Compability and performance fixes for OS X

examples/c/test_tracker.c

@@ -41,23 +41,6 @@
 #include "psmove_tracker.h"
 
 
-void
-wait_for_button(PSMove *move, int button)
-{
-    /* Wait for press */
-    while ((psmove_get_buttons(move) & button) == 0) {
-        psmove_poll(move);
-        psmove_update_leds(move);
-    }
-
-    /* Wait for release */
-    while ((psmove_get_buttons(move) & button) != 0) {
-        psmove_poll(move);
-        psmove_update_leds(move);
-    }
-}
-
-
 int main(int arg, char** args) {
     int i;
     int count = psmove_count_connected();
@@ -71,40 +54,16 @@ int main(int arg, char** args) {
     void *frame;
     int result;
 
-    for (i=0; i<count; i++) {
-        printf("Opening controller %d\n", i);
-        controllers[i] = psmove_connect_by_id(i);
-        assert(controllers[i] != NULL);
-    }
-
-#ifdef __APPLE__
-    PSMove *move = controllers[0];
-    psmove_set_leds(move, 255, 255, 255);
-    psmove_update_leds(move);
-#endif
-
-#ifdef __APPLE__
-    printf("Cover the iSight camera with the sphere and press the Move button\n");
-    wait_for_button(move, Btn_MOVE);
-    psmove_set_leds(move, 0, 0, 0);
-    psmove_update_leds(move);
-    psmove_set_leds(move, 255, 255, 255);
-    psmove_update_leds(move);
-#endif
-
     fprintf(stderr, "Trying to init PSMoveTracker...");
     PSMoveTracker* tracker = psmove_tracker_new();
     psmove_tracker_set_mirror(tracker, PSMove_True);
     fprintf(stderr, "OK\n");
 
-#ifdef __APPLE__
-    printf("Move the controller away and press the Move button\n");
-    wait_for_button(move, Btn_MOVE);
-    psmove_set_leds(move, 0, 0, 0);
-    psmove_update_leds(move);
-#endif
-
     for (i=0; i<count; i++) {
+        printf("Opening controller %d\n", i);
+        controllers[i] = psmove_connect_by_id(i);
+        assert(controllers[i] != NULL);
+
         while (1) {
             printf("Calibrating controller %d...", i);
             fflush(stdout);

src/psmove.c

@@ -1769,6 +1769,23 @@ _psmove_normalize_btaddr(const char *addr, int lowercase, char separator)
     return result;
 }
 
+#ifdef __APPLE__
+
+#define CLOCK_MONOTONIC 0
+
+static int
+clock_gettime(int unused, struct timespec *ts)
+{
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+
+    ts->tv_sec = tv.tv_sec;
+    ts->tv_nsec = tv.tv_usec * 1000;
+
+    return 0;
+}
+#endif /* __APPLE__ */
+
 PSMove_timestamp
 _psmove_timestamp()
 {
@@ -1797,3 +1814,19 @@ _psmove_timestamp_value(PSMove_timestamp ts)
     return ts.tv_sec + ts.tv_nsec * 0.000000001;
 }
 
+void
+_psmove_wait_for_button(PSMove *move, int button)
+{
+    /* Wait for press */
+    while ((psmove_get_buttons(move) & button) == 0) {
+        psmove_poll(move);
+        psmove_update_leds(move);
+    }
+
+    /* Wait for release */
+    while ((psmove_get_buttons(move) & button) != 0) {
+        psmove_poll(move);
+        psmove_update_leds(move);
+    }
+}
+

src/psmove_private.h

@@ -200,6 +200,11 @@ ADDAPI double
 ADDCALL _psmove_timestamp_value(PSMove_timestamp ts);
 
 
+/* Misc utility functions */
+ADDAPI void
+ADDCALL _psmove_wait_for_button(PSMove *move, int button);
+
+
 #ifdef __cplusplus
 }
 #endif

src/tracker/psmove_tracker.c

@@ -541,6 +541,19 @@ psmove_tracker_new_with_camera(int camera) {
 	tracker->color_t3 = COLOR_UPDATE_QUALITY_T3;
 	tracker->color_update_rate = COLOR_UPDATE_RATE;
 
+#ifdef __APPLE__
+    PSMove *move = psmove_connect();
+    psmove_set_leds(move, 255, 255, 255);
+    psmove_update_leds(move);
+
+    printf("Cover the iSight camera with the sphere and press the Move button\n");
+    _psmove_wait_for_button(move, Btn_MOVE);
+    psmove_set_leds(move, 0, 0, 0);
+    psmove_update_leds(move);
+    psmove_set_leds(move, 255, 255, 255);
+    psmove_update_leds(move);
+#endif
+
 	// start the video capture device for tracking
 	tracker->cc = camera_control_new(camera);
 
@@ -660,6 +673,15 @@ psmove_tracker_new_with_camera(int camera) {
 	int ks = 5; // Kernel Size
 	int kc = (ks + 1) / 2; // Kernel Center
 	tracker->kCalib = cvCreateStructuringElementEx(ks, ks, kc, kc, CV_SHAPE_RECT, NULL);
+
+#ifdef __APPLE__
+    printf("Move the controller away and press the Move button\n");
+    _psmove_wait_for_button(move, Btn_MOVE);
+    psmove_set_leds(move, 0, 0, 0);
+    psmove_update_leds(move);
+    psmove_disconnect(move);
+#endif
+
 	return tracker;
 }
 
@@ -686,7 +708,11 @@ psmove_tracker_enable(PSMoveTracker *tracker, PSMove *move)
         {0x00, 0xFF, 0xFF}, /* cyan */
         {0xFF, 0xFF, 0x00}, /* yellow */
         {0xFF, 0x00, 0x00}, /* red */
+#ifdef __APPLE__
+        {0x00, 0xFF, 0x00}, /* green */
+#else
         {0x00, 0x00, 0xFF}, /* blue */
+#endif
     };
 
     for (i=0; i<ARRAY_LENGTH(preset_colors); i++) {
@@ -1367,7 +1393,7 @@ psmove_tracker_update_controller(PSMoveTracker *tracker, TrackedController *tc)
 		cvResetImageROI(tracker->frame);
 
 		if (sphere_found) {
-			tc->search_tile = 0;
+			//tc->search_tile = 0;
 			// the sphere was found
 			break;
 		}else if(tc->roi_level>0){