0.4 Win-Beta0.4.0

1 files changed, 0 insertions, 1165 deletions

diff --git a/LibOVR/Src/OVR_SensorImpl.cpp b/LibOVR/Src/OVR_SensorImpl.cpp
deleted file mode 100644
index 91ae7e0..0000000
--- a/LibOVR/Src/OVR_SensorImpl.cpp
+++ /dev/null
@@ -1,1165 +0,0 @@
-/************************************************************************************
-
-Filename    :   OVR_SensorImpl.cpp
-Content     :   Oculus Sensor device implementation.
-Created     :   March 7, 2013
-Authors     :   Lee Cooper, Dov Katz
-
-Copyright   :   Copyright 2014 Oculus VR, Inc. All Rights reserved.
-
-Licensed under the Oculus VR Rift SDK License Version 3.1 (the "License"); 
-you may not use the Oculus VR Rift SDK except in compliance with the License, 
-which is provided at the time of installation or download, or which 
-otherwise accompanies this software in either electronic or hard copy form.
-
-You may obtain a copy of the License at
-
-http://www.oculusvr.com/licenses/LICENSE-3.1 
-
-Unless required by applicable law or agreed to in writing, the Oculus VR SDK 
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
-
-*************************************************************************************/
-
-#include "OVR_SensorImpl.h"
-#include "OVR_Sensor2Impl.h"
-#include "OVR_SensorImpl_Common.h"
-#include "OVR_JSON.h"
-#include "OVR_Profile.h"
-#include "Kernel/OVR_Alg.h"
-#include <time.h>
-
-// HMDDeviceDesc can be created/updated through Sensor carrying DisplayInfo.
-
-#include "Kernel/OVR_Timer.h"
-
-//extern FILE *SF_LOG_fp;
-
-namespace OVR {
-
-using namespace Alg;
-
-//-------------------------------------------------------------------------------------
-// ***** Oculus Sensor-specific packet data structures
-
-enum {    
-    Sensor_VendorId  = Oculus_VendorId,
-    Sensor_Tracker_ProductId = Device_Tracker_ProductId,
-    Sensor_Tracker2_ProductId = Device_Tracker2_ProductId,
-    Sensor_KTracker_ProductId = Device_KTracker_ProductId,
-
-    Sensor_BootLoader   = 0x1001,
-
-    Sensor_DefaultReportRate = 500, // Hz
-    Sensor_MaxReportRate     = 1000 // Hz
-};
-
-
-// Messages we care for
-enum TrackerMessageType
-{
-    TrackerMessage_None              = 0,
-    TrackerMessage_Sensors           = 1,
-    TrackerMessage_Unknown           = 0x100,
-    TrackerMessage_SizeError         = 0x101,
-};
-
-
-struct TrackerSensors
-{
-    UByte	SampleCount;
-    UInt16	Timestamp;
-    UInt16	LastCommandID;
-    SInt16	Temperature;
-
-    TrackerSample Samples[3];
-
-    SInt16	MagX, MagY, MagZ;
-
-    TrackerMessageType Decode(const UByte* buffer, int size)
-    {
-        if (size < 62)
-            return TrackerMessage_SizeError;
-
-        SampleCount		= buffer[1];
-        Timestamp		= DecodeUInt16(buffer + 2);
-        LastCommandID	= DecodeUInt16(buffer + 4);
-        Temperature		= DecodeSInt16(buffer + 6);
-        
-        //if (SampleCount > 2)        
-        //    OVR_DEBUG_LOG_TEXT(("TackerSensor::Decode SampleCount=%d\n", SampleCount));        
-
-        // Only unpack as many samples as there actually are
-        int iterationCount = (SampleCount > 2) ? 3 : SampleCount;
-
-        for (int i = 0; i < iterationCount; i++)
-        {
-            UnpackSensor(buffer + 8 + 16 * i,  &Samples[i].AccelX, &Samples[i].AccelY, &Samples[i].AccelZ);
-            UnpackSensor(buffer + 16 + 16 * i, &Samples[i].GyroX,  &Samples[i].GyroY,  &Samples[i].GyroZ);
-        }
-
-        MagX = DecodeSInt16(buffer + 56);
-        MagY = DecodeSInt16(buffer + 58);
-        MagZ = DecodeSInt16(buffer + 60);
-
-        return TrackerMessage_Sensors;
-    }
-};
-
-struct TrackerMessage
-{
-    TrackerMessageType Type;
-    TrackerSensors     Sensors;
-};
-
-
-//-------------------------------------------------------------------------------------
-// ***** SensorDisplayInfoImpl
-SensorDisplayInfoImpl::SensorDisplayInfoImpl()
- :  CommandId(0), DistortionType(Base_None)
-{
-    memset(Buffer, 0, PacketSize);
-    Buffer[0] = 9;
-}
-
-void SensorDisplayInfoImpl::Unpack()
-{
-    CommandId                       = Buffer[1] | (UInt16(Buffer[2]) << 8);
-    DistortionType                  = Buffer[3];
-    HResolution                     = DecodeUInt16(Buffer+4);
-    VResolution                     = DecodeUInt16(Buffer+6);
-    HScreenSize                     = DecodeUInt32(Buffer+8) *  (1/1000000.f);
-    VScreenSize                     = DecodeUInt32(Buffer+12) * (1/1000000.f);
-    VCenter                         = DecodeUInt32(Buffer+16) * (1/1000000.f);
-    LensSeparation                  = DecodeUInt32(Buffer+20) * (1/1000000.f);
-
-#if 0
-    // These are not well-measured on most devices - probably best to ignore them.
-    OutsideLensSurfaceToScreen[0]   = DecodeUInt32(Buffer+24) * (1/1000000.f);
-    OutsideLensSurfaceToScreen[1]   = DecodeUInt32(Buffer+28) * (1/1000000.f);
-    // TODO: add spline-based distortion.
-    // TODO: currently these values are all zeros in the HMD itself.
-    DistortionK[0]                  = DecodeFloat(Buffer+32);
-    DistortionK[1]                  = DecodeFloat(Buffer+36);
-    DistortionK[2]                  = DecodeFloat(Buffer+40);
-    DistortionK[3]                  = DecodeFloat(Buffer+44);
-    DistortionK[4]                  = DecodeFloat(Buffer+48);
-    DistortionK[5]                  = DecodeFloat(Buffer+52);
-#else
-    // The above are either measured poorly, or don't have values at all.
-    // To remove the temptation to use them, set them to junk.
-    OutsideLensSurfaceToScreen[0]   = -1.0f;
-    OutsideLensSurfaceToScreen[1]   = -1.0f;
-    DistortionK[0]                  = -1.0f;
-    DistortionK[1]                  = -1.0f;
-    DistortionK[2]                  = -1.0f;
-    DistortionK[3]                  = -1.0f;
-    DistortionK[4]                  = -1.0f;
-    DistortionK[5]                  = -1.0f;
-#endif
-}
-
-
-//-------------------------------------------------------------------------------------
-// ***** SensorDeviceFactory
-
-SensorDeviceFactory &SensorDeviceFactory::GetInstance()
-{
-		static SensorDeviceFactory instance;
-		return instance;
-}
-
-void SensorDeviceFactory::EnumerateDevices(EnumerateVisitor& visitor)
-{
-
-    class SensorEnumerator : public HIDEnumerateVisitor
-    {
-        // Assign not supported; suppress MSVC warning.
-        void operator = (const SensorEnumerator&) { }
-
-        DeviceFactory*     pFactory;
-        EnumerateVisitor&  ExternalVisitor;   
-    public:
-        SensorEnumerator(DeviceFactory* factory, EnumerateVisitor& externalVisitor)
-            : pFactory(factory), ExternalVisitor(externalVisitor) { }
-
-        virtual bool MatchVendorProduct(UInt16 vendorId, UInt16 productId)
-        {
-            return pFactory->MatchVendorProduct(vendorId, productId);
-        }
-
-        virtual void Visit(HIDDevice& device, const HIDDeviceDesc& desc)
-        {
-            
-            if (desc.ProductId == Sensor_BootLoader)
-            {   // If we find a sensor in boot loader mode then notify the app
-                // about the existence of the device, but don't allow the app
-                // to create or access the device
-                BootLoaderDeviceCreateDesc createDesc(pFactory, desc);
-                ExternalVisitor.Visit(createDesc);
-                return;
-            }
-            
-            SensorDeviceCreateDesc createDesc(pFactory, desc);
-            ExternalVisitor.Visit(createDesc);
-
-            // Check if the sensor returns DisplayInfo. If so, try to use it to override potentially
-            // mismatching monitor information (in case wrong EDID is reported by splitter),
-            // or to create a new "virtualized" HMD Device.
-            
-            SensorDisplayInfoImpl displayInfo;
-
-            if (device.GetFeatureReport(displayInfo.Buffer, SensorDisplayInfoImpl::PacketSize))
-            {
-                displayInfo.Unpack();
-
-                // If we got display info, try to match / create HMDDevice as well
-                // so that sensor settings give preference.
-                if (displayInfo.DistortionType & SensorDisplayInfoImpl::Mask_BaseFmt)
-                {
-                    SensorDeviceImpl::EnumerateHMDFromSensorDisplayInfo(displayInfo, ExternalVisitor);
-                }
-            }
-        }
-    };
-
-    //double start = Timer::GetProfileSeconds();
-
-    SensorEnumerator sensorEnumerator(this, visitor);
-    GetManagerImpl()->GetHIDDeviceManager()->Enumerate(&sensorEnumerator);
-
-    //double totalSeconds = Timer::GetProfileSeconds() - start; 
-}
-
-bool SensorDeviceFactory::MatchVendorProduct(UInt16 vendorId, UInt16 productId) const
-{
-    return 	((vendorId == Sensor_VendorId) && (productId == Sensor_Tracker_ProductId)) ||
-    		((vendorId == Sensor_VendorId) && (productId == Sensor_Tracker2_ProductId)) ||
-    		((vendorId == Sensor_VendorId) && (productId == Sensor_KTracker_ProductId));
-}
-
-bool SensorDeviceFactory::DetectHIDDevice(DeviceManager* pdevMgr, const HIDDeviceDesc& desc)
-{
-    if (MatchVendorProduct(desc.VendorId, desc.ProductId))
-    {
-        if (desc.ProductId == Sensor_BootLoader)
-        {   // If we find a sensor in boot loader mode then notify the app
-            // about the existence of the device, but don't allow them
-            // to create or access the device
-            BootLoaderDeviceCreateDesc createDesc(this, desc);
-            pdevMgr->AddDevice_NeedsLock(createDesc);
-            return false;  // return false to allow upstream boot loader factories to catch the device
-        }
-        else
-        {
-            SensorDeviceCreateDesc createDesc(this, desc);
-            return pdevMgr->AddDevice_NeedsLock(createDesc).GetPtr() != NULL;
-        }
-    }
-    return false;
-}
-
-//-------------------------------------------------------------------------------------
-// ***** SensorDeviceCreateDesc
-
-DeviceBase* SensorDeviceCreateDesc::NewDeviceInstance()
-{
-    if (HIDDesc.ProductId == Sensor_Tracker2_ProductId)
-    {
-        return new Sensor2DeviceImpl(this);
-    }
-
-    return new SensorDeviceImpl(this);
-}
-
-bool SensorDeviceCreateDesc::GetDeviceInfo(DeviceInfo* info) const
-{
-    if ((info->InfoClassType != Device_Sensor) &&
-        (info->InfoClassType != Device_None))
-        return false;
-
-    info->Type =            Device_Sensor;
-    info->ProductName =     HIDDesc.Product;
-    info->Manufacturer =    HIDDesc.Manufacturer;
-    info->Version =         HIDDesc.VersionNumber;
-
-    if (info->InfoClassType == Device_Sensor)
-    {
-        SensorInfo* sinfo = (SensorInfo*)info;
-        sinfo->VendorId  = HIDDesc.VendorId;
-        sinfo->ProductId = HIDDesc.ProductId;
-        sinfo->MaxRanges = SensorRangeImpl::GetMaxSensorRange();
-        sinfo->SerialNumber = HIDDesc.SerialNumber;
-    }
-    return true;
-}
-
-//-------------------------------------------------------------------------------------
-// ***** SensorDevice
-
-SensorDeviceImpl::SensorDeviceImpl(SensorDeviceCreateDesc* createDesc)
-    : OVR::HIDDeviceImpl<OVR::SensorDevice>(createDesc, 0),
-      Coordinates(SensorDevice::Coord_Sensor),
-      HWCoordinates(SensorDevice::Coord_HMD), // HW reports HMD coordinates by default.
-      NextKeepAliveTickSeconds(0),
-      FullTimestamp(0),      
-      MaxValidRange(SensorRangeImpl::GetMaxSensorRange()),
-      magCalibrated(false)
-{
-    SequenceValid   = false;
-    LastSampleCount = 0;
-    LastTimestamp   = 0;
-
-    OldCommandId = 0;
-
-    PrevAbsoluteTime = 0.0;
-
-#ifdef OVR_OS_ANDROID
-    pPhoneSensors = PhoneSensors::Create();
-#endif
-}
-
-SensorDeviceImpl::~SensorDeviceImpl()
-{
-    // Check that Shutdown() was called.
-    OVR_ASSERT(!pCreateDesc->pDevice);    
-}
-
-
-// Internal creation APIs.
-bool SensorDeviceImpl::Initialize(DeviceBase* parent)
-{
-    if (HIDDeviceImpl<OVR::SensorDevice>::Initialize(parent))
-    {
-        openDevice();
-        return true;
-    }
-
-    return false;
-}
-
-void SensorDeviceImpl::openDevice()
-{
-
-    // Read the currently configured range from sensor.
-    SensorRangeImpl sr(SensorRange(), 0);
-
-    if (GetInternalDevice()->GetFeatureReport(sr.Buffer, SensorRangeImpl::PacketSize))
-    {
-        sr.Unpack();
-        sr.GetSensorRange(&CurrentRange);
-        // Increase the magnetometer range, since the default value is not enough in practice
-        CurrentRange.MaxMagneticField = 2.5f;
-        setRange(CurrentRange);
-    }
-
-    // Read the currently configured calibration from sensor.
-    SensorFactoryCalibrationImpl sc;
-    if (GetInternalDevice()->GetFeatureReport(sc.Buffer, SensorFactoryCalibrationImpl::PacketSize))
-    {
-        sc.Unpack();
-        AccelCalibrationOffset = sc.AccelOffset;
-        GyroCalibrationOffset  = sc.GyroOffset;
-        AccelCalibrationMatrix = sc.AccelMatrix;
-        GyroCalibrationMatrix  = sc.GyroMatrix;
-        CalibrationTemperature = sc.Temperature;
-    }
-
-    // If the sensor has "DisplayInfo" data, use HMD coordinate frame by default.
-    SensorDisplayInfoImpl displayInfo;
-    if (GetInternalDevice()->GetFeatureReport(displayInfo.Buffer, SensorDisplayInfoImpl::PacketSize))
-    {
-        displayInfo.Unpack();
-        Coordinates = (displayInfo.DistortionType & SensorDisplayInfoImpl::Mask_BaseFmt) ?
-                      Coord_HMD : Coord_Sensor;
-    }
-
-    // Read/Apply sensor config.
-    setCoordinateFrame(Coordinates);
-    setReportRate(Sensor_DefaultReportRate);
-
-    // Set Keep-alive at 10 seconds.
-    SensorKeepAliveImpl skeepAlive(10 * 1000);
-    GetInternalDevice()->SetFeatureReport(skeepAlive.Buffer, SensorKeepAliveImpl::PacketSize);
-
-    // Load mag calibration
-    MagCalibrationReport report;
-    bool res = GetMagCalibrationReport(&report);
-    if (res && report.Version > 0)
-    {
-        magCalibration = report.Calibration;
-        magCalibrated = true;
-    }
-}
-
-void SensorDeviceImpl::closeDeviceOnError()
-{
-    LogText("OVR::SensorDevice - Lost connection to '%s'\n", getHIDDesc()->Path.ToCStr());
-    NextKeepAliveTickSeconds = 0;
-}
-
-void SensorDeviceImpl::Shutdown()
-{   
-    HIDDeviceImpl<OVR::SensorDevice>::Shutdown();
-
-    LogText("OVR::SensorDevice - Closed '%s'\n", getHIDDesc()->Path.ToCStr());
-}
-
-void SensorDeviceImpl::OnInputReport(UByte* pData, UInt32 length)
-{
-
-	bool processed = false;
-    if (!processed)
-    {
-        TrackerMessage message;
-        if (decodeTrackerMessage(&message, pData, length))
-        {
-            processed = true;
-            onTrackerMessage(&message);
-        }
-    }
-}
-
-double SensorDeviceImpl::OnTicks(double tickSeconds)
-{
-    if (tickSeconds >= NextKeepAliveTickSeconds)
-    {
-        // Use 3-seconds keep alive by default.
-        double keepAliveDelta = 3.0;
-
-        // Set Keep-alive at 10 seconds.
-        SensorKeepAliveImpl skeepAlive(10 * 1000);
-        // OnTicks is called from background thread so we don't need to add this to the command queue.
-        GetInternalDevice()->SetFeatureReport(skeepAlive.Buffer, SensorKeepAliveImpl::PacketSize);
-
-		// Emit keep-alive every few seconds.
-        NextKeepAliveTickSeconds = tickSeconds + keepAliveDelta;
-    }
-    return NextKeepAliveTickSeconds - tickSeconds;
-}
-
-bool SensorDeviceImpl::SetRange(const SensorRange& range, bool waitFlag)
-{
-    bool                 result = 0;
-    ThreadCommandQueue * threadQueue = GetManagerImpl()->GetThreadQueue();
-
-    if (!waitFlag)
-    {
-        return threadQueue->PushCall(this, &SensorDeviceImpl::setRange, range);
-    }
-    
-    if (!threadQueue->PushCallAndWaitResult(this, 
-                                            &SensorDeviceImpl::setRange,
-                                            &result, 
-                                            range))
-    {
-        return false;
-    }
-
-    return result;
-}
-
-void SensorDeviceImpl::GetRange(SensorRange* range) const
-{
-    Lock::Locker lockScope(GetLock());
-    *range = CurrentRange;
-}
-
-bool SensorDeviceImpl::setRange(const SensorRange& range)
-{
-    SensorRangeImpl sr(range);
-    
-    if (GetInternalDevice()->SetFeatureReport(sr.Buffer, SensorRangeImpl::PacketSize))
-    {
-        Lock::Locker lockScope(GetLock());
-        sr.GetSensorRange(&CurrentRange);
-        return true;
-    }
-    
-    return false;
-}
-
-void SensorDeviceImpl::SetCoordinateFrame(CoordinateFrame coordframe)
-{ 
-    // Push call with wait.
-    GetManagerImpl()->GetThreadQueue()->
-        PushCall(this, &SensorDeviceImpl::setCoordinateFrame, coordframe, true);
-}
-
-SensorDevice::CoordinateFrame SensorDeviceImpl::GetCoordinateFrame() const
-{
-    return Coordinates;
-}
-
-Void SensorDeviceImpl::setCoordinateFrame(CoordinateFrame coordframe)
-{
-
-    Coordinates = coordframe;
-
-    // Read the original coordinate frame, then try to change it.
-    SensorConfigImpl scfg;
-    if (GetInternalDevice()->GetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize))
-    {
-        scfg.Unpack();
-    }
-
-    scfg.SetSensorCoordinates(coordframe == Coord_Sensor);
-    scfg.Pack();
-
-    GetInternalDevice()->SetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize);
-    
-    // Re-read the state, in case of older firmware that doesn't support Sensor coordinates.
-    if (GetInternalDevice()->GetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize))
-    {
-        scfg.Unpack();
-        HWCoordinates = scfg.IsUsingSensorCoordinates() ? Coord_Sensor : Coord_HMD;
-    }
-    else
-    {
-        HWCoordinates = Coord_HMD;
-    }
-    return 0;
-}
-
-void SensorDeviceImpl::SetReportRate(unsigned rateHz)
-{ 
-    // Push call with wait.
-    GetManagerImpl()->GetThreadQueue()->
-        PushCall(this, &SensorDeviceImpl::setReportRate, rateHz, true);
-}
-
-unsigned SensorDeviceImpl::GetReportRate() const
-{
-    // Read the original configuration
-    SensorConfigImpl scfg;
-    if (GetInternalDevice()->GetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize))
-    {
-        scfg.Unpack();
-        return Sensor_MaxReportRate / (scfg.PacketInterval + 1);
-    }
-    return 0; // error
-}
-
-Void SensorDeviceImpl::setReportRate(unsigned rateHz)
-{
-    // Read the original configuration
-    SensorConfigImpl scfg;
-    if (GetInternalDevice()->GetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize))
-    {
-        scfg.Unpack();
-    }
-
-    if (rateHz > Sensor_MaxReportRate)
-        rateHz = Sensor_MaxReportRate;
-    else if (rateHz == 0)
-        rateHz = Sensor_DefaultReportRate;
-
-    scfg.PacketInterval = UInt16((Sensor_MaxReportRate / rateHz) - 1);
-
-    scfg.Pack();
-
-    GetInternalDevice()->SetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize);
-    return 0;
-}
-
-void SensorDeviceImpl::GetFactoryCalibration(Vector3f* AccelOffset, Vector3f* GyroOffset,
-                                             Matrix4f* AccelMatrix, Matrix4f* GyroMatrix, 
-                                             float* Temperature)
-{
-    *AccelOffset = AccelCalibrationOffset;
-    *GyroOffset  = GyroCalibrationOffset;
-    *AccelMatrix = AccelCalibrationMatrix;
-    *GyroMatrix  = GyroCalibrationMatrix;
-    *Temperature = CalibrationTemperature;
-}
-
-bool SensorDeviceImpl::IsMagCalibrated()
-{
-    return magCalibrated;
-}
-
-void SensorDeviceImpl::SetOnboardCalibrationEnabled(bool enabled)
-{
-    // Push call with wait.
-    GetManagerImpl()->GetThreadQueue()->
-        PushCall(this, &SensorDeviceImpl::setOnboardCalibrationEnabled, enabled, true);
-}
-
-Void SensorDeviceImpl::setOnboardCalibrationEnabled(bool enabled)
-{
-    // Read the original configuration
-    SensorConfigImpl scfg;
-    if (GetInternalDevice()->GetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize))
-    {
-        scfg.Unpack();
-    }
-
-    if (enabled)
-        scfg.Flags |= (SensorConfigImpl::Flag_AutoCalibration | SensorConfigImpl::Flag_UseCalibration);
-    else
-        scfg.Flags &= ~(SensorConfigImpl::Flag_AutoCalibration | SensorConfigImpl::Flag_UseCalibration);
-
-    scfg.Pack();
-
-    GetInternalDevice()->SetFeatureReport(scfg.Buffer, SensorConfigImpl::PacketSize);
-    return 0;
-}
-
-void SensorDeviceImpl::AddMessageHandler(MessageHandler* handler)
-{
-    if (handler)
-        SequenceValid = false;
-    DeviceBase::AddMessageHandler(handler);
-}
-
-// 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.
-
-
-// We need to convert it to the following RHS coordinate system:
-// X right, Y Up, Z Back (out of screen)
-//
-Vector3f AccelFromBodyFrameUpdate(const TrackerSensors& update, UByte sampleNumber,
-                                  bool convertHMDToSensor = false)
-{
-    const TrackerSample& sample = update.Samples[sampleNumber];
-    float                ax = (float)sample.AccelX;
-    float                ay = (float)sample.AccelY;
-    float                az = (float)sample.AccelZ;
-
-    Vector3f val = convertHMDToSensor ? Vector3f(ax, az, -ay) :  Vector3f(ax, ay, az);
-    return val * 0.0001f;
-}
-
-
-Vector3f MagFromBodyFrameUpdate(const TrackerSensors& update,
-                                Matrix4f magCalibration,
-                                bool convertHMDToSensor = false)
-{   
-    float mx = (float)update.MagX;
-    float my = (float)update.MagY;
-    float mz = (float)update.MagZ;
-    // Note: Y and Z are swapped in comparison to the Accel.  
-    // This accounts for DK1 sensor firmware axis swap, which should be undone in future releases.
-    Vector3f mag = convertHMDToSensor ? Vector3f(mx, my, -mz) : Vector3f(mx, mz, my);
-    mag *= 0.0001f;
-    // Apply calibration
-    return magCalibration.Transform(mag);
-}
-
-Vector3f EulerFromBodyFrameUpdate(const TrackerSensors& update, UByte sampleNumber,
-                                  bool convertHMDToSensor = false)
-{
-    const TrackerSample& sample = update.Samples[sampleNumber];
-    float                gx = (float)sample.GyroX;
-    float                gy = (float)sample.GyroY;
-    float                gz = (float)sample.GyroZ;
-
-    Vector3f val = convertHMDToSensor ? Vector3f(gx, gz, -gy) :  Vector3f(gx, gy, gz);
-    return val * 0.0001f;
-}
-
-bool  SensorDeviceImpl::decodeTrackerMessage(TrackerMessage* message, UByte* buffer, int size)
-{
-    memset(message, 0, sizeof(TrackerMessage));
-
-    if (size < 4)
-    {
-        message->Type = TrackerMessage_SizeError;
-        return false;
-    }
-
-    switch (buffer[0])
-    {
-    case TrackerMessage_Sensors:
-        message->Type = message->Sensors.Decode(buffer, size);
-        break;
-
-    default:
-        message->Type = TrackerMessage_Unknown;
-        break;
-    }
-
-    return (message->Type < TrackerMessage_Unknown) && (message->Type != TrackerMessage_None);
-}
-
-void SensorDeviceImpl::onTrackerMessage(TrackerMessage* message)
-{
-    if (message->Type != TrackerMessage_Sensors)
-        return;
-    
-    const double    timeUnit        = (1.0 / 1000.0);
-    double          scaledTimeUnit  = timeUnit;
-    TrackerSensors& s               = message->Sensors;
-    // DK1 timestamps the first sample, so the actual device time will be later
-    // by the time we get the message if there are multiple samples.
-    int             timestampAdjust = (s.SampleCount > 0) ? s.SampleCount-1 : 0;
-
-    const double now                 = Timer::GetSeconds();
-    double       absoluteTimeSeconds = 0.0;
-    
-
-    if (SequenceValid)
-    {
-        unsigned timestampDelta;
-
-        if (s.Timestamp < LastTimestamp)
-        {
-        	// The timestamp rolled around the 16 bit counter, so FullTimeStamp
-        	// needs a high word increment.
-        	FullTimestamp += 0x10000;
-            timestampDelta = ((((int)s.Timestamp) + 0x10000) - (int)LastTimestamp);
-        }
-        else
-        {
-            timestampDelta = (s.Timestamp - LastTimestamp);
-        }
-        // Update the low word of FullTimeStamp
-        FullTimestamp = ( FullTimestamp & ~0xffff ) | s.Timestamp;       
-
-        double deviceTime   = (FullTimestamp + timestampAdjust) * timeUnit;
-        absoluteTimeSeconds = TimeFilter.SampleToSystemTime(deviceTime, now, PrevAbsoluteTime);
-        scaledTimeUnit      = TimeFilter.ScaleTimeUnit(timeUnit);
-        PrevAbsoluteTime    = absoluteTimeSeconds;
-        
-        // If we missed a small number of samples, generate the sample that would have immediately
-        // proceeded the current one. Re-use the IMU values from the last processed sample.
-        if ((timestampDelta > LastSampleCount) && (timestampDelta <= 254))
-        {
-            if (HandlerRef.HasHandlers())
-            {
-                MessageBodyFrame sensors(this);
-
-                sensors.AbsoluteTimeSeconds = absoluteTimeSeconds - s.SampleCount * scaledTimeUnit;
-                sensors.TimeDelta           = (float)((timestampDelta - LastSampleCount) * scaledTimeUnit);
-                sensors.Acceleration        = LastAcceleration;
-                sensors.RotationRate        = LastRotationRate;
-                sensors.MagneticField       = LastMagneticField;
-                sensors.Temperature         = LastTemperature;
-
-                HandlerRef.Call(sensors);
-            }
-        }
-    }
-    else
-    {
-        LastAcceleration = Vector3f(0);
-        LastRotationRate = Vector3f(0);
-        LastMagneticField= Vector3f(0);
-        LastTemperature  = 0;
-        SequenceValid    = true;
-
-        // This is our baseline sensor to host time delta,
-        // it will be adjusted with each new message.
-        FullTimestamp = s.Timestamp;
-
-        double deviceTime   = (FullTimestamp + timestampAdjust) * timeUnit;
-        absoluteTimeSeconds = TimeFilter.SampleToSystemTime(deviceTime, now, PrevAbsoluteTime);
-        scaledTimeUnit      = TimeFilter.ScaleTimeUnit(timeUnit);
-        PrevAbsoluteTime    = absoluteTimeSeconds;
-    }
-
-    LastSampleCount = s.SampleCount;
-    LastTimestamp   = s.Timestamp;
-
-    bool convertHMDToSensor = (Coordinates == Coord_Sensor) && (HWCoordinates == Coord_HMD);
-	
-#ifdef OVR_OS_ANDROID
-    // LDC - Normally we get the coordinate system from the tracker.
-    // Since KTracker doesn't store it we'll always assume HMD coordinate system.
-    convertHMDToSensor = false;
-#endif
-
-    if (HandlerRef.HasHandlers())
-    {
-        MessageBodyFrame sensors(this);
-        UByte            iterations = s.SampleCount;
-
-        if (s.SampleCount > 3)
-        {
-            iterations        = 3;
-            sensors.TimeDelta = (float)((s.SampleCount - 2) * scaledTimeUnit);
-        }
-        else
-        {
-            sensors.TimeDelta = (float)scaledTimeUnit;
-        }
-
-        for (UByte i = 0; i < iterations; i++)
-        {     
-            sensors.AbsoluteTimeSeconds = absoluteTimeSeconds - ( iterations - 1 - i ) * scaledTimeUnit;
-            sensors.Acceleration        = AccelFromBodyFrameUpdate(s, i, convertHMDToSensor);
-            sensors.RotationRate        = EulerFromBodyFrameUpdate(s, i, convertHMDToSensor);
-            sensors.MagneticField       = MagFromBodyFrameUpdate(s, magCalibration, convertHMDToSensor);
-
-#ifdef OVR_OS_ANDROID
-            replaceWithPhoneMag(&(sensors.MagneticField));
-#endif
-            sensors.Temperature   = s.Temperature * 0.01f;
-            HandlerRef.Call(sensors);
-            // TimeDelta for the last two sample is always fixed.
-            sensors.TimeDelta = (float)scaledTimeUnit;
-        }
-
-        LastAcceleration = sensors.Acceleration;
-        LastRotationRate = sensors.RotationRate;
-        LastMagneticField= sensors.MagneticField;
-        LastTemperature  = sensors.Temperature;
-    }
-    else
-    {
-        UByte i = (s.SampleCount > 3) ? 2 : (s.SampleCount - 1);
-        LastAcceleration  = AccelFromBodyFrameUpdate(s, i, convertHMDToSensor);
-        LastRotationRate  = EulerFromBodyFrameUpdate(s, i, convertHMDToSensor);
-        LastMagneticField = MagFromBodyFrameUpdate(s, magCalibration, convertHMDToSensor);
-
-#ifdef OVR_OS_ANDROID
-        replaceWithPhoneMag(&LastMagneticField);
-#endif
-        LastTemperature   = s.Temperature * 0.01f;
-    }
-}
-
-
-#ifdef OVR_OS_ANDROID
-
-void SensorDeviceImpl::replaceWithPhoneMag(Vector3f* val)
-{
-
-	// Native calibrated.
-	pPhoneSensors->SetMagSource(PhoneSensors::MagnetometerSource_Native);
-
-	Vector3f magPhone;
-	pPhoneSensors->GetLatestMagValue(&magPhone);
-
-	// Phone value is in micro-Tesla. Convert it to Gauss and flip axes.
-	magPhone *= 10000.0f/1000000.0f;
-
-	Vector3f res;
-	res.x = -magPhone.y;
-	res.y = magPhone.x;
-	res.z = magPhone.z;
-
-	*val = res;
-}
-#endif 
-
-const int MAX_DEVICE_PROFILE_MAJOR_VERSION = 1;
-
-// Writes the current calibration for a particular device to a device profile file
-bool SensorDeviceImpl::SetMagCalibrationReport(const MagCalibrationReport &data)
-{
-    // Get device info
-    SensorInfo sinfo;
-    GetDeviceInfo(&sinfo);
-    
-    // A named calibration may be specified for calibration in different
-    // environments, otherwise the default calibration is used
-    const char* calibrationName = "default";
-
-    // Generate a mag calibration event
-    JSON* calibration = JSON::CreateObject();
-    // (hardcoded for now) the measurement and representation method 
-    calibration->AddStringItem("Version", "2.0");   
-    calibration->AddStringItem("Name", "default");
-
-    // time stamp the calibration
-    char time_str[64];
-   
-#ifdef OVR_OS_WIN32
-    struct tm caltime;
-    time_t now = time(0);
-    localtime_s(&caltime, &now);
-    strftime(time_str, 64, "%Y-%m-%d %H:%M:%S", &caltime);
-#else
-    struct tm* caltime;
-    time_t now = time(0);
-    caltime = localtime(&now);
-    strftime(time_str, 64, "%Y-%m-%d %H:%M:%S", caltime);
-#endif
-   
-    calibration->AddStringItem("Time", time_str);
-
-    // write the full calibration matrix
-    char matrix[256];
-    data.Calibration.ToString(matrix, 256);
-    calibration->AddStringItem("CalibrationMatrix", matrix);
-    // save just the offset, for backwards compatibility
-    // this can be removed when we don't want to support 0.2.4 anymore
-    Vector3f center(data.Calibration.M[0][3], data.Calibration.M[1][3], data.Calibration.M[2][3]);
-    Matrix4f tmp = data.Calibration; tmp.M[0][3] = tmp.M[1][3] = tmp.M[2][3] = 0; tmp.M[3][3] = 1;
-    center = tmp.Inverted().Transform(center);
-    Matrix4f oldcalmat; oldcalmat.M[0][3] = center.x; oldcalmat.M[1][3] = center.y; oldcalmat.M[2][3] = center.z; 
-    oldcalmat.ToString(matrix, 256);
-    calibration->AddStringItem("Calibration", matrix);
-    
-    String path = GetBaseOVRPath(true);
-    path += "/Devices.json";
-
-    // Look for a preexisting 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")
-        {   
-            int major = atoi(version->Value.ToCStr());
-            if (major > MAX_DEVICE_PROFILE_MAJOR_VERSION)
-            {
-                // don't use the file on unsupported major version number
-                root->Release();
-                root = NULL;
-            }
-        }
-        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);
-                    }
-
-
-                    /*
-                    this is removed temporarily, since this is a sensor fusion setting, not sensor itself
-                    should be moved to the correct place when Brant has finished the user profile implementation
-                    // 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);
-        // removed temporarily, see above
-        //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
-bool SensorDeviceImpl::GetMagCalibrationReport(MagCalibrationReport* data)
-{
-    data->Version = 0;
-    data->Calibration.SetIdentity();
-
-    // Get device info
-    SensorInfo sinfo;
-    GetDeviceInfo(&sinfo);
-
-    // A named calibration may be specified for calibration in different
-    // environments, otherwise the default calibration is used
-    const char* calibrationName = "default";
-
-    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")
-    {   
-        int major = atoi(version->Value.ToCStr());
-        if (major > MAX_DEVICE_PROFILE_MAJOR_VERSION)
-            return false;   // don't parse the file on unsupported major version number
-    }
-    else
-    {
-        return 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");
-                // as a temporary HACK, return no calibration if EnableYawCorrection is off
-                // this will force disable yaw correction in SensorFusion
-                // proper solution would load the value in the Profile, which SensorFusion can access
-                if (autoyaw && autoyaw->dValue == 0)
-                    return true;
-
-                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
-                            
-                            int major = 0;
-                            JSON* version = calibration->GetItemByName("Version");
-                            if (version)
-                                major = atoi(version->Value.ToCStr());
-
-                            if (major > data->Version && major <= 2)
-                            {
-                                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("CalibrationMatrix");
-                                if (!cal)
-                                    cal = calibration->GetItemByName("Calibration");
-                                if (cal)
-                                {
-                                    data->Calibration = Matrix4f::FromString(cal->Value.ToCStr());
-                                    data->Version = (UByte)major;
-                                }
-                            }
-                        } 
-                    }
-                    item = device->GetNextItem(item);
-                }
-
-                return true;
-            }
-        }
-
-        device = root->GetNextItem(device);
-    }
-    
-    return true;
-}
-
-
-bool SensorDeviceImpl::SetSerialReport(const SerialReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setSerialReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool SensorDeviceImpl::setSerialReport(const SerialReport& data)
-{
-    SerialImpl di(data);
-    return GetInternalDevice()->SetFeatureReport(di.Buffer, SerialImpl::PacketSize);
-}
-
-bool SensorDeviceImpl::GetSerialReport(SerialReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getSerialReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool SensorDeviceImpl::getSerialReport(SerialReport* data)
-{
-    SerialImpl di;
-    if (GetInternalDevice()->GetFeatureReport(di.Buffer, SerialImpl::PacketSize))
-    {
-        di.Unpack();
-        *data = di.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-} // namespace OVR