hydra_driver.c File Reference

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 "math/m_api.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 "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	HYDRA_TRACE(d, ...)   U_LOG_XDEV_IFL_T(&d->base, d->sys->log_level, __VA_ARGS__)
#define	HYDRA_DEBUG(d, ...)   U_LOG_XDEV_IFL_D(&d->base, d->sys->log_level, __VA_ARGS__)
#define	HYDRA_INFO(d, ...)   U_LOG_XDEV_IFL_I(&d->base, d->sys->log_level, __VA_ARGS__)
#define	HYDRA_WARN(d, ...)   U_LOG_XDEV_IFL_W(&d->base, d->sys->log_level, __VA_ARGS__)
#define	HYDRA_ERROR(d, ...)   U_LOG_XDEV_IFL_E(&d->base, d->sys->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_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)
	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, timepoint_ns now)
static int	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 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 []

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_get_tracked_pose()

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

Todo:

how do we report this is not (necessarily) the same base space as the HMD?

hydra_device_parse_controller()

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

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(), and xrt_quat::math_quat_normalize().

hydra_device_update_inputs()

static xrt_result_t hydra_device_update_inputs ( struct xrt_device *  xdev )

static

Todo:

report pose

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 int hydra_system_enter_motion_control ( struct hydra_system *  hs, timepoint_ns  now  )

static

Switch to motion controller mode.

References os_hid_device::os_hid_set_feature(), U_LOG_IFL_D, and 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.

References os_monotonic_get_ns().

Variable Documentation

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}