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RetroArch/wii/wiiuse/ir.c

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/* This source as presented is a modified version of original wiiuse for use
* with RetroArch, and must not be confused with the original software. */
#include <stdio.h>
#include <math.h>
#include <time.h>
#ifndef WIN32
#include <unistd.h>
#endif
#ifdef GEKKO
#include <ogcsys.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "ir.h"
static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y);
static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy);
/**
* @brief Get the IR sensitivity settings.
*
* @param wm Pointer to a wiimote_t structure.
* @param block1 [out] Pointer to where block1 will be set.
* @param block2 [out] Pointer to where block2 will be set.
*
* @return Returns the sensitivity level.
*/
static int get_ir_sens(struct wiimote_t* wm, char** block1, char** block2) {
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL1)) {
*block1 = WM_IR_BLOCK1_LEVEL1;
*block2 = WM_IR_BLOCK2_LEVEL1;
return 1;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL2)) {
*block1 = WM_IR_BLOCK1_LEVEL2;
*block2 = WM_IR_BLOCK2_LEVEL2;
return 2;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL3)) {
*block1 = WM_IR_BLOCK1_LEVEL3;
*block2 = WM_IR_BLOCK2_LEVEL3;
return 3;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL4)) {
*block1 = WM_IR_BLOCK1_LEVEL4;
*block2 = WM_IR_BLOCK2_LEVEL4;
return 4;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL5)) {
*block1 = WM_IR_BLOCK1_LEVEL5;
*block2 = WM_IR_BLOCK2_LEVEL5;
return 5;
}
*block1 = NULL;
*block2 = NULL;
return 0;
}
static void rotate_dots(struct fdot_t* in, struct fdot_t *out, int count, float ang) {
float s, c;
int i;
if (ang == 0) {
for (i = 0; i < count; ++i) {
out[i].x = in[i].x;
out[i].y = in[i].y;
}
return;
}
s = sin(DEGREE_TO_RAD(ang));
c = cos(DEGREE_TO_RAD(ang));
/*
* [ cos(theta) -sin(theta) ][ ir->rx ]
* [ sin(theta) cos(theta) ][ ir->ry ]
*/
for (i = 0; i < count; ++i) {
out[i].x = (c * in[i].x) + (-s * in[i].y);
out[i].y = (s * in[i].x) + (c * in[i].y);
}
}
/**
* @brief Correct for the IR bounding box.
*
* @param x [out] The current X, it will be updated if valid.
* @param y [out] The current Y, it will be updated if valid.
* @param aspect Aspect ratio of the screen.
* @param offset_x The X offset of the bounding box.
* @param offset_y The Y offset of the bounding box.
*
* @return Returns 1 if the point is valid and was updated.
*
* Nintendo was smart with this bit. They sacrifice a little
* precision for a big increase in usability.
*/
static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y) {
float x0, y0;
int xs, ys;
if (aspect == WIIUSE_ASPECT_16_9) {
xs = WM_ASPECT_16_9_X;
ys = WM_ASPECT_16_9_Y;
} else {
xs = WM_ASPECT_4_3_X;
ys = WM_ASPECT_4_3_Y;
}
x0 = ((1024 - xs) / 2) + offset_x;
y0 = ((768 - ys) / 2) + offset_y;
if ((*x >= x0)
&& (*x <= (x0 + xs))
&& (*y >= y0)
&& (*y <= (y0 + ys)))
{
*x -= offset_x;
*y -= offset_y;
return 1;
}
return 0;
}
/**
* @brief Interpolate the point to the user defined virtual screen resolution.
*/
static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy) {
int xs, ys;
if (aspect == WIIUSE_ASPECT_16_9) {
xs = WM_ASPECT_16_9_X;
ys = WM_ASPECT_16_9_Y;
} else {
xs = WM_ASPECT_4_3_X;
ys = WM_ASPECT_4_3_Y;
}
*x -= ((1024-xs)/2);
*y -= ((768-ys)/2);
*x = (*x / (float)xs) * vx;
*y = (*y / (float)ys) * vy;
}
void wiiuse_set_ir_mode(struct wiimote_t *wm)
{
ubyte buf = 0x00;
if(!wm) return;
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) return;
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP)) buf = WM_IR_TYPE_BASIC;
else buf = WM_IR_TYPE_EXTENDED;
wiiuse_write_data(wm,WM_REG_IR_MODENUM, &buf, 1, NULL);
}
void wiiuse_set_ir(struct wiimote_t *wm,int status)
{
ubyte buf = 0x00;
int ir_level = 0;
char* block1 = NULL;
char* block2 = NULL;
if(!wm) return;
/*
* Wait for the handshake to finish first.
* When it handshake finishes and sees that
* IR is enabled, it will call this function
* again to actually enable IR.
*/
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_HANDSHAKE_COMPLETE)) {
WIIUSE_DEBUG("Tried to enable IR, will wait until handshake finishes.\n");
if(status)
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
else
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
return;
}
/*
* Check to make sure a sensitivity setting is selected.
*/
ir_level = get_ir_sens(wm, &block1, &block2);
if (!ir_level) {
WIIUSE_ERROR("No IR sensitivity setting selected.");
return;
}
if (status) {
/* if already enabled then stop */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
wiiuse_status(wm,NULL);
return;
}
} else {
/* if already disabled then stop */
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
wiiuse_status(wm,NULL);
return;
}
}
buf = (status ? 0x04 : 0x00);
wiiuse_sendcmd(wm,WM_CMD_IR,&buf,1,NULL);
wiiuse_sendcmd(wm,WM_CMD_IR_2,&buf,1,NULL);
if (!status) {
WIIUSE_DEBUG("Disabled IR cameras for wiimote id %i.", wm->unid);
wiiuse_status(wm,NULL);
return;
}
/* enable IR, set sensitivity */
buf = 0x08;
wiiuse_write_data(wm,WM_REG_IR,&buf,1,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9, NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2, NULL);
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP)) buf = WM_IR_TYPE_BASIC;
else buf = WM_IR_TYPE_EXTENDED;
wiiuse_write_data(wm,WM_REG_IR_MODENUM, &buf, 1, NULL);
wiiuse_status(wm,NULL);
return;
}
/**
* @brief Set the virtual screen resolution for IR tracking.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*/
void wiiuse_set_ir_vres(struct wiimote_t* wm, unsigned int x, unsigned int y) {
if (!wm) return;
wm->ir.vres[0] = (x-1);
wm->ir.vres[1] = (y-1);
}
/**
* @brief Set the XY position for the IR cursor.
*
* @param wm Pointer to a wiimote_t structure.
*/
void wiiuse_set_ir_position(struct wiimote_t* wm, enum ir_position_t pos) {
if (!wm) return;
wm->ir.pos = pos;
switch (pos) {
case WIIUSE_IR_ABOVE:
wm->ir.offset[0] = 0;
if (wm->ir.aspect == WIIUSE_ASPECT_16_9)
wm->ir.offset[1] = WM_ASPECT_16_9_Y/2 - 70;
else if (wm->ir.aspect == WIIUSE_ASPECT_4_3)
wm->ir.offset[1] = WM_ASPECT_4_3_Y/2 - 100;
return;
case WIIUSE_IR_BELOW:
wm->ir.offset[0] = 0;
if (wm->ir.aspect == WIIUSE_ASPECT_16_9)
wm->ir.offset[1] = -WM_ASPECT_16_9_Y/2 + 70;
else if (wm->ir.aspect == WIIUSE_ASPECT_4_3)
wm->ir.offset[1] = -WM_ASPECT_4_3_Y/2 + 100;
return;
default:
return;
};
}
/**
* @brief Set the aspect ratio of the TV/monitor.
*
* @param wm Pointer to a wiimote_t structure.
* @param aspect Either WIIUSE_ASPECT_16_9 or WIIUSE_ASPECT_4_3
*/
void wiiuse_set_aspect_ratio(struct wiimote_t* wm, enum aspect_t aspect) {
if (!wm) return;
wm->ir.aspect = aspect;
if (aspect == WIIUSE_ASPECT_4_3) {
wm->ir.vres[0] = WM_ASPECT_4_3_X;
wm->ir.vres[1] = WM_ASPECT_4_3_Y;
} else {
wm->ir.vres[0] = WM_ASPECT_16_9_X;
wm->ir.vres[1] = WM_ASPECT_16_9_Y;
}
/* reset the position offsets */
wiiuse_set_ir_position(wm, wm->ir.pos);
}
/**
* @brief Set the IR sensitivity.
*
* @param wm Pointer to a wiimote_t structure.
* @param level 1-5, same as Wii system sensitivity setting.
*
* If the level is < 1, then level will be set to 1.
* If the level is > 5, then level will be set to 5.
*/
void wiiuse_set_ir_sensitivity(struct wiimote_t* wm, int level) {
char* block1 = NULL;
char* block2 = NULL;
if (!wm) return;
if (level > 5) level = 5;
if (level < 1) level = 1;
WIIMOTE_DISABLE_STATE(wm, (WIIMOTE_STATE_IR_SENS_LVL1 |
WIIMOTE_STATE_IR_SENS_LVL2 |
WIIMOTE_STATE_IR_SENS_LVL3 |
WIIMOTE_STATE_IR_SENS_LVL4 |
WIIMOTE_STATE_IR_SENS_LVL5));
switch (level) {
case 1:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL1);
break;
case 2:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL2);
break;
case 3:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL3);
break;
case 4:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL4);
break;
case 5:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL5);
break;
default:
return;
}
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) return;
/* set the new sensitivity */
get_ir_sens(wm, &block1, &block2);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2,NULL);
WIIUSE_DEBUG("Set IR sensitivity to level %i (unid %i)", level, wm->unid);
}
/**
* @brief Calculate the data from the IR spots. Basic IR mode.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Data returned by the wiimote for the IR spots.
*/
void calculate_basic_ir(struct wiimote_t* wm, ubyte* data) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
dot[0].rx = 1023 - (data[0] | ((data[2] & 0x30) << 4));
dot[0].ry = data[1] | ((data[2] & 0xC0) << 2);
dot[1].rx = 1023 - (data[3] | ((data[2] & 0x03) << 8));
dot[1].ry = data[4] | ((data[2] & 0x0C) << 6);
dot[2].rx = 1023 - (data[5] | ((data[7] & 0x30) << 4));
dot[2].ry = data[6] | ((data[7] & 0xC0) << 2);
dot[3].rx = 1023 - (data[8] | ((data[7] & 0x03) << 8));
dot[3].ry = data[9] | ((data[7] & 0x0C) << 6);
/* set each IR spot to visible if spot is in range */
for (i = 0; i < 4; ++i) {
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
if (dot[i].ry == 1023)
dot[i].visible = 0;
else {
dot[i].visible = 1;
dot[i].size = 0; /* since we don't know the size, set it as 0 */
}
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
/**
* @brief Calculate the data from the IR spots. Extended IR mode.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Data returned by the wiimote for the IR spots.
*/
void calculate_extended_ir(struct wiimote_t* wm, ubyte* data) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
for (i = 0; i < 4; ++i) {
dot[i].rx = 1023 - (data[3*i] | ((data[(3*i)+2] & 0x30) << 4));
dot[i].ry = data[(3*i)+1] | ((data[(3*i)+2] & 0xC0) << 2);
dot[i].size = data[(3*i)+2];
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
dot[i].size = dot[i].size&0x0f;
/* if in range set to visible */
if (dot[i].ry == 1023)
dot[i].visible = 0;
else
dot[i].visible = 1;
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
enum {
IR_STATE_DEAD = 0,
IR_STATE_GOOD,
IR_STATE_SINGLE,
IR_STATE_LOST,
};
// half-height of the IR sensor if half-width is 1
#define HEIGHT (384.0f / 512.0f)
// maximum sensor bar slope (tan(35 degrees))
#define MAX_SB_SLOPE 0.7f
// minimum sensor bar width in view, relative to half of the IR sensor area
#define MIN_SB_WIDTH 0.1f
// reject "sensor bars" that happen to have a dot towards the middle
#define SB_MIDDOT_REJECT 0.05f
// physical dimensions
// cm center to center of emitters
#define SB_WIDTH 19.5f
// half-width in cm of emitters
#define SB_DOT_WIDTH 2.25f
// half-height in cm of emitters (with some tolerance)
#define SB_DOT_HEIGHT 1.0f
#define SB_DOT_WIDTH_RATIO (SB_DOT_WIDTH / SB_WIDTH)
#define SB_DOT_HEIGHT_RATIO (SB_DOT_HEIGHT / SB_WIDTH)
// dots further out than these coords are allowed to not be picked up
// otherwise assume something's wrong
//#define SB_OFF_SCREEN_X 0.8f
//#define SB_OFF_SCREEN_Y (0.8f * HEIGHT)
// disable, may be doing more harm than good due to sensor pickup glitches
#define SB_OFF_SCREEN_X 0.0f
#define SB_OFF_SCREEN_Y 0.0f
// if a point is closer than this to one of the previous SB points
// when it reappears, consider it the same instead of trying to guess
// which one of the two it is
#define SB_SINGLE_NOGUESS_DISTANCE (100.0 * 100.0)
// width of the sensor bar in pixels at one meter from the Wiimote
#define SB_Z_COEFFICIENT 256.0f
// distance in meters from the center of the FOV to the left or right edge,
// when the wiimote is at one meter
#define WIIMOTE_FOV_COEFFICIENT 0.39f
#define SQUARED(x) ((x)*(x))
#define WMAX(x,y) ((x>y)?(x):(y))
#define WMIN(x,y) ((x<y)?(x):(y))
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param wm Pointer to a wiimote_t structure.
*/
void find_sensorbar(struct ir_t* ir, struct orient_t *orient) {
struct fdot_t dots[4];
struct fdot_t acc_dots[4];
struct sb_t cand;
struct sb_t candidates[6];
struct sb_t sb;
fdot_t difference;
int num_candidates = 0;
int i;
int j;
int first, second;
WIIUSE_DEBUG("IR: orient angle: %.02f\n",orient->roll);
/* count visible dots and populate dots structure */
/* dots[] is in -1..1 units for width */
ir->num_dots = 0;
for (i = 0; i < 4; i++) {
if (ir->dot[i].visible) {
dots[ir->num_dots].x = (ir->dot[i].rx - 512.0f) / 512.0f;
dots[ir->num_dots].y = (ir->dot[i].ry - 384.0f) / 512.0f;
WIIUSE_DEBUG("IR: dot %d at (%d,%d) (%.03f,%.03f)\n",ir->num_dots,ir->dot[i].rx,ir->dot[i].ry,dots[ir->num_dots].x,dots[ir->num_dots].y);
ir->num_dots++;
}
}
WIIUSE_DEBUG("IR: found %d dots\n",ir->num_dots);
// nothing to track
if(ir->num_dots == 0) {
if(ir->state != IR_STATE_DEAD)
ir->state = IR_STATE_LOST;
ir->ax = 0;
ir->ay = 0;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
}
/* ==== Find the Sensor Bar ==== */
// first rotate according to accelerometer orientation
rotate_dots(dots, acc_dots, ir->num_dots, orient->roll);
if(ir->num_dots > 1) {
WIIUSE_DEBUG("IR: locating sensor bar candidates\n");
// iterate through all dot pairs
for(first=0; first < (ir->num_dots-1); first++) {
for(second=(first+1); second < ir->num_dots; second++) {
WIIUSE_DEBUG("IR: trying dots %d and %d\n",first,second);
// order the dots leftmost first into cand
// storing both the raw dots and the accel-rotated dots
if(acc_dots[first].x > acc_dots[second].x) {
cand.dots[0] = dots[second];
cand.dots[1] = dots[first];
cand.acc_dots[0] = acc_dots[second];
cand.acc_dots[1] = acc_dots[first];
} else {
cand.dots[0] = dots[first];
cand.dots[1] = dots[second];
cand.acc_dots[0] = acc_dots[first];
cand.acc_dots[1] = acc_dots[second];
}
difference.x = cand.acc_dots[1].x - cand.acc_dots[0].x;
difference.y = cand.acc_dots[1].y - cand.acc_dots[0].y;
// check angle
if(fabsf(difference.y / difference.x) > MAX_SB_SLOPE)
continue;
WIIUSE_DEBUG("IR: passed angle check\n");
// rotate to the true sensor bar angle
cand.off_angle = -RAD_TO_DEGREE(atan2(difference.y, difference.x));
cand.angle = cand.off_angle + orient->roll;
rotate_dots(cand.dots, cand.rot_dots, 2, cand.angle);
WIIUSE_DEBUG("IR: off_angle: %.02f, angle: %.02f\n", cand.off_angle, cand.angle);
// recalculate x distance - y should be zero now, so ignore it
difference.x = cand.rot_dots[1].x - cand.rot_dots[0].x;
// check distance
if(difference.x < MIN_SB_WIDTH)
continue;
// middle dot check. If there's another source somewhere in the
// middle of this candidate, then this can't be a sensor bar
for(i=0; i<ir->num_dots; i++) {
float wadj, hadj;
struct fdot_t tdot;
if(i==first || i==second) continue;
hadj = SB_DOT_HEIGHT_RATIO * difference.x;
wadj = SB_DOT_WIDTH_RATIO * difference.x;
rotate_dots(&dots[i], &tdot, 1, cand.angle);
if( ((cand.rot_dots[0].x + wadj) < tdot.x) &&
((cand.rot_dots[1].x - wadj) > tdot.x) &&
((cand.rot_dots[0].y + hadj) > tdot.y) &&
((cand.rot_dots[0].y - hadj) < tdot.y))
break;
}
// failed middle dot check
if(i < ir->num_dots) continue;
WIIUSE_DEBUG("IR: passed middle dot check\n");
cand.score = 1 / (cand.rot_dots[1].x - cand.rot_dots[0].x);
// we have a candidate, store it
WIIUSE_DEBUG("IR: new candidate %d\n",num_candidates);
candidates[num_candidates++] = cand;
}
}
}
if(num_candidates == 0) {
int closest = -1;
int closest_to = 0;
float best = 999.0f;
float d;
float dx[2];
struct sb_t sbx[2];
// no sensor bar candidates, try to work with a lone dot
WIIUSE_DEBUG("IR: no candidates\n");
switch(ir->state) {
case IR_STATE_DEAD:
WIIUSE_DEBUG("IR: we're dead\n");
// we've never seen a sensor bar before, so we're screwed
ir->ax = 0.0f;
ir->ay = 0.0f;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
case IR_STATE_GOOD:
case IR_STATE_SINGLE:
case IR_STATE_LOST:
WIIUSE_DEBUG("IR: trying to keep track of single dot\n");
// try to find the dot closest to the previous sensor bar position
for(i=0; i<ir->num_dots; i++) {
WIIUSE_DEBUG("IR: checking dot %d (%.02f, %.02f)\n",i, acc_dots[i].x,acc_dots[i].y);
for(j=0; j<2; j++) {
WIIUSE_DEBUG(" to dot %d (%.02f, %.02f)\n",j, ir->sensorbar.acc_dots[j].x,ir->sensorbar.acc_dots[j].y);
d = SQUARED(acc_dots[i].x - ir->sensorbar.acc_dots[j].x);
d += SQUARED(acc_dots[i].y - ir->sensorbar.acc_dots[j].y);
if(d < best) {
best = d;
closest_to = j;
closest = i;
}
}
}
WIIUSE_DEBUG("IR: closest dot is %d to %d\n",closest,closest_to);
if(ir->state != IR_STATE_LOST || best < SB_SINGLE_NOGUESS_DISTANCE) {
// now work out where the other dot would be, in the acc frame
sb.acc_dots[closest_to] = acc_dots[closest];
sb.acc_dots[closest_to^1].x = ir->sensorbar.acc_dots[closest_to^1].x - ir->sensorbar.acc_dots[closest_to].x + acc_dots[closest].x;
sb.acc_dots[closest_to^1].y = ir->sensorbar.acc_dots[closest_to^1].y - ir->sensorbar.acc_dots[closest_to].y + acc_dots[closest].y;
// get the raw frame
rotate_dots(sb.acc_dots, sb.dots, 2, -orient->roll);
if((fabsf(sb.dots[closest_to^1].x) < SB_OFF_SCREEN_X) && (fabsf(sb.dots[closest_to^1].y) < SB_OFF_SCREEN_Y)) {
// this dot should be visible but isn't, since the candidate section failed.
// fall through and try to pick out the sensor bar without previous information
WIIUSE_DEBUG("IR: dot falls on screen, falling through\n");
} else {
// calculate the rotated dots frame
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: kept track of single dot\n");
break;
}
} else {
WIIUSE_DEBUG("IR: lost the dot and new one is too far away\n");
}
// try to find the dot closest to the sensor edge
WIIUSE_DEBUG("IR: trying to find best dot\n");
for(i=0; i<ir->num_dots; i++) {
d = WMIN(1.0f - fabsf(dots[i].x), HEIGHT - fabsf(dots[i].y));
if(d < best) {
best = d;
closest = i;
}
}
WIIUSE_DEBUG("IR: best dot: %d\n",closest);
// now try it as both places in the sensor bar
// and pick the one that places the other dot furthest off-screen
for(i=0; i<2; i++) {
sbx[i].acc_dots[i] = acc_dots[closest];
sbx[i].acc_dots[i^1].x = ir->sensorbar.acc_dots[i^1].x - ir->sensorbar.acc_dots[i].x + acc_dots[closest].x;
sbx[i].acc_dots[i^1].y = ir->sensorbar.acc_dots[i^1].y - ir->sensorbar.acc_dots[i].y + acc_dots[closest].y;
rotate_dots(sbx[i].acc_dots, sbx[i].dots, 2, -orient->roll);
dx[i] = WMAX(fabsf(sbx[i].dots[i^1].x),fabsf(sbx[i].dots[i^1].y / HEIGHT));
}
if(dx[0] > dx[1]) {
WIIUSE_DEBUG("IR: dot is LEFT: %.02f > %.02f\n",dx[0],dx[1]);
sb = sbx[0];
} else {
WIIUSE_DEBUG("IR: dot is RIGHT: %.02f < %.02f\n",dx[0],dx[1]);
sb = sbx[1];
}
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: found new dot to track\n");
break;
}
sb.score = 0;
ir->state = IR_STATE_SINGLE;
} else {
int bestidx = 0;
float best = 0.0f;
WIIUSE_DEBUG("IR: finding best candidate\n");
// look for the best candidate
// for now, the formula is simple: pick the one with the smallest distance
for(i=0; i<num_candidates; i++) {
if(candidates[i].score > best) {
bestidx = i;
best = candidates[i].score;
}
}
WIIUSE_DEBUG("IR: best candidate: %d\n",bestidx);
sb = candidates[bestidx];
ir->state = IR_STATE_GOOD;
}
ir->raw_valid = 1;
ir->ax = ((sb.rot_dots[0].x + sb.rot_dots[1].x) / 2) * 512.0 + 512.0;
ir->ay = ((sb.rot_dots[0].y + sb.rot_dots[1].y) / 2) * 512.0 + 384.0;
ir->sensorbar = sb;
ir->distance = (sb.rot_dots[1].x - sb.rot_dots[0].x) * 512.0;
}
#define SMOOTH_IR_RADIUS 8.0f
#define SMOOTH_IR_SPEED 0.25f
#define SMOOTH_IR_DEADZONE 2.5f
/**
* @brief Smooth the IR pointer position
*
* @param ir Pointer to an ir_t structure.
*/
void apply_ir_smoothing(struct ir_t *ir) {
f32 dx, dy, d, theta;
WIIUSE_DEBUG("Smooth: OK (%.02f, %.02f) LAST (%.02f, %.02f) ", ir->ax, ir->ay, ir->sx, ir->sy);
dx = ir->ax - ir->sx;
dy = ir->ay - ir->sy;
d = sqrtf(dx*dx + dy*dy);
if (d > SMOOTH_IR_DEADZONE) {
if (d < SMOOTH_IR_RADIUS) {
WIIUSE_DEBUG("INSIDE\n");
ir->sx += dx * SMOOTH_IR_SPEED;
ir->sy += dy * SMOOTH_IR_SPEED;
} else {
WIIUSE_DEBUG("OUTSIDE\n");
theta = atan2f(dy, dx);
ir->sx = ir->ax - cosf(theta) * SMOOTH_IR_RADIUS;
ir->sy = ir->ay - sinf(theta) * SMOOTH_IR_RADIUS;
}
} else {
WIIUSE_DEBUG("DEADZONE\n");
}
}
// max number of errors before cooked data drops out
#define ERROR_MAX_COUNT 8
// max number of glitches before cooked data updates
#define GLITCH_MAX_COUNT 5
// squared delta over which we consider something a glitch
#define GLITCH_DIST (150.0f * 150.0f)
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param ir Pointer to an ir_t structure.
* @param orient Pointer to an orient_t structure.
*/
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient) {
float x,y;
float d;
find_sensorbar(ir, orient);
if(ir->raw_valid) {
ir->angle = ir->sensorbar.angle;
ir->z = SB_Z_COEFFICIENT / ir->distance;
orient->yaw = calc_yaw(ir);
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->sx = ir->ax;
ir->sy = ir->ay;
ir->glitch_cnt = 0;
} else {
d = SQUARED(ir->ax - ir->sx) + SQUARED(ir->ay - ir->sy);
if(d > GLITCH_DIST) {
if(ir->glitch_cnt > GLITCH_MAX_COUNT) {
apply_ir_smoothing(ir);
ir->glitch_cnt = 0;
} else {
ir->glitch_cnt++;
}
} else {
ir->glitch_cnt = 0;
apply_ir_smoothing(ir);
}
}
ir->smooth_valid = 1;
ir->error_cnt = 0;
} else {
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->smooth_valid = 0;
} else {
ir->smooth_valid = 1;
ir->error_cnt++;
}
}
if(ir->smooth_valid) {
x = ir->sx;
y = ir->sy;
if (ir_correct_for_bounds(&x, &y, ir->aspect, ir->offset[0], ir->offset[1])) {
ir_convert_to_vres(&x, &y, ir->aspect, ir->vres[0], ir->vres[1]);
ir->x = x;
ir->y = y;
ir->valid = 1;
} else {
ir->valid = 0;
}
} else {
ir->valid = 0;
}
}
/**
* @brief Calculate yaw given the IR data.
*
* @param ir IR data structure.
*/
float calc_yaw(struct ir_t* ir) {
float x;
x = ir->ax - 512;
x *= WIIMOTE_FOV_COEFFICIENT / 512.0;
return RAD_TO_DEGREE( atanf(x) );
}
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