Misc helpers for device drivers. More...

#include "util/u_logging.h"
#include "util/u_device.h"
#include "util/u_misc.h"
#include "math/m_mathinclude.h"
#include "math/m_api.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <limits.h>

Include dependency graph for u_device.c:

Macros
#define	PRINT_STR(name, val) U_LOG_RAW("\t%s = %s", name, val)

#define	PRINT_INT(name, val) U_LOG_RAW("\t%s = %u", name, val)

#define	PRINT_MM(name, val) U_LOG_RAW("\t%s = %f (%i.%02imm)", name, val, (int32_t)(val * 1000.f), abs((int32_t)(val * 100000.f)) % 100)

#define	PRINT_ANGLE(name, val) U_LOG_RAW("\t%s = %f (%i°)", name, val, (int32_t)(val * (180 / M_PI)))

#define	PRINT_MAT2X2(name, rot) U_LOG_RAW("\t%s = {%f, %f} {%f, %f}", name, rot.v[0], rot.v[1], rot.v[2], rot.v[3])

#define	E(FN) U_LOG_E("Function " #FN " is not implemented for '%s'", xdev->str)

Functions
void	u_device_dump_config (struct xrt_device xdev, const char prefix, const char *prod)
	Dump the device config to stderr. More...

bool	u_extents_2d_split_side_by_side (struct xrt_device xdev, const struct u_extents_2d extents)
	Setup the device's display's 2D extents. More...

bool	u_device_setup_one_eye (struct xrt_device xdev, const struct u_device_simple_info info)
	Setup the device information given a very simple info struct. More...

bool	u_device_setup_split_side_by_side (struct xrt_device xdev, const struct u_device_simple_info info)
	Setup the device information given a very simple info struct. More...

void *	u_device_allocate (enum u_device_alloc_flags flags, size_t size, size_t input_count, size_t output_count)
	Helper function to allocate a device plus inputs in the same allocation placed after the device in memory. More...

void	u_device_free (struct xrt_device *xdev)
	Helper function to free a device and any data hanging of it. More...

static void	try_move_assignment (struct xrt_device *xdevs, int hand, int *other_hand)

void	u_device_assign_xdev_roles (struct xrt_device *xdevs, size_t xdev_count, int head, int left, int right)
	Helper function to assign head, left hand and right hand roles. More...

void	u_device_get_view_pose (const struct xrt_vec3 eye_relation, uint32_t view_index, struct xrt_pose out_pose)
	Helper function for `get_view_pose` in an HMD driver. More...

void	u_device_get_view_poses (struct xrt_device xdev, const struct xrt_vec3 default_eye_relation, uint64_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)
	Helper function to implement xrt_device::get_view_poses in a HMD driver. More...

void	u_device_noop_update_inputs (struct xrt_device *xdev)
	Noop function for xrt_device::update_inputs, should only be used from a device with any inputs. More...

void	u_device_ni_get_hand_tracking (struct xrt_device xdev, enum xrt_input_name name, uint64_t desired_timestamp_ns, struct xrt_hand_joint_set out_value, uint64_t *out_timestamp_ns)
	Not implemented function for xrt_device::get_hand_tracking. More...

void	u_device_ni_set_output (struct xrt_device xdev, enum xrt_output_name name, const union xrt_output_value value)
	Not implemented function for xrt_device::set_output. More...

void	u_device_ni_get_view_poses (struct xrt_device xdev, const struct xrt_vec3 default_eye_relation, uint64_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)
	Not implemented function for xrt_device::get_view_poses. More...

bool	u_device_ni_compute_distortion (struct xrt_device xdev, uint32_t view, float u, float v, struct xrt_uv_triplet out_result)
	Not implemented function for xrt_device::compute_distortion. More...

xrt_result_t	u_device_ni_get_visibility_mask (struct xrt_device xdev, enum xrt_visibility_mask_type type, uint32_t view_index, struct xrt_visibility_mask *out_mask)
	Not implemented function for xrt_device::get_visibility_mask. More...

bool	u_device_ni_is_form_factor_available (struct xrt_device *xdev, enum xrt_form_factor form_factor)
	Not implemented function for xrt_device::is_form_factor_available. More...

Variables
const struct xrt_matrix_2x2	u_device_rotation_right

const struct xrt_matrix_2x2	u_device_rotation_left

const struct xrt_matrix_2x2	u_device_rotation_ident

const struct xrt_matrix_2x2	u_device_rotation_180

Detailed Description

Misc helpers for device drivers.

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; Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

◆ u_device_get_view_pose()

void u_device_get_view_pose	(	const struct xrt_vec3 *	eye_relation,
		uint32_t	view_index,
		struct xrt_pose *	out_pose
	)

Helper function for get_view_pose in an HMD driver.

Takes in a translation from the left to right eye, and returns a center to left or right eye transform that assumes the eye relation is symmetrical around the tracked point ("center eye"). Knowing IPD is a subset of this: If you know IPD better than the overall Monado system, copy eye_relation and put your known IPD in real_eye_relation->x

If you have rotation, apply it after calling this function.

Parameters

eye_relation	3D translation from left eye to right eye.
view_index	0 for left, 1 for right.
out_pose	The output pose to populate. Will receive translation, with an identity rotation.

References xrt_pose::XRT_POSE_IDENTITY.

Referenced by u_device_get_view_poses().

◆ u_device_get_view_poses()

void u_device_get_view_poses	(	struct xrt_device *	xdev,
		const struct xrt_vec3 *	default_eye_relation,
		uint64_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
	)

Helper function to implement xrt_device::get_view_poses in a HMD driver.

The field xrt_device::hmd needs to be set and valid.

References ARRAY_SIZE, xrt_hmd_parts::distortion, xrt_hmd_parts::fov, xrt_device::hmd, u_device_get_view_pose(), xrt_hmd_parts::views, xrt_device::xrt_device_get_tracked_pose(), and XRT_INPUT_GENERIC_HEAD_POSE.

Referenced by svr_hmd_get_view_poses().

Variable Documentation

◆ u_device_rotation_180

const struct xrt_matrix_2x2 u_device_rotation_180

Initial value:

= {{
    .vecs =
        {
            {-1, 0},
            {0, -1},
        },
}}

◆ u_device_rotation_ident

const struct xrt_matrix_2x2 u_device_rotation_ident

Initial value:

= {{
    .vecs =
        {
            {1, 0},
            {0, 1},
        },
}}

◆ u_device_rotation_left

const struct xrt_matrix_2x2 u_device_rotation_left

Initial value:

= {{
    .vecs =
        {
            {0, -1},
            {1, 0},
        },
}}

◆ u_device_rotation_right

const struct xrt_matrix_2x2 u_device_rotation_right

Initial value:

= {{
    .vecs =
        {
            {0, 1},
            {-1, 0},
        },
}}

Macros

Functions

Variables

Detailed Description

Function Documentation

◆ u_device_get_view_pose()

◆ u_device_get_view_poses()

Variable Documentation

◆ u_device_rotation_180

◆ u_device_rotation_ident

◆ u_device_rotation_left

◆ u_device_rotation_right