psvr2.c File Reference
PSVR2 HMD device. More...
#include "xrt/xrt_device.h"#include "xrt/xrt_prober.h"#include "xrt/xrt_tracking.h"#include "os/os_threading.h"#include "os/os_time.h"#include "math/m_api.h"#include "math/m_clock_tracking.h"#include "math/m_mathinclude.h"#include "math/m_relation_history.h"#include "math/m_vec3.h"#include "math/m_space.h"#include "tracking/t_dead_reckoning.h"#include "util/u_misc.h"#include "util/u_debug.h"#include "util/u_device.h"#include "util/u_distortion_mesh.h"#include "util/u_frame.h"#include "util/u_logging.h"#include "util/u_sink.h"#include "util/u_time.h"#include "util/u_trace_marker.h"#include "util/u_var.h"#include <stdio.h>#include <assert.h>#include <inttypes.h>#include <libusb.h>#include "psvr2.h"
Include dependency graph for psvr2.c:
Data Structures | |
| struct | psvr2_interface_info |
| struct | distortion_calibration_block |
Macros | |
| #define | SLAM_POSE_CORRECTION {.orientation = {.x = 0, .y = 0, .z = sqrt(2) / 2, .w = sqrt(2) / 2}} |
| #define | TRANSFERS_LIST(_, hmd) |
| #define | X(xfer) |
| #define | X(xfer) |
Functions | |
| static void | psvr2_usb_stop (struct psvr2_hmd *hmd) |
| static void | psvr2_usb_destroy (struct psvr2_hmd *hmd) |
| static void | psvr2_hmd_destroy (struct xrt_device *xdev) |
| static xrt_result_t | psvr2_compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result) |
| static xrt_result_t | psvr2_hmd_update_inputs (struct xrt_device *xdev) |
| static void | hmd_get_raw_tracker_pose (struct psvr2_hmd *hmd, timepoint_ns at_timestamp_ns, struct xrt_space_relation *out_relation) |
| static xrt_result_t | psvr2_hmd_get_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation) |
| static xrt_result_t | psvr2_get_presence (struct xrt_device *xdev, bool *presence) |
| static xrt_result_t | psvr2_hmd_get_view_poses (struct xrt_device *xdev, const struct xrt_vec3 *default_eye_relation, int64_t at_timestamp_ns, enum xrt_view_type view_type, uint32_t view_count, struct xrt_space_relation *out_head_relation, struct xrt_fov *out_fovs, struct xrt_pose *out_poses) |
| void | process_imu_record (struct psvr2_hmd *hmd, size_t index, struct imu_usb_record *in, timepoint_ns estimated_sample_time) |
| static void | process_status_report (struct psvr2_hmd *hmd, uint8_t *buf, int bytes_read, timepoint_ns received_ns) |
| bool | psvr2_usb_xfer_continue (struct libusb_transfer *xfer, const char *type) |
| static void LIBUSB_CALL | status_xfer_cb (struct libusb_transfer *xfer) |
| static void LIBUSB_CALL | img_xfer_cb (struct libusb_transfer *xfer) |
| static void | process_slam_record (struct psvr2_hmd *hmd, uint8_t *buf, int bytes_read) |
| static void LIBUSB_CALL | slam_xfer_cb (struct libusb_transfer *xfer) |
| static void LIBUSB_CALL | dump_xfer_cb (struct libusb_transfer *xfer) |
| static void * | psvr2_usb_thread (void *ptr) |
| static bool | psvr2_usb_open (struct psvr2_hmd *hmd, struct xrt_prober_device *xpdev) |
| bool | get_psvr2_control (struct psvr2_hmd *hmd, uint16_t report_id, uint8_t subcmd, uint8_t *out_data, uint32_t buf_size) |
| bool | send_psvr2_control (struct psvr2_hmd *hmd, uint16_t report_id, uint8_t subcmd, uint8_t *pkt_data, uint32_t pkt_len) |
| bool | set_camera_mode (struct psvr2_hmd *hmd, enum psvr2_camera_mode mode) |
| static void | toggle_camera_enable (struct psvr2_hmd *hmd) |
| bool | set_brightness (struct psvr2_hmd *hmd, float brightness) |
| bool | get_serial (struct psvr2_hmd *hmd, char serial[static(14+1)]) |
| static xrt_result_t | psvr2_get_brightness (struct xrt_device *xdev, float *brightness) |
| static xrt_result_t | psvr2_set_brightness (struct xrt_device *xdev, float brightness, bool relative) |
| static xrt_result_t | psvr2_hmd_set_output (struct xrt_device *xdev, enum xrt_output_name name, const struct xrt_output_value *value) |
| static xrt_result_t | psvr2_hmd_get_compositor_info (struct xrt_device *xdev, const struct xrt_device_compositor_mode *mode, struct xrt_device_compositor_info *out_info) |
| static void | cycle_camera_mode (struct psvr2_hmd *hmd) |
| static bool | psvr2_usb_start (struct psvr2_hmd *hmd) |
| static void | set_slam_correction (struct psvr2_hmd *hmd) |
| static void | reset_slam_correction (struct psvr2_hmd *hmd) |
| static void | update_brightness (struct psvr2_hmd *hmd) |
| static void | psvr2_setup_distortion_and_fovs (struct psvr2_hmd *hmd) |
| struct xrt_device * | psvr2_hmd_create (struct xrt_prober_device *xpdev) |
| Create the PS VR2 HMD device. More... | |
Variables | |
| struct psvr2_interface_info | interface_list [] |
| static struct xrt_binding_input_pair | vive_pro_inputs_psvr2 [] |
| static struct xrt_binding_input_pair | blubur_s1_inputs_psvr2 [] |
| static struct xrt_binding_profile | psvr2_binding_profiles [] |
Detailed Description
PSVR2 HMD device.
Macro Definition Documentation
◆ TRANSFERS_LIST
| #define TRANSFERS_LIST | ( | _, | |
| hmd | |||
| ) |
Value:
for (int i = 0; i < NUM_CAM_XFERS; i++) { \
_(hmd->camera_xfers[i]) \
} \
_(hmd->status_xfer) \
_(hmd->slam_xfer) \
_(hmd->led_detector_xfer) \
_(hmd->relocalizer_xfer) \
_(hmd->vd_xfer) \
_(hmd->gaze_xfer)
◆ X [1/2]
| #define X | ( | xfer | ) |
Value:
if (xfer) { \
ret = libusb_cancel_transfer(xfer); \
assert(ret == 0 || ret == LIBUSB_ERROR_NOT_FOUND); \
}
◆ X [2/2]
| #define X | ( | xfer | ) |
Value:
if (xfer) { \
libusb_free_transfer(xfer); \
xfer = NULL; \
}
Variable Documentation
◆ blubur_s1_inputs_psvr2
|
static |
Initial value:
= {
{XRT_INPUT_BLUBUR_S1_MENU_CLICK, XRT_INPUT_PSVR2_SYSTEM_CLICK},
}
◆ interface_list
| struct psvr2_interface_info interface_list[] |
Initial value:
= {
{.interface_no = 7 , .altmode = 1, .name = "status"},
{.interface_no = 3 , .altmode = 0, .name = "SLAM"},
{.interface_no = 5 , .altmode = 0, .name = "Gaze"},
{.interface_no = 6 , .altmode = 0, .name = "Camera"},
{.interface_no = 8 , .altmode = 0, .name = "LED Detector"},
{.interface_no = 9 , .altmode = 0, .name = "Relocalizer"},
{.interface_no = 10 , .altmode = 0, .name = "VD"},
}
◆ psvr2_binding_profiles
|
static |
Initial value:
= {
{
.name = XRT_DEVICE_VIVE_PRO,
.inputs = vive_pro_inputs_psvr2,
.input_count = ARRAY_SIZE(vive_pro_inputs_psvr2),
},
{
.name = XRT_DEVICE_BLUBUR_S1,
.inputs = blubur_s1_inputs_psvr2,
.input_count = ARRAY_SIZE(blubur_s1_inputs_psvr2),
},
}
◆ vive_pro_inputs_psvr2
|
static |
Initial value:
= {
{XRT_INPUT_VIVEPRO_SYSTEM_CLICK, XRT_INPUT_PSVR2_SYSTEM_CLICK},
}
