Razer Hydra prober and driver code. More...

#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "xrt/xrt_prober.h"
#include "os/os_hid.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "math/m_api.h"
#include "math/m_relation_history.h"
#include "math/m_space.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_misc.h"
#include "util/u_time.h"
#include "util/u_logging.h"
#include "util/u_linux.h"
#include "util/u_trace_marker.h"
#include "util/u_var.h"
#include "hydra_interface.h"

Include dependency graph for hydra_driver.c:

Data Structures
struct	hydra_controller_state

struct	hydra_state_machine
	The details of the Hydra state machine in a convenient package. More...

struct	hydra_system
	A Razer Hydra system containing two controllers. More...

struct	hydra_device
	A Razer Hydra device, representing just a single controller. More...

Macros
#define	HD_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->sys->log_level, __VA_ARGS__)

#define	HD_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->sys->log_level, __VA_ARGS__)

#define	HD_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->sys->log_level, __VA_ARGS__)

#define	HD_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->sys->log_level, __VA_ARGS__)

#define	HD_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->sys->log_level, __VA_ARGS__)

#define	HS_TRACE(d, ...) U_LOG_IFL_T(d->log_level, __VA_ARGS__)

#define	HS_DEBUG(d, ...) U_LOG_IFL_D(d->log_level, __VA_ARGS__)

#define	HS_INFO(d, ...) U_LOG_IFL_I(d->log_level, __VA_ARGS__)

#define	HS_WARN(d, ...) U_LOG_IFL_W(d->log_level, __VA_ARGS__)

#define	HS_ERROR(d, ...) U_LOG_IFL_E(d->log_level, __VA_ARGS__)

#define	SET_INPUT(NAME)

Enumerations
enum	hydra_input_index { HYDRA_INDEX_1_CLICK , HYDRA_INDEX_2_CLICK , HYDRA_INDEX_3_CLICK , HYDRA_INDEX_4_CLICK , HYDRA_INDEX_MIDDLE_CLICK , HYDRA_INDEX_BUMPER_CLICK , HYDRA_INDEX_JOYSTICK_CLICK , HYDRA_INDEX_JOYSTICK_VALUE , HYDRA_INDEX_TRIGGER_VALUE , HYDRA_INDEX_GRIP_POSE , HYDRA_INDEX_AIM_POSE , HYDRA_MAX_CONTROLLER_INDEX }

enum	hydra_button_bit { HYDRA_BUTTON_BIT_BUMPER = (1 << 0) , HYDRA_BUTTON_BIT_3 = (1 << 1) , HYDRA_BUTTON_BIT_1 = (1 << 2) , HYDRA_BUTTON_BIT_2 = (1 << 3) , HYDRA_BUTTON_BIT_4 = (1 << 4) , HYDRA_BUTTON_BIT_MIDDLE = (1 << 5) , HYDRA_BUTTON_BIT_JOYSTICK = (1 << 6) }

enum	hydra_sm_state { HYDRA_SM_LISTENING_AFTER_CONNECT = 0 , HYDRA_SM_LISTENING_AFTER_SET_FEATURE , HYDRA_SM_REPORTING }
	The states of the finite-state machine controlling the Hydra. More...

Functions
static void	hydra_device_parse_controller (struct hydra_device hd, uint8_t buf, int64_t now)
	Parse the controller-specific part of a buffer into a hydra device. More...

static struct hydra_device *	hydra_device (struct xrt_device *xdev)

static struct hydra_system *	hydra_system (struct xrt_tracking_origin *xtrack)

static uint8_t	hydra_read_uint8 (uint8_t **bufptr)

static int16_t	hydra_read_int16_le (uint8_t **bufptr)

static int	hydra_system_read_data_hid (struct hydra_system *hs)

static void	hydra_system_enter_motion_control (struct hydra_system *hs, timepoint_ns now)
	Switch to motion controller mode. More...

static int	hydra_system_update (struct hydra_system *hs)
	Update the internal state of the Hydra driver. More...

static void	hydra_device_update_input_click (struct hydra_device *hd, timepoint_ns now, int index, uint32_t bit)

static void *	hydra_usb_thread_run (void *user_data)

static xrt_result_t	hydra_device_update_inputs (struct xrt_device *xdev)

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

static void	hydra_system_remove_child (struct hydra_system hs, struct hydra_device hd)

static void	hydra_device_destroy (struct xrt_device *xdev)

int	hydra_found (struct xrt_prober xp, struct xrt_prober_device devices, size_t device_count, size_t index, cJSON attached_data, struct xrt_device **out_xdevs)
	Probing function for Razer Hydra devices. More...

Variables
static const uint8_t	HYDRA_REPORT_START_MOTION []

static const uint8_t	HYDRA_REPORT_START_GAMEPAD []

static struct xrt_binding_input_pair	touch_inputs [19]

static struct xrt_binding_input_pair	simple_inputs [4]

static struct xrt_binding_profile	binding_profiles [2]

Detailed Description

Razer Hydra prober and driver code.

Author: Rylie Pavlik rylie.nosp@m..pav.nosp@m.lik@c.nosp@m.olla.nosp@m.bora..nosp@m.com; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Portions based on the VRPN Razer Hydra driver, originally written by Rylie Pavlik and available under the BSL-1.0.

Macro Definition Documentation

◆ SET_INPUT

#define SET_INPUT ( NAME )

Value:

        do {                                                                                                           \
                (hd->base.inputs[HYDRA_INDEX_##NAME].name = XRT_INPUT_HYDRA_##NAME);                                   \
        } while (0)

Enumeration Type Documentation

◆ hydra_sm_state

enum hydra_sm_state

The states of the finite-state machine controlling the Hydra.

Function Documentation

◆ hydra_device_parse_controller()

static void hydra_device_parse_controller	(	struct hydra_device *	hd,
		uint8_t *	buf,
		int64_t	now
	)

static

Parse the controller-specific part of a buffer into a hydra device.

Todo:: the presence of this suggest we're not decoding the orientation right.

References hydra_read_int16_le(), xrt_quat::math_quat_normalize(), and xrt_quat::math_quat_rotate().

◆ hydra_read_int16_le()

static int16_t hydra_read_int16_le ( uint8_t ** bufptr )

inlinestatic

Todo:: nothing actually defines XRT_BIG_ENDIAN when needed!

Referenced by hydra_device_parse_controller().

◆ hydra_system_enter_motion_control()

static void hydra_system_enter_motion_control	(	struct hydra_system *	hs,
		timepoint_ns	now
	)

static

Switch to motion controller mode.

References hydra_system::was_in_gamepad_mode.

◆ hydra_system_update()

static int hydra_system_update ( struct hydra_system * hs )

static

Update the internal state of the Hydra driver.

Reads devices, checks the state machine and timeouts, etc.

Variable Documentation

◆ binding_profiles

struct xrt_binding_profile binding_profiles[2]

static

Initial value:

= {
    {
        .name = XRT_DEVICE_TOUCH_CONTROLLER,
        .inputs = touch_inputs,
        .input_count = ARRAY_SIZE(touch_inputs),
    },
    {
        .name = XRT_DEVICE_SIMPLE_CONTROLLER,
        .inputs = simple_inputs,
        .input_count = ARRAY_SIZE(simple_inputs),
    },
}

◆ HYDRA_REPORT_START_GAMEPAD

const uint8_t HYDRA_REPORT_START_GAMEPAD[]

static

Initial value:

= {
    0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00}

◆ HYDRA_REPORT_START_MOTION

const uint8_t HYDRA_REPORT_START_MOTION[]

static

Initial value:

= {
 
    0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00}

◆ simple_inputs

struct xrt_binding_input_pair simple_inputs[4]

static

Initial value:

= {
    {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_HYDRA_TRIGGER_VALUE},
    {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_HYDRA_MIDDLE_CLICK},
    {XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_HYDRA_GRIP_POSE},
    {XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_HYDRA_AIM_POSE},
}

◆ touch_inputs

struct xrt_binding_input_pair touch_inputs[19]

static

Initial value:

= {
    {XRT_INPUT_TOUCH_X_CLICK, XRT_INPUT_HYDRA_2_CLICK},
    {XRT_INPUT_TOUCH_X_TOUCH, XRT_INPUT_HYDRA_2_CLICK},
    {XRT_INPUT_TOUCH_Y_CLICK, XRT_INPUT_HYDRA_4_CLICK},
    {XRT_INPUT_TOUCH_Y_TOUCH, XRT_INPUT_HYDRA_4_CLICK},
    {XRT_INPUT_TOUCH_MENU_CLICK, XRT_INPUT_HYDRA_MIDDLE_CLICK},
    {XRT_INPUT_TOUCH_A_CLICK, XRT_INPUT_HYDRA_1_CLICK},
    {XRT_INPUT_TOUCH_A_TOUCH, XRT_INPUT_HYDRA_1_CLICK},
    {XRT_INPUT_TOUCH_B_CLICK, XRT_INPUT_HYDRA_3_CLICK},
    {XRT_INPUT_TOUCH_B_TOUCH, XRT_INPUT_HYDRA_3_CLICK},
    {XRT_INPUT_TOUCH_SYSTEM_CLICK, XRT_INPUT_HYDRA_MIDDLE_CLICK},
    {XRT_INPUT_TOUCH_SQUEEZE_VALUE, XRT_INPUT_HYDRA_BUMPER_CLICK},
    {XRT_INPUT_TOUCH_TRIGGER_TOUCH, XRT_INPUT_HYDRA_TRIGGER_VALUE},
    {XRT_INPUT_TOUCH_TRIGGER_VALUE, XRT_INPUT_HYDRA_TRIGGER_VALUE},
    {XRT_INPUT_TOUCH_THUMBSTICK_CLICK, XRT_INPUT_HYDRA_JOYSTICK_CLICK},
    {XRT_INPUT_TOUCH_THUMBSTICK, XRT_INPUT_HYDRA_JOYSTICK_VALUE},
    {XRT_INPUT_TOUCH_GRIP_POSE, XRT_INPUT_HYDRA_GRIP_POSE},
    {XRT_INPUT_TOUCH_AIM_POSE, XRT_INPUT_HYDRA_AIM_POSE},
}

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ SET_INPUT

Enumeration Type Documentation

◆ hydra_sm_state

Function Documentation

◆ hydra_device_parse_controller()

◆ hydra_read_int16_le()

◆ hydra_system_enter_motion_control()

◆ hydra_system_update()

Variable Documentation

◆ binding_profiles

◆ HYDRA_REPORT_START_GAMEPAD

◆ HYDRA_REPORT_START_MOTION

◆ simple_inputs

◆ touch_inputs