device.hpp

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// Copyright 2023, Shawn Wallace
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief SteamVR driver device header - inherits xrt_device.
 * @author Shawn Wallace <yungwallace@live.com>
 * @ingroup drv_steamvr_lh
 */
 
#include "interfaces/context.hpp"
 
#include "math/m_relation_history.h"
 
#include "util/u_template_historybuf.hpp"
#include "xrt/xrt_device.h"
 
#include "vive/vive_common.h"
 
#include "xrt/xrt_config_drivers.h"
 
#include "vp2/vp2_hid.h"
#ifdef XRT_BUILD_DRIVER_PIMAX_P2
#include "pimax_p2/pimax_p2.h"
#endif
 
#include "openvr_driver.h"
 
#include <string>
#include <vector>
#include <memory>
#include <unordered_map>
#include <span>
#include <array>
#include <optional>
 
#include <condition_variable>
#include <mutex>
 
class Context;
struct InputClass;
 
struct DeviceBuilder
{
        using ContextPtr = std::shared_ptr<Context>;
        ContextPtr ctx;
        vr::ITrackedDeviceServerDriver *driver;
        const char *serial;
        const std::string &steam_install;
 
        DeviceBuilder(const ContextPtr &p_ctx,
                      vr::ITrackedDeviceServerDriver *p_driver,
                      const char *p_serial,
                      const std::string &p_stream_install)
            : ctx{p_ctx}, driver{p_driver}, serial{p_serial}, steam_install{p_stream_install}
        {}
 
        // no copies!
        DeviceBuilder(const DeviceBuilder &) = delete;
        DeviceBuilder
        operator=(const DeviceBuilder &) = delete;
};
 
class Property
{
public:
        Property(vr::PropertyTypeTag_t tag, void *buffer, uint32_t bufferSize);
 
        vr::PropertyTypeTag_t tag;
        std::vector<uint8_t> buffer;
};
 
class Device : public xrt_device
{
public:
        m_relation_history *relation_hist;
 
        //! The component handles that are attached to this device.
        std::vector<vr::VRInputComponentHandle_t> handles;
 
        virtual ~Device();
 
        xrt_input *
        get_input_from_name(std::string_view name);
 
        void
        update_pose(const vr::DriverPose_t &newPose) const;
 
        //! Helper to use the @ref m_relation_history member.
        void
        get_pose(uint64_t at_timestamp_ns, xrt_space_relation *out_relation);
 
        vr::ETrackedPropertyError
        handle_properties(const vr::PropertyWrite_t *batch, uint32_t count);
 
        vr::ETrackedPropertyError
        handle_read_properties(vr::PropertyRead_t *batch, uint32_t count);
 
        //! Maps to @ref xrt_device::get_tracked_pose.
        virtual xrt_result_t
        get_tracked_pose(xrt_input_name name, uint64_t at_timestamp_ns, xrt_space_relation *out_relation) = 0;
 
        xrt_result_t
        get_battery_status(bool *out_present, bool *out_charging, float *out_charge);
 
        //! Call with `devices_mut` held.
        inline vr::VRInputComponentHandle_t
        new_input_handle_locked()
        {
                vr::VRInputComponentHandle_t h = ++this->ctx->input.next_handle;
                this->handles.push_back(h);
                return h;
        }
 
protected:
        Device(const DeviceBuilder &builder);
        std::shared_ptr<Context> ctx;
        vr::PropertyContainerHandle_t container_handle{0};
        std::unordered_map<vr::ETrackedDeviceProperty, Property> properties;
        std::unordered_map<std::string_view, xrt_input *> inputs_map;
        std::vector<xrt_input> inputs_vec;
        inline static xrt_pose chaperone = XRT_POSE_IDENTITY;
        const InputClass *input_class{nullptr};
        std::string manufacturer;
        std::string model;
        float vsync_to_photon_ns{0.f};
        bool provides_battery_status{false};
        bool charging{false};
        float charge{1.0F};
 
        vr::ETrackedPropertyError
        handle_generic_property_write(const vr::PropertyWrite_t &prop);
        vr::ETrackedPropertyError
        handle_generic_property_read(vr::PropertyRead_t &prop);
 
        virtual vr::ETrackedPropertyError
        handle_property_write(const vr::PropertyWrite_t &prop);
 
        void
        set_input_class(const InputClass *input_class);
 
private:
        vr::ITrackedDeviceServerDriver *driver;
 
        void
        init_chaperone(const std::string &steam_install);
};
 
struct VivePro2Data
{
        vp2_hid *hid{nullptr};
 
        ~VivePro2Data()
        {
                if (hid != nullptr) {
                        vp2_hid_destroy(hid);
                        hid = nullptr;
                }
        }
};
 
#ifdef XRT_BUILD_DRIVER_PIMAX_P2
struct PimaxData
{
        pimax_p2_device *dev{nullptr};
 
        ~PimaxData()
        {
                if (dev != nullptr) {
                        pimax_p2_destroy(dev);
                }
        }
};
#endif
 
class HmdDevice : public Device
{
public:
        VIVE_VARIANT variant{VIVE_UNKNOWN};
        xrt_pose eye[2] = {XRT_POSE_IDENTITY, XRT_POSE_IDENTITY};
        float lh_ipd{0.063}; // meters
        struct Parts
        {
                xrt_hmd_parts base;
                vr::IVRDisplayComponent *display;
        };
 
        struct AnalogGainRange
        {
                float min{0.1f};
                float max{1.0f};
        };
 
        // @todo Remove when clang-format is updated in CI
        // clang-format off
        struct VivePro2Data vp2{};
#ifdef XRT_BUILD_DRIVER_PIMAX_P2
        struct PimaxData pimax{};
#endif
        // clang-format on
 
        HmdDevice(const DeviceBuilder &builder);
 
        float
        getIpdM();
 
        xrt_result_t
        update_inputs();
 
        xrt_result_t
        get_tracked_pose(xrt_input_name name, uint64_t at_timestamp_ns, xrt_space_relation *out_relation) override;
 
        void
        SetDisplayEyeToHead(uint32_t unWhichDevice,
                            const vr::HmdMatrix34_t &eyeToHeadLeft,
                            const vr::HmdMatrix34_t &eyeToHeadRight);
 
        xrt_result_t
        get_view_poses(const xrt_vec3 *default_eye_relation,
                       uint64_t at_timestamp_ns,
                       xrt_view_type view_type,
                       uint32_t view_count,
                       xrt_space_relation *out_head_relation,
                       xrt_fov *out_fovs,
                       xrt_pose *out_poses);
 
        xrt_result_t
        compute_distortion(uint32_t view, float u, float v, xrt_uv_triplet *out_result);
 
        void
        set_hmd_parts(std::unique_ptr<Parts> parts);
 
        xrt_result_t
        get_brightness(float *out_brightness);
        xrt_result_t
        set_brightness(float brightness, bool relative);
 
        xrt_result_t
        get_compositor_info(const struct xrt_device_compositor_mode *mode, struct xrt_device_compositor_info *out_info);
 
        bool
        init_vive_pro_2(struct xrt_prober *xp);
 
#ifdef XRT_BUILD_DRIVER_PIMAX_P2
        bool
        init_pimax(pimax_p2_device *pdev);
#endif
 
private:
        std::unique_ptr<Parts> hmd_parts{nullptr};
 
        void
        set_hmd_class(const InputClass *hmd_class);
 
        vr::ETrackedPropertyError
        handle_property_write(const vr::PropertyWrite_t &prop) override;
 
        void
        set_nominal_frame_interval(uint64_t interval_ns);
 
        std::condition_variable hmd_parts_cv;
        std::mutex hmd_parts_mut;
        float brightness{1.0f};
        AnalogGainRange analog_gain_range{};
};
 
class ControllerDevice : public Device
{
public:
        ControllerDevice(vr::PropertyContainerHandle_t container_handle, const DeviceBuilder &builder);
 
        xrt_result_t
        set_output(xrt_output_name name, const xrt_output_value *value);
 
        void
        set_haptic_handle(vr::VRInputComponentHandle_t handle);
 
        xrt_result_t
        get_tracked_pose(xrt_input_name name, uint64_t at_timestamp_ns, xrt_space_relation *out_relation) override;
 
        xrt_result_t
        get_hand_tracking(enum xrt_input_name name,
                          int64_t desired_timestamp_ns,
                          struct xrt_hand_joint_set *out_value,
                          int64_t *out_timestamp_ns);
 
        xrt_hand
        get_xrt_hand();
 
        void
        update_skeleton_transforms(std::span<const vr::VRBoneTransform_t> bones);
 
        void
        set_skeleton(std::span<const vr::VRBoneTransform_t> bones, xrt_hand hand, bool is_simulated, const char *path);
 
        xrt_result_t
        notify_chirality(bool has_chirality, xrt_hand chirality);
 
protected:
        void
        generate_palm_pose_offset(std::span<const vr::VRBoneTransform_t> bones, xrt_hand hand);
 
private:
        vr::VRInputComponentHandle_t haptic_handle{0};
        size_t latest_haptic_event{0};
        std::unique_ptr<xrt_output> output{nullptr};
        bool has_hand_tracking{false};
        xrt_hand skeleton_hand = XRT_HAND_LEFT;
        std::array<std::optional<xrt_pose>, 2> palm_offsets;
        std::array<xrt_input, 2> hand_tracking_inputs{};
 
        struct JointsWithTimestamp
        {
                xrt_hand_joint_set joint_set;
                int64_t timestamp{0};
        };
        xrt::auxiliary::util::HistoryBuffer<JointsWithTimestamp, 5> joint_history;
 
        vr::ETrackedPropertyError
        handle_property_write(const vr::PropertyWrite_t &prop) override;
};