vive_device.h

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// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  vive device header
 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 * @ingroup drv_vive
 */

#pragma once

#include "xrt/xrt_device.h"
#include "math/m_imu_3dof.h"
#include "os/os_threading.h"

#ifdef __cplusplus
extern "C" {
#endif


/*!
 * A lighthouse consisting of sensors.
 *
 * All sensors are placed in IMU space.
 */
struct lh_model
{
        struct lh_sensor *sensors;
        size_t num_sensors;
};

/*!
 * A single lighthouse senosor point and normal, in IMU space.
 */
struct lh_sensor
{
        struct xrt_vec3 pos;
        uint32_t _pad0;
        struct xrt_vec3 normal;
        uint32_t _pad1;
};

enum VIVE_VARIANT
{
        VIVE_UNKNOWN = 0,
        VIVE_VARIANT_VIVE,
        VIVE_VARIANT_PRO,
        VIVE_VARIANT_INDEX
};

struct vive_device
{
        struct xrt_device base;
        struct os_hid_device *mainboard_dev;
        struct os_hid_device *sensors_dev;
        enum VIVE_VARIANT variant;

        struct os_thread_helper sensors_thread;
        struct os_thread_helper mainboard_thread;

        struct lh_model lh;

        struct
        {
                uint64_t time_ns;
                uint8_t sequence;
                uint32_t last_sample_time_raw;
                double acc_range;
                double gyro_range;
                struct xrt_vec3 acc_bias;
                struct xrt_vec3 acc_scale;
                struct xrt_vec3 gyro_bias;
                struct xrt_vec3 gyro_scale;

                //! IMU position in tracking space.
                struct xrt_pose trackref;
        } imu;

        struct m_imu_3dof fusion;

        struct
        {
                struct xrt_vec3 acc;
                struct xrt_vec3 gyro;
        } last;

        struct
        {
                double lens_separation;
                double persistence;
                uint16_t eye_target_height_in_pixels;
                uint16_t eye_target_width_in_pixels;

                struct xrt_quat rot[2];

                //! Head position in tracking space.
                struct xrt_pose trackref;
                //! Head position in IMU space.
                struct xrt_pose imuref;
        } display;

        struct
        {
                uint16_t ipd;
                uint16_t lens_separation;
                uint16_t proximity;
                uint8_t button;
        } board;

        struct
        {
                uint32_t display_firmware_version;
                uint32_t firmware_version;
                uint8_t hardware_revision;
                char *mb_serial_number;
                char *model_number;
                char *device_serial_number;
        } firmware;

        struct xrt_quat rot_filtered;

        bool print_spew;
        bool print_debug;
        bool disconnect_notified;

        struct
        {
                bool calibration;
                bool last;
        } gui;
};

struct vive_device *
vive_device_create(struct os_hid_device *mainboard_dev,
                   struct os_hid_device *sensors_dev,
                   enum VIVE_VARIANT variant);

/*
 *
 * Printing functions.
 *
 */

#define VIVE_SPEW(p, ...)                                                      \
        do {                                                                   \
                if (p->print_spew) {                                           \
                        fprintf(stderr, "%s - ", __func__);                    \
                        fprintf(stderr, __VA_ARGS__);                          \
                        fprintf(stderr, "\n");                                 \
                }                                                              \
        } while (false)
#define VIVE_DEBUG(p, ...)                                                     \
        do {                                                                   \
                if (p->print_debug) {                                          \
                        fprintf(stderr, "%s - ", __func__);                    \
                        fprintf(stderr, __VA_ARGS__);                          \
                        fprintf(stderr, "\n");                                 \
                }                                                              \
        } while (false)

#define VIVE_ERROR(...)                                                        \
        do {                                                                   \
                fprintf(stderr, "%s - ", __func__);                            \
                fprintf(stderr, __VA_ARGS__);                                  \
                fprintf(stderr, "\n");                                         \
        } while (false)

#ifdef __cplusplus
}
#endif