0.4 Win-Beta0.4.0

1 files changed, 0 insertions, 1124 deletions

diff --git a/LibOVR/Src/OVR_Sensor2Impl.cpp b/LibOVR/Src/OVR_Sensor2Impl.cpp
deleted file mode 100644
index 95d486c..0000000
--- a/LibOVR/Src/OVR_Sensor2Impl.cpp
+++ /dev/null
@@ -1,1124 +0,0 @@
-/************************************************************************************
-
-Filename    :   OVR_Sensor2Impl.cpp
-Content     :   DK2 sensor device specific implementation.
-Created     :   January 21, 2013
-Authors     :   Lee Cooper
-
-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_Sensor2Impl.h"
-#include "OVR_SensorImpl_Common.h"
-#include "OVR_Sensor2ImplUtil.h"
-#include "Kernel/OVR_Alg.h"
-
-//extern FILE *SF_LOG_fp;
-
-namespace OVR {
-
-//-------------------------------------------------------------------------------------
-// ***** Oculus Sensor2-specific packet data structures
-
-enum {    
-    Sensor2_VendorId            = Oculus_VendorId,
-    Sensor2_ProductId           = 0x0021,
-
-    Sensor2_BootLoader          = 0x1001,
-
-    Sensor2_DefaultReportRate   = 1000, // Hz
-};
-
-
-// Messages we care for
-enum Tracker2MessageType
-{
-    Tracker2Message_None              = 0,
-    Tracker2Message_Sensors           = 11,
-    Tracker2Message_Unknown           = 0x100,
-    Tracker2Message_SizeError         = 0x101,
-};
-
-
-struct Tracker2Sensors
-{
-    UInt16	LastCommandID;
-    UByte	NumSamples;
-    UInt16	RunningSampleCount;				// Named 'SampleCount' in the firmware docs.
-    SInt16	Temperature;
-	UInt32	SampleTimestamp;
-    TrackerSample Samples[2];
-    SInt16	MagX, MagY, MagZ;
-    UInt16	FrameCount;
-	UInt32	FrameTimestamp;
-    UByte	FrameID;
-    UByte	CameraPattern;
-    UInt16	CameraFrameCount;				// Named 'CameraCount' in the firmware docs.
-	UInt32	CameraTimestamp;
-
-    Tracker2MessageType Decode(const UByte* buffer, int size)
-    {
-        if (size < 64)
-            return Tracker2Message_SizeError;
-
-		LastCommandID		= DecodeUInt16(buffer + 1);
-        NumSamples			= buffer[3];
-        RunningSampleCount	= DecodeUInt16(buffer + 4);
-        Temperature			= DecodeSInt16(buffer + 6);
-        SampleTimestamp		= DecodeUInt32(buffer + 8);
-        
-		// Only unpack as many samples as there actually are.
-        UByte iterationCount = (NumSamples > 1) ? 2 : NumSamples;
-
-        for (UByte i = 0; i < iterationCount; i++)
-        {
-			UnpackSensor(buffer + 12 + 16 * i, &Samples[i].AccelX, &Samples[i].AccelY, &Samples[i].AccelZ);
-            UnpackSensor(buffer + 20 + 16 * i, &Samples[i].GyroX,  &Samples[i].GyroY,  &Samples[i].GyroZ);
-		}
-
-        MagX = DecodeSInt16(buffer + 44);
-        MagY = DecodeSInt16(buffer + 46);
-        MagZ = DecodeSInt16(buffer + 48);
-
-		FrameCount = DecodeUInt16(buffer + 50);
-
-		FrameTimestamp		= DecodeUInt32(buffer + 52);
-		FrameID				= buffer[56];
-		CameraPattern		= buffer[57];
-		CameraFrameCount	= DecodeUInt16(buffer + 58);
-		CameraTimestamp		= DecodeUInt32(buffer + 60);
-        
-        return Tracker2Message_Sensors;
-    }
-};
-
-struct Tracker2Message
-{
-    Tracker2MessageType Type;
-    Tracker2Sensors     Sensors;
-};
-
-// 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 Tracker2Sensors& update, UByte sampleNumber)
-{
-    const TrackerSample& sample = update.Samples[sampleNumber];
-    float                ax = (float)sample.AccelX;
-    float                ay = (float)sample.AccelY;
-    float                az = (float)sample.AccelZ;
-
-    return Vector3f(ax, ay, az) * 0.0001f;
-}
-
-
-Vector3f MagFromBodyFrameUpdate(const Tracker2Sensors& update)
-{   
-    return Vector3f( (float)update.MagX, (float)update.MagY, (float)update.MagZ) * 0.0001f;
-}
-
-Vector3f EulerFromBodyFrameUpdate(const Tracker2Sensors& update, UByte sampleNumber)
-{
-    const TrackerSample& sample = update.Samples[sampleNumber];
-    float                gx = (float)sample.GyroX;
-    float                gy = (float)sample.GyroY;
-    float                gz = (float)sample.GyroZ;
-
-    return Vector3f(gx, gy, gz) * 0.0001f;
-}
-
-bool  Sensor2DeviceImpl::decodeTracker2Message(Tracker2Message* message, UByte* buffer, int size)
-{
-    memset(message, 0, sizeof(Tracker2Message));
-
-    if (size < 4)
-    {
-        message->Type = Tracker2Message_SizeError;
-        return false;
-    }
-
-    switch (buffer[0])
-    {
-    case Tracker2Message_Sensors:
-        message->Type = message->Sensors.Decode(buffer, size);
-        break;
-
-    default:
-        message->Type = Tracker2Message_Unknown;
-        break;
-    }
-
-    return (message->Type < Tracker2Message_Unknown) && (message->Type != Tracker2Message_None);
-}
-
-//-------------------------------------------------------------------------------------
-// ***** Sensor2Device
-
-Sensor2DeviceImpl::Sensor2DeviceImpl(SensorDeviceCreateDesc* createDesc)
-    :   SensorDeviceImpl(createDesc),
-        LastNumSamples(0),
-        LastRunningSampleCount(0),
-        FullCameraFrameCount(0),
-        LastCameraTime("C"),
-        LastFrameTime("F"),
-        LastSensorTime("S"),
-        LastFrameTimestamp(0)
-{
-    // 15 samples ok in min-window for DK2 since it uses microsecond clock.
-    TimeFilter = SensorTimeFilter(SensorTimeFilter::Settings(15));
-
-    pCalibration = new SensorCalibration(this);
-}
-
-Sensor2DeviceImpl::~Sensor2DeviceImpl()
-{
-    delete pCalibration;
-}
-
-void Sensor2DeviceImpl::openDevice()
-{
-
-    // Read the currently configured range from sensor.
-    SensorRangeImpl sr(SensorRange(), 0);
-
-    if (GetInternalDevice()->GetFeatureReport(sr.Buffer, SensorRangeImpl::PacketSize))
-    {
-        sr.Unpack();
-        sr.GetSensorRange(&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;
-    }
-	Coordinates = Coord_HMD; // TODO temporary to force it behave
-
-    // Read/Apply sensor config.
-    setCoordinateFrame(Coordinates);
-    setReportRate(Sensor2_DefaultReportRate);
-    setOnboardCalibrationEnabled(false);
-
-    // Must send DK2 keep-alive. Set Keep-alive at 10 seconds.
-    KeepAliveMuxReport keepAlive;
-    keepAlive.CommandId = 0;
-    keepAlive.INReport = 11;
-    keepAlive.Interval = 10 * 1000;
-
-    // Device creation is done from background thread so we don't need to add this to the command queue.
-    KeepAliveMuxImpl keepAliveImpl(keepAlive);
-    GetInternalDevice()->SetFeatureReport(keepAliveImpl.Buffer, KeepAliveMuxImpl::PacketSize);
-
-    // Read the temperature  data from the device
-    pCalibration->Initialize();
-}
-
-bool Sensor2DeviceImpl::SetTrackingReport(const TrackingReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setTrackingReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setTrackingReport(const TrackingReport& data)
-{
-    TrackingImpl ci(data);
-    return GetInternalDevice()->SetFeatureReport(ci.Buffer, TrackingImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetTrackingReport(TrackingReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getTrackingReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getTrackingReport(TrackingReport* data)
-{
-    TrackingImpl ci;
-    if (GetInternalDevice()->GetFeatureReport(ci.Buffer, TrackingImpl::PacketSize))
-    {
-        ci.Unpack();
-        *data = ci.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetDisplayReport(const DisplayReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setDisplayReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setDisplayReport(const DisplayReport& data)
-{
-    DisplayImpl di(data);
-    return GetInternalDevice()->SetFeatureReport(di.Buffer, DisplayImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetDisplayReport(DisplayReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getDisplayReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getDisplayReport(DisplayReport* data)
-{
-    DisplayImpl di;
-    if (GetInternalDevice()->GetFeatureReport(di.Buffer, DisplayImpl::PacketSize))
-    {
-        di.Unpack();
-        *data = di.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetMagCalibrationReport(const MagCalibrationReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setMagCalibrationReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setMagCalibrationReport(const MagCalibrationReport& data)
-{
-    MagCalibrationImpl mci(data);
-    return GetInternalDevice()->SetFeatureReport(mci.Buffer, MagCalibrationImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetMagCalibrationReport(MagCalibrationReport* data)
-{
-    // direct call if we are already on the device manager thread
-    if (GetCurrentThreadId() == GetManagerImpl()->GetThreadId())
-    {
-        return getMagCalibrationReport(data);
-    }
-
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getMagCalibrationReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getMagCalibrationReport(MagCalibrationReport* data)
-{
-    MagCalibrationImpl mci;
-    if (GetInternalDevice()->GetFeatureReport(mci.Buffer, MagCalibrationImpl::PacketSize))
-    {
-        mci.Unpack();
-        *data = mci.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetPositionCalibrationReport(const PositionCalibrationReport& data)
-{ 
-    bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setPositionCalibrationReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setPositionCalibrationReport(const PositionCalibrationReport& data)
-{
-	UByte version = GetDeviceInterfaceVersion();
-	if (version < 5)
-	{
-		PositionCalibrationImpl_Pre5 pci(data);
-		return GetInternalDevice()->SetFeatureReport(pci.Buffer, PositionCalibrationImpl_Pre5::PacketSize);
-	}
-	
-	PositionCalibrationImpl pci(data);
-    return GetInternalDevice()->SetFeatureReport(pci.Buffer, PositionCalibrationImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::getPositionCalibrationReport(PositionCalibrationReport* data)
-{
-	UByte version = GetDeviceInterfaceVersion();
-	if (version < 5)
-	{
-		PositionCalibrationImpl_Pre5 pci;
-		if (GetInternalDevice()->GetFeatureReport(pci.Buffer, PositionCalibrationImpl_Pre5::PacketSize))
-		{
-			pci.Unpack();
-			*data = pci.Settings;
-			return true;
-		}
-
-		return false;
-	}
-
-    PositionCalibrationImpl pci;
-    if (GetInternalDevice()->GetFeatureReport(pci.Buffer, PositionCalibrationImpl::PacketSize))
-    {
-        pci.Unpack();
-        *data = pci.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::GetAllPositionCalibrationReports(Array<PositionCalibrationReport>* data)
-{
-    bool result;
-    if (!GetManagerImpl()->GetThreadQueue()->
-        PushCallAndWaitResult(this, &Sensor2DeviceImpl::getAllPositionCalibrationReports, &result, data))
-    {
-        return false;
-    }
-
-    return result;
-}
-
-bool Sensor2DeviceImpl::getAllPositionCalibrationReports(Array<PositionCalibrationReport>* data)
-{
-    PositionCalibrationReport pc;
-    bool result = getPositionCalibrationReport(&pc);
-    if (!result)
-        return false;
-
-    int positions = pc.NumPositions;
-    data->Clear();
-    data->Resize(positions);
-
-    for (int i = 0; i < positions; i++)
-    {
-        result = getPositionCalibrationReport(&pc);
-        if (!result)
-            return false;
-        OVR_ASSERT(pc.NumPositions == positions);
-
-        (*data)[pc.PositionIndex] = pc;
-        // IMU should be the last one
-        OVR_ASSERT(pc.PositionType == (pc.PositionIndex == positions - 1) ? 
-            PositionCalibrationReport::PositionType_IMU : PositionCalibrationReport::PositionType_LED);
-    }
-    return true;
-}
-
-bool Sensor2DeviceImpl::SetCustomPatternReport(const CustomPatternReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setCustomPatternReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setCustomPatternReport(const CustomPatternReport& data)
-{
-    CustomPatternImpl cpi(data);
-    return GetInternalDevice()->SetFeatureReport(cpi.Buffer, CustomPatternImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetCustomPatternReport(CustomPatternReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getCustomPatternReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getCustomPatternReport(CustomPatternReport* data)
-{
-    CustomPatternImpl cpi;
-    if (GetInternalDevice()->GetFeatureReport(cpi.Buffer, CustomPatternImpl::PacketSize))
-    {
-        cpi.Unpack();
-        *data = cpi.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetManufacturingReport(const ManufacturingReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setManufacturingReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setManufacturingReport(const ManufacturingReport& data)
-{
-    ManufacturingImpl mi(data);
-    return GetInternalDevice()->SetFeatureReport(mi.Buffer, ManufacturingImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetManufacturingReport(ManufacturingReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getManufacturingReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getManufacturingReport(ManufacturingReport* data)
-{
-    ManufacturingImpl mi;
-    if (GetInternalDevice()->GetFeatureReport(mi.Buffer, ManufacturingImpl::PacketSize))
-    {
-        mi.Unpack();
-        *data = mi.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetLensDistortionReport(const LensDistortionReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setLensDistortionReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setLensDistortionReport(const LensDistortionReport& data)
-{
-    LensDistortionImpl ui(data);
-    return GetInternalDevice()->SetFeatureReport(ui.Buffer, LensDistortionImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetLensDistortionReport(LensDistortionReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getLensDistortionReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getLensDistortionReport(LensDistortionReport* data)
-{
-    LensDistortionImpl ui;
-    if (GetInternalDevice()->GetFeatureReport(ui.Buffer, LensDistortionImpl::PacketSize))
-    {
-        ui.Unpack();
-        *data = ui.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetUUIDReport(const UUIDReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setUUIDReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setUUIDReport(const UUIDReport& data)
-{
-    UUIDImpl ui(data);
-    return GetInternalDevice()->SetFeatureReport(ui.Buffer, UUIDImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetUUIDReport(UUIDReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getUUIDReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getUUIDReport(UUIDReport* data)
-{
-    UUIDImpl ui;
-    if (GetInternalDevice()->GetFeatureReport(ui.Buffer, UUIDImpl::PacketSize))
-    {
-        ui.Unpack();
-        *data = ui.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetKeepAliveMuxReport(const KeepAliveMuxReport& data)
-{ 
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setKeepAliveMuxReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setKeepAliveMuxReport(const KeepAliveMuxReport& data)
-{
-    KeepAliveMuxImpl kami(data);
-    return GetInternalDevice()->SetFeatureReport(kami.Buffer, KeepAliveMuxImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::GetKeepAliveMuxReport(KeepAliveMuxReport* data)
-{
-	bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getKeepAliveMuxReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getKeepAliveMuxReport(KeepAliveMuxReport* data)
-{
-    KeepAliveMuxImpl kami;
-    if (GetInternalDevice()->GetFeatureReport(kami.Buffer, KeepAliveMuxImpl::PacketSize))
-    {
-        kami.Unpack();
-        *data = kami.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::SetTemperatureReport(const TemperatureReport& data)
-{
-    // direct call if we are already on the device manager thread
-    if (GetCurrentThreadId() == GetManagerImpl()->GetThreadId())
-    {
-        return setTemperatureReport(data);
-    }
-
-    bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::setTemperatureReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::setTemperatureReport(const TemperatureReport& data)
-{
-    TemperatureImpl ti(data);
-    return GetInternalDevice()->SetFeatureReport(ti.Buffer, TemperatureImpl::PacketSize);
-}
-
-bool Sensor2DeviceImpl::getTemperatureReport(TemperatureReport* data)
-{
-    TemperatureImpl ti;
-    if (GetInternalDevice()->GetFeatureReport(ti.Buffer, TemperatureImpl::PacketSize))
-    {
-        ti.Unpack();
-        *data = ti.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-bool Sensor2DeviceImpl::GetAllTemperatureReports(Array<Array<TemperatureReport> >* data)
-{
-    // direct call if we are already on the device manager thread
-    if (GetCurrentThreadId() == GetManagerImpl()->GetThreadId())
-    {
-        return getAllTemperatureReports(data);
-    }
-
-    bool result;
-    if (!GetManagerImpl()->GetThreadQueue()->
-        PushCallAndWaitResult(this, &Sensor2DeviceImpl::getAllTemperatureReports, &result, data))
-    {
-        return false;
-    }
-
-    return result;
-}
-
-bool Sensor2DeviceImpl::getAllTemperatureReports(Array<Array<TemperatureReport> >* data)
-{
-    TemperatureReport t;
-    bool result = getTemperatureReport(&t);
-    if (!result)
-        return false;
-
-    int bins = t.NumBins, samples = t.NumSamples;
-    data->Clear();
-    data->Resize(bins);
-    for (int i = 0; i < bins; i++)
-        (*data)[i].Resize(samples);
-
-    for (int i = 0; i < bins; i++)
-        for (int j = 0; j < samples; j++)
-        {
-            result = getTemperatureReport(&t);
-            if (!result)
-                return false;
-            OVR_ASSERT(t.NumBins == bins && t.NumSamples == samples);
-
-            (*data)[t.Bin][t.Sample] = t;
-        }
-    return true;
-}
-
-bool Sensor2DeviceImpl::GetGyroOffsetReport(GyroOffsetReport* data)
-{
-    // direct call if we are already on the device manager thread
-    if (GetCurrentThreadId() == GetManagerImpl()->GetThreadId())
-    {
-        return getGyroOffsetReport(data);
-    }
-
-    bool result;
-	if (!GetManagerImpl()->GetThreadQueue()->
-            PushCallAndWaitResult(this, &Sensor2DeviceImpl::getGyroOffsetReport, &result, data))
-	{
-		return false;
-	}
-
-	return result;
-}
-
-bool Sensor2DeviceImpl::getGyroOffsetReport(GyroOffsetReport* data)
-{
-    GyroOffsetImpl goi;
-    if (GetInternalDevice()->GetFeatureReport(goi.Buffer, GyroOffsetImpl::PacketSize))
-    {
-        goi.Unpack();
-        *data = goi.Settings;
-        return true;
-    }
-
-    return false;
-}
-
-void Sensor2DeviceImpl::onTrackerMessage(Tracker2Message* message)
-{
-    if (message->Type != Tracker2Message_Sensors)
-        return;
-    
-    const float     sampleIntervalTimeUnit   = (1.0f / 1000.f);
-    double          scaledSampleIntervalTimeUnit  = sampleIntervalTimeUnit;
-    Tracker2Sensors& s = message->Sensors;
-    
-    double       absoluteTimeSeconds = 0.0;
-
-    if (SequenceValid)
-    {
-        UInt32 runningSampleCountDelta;
-
-        if (s.RunningSampleCount < LastRunningSampleCount)
-        {
-            // The running sample count on the device rolled around the 16 bit counter
-            // (expect to happen about once per minute), so RunningSampleCount 
-            // needs a high word increment.
-            runningSampleCountDelta = ((((int)s.RunningSampleCount) + 0x10000) - (int)LastRunningSampleCount);
-        }
-        else
-        {
-            runningSampleCountDelta = (s.RunningSampleCount - LastRunningSampleCount);
-        }
-
-        absoluteTimeSeconds = LastSensorTime.TimeSeconds;
-        scaledSampleIntervalTimeUnit = TimeFilter.ScaleTimeUnit(sampleIntervalTimeUnit);
- 
-        // If we missed a small number of samples, replicate the last sample.
-        if ((runningSampleCountDelta > LastNumSamples) && (runningSampleCountDelta <= 254))
-        {
-            if (HandlerRef.HasHandlers())
-            {
-                MessageBodyFrame sensors(this);
-
-                sensors.AbsoluteTimeSeconds = absoluteTimeSeconds - s.NumSamples * scaledSampleIntervalTimeUnit;
-                sensors.TimeDelta     = (float) ((runningSampleCountDelta - LastNumSamples) * scaledSampleIntervalTimeUnit);
-                sensors.Acceleration  = LastAcceleration;
-                sensors.RotationRate  = LastRotationRate;
-                sensors.MagneticField = LastMagneticField;
-                sensors.Temperature   = LastTemperature;
-
-                pCalibration->Apply(sensors);
-                HandlerRef.Call(sensors);
-            }
-        }
-    }
-    else
-    {
-        LastAcceleration = Vector3f(0);
-        LastRotationRate = Vector3f(0);
-        LastMagneticField= Vector3f(0);
-        LastTemperature  = 0;
-        SequenceValid    = true;
-    }
-
-    LastNumSamples = s.NumSamples;
-    LastRunningSampleCount = s.RunningSampleCount;
-
-    if (HandlerRef.HasHandlers())
-    {
-        MessageBodyFrame sensors(this);        
-        UByte            iterations = s.NumSamples;
-
-        if (s.NumSamples > 2)
-        {
-            iterations        = 2;
-            sensors.TimeDelta = (float) ((s.NumSamples - 1) * scaledSampleIntervalTimeUnit);
-        }
-        else
-        {
-            sensors.TimeDelta = (float) scaledSampleIntervalTimeUnit;
-        }
-
-        for (UByte i = 0; i < iterations; i++)
-        {            
-            sensors.AbsoluteTimeSeconds = absoluteTimeSeconds - ( iterations - 1 - i ) * scaledSampleIntervalTimeUnit;
-            sensors.Acceleration = AccelFromBodyFrameUpdate(s, i);
-            sensors.RotationRate = EulerFromBodyFrameUpdate(s, i);
-            sensors.MagneticField= MagFromBodyFrameUpdate(s);
-            sensors.Temperature  = s.Temperature * 0.01f;
-
-            pCalibration->Apply(sensors);
-            HandlerRef.Call(sensors);
-
-            // TimeDelta for the last two sample is always fixed.
-            sensors.TimeDelta = (float) scaledSampleIntervalTimeUnit;
-        }
-
-        // Send pixel read only when frame timestamp changes.
-        if (LastFrameTimestamp != s.FrameTimestamp)
-        {
-            MessagePixelRead pixelRead(this);
-            // Prepare message for pixel read
-            pixelRead.PixelReadValue    = s.FrameID;
-            pixelRead.RawFrameTime      = s.FrameTimestamp;
-            pixelRead.RawSensorTime     = s.SampleTimestamp;
-            pixelRead.SensorTimeSeconds = LastSensorTime.TimeSeconds;
-            pixelRead.FrameTimeSeconds  = LastFrameTime.TimeSeconds;
-
-            HandlerRef.Call(pixelRead);
-            LastFrameTimestamp = s.FrameTimestamp;
-        }
-
-        UInt16 lowFrameCount = (UInt16) FullCameraFrameCount;
-        // Send message only when frame counter changes
-        if (lowFrameCount != s.CameraFrameCount)
-        {
-            // check for the rollover in the counter
-            if (s.CameraFrameCount < lowFrameCount)
-                FullCameraFrameCount += 0x10000;
-            // update the low bits
-            FullCameraFrameCount = (FullCameraFrameCount & ~0xFFFF) | s.CameraFrameCount;
-
-            MessageExposureFrame vision(this);
-            vision.CameraPattern = s.CameraPattern;
-            vision.CameraFrameCount = FullCameraFrameCount;
-            vision.CameraTimeSeconds = LastCameraTime.TimeSeconds;
-
-            HandlerRef.Call(vision);
-        }
-
-        LastAcceleration = sensors.Acceleration;
-        LastRotationRate = sensors.RotationRate;
-        LastMagneticField= sensors.MagneticField;
-        LastTemperature  = sensors.Temperature;
-
-        //LastPixelRead = pixelRead.PixelReadValue;
-        //LastPixelReadTimeStamp = LastFrameTime;
-    }
-    else
-    {
-        if (s.NumSamples != 0)
-		{
-			UByte i = (s.NumSamples > 1) ? 1 : 0;
-			LastAcceleration  = AccelFromBodyFrameUpdate(s, i);
-			LastRotationRate  = EulerFromBodyFrameUpdate(s, i);
-			LastMagneticField = MagFromBodyFrameUpdate(s);
-			LastTemperature   = s.Temperature * 0.01f;
-		}
-    }
-}
-
-// Helper function to handle wrap-around of timestamps from Tracker2Message and convert them
-// to system time.
-//   - Any timestamps that didn't increment keep their old system time.
-//   - This is a bit tricky since we don't know which one of timestamps has most recent time.
-//   - The first timestamp must be the IMU one; we assume that others can't be too much ahead of it
-
-void UpdateDK2Timestamps(SensorTimeFilter& tf,
-                         SensorTimestampMapping** timestamps, UInt32 *rawValues, int count)
-{
-    int     updateIndices[4];
-    int     updateCount = 0;
-    int     i;
-    double  now = Timer::GetSeconds();
-
-    OVR_ASSERT(count <= sizeof(updateIndices)/sizeof(int));
-
-    // Update timestamp wrapping for any values that changed.
-    for (i = 0; i < count; i++)
-    {        
-        UInt32 lowMks = (UInt32)timestamps[i]->TimestampMks;  // Low 32-bits are raw old timestamp.
-
-        if (rawValues[i] != lowMks)
-        {
-            if (i == 0)
-            {
-                // Only check for rollover in the IMU timestamp
-                if (rawValues[i] < lowMks)
-                {
-                    LogText("Timestamp %d rollover, was: %u, now: %u\n", i, lowMks, rawValues[i]);
-                    timestamps[i]->TimestampMks += 0x100000000;
-                }
-                // Update the low bits
-                timestamps[i]->TimestampMks = (timestamps[i]->TimestampMks & 0xFFFFFFFF00000000) | rawValues[i];
-            }
-            else
-            {
-                // Take the high bits from the main timestamp first (not a typo in the first argument!)
-                timestamps[i]->TimestampMks = 
-                    (timestamps[0]->TimestampMks & 0xFFFFFFFF00000000) | rawValues[i];
-                // Now force it into the reasonable range around the expanded main timestamp
-                if (timestamps[i]->TimestampMks > timestamps[0]->TimestampMks + 0x1000000)
-                    timestamps[i]->TimestampMks -= 0x100000000;
-                else if (timestamps[i]->TimestampMks + 0x100000000 < timestamps[0]->TimestampMks + 0x1000000)
-                    timestamps[i]->TimestampMks += 0x100000000;
-            }
-
-            updateIndices[updateCount] = i;
-            updateCount++;
-        }
-    }
-
-
-    // TBD: Simplify. Update indices should no longer be needed with new TimeFilter accepting
-    //      previous values.
-    // We might want to have multi-element checking time roll-over.
-
-    static const double mksToSec = 1.0 / 1000000.0;
-
-    for (int i = 0; i < updateCount; i++)
-    {
-        SensorTimestampMapping& ts  = *timestamps[updateIndices[i]];
-
-        ts.TimeSeconds = tf.SampleToSystemTime(((double)ts.TimestampMks) * mksToSec,
-                                               now, ts.TimeSeconds, ts.DebugTag);
-    }
-}
-
-
-void Sensor2DeviceImpl::OnInputReport(UByte* pData, UInt32 length)
-{
-	bool processed = false;
-    if (!processed)
-    {
-		Tracker2Message message;
-        if (decodeTracker2Message(&message, pData, length))
-        {
-            processed = true;
-
-            // Process microsecond timestamps from DK2 tracker.
-            // Mapped and raw values must correspond to one another in each array.
-            // IMU timestamp must be the first one!
-            SensorTimestampMapping* tsMaps[3] =
-            {                
-                &LastSensorTime,
-                &LastCameraTime,
-                &LastFrameTime
-            };
-            UInt32 tsRawMks[3] =
-            {                
-                message.Sensors.SampleTimestamp,
-                message.Sensors.CameraTimestamp,
-                message.Sensors.FrameTimestamp
-            };
-            // Handle wrap-around and convert samples to system time for any samples that changed.
-            UpdateDK2Timestamps(TimeFilter, tsMaps, tsRawMks, sizeof(tsRawMks)/sizeof(tsRawMks[0]));            
-
-            onTrackerMessage(&message);
-
-            /*
-            if (SF_LOG_fp)
-            {
-                static UInt32 lastFrameTs  = 0;
-                static UInt32 lastCameraTs = 0;
-                
-                if ((lastFrameTs != message.Sensors.FrameTimestamp) ||
-                    (lastCameraTs = message.Sensors.CameraTimestamp))
-                    fprintf(SF_LOG_fp, "msg cameraTs: 0x%X frameTs: 0x%X sensorTs: 0x%X\n",
-                            message.Sensors.CameraTimestamp, message.Sensors.FrameTimestamp,
-                            message.Sensors.SampleTimestamp);
-
-                lastFrameTs  = message.Sensors.FrameTimestamp;
-                lastCameraTs = message.Sensors.CameraTimestamp;
-            }
-            */            
-
-#if 0
-            // Checks for DK2 firmware bug.
-            static unsigned SLastSampleTime = 0;
-            if ((SLastSampleTime >  message.Sensors.SampleTimestamp) && message.Sensors.SampleTimestamp > 1000000 )
-            {
-                fprintf(SF_LOG_fp, "*** Sample Timestamp Wrap! ***\n");
-                OVR_ASSERT (SLastSampleTime <= message.Sensors.SampleTimestamp);
-            }            
-            SLastSampleTime = message.Sensors.SampleTimestamp;
-
-            static unsigned SLastCameraTime = 0;
-            if ((SLastCameraTime > message.Sensors.CameraTimestamp) && message.Sensors.CameraTimestamp > 1000000 )
-            {
-                fprintf(SF_LOG_fp, "*** Camera Timestamp Wrap! ***\n");
-                OVR_ASSERT (SLastCameraTime <= message.Sensors.CameraTimestamp);
-            }            
-            SLastCameraTime = message.Sensors.CameraTimestamp;
-
-            static unsigned SLastFrameTime = 0;
-            if ((SLastFrameTime > message.Sensors.FrameTimestamp) && message.Sensors.FrameTimestamp > 1000000 )
-            {
-                fprintf(SF_LOG_fp, "*** Frame Timestamp Wrap! ***\n");
-                OVR_ASSERT (SLastFrameTime <= message.Sensors.FrameTimestamp);
-            }                        
-            SLastFrameTime = message.Sensors.FrameTimestamp;
-#endif            
-        }       
-    }
-}
-
-double Sensor2DeviceImpl::OnTicks(double tickSeconds)
-{
-
-    if (tickSeconds >= NextKeepAliveTickSeconds)
-    {
-        // Must send DK2 keep-alive. Set Keep-alive at 10 seconds.
-        KeepAliveMuxReport keepAlive;
-        keepAlive.CommandId = 0;
-        keepAlive.INReport = 11;
-        keepAlive.Interval = 10 * 1000;
-
-        // Device creation is done from background thread so we don't need to add this to the command queue.
-        KeepAliveMuxImpl keepAliveImpl(keepAlive);
-        GetInternalDevice()->SetFeatureReport(keepAliveImpl.Buffer, KeepAliveMuxImpl::PacketSize);
-
-		// Emit keep-alive every few seconds.
-        double keepAliveDelta = 3.0;        // Use 3-second interval.
-        NextKeepAliveTickSeconds = tickSeconds + keepAliveDelta;
-    }
-    return NextKeepAliveTickSeconds - tickSeconds;
-}
-
-/*
-// TBD: don't report calibration for now, until we figure out the logic between camera and mag yaw correction
-bool Sensor2DeviceImpl::IsMagCalibrated()
-{
-    return pCalibration->IsMagCalibrated();
-}
-*/
-
-} // namespace OVR