matrixfurry.com
The open source OpenXR runtime
d/android: Add Android sensors driver.
authored by
Lubosz Sarnecki
and committed by
Ryan Pavlik
f4113ef1
ad42bbff
+493
-1
+4
-1
CMakeLists.txt
+4
-1
CMakeLists.txt
···
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# This one defaults to off, even if we find the deps.
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cmake_dependent_option(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" OFF "SURVIVE_FOUND" OFF)
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cmake_dependent_option(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" ON "ANDROID" OFF)
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# You can set this from a superproject to add a driver
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# All drivers must be listed in here to be included in the generated header!
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-
list(APPEND AVAILABLE_DRIVERS ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE)
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list(APPEND AVAILABLE_DRIVERS "ANDROID" ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE)
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# Package name needs to be known by the native code itself.
···
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message(STATUS "# FEATURE_OPENXR_LAYER_EQUIRECT: ${XRT_FEATURE_OPENXR_LAYER_EQUIRECT}")
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message(STATUS "# FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY: ${XRT_FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY}")
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message(STATUS "#")
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message(STATUS "# DRIVER_ANDROID: ${XRT_BUILD_DRIVER_ANDROID}")
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message(STATUS "# DRIVER_ARDUINO: ${XRT_BUILD_DRIVER_ARDUINO}")
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message(STATUS "# DRIVER_DAYDREAM: ${XRT_BUILD_DRIVER_DAYDREAM}")
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message(STATUS "# DRIVER_DUMMY: ${XRT_BUILD_DRIVER_DUMMY}")
+1
doc/changes/drivers/mr.581.md
+1
doc/changes/drivers/mr.581.md
···
1
+
Add initial "Cardboard" phone-holder driver for Android.
+13
src/xrt/drivers/CMakeLists.txt
+13
src/xrt/drivers/CMakeLists.txt
···
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list(APPEND ENABLED_HEADSET_DRIVERS survive)
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endif()
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if(XRT_BUILD_DRIVER_ANDROID)
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set(ANDROID_SOURCE_FILES
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android/android_prober.c
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android/android_prober.h
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android/android_sensors.c
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android/android_sensors.h
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)
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add_library(drv_android STATIC ${ANDROID_SOURCE_FILES})
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target_link_libraries(drv_android PRIVATE xrt-interfaces aux_util aux_os ${ANDROID_LIBRARY})
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list(APPEND ENABLED_DRIVERS android)
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endif()
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if(ENABLED_HEADSET_DRIVERS)
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set(ENABLED_DRIVERS ${ENABLED_HEADSET_DRIVERS} ${ENABLED_DRIVERS})
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list(SORT ENABLED_DRIVERS)
+91
src/xrt/drivers/android/android_prober.c
+91
src/xrt/drivers/android/android_prober.c
···
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// Copyright 2020, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Interface to Android sensors prober code.
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* @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
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* @ingroup drv_android
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <wchar.h>
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#include "xrt/xrt_prober.h"
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#include "util/u_misc.h"
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#include "util/u_debug.h"
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#include "util/u_logging.h"
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#include "android_prober.h"
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#include "android_sensors.h"
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/*
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*
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* Defines & structs.
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*
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*/
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/*!
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* Android prober struct.
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*
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* @ingroup drv_android
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* @implements xrt_auto_prober
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*/
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struct android_prober
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{
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struct xrt_auto_prober base;
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};
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/*
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*
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* Static functions.
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*
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*/
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//! @private @memberof android_prober
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static inline struct android_prober *
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android_prober(struct xrt_auto_prober *p)
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{
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return (struct android_prober *)p;
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}
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//! @public @memberof android_prober
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static void
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android_prober_destroy(struct xrt_auto_prober *p)
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{
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struct android_prober *pandroid = android_prober(p);
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free(pandroid);
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}
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//! @public @memberof android_prober
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static struct xrt_device *
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android_prober_autoprobe(struct xrt_auto_prober *xap,
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cJSON *attached_data,
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bool no_hmds,
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struct xrt_prober *xp)
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{
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struct android_device *dd = android_device_create();
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return &dd->base;
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}
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/*
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*
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* Exported functions.
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*
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*/
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struct xrt_auto_prober *
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android_create_auto_prober()
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{
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struct android_prober *p = U_TYPED_CALLOC(struct android_prober);
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p->base.name = "Android";
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p->base.destroy = android_prober_destroy;
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p->base.lelo_dallas_autoprobe = android_prober_autoprobe;
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return &p->base;
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}
+41
src/xrt/drivers/android/android_prober.h
+41
src/xrt/drivers/android/android_prober.h
···
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// Copyright 2020, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Interface to Android sensors driver.
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* @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
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* @ingroup drv_android
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* @defgroup drv_android Android sensors driver
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* @ingroup drv
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*
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* @brief Generic driver for phone sensors.
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*/
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/*!
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* Probing function for Android sensors.
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*
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* @ingroup drv_android
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*/
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struct xrt_auto_prober *
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android_create_auto_prober();
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/*!
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* @dir drivers/android
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*
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* @brief @ref drv_android files.
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*/
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#ifdef __cplusplus
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}
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#endif
+260
src/xrt/drivers/android/android_sensors.c
+260
src/xrt/drivers/android/android_sensors.c
···
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// Copyright 2013, Fredrik Hultin.
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// Copyright 2013, Jakob Bornecrantz.
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// Copyright 2015, Joey Ferwerda.
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// Copyright 2020, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Android sensors driver code.
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* @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
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* @ingroup drv_android
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*/
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#include "android_sensors.h"
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#include "util/u_debug.h"
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#include "util/u_device.h"
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#include "util/u_var.h"
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// 60 events per second (in us).
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#define POLL_RATE_USEC (1000L / 60) * 1000
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DEBUG_GET_ONCE_LOG_OPTION(android_log, "ANDROID_SENSORS_LOG", U_LOGGING_WARN)
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static inline struct android_device *
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android_device(struct xrt_device *xdev)
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{
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return (struct android_device *)xdev;
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}
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// Callback for the Android sensor event queue
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static int
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android_sensor_callback(int fd, int events, void *data)
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{
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struct android_device *d = (struct android_device *)data;
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+
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if (d->accelerometer == NULL || d->gyroscope == NULL)
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return 1;
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+
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ASensorEvent event;
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struct xrt_vec3 gyro;
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struct xrt_vec3 accel;
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while (ASensorEventQueue_getEvents(d->event_queue, &event, 1) > 0) {
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switch (event.type) {
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case ASENSOR_TYPE_ACCELEROMETER: {
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accel.x = event.acceleration.y;
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accel.y = -event.acceleration.x;
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accel.z = event.acceleration.z;
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ANDROID_TRACE(d, "accel %ld %.2f %.2f %.2f",
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event.timestamp, accel.x, accel.y,
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accel.z);
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break;
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}
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case ASENSOR_TYPE_GYROSCOPE: {
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gyro.x = -event.data[1];
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gyro.y = event.data[0];
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gyro.z = event.data[2];
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ANDROID_TRACE(d, "gyro %ld %.2f %.2f %.2f",
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event.timestamp, gyro.x, gyro.y, gyro.z);
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// TODO: Make filter handle accelerometer
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struct xrt_vec3 null_accel;
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// Lock last and the fusion.
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os_mutex_lock(&d->lock);
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m_imu_3dof_update(&d->fusion, event.timestamp,
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&null_accel, &gyro);
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// Now done.
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os_mutex_unlock(&d->lock);
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}
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default:
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ANDROID_TRACE(d, "Unhandled event type %d", event.type);
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}
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}
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return 1;
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}
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static void *
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android_run_thread(void *ptr)
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{
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struct android_device *d = (struct android_device *)ptr;
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d->sensor_manager = ASensorManager_getInstance();
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d->accelerometer = ASensorManager_getDefaultSensor(
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d->sensor_manager, ASENSOR_TYPE_ACCELEROMETER);
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d->gyroscope = ASensorManager_getDefaultSensor(d->sensor_manager,
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ASENSOR_TYPE_GYROSCOPE);
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ALooper *looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
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d->event_queue = ASensorManager_createEventQueue(
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d->sensor_manager, looper, ALOOPER_POLL_CALLBACK,
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android_sensor_callback, (void *)d);
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// Start sensors in case this was not done already.
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if (d->accelerometer != NULL) {
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ASensorEventQueue_enableSensor(d->event_queue,
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d->accelerometer);
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ASensorEventQueue_setEventRate(d->event_queue, d->accelerometer,
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POLL_RATE_USEC);
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}
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if (d->gyroscope != NULL) {
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ASensorEventQueue_enableSensor(d->event_queue, d->gyroscope);
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ASensorEventQueue_setEventRate(d->event_queue, d->gyroscope,
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POLL_RATE_USEC);
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}
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int ret = 0;
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while (ret != ALOOPER_POLL_ERROR) {
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ret = ALooper_pollAll(0, NULL, NULL, NULL);
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}
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return NULL;
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}
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+
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/*
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*
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* Device functions.
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*
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*/
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+
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static void
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android_device_destroy(struct xrt_device *xdev)
131
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{
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struct android_device *android = android_device(xdev);
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+
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// Destroy the thread object.
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os_thread_helper_destroy(&android->oth);
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+
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// Now that the thread is not running we can destroy the lock.
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os_mutex_destroy(&android->lock);
139
+
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// Destroy the fusion.
141
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m_imu_3dof_close(&android->fusion);
142
+
143
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// Remove the variable tracking.
144
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u_var_remove_root(android);
145
+
146
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free(android);
147
+
}
148
+
149
+
static void
150
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android_device_update_inputs(struct xrt_device *xdev)
151
+
{
152
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// Empty
153
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}
154
+
155
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static void
156
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android_device_get_tracked_pose(struct xrt_device *xdev,
157
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enum xrt_input_name name,
158
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uint64_t at_timestamp_ns,
159
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struct xrt_space_relation *out_relation)
160
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{
161
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(void)at_timestamp_ns;
162
+
163
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struct android_device *d = android_device(xdev);
164
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out_relation->pose.orientation = d->fusion.rot;
165
+
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//! @todo assuming that orientation is actually currently tracked.
167
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out_relation->relation_flags = (enum xrt_space_relation_flags)(
168
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XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
169
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XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
170
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}
171
+
172
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static void
173
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android_device_get_view_pose(struct xrt_device *xdev,
174
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struct xrt_vec3 *eye_relation,
175
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uint32_t view_index,
176
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struct xrt_pose *out_pose)
177
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{
178
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struct xrt_pose pose = {{0.0f, 0.0f, 0.0f, 1.0f}, {0.0f, 0.0f, 0.0f}};
179
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bool adjust = view_index == 0;
180
+
181
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pose.position.x = eye_relation->x / 2.0f;
182
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pose.position.y = eye_relation->y / 2.0f;
183
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pose.position.z = eye_relation->z / 2.0f;
184
+
185
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// Adjust for left/right while also making sure there aren't any -0.f.
186
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if (pose.position.x > 0.0f && adjust) {
187
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pose.position.x = -pose.position.x;
188
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}
189
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if (pose.position.y > 0.0f && adjust) {
190
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pose.position.y = -pose.position.y;
191
+
}
192
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if (pose.position.z > 0.0f && adjust) {
193
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pose.position.z = -pose.position.z;
194
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}
195
+
196
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*out_pose = pose;
197
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}
198
+
199
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/*
200
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*
201
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* Prober functions.
202
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*
203
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*/
204
+
205
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struct android_device *
206
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android_device_create()
207
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{
208
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enum u_device_alloc_flags flags = (enum u_device_alloc_flags)(
209
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U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
210
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struct android_device *d =
211
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U_DEVICE_ALLOCATE(struct android_device, flags, 1, 0);
212
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213
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d->base.name = XRT_DEVICE_ANDROID;
214
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d->base.destroy = android_device_destroy;
215
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d->base.update_inputs = android_device_update_inputs;
216
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d->base.get_tracked_pose = android_device_get_tracked_pose;
217
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d->base.get_view_pose = android_device_get_view_pose;
218
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d->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
219
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d->base.device_type = XRT_DEVICE_TYPE_HMD;
220
+
221
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d->ll = debug_get_log_option_android_log();
222
+
223
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m_imu_3dof_init(&d->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
224
+
225
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// Everything done, finally start the thread.
226
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int ret = os_thread_helper_start(&d->oth, android_run_thread, d);
227
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if (ret != 0) {
228
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ANDROID_ERROR(d, "Failed to start thread!");
229
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android_device_destroy(&d->base);
230
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return NULL;
231
+
}
232
+
233
+
// Setup info.
234
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struct u_device_simple_info info;
235
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info.display.w_pixels = 1280;
236
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info.display.h_pixels = 720;
237
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info.display.w_meters = 0.13f;
238
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info.display.h_meters = 0.07f;
239
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info.lens_horizontal_separation_meters = 0.13f / 2.0f;
240
+
info.lens_vertical_position_meters = 0.07f / 2.0f;
241
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info.views[0].fov = 85.0f * (M_PI / 180.0f);
242
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info.views[1].fov = 85.0f * (M_PI / 180.0f);
243
+
244
+
if (!u_device_setup_split_side_by_side(&d->base, &info)) {
245
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ANDROID_ERROR(d, "Failed to setup basic device info");
246
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android_device_destroy(&d->base);
247
+
return NULL;
248
+
}
249
+
250
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u_var_add_root(d, "Android phone", true);
251
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u_var_add_ro_vec3_f32(d, &d->fusion.last.accel, "last.accel");
252
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u_var_add_ro_vec3_f32(d, &d->fusion.last.gyro, "last.gyro");
253
+
254
+
d->base.orientation_tracking_supported = true;
255
+
d->base.position_tracking_supported = false;
256
+
257
+
ANDROID_DEBUG(d, "Created device!");
258
+
259
+
return d;
260
+
}
+70
src/xrt/drivers/android/android_sensors.h
+70
src/xrt/drivers/android/android_sensors.h
···
1
+
// Copyright 2020, Collabora, Ltd.
2
+
// SPDX-License-Identifier: BSL-1.0
3
+
/*!
4
+
* @file
5
+
* @brief Android sensors driver header.
6
+
* @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
7
+
* @ingroup drv_android
8
+
*/
9
+
10
+
#pragma once
11
+
12
+
#include <android/sensor.h>
13
+
14
+
#include "math/m_api.h"
15
+
#include "math/m_imu_pre.h"
16
+
#include "math/m_imu_3dof.h"
17
+
18
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#include "xrt/xrt_device.h"
19
+
20
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#include "os/os_threading.h"
21
+
22
+
#include "util/u_logging.h"
23
+
24
+
#ifdef __cplusplus
25
+
extern "C" {
26
+
#endif
27
+
28
+
/*!
29
+
* @implements xrt_device
30
+
*/
31
+
struct android_device
32
+
{
33
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struct xrt_device base;
34
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struct os_thread_helper oth;
35
+
36
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ASensorManager *sensor_manager;
37
+
const ASensor *accelerometer;
38
+
const ASensor *gyroscope;
39
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ASensorEventQueue *event_queue;
40
+
41
+
struct
42
+
{
43
+
//! Lock for last and fusion.
44
+
struct os_mutex lock;
45
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struct m_imu_3dof fusion;
46
+
};
47
+
48
+
enum u_logging_level ll;
49
+
};
50
+
51
+
52
+
struct android_device *
53
+
android_device_create();
54
+
55
+
56
+
/*
57
+
*
58
+
* Printing functions.
59
+
*
60
+
*/
61
+
62
+
#define ANDROID_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->ll, __VA_ARGS__)
63
+
#define ANDROID_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->ll, __VA_ARGS__)
64
+
#define ANDROID_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->ll, __VA_ARGS__)
65
+
#define ANDROID_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->ll, __VA_ARGS__)
66
+
#define ANDROID_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->ll, __VA_ARGS__)
67
+
68
+
#ifdef __cplusplus
69
+
}
70
+
#endif
+1
src/xrt/include/xrt/xrt_defines.h
+1
src/xrt/include/xrt/xrt_defines.h
+4
src/xrt/targets/common/CMakeLists.txt
+4
src/xrt/targets/common/CMakeLists.txt
+8
src/xrt/targets/common/target_lists.c
+8
src/xrt/targets/common/target_lists.c
···
54
54
#include "daydream/daydream_interface.h"
55
55
#endif
56
56
57
+
#ifdef XRT_BUILD_DRIVER_ANDROID
58
+
#include "android/android_prober.h"
59
+
#endif
60
+
57
61
/*!
58
62
* Each entry should be a vendor ID (VID), product ID (PID), a "found" function,
59
63
* and a string literal name.
···
132
136
#ifdef XRT_BUILD_DRIVER_NS
133
137
// North star driver here for now.
134
138
ns_create_auto_prober,
139
+
#endif
140
+
141
+
#ifdef XRT_BUILD_DRIVER_ANDROID
142
+
android_create_auto_prober,
135
143
#endif
136
144
137
145
#ifdef XRT_BUILD_DRIVER_DUMMY