contactglove_internal.h

Go to the documentation of this file.

// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Implementation of ContactGlove device driver.
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup drv_contactglove
 */
 
#pragma once
 
#include "xrt/xrt_device.h"
#include "xrt/xrt_defines.h"
 
#include "os/os_threading.h"
 
#include "util/u_cobs.h"
#include "util/u_var.h"
#include "util/u_logging.h"
#include "util/u_hand_tracking.h"
 
#include "math/m_relation_history.h"
 
#include "contactglove_interface.h"
#include "contactglove_protocol.h"
#include "contactglove_calibration.h"
 
 
/*!
 * A dongle for ContactGlove gloves.
 *
 * @implements xrt_reference
 */
struct contactglove_dongle
{
        struct xrt_reference base;
 
        enum u_logging_level log_level;
 
        struct os_mutex data_lock;
        struct os_thread_helper thread;
 
        struct os_serial_device *dongle_serial;
        enum contactglove_type type;
 
        struct u_cobs_decoder cobs_decoder;
 
        uint8_t last_sent_ping_nonce;
        timepoint_ns last_ping_send;
 
        struct contactglove_version version;
        uint8_t channel;
 
        struct contactglove_device *left_glove;
        struct contactglove_device *right_glove;
};
 
enum contactglove_device_inputs
{
        CONTACTGLOVE_DEVICE_INPUT_HT_UNOBSTRUCTED = 0,
        CONTACTGLOVE_DEVICE_INPUT_A_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_B_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_X_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_Y_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_SYSTEM_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_PAIRING_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_TRIGGER_VALUE,
        CONTACTGLOVE_DEVICE_INPUT_TRIGGER_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_SQUEEZE_VALUE,
        CONTACTGLOVE_DEVICE_INPUT_THUMBSTICK,
        CONTACTGLOVE_DEVICE_INPUT_THUMBSTICK_CLICK,
        CONTACTGLOVE_DEVICE_INPUT_GRIP_POSE,
        CONTACTGLOVE_DEVICE_INPUT_AIM_POSE,
        CONTACTGLOVE_DEVICE_INPUT_COUNT,
};
 
/*!
 * A single ContactGlove glove.
 *
 * @implements xrt_device
 */
struct contactglove_device
{
        struct xrt_device base;
 
        struct contactglove_dongle *dongle;
 
        struct contactglove_version version;
        struct contactglove_raw_battery_info raw_battery;
 
        uint8_t last_received_ping_nonce;
        timepoint_ns last_ping_receive;
        uint16_t glove_to_dongle_ms;
 
        //! Whether this glove is actively connected to the dongle
        bool connected;
 
        bool magnetra2_connected;
 
        timepoint_ns raw_input_update_time_ns;
        struct contactglove_to_host_packet_magnetra2_input raw_input;
 
        timepoint_ns avg_glove_to_dongle_offset_ns;
 
        bool module_state_valid[CONTACTGLOVE_MODULE_MAX];
        struct contactglove_module_state_magnetra2 module_state_magnetra2;
        struct contactglove_module_state_sleep_manager module_state_sleep_manager;
        struct contactglove_module_state_led_manager module_state_led_manager;
 
        struct m_relation_history *relation_history;
        struct xrt_quat latest_orientation;
 
        uint16_t raw_flex_adc_values[CONTACTGLOVE2_SENSOR_COUNT];
        struct u_var_u16_arr u_var_flex_adc_values;
 
        struct contactglove_calibration_wizard calibration_wizard;
 
        enum xrt_hand hand;
        enum contactglove_device_role role;
};
 
static struct xrt_binding_input_pair simple_inputs_magnetra2[] = {
    {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_MAGNETRA2_TRIGGER_VALUE},
    {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_MAGNETRA2_B_CLICK},
    {XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_MAGNETRA2_GRIP_POSE},
    {XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_MAGNETRA2_AIM_POSE},
};
 
static struct xrt_binding_output_pair simple_outputs_magnetra2[] = {
    {XRT_OUTPUT_NAME_SIMPLE_VIBRATION, XRT_OUTPUT_NAME_CONTACTGLOVE2_HAPTIC},
};
 
static struct xrt_binding_input_pair contactglove2_inputs_magnetra2[] = {
    {XRT_INPUT_MAGNETRA2_SQUEEZE_VALUE, XRT_INPUT_MAGNETRA2_SQUEEZE_VALUE},
    {XRT_INPUT_MAGNETRA2_GRIP_POSE, XRT_INPUT_MAGNETRA2_GRIP_POSE},
    {XRT_INPUT_MAGNETRA2_AIM_POSE, XRT_INPUT_MAGNETRA2_AIM_POSE},
};
 
static struct xrt_binding_output_pair contactglove2_outputs_magnetra2[] = {
    {XRT_OUTPUT_NAME_CONTACTGLOVE2_HAPTIC, XRT_OUTPUT_NAME_CONTACTGLOVE2_HAPTIC},
};
 
static struct xrt_binding_input_pair touch_inputs_magnetra2[] = {
    {XRT_INPUT_TOUCH_X_CLICK, XRT_INPUT_MAGNETRA2_A_CLICK},
    {XRT_INPUT_TOUCH_X_TOUCH, XRT_INPUT_MAGNETRA2_X_CLICK},
    {XRT_INPUT_TOUCH_Y_CLICK, XRT_INPUT_MAGNETRA2_B_CLICK},
    {XRT_INPUT_TOUCH_Y_TOUCH, XRT_INPUT_MAGNETRA2_Y_CLICK},
    {XRT_INPUT_TOUCH_MENU_CLICK, XRT_INPUT_MAGNETRA2_SYSTEM_CLICK}, // Map to menu
    {XRT_INPUT_TOUCH_A_CLICK, XRT_INPUT_MAGNETRA2_A_CLICK},
    {XRT_INPUT_TOUCH_A_TOUCH, XRT_INPUT_MAGNETRA2_X_CLICK},
    {XRT_INPUT_TOUCH_B_CLICK, XRT_INPUT_MAGNETRA2_B_CLICK},
    {XRT_INPUT_TOUCH_B_TOUCH, XRT_INPUT_MAGNETRA2_Y_CLICK},
    {XRT_INPUT_TOUCH_SYSTEM_CLICK, XRT_INPUT_MAGNETRA2_SYSTEM_CLICK},
    {XRT_INPUT_TOUCH_SQUEEZE_VALUE, XRT_INPUT_MAGNETRA2_SQUEEZE_VALUE},
    {XRT_INPUT_TOUCH_TRIGGER_VALUE, XRT_INPUT_MAGNETRA2_TRIGGER_VALUE},
    {XRT_INPUT_TOUCH_THUMBSTICK_CLICK, XRT_INPUT_MAGNETRA2_THUMBSTICK_CLICK},
    // {XRT_INPUT_TOUCH_THUMBSTICK_TOUCH, }, // No good mapping.
    {XRT_INPUT_TOUCH_THUMBSTICK, XRT_INPUT_MAGNETRA2_THUMBSTICK},
    {XRT_INPUT_TOUCH_THUMBREST_TOUCH, XRT_INPUT_MAGNETRA2_PAIRING_CLICK}, // Best emulation
    {XRT_INPUT_TOUCH_GRIP_POSE, XRT_INPUT_MAGNETRA2_GRIP_POSE},
    {XRT_INPUT_TOUCH_AIM_POSE, XRT_INPUT_MAGNETRA2_AIM_POSE},
};
 
static struct xrt_binding_output_pair touch_outputs_magnetra2[] = {
    {XRT_OUTPUT_NAME_TOUCH_HAPTIC, XRT_OUTPUT_NAME_CONTACTGLOVE2_HAPTIC},
};
 
// @note XRT_MAYBE_UNUSED is here since it's used only in some compilation units, not all that include this file
XRT_MAYBE_UNUSED static struct xrt_binding_profile binding_profiles_magnetra2[] = {
    {
        .name = XRT_DEVICE_CONTACTGLOVE2,
        .inputs = contactglove2_inputs_magnetra2,
        .input_count = ARRAY_SIZE(contactglove2_inputs_magnetra2),
        .outputs = contactglove2_outputs_magnetra2,
        .output_count = ARRAY_SIZE(contactglove2_outputs_magnetra2),
    },
    {
        .name = XRT_DEVICE_TOUCH_CONTROLLER,
        .inputs = touch_inputs_magnetra2,
        .input_count = ARRAY_SIZE(touch_inputs_magnetra2),
        .outputs = touch_outputs_magnetra2,
        .output_count = ARRAY_SIZE(touch_outputs_magnetra2),
    },
    {
        .name = XRT_DEVICE_SIMPLE_CONTROLLER,
        .inputs = simple_inputs_magnetra2,
        .input_count = ARRAY_SIZE(simple_inputs_magnetra2),
        .outputs = simple_outputs_magnetra2,
        .output_count = ARRAY_SIZE(simple_outputs_magnetra2),
    },
};