vive_device.h

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// Copyright 2019-2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  vive device header
 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 * @ingroup drv_vive
 */
 
#pragma once
 
#include "xrt/xrt_device.h"
#include "os/os_threading.h"
#include "util/u_logging.h"
#include "util/u_debug.h"
#include "util/u_time.h"
#include "util/u_var.h"
#include "math/m_imu_3dof.h"
#include "math/m_relation_history.h"
 
#include "vive/vive_config.h"
 
#include "vive_lighthouse.h"
#include "xrt/xrt_tracking.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
/*!
 * @implements xrt_device
 */
struct vive_device
{
        struct xrt_device base;
        struct os_hid_device *mainboard_dev;
        struct os_hid_device *sensors_dev;
        struct os_hid_device *watchman_dev;
 
        struct lighthouse_watchman watchman;
 
        struct os_thread_helper sensors_thread;
        struct os_thread_helper watchman_thread;
        struct os_thread_helper mainboard_thread;
 
        struct
        {
                timepoint_ns last_sample_ts_ns;
                uint32_t last_sample_ticks;
                uint8_t sequence;
        } imu;
 
        struct
        {
                uint16_t ipd;
                uint16_t lens_separation;
                uint16_t proximity;
                uint8_t button;
                uint8_t audio_button;
        } board;
 
        enum u_logging_level log_level;
        bool disconnect_notified;
 
        struct
        {
                struct u_var_button switch_tracker_btn;
                char hand_status[128];
                char slam_status[128];
        } gui;
 
        struct vive_config config;
 
        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;
 
        //! Fields related to camera-based tracking (SLAM and hand tracking)
        struct
        {
                //! SLAM tracker.
                struct xrt_tracked_slam *slam;
 
                //! Set at start. Whether the SLAM tracker was initialized.
                bool slam_enabled;
 
                //! Set at start. Whether the hand tracker was initialized.
                bool hand_enabled;
 
                //! SLAM systems track the IMU pose, enabling this corrects it to middle of the eyes
                bool imu2me;
        } tracking;
 
        /*!
         * Offset for tracked pose offsets (applies to both fusion and SLAM).
         * Applied when getting the tracked poses, so is effectivily a offset
         * to increase or decrease prediction.
         */
        struct u_var_draggable_f32 tracked_offset_ms;
 
        struct xrt_pose P_imu_me; //!< IMU to head/display/middle-of-eyes transform in OpenXR coords
 
        //! Whether to track the HMD with 6dof SLAM or fallback to the 3dof tracker
        bool slam_over_3dof;
 
        //! In charge of managing raw samples, redirects them for tracking
        struct vive_source *source;
 
        //! Last tracked pose
        struct xrt_pose pose;
 
        //! Additional offset to apply to `pose`
        struct xrt_pose offset;
};
 
 
/*!
 * Summary of the status of various trackers.
 *
 * @todo Creation flow is a bit broken for now, in the future this info should be closer
 * to the tracker creation code, thus avoiding the need to pass it around like this.
 */
struct vive_tracking_status
{
        bool slam_wanted;
        bool slam_supported;
        bool slam_enabled;
 
        //! Has Monado been built with the correct libraries to do optical hand tracking?
        bool hand_supported;
 
        //! Did we find controllers?
        bool controllers_found;
 
        //! If this is set to ON, we always do optical hand tracking even if controllers were found.
        //! If this is set to AUTO, we do optical hand tracking only if no controllers were found.
        //! If this is set to OFF, we don't do optical hand tracking.
        enum debug_tristate_option hand_wanted;
 
        //! Computed in target_builder_lighthouse.c based on the past three
        bool hand_enabled;
};
 
void
vive_set_trackers_status(struct vive_device *d, struct vive_tracking_status status);
 
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);
 
#ifdef __cplusplus
}
#endif