mirror of
https://git.sr.ht/~thestr4ng3r/chiaki
synced 2025-08-19 13:09:39 -07:00
Finish Motion in Setsu
This commit is contained in:
Florian Märkl
parent
698bce8022
commit
88c03aa744
5 changed files with 160 additions and 26 deletions
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@ -429,7 +429,7 @@ void StreamSession::HandleSetsuEvent(SetsuEvent *event)
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case SETSU_EVENT_TOUCH_UP:
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for(auto it=setsu_ids.begin(); it!=setsu_ids.end(); it++)
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{
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if(it.key().first == setsu_device_get_path(event->dev) && it.key().second == event->tracking_id)
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if(it.key().first == setsu_device_get_path(event->dev) && it.key().second == event->touch.tracking_id)
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{
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chiaki_controller_state_stop_touch(&setsu_state, it.value());
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setsu_ids.erase(it);
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@ -439,18 +439,18 @@ void StreamSession::HandleSetsuEvent(SetsuEvent *event)
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SendFeedbackState();
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break;
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case SETSU_EVENT_TOUCH_POSITION: {
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QPair<QString, SetsuTrackingId> k = { setsu_device_get_path(event->dev), event->tracking_id };
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QPair<QString, SetsuTrackingId> k = { setsu_device_get_path(event->dev), event->touch.tracking_id };
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auto it = setsu_ids.find(k);
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if(it == setsu_ids.end())
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{
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int8_t cid = chiaki_controller_state_start_touch(&setsu_state, event->x, event->y);
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int8_t cid = chiaki_controller_state_start_touch(&setsu_state, event->touch.x, event->touch.y);
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if(cid >= 0)
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setsu_ids[k] = (uint8_t)cid;
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else
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break;
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}
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else
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chiaki_controller_state_set_touch_pos(&setsu_state, it.value(), event->x, event->y);
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chiaki_controller_state_set_touch_pos(&setsu_state, it.value(), event->touch.x, event->touch.y);
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SendFeedbackState();
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break;
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}
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@ -8,9 +8,29 @@
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#include <string.h>
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#include <assert.h>
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#include <signal.h>
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#include <math.h>
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Setsu *setsu;
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#define NAME_LEN 8
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const char * const names[] = {
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"accel x ",
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"accel y ",
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"accel z ",
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" gyro x ",
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" gyro y ",
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" gyro z "
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};
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union
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{
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struct
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{
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float accel_x, accel_y, accel_z;
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float gyro_x, gyro_y, gyro_z;
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};
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float v[6];
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} vals;
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uint32_t timestamp;
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bool dirty = false;
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bool log_mode;
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volatile bool should_quit;
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@ -22,14 +42,44 @@ void sigint(int s)
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should_quit = true;
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}
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#define BAR_LENGTH 100
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#define BAR_MAX 2.0f
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#define BAR_MAX_GYRO 180.0f
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void print_state()
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{
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#if 0
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char buf[256];
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*buf = 0;
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char buf[6 * (1 + NAME_LEN + BAR_LENGTH) + 1];
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size_t i = 0;
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for(size_t b=0; b<6; b++)
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{
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buf[i++] = '\n';
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memcpy(buf + i, names[b], NAME_LEN);
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i += NAME_LEN;
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buf[i++] = '[';
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size_t max = BAR_LENGTH-2;
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for(size_t bi=0; bi<max; bi++)
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{
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#define BAR_VAL(x) ((b > 2 ? BAR_MAX_GYRO : BAR_MAX) * (2.0f * (float)(x) / (float)max - 1.0f))
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float cur = BAR_VAL(bi);
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float prev = BAR_VAL((int)bi - 1);
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if(prev < 0.0f && cur >= 0.0f)
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{
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buf[i++] = '|';
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continue;
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}
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bool cov = ((vals.v[b] < 0.0f) == (cur < 0.0f)) && fabsf(vals.v[b]) > fabsf(cur);
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float next = BAR_VAL(bi + 1);
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#define MARK_VAL (b > 2 ? 90.0f : 1.0f)
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bool mark = cur < -MARK_VAL && next >= -MARK_VAL || prev < MARK_VAL && cur >= MARK_VAL;
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buf[i++] = cov ? (mark ? '#' : '=') : (mark ? '.' : ' ');
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#undef BAR_VAL
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}
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buf[i++] = ']';
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}
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buf[i++] = '\0';
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assert(i == sizeof(buf));
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printf("\033[2J%s", buf);
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fflush(stdout);
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#endif
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}
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void event(SetsuEvent *event, void *user)
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@ -49,7 +99,19 @@ void event(SetsuEvent *event, void *user)
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break;
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LOG("Device removed: %s\n", event->path);
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break;
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// TODO: motion events
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case SETSU_EVENT_MOTION:
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LOG("Motion: %f, %f, %f / %f, %f, %f / %u\n",
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event->motion.accel_x, event->motion.accel_y, event->motion.accel_z,
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event->motion.gyro_x, event->motion.gyro_y, event->motion.gyro_z,
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(unsigned int)event->motion.timestamp);
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vals.accel_x = event->motion.accel_x;
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vals.accel_y = event->motion.accel_y;
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vals.accel_z = event->motion.accel_z;
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vals.gyro_x = event->motion.gyro_x;
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vals.gyro_y = event->motion.gyro_y;
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vals.gyro_z = event->motion.gyro_z;
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timestamp = event->motion.timestamp;
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dirty = true;
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default:
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break;
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}
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@ -80,13 +80,13 @@ void event(SetsuEvent *event, void *user)
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LOG("Device removed: %s\n", event->path);
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break;
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case SETSU_EVENT_TOUCH_DOWN:
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LOG("Down for %s, tracking id %d\n", setsu_device_get_path(event->dev), event->tracking_id);
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LOG("Down for %s, tracking id %d\n", setsu_device_get_path(event->dev), event->touch.tracking_id);
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for(size_t i=0; i<TOUCHES_MAX; i++)
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{
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if(!touches[i].down)
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{
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touches[i].down = true;
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touches[i].tracking_id = event->tracking_id;
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touches[i].tracking_id = event->touch.tracking_id;
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break;
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}
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}
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@ -94,19 +94,19 @@ void event(SetsuEvent *event, void *user)
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case SETSU_EVENT_TOUCH_POSITION:
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case SETSU_EVENT_TOUCH_UP:
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if(event->type == SETSU_EVENT_TOUCH_UP)
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LOG("Up for %s, tracking id %d\n", setsu_device_get_path(event->dev), event->tracking_id);
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LOG("Up for %s, tracking id %d\n", setsu_device_get_path(event->dev), event->touch.tracking_id);
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else
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LOG("Position for %s, tracking id %d: %u, %u\n", setsu_device_get_path(event->dev),
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event->tracking_id, (unsigned int)event->x, (unsigned int)event->y);
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event->touch.tracking_id, (unsigned int)event->touch.x, (unsigned int)event->touch.y);
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for(size_t i=0; i<TOUCHES_MAX; i++)
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{
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if(touches[i].down && touches[i].tracking_id == event->tracking_id)
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if(touches[i].down && touches[i].tracking_id == event->touch.tracking_id)
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{
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switch(event->type)
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{
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case SETSU_EVENT_TOUCH_POSITION:
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touches[i].x = event->x;
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touches[i].y = event->y;
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touches[i].x = event->touch.x;
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touches[i].y = event->touch.y;
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break;
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case SETSU_EVENT_TOUCH_UP:
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touches[i].down = false;
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@ -46,7 +46,10 @@ typedef enum {
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SETSU_EVENT_BUTTON_DOWN,
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/* Event will have dev and button set. */
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SETSU_EVENT_BUTTON_UP
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SETSU_EVENT_BUTTON_UP,
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/* Event will have motion set. */
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SETSU_EVENT_MOTION
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} SetsuEventType;
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#define SETSU_BUTTON_0 (1u << 0)
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@ -72,8 +75,14 @@ typedef struct setsu_event_t
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{
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SetsuTrackingId tracking_id;
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uint32_t x, y;
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};
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} touch;
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SetsuButton button;
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struct
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{
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float accel_x, accel_y, accel_z; // unit is 1G
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float gyro_x, gyro_y, gyro_z; // unit is deg/sec
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uint32_t timestamp; // microseconds
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} motion;
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};
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};
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};
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@ -90,6 +99,7 @@ const char *setsu_device_get_path(SetsuDevice *dev);
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uint32_t setsu_device_touchpad_get_width(SetsuDevice *dev);
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uint32_t setsu_device_touchpad_get_height(SetsuDevice *dev);
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#ifdef __cplusplus
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}
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#endif
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@ -67,6 +67,12 @@ typedef struct setsu_device_t
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} touchpad;
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struct
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{
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int accel_res_x, accel_res_y, accel_res_z;
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int gyro_res_x, gyro_res_y, gyro_res_z;
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int accel_x, accel_y, accel_z;
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int gyro_x, gyro_y, gyro_z;
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uint32_t timestamp;
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bool dirty;
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} motion;
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};
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} SetsuDevice;
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@ -341,7 +347,13 @@ SetsuDevice *setsu_connect(Setsu *setsu, const char *path, SetsuDeviceType type)
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}
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break;
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case SETSU_DEVICE_TYPE_MOTION:
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// TODO: init to defaults
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dev->motion.accel_res_x = libevdev_get_abs_resolution(dev->evdev, ABS_X);
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dev->motion.accel_res_y = libevdev_get_abs_resolution(dev->evdev, ABS_Y);
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dev->motion.accel_res_z = libevdev_get_abs_resolution(dev->evdev, ABS_Z);
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dev->motion.gyro_res_x = libevdev_get_abs_resolution(dev->evdev, ABS_RX);
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dev->motion.gyro_res_y = libevdev_get_abs_resolution(dev->evdev, ABS_RY);
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dev->motion.gyro_res_z = libevdev_get_abs_resolution(dev->evdev, ABS_RZ);
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dev->motion.accel_y = dev->motion.accel_res_y; // 1G down
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break;
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}
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@ -573,7 +585,45 @@ static void device_event(Setsu *setsu, SetsuDevice *dev, struct input_event *ev,
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}
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break;
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case SETSU_DEVICE_TYPE_MOTION:
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// TODO: handle the events
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switch(ev->type)
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{
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case EV_ABS:
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switch(ev->code)
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{
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case ABS_X:
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dev->motion.accel_x = ev->value;
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dev->motion.dirty = true;
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break;
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case ABS_Y:
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dev->motion.accel_y = ev->value;
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dev->motion.dirty = true;
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break;
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case ABS_Z:
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dev->motion.accel_z = ev->value;
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dev->motion.dirty = true;
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break;
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case ABS_RX:
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dev->motion.gyro_x = ev->value;
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dev->motion.dirty = true;
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break;
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case ABS_RY:
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dev->motion.gyro_y = ev->value;
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dev->motion.dirty = true;
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break;
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case ABS_RZ:
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dev->motion.gyro_z = ev->value;
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dev->motion.dirty = true;
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break;
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}
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break;
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case EV_MSC:
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if(ev->code == MSC_TIMESTAMP)
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{
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dev->motion.timestamp = ev->value;
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dev->motion.dirty = true;
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}
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break;
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}
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break;
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}
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}
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@ -591,23 +641,23 @@ static void device_drain(Setsu *setsu, SetsuDevice *dev, SetsuEventCb cb, void *
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if(dev->touchpad.slots[i].tracking_id_prev != -1)
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{
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BEGIN_EVENT(SETSU_EVENT_TOUCH_UP);
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event.tracking_id = dev->touchpad.slots[i].tracking_id_prev;
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event.touch.tracking_id = dev->touchpad.slots[i].tracking_id_prev;
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SEND_EVENT();
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dev->touchpad.slots[i].tracking_id_prev = -1;
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}
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if(dev->touchpad.slots[i].downed)
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{
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BEGIN_EVENT(SETSU_EVENT_TOUCH_DOWN);
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event.tracking_id = dev->touchpad.slots[i].tracking_id;
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event.touch.tracking_id = dev->touchpad.slots[i].tracking_id;
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SEND_EVENT();
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dev->touchpad.slots[i].downed = false;
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}
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if(dev->touchpad.slots[i].pos_dirty)
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{
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BEGIN_EVENT(SETSU_EVENT_TOUCH_POSITION);
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event.tracking_id = dev->touchpad.slots[i].tracking_id;
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event.x = (uint32_t)(dev->touchpad.slots[i].x - dev->touchpad.min_x);
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event.y = (uint32_t)(dev->touchpad.slots[i].y - dev->touchpad.min_y);
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event.touch.tracking_id = dev->touchpad.slots[i].tracking_id;
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event.touch.x = (uint32_t)(dev->touchpad.slots[i].x - dev->touchpad.min_x);
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event.touch.y = (uint32_t)(dev->touchpad.slots[i].y - dev->touchpad.min_y);
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SEND_EVENT();
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dev->touchpad.slots[i].pos_dirty = false;
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}
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@ -630,7 +680,19 @@ static void device_drain(Setsu *setsu, SetsuDevice *dev, SetsuEventCb cb, void *
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dev->touchpad.buttons_prev = dev->touchpad.buttons_cur;
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break;
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case SETSU_DEVICE_TYPE_MOTION:
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// TODO
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if(dev->motion.dirty)
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{
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BEGIN_EVENT(SETSU_EVENT_MOTION);
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event.motion.accel_x = (float)dev->motion.accel_x / (float)dev->motion.accel_res_x;
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event.motion.accel_y = (float)dev->motion.accel_y / (float)dev->motion.accel_res_y;
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event.motion.accel_z = (float)dev->motion.accel_z / (float)dev->motion.accel_res_z;
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event.motion.gyro_x = (float)dev->motion.gyro_x / (float)dev->motion.gyro_res_x;
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event.motion.gyro_y = (float)dev->motion.gyro_y / (float)dev->motion.gyro_res_y;
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event.motion.gyro_z = (float)dev->motion.gyro_z / (float)dev->motion.gyro_res_z;
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event.motion.timestamp = dev->motion.timestamp;
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SEND_EVENT();
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dev->motion.dirty = false;
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}
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break;
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}
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#undef BEGIN_EVENT
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