survive_driver.c File Reference

Adapter to Libsurvive. More...

#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "math/m_relation_history.h"
#include "math/m_predict.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_misc.h"
#include "util/u_time.h"
#include "util/u_distortion_mesh.h"
#include "util/u_config_json.h"
#include "util/u_json.h"
#include "util/u_hand_simulation.h"
#include "util/u_logging.h"
#include "util/u_trace_marker.h"
#include "os/os_time.h"
#include "vive/vive_config.h"
#include "vive/vive_bindings.h"
#include "vive/vive_poses.h"
#include "survive_internal.h"
#include "survive_vp2.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>

Include dependency graph for survive_driver.c:

Data Structures
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	SET_WAND_INPUT(NAME, NAME2)
#define	SET_INDEX_INPUT(NAME, NAME2)

Enumerations
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 struct xrt_output_value *value)
static xrt_result_t	survive_controller_device_set_output (struct xrt_device *xdev, enum xrt_output_name name, const struct xrt_output_value *value)
static xrt_result_t	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 xrt_result_t	survive_device_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 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 xrt_result_t	compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
static xrt_result_t	survive_get_compositor_info (struct xrt_device *xdev, const struct xrt_device_compositor_mode *mode, struct xrt_device_compositor_info *out_info)
xrt_result_t	survive_device_get_brightness (struct xrt_device *xdev, float *out_brightness)
xrt_result_t	survive_device_set_brightness (struct xrt_device *xdev, float brightness, bool relative)
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_prober *xp, 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

Moshi Turner moshi.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com

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

Macro Definition Documentation

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 xrt_result_t 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},
}