WMR camera and IMU data source. More...

#include "wmr_source.h"
#include "wmr_camera.h"
#include "wmr_config.h"
#include "wmr_protocol.h"
#include "math/m_api.h"
#include "math/m_clock_tracking.h"
#include "math/m_filter_fifo.h"
#include "util/u_debug.h"
#include "util/u_sink.h"
#include "util/u_var.h"
#include "util/u_trace_marker.h"
#include "xrt/xrt_tracking.h"
#include "xrt/xrt_frameserver.h"
#include <assert.h>
#include <stdio.h>

Include dependency graph for wmr_source.c:

Data Structures
struct	wmr_source
	Handles all the data sources from the WMR driver. More...

Macros
#define	WMR_SOURCE_STR "WMR Source"

#define	WMR_TRACE(w, ...) U_LOG_IFL_T(w->log_level, __VA_ARGS__)

#define	WMR_DEBUG(w, ...) U_LOG_IFL_D(w->log_level, __VA_ARGS__)

#define	WMR_INFO(w, ...) U_LOG_IFL_I(w->log_level, __VA_ARGS__)

#define	WMR_WARN(w, ...) U_LOG_IFL_W(w->log_level, __VA_ARGS__)

#define	WMR_ERROR(w, ...) U_LOG_IFL_E(w->log_level, __VA_ARGS__)

#define	WMR_ASSERT(predicate, ...)

#define	WMR_ASSERT_(predicate) WMR_ASSERT(predicate, "Assertion failed " #predicate)

#define	DEFINE_RECEIVE_CAM(cam_id)

Functions
static void	receive_cam0 (struct xrt_frame_sink sink, struct xrt_frame xf)

static void	receive_cam1 (struct xrt_frame_sink sink, struct xrt_frame xf)

static void	receive_cam2 (struct xrt_frame_sink sink, struct xrt_frame xf)

static void	receive_cam3 (struct xrt_frame_sink sink, struct xrt_frame xf)

static void	receive_imu_sample (struct xrt_imu_sink sink, struct xrt_imu_sample s)

static struct wmr_source *	wmr_source_from_xfs (struct xrt_fs *xfs)

static bool	wmr_source_enumerate_modes (struct xrt_fs xfs, struct xrt_fs_mode out_modes, uint32_t out_count)

static bool	wmr_source_configure_capture (struct xrt_fs xfs, struct xrt_fs_capture_parameters cp)

static bool	wmr_source_stream_stop (struct xrt_fs *xfs)

static bool	wmr_source_is_running (struct xrt_fs *xfs)

static bool	wmr_source_stream_start (struct xrt_fs xfs, struct xrt_frame_sink xs, enum xrt_fs_capture_type capture_type, uint32_t descriptor_index)

static bool	wmr_source_slam_stream_start (struct xrt_fs xfs, struct xrt_slam_sinks sinks)

static void	wmr_source_node_break_apart (struct xrt_frame_node *node)

static void	wmr_source_node_destroy (struct xrt_frame_node *node)

struct xrt_fs *	wmr_source_create (struct xrt_frame_context xfctx, struct xrt_prober_device dev_holo, struct wmr_hmd_config cfg)
	Create and open the frame server for IMU/camera streaming. More...

void	wmr_source_push_imu_packet (struct xrt_fs *xfs, timepoint_ns t, struct xrt_vec3 accel, struct xrt_vec3 gyro)

Variables
void(*	receive_cam [4])(struct xrt_frame_sink , struct xrt_frame )
	Define a function for each WMR_MAX_CAMERAS and reference it in this array. More...

Detailed Description

WMR camera and IMU data source.

Author: Mateo de Mayo mateo.nosp@m..dem.nosp@m.ayo@c.nosp@m.olla.nosp@m.bora..nosp@m.com

Macro Definition Documentation

◆ DEFINE_RECEIVE_CAM

#define DEFINE_RECEIVE_CAM ( cam_id )

Value:

        static void receive_cam##cam_id(struct xrt_frame_sink *sink, struct xrt_frame *xf)                             \
        {                                                                                                              \
                struct wmr_source *ws = container_of(sink, struct wmr_source, cam_sinks[cam_id]);                      \
                if (cam_id == 0) {                                                                                     \
                        ws->cam_hw2mono = ws->hw2mono;                                                                 \
                }                                                                                                      \
                xf->timestamp += ws->cam_hw2mono;                                                                      \
                WMR_TRACE(ws, "cam" #cam_id " img t=%" PRId64 " source_t=%" PRId64, xf->timestamp,                     \
                          xf->source_timestamp);                                                                       \
                u_sink_debug_push_frame(&ws->ui_cam_sinks[cam_id], xf);                                                \
                if (ws->out_sinks.cams[cam_id] && ws->first_imu_received) {                                            \
                        xrt_sink_push_frame(ws->out_sinks.cams[cam_id], xf);                                           \
                }                                                                                                      \
        }

◆ WMR_ASSERT

#define WMR_ASSERT	(	predicate,
		...
	)

Value:

        do {                                                                                                           \
                bool p = predicate;                                                                                    \
                if (!p) {                                                                                              \
                        U_LOG(U_LOGGING_ERROR, __VA_ARGS__);                                                           \
                        assert(false && "WMR_ASSERT failed: " #predicate);                                             \
                        exit(EXIT_FAILURE);                                                                            \
                }                                                                                                      \
        } while (false);

Function Documentation

◆ receive_imu_sample()

static void receive_imu_sample	(	struct xrt_imu_sink *	sink,
		struct xrt_imu_sample *	s
	)

static

<

Todo:: use 1000 if "average_imus" is false

References container_of, wmr_source::hw2mono, wmr_source::imu_sink, wmr_source::last_imu_ns, m_clock_offset_a2b(), and os_monotonic_get_ns().

Variable Documentation

◆ receive_cam

void(* receive_cam[4])(struct xrt_frame_sink , struct xrt_frame )	(	struct xrt_frame_sink *	,
		struct xrt_frame *
	)

Initial value:

= {
    receive_cam0, 
    receive_cam1, 
    receive_cam2, 
    receive_cam3, 
}

Define a function for each WMR_MAX_CAMERAS and reference it in this array.

Data Structures

Macros

Functions

Variables