterface.h"
+#include <dirent.h>
+#include <sys/time.h>
+#ifdef __APPLE__
+#include <regex.h>
+#endif
+
 
 int serial_fd;
 const int MAX_BUFFER = 255;
@@ -23,12 +29,48 @@ int serial_buffer_pos = 0;
 int samples_total = 0;
 
 const int ZERO_OFFSET = 2048;
+const short NO_READ_MAXIMUM = 10;
 
-//  Init the serial port to the specified values 
-int SerialInterface::init(char * portname, int baud)
+SerialInterface::SerialInterface() {
+    active = false;
+    noReadCount = 0;
+}
+
+void SerialInterface::pair() {
+    // look for a matching gyro setup
+    DIR *devDir;
+    struct dirent *entry;
+    int matchStatus;
+    regex_t regex;
+    
+#ifdef __APPLE__
+    // for now this only works on OS X, where the usb serial shows up as /dev/tty.usb*
+    if((devDir = opendir("/dev"))) {
+        while((entry = readdir(devDir))) {
+            regcomp(&regex, "tty\\.usb", REG_EXTENDED|REG_NOSUB);
+            matchStatus = regexec(&regex, entry->d_name, (size_t) 0, NULL, 0);
+            if (matchStatus == 0) {
+                char *serialPortname = new char[100];
+                sprintf(serialPortname, "/dev/%s", entry->d_name);
+                
+                init(serialPortname, 115200);
+                
+                delete [] serialPortname;
+            }
+            regfree(&regex);
+        }
+        closedir(devDir);
+    }
+#endif
+}
+
+//  Init the serial port to the specified values
+int SerialInterface::init(char* portname, int baud)
 {
     serial_fd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
     
+    printf("Attemping to open serial interface: %s\n", portname);
+    
     if (serial_fd == -1) return -1;     //  Failed to open port
     
     struct termios options;
@@ -68,9 +110,12 @@ int SerialInterface::init(char * portname, int baud)
     for (int i = 1; i < MAX_BUFFER; i++) {
         serial_buffer[i] = ' ';
     }
-
-
-    return 0;                   //  Init serial port was a success
+    
+    printf("Serial interface opened!\n");
+    
+    active = true;
+    
+    return 0;
 }
 
 //  Reset Trailing averages to the current measurement
@@ -133,8 +178,12 @@ void SerialInterface::readData() {
     const float AVG_RATE[] =  {0.01, 0.01, 0.01, 0.01, 0.01, 0.01};
     char bufchar[1];
     
+    bool atLeastOneRead = false;
+    
     while (read(serial_fd, &bufchar, 1) > 0)
     {
+        atLeastOneRead = true;
+        
         //std::cout << bufchar[0];
         serial_buffer[serial_buffer_pos] = bufchar[0];
         serial_buffer_pos++;
@@ -169,6 +218,28 @@ void SerialInterface::readData() {
             serial_buffer_pos = 0;
         }
     }
+    
+    if (!atLeastOneRead) {
+        noReadCount++;
+        std::cout << "#" << noReadCount << " blank read from serial.\n";
+        if (noReadCount >= NO_READ_MAXIMUM) {
+            disconnectSerial();
+        }
+    }
+}
+
+void SerialInterface::disconnectSerial() {
+    std::cout << "Reached maximum blank read count. Shutting down serial.\n";
+    
+    active = false;
+    noReadCount = 0;
+    
+    //  Clear the measured and average channel data
+    for (int i = 1; i < NUM_CHANNELS; i++)
+    {
+        lastMeasured[i] = 0;
+        trailingAverage[i] = 0.0;
+    }
 }
 
 

interface/src/SerialInterface.h

@@ -31,7 +31,8 @@
 
 class SerialInterface {
 public:
-    int init(char * portname, int baud);
+    SerialInterface();
+    void pair();
     void readData();
     int getLED() {return LED;};
     int getNumSamples() {return samplesAveraged;};
@@ -40,11 +41,15 @@ public:
     float getTrailingValue(int num) {return trailingAverage[num];};
     void resetTrailingAverages();
     void renderLevels(int width, int height);
+    bool active;
 private:
+    int init(char * portname, int baud);
+    void disconnectSerial();
     int lastMeasured[NUM_CHANNELS];
     float trailingAverage[NUM_CHANNELS];
     int samplesAveraged;
     int LED;
+    int noReadCount;
 };
 
 #endif

interface/src/main.cpp

@@ -113,7 +113,6 @@ Field field;
 Audio audio(&myHead, &audioScope);
 
 #define RENDER_FRAME_MSECS 8
-#define SLEEP 0
 int steps_per_frame = 0;
 
 float yaw =0.f;                         //  The yaw, pitch for the avatar head
@@ -161,9 +160,7 @@ int speed;
 // 
 
 SerialInterface serialPort;
-char serial_portname[] = "/dev/tty.usbmodem411";
 
-int serial_on = 0; 
 int latency_display = 1;
 //int adc_channels[NUM_CHANNELS];
 //float avg_adc_channels[NUM_CHANNELS];
@@ -253,10 +250,10 @@ void Timer(int extra)
         printf("packet test = %4.1f\n", sendTime);
     }
     
-    
-    //  Send a message to ourselves
-    //char test[]="T";
-    //agentSocket.send("127.0.0.1", AGENT_UDP_PORT, test, 1);
+    // if we haven't detected gyros, check for them now
+    if (!serialPort.active) {
+        serialPort.pair();
+    }
 }
 
 void display_stats(void)
@@ -269,7 +266,7 @@ void display_stats(void)
     sprintf(stats, "FPS = %3.0f  Pkts/s = %d  Bytes/s = %d ", 
             FPS, packets_per_second,  bytes_per_second);
     drawtext(10, 30, 0.10, 0, 1.0, 0, stats); 
-    if (serial_on) {
+    if (serialPort.active) {
         sprintf(stats, "ADC samples = %d, LED = %d", 
                 serialPort.getNumSamples(), serialPort.getLED());
         drawtext(300, 30, 0.10, 0, 1.0, 0, stats);
@@ -329,26 +326,7 @@ void init(void)
         myHead.setNoise(noise);
     }
     
-    if (serial_on)
-    {
-        //  Call readsensors for a while to get stable initial values on sensors    
-        printf( "Stabilizing sensors... " );
-        gettimeofday(&timer_start, NULL);
-        int done = 0;
-        while (!done)
-        {
-            serialPort.readData();
-            gettimeofday(&timer_end, NULL);
-            if (diffclock(&timer_start, &timer_end) > 1000) done = 1;
-        }
-        gravity.x = serialPort.getValue(ACCEL_X);
-        gravity.y = serialPort.getValue(ACCEL_Y);
-        gravity.z = serialPort.getValue(ACCEL_Z);
-        
-        std::cout << "Gravity:  " << gravity.x << "," << gravity.y << "," << gravity.z << "\n";
-        printf( "Done.\n" );
-
-    }
+    
     
 #ifdef MARKER_CAPTURE
     if(marker_capture_enabled){
@@ -396,7 +374,10 @@ void reset_sensors()
     
     myHead.reset();
     myHand.reset();
-    if (serial_on) serialPort.resetTrailingAverages();
+    
+    if (serialPort.active) {
+        serialPort.resetTrailingAverages();
+    }
 }
 
 void update_pos(float frametime)
@@ -855,10 +836,8 @@ void idle(void)
     }
     
     //  Read serial data 
-    if (serial_on) serialPort.readData();
-    if (SLEEP)
-    {
-        usleep(SLEEP);
+    if (serialPort.active) {
+        serialPort.readData();
     }
 }
 
@@ -985,18 +964,6 @@ int main(int argc, char** argv)
         printf("Stdev=FAIL ");
     printf("\n");
 
-    //
-    //  Try to connect the serial port I/O
-    //
-    if(serialPort.init(serial_portname, 115200) == -1) {
-        printf("Unable to open serial port: %s\n", serial_portname);
-        serial_on = 0;
-    } 
-    else 
-    {
-        printf("Serial Port Initialized\n");
-        serial_on = 1; 
-    }
     
     // create thread for receipt of data via UDP
     pthread_t networkReceiveThread;