Move tilt code back into tilt.c and rename device_state -> tilt_state

Signed-off-by: Hector Martin <[email protected]>

examples/glview.c

@@ -317,11 +317,10 @@ void *freenect_threadfunc(void *arg)
 
 	printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode\n");
 
-	while(!die && freenect_process_events(f_ctx) >= 0 )
-	{
-		freenect_raw_device_state* state;
-		freenect_update_device_state(f_dev);
-		state = freenect_get_device_state(f_dev);
+	while (!die && freenect_process_events(f_ctx) >= 0) {
+		freenect_raw_tilt_state* state;
+		freenect_update_tilt_state(f_dev);
+		state = freenect_get_tilt_state(f_dev);
 		double dx,dy,dz;
 		freenect_get_mks_accel(state, &dx, &dy, &dz);
 		printf("\r raw acceleration: %4d %4d %4d  mks acceleration: %4f %4f %4f", state->accelerometer_x, state->accelerometer_y, state->accelerometer_z, dx, dy, dz);

fakenect/CMakeLists.txt

@@ -3,7 +3,7 @@
 ######################################################################################
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/utils)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/fakenect)
-add_library (fakenect SHARED fakenect.c ../src/accel.c)
+add_library (fakenect SHARED fakenect.c)
 set_target_properties ( fakenect PROPERTIES
   VERSION ${PROJECT_VER}
   SOVERSION ${PROJECT_APIVER}

fakenect/README

@@ -10,7 +10,7 @@ This consists of a "record" program to save dumps from the kinect sensor and a l
 Record
 ./record my_output       // NOTE: output directory is created for you
 
-The program takes one argument (the output directory) and saves the acceleration, depth, and rgb data as individual files with names in the form "TYPE-CURRENTIME-TIMESTAMP" where TYPE is either (a)ccel, (d)epth, or (r)gb, TIMESTAMP corresponds to the timestamp associated with the observation (or in the case of accel, the last timestamp seen), and CURRENTTIME corresponds to a floating point version of the time in seconds.  The purpose of storing the current time is so that delays can be recreated exactly as they occurred.  For RGB and DEPTH the dump is just the entirety of the data provided in PPM and PGM formats respectively (just a 1 line header above the raw dump).  For ACCEL, the dump is the 'freenect_raw_device_state'.  Only the front part of the file name is used, with the rest left undefined (extension, extra info, etc).
+The program takes one argument (the output directory) and saves the acceleration, depth, and rgb data as individual files with names in the form "TYPE-CURRENTIME-TIMESTAMP" where TYPE is either (a)ccel, (d)epth, or (r)gb, TIMESTAMP corresponds to the timestamp associated with the observation (or in the case of accel, the last timestamp seen), and CURRENTTIME corresponds to a floating point version of the time in seconds.  The purpose of storing the current time is so that delays can be recreated exactly as they occurred.  For RGB and DEPTH the dump is just the entirety of the data provided in PPM and PGM formats respectively (just a 1 line header above the raw dump).  For ACCEL, the dump is the 'freenect_raw_tilt_state'.  Only the front part of the file name is used, with the rest left undefined (extension, extra info, etc).
 
 A file called INDEX.txt is also output with all of the filenames local to that directory to simplify the format (e.g., no need to read the directory structure).
 

fakenect/fakenect.c

@@ -31,14 +31,17 @@
 #include <unistd.h>
 #include <time.h>
 
+#define GRAVITY 9.80665
+
 // The dev and ctx are just faked with these numbers
+
 static freenect_device *fake_dev = (freenect_device *)1234;
 static freenect_context *fake_ctx = (freenect_context *)5678;
 static freenect_depth_cb cur_depth_cb = NULL;
 static freenect_rgb_cb cur_rgb_cb = NULL;
 static char *input_path = NULL;
 static FILE *index_fp = NULL;
-static freenect_raw_device_state state = {};
+static freenect_raw_tilt_state state = {};
 static int already_warned = 0;
 static double playback_prev_time = 0.;
 static double record_prev_time = 0.;
@@ -206,17 +209,23 @@ int freenect_process_events(freenect_context *ctx) {
     return 0;
 }
 
-double freenect_get_tilt_degs(freenect_raw_device_state *state) {
+double freenect_get_tilt_degs(freenect_raw_tilt_state *state) {
     // NOTE: This is duped from tilt.c, this is the only function we need from there 
     return ((double)state->tilt_angle) / 2.;
 }
 
-freenect_raw_device_state* freenect_get_device_state(freenect_device *dev) {
+freenect_raw_tilt_state* freenect_get_tilt_state(freenect_device *dev) {
     return &state;
 }
 
-// void freenect_get_mks_accel(freenect_raw_device_state *state, double* x, double* y, double* z);
-// NOTE: We use use the version of this function from accel.c
+void freenect_get_mks_accel(freenect_raw_tilt_state *state, double* x, double* y, double* z)
+{
+	//the documentation for the accelerometer (http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf)
+	//states there are 819 counts/g
+	*x = (double)state->accelerometer_x/FREENECT_COUNTS_PER_G*GRAVITY;
+	*y = (double)state->accelerometer_y/FREENECT_COUNTS_PER_G*GRAVITY;
+	*z = (double)state->accelerometer_z/FREENECT_COUNTS_PER_G*GRAVITY;
+}
 
 void freenect_set_depth_callback(freenect_device *dev, freenect_depth_cb cb) {
     cur_depth_cb = cb;
@@ -265,5 +274,5 @@ int freenect_stop_depth(freenect_device *dev) {return 0;}
 int freenect_stop_rgb(freenect_device *dev) {return 0;}
 int freenect_set_tilt_degs(freenect_device *dev, double angle) {return 0;}
 int freenect_set_led(freenect_device *dev, freenect_led_options option) {return 0;}
-int freenect_update_device_state(freenect_device *dev) {return 0;}
+int freenect_update_tilt_state(freenect_device *dev) {return 0;}
 void *freenect_get_user(freenect_device *dev) {return NULL;}

fakenect/record.c

@@ -101,9 +101,9 @@ void dump(char type, uint32_t timestamp, void *data, int data_size) {
 void snapshot_accel(freenect_device *dev) {
     if (!last_timestamp)
 	return;
-    freenect_raw_device_state* state;
-    freenect_update_device_state(dev);
-    state = freenect_get_device_state(dev);
+    freenect_raw_tilt_state* state;
+    freenect_update_tilt_state(dev);
+    state = freenect_get_tilt_state(dev);
     dump('a', last_timestamp, state, sizeof *state);
 }
 

include/libfreenect.h

@@ -81,7 +81,7 @@ typedef struct {
 	int16_t accelerometer_z;
 	int8_t tilt_angle;
 	freenect_tilt_status_code tilt_status;
-} freenect_raw_device_state;
+} freenect_raw_tilt_state;
 
 struct _freenect_context;
 typedef struct _freenect_context freenect_context;
@@ -139,13 +139,12 @@ int freenect_start_rgb(freenect_device *dev);
 int freenect_stop_depth(freenect_device *dev);
 int freenect_stop_rgb(freenect_device *dev);
 
+int freenect_update_tilt_state(freenect_device *dev);
+freenect_raw_tilt_state* freenect_get_tilt_state(freenect_device *dev);
+double freenect_get_tilt_degs(freenect_raw_tilt_state *state);
 int freenect_set_tilt_degs(freenect_device *dev, double angle);
 int freenect_set_led(freenect_device *dev, freenect_led_options option);
-
-int freenect_update_device_state(freenect_device *dev);
-freenect_raw_device_state* freenect_get_device_state(freenect_device *dev);
-void freenect_get_mks_accel(freenect_raw_device_state *state, double* x, double* y, double* z);
-double freenect_get_tilt_degs(freenect_raw_device_state *state);
+void freenect_get_mks_accel(freenect_raw_tilt_state *state, double* x, double* y, double* z);
 
 #ifdef __cplusplus
 }

include/libfreenect.hpp

@@ -43,7 +43,7 @@ namespace Freenect {
 
 	class FreenectDeviceState : Noncopyable {
 		friend class FreenectDevice;
-			FreenectDeviceState(freenect_raw_device_state *_state):
+			FreenectDeviceState(freenect_raw_tilt_state *_state):
 				m_state(_state)
 			{}
 		public:
@@ -54,7 +54,7 @@ namespace Freenect {
 				return freenect_get_tilt_degs(m_state);
 			}
 		private:
-			freenect_raw_device_state *m_state;
+			freenect_raw_tilt_state *m_state;
 	};
 
 	class FreenectDevice : Noncopyable {
@@ -89,10 +89,10 @@ namespace Freenect {
 			if(freenect_set_led(m_dev, _option) != 0) throw std::runtime_error("Cannot set led");
 		}
 		void updateState() {
-			if (freenect_update_device_state(m_dev) != 0) throw std::runtime_error("Cannot update device state");
+			if (freenect_update_tilt_state(m_dev) != 0) throw std::runtime_error("Cannot update device state");
 		}
 		FreenectDeviceState getState() const {
-			return FreenectDeviceState(freenect_get_device_state(m_dev));
+			return FreenectDeviceState(freenect_get_tilt_state(m_dev));
 		}
 		// Do not call directly even in child
 		virtual void RGBCallback(freenect_pixel *rgb, uint32_t timestamp) = 0;

src/CMakeLists.txt

@@ -6,7 +6,7 @@ include_directories (${CMAKE_CURRENT_SOURCE_DIR})
 
 set(CMAKE_C_FLAGS "-Wall")
 include_directories(${LIBUSB_1_INCLUDE_DIRS})
-LIST(APPEND SRC core.c tilt.c cameras.c accel.c usb_libusb10.c)
+LIST(APPEND SRC core.c tilt.c cameras.c usb_libusb10.c)
 
 add_library (freenect SHARED ${SRC})
 set_target_properties ( freenect PROPERTIES

src/core.c

@@ -195,32 +195,3 @@ void fn_log(freenect_context *ctx, freenect_loglevel level, const char *fmt, ...
 		va_end(ap);
 	}
 }
-
-freenect_raw_device_state* freenect_get_device_state(freenect_device *dev)
-{
-	return &dev->raw_state;
-}
-
-int freenect_update_device_state(freenect_device *dev)
-{
-	freenect_context *ctx = dev->parent;
-	uint8_t buf[10];
-	uint16_t ux, uy, uz;
-	int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
-	if (ret != 10) {
-		FN_ERROR("Error in accelerometer reading, libusb_control_transfer returned %d\n", ret);
-		return ret < 0 ? ret : -1;
-	}
-
-	ux = ((uint16_t)buf[2] << 8) | buf[3];
-	uy = ((uint16_t)buf[4] << 8) | buf[5];
-	uz = ((uint16_t)buf[6] << 8) | buf[7];
-
-	dev->raw_state.accelerometer_x = (int16_t)ux;
-	dev->raw_state.accelerometer_y = (int16_t)uy;
-	dev->raw_state.accelerometer_z = (int16_t)uz;
-	dev->raw_state.tilt_angle = (int8_t)buf[8];
-	dev->raw_state.tilt_status = buf[9];
-
-	return ret;
-}

src/freenect_internal.h

@@ -126,7 +126,7 @@ struct _freenect_device {
 	// Audio
 	// Motor
 	fnusb_dev usb_motor;
-	freenect_raw_device_state raw_state;
+	freenect_raw_tilt_state raw_state;
 };
 
 struct caminit {

src/tilt.c

@@ -39,6 +39,35 @@
 
 #define GRAVITY 9.80665
 
+freenect_raw_tilt_state* freenect_get_tilt_state(freenect_device *dev)
+{
+	return &dev->raw_state;
+}
+
+int freenect_update_tilt_state(freenect_device *dev)
+{
+	freenect_context *ctx = dev->parent;
+	uint8_t buf[10];
+	uint16_t ux, uy, uz;
+	int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
+	if (ret != 10) {
+		FN_ERROR("Error in accelerometer reading, libusb_control_transfer returned %d\n", ret);
+		return ret < 0 ? ret : -1;
+	}
+
+	ux = ((uint16_t)buf[2] << 8) | buf[3];
+	uy = ((uint16_t)buf[4] << 8) | buf[5];
+	uz = ((uint16_t)buf[6] << 8) | buf[7];
+
+	dev->raw_state.accelerometer_x = (int16_t)ux;
+	dev->raw_state.accelerometer_y = (int16_t)uy;
+	dev->raw_state.accelerometer_z = (int16_t)uz;
+	dev->raw_state.tilt_angle = (int8_t)buf[8];
+	dev->raw_state.tilt_status = buf[9];
+
+	return ret;
+}
+
 int freenect_set_tilt_degs(freenect_device *dev, double angle)
 {
 	int ret;
@@ -59,7 +88,16 @@ int freenect_set_led(freenect_device *dev, freenect_led_options option)
 	return ret;
 }
 
-double freenect_get_tilt_degs(freenect_raw_device_state *state)
+double freenect_get_tilt_degs(freenect_raw_tilt_state *state)
 {
 	return ((double)state->tilt_angle) / 2.;
 }
+
+void freenect_get_mks_accel(freenect_raw_tilt_state *state, double* x, double* y, double* z)
+{
+	//the documentation for the accelerometer (http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf)
+	//states there are 819 counts/g
+	*x = (double)state->accelerometer_x/FREENECT_COUNTS_PER_G*GRAVITY;
+	*y = (double)state->accelerometer_y/FREENECT_COUNTS_PER_G*GRAVITY;
+	*z = (double)state->accelerometer_z/FREENECT_COUNTS_PER_G*GRAVITY;
+}

wrappers/python/freenect.pyx

@@ -68,8 +68,8 @@ cdef extern from "libfreenect.h":
     int freenect_stop_rgb(void *dev)
     int freenect_set_tilt_degs(void *dev, double angle)
     int freenect_set_led(void *dev, int option)
-    int freenect_update_device_state(void *dev)
-    void* freenect_get_device_state(void *dev)
+    int freenect_update_tilt_state(void *dev)
+    void* freenect_get_tilt_state(void *dev)
     void freenect_get_mks_accel(void *state, double* x, double* y, double* z)
     double freenect_get_tilt_degs(void *state)
 
@@ -125,11 +125,11 @@ def set_tilt_degs(DevPtr dev, float angle):
 def set_led(DevPtr dev, int option):
     return freenect_set_led(dev._ptr, option)
 
-def update_device_state(DevPtr dev):
-    return freenect_update_device_state(dev._ptr)
+def update_tilt_state(DevPtr dev):
+    return freenect_update_tilt_state(dev._ptr)
 
-def get_device_state(DevPtr dev):
-    cdef void* state = freenect_get_device_state(dev._ptr)
+def get_tilt_state(DevPtr dev):
+    cdef void* state = freenect_get_tilt_state(dev._ptr)
     cdef StatePtr state_out
     state_out = StatePtr()
     state_out._ptr = state
@@ -149,8 +149,8 @@ def get_accel(DevPtr dev):
    Returns:
        (x, y, z) accelerometer values
    """
-   update_device_state(dev)
-   return get_mks_accel(get_device_state(dev))
+   update_tilt_state(dev)
+   return get_mks_accel(get_tilt_state(dev))
 
 
 def get_tilt_degs(StatePtr state):