Vive Controller prober and driver code. More...

#include "xrt/xrt_defines.h"
#include "xrt/xrt_prober.h"
#include "math/m_imu_3dof.h"
#include "math/m_relation_history.h"
#include "util/u_var.h"
#include "os/os_hid.h"
#include "os/os_threading.h"
#include "os/os_time.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "math/m_predict.h"
#include "util/u_json.h"
#include "util/u_misc.h"
#include "util/u_time.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_trace_marker.h"
#include "vive/vive_config.h"
#include "vive/vive_bindings.h"
#include "vive/vive_poses.h"
#include "vive.h"
#include "vive_protocol.h"
#include "vive_controller.h"
#include "util/u_hand_simulation.h"
#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>

Include dependency graph for vive_controller.c:

Macros
#define	DEFAULT_HAPTIC_FREQ 150.0f

#define	MIN_HAPTIC_DURATION 0.05f

#define	FEATURE_BUFFER_SIZE 256

#define	SET_WAND_INPUT(NAME, NAME2)

#define	SET_INDEX_INPUT(NAME, NAME2)

Enumerations
enum	vive_controller_input_index { VIVE_CONTROLLER_INDEX_AIM_POSE = 0 , VIVE_CONTROLLER_INDEX_GRIP_POSE , VIVE_CONTROLLER_INDEX_SYSTEM_CLICK , VIVE_CONTROLLER_INDEX_TRIGGER_CLICK , VIVE_CONTROLLER_INDEX_TRIGGER_VALUE , VIVE_CONTROLLER_INDEX_TRACKPAD , VIVE_CONTROLLER_INDEX_TRACKPAD_TOUCH , VIVE_CONTROLLER_INDEX_SQUEEZE_CLICK , VIVE_CONTROLLER_INDEX_MENU_CLICK , VIVE_CONTROLLER_INDEX_TRACKPAD_CLICK , VIVE_CONTROLLER_INDEX_THUMBSTICK , VIVE_CONTROLLER_INDEX_A_CLICK , VIVE_CONTROLLER_INDEX_B_CLICK , VIVE_CONTROLLER_INDEX_THUMBSTICK_CLICK , VIVE_CONTROLLER_INDEX_THUMBSTICK_TOUCH , VIVE_CONTROLLER_INDEX_SYSTEM_TOUCH , VIVE_CONTROLLER_INDEX_A_TOUCH , VIVE_CONTROLLER_INDEX_B_TOUCH , VIVE_CONTROLLER_INDEX_SQUEEZE_VALUE , VIVE_CONTROLLER_INDEX_SQUEEZE_FORCE , VIVE_CONTROLLER_INDEX_TRIGGER_TOUCH , VIVE_CONTROLLER_INDEX_TRACKPAD_FORCE , VIVE_CONTROLLER_HAND_TRACKING , VIVE_CONTROLLER_MAX_INDEX }

Functions
static struct vive_controller_device *	vive_controller_device (struct xrt_device *xdev)

static void	get_pose (struct vive_controller_device d, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation out_relation)

static void	vive_controller_device_destroy (struct xrt_device *xdev)

static xrt_result_t	vive_controller_device_wand_update_inputs (struct xrt_device *xdev)

static xrt_result_t	vive_controller_device_index_update_inputs (struct xrt_device *xdev)

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

static void	vive_controller_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 int	vive_controller_haptic_pulse (struct vive_controller_device d, const union xrt_output_value value)

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

static void	controller_handle_battery (struct vive_controller_device d, struct vive_controller_battery_sample sample)

static void	controller_handle_buttons (struct vive_controller_device d, struct vive_controller_button_sample sample)

static void	controller_handle_touch_position (struct vive_controller_device d, struct vive_controller_touch_sample sample)

static void	controller_handle_analog_trigger (struct vive_controller_device d, struct vive_controller_trigger_sample sample)

static void	vive_controller_handle_imu_sample (struct vive_controller_device d, struct watchman_imu_sample sample)

static void	controller_handle_touch_force (struct vive_controller_device d, struct watchman_touch_force sample)

static void	vive_controller_handle_lighthousev1 (struct vive_controller_device d, uint8_t buf, uint8_t len)

static void	vive_controller_decode_watchmanv1 (struct vive_controller_device d, struct vive_controller_message message)

static void	vive_controller_decode_watchmanv2 (struct vive_controller_device d, struct vive_controller_message message)

static void	vive_controller_decode_message (struct vive_controller_device d, struct vive_controller_message message)

static int	vive_controller_device_update (struct vive_controller_device *d)

static void *	vive_controller_run_thread (void *ptr)

void	vive_controller_reset_pose_cb (void *ptr)

static void	vive_controller_setup_ui (struct vive_controller_device *d)

struct vive_controller_device *	vive_controller_create (struct os_hid_device *controller_hid, enum watchman_gen watchman_gen, int controller_num)

Detailed Description

Vive Controller prober and driver code.

Author: Christoph Haag chris.nosp@m.toph.nosp@m..gaag.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Lubosz Sarnecki lubos.nosp@m.z.sa.nosp@m.rneck.nosp@m.i@co.nosp@m.llabo.nosp@m.ra.c.nosp@m.om; Rylie Pavlik rylie.nosp@m..pav.nosp@m.lik@c.nosp@m.olla.nosp@m.bora..nosp@m.com; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Portions based on the VRPN Razer Hydra driver, originally written by Rylie Pavlik and available under the BSL-1.0.

Macro Definition Documentation

◆ SET_INDEX_INPUT

#define SET_INDEX_INPUT	(	NAME,
		NAME2
	)

Value:

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

◆ SET_WAND_INPUT

#define SET_WAND_INPUT	(	NAME,
		NAME2
	)

Value:

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

Function Documentation

◆ get_pose()

static void get_pose	(	struct vive_controller_device *	d,
		enum xrt_input_name	name,
		int64_t	at_timestamp_ns,
		struct xrt_space_relation *	out_relation
	)

inlinestatic

Todo:: Vive poses only have index poses.

◆ vive_controller_decode_message()

static void vive_controller_decode_message	(	struct vive_controller_device *	d,
		struct vive_controller_message *	message
	)

static

Todo:: : Check if Vive controller on watchman2 is correctly handled with watchman2 codepath

◆ vive_controller_decode_watchmanv2()

static void vive_controller_decode_watchmanv2	(	struct vive_controller_device *	d,
		struct vive_controller_message *	message
	)

static

Todo:: : Parse lighthouse v2 data

◆ vive_controller_get_hand_tracking()

static void vive_controller_get_hand_tracking	(	struct xrt_device *	xdev,
		enum xrt_input_name	name,
		int64_t	requested_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

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ SET_INDEX_INPUT

◆ SET_WAND_INPUT

Function Documentation

◆ get_pose()

◆ vive_controller_decode_message()

◆ vive_controller_decode_watchmanv2()

◆ vive_controller_get_hand_tracking()