Adapter to Libsurvive. More...

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "math/m_api.h"
#include "math/m_space.h"
#include "tracking/t_tracking.h"
#include "xrt/xrt_device.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_misc.h"
#include "util/u_var.h"
#include "util/u_time.h"
#include "util/u_distortion_mesh.h"
#include "util/u_config_json.h"
#include "os/os_threading.h"
#include "os/os_time.h"
#include "xrt/xrt_prober.h"
#include "survive_interface.h"
#include "survive_api.h"
#include "util/u_json.h"
#include "util/u_hand_tracking.h"
#include "util/u_hand_simulation.h"
#include "util/u_logging.h"
#include "math/m_relation_history.h"
#include "math/m_predict.h"
#include "vive/vive_config.h"
#include "vive/vive_bindings.h"
#include "vive/vive_poses.h"
#include "util/u_trace_marker.h"

Include dependency graph for survive_driver.c:

Data Structures
struct	survive_device

struct	survive_system

struct	Button

struct	Axis

Macros
#define	DEFAULT_WAIT_TIMEOUT 3.5f

#define	SURVIVE_LEFT_CONTROLLER_INDEX 0

#define	SURVIVE_RIGHT_CONTROLLER_INDEX 1

#define	SURVIVE_NON_CONTROLLER_START 2

#define	MAX_TRACKED_DEVICE_COUNT 16
	excl HMD we support 16 devices (controllers, trackers, ...) More...

#define	SURVIVE_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->sys->log_level, __VA_ARGS__)

#define	SURVIVE_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->sys->log_level, __VA_ARGS__)

#define	SURVIVE_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->sys->log_level, __VA_ARGS__)

#define	SURVIVE_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->sys->log_level, __VA_ARGS__)

#define	SURVIVE_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->sys->log_level, __VA_ARGS__)

#define	SET_WAND_INPUT(NAME, NAME2)

#define	SET_INDEX_INPUT(NAME, NAME2)

Enumerations
enum	input_index { VIVE_CONTROLLER_AIM_POSE = 0 , VIVE_CONTROLLER_GRIP_POSE , VIVE_CONTROLLER_SYSTEM_CLICK , VIVE_CONTROLLER_TRIGGER_CLICK , VIVE_CONTROLLER_TRIGGER_VALUE , VIVE_CONTROLLER_TRACKPAD , VIVE_CONTROLLER_TRACKPAD_TOUCH , VIVE_CONTROLLER_SQUEEZE_CLICK , VIVE_CONTROLLER_MENU_CLICK , VIVE_CONTROLLER_TRACKPAD_CLICK , VIVE_CONTROLLER_THUMBSTICK , VIVE_CONTROLLER_A_CLICK , VIVE_CONTROLLER_B_CLICK , VIVE_CONTROLLER_THUMBSTICK_CLICK , VIVE_CONTROLLER_THUMBSTICK_TOUCH , VIVE_CONTROLLER_SYSTEM_TOUCH , VIVE_CONTROLLER_A_TOUCH , VIVE_CONTROLLER_B_TOUCH , VIVE_CONTROLLER_SQUEEZE_VALUE , VIVE_CONTROLLER_SQUEEZE_FORCE , VIVE_CONTROLLER_TRIGGER_TOUCH , VIVE_CONTROLLER_TRACKPAD_FORCE , VIVE_CONTROLLER_HAND_TRACKING , VIVE_TRACKER_POSE , VIVE_CONTROLLER_MAX_INDEX }

enum	DeviceType { DEVICE_TYPE_HMD , DEVICE_TYPE_CONTROLLER }

enum	InputComponent { COMP_1D , COMP_2DX , COMP_2DY }

Functions
static void	survive_device_destroy (struct xrt_device *xdev)

static double	survive_timecode_now_s (void)

static timepoint_ns	survive_timecode_to_monotonic (struct survive_device *survive, double timecode)

static void	pose_to_relation (const SurvivePose pose, const SurviveVelocity vel, struct xrt_space_relation *out_relation)

static bool	verify_device_name (struct survive_device *survive, enum xrt_input_name name)

static xrt_result_t	survive_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 xrt_result_t	survive_device_get_battery_status (struct xrt_device xdev, bool out_present, bool out_charging, float out_charge)

static int	survive_controller_haptic_pulse (struct survive_device survive, const union xrt_output_value value)

static void	survive_controller_device_set_output (struct xrt_device xdev, enum xrt_output_name name, const union xrt_output_value value)

static void	survive_controller_get_hand_tracking (struct xrt_device xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_hand_joint_set out_value, int64_t *out_timestamp_ns)

static void	survive_device_get_view_poses (struct xrt_device xdev, const struct xrt_vec3 default_eye_relation, int64_t at_timestamp_ns, uint32_t view_count, struct xrt_space_relation out_head_relation, struct xrt_fov out_fovs, struct xrt_pose *out_poses)

static bool	update_axis (struct survive_device survive, struct Axis axis, const SurviveSimpleButtonEvent *e, int i, uint64_t now)

static bool	update_button (struct survive_device survive, const struct SurviveSimpleButtonEvent e, timepoint_ns ts)

static float	_calculate_squeeze_value (struct survive_device *survive)

static void	_process_button_event (struct survive_device survive, const struct SurviveSimpleButtonEvent e)

static void	_process_hmd_button_event (struct survive_device survive, const struct SurviveSimpleButtonEvent e)

static struct survive_device *	get_device_by_object (struct survive_system sys, const SurviveSimpleObject object)

static void	add_device (struct survive_system ss, const struct SurviveSimpleConfigEvent e)

static void	_process_pose_event (struct survive_device survive, const struct SurviveSimplePoseUpdatedEvent e)

static void	_process_event (struct survive_system ss, struct SurviveSimpleEvent event)

static xrt_result_t	survive_device_update_inputs (struct xrt_device *xdev)

static bool	compute_distortion (struct xrt_device xdev, uint32_t view, float u, float v, struct xrt_uv_triplet result)

static bool	_create_hmd_device (struct survive_system sys, const struct SurviveSimpleObject sso, char *conf_str)

static bool	_create_controller_device (struct survive_system sys, const SurviveSimpleObject sso, struct vive_controller_config *config)

static bool	add_connected_devices (struct survive_system *ss)

static void *	run_event_thread (void *ptr)

int	survive_get_devices (struct xrt_device out_xdevs, struct vive_config out_vive_config)

Variables
struct Button	buttons [255]

static struct Axis	axes [255]

Detailed Description

Adapter to Libsurvive.

Author: Christoph Haag chris.nosp@m.toph.nosp@m..haag.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

◆ MAX_TRACKED_DEVICE_COUNT

#define MAX_TRACKED_DEVICE_COUNT 16

excl HMD we support 16 devices (controllers, trackers, ...)

◆ SET_INDEX_INPUT

#define SET_INDEX_INPUT	(	NAME,
		NAME2
	)

Value:

        do {                                                                                                           \
                (survive->base.inputs[VIVE_CONTROLLER_##NAME].name = XRT_INPUT_INDEX_##NAME2);                         \
        } while (0)

◆ SET_WAND_INPUT

#define SET_WAND_INPUT	(	NAME,
		NAME2
	)

Value:

        do {                                                                                                           \
                (survive->base.inputs[VIVE_CONTROLLER_##NAME].name = XRT_INPUT_VIVE_##NAME2);                          \
        } while (0)

Function Documentation

◆ _calculate_squeeze_value()

static float _calculate_squeeze_value ( struct survive_device * survive )

static

Todo:: find a good formula for squeeze value

◆ _process_hmd_button_event()

static void _process_hmd_button_event	(	struct survive_device *	survive,
		const struct SurviveSimpleButtonEvent *	e
	)

static

Todo:: engagement changed

◆ add_connected_devices()

static bool add_connected_devices ( struct survive_system * ss )

static

Todo:: We don't know how many device added events we will get. After 25ms Index HMD + Controllers are added here. So 250ms should be a safe value. Device added just means libsurvive knows the usb devices, the config will then be loaded asynchronously.

References os_monotonic_get_ns(), os_nanosleep(), and U_LOG_IFL_D.

◆ survive_controller_get_hand_tracking()

static void survive_controller_get_hand_tracking	(	struct xrt_device *	xdev,
		enum xrt_input_name	name,
		int64_t	at_timestamp_ns,
		struct xrt_hand_joint_set *	out_value,
		int64_t *	out_timestamp_ns
	)

static

Todo:: place thumb preciely on the button that is touched/pressed

References xrt_device::name.

Variable Documentation

◆ buttons

uint8_t buttons

Initial value:

= {
    [SURVIVE_BUTTON_A] = {.click = VIVE_CONTROLLER_A_CLICK, .touch = VIVE_CONTROLLER_A_TOUCH},
    [SURVIVE_BUTTON_B] = {.click = VIVE_CONTROLLER_B_CLICK, .touch = VIVE_CONTROLLER_B_TOUCH},
 
    [SURVIVE_BUTTON_TRACKPAD] = {.click = VIVE_CONTROLLER_TRACKPAD_CLICK, .touch = VIVE_CONTROLLER_TRACKPAD_TOUCH},
 
    [SURVIVE_BUTTON_THUMBSTICK] = {.click = VIVE_CONTROLLER_THUMBSTICK_CLICK,
                                   .touch = VIVE_CONTROLLER_THUMBSTICK_TOUCH},
 
    [SURVIVE_BUTTON_SYSTEM] = {.click = VIVE_CONTROLLER_SYSTEM_CLICK, .touch = VIVE_CONTROLLER_SYSTEM_TOUCH},
 
    [SURVIVE_BUTTON_MENU] = {.click = VIVE_CONTROLLER_MENU_CLICK,
                             
                             .touch = 0},
 
    [SURVIVE_BUTTON_GRIP] = {.click = VIVE_CONTROLLER_SQUEEZE_CLICK,
                             
                             .touch = 0},
 
    [SURVIVE_BUTTON_TRIGGER] = {.click = VIVE_CONTROLLER_TRIGGER_CLICK, .touch = VIVE_CONTROLLER_TRIGGER_TOUCH},
}

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MAX_TRACKED_DEVICE_COUNT

◆ SET_INDEX_INPUT

◆ SET_WAND_INPUT

Function Documentation

◆ _calculate_squeeze_value()

◆ _process_hmd_button_event()

◆ add_connected_devices()

◆ survive_controller_get_hand_tracking()

Variable Documentation

◆ buttons