rift_driver.c File Reference

Driver for the Oculus Rift. More...

#include "os/os_time.h"
#include "xrt/xrt_defines.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_results.h"
#include "xrt/xrt_compiler.h"
#include "math/m_relation_history.h"
#include "math/m_clock_tracking.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "math/m_vec3.h"
#include "math/m_mathinclude.h"
#include "tracking/t_dead_reckoning.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_distortion_mesh.h"
#include "util/u_logging.h"
#include "util/u_misc.h"
#include "util/u_time.h"
#include "util/u_var.h"
#include "util/u_visibility_mask.h"
#include "util/u_trace_marker.h"
#include "util/u_linux.h"
#include "util/u_truncate_printf.h"
#include "b_timing_source.h"
#include <stdio.h>
#include <assert.h>
#include <inttypes.h>
#include "rift_internal.h"
#include "rift_usb.h"
#include "rift_radio.h"

Include dependency graph for rift_driver.c:

Macros
#define	RIFT_BACK_STRAP_THRESHOLD_M   0.1f
	LEDs further behind the origin than this, along the device's backward (+Z) axis, are considered part of the back strap and disabled by rift_upload_back_strap_disable_pattern.
#define	RIFT_CUSTOM_PATTERN_SEQUENCE_LENGTH   10
#define	RIFT_IMU_DUMP   0
	Set to 1 to dump IMU data to RIFT_IMU_DUMP_PATH.
#define	RIFT_IMU_DUMP_PATH   "/tmp/cv1_imu_dump.csv"
	The path where IMU data is dumped to.
#define	PARSE_MICROMETER_TRIPLET(out, values)

Functions
static uint32_t	rift_custom_pattern_sequence_repeat (enum rift_custom_pattern_state state)
	Repeats a 2-bit LED state across all RIFT_CUSTOM_PATTERN_SEQUENCE_LENGTH phases of a custom pattern sequence.
static int	rift_sensor_thread_tick (struct rift_hmd *hmd)
static void *	rift_sensor_thread (void *ptr)
static int	rift_usb_thread_radio_tick (struct rift_hmd *hmd)
static void *	rift_radio_thread (void *ptr)
static int	rift_read_led_model (struct rift_hmd *hmd)
static int	rift_upload_back_strap_disable_pattern (struct rift_hmd *hmd)
	Uploads a custom pattern that holds every LED high except the back strap LEDs, which are held off, then drops the back strap LEDs from rift_hmd::led_model so the constellation tracker never tries to match blobs against LEDs that are physically dark.
static void	get_raw_pose (struct rift_hmd *hmd, timepoint_ns when_ns, struct xrt_relation_chain *xrc)
static void	rift_fill_in_default_distortions (struct rift_hmd *hmd)
static void	rift_fill_in_distortion_inputs (struct rift_hmd *hmd)
static void	rift_hmd_destroy (struct xrt_device *xdev)
static xrt_result_t	rift_hmd_update_inputs (struct xrt_device *xdev)
static xrt_result_t	rift_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	rift_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)
static xrt_result_t	rift_hmd_get_visibility_mask (struct xrt_device *xdev, enum xrt_visibility_mask_type type, uint32_t view_index, struct xrt_visibility_mask **out_mask)
static xrt_result_t	rift_hmd_compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *out_result)
static void	rift_hmd_constellation_tracking_source_get_tracked_pose (struct t_constellation_tracker_tracking_source *tracking_source, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
static void	rift_hmd_constellation_device_push_constellation_tracker_sample (struct t_constellation_tracker_device *connection, struct t_constellation_tracker_sample *sample)
static void	rift_frame_node_break_apart (struct xrt_frame_node *node)
static void	rift_frame_node_destroy (struct xrt_frame_node *node)
static const char *	variant_name (enum rift_variant variant)
int	rift_devices_create (struct os_hid_device *hmd_dev, struct os_hid_device *radio_dev, enum rift_variant variant, const char *serial_number, struct xrt_frame_context *xfctx, struct rift_hmd **out_hmd, struct xrt_device **out_xdevs)
	Creates Rift HMD and related devices.
bool	rift_get_radio_id (struct rift_hmd *hmd, uint8_t out_radio_id[5])
bool	rift_hmd_frame_timestamp_callback (void *user_data, timepoint_ns *out_timestamp, uint64_t *out_sequence_id, timepoint_ns frame_start_ns, uint32_t pts)
	Timestamps a camera frame with the time of the exposure that produced it, which is taken to be the exposure whose IN report arrived within half a frame interval of one whole frame interval before the frame's first packet.
int	rift_add_to_constellation_tracker (struct rift_hmd *hmd, struct t_constellation_tracker *tracker)
struct t_timing_event_source *	rift_hmd_get_timing_event_source (struct rift_hmd *hmd)
	Gets the HMD's timing event source.

Variables
static const struct rift_lens_distortion	DK2_DISTORTIONS []
static const struct rift_lens_distortion	CV1_DISTORTIONS []

Detailed Description

Driver for the Oculus Rift.

Based largely on simulated_hmd.c, with reference to the DK2 firmware and OpenHMD's rift driver.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Rylie Pavlik rylie.nosp@m..pav.nosp@m.lik@c.nosp@m.olla.nosp@m.bora..nosp@m.com

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Macro Definition Documentation

PARSE_MICROMETER_TRIPLET

#define PARSE_MICROMETER_TRIPLET	(		out,
			values
	)

Value:

        do {                                                                                                           \
                out.x = MICROMETERS_TO_METERS(values[0]);                                                              \
                out.y = MICROMETERS_TO_METERS(values[1]);                                                              \
                out.z = MICROMETERS_TO_METERS(values[2]);                                                              \
        } while (0)

RIFT_BACK_STRAP_THRESHOLD_M

#define RIFT_BACK_STRAP_THRESHOLD_M   0.1f

LEDs further behind the origin than this, along the device's backward (+Z) axis, are considered part of the back strap and disabled by rift_upload_back_strap_disable_pattern.

RIFT_IMU_DUMP

#define RIFT_IMU_DUMP   0

Set to 1 to dump IMU data to RIFT_IMU_DUMP_PATH.

RIFT_IMU_DUMP_PATH

#define RIFT_IMU_DUMP_PATH   "/tmp/cv1_imu_dump.csv"

The path where IMU data is dumped to.

Function Documentation

rift_custom_pattern_sequence_repeat()

static uint32_t rift_custom_pattern_sequence_repeat ( enum rift_custom_pattern_state  state )

static

Repeats a 2-bit LED state across all RIFT_CUSTOM_PATTERN_SEQUENCE_LENGTH phases of a custom pattern sequence.

Referenced by rift_upload_back_strap_disable_pattern().

rift_devices_create()

int rift_devices_create	(	struct os_hid_device *	hmd_dev,
		struct os_hid_device *	radio_dev,
		enum rift_variant	variant,
		const char *	serial_number,
		struct xrt_frame_context *	xfctx,
		struct rift_hmd **	out_hmd,
		struct xrt_device **	out_xdevs
	)

Creates Rift HMD and related devices.

Parameters

hmd_dev	The HID device for the HMD.
radio_dev	The HID device for the radio, if present (CV1 only).
variant	The Rift variant (DK2 or CV1).
serial_number	The serial number of the device.
xfctx	The frame context to use for the timing source functions. Non-optional.
out_hmd	Output pointer for the created rift_hmd struct.
out_xdevs	Output array for the created xrt_device pointers. The array must have space for at least 4 devices (HMD, left touch, right touch, remote).

Returns

The number of devices created, or a negative value on error.

References xrt_hmd_parts::blend_modes, xrt_device::compute_distortion, rift_hmd::default_icd, xrt_device::destroy, rift_hmd::device_mutex, xrt_view::display, xrt_hmd_parts::distortion, xrt_hmd_parts::fov, xrt_device::get_tracked_pose, xrt_device::get_view_poses, xrt_device::get_visibility_mask, xrt_device::hmd, xrt_device::inputs, rift_hmd::last_remote_exposure_time_ns, m_clock_windowed_skew_tracker_alloc(), m_ff_f64_alloc(), m_ff_vec3_f32_alloc(), xrt_hmd_parts::models, xrt_device::name, xrt_hmd_parts::nominal_frame_interval_ns, os_nanosleep(), xrt_hmd_parts::preferred, t_constellation_tracker_device::push_constellation_tracker_sample, rift_hmd::radio_state, rift_upload_back_strap_disable_pattern(), xrt_view::rot, xrt_hmd_parts::screens, xrt_device::serial, xrt_device::str, xrt_device::supported, time_s_to_ns(), u_distortion_mesh_fill_in_compute(), U_LOG_CHK_ONLY_PRINT, u_truncate_snprintf(), u_var_add_root(), xrt_device::update_inputs, xrt_view::viewport, xrt_hmd_parts::views, and XRT_INPUT_GENERIC_HEAD_POSE.

rift_hmd_frame_timestamp_callback()

bool rift_hmd_frame_timestamp_callback	(	void *	user_data,
		timepoint_ns *	out_timestamp,
		uint64_t *	out_sequence_id,
		timepoint_ns	frame_start_ns,
		uint32_t	pts
	)

Timestamps a camera frame with the time of the exposure that produced it, which is taken to be the exposure whose IN report arrived within half a frame interval of one whole frame interval before the frame's first packet.

Parameters

	user_data	The rift_hmd whose exposures the frame is matched against.
[out]	timestamp	Where the exposure time is written, only touched when this returns true.
	frame_start_ns	When the frame's first payload packet arrived, in local monotonic time.
	pts	The PTS of the frame, in the camera's own clock. Only used for logging.

Returns

True when an exposure time was written. False when no exposure lines up with the frame, in which case the caller should keep whatever timestamp it already had.

References rift_hmd::exposure_history, rift_hmd::exposure_history_pushed, xrt_device::hmd, rift_exposure_event::recv_timestamp_ns, RIFT_EXPOSURE_HISTORY_SIZE, rift_exposure_event::sequence_id, and rift_exposure_event::timestamp_ns.

rift_hmd_get_timing_event_source()

struct t_timing_event_source * rift_hmd_get_timing_event_source

(

struct rift_hmd *

hmd

)

Gets the HMD's timing event source.

Parameters

hmd	The rift_hmd to get the timing event source from.

Returns

The timing event source for the HMD, or NULL if the timing source is not initialized.

rift_upload_back_strap_disable_pattern()

static int rift_upload_back_strap_disable_pattern ( struct rift_hmd *  hmd )

static

Uploads a custom pattern that holds every LED high except the back strap LEDs, which are held off, then drops the back strap LEDs from rift_hmd::led_model so the constellation tracker never tries to match blobs against LEDs that are physically dark.

The caller must have already set RIFT_TRACKING_CUSTOM_PATTERN on the tracking report: writes to the CustomPattern report are no-ops until that bit is set.

References t_constellation_tracker_led::id, t_constellation_tracker_led_model::led_count, t_constellation_tracker_led_model::leds, t_constellation_tracker_led::position, RIFT_BACK_STRAP_THRESHOLD_M, and rift_custom_pattern_sequence_repeat().

Referenced by rift_devices_create().

Variable Documentation

CV1_DISTORTIONS

const struct rift_lens_distortion CV1_DISTORTIONS[]

static

Initial value:

= {{
    .distortion_version = RIFT_LENS_DISTORTION_LCSV_CATMULL_ROM_10_VERSION_1,
    .eye_relief = 0.015f,
    .data =
        {
            .lcsv_catmull_rom_10 =
                {
                    .meters_per_tan_angle_at_center = 0.0438f,
                    .max_r = 1.0f,
                    .chromatic_abberation = {-0.008f, -0.005f, 0.015f, 0.005f},
                    .k =
                        {
                            1.000f,
                            1.0312999f,
                            1.0698f,
                            1.1155f,
                            1.173f,
                            1.2460001f,
                            1.336f,
                            1.457f,
                            1.630f,
                            1.900f,
                            2.3599999f,
                        },
                },
        },
}}