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Merge pull request #2861 from wwylele/motion-refactor

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Refactor MotionEmu into a InputDevice
This commit is contained in:
James Rowe 2017-08-19 23:43:01 -06:00 • committed by GitHub
commit bbfa9d0635
20 changed files with 302 additions and 277 deletions
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2
src/core/CMakeLists.txt
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@ -33,7 +33,6 @@ set(SRCS
frontend/camera/interface.cpp
frontend/emu_window.cpp
frontend/framebuffer_layout.cpp
frontend/motion_emu.cpp
gdbstub/gdbstub.cpp
hle/config_mem.cpp
hle/applets/applet.cpp
@ -226,7 +225,6 @@ set(HEADERS
frontend/emu_window.h
frontend/framebuffer_layout.h
frontend/input.h
frontend/motion_emu.h
gdbstub/gdbstub.h
hle/config_mem.h
hle/function_wrappers.h

23
src/core/frontend/emu_window.cpp
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@ -62,29 +62,6 @@ void EmuWindow::TouchMoved(unsigned framebuffer_x, unsigned framebuffer_y) {
TouchPressed(framebuffer_x, framebuffer_y);
}
void EmuWindow::AccelerometerChanged(float x, float y, float z) {
constexpr float coef = 512;
std::lock_guard<std::mutex> lock(accel_mutex);
// TODO(wwylele): do a time stretch as it in GyroscopeChanged
// The time stretch formula should be like
// stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity
accel_x = static_cast<s16>(x * coef);
accel_y = static_cast<s16>(y * coef);
accel_z = static_cast<s16>(z * coef);
}
void EmuWindow::GyroscopeChanged(float x, float y, float z) {
constexpr float FULL_FPS = 60;
float coef = GetGyroscopeRawToDpsCoefficient();
float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale();
std::lock_guard<std::mutex> lock(gyro_mutex);
gyro_x = static_cast<s16>(x * coef * stretch);
gyro_y = static_cast<s16>(y * coef * stretch);
gyro_z = static_cast<s16>(z * coef * stretch);
}
void EmuWindow::UpdateCurrentFramebufferLayout(unsigned width, unsigned height) {
Layout::FramebufferLayout layout;
if (Settings::values.custom_layout == true) {

83
src/core/frontend/emu_window.h
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@ -68,27 +68,6 @@ public:
*/
void TouchMoved(unsigned framebuffer_x, unsigned framebuffer_y);
/**
* Signal accelerometer state has changed.
* @param x X-axis accelerometer value
* @param y Y-axis accelerometer value
* @param z Z-axis accelerometer value
* @note all values are in unit of g (gravitational acceleration).
* e.g. x = 1.0 means 9.8m/s^2 in x direction.
* @see GetAccelerometerState for axis explanation.
*/
void AccelerometerChanged(float x, float y, float z);
/**
* Signal gyroscope state has changed.
* @param x X-axis accelerometer value
* @param y Y-axis accelerometer value
* @param z Z-axis accelerometer value
* @note all values are in deg/sec.
* @see GetGyroscopeState for axis explanation.
*/
void GyroscopeChanged(float x, float y, float z);
/**
* Gets the current touch screen state (touch X/Y coordinates and whether or not it is pressed).
* @note This should be called by the core emu thread to get a state set by the window thread.
@ -100,52 +79,6 @@ public:
return std::make_tuple(touch_x, touch_y, touch_pressed);
}
/**
* Gets the current accelerometer state (acceleration along each three axis).
* Axis explained:
* +x is the same direction as LEFT on D-pad.
* +y is normal to the touch screen, pointing outward.
* +z is the same direction as UP on D-pad.
* Units:
* 1 unit of return value = 1/512 g (measured by hw test),
* where g is the gravitational acceleration (9.8 m/sec2).
* @note This should be called by the core emu thread to get a state set by the window thread.
* @return std::tuple of (x, y, z)
*/
std::tuple<s16, s16, s16> GetAccelerometerState() {
std::lock_guard<std::mutex> lock(accel_mutex);
return std::make_tuple(accel_x, accel_y, accel_z);
}
/**
* Gets the current gyroscope state (angular rates about each three axis).
* Axis explained:
* +x is the same direction as LEFT on D-pad.
* +y is normal to the touch screen, pointing outward.
* +z is the same direction as UP on D-pad.
* Orientation is determined by right-hand rule.
* Units:
* 1 unit of return value = (1/coef) deg/sec,
* where coef is the return value of GetGyroscopeRawToDpsCoefficient().
* @note This should be called by the core emu thread to get a state set by the window thread.
* @return std::tuple of (x, y, z)
*/
std::tuple<s16, s16, s16> GetGyroscopeState() {
std::lock_guard<std::mutex> lock(gyro_mutex);
return std::make_tuple(gyro_x, gyro_y, gyro_z);
}
/**
* Gets the coefficient for units conversion of gyroscope state.
* The conversion formula is r = coefficient * v,
* where v is angular rate in deg/sec,
* and r is the gyroscope state.
* @return float-type coefficient
*/
f32 GetGyroscopeRawToDpsCoefficient() const {
return 14.375f; // taken from hw test, and gyroscope's document
}
/**
* Returns currently active configuration.
* @note Accesses to the returned object need not be consistent because it may be modified in
@ -187,12 +120,6 @@ protected:
touch_x = 0;
touch_y = 0;
touch_pressed = false;
accel_x = 0;
accel_y = -512;
accel_z = 0;
gyro_x = 0;
gyro_y = 0;
gyro_z = 0;
}
virtual ~EmuWindow() {}
@ -255,16 +182,6 @@ private:
u16 touch_x; ///< Touchpad X-position in native 3DS pixel coordinates (0-320)
u16 touch_y; ///< Touchpad Y-position in native 3DS pixel coordinates (0-240)
std::mutex accel_mutex;
s16 accel_x; ///< Accelerometer X-axis value in native 3DS units
s16 accel_y; ///< Accelerometer Y-axis value in native 3DS units
s16 accel_z; ///< Accelerometer Z-axis value in native 3DS units
std::mutex gyro_mutex;
s16 gyro_x; ///< Gyroscope X-axis value in native 3DS units
s16 gyro_y; ///< Gyroscope Y-axis value in native 3DS units
s16 gyro_z; ///< Gyroscope Z-axis value in native 3DS units
/**
* Clip the provided coordinates to be inside the touchscreen area.
*/

19
src/core/frontend/input.h
View file

@ -11,6 +11,7 @@
#include <utility>
#include "common/logging/log.h"
#include "common/param_package.h"
#include "common/vector_math.h"
namespace Input {
@ -107,4 +108,22 @@ using ButtonDevice = InputDevice<bool>;
*/
using AnalogDevice = InputDevice<std::tuple<float, float>>;
/**
* A motion device is an input device that returns a tuple of accelerometer state vector and
* gyroscope state vector.
*
* For both vectors:
* x+ is the same direction as LEFT on D-pad.
* y+ is normal to the touch screen, pointing outward.
* z+ is the same direction as UP on D-pad.
*
* For accelerometer state vector
* Units: g (gravitational acceleration)
*
* For gyroscope state vector:
* Orientation is determined by right-hand rule.
* Units: deg/sec
*/
using MotionDevice = InputDevice<std::tuple<Math::Vec3<float>, Math::Vec3<float>>>;
} // namespace Input

89
src/core/frontend/motion_emu.cpp
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@ -1,89 +0,0 @@
// Copyright 2016 Citra Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included.
#include "common/math_util.h"
#include "common/quaternion.h"
#include "core/frontend/emu_window.h"
#include "core/frontend/motion_emu.h"
namespace Motion {
static constexpr int update_millisecond = 100;
static constexpr auto update_duration =
std::chrono::duration_cast<std::chrono::steady_clock::duration>(
std::chrono::milliseconds(update_millisecond));
MotionEmu::MotionEmu(EmuWindow& emu_window)
: motion_emu_thread(&MotionEmu::MotionEmuThread, this, std::ref(emu_window)) {}
MotionEmu::~MotionEmu() {
if (motion_emu_thread.joinable()) {
shutdown_event.Set();
motion_emu_thread.join();
}
}
void MotionEmu::MotionEmuThread(EmuWindow& emu_window) {
auto update_time = std::chrono::steady_clock::now();
Math::Quaternion<float> q = MakeQuaternion(Math::Vec3<float>(), 0);
Math::Quaternion<float> old_q;
while (!shutdown_event.WaitUntil(update_time)) {
update_time += update_duration;
old_q = q;
{
std::lock_guard<std::mutex> guard(tilt_mutex);
// Find the quaternion describing current 3DS tilting
q = MakeQuaternion(Math::MakeVec(-tilt_direction.y, 0.0f, tilt_direction.x),
tilt_angle);
}
auto inv_q = q.Inverse();
// Set the gravity vector in world space
auto gravity = Math::MakeVec(0.0f, -1.0f, 0.0f);
// Find the angular rate vector in world space
auto angular_rate = ((q - old_q) * inv_q).xyz * 2;
angular_rate *= 1000 / update_millisecond / MathUtil::PI * 180;
// Transform the two vectors from world space to 3DS space
gravity = QuaternionRotate(inv_q, gravity);
angular_rate = QuaternionRotate(inv_q, angular_rate);
// Update the sensor state
emu_window.AccelerometerChanged(gravity.x, gravity.y, gravity.z);
emu_window.GyroscopeChanged(angular_rate.x, angular_rate.y, angular_rate.z);
}
}
void MotionEmu::BeginTilt(int x, int y) {
mouse_origin = Math::MakeVec(x, y);
is_tilting = true;
}
void MotionEmu::Tilt(int x, int y) {
constexpr float SENSITIVITY = 0.01f;
auto mouse_move = Math::MakeVec(x, y) - mouse_origin;
if (is_tilting) {
std::lock_guard<std::mutex> guard(tilt_mutex);
if (mouse_move.x == 0 && mouse_move.y == 0) {
tilt_angle = 0;
} else {
tilt_direction = mouse_move.Cast<float>();
tilt_angle = MathUtil::Clamp(tilt_direction.Normalize() * SENSITIVITY, 0.0f,
MathUtil::PI * 0.5f);
}
}
}
void MotionEmu::EndTilt() {
std::lock_guard<std::mutex> guard(tilt_mutex);
tilt_angle = 0;
is_tilting = false;
}
} // namespace Motion

52
src/core/frontend/motion_emu.h
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@ -1,52 +0,0 @@
// Copyright 2016 Citra Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included.
#pragma once
#include "common/thread.h"
#include "common/vector_math.h"
class EmuWindow;
namespace Motion {
class MotionEmu final {
public:
MotionEmu(EmuWindow& emu_window);
~MotionEmu();
/**
* Signals that a motion sensor tilt has begun.
* @param x the x-coordinate of the cursor
* @param y the y-coordinate of the cursor
*/
void BeginTilt(int x, int y);
/**
* Signals that a motion sensor tilt is occurring.
* @param x the x-coordinate of the cursor
* @param y the y-coordinate of the cursor
*/
void Tilt(int x, int y);
/**
* Signals that a motion sensor tilt has ended.
*/
void EndTilt();
private:
Math::Vec2<int> mouse_origin;
std::mutex tilt_mutex;
Math::Vec2<float> tilt_direction;
float tilt_angle = 0;
bool is_tilting = false;
Common::Event shutdown_event;
std::thread motion_emu_thread;
void MotionEmuThread(EmuWindow& emu_window);
};
} // namespace Motion

32
src/core/hle/service/hid/hid.cpp
View file

@ -7,6 +7,7 @@
#include <cmath>
#include <memory>
#include "common/logging/log.h"
#include "core/core.h"
#include "core/core_timing.h"
#include "core/frontend/emu_window.h"
#include "core/frontend/input.h"
@ -50,10 +51,14 @@ constexpr u64 pad_update_ticks = BASE_CLOCK_RATE_ARM11 / 234;
constexpr u64 accelerometer_update_ticks = BASE_CLOCK_RATE_ARM11 / 104;
constexpr u64 gyroscope_update_ticks = BASE_CLOCK_RATE_ARM11 / 101;
constexpr float accelerometer_coef = 512.0f; // measured from hw test result
constexpr float gyroscope_coef = 14.375f; // got from hwtest GetGyroscopeLowRawToDpsCoefficient call
static std::atomic<bool> is_device_reload_pending;
static std::array<std::unique_ptr<Input::ButtonDevice>, Settings::NativeButton::NUM_BUTTONS_HID>
buttons;
static std::unique_ptr<Input::AnalogDevice> circle_pad;
static std::unique_ptr<Input::MotionDevice> motion_device;
DirectionState GetStickDirectionState(s16 circle_pad_x, s16 circle_pad_y) {
// 30 degree and 60 degree are angular thresholds for directions
@ -90,6 +95,7 @@ static void LoadInputDevices() {
buttons.begin(), Input::CreateDevice<Input::ButtonDevice>);
circle_pad = Input::CreateDevice<Input::AnalogDevice>(
Settings::values.analogs[Settings::NativeAnalog::CirclePad]);
motion_device = Input::CreateDevice<Input::MotionDevice>(Settings::values.motion_device);
}
static void UnloadInputDevices() {
@ -97,6 +103,7 @@ static void UnloadInputDevices() {
button.reset();
}
circle_pad.reset();
motion_device.reset();
}
static void UpdatePadCallback(u64 userdata, int cycles_late) {
@ -193,10 +200,19 @@ static void UpdateAccelerometerCallback(u64 userdata, int cycles_late) {
mem->accelerometer.index = next_accelerometer_index;
next_accelerometer_index = (next_accelerometer_index + 1) % mem->accelerometer.entries.size();
Math::Vec3<float> accel;
std::tie(accel, std::ignore) = motion_device->GetStatus();
accel *= accelerometer_coef;
// TODO(wwylele): do a time stretch like the one in UpdateGyroscopeCallback
// The time stretch formula should be like
// stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity
AccelerometerDataEntry& accelerometer_entry =
mem->accelerometer.entries[mem->accelerometer.index];
std::tie(accelerometer_entry.x, accelerometer_entry.y, accelerometer_entry.z) =
VideoCore::g_emu_window->GetAccelerometerState();
accelerometer_entry.x = static_cast<s16>(accel.x);
accelerometer_entry.y = static_cast<s16>(accel.y);
accelerometer_entry.z = static_cast<s16>(accel.z);
// Make up "raw" entry
// TODO(wwylele):
@ -227,8 +243,14 @@ static void UpdateGyroscopeCallback(u64 userdata, int cycles_late) {
next_gyroscope_index = (next_gyroscope_index + 1) % mem->gyroscope.entries.size();
GyroscopeDataEntry& gyroscope_entry = mem->gyroscope.entries[mem->gyroscope.index];
std::tie(gyroscope_entry.x, gyroscope_entry.y, gyroscope_entry.z) =
VideoCore::g_emu_window->GetGyroscopeState();
Math::Vec3<float> gyro;
std::tie(std::ignore, gyro) = motion_device->GetStatus();
double stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale();
gyro *= gyroscope_coef * stretch;
gyroscope_entry.x = static_cast<s16>(gyro.x);
gyroscope_entry.y = static_cast<s16>(gyro.y);
gyroscope_entry.z = static_cast<s16>(gyro.z);
// Make up "raw" entry
mem->gyroscope.raw_entry.x = gyroscope_entry.x;
@ -326,7 +348,7 @@ void GetGyroscopeLowRawToDpsCoefficient(Service::Interface* self) {
cmd_buff[1] = RESULT_SUCCESS.raw;
f32 coef = VideoCore::g_emu_window->GetGyroscopeRawToDpsCoefficient();
f32 coef = gyroscope_coef;
memcpy(&cmd_buff[2], &coef, 4);
}

1
src/core/settings.h
View file

@ -79,6 +79,7 @@ struct Values {
// Controls
std::array<std::string, NativeButton::NumButtons> buttons;
std::array<std::string, NativeAnalog::NumAnalogs> analogs;
std::string motion_device;
// Core
bool use_cpu_jit;