Java bindings work

14 files changed, 1632 insertions, 0 deletions

diff --git a/Bindings/Java/pom.xml b/Bindings/Java/pom.xml
new file mode 100644
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--- /dev/null
+++ b/Bindings/Java/pom.xml
@@ -0,0 +1,57 @@
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>com.oculusvr</groupId>
+  <artifactId>jocular</artifactId>
+  <version>0.0.1-SNAPSHOT</version>
+  <build>
+    <plugins>
+      <plugin>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>2.3.2</version>
+        <configuration>
+          <source>1.7</source>
+          <target>1.7</target>
+        </configuration>
+      </plugin>
+    </plugins>
+  </build>
+  <properties>
+    <slf4j.version>1.7.5</slf4j.version>
+  </properties>
+  <dependencies>
+    <dependency>
+      <groupId>org.saintandreas</groupId>
+      <artifactId>math</artifactId>
+      <version>0.0.1-SNAPSHOT</version>
+    </dependency>
+      <dependency>
+      <groupId>com.google.guava</groupId>
+      <artifactId>guava</artifactId>
+      <version>[14, )</version>
+    </dependency>
+    <dependency>
+      <groupId>com.codeminders</groupId>
+      <artifactId>hidapi</artifactId>
+      <version>1.1</version>
+    </dependency>
+    <dependency>
+      <groupId>org.slf4j</groupId>
+      <artifactId>slf4j-api</artifactId>
+      <version>${slf4j.version}</version>
+    </dependency>
+    <!-- Test dependencies -->
+    <dependency>
+      <groupId>org.slf4j</groupId>
+      <artifactId>slf4j-log4j12</artifactId>
+      <version>${slf4j.version}</version>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.codehaus.jackson</groupId>
+      <artifactId>jackson-mapper-asl</artifactId>
+      <version>[1.9, )</version>
+      <scope>test</scope>
+    </dependency>
+    </dependencies>
+</project>
\ No newline at end of file
diff --git a/Bindings/Java/src/main/java/com/oculusvr/input/hid/HidFeatureReport.java b/Bindings/Java/src/main/java/com/oculusvr/input/hid/HidFeatureReport.java
new file mode 100644
index 0000000..86bb67a
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/input/hid/HidFeatureReport.java
@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2013 Bradley Austin Davis <[email protected]>. All rights
+ * reserved.
+ * 
+ * Redistribution and use in source and binary forms are permitted provided that
+ * the above copyright notice and this paragraph are duplicated in all such
+ * forms and that any documentation, advertising materials, and other materials
+ * related to such distribution and use acknowledge that the software was
+ * developed by the <organization>. The name of the <organization> may not be
+ * used to endorse or promote products derived from this software without
+ * specific prior written permission. THIS SOFTWARE IS PROVIDED ``AS IS'' AND
+ * WITHOUT ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+package com.oculusvr.input.hid;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+import com.codeminders.hidapi.HIDDevice;
+
+/**
+ * Encapsulate a feature report from HID. Derived classes must know their size
+ * and feature ID as well as how to serialize to and from a bytebuffer
+ * 
+ */
+public abstract class HidFeatureReport {
+    public final byte featureId;
+    public final int  size;
+
+    public HidFeatureReport(byte featureId, int size) {
+        this.featureId = featureId;
+        this.size = size;
+    }
+
+    public HidFeatureReport(byte featureId, int size, HIDDevice device) throws IOException {
+        this.featureId = featureId;
+        this.size = size;
+        read(device);
+    }
+
+    public final byte getFeatureId() {
+        return featureId;
+    }
+
+    public final int getSize() {
+        return size;
+    }
+
+    private ByteBuffer allocate() {
+        ByteBuffer result = ByteBuffer.allocate(getSize()).order(ByteOrder.LITTLE_ENDIAN);
+        result.put(getFeatureId());
+        return result;
+    }
+
+    protected abstract void parse(ByteBuffer buffer);
+
+    protected abstract void pack(ByteBuffer buffer);
+
+    public void read(HIDDevice device) throws IOException {
+        ByteBuffer buffer = allocate();
+        device.getFeatureReport(buffer.array());
+        buffer.position(0);
+        if (this.featureId != buffer.get()) {
+            throw new IllegalStateException();
+        }
+        parse(buffer);
+    }
+
+    public void write(HIDDevice device) throws IOException {
+        ByteBuffer buffer = allocate();
+        pack(buffer);
+        device.sendFeatureReport(buffer.array());
+    }
+}
\ No newline at end of file
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/RiftTracker.java b/Bindings/Java/src/main/java/com/oculusvr/rift/RiftTracker.java
new file mode 100644
index 0000000..d8edb97
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/RiftTracker.java
@@ -0,0 +1,147 @@
+package com.oculusvr.rift;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.codeminders.hidapi.HIDDeviceInfo;
+import com.codeminders.hidapi.HIDManager;
+import com.google.common.base.Predicate;
+import com.oculusvr.rift.hid.DisplayInfo;
+import com.oculusvr.rift.hid.KeepAlive;
+import com.oculusvr.rift.hid.SensorConfig;
+import com.oculusvr.rift.hid.SensorRange;
+import com.oculusvr.rift.tracker.TrackerMessage;
+
+public final class RiftTracker implements Runnable {
+
+    public static final int           SENSOR_VENDOR_ID    = 0x2833;
+    public static final int           SENSOR_PRODUCT_ID   = 0x0001;
+    private static final short        KEEP_ALIVE_TIME     = 10 * 1000;
+    private static final short        KEEP_ALIVE_INTERVAL = 3 * 1000;
+
+    // The device provided by the hidapi library
+    private final HIDDevice           device;
+    private final Thread              listener;
+    private final ByteBuffer          buffer              = ByteBuffer.allocate(62).order(ByteOrder.nativeOrder());
+    private volatile boolean          shutdown            = false;
+    private Predicate<TrackerMessage> callback            = null;
+
+    private RiftTracker(HIDDevice device) {
+        this.device = device;
+        this.listener = new Thread(this);
+    }
+
+    public void start(Predicate<TrackerMessage> callback) {
+        this.callback = callback;
+        this.listener.start();
+    }
+
+    public synchronized void stop() {
+        if (listener.isAlive()) {
+            shutdown = true;
+            try {
+                listener.join();
+            } catch (InterruptedException e) {
+                throw new IllegalStateException(e);
+            }
+            try {
+                device.close();
+            } catch (IOException e1) {
+            }
+        }
+    }
+
+    @Override
+    public void run() {
+        long nextKeepAlive = 0;
+        int bytesRead = 0;
+        try {
+            device.enableBlocking();
+            while (!shutdown) {
+                if (System.currentTimeMillis() > nextKeepAlive) {
+                    setKeepAliveMilliSeconds(KEEP_ALIVE_TIME);
+                    nextKeepAlive = System.currentTimeMillis() + KEEP_ALIVE_INTERVAL;
+                }
+                int timeout = (int) Math.max(System.currentTimeMillis() - nextKeepAlive, 100);
+                bytesRead = device.readTimeout(buffer.array(), timeout);
+                if (0 == bytesRead) {
+                    continue;
+                }
+                buffer.position(0);
+                callback.apply(new TrackerMessage(buffer));
+            }
+        } catch (IOException e) {
+            throw new IllegalStateException(e);
+        }
+    }
+
+    public DisplayInfo getDisplayInfo() throws IOException {
+        DisplayInfo result = new DisplayInfo(device);
+        return result;
+    }
+
+    public SensorRange getSensorRange() throws IOException {
+        return new SensorRange(device);
+    }
+
+    public SensorConfig getSensorConfig() throws IOException {
+        return new SensorConfig(device);
+    }
+
+    public void setSensorConfig(SensorConfig sc) throws IOException {
+        sc.write(device);
+    }
+
+    public KeepAlive getKeepAlive() throws IOException {
+        return new KeepAlive(device);
+    }
+
+    public void setKeepAlive(KeepAlive ka) throws IOException {
+        ka.write(device);
+    }
+
+    public void setKeepAliveMilliSeconds(short milliseconds) throws IOException {
+        this.setKeepAlive(new KeepAlive(milliseconds));
+    }
+
+    private static HIDDevice loadDevice() throws IOException {
+        com.codeminders.hidapi.ClassPathLibraryLoader.loadNativeHIDLibrary();
+        HIDManager mgr = HIDManager.getInstance();
+
+        HIDDeviceInfo[] devs = mgr.listDevices();
+        for (HIDDeviceInfo d : devs)
+        {
+            if (d.getVendor_id() == SENSOR_VENDOR_ID && d.getProduct_id() == SENSOR_PRODUCT_ID)
+                return d.open();
+        }
+
+        return mgr.openById(SENSOR_VENDOR_ID, SENSOR_PRODUCT_ID, null);
+    }
+
+    private static RiftTracker INSTANCE = null;
+
+    public synchronized static RiftTracker getInstance() throws IOException {
+        if (null == INSTANCE) {
+            INSTANCE = new RiftTracker(loadDevice());
+        }
+        return INSTANCE;
+    }
+
+    public static synchronized void startListening(Predicate<TrackerMessage> callback) throws IOException {
+        getInstance().start(callback);
+    }
+
+    public static synchronized void stopListening() {
+        if (null == INSTANCE) {
+            return;
+        }
+
+        try {
+            INSTANCE.stop();
+        } finally {
+            INSTANCE = null;
+        }
+    }
+}
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFilter.java b/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFilter.java
new file mode 100644
index 0000000..9c6227f
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFilter.java
@@ -0,0 +1,53 @@
+package com.oculusvr.rift.fusion;
+
+import org.saintandreas.math.Vector3f;
+
+
+public class SensorFilter {
+  private final Vector3f[] queue;
+  private int head = 0;
+  private int size = 0;
+
+  SensorFilter(int i) {
+    queue = new Vector3f[i];
+  };
+
+  // Create a new element to the filter
+  public void AddElement(Vector3f e) {
+    queue[head++] = e;
+    head %= queue.length;
+    if (size < queue.length) {
+      ++size;
+    }
+  };
+
+  public Vector3f Total() {
+    Vector3f total = Vector3f.ZERO;
+    for (Vector3f v : queue) {
+      if (v == null) {
+        break;
+      }
+      total = total.add(v);
+    }
+    return total;
+  }
+
+  public Vector3f Mean() {
+    return Total().mult(1f / (float) size);
+  }
+
+  public Vector3f GetPrev(int i) {
+    int index = head - (i + 1);
+    if (index < 0) {
+      index += queue.length;
+    }
+    return queue[i];
+  }
+
+  Vector3f SavitzkyGolaySmooth8() {
+    return GetPrev(0).mult(0.41667f).add(GetPrev(1).mult(0.33333f))
+        .add(GetPrev(2).mult(0.25f)).add(GetPrev(3).mult(0.1667f))
+        .add(GetPrev(4).mult(0.08333f)).subtract(GetPrev(6).mult(0.08333f))
+        .subtract(GetPrev(7).mult(0.1667f));
+  }
+}
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFusion.java b/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFusion.java
new file mode 100644
index 0000000..96c31f5
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/fusion/SensorFusion.java
@@ -0,0 +1,894 @@
+package com.oculusvr.rift.fusion;
+
+import org.saintandreas.math.Matrix4f;
+import org.saintandreas.math.Quaternion;
+import org.saintandreas.math.Vector3f;
+
+import com.google.common.base.Predicate;
+import com.oculusvr.rift.tracker.TrackerMessage;
+import com.oculusvr.rift.tracker.TrackerSample;
+import com.oculusvr.rift.tracker.TrackerVector;
+
+// -------------------------------------------------------------------------------------
+// ***** SensorFusion
+
+// SensorFusion class accumulates Sensor notification messages to keep track of
+// orientation, which involves integrating the gyro and doing correction with
+// gravity.
+//
+// Magnetometer based yaw drift correction is also supported; it is usually
+// enabled automatically based on loaded magnetometer configuration.
+//
+// Orientation is reported as a quaternion, from which users can obtain either
+// the rotation matrix or Euler angles.
+//
+// The class can operate in two ways:
+// - By user manually passing MessageBodyFrame messages to the OnMessage()
+// function.
+// - By attaching SensorFusion to a SensorDevice, in which case it will
+// automatically handle notifications from that device.
+
+@SuppressWarnings("unused")
+public class SensorFusion {
+  private boolean yawCorrectionEnabled = false;
+  private boolean motionTrackingEnabled = true;
+  private boolean gravityEnabled = true;
+  private boolean predictionEnabled = true;
+
+  private Quaternion Q = new Quaternion();
+  private Quaternion QUncorrected = new Quaternion();
+
+  private Vector3f RawAccel = new Vector3f();
+  private Vector3f AngV = new Vector3f();
+  private float AngVL = 0;
+  private Vector3f CalMag = new Vector3f();
+  private Vector3f RawMag = new Vector3f();
+
+  private int Stage = 0;
+  private float RunningTime = 0;
+  private float DeltaT = 0.001f;
+  private float Gain = 0.05f;
+  private float YawMult = 1.0f;
+  private float PredictionDT = 0.03f;
+
+  private final SensorFilter FRawMag = new SensorFilter(10);
+  private final SensorFilter FAccW = new SensorFilter(20);
+  private final SensorFilter FAngV = new SensorFilter(20);
+
+  private int TiltCondCount = 0;
+  private float TiltErrorAngle = 0;
+  private Vector3f TiltErrorAxis = new Vector3f(0, 1, 0);
+
+  // Obtain the current accumulated orientation. Many apps will want to use
+  // GetPredictedOrientation instead to reduce latency.
+  public synchronized Quaternion getOrientation() {
+    return Q;
+  }
+
+  public Quaternion getPredictedOrientation() {
+    return getPredictedOrientation(PredictionDT);
+  }
+
+  // Obtain the last absolute acceleration reading, in m/s^2.
+  public Vector3f getAcceleration() {
+    return RawAccel;
+  }
+
+  // Obtain the last angular velocity reading, in rad/s.
+  public Vector3f getAngularVelocity() {
+    return AngV;
+  }
+
+  // Obtain the last raw magnetometer reading, in Gauss
+  public Vector3f getMagnetometer() {
+    return RawMag;
+  }
+
+  // Obtain the calibrated magnetometer reading (direction and field strength)
+  public Vector3f getCalibratedMagnetometer() {
+    return CalMag;
+  }
+
+  // Resets the current orientation.
+  public void setMotionTrackingEnabled(boolean enable) {
+    motionTrackingEnabled = enable;
+  }
+
+  public boolean isMotionTrackingEnabled() {
+    return motionTrackingEnabled;
+  }
+
+  // Multiplier for yaw rotation (turning); setting this higher than 1 (the
+  // default) can allow the game
+  // to be played without auxillary rotation controls, possibly making it more
+  // immersive.
+  // Whether this is more or less likely to cause motion sickness is unknown.
+  public float GetYawMultiplier() {
+    return YawMult;
+  }
+
+  public void SetYawMultiplier(float y) {
+    YawMult = y;
+  }
+
+  // *** Prediction Control
+
+  // Prediction delta specifes how much prediction should be applied in
+  // seconds; it should in general be under the average rendering latency.
+  // Call GetPredictedOrientation() to get predicted orientation.
+  public float GetPredictionDelta() {
+    return PredictionDT;
+  }
+
+  public void SetPrediction(float dt) {
+    PredictionDT = dt;
+    predictionEnabled = true;
+  }
+
+  public void SetPredictionEnabled(boolean enable) {
+    predictionEnabled = enable;
+  }
+
+  public boolean IsPredictionEnabled() {
+    return predictionEnabled;
+  }
+
+  // *** Accelerometer/Gravity Correction Control
+
+  // Enables/disables gravity correction (on by default).
+  public void SetGravityEnabled(boolean enable) {
+    gravityEnabled = enable;
+  }
+
+  public boolean IsGravityEnabled() {
+    return gravityEnabled;
+  }
+
+  // Gain used to correct gyro with accel. Default value is appropriate for
+  // typical use.
+  public float GetAccelGain() {
+    return Gain;
+  }
+
+  public void SetAccelGain(float ag) {
+    Gain = ag;
+  }
+
+  // *** Magnetometer and Yaw Drift Correction Control
+
+  // Methods to load and save a mag calibration. Calibrations can optionally
+  // be specified by name to differentiate multiple calibrations under
+  // different conditions
+  // If LoadMagCalibration succeeds, it will override YawCorrectionEnabled
+  // based on
+  // saved calibration setting.
+  public boolean SaveMagCalibration(String file) {
+    return false;
+  }
+
+  public boolean LoadMagCalibration(String file) {
+    return false;
+  }
+
+  // Enables/disables magnetometer based yaw drift correction. Must also have
+  // mag calibration data for this correction to work. void
+  public void SetYawCorrectionEnabled(boolean enable) {
+    yawCorrectionEnabled = enable;
+  }
+
+  // Determines if yaw correction is enabled.
+  public boolean IsYawCorrectionEnabled() {
+    return yawCorrectionEnabled;
+  }
+
+  // -------------------------------------------------------------------------------------
+  // ***** Sensor Fusion
+
+  // Resets the current orientation
+  public synchronized void Reset() {
+    QUncorrected = Q = Quaternion.IDENTITY;
+    Stage = 0;
+    RunningTime = 0;
+    // MagNumReferences = 0;
+    // MagHasNearbyReference = false;
+  }
+
+  // Sensor reports data in the following coordinate system:
+  // Accelerometer: 10^-4 m/s^2; X forward, Y right, Z Down.
+  // Gyro: 10^-4 rad/s; X positive roll right, Y positive pitch up; Z positive
+  // yaw right.
+  void AccelFromBodyFrameUpdate(TrackerVector in) {
+    RawAccel = new Vector3f(in.x, in.y, in.z).mult(0.0001f);
+  }
+
+  void MagFromBodyFrameUpdate(TrackerVector in) {
+    RawMag = new Vector3f(in.x, in.y, in.z).mult(0.0001f);
+  }
+
+  void EulerFromBodyFrameUpdate(TrackerVector in) {
+    AngV = new Vector3f(in.x, in.y, in.z).mult(0.0001f);
+    AngVL = AngV.length();
+  }
+
+  class FusionHandler implements Predicate<TrackerMessage> {
+    private long LastTimestamp = -1;
+    private int LastSampleCount = -1;
+
+    // private final Vector3f LastMag = new Vector3f();
+    // private final Vector3f LastGyro = new Vector3f();
+    // private final Vector3f LastAccel = new Vector3f();
+
+    @Override
+    public boolean apply(TrackerMessage t) {
+      synchronized (SensorFusion.this) {
+        if (LastTimestamp != -1) {
+          long timestampDelta = t.timestamp - LastTimestamp;
+          if (t.timestamp < LastTimestamp) {
+            timestampDelta += 0x10000;
+          }
+
+          // If we missed a small number of samples, replicate the
+          // last sample.
+          if ((timestampDelta > LastSampleCount) && (timestampDelta <= 254)) {
+            DeltaT = (timestampDelta - t.sampleCount) * 0.001f;
+            processSensorMessage();
+            DeltaT = 0.001f;
+          }
+        }
+
+        LastSampleCount = t.sampleCount;
+        LastTimestamp = t.timestamp;
+        MagFromBodyFrameUpdate(t.mag);
+        // We've exceeded the max number of reportable samples, so
+        for (int i = 0; i < Math.min(t.sampleCount, 3); ++i) {
+          TrackerSample ts = t.samples.get(0);
+          EulerFromBodyFrameUpdate(ts.gyro);
+          AccelFromBodyFrameUpdate(ts.accel);
+          processSensorMessage();
+        }
+      }
+      return true;
+    }
+  }
+
+  public FusionHandler createHandler() {
+    return new FusionHandler();
+  }
+
+  private static final float GRAVITY_EPSILON = 0.4f;
+  // Relatively slow rotation
+  private static final float GYRO_EPSILON = 0.1f;
+  // Required time steps of stability
+  private static final int TILT_PERIOD = 50;
+  private static final float MAX_TILT_ERROR = 0.05f;
+  private static final float MIN_TILT_ERROR = 0.01f;
+
+  public void processSensorMessage() {
+    if (!isMotionTrackingEnabled())
+      return;
+
+    // Apply the calibration parameters to raw mag
+    // if (HasMagCalibration())
+    // {
+    // mag.x += MagCalibrationMatrix.M[0][3];
+    // mag.y += MagCalibrationMatrix.M[1][3];
+    // mag.z += MagCalibrationMatrix.M[2][3];
+    // }
+    // // Provide external access to calibrated mag values
+    // // (if the mag is not calibrated, then the raw value is returned)
+    // CalMag = mag;
+
+    // Keep track of time
+    Stage++;
+    RunningTime += DeltaT;
+
+    // Insert current sensor data into filter history
+    FRawMag.AddElement(RawMag);
+    // Acceleration in the world frame (Q is current HMD orientation)
+    FAccW.AddElement(Q.mult(RawAccel));
+    FAngV.AddElement(AngV);
+
+    // Update orientation Q based on gyro outputs. This technique is
+    // based on direct properties of the angular velocity vector:
+    // Its direction is the current rotation axis, and its magnitude
+    // is the rotation rate (rad/sec) about that axis. Our sensor
+    // sampling rate is so fast that we need not worry about integral
+    // approximation error (not yet, anyway).
+    if (AngVL > 0.0f) {
+      Q = Q.mult(Quaternion.fromAngleAxis(AngVL * DeltaT, AngV.divide(AngVL)));
+    }
+
+    // The quaternion magnitude may slowly drift due to numerical error,
+    // so it is periodically normalized.
+    if (Stage % 5000 == 0) {
+      Q = Q.normalize();
+    }
+
+    // Maintain the uncorrected orientation for later use by predictive
+    // filtering
+    QUncorrected = Q;
+
+    // Perform tilt correction using the accelerometer data. This enables
+    // drift errors in pitch and roll to be corrected. Note that yaw cannot
+    // be corrected because the rotation axis is parallel to the gravity
+    // vector.
+    if (gravityEnabled) {
+      // Correcting for tilt error by using accelerometer data
+      tiltCorrect();
+    } // Tilt correction
+
+    // if (yawCorrectionEnabled) {
+    // yawCorrect();
+    // }
+
+    // Warning: If YawMult != 1, then AngV is not true angular velocity
+    AngV = new Vector3f(AngV.x, AngV.y * YawMult, AngV.z);
+  }
+
+  private static final float MIN_PDT = 0.001f;
+  private static final float SLOPE_PDT = 0.1f;
+
+  private void tiltCorrect() {
+    // This condition estimates whether the only measured acceleration
+    // is due to gravity
+    // (the Rift is not linearly accelerating). It is often wrong, but
+    // tends to average
+    // out well over time.
+    float accLength = RawAccel.length();
+    if ((Math.abs(accLength - 9.81f) < GRAVITY_EPSILON)
+        && (AngVL < GYRO_EPSILON))
+      TiltCondCount++;
+    else
+      TiltCondCount = 0;
+
+    // After stable measurements have been taken over a sufficiently
+    // long period, estimate the amount of tilt error and calculate the
+    // tilt axis for later correction.
+    if (TiltCondCount >= TILT_PERIOD) {
+      // Update TiltErrorEstimate
+      TiltCondCount = 0;
+      // Use an average value to reduce noise (could alternatively use
+      // an LPF)
+      Vector3f accWMean = FAccW.Mean();
+      // This is the amount of rotation
+      float tiltAngle = Vector3f.UNIT_Y.angleBetween(accWMean.normalize());
+      // Record values if the tilt error is intolerable
+      if (tiltAngle > MAX_TILT_ERROR) {
+        // Project the acceleration vector into the XZ plane
+        // The unit normal of xzAcc will be the rotation axis for
+        // tilt correction
+        TiltErrorAngle = tiltAngle;
+        TiltErrorAxis = new Vector3f(accWMean.z, 0.0f, -accWMean.x)
+            .normalize();
+      }
+    }
+
+    // This part performs the actual tilt correction as needed
+    if (TiltErrorAngle > MIN_TILT_ERROR) {
+      if ((TiltErrorAngle > 0.4f) && (RunningTime < 8.0f)) {
+        // Tilt completely to correct orientation
+        Q = Q.mult(Quaternion.fromAngleAxis(-TiltErrorAngle, TiltErrorAxis));
+        TiltErrorAngle = 0.0f;
+      } else {
+        // This uses aggressive correction steps while your head is
+        // moving fast
+        float deltaTiltAngle = -Gain * TiltErrorAngle * 0.005f
+            * (5.0f * AngVL + 1.0f);
+        // Incrementally "un-tilt" by a small step size
+        Q = Q.mult(Quaternion.fromAngleAxis(deltaTiltAngle, TiltErrorAxis));
+        TiltErrorAngle += deltaTiltAngle;
+      }
+    }
+  }
+
+  // A predictive filter based on extrapolating the smoothed, current angular
+  // velocity
+  public synchronized Quaternion getPredictedOrientation(float pdt) {
+    Quaternion qP = QUncorrected;
+    if (predictionEnabled) {
+      // This method assumes a constant angular velocity
+      // Vector3f angVelF = FAngV.SavitzkyGolaySmooth8();
+      // Force back to raw measurement
+      Vector3f angVelF = AngV;
+      float angVelFL = angVelF.length();
+
+      // Dynamic prediction interval: Based on angular velocity to reduce
+      // vibration
+      float newpdt = pdt;
+      float tpdt = MIN_PDT + SLOPE_PDT * angVelFL;
+      if (tpdt < pdt) {
+        newpdt = tpdt;
+      }
+
+      if (angVelFL > 0.001f) {
+        qP = qP.mult(Quaternion.fromAngleAxis(angVelFL * newpdt, angVelF.divide(angVelFL)));
+      }
+    }
+    return qP;
+  }
+
+  private static final float maxAngVelLength = 3.0f;
+  private static final int magWindow = 5;
+  private static final float yawErrorMax = 0.1f;
+  private static final float yawErrorMin = 0.01f;
+  private static final int yawErrorCountLimit = 50;
+  private static final float yawRotationStep = 0.00002f;
+  private static final int MagMaxReferences = 80;
+
+  public class MagCalibration {
+    Matrix4f MagCalibrationMatrix = new Matrix4f();
+    long MagCalibrationTime = -1;;
+    boolean MagCalibrated = false;
+    int MagCondCount = 0;
+    float MagRefDistance = 0.5f;
+    Quaternion MagRefQ = new Quaternion();
+    Vector3f MagRefM = Vector3f.ZERO;
+    float MagRefYaw = 0;
+    boolean MagHasNearbyReference = false;
+    final Quaternion[] MagRefTableQ = new Quaternion[MagMaxReferences];
+    final Vector3f[] MagRefTableM = new Vector3f[MagMaxReferences];
+    final float[] MagRefTableYaw = new float[MagMaxReferences];
+    int MagNumReferences = 0;
+    float YawErrorAngle = 0;
+    int YawErrorCount = 0;
+    boolean YawCorrectionInProgress = false;
+    boolean YawCorrectionActivated = false;
+
+    Vector3f getCalibratedMagValue(Vector3f rawMag) {
+      Vector3f mag = rawMag;
+      // mag.x += MagCalibrationMatrix.M[0][3];
+      // mag.y += MagCalibrationMatrix.M[1][3];
+      // mag.z += MagCalibrationMatrix.M[2][3];
+      return mag;
+    }
+
+    void setMagReference(Quaternion q, Vector3f rawMag) {
+      if (MagNumReferences < MagMaxReferences) {
+        MagRefTableQ[MagNumReferences] = q;
+        MagRefTableM[MagNumReferences] = rawMag; // FRawMag.Mean();
+        MagRefQ = q;
+        MagRefM = rawMag;
+        float yaw = q.toAngles(null)[0];
+        MagRefTableYaw[MagNumReferences] = yaw;
+        MagRefYaw = yaw;
+        MagNumReferences++;
+
+        MagHasNearbyReference = true;
+      }
+    }
+
+    // Yaw correction is currently working (forcing a corrective yaw *
+    // rotation)
+    boolean IsYawCorrectionInProgress() {
+      return YawCorrectionInProgress;
+    }
+
+    // Store the calibration matrix for the magnetometer
+    void SetMagCalibration(Matrix4f m) {
+      MagCalibrationMatrix = m;
+      MagCalibrationTime = System.currentTimeMillis();
+      MagCalibrated = true;
+    }
+
+    // Retrieves the magnetometer calibration matrix
+    Matrix4f GetMagCalibration() {
+      return MagCalibrationMatrix;
+    }
+
+    // Retrieve the time of the calibration
+    long GetMagCalibrationTime() {
+      return MagCalibrationTime;
+    }
+
+    // True only if the mag has calibration values stored
+    boolean HasMagCalibration() {
+      return MagCalibrated;
+    }
+
+    // Force the mag into the uncalibrated state
+    void ClearMagCalibration() {
+      MagCalibrated = false;
+    }
+
+    // These refer to reference points that associate mag readings with
+    // orientations
+    void ClearMagReferences() {
+      MagNumReferences = 0;
+    }
+
+    void SetMagRefDistance(float d) {
+      MagRefDistance = d;
+    }
+
+    float GetMagRefYaw() {
+      return MagRefYaw;
+    }
+
+    float GetYawErrorAngle() {
+      return YawErrorAngle;
+    }
+
+    void yawCorrect() {
+      // Yaw drift correction based on magnetometer data. This corrects
+      // the
+      // part of the drift that the accelerometer cannot handle. This will
+      // only work if the magnetometer has been enabled, calibrated, and a
+      // reference point has been set.
+
+      if (AngVL < maxAngVelLength) {
+        MagCondCount++;
+      } else {
+        MagCondCount = 0;
+      }
+
+      // Find, create, and utilize reference points for the magnetometer
+      // Need
+      // to be careful not to set reference points while there is
+      // significant
+      // tilt error
+      if ((MagCalibrated) && (RunningTime > 10.0f) && (TiltErrorAngle < 0.2f)) {
+        // if (MagNumReferences == 0) {
+        // setMagReference(Q, RawMag); // Use the current direction
+        // } else if (Q.Distance(MagRefQ) > MagRefDistance) {
+        // MagHasNearbyReference = false;
+        // float bestDist = 100000.0f;
+        // int bestNdx = 0;
+        // float dist;
+        // for (int i = 0; i < MagNumReferences; i++) {
+        // dist = Q.Distance(MagRefTableQ[i]);
+        // if (dist < bestDist) {
+        // bestNdx = i;
+        // bestDist = dist;
+        // }
+        // }
+        //
+        // if (bestDist < MagRefDistance) {
+        // MagHasNearbyReference = true;
+        // MagRefQ = MagRefTableQ[bestNdx];
+        // MagRefM = MagRefTableM[bestNdx];
+        // MagRefYaw = MagRefTableYaw[bestNdx];
+        // } else if (MagNumReferences < MagMaxReferences) {
+        // setMagReference(Q, RawMag);
+        // }
+        // }
+      }
+
+      YawCorrectionInProgress = false;
+      if (MagCalibrated && (RunningTime > 2.0f) && (MagCondCount >= magWindow)
+          && MagHasNearbyReference) {
+        // Use rotational invariance to bring reference mag value into
+        // global frame
+        Vector3f grefmag = MagRefQ.mult(getCalibratedMagValue(MagRefM));
+        // Bring current (averaged) mag reading into global frame
+        Vector3f gmag = Q.mult(getCalibratedMagValue(FRawMag.Mean()));
+        // Calculate the reference yaw in the global frame
+        float gryaw = (float) Math.atan2(grefmag.x, grefmag.z);
+        // Calculate the current yaw in the global frame
+        float gyaw = (float) Math.atan2(gmag.x, gmag.z);
+        // The difference between reference and current yaws is the
+        // perceived error
+        // Anglef YawErrorAngle = gyaw - gryaw;
+        //
+        // // LogText("Yaw error estimate: %f\n",YawErrorAngle.Get());
+        // // If the perceived error is large, keep count
+        // if ((YawErrorAngle.Abs() > yawErrorMax) &&
+        // (!YawCorrectionActivated)) {
+        // YawErrorCount++;
+        // }
+        // // After enough iterations of high perceived error, start the
+        // // correction process
+        // if (YawErrorCount > yawErrorCountLimit) {
+        // YawCorrectionActivated = true;
+        // }
+        // // If the perceived error becomes small, turn off the yaw
+        // // correction
+        // if ((YawErrorAngle.Abs() < yawErrorMin) &&
+        // YawCorrectionActivated) {
+        // YawCorrectionActivated = false;
+        // YawErrorCount = 0;
+        // }
+        //
+        // // Perform the actual yaw correction, due to previously
+        // // detected,
+        // // large yaw error
+        // if (YawCorrectionActivated) {
+        // YawCorrectionInProgress = true;
+        // // Incrementally "unyaw" by a small step size
+        // Q.multLocal(new Quaternion(-yawRotationStep *
+        // YawErrorAngle.Sign(), Vector3f.UNIT_Y, true));
+        // }
+      }
+    }
+
+    // *** Message Handler Logic
+
+    // // Notifies SensorFusion object about a new BodyFrame message from a
+    // sensor.
+    // // Should be called by user if not attaching to a sensor.
+    // // Default to current HMD orientation
+    // void setMagReference() {
+    // setMagReference(Q, RawMag);
+    // }
+
+    // // Writes the current calibration for a particular device to a device
+    // profile file
+    // // sensor - the sensor that was calibrated
+    // // cal_name - an optional name for the calibration or default if
+    // cal_name
+    // == NULL
+    // bool SensorFusion::SaveMagCalibration(const char* calibrationName)
+    // const
+    // {
+    // if (pSensor == NULL || !HasMagCalibration())
+    // return false;
+    //
+    // // A named calibration may be specified for calibration in different
+    // // environments, otherwise the default calibration is used
+    // if (calibrationName == NULL)
+    // calibrationName = "default";
+    //
+    // SensorInfo sinfo;
+    // pSensor->GetDeviceInfo(&sinfo);
+    //
+    // // Generate a mag calibration event
+    // JSON* calibration = JSON::CreateObject();
+    // // (hardcoded for now) the measurement and representation method
+    // calibration->AddStringItem("Version", "1.0");
+    // calibration->AddStringItem("Name", "default");
+    //
+    // // time stamp the calibration
+    // char time_str[64];
+    //
+    // #ifdef OVR_OS_WIN32
+    // struct tm caltime;
+    // localtime_s(&caltime, &MagCalibrationTime);
+    // strftime(time_str, 64, "%Y-%m-%d %H:%M:%S", &caltime);
+    // #else
+    // struct tm* caltime;
+    // caltime = localtime(&MagCalibrationTime);
+    // strftime(time_str, 64, "%Y-%m-%d %H:%M:%S", caltime);
+    // #endif
+    //
+    // calibration->AddStringItem("Time", time_str);
+    //
+    // // write the full calibration matrix
+    // Matrix4f calmat = GetMagCalibration();
+    // char matrix[128];
+    // int pos = 0;
+    // for (int r=0; r<4; r++)
+    // {
+    // for (int c=0; c<4; c++)
+    // {
+    // pos += (int)OVR_sprintf(matrix+pos, 128, "%g ", calmat.M[r][c]);
+    // }
+    // }
+    // calibration->AddStringItem("Calibration", matrix);
+    //
+    //
+    // String path = GetBaseOVRPath(true);
+    // path += "/Devices.json";
+    //
+    // // Look for a prexisting device file to edit
+    // Ptr<JSON> root = *JSON::Load(path);
+    // if (root)
+    // { // Quick sanity check of the file type and format before we parse
+    // it
+    // JSON* version = root->GetFirstItem();
+    // if (version && version->Name == "Oculus Device Profile Version")
+    // { // In the future I may need to check versioning to determine parse
+    // method
+    // }
+    // else
+    // {
+    // root->Release();
+    // root = NULL;
+    // }
+    // }
+    //
+    // JSON* device = NULL;
+    // if (root)
+    // {
+    // device = root->GetFirstItem(); // skip the header
+    // device = root->GetNextItem(device);
+    // while (device)
+    // { // Search for a previous calibration with the same name for this
+    // device
+    // // and remove it before adding the new one
+    // if (device->Name == "Device")
+    // {
+    // JSON* item = device->GetItemByName("Serial");
+    // if (item && item->Value == sinfo.SerialNumber)
+    // { // found an entry for this device
+    // item = device->GetNextItem(item);
+    // while (item)
+    // {
+    // if (item->Name == "MagCalibration")
+    // {
+    // JSON* name = item->GetItemByName("Name");
+    // if (name && name->Value == calibrationName)
+    // { // found a calibration of the same name
+    // item->RemoveNode();
+    // item->Release();
+    // break;
+    // }
+    // }
+    // item = device->GetNextItem(item);
+    // }
+    //
+    // // update the auto-mag flag
+    // item = device->GetItemByName("EnableYawCorrection");
+    // if (item)
+    // item->dValue = (double)EnableYawCorrection;
+    // else
+    // device->AddBoolItem("EnableYawCorrection", EnableYawCorrection);
+    //
+    // break;
+    // }
+    // }
+    //
+    // device = root->GetNextItem(device);
+    // }
+    // }
+    // else
+    // { // Create a new device root
+    // root = *JSON::CreateObject();
+    // root->AddStringItem("Oculus Device Profile Version", "1.0");
+    // }
+    //
+    // if (device == NULL)
+    // {
+    // device = JSON::CreateObject();
+    // device->AddStringItem("Product", sinfo.ProductName);
+    // device->AddNumberItem("ProductID", sinfo.ProductId);
+    // device->AddStringItem("Serial", sinfo.SerialNumber);
+    // device->AddBoolItem("EnableYawCorrection", EnableYawCorrection);
+    //
+    // root->AddItem("Device", device);
+    // }
+    //
+    // // Create and the add the new calibration event to the device
+    // device->AddItem("MagCalibration", calibration);
+    //
+    // return root->Save(path);
+    // }
+    //
+    // // Loads a saved calibration for the specified device from the device
+    // profile file
+    // // sensor - the sensor that the calibration was saved for
+    // // cal_name - an optional name for the calibration or the default if
+    // cal_name == NULL
+    // bool SensorFusion::LoadMagCalibration(const char* calibrationName)
+    // {
+    // if (pSensor == NULL)
+    // return false;
+    //
+    // // A named calibration may be specified for calibration in different
+    // // environments, otherwise the default calibration is used
+    // if (calibrationName == NULL)
+    // calibrationName = "default";
+    //
+    // SensorInfo sinfo;
+    // pSensor->GetDeviceInfo(&sinfo);
+    //
+    // String path = GetBaseOVRPath(true);
+    // path += "/Devices.json";
+    //
+    // // Load the device profiles
+    // Ptr<JSON> root = *JSON::Load(path);
+    // if (root == NULL)
+    // return false;
+    //
+    // // Quick sanity check of the file type and format before we parse it
+    // JSON* version = root->GetFirstItem();
+    // if (version && version->Name == "Oculus Device Profile Version")
+    // { // In the future I may need to check versioning to determine parse
+    // method
+    // }
+    // else
+    // {
+    // return false;
+    // }
+    //
+    // bool autoEnableCorrection = false;
+    //
+    // JSON* device = root->GetNextItem(version);
+    // while (device)
+    // { // Search for a previous calibration with the same name for this
+    // device
+    // // and remove it before adding the new one
+    // if (device->Name == "Device")
+    // {
+    // JSON* item = device->GetItemByName("Serial");
+    // if (item && item->Value == sinfo.SerialNumber)
+    // { // found an entry for this device
+    //
+    // JSON* autoyaw = device->GetItemByName("EnableYawCorrection");
+    // if (autoyaw)
+    // autoEnableCorrection = (autoyaw->dValue != 0);
+    //
+    // item = device->GetNextItem(item);
+    // while (item)
+    // {
+    // if (item->Name == "MagCalibration")
+    // {
+    // JSON* calibration = item;
+    // JSON* name = calibration->GetItemByName("Name");
+    // if (name && name->Value == calibrationName)
+    // { // found a calibration with this name
+    //
+    // time_t now;
+    // time(&now);
+    //
+    // // parse the calibration time
+    // time_t calibration_time = now;
+    // JSON* caltime = calibration->GetItemByName("Time");
+    // if (caltime)
+    // {
+    // const char* caltime_str = caltime->Value.ToCStr();
+    //
+    // tm ct;
+    // memset(&ct, 0, sizeof(tm));
+    //
+    // #ifdef OVR_OS_WIN32
+    // struct tm nowtime;
+    // localtime_s(&nowtime, &now);
+    // ct.tm_isdst = nowtime.tm_isdst;
+    // sscanf_s(caltime_str, "%d-%d-%d %d:%d:%d",
+    // &ct.tm_year, &ct.tm_mon, &ct.tm_mday,
+    // &ct.tm_hour, &ct.tm_min, &ct.tm_sec);
+    // #else
+    // struct tm* nowtime = localtime(&now);
+    // ct.tm_isdst = nowtime->tm_isdst;
+    // sscanf(caltime_str, "%d-%d-%d %d:%d:%d",
+    // &ct.tm_year, &ct.tm_mon, &ct.tm_mday,
+    // &ct.tm_hour, &ct.tm_min, &ct.tm_sec);
+    // #endif
+    // ct.tm_year -= 1900;
+    // ct.tm_mon--;
+    // calibration_time = mktime(&ct);
+    // }
+    //
+    // // parse the calibration matrix
+    // JSON* cal = calibration->GetItemByName("Calibration");
+    // if (cal)
+    // {
+    // const char* data_str = cal->Value.ToCStr();
+    // Matrix4f calmat;
+    // for (int r=0; r<4; r++)
+    // {
+    // for (int c=0; c<4; c++)
+    // {
+    // calmat.M[r][c] = (float)atof(data_str);
+    // while (data_str && *data_str != ' ')
+    // data_str++;
+    //
+    // if (data_str)
+    // data_str++;
+    // }
+    // }
+    //
+    // SetMagCalibration(calmat);
+    // MagCalibrationTime = calibration_time;
+    // EnableYawCorrection = autoEnableCorrection;
+    //
+    // return true;
+    // }
+    // }
+    // }
+    // item = device->GetNextItem(item);
+    // }
+    //
+    // break;
+    // }
+    // }
+    //
+    // device = root->GetNextItem(device);
+    // }
+    //
+    // return false;
+    // }
+    //
+    //
+
+  }
+};
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/hid/DisplayInfo.java b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/DisplayInfo.java
new file mode 100644
index 0000000..48b0e20
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/DisplayInfo.java
@@ -0,0 +1,74 @@
+package com.oculusvr.rift.hid;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.oculusvr.input.hid.HidFeatureReport;
+
+/**
+ * DisplayInfo obtained from sensor; these values are used to report distortion
+ * settings and other coefficients. Older SensorDisplayInfo will have all zeros
+ * 
+ */
+public final class DisplayInfo extends HidFeatureReport {
+    public static final byte  FEATURE_ID   = 9;
+    public static final int   FEATURE_SIZE = 56;
+
+    public static final float SCALE        = (1 / 1000000.f);
+    public static final int   SIZE         = 56;
+
+    public short              commandId;
+    public byte               distortion;
+    public short              xres, yres;
+    public int                xsize, ysize;
+    public int                center;
+    public int                sep;
+    public int[]              zeye;
+    public float[]            distortionCoefficients;
+
+    public DisplayInfo() {
+        super(FEATURE_ID, FEATURE_SIZE);
+    }
+
+    public DisplayInfo(HIDDevice device) throws IOException {
+        super(FEATURE_ID, FEATURE_SIZE, device);
+    }
+
+    @Override
+    protected void parse(ByteBuffer buffer) {
+        buffer.position(1);
+        commandId = buffer.getShort();
+        distortion = buffer.get();
+        xres = buffer.getShort();
+        yres = buffer.getShort();
+        xsize = buffer.getInt();
+        ysize = buffer.getInt();
+        center = buffer.getInt();
+        sep = buffer.getInt();
+        zeye = new int[2];
+        buffer.asIntBuffer().get(zeye);
+        buffer.position(buffer.position() + 8);
+        distortionCoefficients = new float[6];
+        buffer.asFloatBuffer().get(distortionCoefficients);
+        buffer.position(buffer.position() + 8);
+    }
+
+    @Override
+    protected void pack(ByteBuffer buffer) {
+        buffer.putShort(commandId);
+        buffer.put(distortion);
+        buffer.putShort(xres);
+        buffer.putShort(yres);
+        buffer.putInt(xsize);
+        buffer.putInt(ysize);
+        buffer.putInt(center);
+        buffer.putInt(sep);
+        for (int i = 0; i < 2; ++i) {
+            buffer.putInt(zeye[i]);
+        }
+        for (int i = 0; i < 6; ++i) {
+            buffer.putFloat(distortionCoefficients[i]);
+        }
+    }
+}
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/hid/KeepAlive.java b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/KeepAlive.java
new file mode 100644
index 0000000..72e3f03
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/KeepAlive.java
@@ -0,0 +1,40 @@
+package com.oculusvr.rift.hid;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.oculusvr.input.hid.HidFeatureReport;
+
+public class KeepAlive extends HidFeatureReport {
+    public static final byte FEATURE_ID = 8;
+    public static final int FEATURE_SIZE = 5;
+
+    public short commandId = 0;
+    public short intervalMilliSeconds;
+
+    public KeepAlive() {
+        super(FEATURE_ID, FEATURE_SIZE);
+    }
+
+    public KeepAlive(HIDDevice device) throws IOException {
+        super(FEATURE_ID, FEATURE_SIZE, device);
+    }
+
+    public KeepAlive(short keepAliveMs) {
+        super(FEATURE_ID, FEATURE_SIZE);
+        this.intervalMilliSeconds = keepAliveMs;
+    }
+
+    @Override
+    protected void parse(ByteBuffer buffer) {
+        commandId = buffer.getShort();
+        intervalMilliSeconds = buffer.getShort();
+    }
+
+    @Override
+    protected void pack(ByteBuffer buffer) {
+        buffer.putShort(commandId);
+        buffer.putShort(intervalMilliSeconds);
+    }
+}
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorConfig.java b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorConfig.java
new file mode 100644
index 0000000..a8e84bc
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorConfig.java
@@ -0,0 +1,58 @@
+package com.oculusvr.rift.hid;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.oculusvr.input.hid.HidFeatureReport;
+
+public final class SensorConfig extends HidFeatureReport {
+    public static final byte FEATURE_ID = 2;
+    public static final int FEATURE_SIZE = 7;
+
+    public SensorConfig() {
+        super(FEATURE_ID, FEATURE_SIZE);
+    }
+
+    public SensorConfig(HIDDevice device) throws IOException {
+        super(FEATURE_ID, FEATURE_SIZE, device);
+    }
+
+    public enum Flag {
+        RawMode(0x01), 
+        CallibrationTest(0x02),
+        UseCallibration(0x04), 
+        AutoCallibration(0x08), 
+        MotionKeepAlive(0x10), 
+        CommandKeepAlive(0x20), 
+        SensorCoordinates(0x40);
+
+        public final int value;
+
+        Flag(int value) {
+            this.value = value;
+        }
+    };
+
+    public short commandId;
+    public byte flags;
+    public short packetInterval;
+    public short keepAliveInterval;
+
+    @Override
+    protected void parse(ByteBuffer buffer) {
+        commandId = buffer.getShort();
+        flags = buffer.get();
+        packetInterval = buffer.get();
+        keepAliveInterval = buffer.getShort();
+    }
+
+    @Override
+    protected void pack(ByteBuffer buffer) {
+        buffer.putShort(commandId);
+        buffer.put(flags);
+        buffer.put((byte) packetInterval);
+        buffer.putShort(keepAliveInterval);
+    }
+
+}
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorRange.java b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorRange.java
new file mode 100644
index 0000000..fa4b8a8
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/hid/SensorRange.java
@@ -0,0 +1,51 @@
+package com.oculusvr.rift.hid;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.oculusvr.input.hid.HidFeatureReport;
+
+/**
+ * Factor in the range conversion
+ * 
+ */
+public final class SensorRange extends HidFeatureReport {
+    public static final byte FEATURE_ID = 4;
+    public static final int FEATURE_SIZE = 8;
+
+    public static final float EARTH_GEES_TO_METERS_PER_SECOND = 9.81f;
+    public static final float MILLIGAUSS_TO_GAUSS = 0.001f;
+
+    public short commandId;
+    // Meters per second squared
+    public short accelerationScale;
+    // Radians
+    public short gyroScale;
+    // Gauss
+    public short magScale;
+
+    public SensorRange() {
+        super(FEATURE_ID, FEATURE_SIZE);
+    }
+
+    public SensorRange(HIDDevice device) throws IOException {
+        super(FEATURE_ID, FEATURE_SIZE, device);
+    }
+
+    @Override
+    public void parse(ByteBuffer buffer) {
+        commandId = buffer.getShort();
+        accelerationScale = buffer.get();
+        gyroScale = buffer.getShort();
+        magScale = buffer.getShort();
+    }
+
+    @Override
+    public void pack(ByteBuffer buffer) {
+        buffer.putShort(commandId);
+        buffer.put((byte) accelerationScale);
+        buffer.putShort(gyroScale);
+        buffer.putShort(magScale);
+    }
+}
\ No newline at end of file
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerMessage.java b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerMessage.java
new file mode 100644
index 0000000..b5570e3
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerMessage.java
@@ -0,0 +1,32 @@
+package com.oculusvr.rift.tracker;
+
+import java.nio.ByteBuffer;
+import java.util.List;
+
+import com.google.common.collect.ImmutableList;
+import com.google.common.collect.Lists;
+
+public class TrackerMessage {
+    public final int                 type;
+    public final int                 sampleCount;
+    public final int                 timestamp;
+    public final int                 lastCommandId;
+    public final int                 temperature;
+    public final List<TrackerSample> samples;
+    public final TrackerVector       mag;
+
+    public TrackerMessage(ByteBuffer buffer) {
+        type = buffer.get();
+        sampleCount = buffer.get() & 0xff;
+        timestamp = (buffer.getShort() & 0xffff);
+        lastCommandId = (buffer.getShort() & 0xffff);
+        temperature = (buffer.getShort() & 0xffff);
+        List<TrackerSample> samples = Lists.newArrayList();
+        for (int i = 0; i < 3; ++i) {
+            samples.add(new TrackerSample(buffer));
+        }
+        // this.samples = Lists.newArrayList();
+        this.samples = ImmutableList.copyOf(samples.subList(0, Math.min(3, sampleCount)));
+        mag = new TrackerVector(buffer, false);
+    }
+};
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerSample.java b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerSample.java
new file mode 100644
index 0000000..c7b6664
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerSample.java
@@ -0,0 +1,13 @@
+package com.oculusvr.rift.tracker;
+
+import java.nio.ByteBuffer;
+
+public final class TrackerSample {
+    public final TrackerVector accel;
+    public final TrackerVector gyro;
+
+    public TrackerSample(ByteBuffer buffer) {
+        accel = new TrackerVector(buffer);
+        gyro = new TrackerVector(buffer);
+    }
+}
\ No newline at end of file
diff --git a/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerVector.java b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerVector.java
new file mode 100644
index 0000000..7301ee6
--- /dev/null
+++ b/Bindings/Java/src/main/java/com/oculusvr/rift/tracker/TrackerVector.java
@@ -0,0 +1,49 @@
+package com.oculusvr.rift.tracker;
+
+import java.nio.ByteBuffer;
+
+/**
+ * Encapsulates the integer vectors provided by the Oculus Rift.  These are either encoded as short values, or
+ * as  n
+ *  
+ * @author [email protected]
+ *
+ */
+public final class TrackerVector {
+    private static final int BITS = 21;
+    private static final int MASK = 1 << (BITS - 1);
+
+    // Sign extension trick.  The values are packed as 21 bit signed integers
+    // So we need to extend the sign at bit 21 all to way out to bit 32 for 
+    // a Java int.  See http://graphics.stanford.edu/~seander/bithacks.html#VariableSignExtend
+    private static int extend(int x) {
+        return (x ^ MASK) - MASK;
+    }
+
+    public final int x;
+    public final int y;
+    public final int z;
+
+    public TrackerVector(ByteBuffer buffer) {
+        this(buffer, true);
+    }
+
+    public TrackerVector(ByteBuffer buffer, boolean packed) {
+        if (packed) {
+            byte[] bs = new byte[8];
+            buffer.get(bs);
+            x = extend(((bs[0] & 0xff) << 13) | ((bs[1] & 0xff) << 5) | ((bs[2] & 0xf8) >> 3));
+            y = extend(((bs[2] & 0x07) << 18) | ((bs[3] & 0xff) << 10) | ((bs[4] & 0xff) << 2) | ((bs[5] & 0xc0) >> 6));
+            z = extend(((bs[5] & 0x3f) << 15) | ((bs[6] & 0xff) << 7) | ((bs[7] & 0xff) >> 1));
+        } else {
+            x = buffer.getShort();
+            y = buffer.getShort();
+            z = buffer.getShort();
+        }
+    }
+    
+    @Override
+    public String toString() {
+        return "X: " + x + ", Y: " + y + ", Z: " + z;
+    }
+}
\ No newline at end of file
diff --git a/Bindings/Java/src/test/java/com/oculusvr/rift/RiftTest.java b/Bindings/Java/src/test/java/com/oculusvr/rift/RiftTest.java
new file mode 100644
index 0000000..6dd671f
--- /dev/null
+++ b/Bindings/Java/src/test/java/com/oculusvr/rift/RiftTest.java
@@ -0,0 +1,81 @@
+package com.oculusvr.rift;
+
+import java.io.IOException;
+
+import org.codehaus.jackson.map.ObjectMapper;
+import org.codehaus.jackson.map.ObjectWriter;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import com.codeminders.hidapi.HIDDevice;
+import com.google.common.base.Predicate;
+import com.oculusvr.rift.RiftTracker;
+import com.oculusvr.rift.hid.DisplayInfo;
+import com.oculusvr.rift.hid.SensorConfig;
+import com.oculusvr.rift.hid.SensorRange;
+import com.oculusvr.rift.tracker.TrackerMessage;
+
+public class RiftTest {
+    private static final Logger LOG = LoggerFactory.getLogger(RiftTest.class);
+
+    public static void main(String... args) throws IOException, InterruptedException {
+        final ObjectMapper mapper = new ObjectMapper();
+        final ObjectWriter writer = mapper.writerWithDefaultPrettyPrinter();
+        RiftTracker tracker = RiftTracker.getInstance();
+        DisplayInfo di = tracker.getDisplayInfo();
+        LOG.info(writer.writeValueAsString(di));
+        SensorConfig sc = tracker.getSensorConfig();
+        LOG.info(writer.writeValueAsString(sc));
+        SensorRange sr = tracker.getSensorRange();
+        LOG.info(writer.writeValueAsString(sr));
+        RiftTracker.startListening(new Predicate<TrackerMessage>() {
+            @Override
+            public boolean apply(TrackerMessage message) {
+                try {
+                    // Just enough data to see we're getting stuff
+                    LOG.info("Sample count: " + message.sampleCount);
+                    LOG.info("Sample 0: " + mapper.writeValueAsString(message.samples.get(0)));
+                } catch (Exception e) {
+                    LOG.error("Failed to serialize sample data", e);
+                }
+                return true;
+            }
+        });
+    }
+
+    /**
+     * This is a tool I used to fix my display info report after I accidentally
+     * trashed it by runnig example code here:
+     * http://lxr.free-electrons.com/source/samples/hidraw/hid-example.c -- note
+     * the sample code writes to feature report 9 without actually doing any
+     * verification that that's a good idea.
+     * 
+     * No guaratee that this will not destroy your device. No warranty is
+     * implied or provided.
+     * 
+     * @param device
+     * @throws IOException
+     */
+    public static void fixDisplayInfo(HIDDevice device) throws IOException {
+        DisplayInfo di = new DisplayInfo();
+        // These values are from an earlier dump of my display Info. I have no
+        // idea if they're valid.
+        di.distortion = 1;
+        di.xres = 1280;
+        di.yres = 800;
+        di.xsize = 149760;
+        di.ysize = 93600;
+        di.center = 46800;
+        di.sep = 63500;
+        di.zeye = new int[] { 49800, 49800 };
+        di.distortionCoefficients = new float[] {
+            Float.NaN,
+            1.5946803e-27f,
+            Float.NaN,
+            3.4119901E16f,
+            4.6665167E-38f,
+            -9.6494493E15f
+        };
+        di.write(device);
+    }
+}
diff --git a/Bindings/Java/src/test/java/log4j.properties b/Bindings/Java/src/test/java/log4j.properties
new file mode 100644
index 0000000..ec331d8
--- /dev/null
+++ b/Bindings/Java/src/test/java/log4j.properties
@@ -0,0 +1,6 @@
+log4j.rootLogger=INFO, stdout
+ 
+log4j.appender.stdout=org.apache.log4j.ConsoleAppender
+log4j.appender.stdout.layout=org.apache.log4j.PatternLayout
+log4j.appender.stdout.layout.ConversionPattern=%-4r %-5p %c %x - %m%n
+ 
\ No newline at end of file