psvr2.h

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// Copyright 2020-2021, Collabora, Ltd.
// Copyright 2023, Jan Schmidt
// Copyright 2024, Joel Valenciano
// Copyright 2025, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  PSVR2 HMD device
 *
 * @author Jan Schmidt <jan@centricular.com>
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @author Ryan Pavlik <ryan.pavlik@collabora.com>
 * @author Joel Valenciano <joelv1907@gmail.com>
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup drv_psvr2
 */
#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <xrt/xrt_defines.h>
#include <xrt/xrt_byte_order.h>
#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_filter_one_euro.h"
#include "math/m_filter_fifo.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 "util/u_debug.h"
 
#include "psvr2_protocol.h"
 
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <assert.h>
#include <libusb.h>
 
 
#define NUM_CAM_XFERS 1
 
#define PSVR2_TRACE(p, ...) U_LOG_XDEV_IFL_T(&p->base, p->log_level, __VA_ARGS__)
#define PSVR2_TRACE_HEX(p, data, data_size) U_LOG_XDEV_IFL_T_HEX(&p->base, p->log_level, data, data_size)
#define PSVR2_DEBUG(p, ...) U_LOG_XDEV_IFL_D(&p->base, p->log_level, __VA_ARGS__)
#define PSVR2_DEBUG_HEX(p, data, data_size) U_LOG_XDEV_IFL_D_HEX(&p->base, p->log_level, data, data_size)
#define PSVR2_WARN(p, ...) U_LOG_XDEV_IFL_W(&p->base, p->log_level, __VA_ARGS__)
#define PSVR2_ERROR(p, ...) U_LOG_XDEV_IFL_E(&p->base, p->log_level, __VA_ARGS__)
 
#define TIMESTAMP_SAMPLES 100
 
/*!
 * PSVR2 HMD device
 *
 * @implements xrt_device
 */
struct psvr2_hmd
{
        struct xrt_device base;
 
        struct xrt_pose pose;
 
        enum u_logging_level log_level;
 
        struct os_mutex data_lock;
 
        /* Device status */
        uint8_t dprx_status;               //< DisplayPort receiver status
        xrt_atomic_s32_t proximity_sensor; //< Atomic state for whether the proximity sensor is triggered
        bool function_button;              //< Boolean state for whether the function button is pressed
 
        bool ipd_updated; //< Whether the IPD has been updated, and an HMD info refresh is needed
        uint8_t ipd_mm;   //< IPD dial value in mm, from 59 to 72mm
 
        bool camera_enable;                 //< Whether the camera is enabled
        enum psvr2_camera_mode camera_mode; //< The current camera mode
        struct u_var_button camera_enable_btn;
        struct u_var_button camera_mode_btn;
 
        struct u_var_button brightness_btn;
        float brightness;
 
        /* IMU input data */
        uint32_t last_imu_vts_us;   //< Last VTS timestamp, in microseconds
        uint16_t last_imu_ts;       //< Last IMU timestamp, in microseconds
        struct xrt_vec3 last_gyro;  //< Last gyro reading, in rad/s
        struct xrt_vec3 last_accel; //< Last accel reading, in m/s²
 
        /* SLAM input data */
        uint32_t last_slam_vts_us;      //< Last slam timestamp, in microseconds
        struct xrt_pose last_slam_pose; //< Last SLAM pose reading
 
        struct xrt_pose slam_correction_pose;
        struct u_var_button slam_correction_set_btn;
        struct u_var_button slam_correction_reset_btn;
 
        struct xrt_pose T_imu_head; //< Constant transform from SLAM tracker pose to head pose
 
        /* Display parameters */
        struct u_device_simple_info info;
 
        /* Camera debug sinks */
        struct u_sink_debug debug_sinks[4];
 
        /* USB communication */
        libusb_context *ctx;
        libusb_device_handle *dev;
 
        struct os_thread_helper usb_thread;
        int usb_complete;
        int usb_active_xfers;
 
        /* Status report */
        struct libusb_transfer *status_xfer;
        /* SLAM (bulk) transfer */
        struct libusb_transfer *slam_xfer;
        /* Camera (bulk) transfers */
        struct libusb_transfer *camera_xfers[NUM_CAM_XFERS];
        /* LD EP9 (bulk) transfer */
        struct libusb_transfer *led_detector_xfer;
        /* RP EP10 (bulk) transfer */
        struct libusb_transfer *relocalizer_xfer;
        /* VD EP11 (bulk) transfer */
        struct libusb_transfer *vd_xfer;
        /* Gaze transfer */
        struct libusb_transfer *gaze_xfer;
 
        /* Distortion calibration parameters, to be used with
         * psvr2_compute_distortion_asymmetric. Very specific to
         * PS VR2. */
        float distortion_calibration[8];
 
        /* Timing data */
        int timestamp_samples;
 
        timepoint_ns last_imu_vts_ns;
        timepoint_ns last_slam_vts_ns;
        timepoint_ns system_zero_ns;
        timepoint_ns last_imu_ns;
 
        time_duration_ns hw2mono_vts;
        time_duration_ns hw2mono_imu;
 
        /* Tracking state */
        struct m_relation_history *slam_relation_history;
        struct m_ff_vec3_f32 *ff_gyro;
};
 
/// Casting helper function
static inline struct psvr2_hmd *
psvr2_hmd(struct xrt_device *xdev)
{
        return (struct psvr2_hmd *)xdev;
}
 
enum psvr2_hmd_input_name
{
        PSVR2_HMD_INPUT_HEAD_POSE,
        PSVR2_HMD_INPUT_FUNCTION_BUTTON,
        PSVR2_HMD_INPUT_COUNT,
};
 
void
psvr2_compute_distortion_asymmetric(
    float *calibration, struct xrt_uv_triplet *distCoords, int eEye, float fU, float fV);
 
bool
psvr2_usb_xfer_continue(struct libusb_transfer *xfer, const char *type);
 
bool
send_psvr2_control(struct psvr2_hmd *hmd, uint16_t report_id, uint8_t subcmd, uint8_t *pkt_data, uint32_t pkt_len);
 
#ifdef __cplusplus
}
#endif