r_interface.h

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// Copyright 2020-2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface to remote driver.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup drv_remote
 */
 
#pragma once
 
// winsock2.h must be included before windows.h, or the winsock interface will be
// defined instead of the winsock2 interface.
// Given that some of the Monado headers could include windows.h, winsock2 is to be
// included before anything else.
// As a consequence, this header must also be the first included in the file using
// it.
#include "xrt/xrt_config_os.h"
#ifdef XRT_OS_WINDOWS
#include <winsock2.h> // For SOCKET
#endif
 
#include "xrt/xrt_defines.h"
#include "util/u_logging.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
struct xrt_system_devices;
struct xrt_space_overseer;
struct xrt_session_event_sink;
 
/*!
 * @defgroup drv_remote Remote debugging driver
 * @ingroup drv
 *
 * @brief Driver for creating remote debugging devices.
 */
 
/*!
 * @dir drivers/remote
 *
 * @brief @ref drv_remote files.
 */
 
#ifdef XRT_OS_WINDOWS
/*!
 * The type for a socket descriptor
 *
 * On Windows, this is a SOCKET.
 */
typedef SOCKET r_socket_t;
#else
/*!
 * The type for a socket descriptor
 *
 * On non-Windows, this is a file descriptor.
 */
typedef int r_socket_t;
#endif
 
/*!
 * Header value to be set in the packet.
 *
 * @ingroup drv_remote
 */
#define R_HEADER_VALUE (*(uint64_t *)"mndrmt3\0")
 
/*!
 * Data per controller.
 */
struct r_remote_controller_data
{
        struct xrt_pose pose;
        struct xrt_vec3 linear_velocity;
        struct xrt_vec3 angular_velocity;
 
        float hand_curl[5];
 
        struct xrt_vec1 trigger_value;
        struct xrt_vec1 squeeze_value;
        struct xrt_vec1 squeeze_force;
        struct xrt_vec2 thumbstick;
        struct xrt_vec1 trackpad_force;
        struct xrt_vec2 trackpad;
 
        bool hand_tracking_active;
        bool active;
 
        bool system_click;
        bool system_touch;
        bool a_click;
        bool a_touch;
        bool b_click;
        bool b_touch;
        bool trigger_click;
        bool trigger_touch;
        bool thumbstick_click;
        bool thumbstick_touch;
        bool trackpad_touch;
        bool _pad0;
        bool _pad1;
        bool _pad2;
        // active(2) + bools(11) + pad(3) = 16
};
 
struct r_head_data
{
        struct
        {
                //! The field of view values of this view.
                struct xrt_fov fov;
 
                //! The pose of this view relative to @ref r_head_data::center.
                struct xrt_pose pose;
 
                //! Padded to fov(16) + pose(16 + 12) + 4 = 48
                uint32_t _pad;
        } views[2];
 
        //! The center of the head, in OpenXR terms the view space.
        struct xrt_pose center;
 
        //! Is the per view data valid and should be used?
        bool per_view_data_valid;
 
        //! pose(16 + 12) bool(1) + pad(3) = 32.
        bool _pad0, _pad1, _pad2;
};
 
/*!
 * Remote data sent from the debugger to the hub.
 *
 * @ingroup drv_remote
 */
struct r_remote_data
{
        uint64_t header;
 
        struct r_head_data head;
 
        struct r_remote_controller_data left, right;
};
 
/*!
 * Shared connection.
 *
 * @ingroup drv_remote
 */
struct r_remote_connection
{
        //! Logging level to be used.
        enum u_logging_level log_level;
 
        //! Socket.
        r_socket_t fd;
};
 
/*!
 * Creates the remote system devices.
 *
 * @ingroup drv_remote
 */
xrt_result_t
r_create_devices(uint16_t port,
                 uint32_t view_count,
                 struct xrt_session_event_sink *broadcast,
                 struct xrt_system_devices **out_xsysd,
                 struct xrt_space_overseer **out_xso);
 
/*!
 * Initializes and connects the connection.
 *
 * @ingroup drv_remote
 */
r_socket_t
r_remote_connection_init(struct r_remote_connection *rc, const char *addr, uint16_t port);
 
int
r_remote_connection_read_one(struct r_remote_connection *rc, struct r_remote_data *data);
 
int
r_remote_connection_write_one(struct r_remote_connection *rc, const struct r_remote_data *data);
 
 
#ifdef __cplusplus
}
#endif