wmr_controller_base.h File Reference

Common implementation for WMR controllers, handling shared behaviour such as communication, configuration reading, IMU integration. More...

#include "os/os_threading.h"
#include "math/m_imu_3dof.h"
#include "util/u_device.h"
#include "util/u_logging.h"
#include "xrt/xrt_device.h"
#include "wmr_controller_protocol.h"
#include "wmr_config.h"

Include dependency graph for wmr_controller_base.h:

Go to the source code of this file.

Data Structures
struct	wmr_controller_connection
	A connection for communicating with the controller. More...
struct	wmr_controller_base
	Common base for all WMR controllers. More...

Functions
static bool	wmr_controller_connection_send_bytes (struct wmr_controller_connection *wcc, const uint8_t *buffer, uint32_t buf_size)
static int	wmr_controller_connection_read_sync (struct wmr_controller_connection *wcc, uint8_t *buffer, uint32_t buf_size, int timeout_ms)
static void	wmr_controller_connection_disconnect (struct wmr_controller_connection *wcc)
bool	wmr_controller_base_init (struct wmr_controller_base *wcb, struct wmr_controller_connection *conn, enum xrt_device_type controller_type, enum u_logging_level log_level, u_device_destroy_function_t destroy_fn, struct xrt_fs *src)
void	wmr_controller_base_deinit (struct wmr_controller_base *wcb)
void	wmr_controller_base_handle_imu_sample (struct wmr_controller_base *wcb, uint64_t time_ns, uint64_t timestamp_ticks, const struct xrt_vec3 *acc, const struct xrt_vec3 *gyro)
	Handle IMU sample after packet parsing.
static void	wmr_controller_connection_receive_bytes (struct wmr_controller_connection *wcc, uint64_t time_ns, uint8_t *buffer, uint32_t buf_size)

Detailed Description

Common implementation for WMR controllers, handling shared behaviour such as communication, configuration reading, IMU integration.

Author

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

Nis Madsen nima_.nosp@m.zero.nosp@m._one@.nosp@m.prot.nosp@m.onmai.nosp@m.l.co.nosp@m.m

Function Documentation

wmr_controller_base_handle_imu_sample()

void wmr_controller_base_handle_imu_sample	(	struct wmr_controller_base *	wcb,
		uint64_t	time_ns,
		uint64_t	timestamp_ticks,
		const struct xrt_vec3 *	acc,
		const struct xrt_vec3 *	gyro
	)

Handle IMU sample after packet parsing.

References wmr_controller_base::base, wmr_controller_base::fusion, wmr_controller_base::last_angular_velocity, wmr_controller_base::last_imu_timestamp_ns, m_imu_3dof_update(), wmr_controller_base::source, and wmr_source_push_imu_packet().