matrixfurry.com
The open source OpenXR runtime
1// Copyright 2025, rcelyte
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief Parser for a small subset of the SolarXR Flatbuffers protocol, as defined at
6 * https://github.com/SlimeVR/SolarXR-Protocol
7 * @ingroup drv_solarxr
8 */
9
10#pragma once
11#include "xrt/xrt_defines.h"
12#include <assert.h>
13
14#ifdef __cplusplus
15extern "C" {
16#endif
17
18typedef uint32_t flatbuffers_uoffset_t; // little-endian byte order
19
20enum solarxr_body_part
21{
22 SOLARXR_BODY_PART_NONE = 0,
23 SOLARXR_BODY_PART_HEAD = 1,
24 SOLARXR_BODY_PART_NECK = 2,
25 SOLARXR_BODY_PART_CHEST = 3,
26 SOLARXR_BODY_PART_WAIST = 4,
27 SOLARXR_BODY_PART_HIP = 5,
28 SOLARXR_BODY_PART_LEFT_UPPER_LEG = 6,
29 SOLARXR_BODY_PART_RIGHT_UPPER_LEG = 7,
30 SOLARXR_BODY_PART_LEFT_LOWER_LEG = 8,
31 SOLARXR_BODY_PART_RIGHT_LOWER_LEG = 9,
32 SOLARXR_BODY_PART_LEFT_FOOT = 10,
33 SOLARXR_BODY_PART_RIGHT_FOOT = 11,
34 SOLARXR_BODY_PART_LEFT_LOWER_ARM = 14,
35 SOLARXR_BODY_PART_RIGHT_LOWER_ARM = 15,
36 SOLARXR_BODY_PART_LEFT_UPPER_ARM = 16,
37 SOLARXR_BODY_PART_RIGHT_UPPER_ARM = 17,
38 SOLARXR_BODY_PART_LEFT_HAND = 18,
39 SOLARXR_BODY_PART_RIGHT_HAND = 19,
40 SOLARXR_BODY_PART_LEFT_SHOULDER = 20,
41 SOLARXR_BODY_PART_RIGHT_SHOULDER = 21,
42 SOLARXR_BODY_PART_UPPER_CHEST = 22,
43 SOLARXR_BODY_PART_LEFT_HIP = 23,
44 SOLARXR_BODY_PART_RIGHT_HIP = 24,
45 SOLARXR_BODY_PART_LEFT_THUMB_PROXIMAL = 25,
46 SOLARXR_BODY_PART_LEFT_THUMB_INTERMEDIATE = 26,
47 SOLARXR_BODY_PART_LEFT_THUMB_DISTAL = 27,
48 SOLARXR_BODY_PART_LEFT_INDEX_PROXIMAL = 28,
49 SOLARXR_BODY_PART_LEFT_INDEX_INTERMEDIATE = 29,
50 SOLARXR_BODY_PART_LEFT_INDEX_DISTAL = 30,
51 SOLARXR_BODY_PART_LEFT_MIDDLE_PROXIMAL = 31,
52 SOLARXR_BODY_PART_LEFT_MIDDLE_INTERMEDIATE = 32,
53 SOLARXR_BODY_PART_LEFT_MIDDLE_DISTAL = 33,
54 SOLARXR_BODY_PART_LEFT_RING_PROXIMAL = 34,
55 SOLARXR_BODY_PART_LEFT_RING_INTERMEDIATE = 35,
56 SOLARXR_BODY_PART_LEFT_RING_DISTAL = 36,
57 SOLARXR_BODY_PART_LEFT_LITTLE_PROXIMAL = 37,
58 SOLARXR_BODY_PART_LEFT_LITTLE_INTERMEDIATE = 38,
59 SOLARXR_BODY_PART_LEFT_LITTLE_DISTAL = 39,
60 SOLARXR_BODY_PART_RIGHT_THUMB_PROXIMAL = 40,
61 SOLARXR_BODY_PART_RIGHT_THUMB_INTERMEDIATE = 41,
62 SOLARXR_BODY_PART_RIGHT_THUMB_DISTAL = 42,
63 SOLARXR_BODY_PART_RIGHT_INDEX_PROXIMAL = 43,
64 SOLARXR_BODY_PART_RIGHT_INDEX_INTERMEDIATE = 44,
65 SOLARXR_BODY_PART_RIGHT_INDEX_DISTAL = 45,
66 SOLARXR_BODY_PART_RIGHT_MIDDLE_PROXIMAL = 46,
67 SOLARXR_BODY_PART_RIGHT_MIDDLE_INTERMEDIATE = 47,
68 SOLARXR_BODY_PART_RIGHT_MIDDLE_DISTAL = 48,
69 SOLARXR_BODY_PART_RIGHT_RING_PROXIMAL = 49,
70 SOLARXR_BODY_PART_RIGHT_RING_INTERMEDIATE = 50,
71 SOLARXR_BODY_PART_RIGHT_RING_DISTAL = 51,
72 SOLARXR_BODY_PART_RIGHT_LITTLE_PROXIMAL = 52,
73 SOLARXR_BODY_PART_RIGHT_LITTLE_INTERMEDIATE = 53,
74 SOLARXR_BODY_PART_RIGHT_LITTLE_DISTAL = 54,
75 SOLARXR_BODY_PART_MAX_ENUM,
76};
77
78#define FLATBUFFERS_VECTOR(type_) \
79 struct \
80 { \
81 uint32_t length; \
82 const type_ *data; \
83 }
84
85struct solarxr_tracker_id
86{ // table solarxr_protocol.datatypes.TrackerId
87 bool has_device_id;
88 uint8_t device_id;
89 uint8_t tracker_num;
90};
91
92struct solarxr_tracker_info
93{ // table solarxr_protocol.data_feed.tracker.TrackerInfo
94 enum solarxr_body_part body_part;
95 FLATBUFFERS_VECTOR(char) display_name;
96};
97
98typedef struct
99{
100 flatbuffers_uoffset_t offset;
101} solarxr_tracker_data_t;
102
103struct solarxr_tracker_data
104{ // table solarxr_protocol.data_feed.tracker.TrackerData
105 bool has_info;
106 bool has_rotation;
107 bool has_position;
108 bool has_raw_angular_velocity;
109 bool has_linear_acceleration;
110 struct solarxr_tracker_id tracker_id;
111 struct solarxr_tracker_info info;
112 struct xrt_quat rotation;
113 struct xrt_vec3 position;
114 struct xrt_vec3 raw_angular_velocity;
115 struct xrt_vec3 linear_acceleration;
116};
117
118typedef struct
119{
120 flatbuffers_uoffset_t offset;
121} solarxr_device_data_t;
122
123struct solarxr_device_data
124{ // table solarxr_protocol.data_feed.device_data.DeviceData
125 uint8_t id;
126 FLATBUFFERS_VECTOR(solarxr_tracker_data_t) trackers; // solarxr_protocol.data_feed.tracker.TrackerData[]
127};
128
129typedef struct
130{
131 flatbuffers_uoffset_t offset;
132} solarxr_bone_t;
133
134struct solarxr_bone
135{ // table solarxr_protocol.data_feed.Bone
136 enum solarxr_body_part body_part;
137 struct xrt_quat rotation_g;
138 float bone_length;
139 struct xrt_vec3 head_position_g;
140};
141
142struct solarxr_data_feed_update
143{ // table solarxr_protocol.data_feed.DataFeedUpdate
144 FLATBUFFERS_VECTOR(solarxr_device_data_t) devices; // solarxr_protocol.data_feed.device_data.DeviceData[]
145 FLATBUFFERS_VECTOR(solarxr_tracker_data_t)
146 synthetic_trackers; // solarxr_protocol.data_feed.tracker.TrackerData[]
147 FLATBUFFERS_VECTOR(solarxr_bone_t) bones; // solarxr_protocol.data_feed.Bone[]
148};
149
150enum solarxr_data_feed_message_type
151{
152 SOLARXR_DATA_FEED_MESSAGE_POLL_DATA_FEED = 1,
153 SOLARXR_DATA_FEED_MESSAGE_DATA_FEED_UPDATE = 3,
154};
155
156union solarxr_data_feed_message { // union solarxr_protocol.data_feed.DataFeedMessage
157 struct solarxr_data_feed_update data_feed_update;
158};
159
160typedef struct
161{
162 flatbuffers_uoffset_t offset;
163} solarxr_data_feed_message_header_t;
164
165struct solarxr_data_feed_message_header
166{ // table solarxr_protocol.data_feed.DataFeedMessageHeader
167 enum solarxr_data_feed_message_type message_type;
168 union solarxr_data_feed_message message;
169};
170
171struct solarxr_steamvr_trackers_setting
172{ // table solarxr_protocol.rpc.SteamVRTrackersSetting
173 bool waist;
174 bool chest;
175 bool left_foot;
176 bool right_foot;
177 bool left_knee;
178 bool right_knee;
179 bool left_elbow;
180 bool right_elbow;
181 bool left_hand;
182 bool right_hand;
183};
184
185struct solarxr_settings_response
186{ // table solarxr_protocol.rpc.SettingsResponse
187 struct solarxr_steamvr_trackers_setting steam_vr_trackers;
188};
189
190enum solarxr_rpc_message_type
191{
192 SOLARXR_RPC_MESSAGE_TYPE_SETTINGS_REQUEST = 6,
193 SOLARXR_RPC_MESSAGE_TYPE_SETTINGS_RESPONSE = 7,
194};
195
196union solarxr_rpc_message { // union solarxr_protocol.rpc.RpcMessage
197 struct solarxr_settings_response settings_response;
198};
199
200typedef struct
201{
202 flatbuffers_uoffset_t offset;
203} solarxr_rpc_message_header_t;
204
205struct solarxr_rpc_message_header
206{ // table solarxr_protocol.rpc.RpcMessageHeader
207 enum solarxr_rpc_message_type message_type;
208 union solarxr_rpc_message message;
209};
210
211typedef struct
212{
213 flatbuffers_uoffset_t offset;
214} solarxr_message_bundle_t;
215
216struct solarxr_message_bundle
217{ // table solarxr_protocol.MessageBundle
218 FLATBUFFERS_VECTOR(solarxr_data_feed_message_header_t)
219 data_feed_msgs; // solarxr_protocol.data_feed.DataFeedMessageHeader[]
220 FLATBUFFERS_VECTOR(solarxr_rpc_message_header_t) rpc_msgs; // solarxr_protocol.rpc.RpcMessageHeader[]
221};
222
223bool
224read_solarxr_message_bundle(struct solarxr_message_bundle *out,
225 const uint8_t buffer[],
226 size_t buffer_len,
227 const solarxr_message_bundle_t *ref);
228bool
229read_solarxr_data_feed_message_header(struct solarxr_data_feed_message_header *out,
230 const uint8_t buffer[],
231 size_t buffer_len,
232 const solarxr_data_feed_message_header_t *ref);
233bool
234read_solarxr_rpc_message_header(struct solarxr_rpc_message_header *out,
235 const uint8_t buffer[],
236 size_t buffer_len,
237 const solarxr_rpc_message_header_t *ref);
238bool
239read_solarxr_device_data(struct solarxr_device_data *out,
240 const uint8_t buffer[],
241 size_t buffer_len,
242 const solarxr_device_data_t *ref);
243bool
244read_solarxr_tracker_data(struct solarxr_tracker_data *out,
245 const uint8_t buffer[],
246 size_t buffer_len,
247 const solarxr_tracker_data_t *ref);
248bool
249read_solarxr_bone(struct solarxr_bone *out, const uint8_t buffer[], size_t buffer_len, const solarxr_bone_t *ref);
250
251#ifdef __cplusplus
252}
253#endif