vive_lighthouse.h

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// Copyright 2016-2019, Philipp Zabel
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Vive Lighthouse Watchman implementation
 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 * @ingroup drv_vive
 */
 
#pragma once
 
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
 
#include "xrt/xrt_defines.h"
 
struct lighthouse_rotor_calibration
{
        float tilt;
        float phase;
        float curve;
        float gibphase;
        float gibmag;
};
 
struct lighthouse_base_calibration
{
        struct lighthouse_rotor_calibration rotor[2];
};
 
struct lighthouse_frame
{
        uint32_t sync_timestamp;
        uint32_t sync_duration;
        uint32_t sync_ids;
        uint32_t sweep_ids;
        uint32_t sweep_offset[32];
        uint16_t sweep_duration[32];
        uint32_t frame_duration;
};
 
struct lighthouse_base
{
        int data_sync;
        int data_word;
        int data_bit;
        uint8_t ootx[40];
 
        int firmware_version;
        uint32_t serial;
        struct lighthouse_base_calibration calibration;
        struct xrt_vec3 gravity;
        char channel;
        int model_id;
        int reset_count;
 
        uint32_t last_sync_timestamp;
        int active_rotor;
 
        struct lighthouse_frame frame[2];
};
 
struct lighthouse_pulse
{
        uint32_t timestamp;
        uint16_t duration;
        uint8_t id;
};
 
struct lighthouse_sensor
{
        struct lighthouse_pulse sync;
        struct lighthouse_pulse sweep;
};
 
struct tracking_model
{
        uint32_t num_points;
        struct xrt_vec3 *points;
        struct xrt_vec3 *normals;
};
 
struct lighthouse_watchman
{
        uint32_t id;
        const char *name;
        struct tracking_model model;
        bool base_visible;
        struct lighthouse_base base[2];
        struct lighthouse_base *active_base;
        uint32_t seen_by;
        uint32_t last_timestamp;
        struct lighthouse_sensor sensor[32];
        struct lighthouse_pulse last_sync;
        bool sync_lock;
};
 
void
lighthouse_watchman_handle_pulse(struct lighthouse_watchman *watchman,
                                 uint8_t id,
                                 uint16_t duration,
                                 uint32_t timestamp);
void
lighthouse_watchman_init(struct lighthouse_watchman *watchman, const char *name);