////  NeuronPlugin.cpp//  input-plugins/src/input-plugins////  Created by Anthony Thibault on 12/18/2015.//  Copyright 2015 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "NeuronPlugin.h" #include <controllers/UserInputMapper.h>#include <QLoggingCategory>#include <PathUtils.h>#include <DebugDraw.h>#include <cassert>#include <NumericalConstants.h>#include <StreamUtils.h> Q_DECLARE_LOGGING_CATEGORY(inputplugins)Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins") #define __OS_XUN__ 1#define BOOL int #ifdef HAVE_NEURON#include <NeuronDataReader.h>#endif const QString NeuronPlugin::NAME = "Neuron";const QString NeuronPlugin::NEURON_ID_STRING = "Perception Neuron"; // indices of joints of the Neuron standard skeleton.// This is 'almost' the same as the High Fidelity standard skeleton.// It is missing a thumb joint.enum NeuronJointIndex {    Hips = 0,    RightUpLeg,    RightLeg,    RightFoot,    LeftUpLeg,    LeftLeg,    LeftFoot,    Spine,    Spine1,    Spine2,    Spine3,    Neck,    Head,    RightShoulder,    RightArm,    RightForeArm,    RightHand,    RightHandThumb1,    RightHandThumb2,    RightHandThumb3,    RightInHandIndex,    RightHandIndex1,    RightHandIndex2,    RightHandIndex3,    RightInHandMiddle,    RightHandMiddle1,    RightHandMiddle2,    RightHandMiddle3,    RightInHandRing,    RightHandRing1,    RightHandRing2,    RightHandRing3,    RightInHandPinky,    RightHandPinky1,    RightHandPinky2,    RightHandPinky3,    LeftShoulder,    LeftArm,    LeftForeArm,    LeftHand,    LeftHandThumb1,    LeftHandThumb2,    LeftHandThumb3,    LeftInHandIndex,    LeftHandIndex1,    LeftHandIndex2,    LeftHandIndex3,    LeftInHandMiddle,    LeftHandMiddle1,    LeftHandMiddle2,    LeftHandMiddle3,    LeftInHandRing,    LeftHandRing1,    LeftHandRing2,    LeftHandRing3,    LeftInHandPinky,    LeftHandPinky1,    LeftHandPinky2,    LeftHandPinky3,    Size}; // Almost a direct mapping except for LEFT_HAND_THUMB1 and RIGHT_HAND_THUMB1,// which are not present in the Neuron standard skeleton.static controller::StandardPoseChannel neuronJointIndexToPoseIndexMap[NeuronJointIndex::Size] = {    controller::HIPS,    controller::RIGHT_UP_LEG,    controller::RIGHT_LEG,    controller::RIGHT_FOOT,    controller::LEFT_UP_LEG,    controller::LEFT_LEG,    controller::LEFT_FOOT,    controller::SPINE,    controller::SPINE1,    controller::SPINE2,    controller::SPINE3,    controller::NECK,    controller::HEAD,    controller::RIGHT_SHOULDER,    controller::RIGHT_ARM,    controller::RIGHT_FORE_ARM,    controller::RIGHT_HAND,    controller::RIGHT_HAND_THUMB2,    controller::RIGHT_HAND_THUMB3,    controller::RIGHT_HAND_THUMB4,    controller::RIGHT_HAND_INDEX1,    controller::RIGHT_HAND_INDEX2,    controller::RIGHT_HAND_INDEX3,    controller::RIGHT_HAND_INDEX4,    controller::RIGHT_HAND_MIDDLE1,    controller::RIGHT_HAND_MIDDLE2,    controller::RIGHT_HAND_MIDDLE3,    controller::RIGHT_HAND_MIDDLE4,    controller::RIGHT_HAND_RING1,    controller::RIGHT_HAND_RING2,    controller::RIGHT_HAND_RING3,    controller::RIGHT_HAND_RING4,    controller::RIGHT_HAND_PINKY1,    controller::RIGHT_HAND_PINKY2,    controller::RIGHT_HAND_PINKY3,    controller::RIGHT_HAND_PINKY4,    controller::LEFT_SHOULDER,    controller::LEFT_ARM,    controller::LEFT_FORE_ARM,    controller::LEFT_HAND,    controller::LEFT_HAND_THUMB2,    controller::LEFT_HAND_THUMB3,    controller::LEFT_HAND_THUMB4,    controller::LEFT_HAND_INDEX1,    controller::LEFT_HAND_INDEX2,    controller::LEFT_HAND_INDEX3,    controller::LEFT_HAND_INDEX4,    controller::LEFT_HAND_MIDDLE1,    controller::LEFT_HAND_MIDDLE2,    controller::LEFT_HAND_MIDDLE3,    controller::LEFT_HAND_MIDDLE4,    controller::LEFT_HAND_RING1,    controller::LEFT_HAND_RING2,    controller::LEFT_HAND_RING3,    controller::LEFT_HAND_RING4,    controller::LEFT_HAND_PINKY1,    controller::LEFT_HAND_PINKY2,    controller::LEFT_HAND_PINKY3,    controller::LEFT_HAND_PINKY4}; // in rig framestatic glm::vec3 rightHandThumb1DefaultAbsTranslation(-2.155500650405884, -0.7610001564025879, 2.685631036758423);static glm::vec3 leftHandThumb1DefaultAbsTranslation(2.1555817127227783, -0.7603635787963867, 2.6856393814086914); // default translations (cm)static glm::vec3 neuronJointTranslations[NeuronJointIndex::Size] = {    {131.901, 95.6602, -27.9815},    {-9.55907, -1.58772, 0.0760284},    {0.0144232, -41.4683, -0.105322},    {1.59348, -41.5875, -0.557237},    {9.72077, -1.68926, -0.280643},    {0.0886684, -43.1586, -0.0111596},    {-2.98473, -44.0517, 0.0694456},    {0.110967, 16.3959, 0.140463},    {0.0500451, 10.0238, 0.0731921},    {0.061568, 10.4352, 0.0583075},    {0.0500606, 10.0217, 0.0711083},    {0.0317731, 10.7176, 0.0779325},    {-0.0204253, 9.71067, 0.131734},    {-3.24245, 7.13584, 0.185638},    {-13.0885, -0.0877601, 0.176065},    {-27.2674, 0.0688724, 0.0272146},    {-26.7673, 0.0301916, 0.0102847},    {-2.56017, 0.195537, 3.20968},    {-3.78796, 0, 0},    {-2.63141, 0, 0},    {-3.31579, 0.522947, 2.03495},    {-5.36589, -0.0939789, 1.02771},    {-3.72278, 0, 0},    {-2.11074, 0, 0},    {-3.47874, 0.532042, 0.778358},    {-5.32194, -0.0864, 0.322863},    {-4.06232, 0, 0},    {-2.54653, 0, 0},    {-3.46131, 0.553263, -0.132632},    {-4.76716, -0.0227368, -0.492632},    {-3.54073, 0, 0},    {-2.45634, 0, 0},    {-3.25137, 0.482779, -1.23613},    {-4.25937, -0.0227368, -1.12168},    {-2.83528, 0, 0},    {-1.79166, 0, 0},    {3.25624, 7.13148, -0.131575},    {13.149, -0.052598, -0.125076},    {27.2903, 0.00282644, -0.0181535},    {26.6602, 0.000969969, -0.0487599},    {2.56017, 0.195537, 3.20968},    {3.78796, 0, 0},    {2.63141, 0, 0},    {3.31579, 0.522947, 2.03495},    {5.36589, -0.0939789, 1.02771},    {3.72278, 0, 0},    {2.11074, 0, 0},    {3.47874, 0.532042, 0.778358},    {5.32194, -0.0864, 0.322863},    {4.06232, 0, 0},    {2.54653, 0, 0},    {3.46131, 0.553263, -0.132632},    {4.76716, -0.0227368, -0.492632},    {3.54073, 0, 0},    {2.45634, 0, 0},    {3.25137, 0.482779, -1.23613},    {4.25937, -0.0227368, -1.12168},    {2.83528, 0, 0},    {1.79166, 0, 0}}; static controller::StandardPoseChannel neuronJointIndexToPoseIndex(NeuronJointIndex i) {    assert(i >= 0 && i < NeuronJointIndex::Size);    if (i >= 0 && i < NeuronJointIndex::Size) {        return neuronJointIndexToPoseIndexMap[i];    } else {        return (controller::StandardPoseChannel)0; // not sure what to do here, but don't crash!    }} static const char* controllerJointName(controller::StandardPoseChannel i) {    switch (i) {    case controller::HIPS: return "Hips";    case controller::RIGHT_UP_LEG: return "RightUpLeg";    case controller::RIGHT_LEG: return "RightLeg";    case controller::RIGHT_FOOT: return "RightFoot";    case controller::LEFT_UP_LEG: return "LeftUpLeg";    case controller::LEFT_LEG: return "LeftLeg";    case controller::LEFT_FOOT: return "LeftFoot";    case controller::SPINE: return "Spine";    case controller::SPINE1: return "Spine1";    case controller::SPINE2: return "Spine2";    case controller::SPINE3: return "Spine3";    case controller::NECK: return "Neck";    case controller::HEAD: return "Head";    case controller::RIGHT_SHOULDER: return "RightShoulder";    case controller::RIGHT_ARM: return "RightArm";    case controller::RIGHT_FORE_ARM: return "RightForeArm";    case controller::RIGHT_HAND: return "RightHand";    case controller::RIGHT_HAND_THUMB1: return "RightHandThumb1";    case controller::RIGHT_HAND_THUMB2: return "RightHandThumb2";    case controller::RIGHT_HAND_THUMB3: return "RightHandThumb3";    case controller::RIGHT_HAND_THUMB4: return "RightHandThumb4";    case controller::RIGHT_HAND_INDEX1: return "RightHandIndex1";    case controller::RIGHT_HAND_INDEX2: return "RightHandIndex2";    case controller::RIGHT_HAND_INDEX3: return "RightHandIndex3";    case controller::RIGHT_HAND_INDEX4: return "RightHandIndex4";    case controller::RIGHT_HAND_MIDDLE1: return "RightHandMiddle1";    case controller::RIGHT_HAND_MIDDLE2: return "RightHandMiddle2";    case controller::RIGHT_HAND_MIDDLE3: return "RightHandMiddle3";    case controller::RIGHT_HAND_MIDDLE4: return "RightHandMiddle4";    case controller::RIGHT_HAND_RING1: return "RightHandRing1";    case controller::RIGHT_HAND_RING2: return "RightHandRing2";    case controller::RIGHT_HAND_RING3: return "RightHandRing3";    case controller::RIGHT_HAND_RING4: return "RightHandRing4";    case controller::RIGHT_HAND_PINKY1: return "RightHandPinky1";    case controller::RIGHT_HAND_PINKY2: return "RightHandPinky2";    case controller::RIGHT_HAND_PINKY3: return "RightHandPinky3";    case controller::RIGHT_HAND_PINKY4: return "RightHandPinky4";    case controller::LEFT_SHOULDER: return "LeftShoulder";    case controller::LEFT_ARM: return "LeftArm";    case controller::LEFT_FORE_ARM: return "LeftForeArm";    case controller::LEFT_HAND: return "LeftHand";    case controller::LEFT_HAND_THUMB1: return "LeftHandThumb1";    case controller::LEFT_HAND_THUMB2: return "LeftHandThumb2";    case controller::LEFT_HAND_THUMB3: return "LeftHandThumb3";    case controller::LEFT_HAND_THUMB4: return "LeftHandThumb4";    case controller::LEFT_HAND_INDEX1: return "LeftHandIndex1";    case controller::LEFT_HAND_INDEX2: return "LeftHandIndex2";    case controller::LEFT_HAND_INDEX3: return "LeftHandIndex3";    case controller::LEFT_HAND_INDEX4: return "LeftHandIndex4";    case controller::LEFT_HAND_MIDDLE1: return "LeftHandMiddle1";    case controller::LEFT_HAND_MIDDLE2: return "LeftHandMiddle2";    case controller::LEFT_HAND_MIDDLE3: return "LeftHandMiddle3";    case controller::LEFT_HAND_MIDDLE4: return "LeftHandMiddle4";    case controller::LEFT_HAND_RING1: return "LeftHandRing1";    case controller::LEFT_HAND_RING2: return "LeftHandRing2";    case controller::LEFT_HAND_RING3: return "LeftHandRing3";    case controller::LEFT_HAND_RING4: return "LeftHandRing4";    case controller::LEFT_HAND_PINKY1: return "LeftHandPinky1";    case controller::LEFT_HAND_PINKY2: return "LeftHandPinky2";    case controller::LEFT_HAND_PINKY3: return "LeftHandPinky3";    case controller::LEFT_HAND_PINKY4: return "LeftHandPinky4";    default: return "???";    }} // convert between YXZ neuron euler angles in degrees to quaternion// this is the default setting in the Axis Neuron server.static quat eulerToQuat(vec3 euler) {    // euler.x and euler.y are swaped, WTF.    glm::vec3 e = glm::vec3(euler.y, euler.x, euler.z) * RADIANS_PER_DEGREE;    return (glm::angleAxis(e.y, Vectors::UNIT_Y) *            glm::angleAxis(e.x, Vectors::UNIT_X) *            glm::angleAxis(e.z, Vectors::UNIT_Z));} #ifdef HAVE_NEURON //// neuronDataReader SDK callback functions// // NOTE: must be thread-safevoid FrameDataReceivedCallback(void* context, SOCKET_REF sender, BvhDataHeaderEx* header, float* data) {     auto neuronPlugin = reinterpret_cast<NeuronPlugin*>(context);     // version 1.0    if (header->DataVersion.Major == 1 && header->DataVersion.Minor == 0) {         // skip reference joint if present        if (header->WithReference && header->WithDisp) {            data += 6;        } else if (header->WithReference && !header->WithDisp) {            data += 3;        }         if (header->WithDisp) {            // enter mutex            std::lock_guard<std::mutex> guard(neuronPlugin->_jointsMutex);             //            // Data is 6 floats per joint: 3 position values, 3 rotation euler angles (degrees)            //             // resize vector if necessary            const size_t NUM_FLOATS_PER_JOINT = 6;            const size_t NUM_JOINTS = header->DataCount / NUM_FLOATS_PER_JOINT;            if (neuronPlugin->_joints.size() != NUM_JOINTS) {                neuronPlugin->_joints.resize(NUM_JOINTS, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });            }             assert(sizeof(NeuronPlugin::NeuronJoint) == (NUM_FLOATS_PER_JOINT * sizeof(float)));             // copy the data            memcpy(&(neuronPlugin->_joints[0]), data, sizeof(NeuronPlugin::NeuronJoint) * NUM_JOINTS);         } else {            qCWarning(inputplugins) << "NeuronPlugin: unsuported binary format, please enable displacements";             // enter mutex            std::lock_guard<std::mutex> guard(neuronPlugin->_jointsMutex);             if (neuronPlugin->_joints.size() != NeuronJointIndex::Size) {                neuronPlugin->_joints.resize(NeuronJointIndex::Size, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });            }             for (int i = 0; i < NeuronJointIndex::Size; i++) {                neuronPlugin->_joints[i].euler = glm::vec3();                neuronPlugin->_joints[i].pos = neuronJointTranslations[i];            }        }    } else {        static bool ONCE = false;        if (!ONCE) {            qCCritical(inputplugins) << "NeuronPlugin: bad frame version number, expected 1.0";            ONCE = true;        }    }} // I can't even get the SDK to send me a callback.// BRCommandFetchAvatarDataFromServer & BRRegisterAutoSyncParmeter [sic] don't seem to work.// So this is totally untested.// NOTE: must be thread-safestatic void CommandDataReceivedCallback(void* context, SOCKET_REF sender, CommandPack* pack, void* data) {     DATA_VER version;    version._VersionMask = pack->DataVersion;    if (version.Major == 1 && version.Minor == 0) {        const char* str = "Unknown";        switch (pack->CommandId) {        case Cmd_BoneSize:                // Id can be used to request bone size from server or register avatar name command.            str = "BoneSize";            break;        case Cmd_AvatarName:              // Id can be used to request avatar name from server or register avatar name command.            str = "AvatarName";            break;        case Cmd_FaceDirection:           // Id used to request face direction from server            str = "FaceDirection";            break;        case Cmd_DataFrequency:           // Id can be used to request data frequency from server or register data frequency command.            str = "DataFrequency";            break;        case Cmd_BvhInheritanceTxt:       // Id can be used to request bvh header txt from server or register bvh header txt command.            str = "BvhInheritanceTxt";            break;        case Cmd_AvatarCount:             // Id can be used to request avatar count from server or register avatar count command.            str = "AvatarCount";            break;        case Cmd_CombinationMode:         // Id can be used to request combination mode from server or register combination mode command.            str = "CombinationMode";            break;        case Cmd_RegisterEvent:           // Id can be used to register event.            str = "RegisterEvent";            break;        case Cmd_UnRegisterEvent:         // Id can be used to unregister event.            str = "UnRegisterEvent";            break;        }        qCDebug(inputplugins) << "NeuronPlugin: command data received CommandID = " << str;    } else {        static bool ONCE = false;        if (!ONCE) {            qCCritical(inputplugins) << "NeuronPlugin: bad command version number, expected 1.0";            ONCE = true;        }    }} // NOTE: must be thread-safestatic void SocketStatusChangedCallback(void* context, SOCKET_REF sender, SocketStatus status, char* message) {    // just dump to log, later we might want to pop up a connection lost dialog or attempt to reconnect.    qCDebug(inputplugins) << "NeuronPlugin: socket status = " << message;} #endif  // #ifdef HAVE_NEURON //// NeuronPlugin// bool NeuronPlugin::isSupported() const {#ifdef HAVE_NEURON    // Because it's a client/server network architecture, we can't tell    // if the neuron is actually connected until we connect to the server.    return true;#else    return false;#endif} bool NeuronPlugin::activate() {    InputPlugin::activate(); #ifdef HAVE_NEURON    // register with userInputMapper    auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();    userInputMapper->registerDevice(_inputDevice);     // register c-style callbacks    BRRegisterFrameDataCallback((void*)this, FrameDataReceivedCallback);    BRRegisterCommandDataCallback((void*)this, CommandDataReceivedCallback);    BRRegisterSocketStatusCallback((void*)this, SocketStatusChangedCallback);     // TODO: Pull these from prefs dialog?    // localhost is fine for now.    _serverAddress = "localhost";    _serverPort = 7001;  // default port for TCP Axis Neuron server.     _socketRef = BRConnectTo((char*)_serverAddress.c_str(), _serverPort);    if (!_socketRef) {        // error        qCCritical(inputplugins) << "NeuronPlugin: error connecting to " << _serverAddress.c_str() << ":" << _serverPort << ", error = " << BRGetLastErrorMessage();        return false;    } else {        qCDebug(inputplugins) << "NeuronPlugin: success connecting to " << _serverAddress.c_str() << ":" << _serverPort;         BRRegisterAutoSyncParmeter(_socketRef, Cmd_CombinationMode);        return true;    }#else    return false;#endif} void NeuronPlugin::deactivate() {#ifdef HAVE_NEURON    // unregister from userInputMapper    if (_inputDevice->_deviceID != controller::Input::INVALID_DEVICE) {        auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();        userInputMapper->removeDevice(_inputDevice->_deviceID);    }     if (_socketRef) {        BRUnregisterAutoSyncParmeter(_socketRef, Cmd_CombinationMode);        BRCloseSocket(_socketRef);    } 

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