vive_device.c File Reference
Vive device implementation. More...
#include <stdio.h>#include <assert.h>#include <math.h>#include <zlib.h>#include "util/u_device.h"#include "util/u_debug.h"#include "util/u_var.h"#include "util/u_time.h"#include "util/u_trace_marker.h"#include "util/u_linux.h"#include "math/m_api.h"#include "math/m_predict.h"#include "os/os_hid.h"#include "os/os_time.h"#include "vive.h"#include "vive_device.h"#include "vive_protocol.h"#include "vive_source.h"#include "xrt/xrt_tracking.h"#include "xrt/xrt_config_have.h"#include "xrt/xrt_config_build.h"
Include dependency graph for vive_device.c:
Macros | |
| #define | VIVE_IMU_RANGE_CONVERSION_VALUE (32768.0) |
Functions | |
| static bool | vive_mainboard_power_off (struct vive_device *d) |
| static struct vive_device * | vive_device (struct xrt_device *xdev) |
| static void | vive_device_destroy (struct xrt_device *xdev) |
| static xrt_result_t | vive_device_update_inputs (struct xrt_device *xdev) |
| static xrt_result_t | vive_device_get_3dof_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_space_relation *out_relation) |
| static XRT_MAYBE_UNUSED struct xrt_pose | vive_device_correct_pose_from_basalt (struct xrt_pose pose) |
| Specific pose corrections for Basalt and a Valve Index headset. More... | |
| static void | vive_device_get_slam_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_space_relation *out_relation) |
| static xrt_result_t | vive_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 void | vive_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 int | vive_mainboard_get_device_info (struct vive_device *d) |
| static bool | vive_mainboard_power_on (struct vive_device *d) |
| static void | vive_mainboard_decode_message (struct vive_device *d, struct vive_mainboard_status_report *report) |
| static int | oldest_sequence_index (uint8_t a, uint8_t b, uint8_t c) |
| static void | convert_imu_to_openxr (struct vive_device *d, struct xrt_vec3 *gyro, struct xrt_vec3 *accel) |
| static void | update_imu (struct vive_device *d, const void *buffer) |
| static void | drain_imu (struct vive_device *d, const void *buffer) |
| static bool | vive_mainboard_read_one_msg (struct vive_device *d) |
| static void * | vive_mainboard_run_thread (void *ptr) |
| static int | vive_sensors_enable_watchman (struct vive_device *d, bool enable_sensors) |
| static void | _print_v1_pulse (struct vive_device *d, uint8_t sensor_id, uint32_t timestamp, uint16_t duration) |
| static void | _decode_pulse_report (struct vive_device *d, const void *buffer) |
| static const char * | _sensors_get_report_string (uint32_t report_id) |
| static bool | _is_report_size_valid (struct vive_device *d, int size, int report_size, int report_id) |
| static bool | vive_sensors_read_one_msg (struct vive_device *d, struct os_hid_device *dev, uint32_t report_id, int report_size, void(*process_cb)(struct vive_device *d, const void *buffer)) |
| static void | _print_v2_pulse (struct vive_device *d, uint8_t sensor_id, uint8_t flag, uint32_t timestamp, uint32_t data, uint32_t mask) |
| static bool | _print_pulse_report_v2 (struct vive_device *d, const void *buffer) |
| static bool | vive_sensors_read_lighthouse_msg (struct vive_device *d) |
| static void * | vive_watchman_run_thread (void *ptr) |
| static void * | vive_sensors_run_thread (void *ptr) |
| static void | vive_device_switch_hmd_tracker (void *d_ptr) |
| static void | vive_device_setup_ui (struct vive_device *d) |
| static bool | compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result) |
| void | vive_set_trackers_status (struct vive_device *d, struct vive_tracking_status status) |
| static void | precompute_sensor_transforms (struct vive_device *d) |
| Precompute transforms to convert between OpenXR and device coordinate systems. More... | |
| struct vive_device * | vive_device_create (struct os_hid_device *mainboard_dev, struct os_hid_device *sensors_dev, struct os_hid_device *watchman_dev, enum VIVE_VARIANT variant, struct vive_tracking_status tstatus, struct vive_source *vs) |
Detailed Description
Vive device implementation.
Function Documentation
◆ precompute_sensor_transforms()
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static |
Precompute transforms to convert between OpenXR and device coordinate systems.
OpenXR: X: Right, Y: Up, Z: Backward Index / tracking reference / tr: X: Left, Y: Up, Z: Forward
References xrt_pose::math_pose_invert(), xrt_pose::math_pose_transform(), xrt_quat::math_quat_rotate(), vive_device::P_imu_me, and vive_config::trackref.
