Implementation of ContactGlove device driver. More...

#include <xrt/xrt_device.h>
#include <util/u_logging.h>
#include <util/u_misc.h>
#include <util/u_device.h>
#include <util/u_debug.h>
#include <util/u_var.h>
#include <util/u_cobs.h>
#include <util/u_hand_simulation.h>
#include <math/m_api.h>
#include "contactglove_interface.h"
#include "contactglove.h"
#include <unistd.h>
#include <errno.h>

Include dependency graph for contactglove.c:

Macros
#define	DONGLE_TRACE(dongle, ...) U_LOG_IFL_T(dongle->log_level, __VA_ARGS__)

#define	DONGLE_DEBUG(dongle, ...) U_LOG_IFL_D(dongle->log_level, __VA_ARGS__)

#define	DONGLE_INFO(dongle, ...) U_LOG_IFL_I(dongle->log_level, __VA_ARGS__)

#define	DONGLE_WARN(dongle, ...) U_LOG_IFL_W(dongle->log_level, __VA_ARGS__)

#define	DONGLE_ERROR(dongle, ...) U_LOG_IFL_E(dongle->log_level, __VA_ARGS__)

#define	GLOVE_TRACE(glove, ...) U_LOG_XDEV_IFL_T(&glove->base, glove->dongle->log_level, __VA_ARGS__)

#define	GLOVE_DEBUG(glove, ...) U_LOG_XDEV_IFL_D(&glove->base, glove->dongle->log_level, __VA_ARGS__)

#define	GLOVE_INFO(glove, ...) U_LOG_XDEV_IFL_I(&glove->base, glove->dongle->log_level, __VA_ARGS__)

#define	GLOVE_WARN(glove, ...) U_LOG_XDEV_IFL_W(&glove->base, glove->dongle->log_level, __VA_ARGS__)

#define	GLOVE_ERROR(glove, ...) U_LOG_XDEV_IFL_E(&glove->base, glove->dongle->log_level, __VA_ARGS__)

#define	UPDATE_TIME(name) glove->base.inputs[CONTACTGLOVE_DEVICE_INPUT_##name].timestamp = glove->raw_input_update_time_ns;

#define	UPDATE_BOOL(name, exp)

#define	CHECK_RANGE(range)

#define	SET_INPUT(input_name) contactglove->base.inputs[CONTACTGLOVE_DEVICE_INPUT_##input_name].name = XRT_INPUT_MAGNETRA2_##input_name;

Functions
static void	contactglove_none_curl_cal_callback (void *ptr)

static void	contactglove_full_curl_cal_callback (void *ptr)

static void	contactglove_dongle_destroy (struct contactglove_dongle *dongle)

static void	contactglove_dongle_decrement (struct contactglove_dongle *dongle)

static uint8_t	crc8 (const uint8_t *data, size_t length)

static ssize_t	contactglove_dongle_write (struct contactglove_dongle dongle, const uint8_t data, size_t length)

static int	contactglove_dongle_send_packet_locked (struct contactglove_dongle dongle, enum contactglove_to_device_packet_mode mode, const uint8_t payload, size_t payload_length)

static int	contactglove_send_ping (struct contactglove_dongle *dongle, uint8_t nonce)

static void	contactglove_ping_handle_glove_timeout (struct contactglove_dongle dongle, struct contactglove_device glove, timepoint_ns now)

static int	contactglove_request_module_state_locked (struct contactglove_dongle dongle, struct contactglove_device glove, enum contactglove_module_kind module_kind)

static int	contactglove_set_module_state_locked (struct contactglove_dongle dongle, struct contactglove_device glove, enum contactglove_module_kind module, const uint8_t *data, size_t length)

static int	contactglove_request_update_module_state_locked (struct contactglove_dongle dongle, struct contactglove_device glove)

static int	contactglove_ping_tick (struct contactglove_dongle *dongle, timepoint_ns now)

static int	contactglove_dongle_thread_tick (struct contactglove_dongle *dongle)

static void	contactglove_dongle_handle_packet (void user_data, const uint8_t data, size_t length)

void *	contactglove_dongle_thread (void *ptr)

static void	contactglove_get_curl_values (struct contactglove_device glove, struct u_hand_tracking_curl_values curl_values)

static xrt_result_t	contactglove_get_tracked_pose (struct xrt_device xdev, const enum xrt_input_name name, const int64_t at_timestamp_ns, struct xrt_space_relation out_relation)

static void	contactglove_destroy (struct xrt_device *xdev)

static xrt_result_t	contactglove_get_battery_status (struct xrt_device xdev, bool out_present, bool out_charging, float out_charge)

static xrt_result_t	contactglove_get_hand_tracking (struct xrt_device xdev, enum xrt_input_name name, int64_t desired_timestamp_ns, struct xrt_hand_joint_set out_value, int64_t *out_timestamp_ns)

static xrt_result_t	contactglove_update_inputs (struct xrt_device *xdev)

static int	contactglove_create_glove (struct contactglove_dongle dongle, enum contactglove_type type, const char serial_number, enum xrt_hand hand, struct contactglove_device **out_glove)

int	contactglove_create (enum contactglove_type type, const char serial_number, struct os_serial_device dongle_serial, struct contactglove_dongle out_dongle, struct xrt_device out_xdevs)

int	contactglove_dongle_pair (struct contactglove_dongle *dongle)
	Enable pairing mode on the ContactGlove dongle.

Detailed Description

Implementation of ContactGlove device driver.

Author: Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Macro Definition Documentation

◆ CHECK_RANGE

#define CHECK_RANGE ( range )

Value:

(glove->raw_input.multi_ch_value >= MAGNETRA2_MULTI_CH_RANGE_##range##_START && \

glove->raw_input.multi_ch_value <= MAGNETRA2_MULTI_CH_RANGE_##range##_END)

◆ UPDATE_BOOL

#define UPDATE_BOOL	(	name,
		exp
	)

Value:

glove->base.inputs[CONTACTGLOVE_DEVICE_INPUT_##name].value.boolean = (exp); \

UPDATE_TIME(name)

Function Documentation

◆ contactglove_dongle_pair()

int contactglove_dongle_pair ( struct contactglove_dongle * dongle )

Enable pairing mode on the ContactGlove dongle.