matrixfurry.com
The open source OpenXR runtime
1// Copyright 2019-2023, Collabora, Ltd.
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief vive device header
6 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
7 * @ingroup drv_vive
8 */
9
10#pragma once
11
12#include "xrt/xrt_device.h"
13#include "os/os_threading.h"
14#include "util/u_logging.h"
15#include "util/u_debug.h"
16#include "util/u_time.h"
17#include "util/u_var.h"
18#include "math/m_imu_3dof.h"
19#include "math/m_relation_history.h"
20
21#include "vive/vive_config.h"
22
23#include "vive_lighthouse.h"
24#include "xrt/xrt_tracking.h"
25
26#ifdef __cplusplus
27extern "C" {
28#endif
29
30/*!
31 * @implements xrt_device
32 */
33struct vive_device
34{
35 struct xrt_device base;
36 struct os_hid_device *mainboard_dev;
37 struct os_hid_device *sensors_dev;
38 struct os_hid_device *watchman_dev;
39
40 struct lighthouse_watchman watchman;
41
42 struct os_thread_helper sensors_thread;
43 struct os_thread_helper watchman_thread;
44 struct os_thread_helper mainboard_thread;
45
46 struct
47 {
48 timepoint_ns last_sample_ts_ns;
49 uint32_t last_sample_ticks;
50 uint8_t sequence;
51 } imu;
52
53 struct
54 {
55 uint16_t ipd;
56 uint16_t lens_separation;
57 uint16_t proximity;
58 uint8_t button;
59 uint8_t audio_button;
60 } board;
61
62 enum u_logging_level log_level;
63 bool disconnect_notified;
64
65 struct
66 {
67 struct u_var_button switch_tracker_btn;
68 char hand_status[128];
69 char slam_status[128];
70 } gui;
71
72 struct vive_config config;
73
74 struct
75 {
76 //! Protects all members of the `fusion` substruct.
77 struct os_mutex mutex;
78
79 //! Main fusion calculator.
80 struct m_imu_3dof i3dof;
81
82 //! Prediction
83 struct m_relation_history *relation_hist;
84 } fusion;
85
86 //! Fields related to camera-based tracking (SLAM and hand tracking)
87 struct
88 {
89 //! SLAM tracker.
90 struct xrt_tracked_slam *slam;
91
92 //! Set at start. Whether the SLAM tracker was initialized.
93 bool slam_enabled;
94
95 //! Set at start. Whether the hand tracker was initialized.
96 bool hand_enabled;
97
98 //! SLAM systems track the IMU pose, enabling this corrects it to middle of the eyes
99 bool imu2me;
100 } tracking;
101
102 /*!
103 * Offset for tracked pose offsets (applies to both fusion and SLAM).
104 * Applied when getting the tracked poses, so is effectively a offset
105 * to increase or decrease prediction.
106 */
107 struct u_var_draggable_f32 tracked_offset_ms;
108
109 struct xrt_pose P_imu_me; //!< IMU to head/display/middle-of-eyes transform in OpenXR coords
110
111 //! Whether to track the HMD with 6dof SLAM or fallback to the 3dof tracker
112 bool slam_over_3dof;
113
114 //! In charge of managing raw samples, redirects them for tracking
115 struct vive_source *source;
116
117 //! Last tracked pose
118 struct xrt_pose pose;
119
120 //! Additional offset to apply to `pose`
121 struct xrt_pose offset;
122};
123
124
125/*!
126 * Summary of the status of various trackers.
127 *
128 * @todo Creation flow is a bit broken for now, in the future this info should be closer
129 * to the tracker creation code, thus avoiding the need to pass it around like this.
130 */
131struct vive_tracking_status
132{
133 bool slam_wanted;
134 bool slam_supported;
135 bool slam_enabled;
136
137 //! Has Monado been built with the correct libraries to do optical hand tracking?
138 bool hand_supported;
139
140 //! Did we find controllers?
141 bool controllers_found;
142
143 //! If this is set to ON, we always do optical hand tracking even if controllers were found.
144 //! If this is set to AUTO, we do optical hand tracking only if no controllers were found.
145 //! If this is set to OFF, we don't do optical hand tracking.
146 enum debug_tristate_option hand_wanted;
147
148 //! Computed in target_builder_lighthouse.c based on the past three
149 bool hand_enabled;
150};
151
152void
153vive_set_trackers_status(struct vive_device *d, struct vive_tracking_status status);
154
155struct vive_device *
156vive_device_create(struct os_hid_device *mainboard_dev,
157 struct os_hid_device *sensors_dev,
158 struct os_hid_device *watchman_dev,
159 enum VIVE_VARIANT variant,
160 struct vive_tracking_status tstatus,
161 struct vive_source *vs);
162
163#ifdef __cplusplus
164}
165#endif