hdk_device.h

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// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface to direct OSVR HDK driver code.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @author Rylie Pavlik <rylie.pavlik@collabora.com>
 * @ingroup drv_hdk
 */
 
#pragma once
 
#include "os/os_threading.h"
#include "util/u_logging.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
enum HDK_VARIANT
{
        HDK_UNKNOWN = 0,
        HDK_VARIANT_1_2,
        HDK_VARIANT_1_3_1_4,
        HDK_VARIANT_2
};
 
/*!
 * @implements xrt_device
 */
struct hdk_device
{
        struct xrt_device base;
        struct os_hid_device *dev;
        enum HDK_VARIANT variant;
 
        struct os_thread_helper imu_thread;
        struct os_mutex lock;
 
        enum u_logging_level log_level;
        bool disconnect_notified;
 
        struct xrt_quat quat;
        struct xrt_quat ang_vel_quat;
        bool quat_valid;
};
 
static inline struct hdk_device *
hdk_device(struct xrt_device *xdev)
{
        return (struct hdk_device *)xdev;
}
 
struct hdk_device *
hdk_device_create(struct os_hid_device *dev, enum HDK_VARIANT variant);
 
 
/*
 *
 * Printing functions.
 *
 */
 
#define HDK_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->log_level, __VA_ARGS__)
#define HDK_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->log_level, __VA_ARGS__)
#define HDK_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->log_level, __VA_ARGS__)
#define HDK_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->log_level, __VA_ARGS__)
#define HDK_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->log_level, __VA_ARGS__)
 
#ifdef __cplusplus
}
#endif