matrixfurry.com
The open source OpenXR runtime
1// Copyright 2016-2019, Philipp Zabel
2// Copyright 2020, Collabora, Ltd.
3// SPDX-License-Identifier: BSL-1.0
4/*!
5 * @file
6 * @brief Vive Lighthouse Watchman implementation
7 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
8 * @ingroup drv_vive
9 */
10
11#pragma once
12
13#include <math.h>
14#include <stdbool.h>
15#include <stdint.h>
16#include <stdlib.h>
17#include <string.h>
18#include <unistd.h>
19
20#include "xrt/xrt_defines.h"
21
22struct lighthouse_rotor_calibration
23{
24 float tilt;
25 float phase;
26 float curve;
27 float gibphase;
28 float gibmag;
29};
30
31struct lighthouse_base_calibration
32{
33 struct lighthouse_rotor_calibration rotor[2];
34};
35
36struct lighthouse_frame
37{
38 uint32_t sync_timestamp;
39 uint32_t sync_duration;
40 uint32_t sync_ids;
41 uint32_t sweep_ids;
42 uint32_t sweep_offset[32];
43 uint16_t sweep_duration[32];
44 uint32_t frame_duration;
45};
46
47struct lighthouse_base
48{
49 int data_sync;
50 int data_word;
51 int data_bit;
52 uint8_t ootx[40];
53
54 int firmware_version;
55 uint32_t serial;
56 struct lighthouse_base_calibration calibration;
57 struct xrt_vec3 gravity;
58 char channel;
59 int model_id;
60 int reset_count;
61
62 uint32_t last_sync_timestamp;
63 int active_rotor;
64
65 struct lighthouse_frame frame[2];
66};
67
68struct lighthouse_pulse
69{
70 uint32_t timestamp;
71 uint16_t duration;
72 uint8_t id;
73};
74
75struct lighthouse_sensor
76{
77 struct lighthouse_pulse sync;
78 struct lighthouse_pulse sweep;
79};
80
81struct tracking_model
82{
83 uint32_t num_points;
84 struct xrt_vec3 *points;
85 struct xrt_vec3 *normals;
86};
87
88struct lighthouse_watchman
89{
90 uint32_t id;
91 const char *name;
92 struct tracking_model model;
93 bool base_visible;
94 struct lighthouse_base base[2];
95 struct lighthouse_base *active_base;
96 uint32_t seen_by;
97 uint32_t last_timestamp;
98 struct lighthouse_sensor sensor[32];
99 struct lighthouse_pulse last_sync;
100 bool sync_lock;
101};
102
103void
104lighthouse_watchman_handle_pulse(struct lighthouse_watchman *watchman,
105 uint8_t id,
106 uint16_t duration,
107 uint32_t timestamp);
108void
109lighthouse_watchman_init(struct lighthouse_watchman *watchman, const char *name);