vive_controller.h

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// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface to @ref drv_vive
 * @author Christoph Haag <christoph.haag@collabora.com>
 * @author Rylie Pavlik <rylie.pavlik@collabora.com>
 * @ingroup drv_vive
 */
 
#pragma once
 
#include <stdlib.h>
#include <stdint.h>
 
#include "xrt/xrt_device.h"
#include "os/os_threading.h"
#include "math/m_imu_3dof.h"
#include "util/u_logging.h"
#include "util/u_hand_tracking.h"
#include "vive/vive_config.h"
 
 
#ifdef __cplusplus
extern "C" {
#endif
/*!
 * @ingroup drv_vive
 *
 * @brief Driver for the HTC Vive and Valve Index controllers.
 */
 
enum watchman_gen
{
        WATCHMAN_GEN1,
        WATCHMAN_GEN2,
        WATCHMAN_GEN_UNKNOWN
};
 
/*!
 * A Vive Controller device, representing just a single controller.
 *
 * @ingroup drv_vive
 * @implements xrt_device
 */
struct vive_controller_device
{
        struct xrt_device base;
 
        struct os_hid_device *controller_hid;
        struct os_thread_helper controller_thread;
        struct os_mutex lock;
 
        struct
        {
                timepoint_ns last_sample_ts_ns;
                uint32_t last_sample_ticks;
        } imu;
 
        struct
        {
                struct u_var_button reset_pose_btn;
        } gui;
 
        // struct m_imu_3dof fusion;
        struct
        {
                //! Protects all members of the `fusion` substruct.
                struct os_mutex mutex;
 
                //! Main fusion calculator.
                struct m_imu_3dof i3dof;
 
                //! Prediction
                struct m_relation_history *relation_hist;
        } fusion;
 
        struct
        {
                struct xrt_vec3 acc;
                struct xrt_vec3 gyro;
        } last;
 
        enum u_logging_level log_level;
 
        uint32_t last_ticks;
 
        //! Which vive controller in the system are we?
        size_t index;
 
        struct
        {
                struct xrt_vec2 trackpad;
                float trigger;
                uint8_t buttons;
                uint8_t last_buttons;
 
                uint8_t touch;
                uint8_t last_touch;
 
                uint8_t middle_finger_handle;
                uint8_t ring_finger_handle;
                uint8_t pinky_finger_handle;
                uint8_t index_finger_trigger;
 
                uint8_t squeeze_force;
                uint8_t trackpad_force;
 
                bool charging;
                uint8_t battery;
        } state;
 
        enum watchman_gen watchman_gen;
 
        struct u_hand_tracking hand_tracking;
 
        struct vive_controller_config config;
 
        //! Last tracked pose
        struct xrt_pose pose;
 
        //! Additional offset to apply to `pose`
        struct xrt_pose offset;
};
 
struct vive_controller_device *
vive_controller_create(struct os_hid_device *controller_hid, enum watchman_gen watchman_gen, int controller_num);
 
#ifdef __cplusplus
}
#endif