monado/src/xrt/ipc/ipc_client_hmd.c

// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  IPC Client HMD device.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup ipc_client
 */

#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>

#include "xrt/xrt_device.h"

#include "os/os_time.h"

#include "math/m_api.h"

#include "util/u_var.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_device.h"

#include "ipc_client.h"
#include "ipc_client_generated.h"


/*
 *
 * Structs and defines.
 *
 */

/*!
 * An IPC client proxy for an HMD @ref xrt_device.
 * @implements xrt_device
 */
struct ipc_client_hmd
{
	struct xrt_device base;

	struct ipc_connection *ipc_c;

	uint32_t device_id;
};


/*
 *
 * Functions
 *
 */

static inline struct ipc_client_hmd *
ipc_client_hmd(struct xrt_device *xdev)
{
	return (struct ipc_client_hmd *)xdev;
}

static void
ipc_client_hmd_destroy(struct xrt_device *xdev)
{
	struct ipc_client_hmd *ich = ipc_client_hmd(xdev);

	// Remove the variable tracking.
	u_var_remove_root(ich);

	// We do not own these, so don't free them.
	ich->base.inputs = NULL;
	ich->base.outputs = NULL;

	// Free this device with the helper.
	u_device_free(&ich->base);
}

static void
ipc_client_hmd_update_inputs(struct xrt_device *xdev)
{
	struct ipc_client_hmd *ich = ipc_client_hmd(xdev);

	xrt_result_t r =
	    ipc_call_device_update_input(ich->ipc_c, ich->device_id);
	if (r != XRT_SUCCESS) {
		IPC_DEBUG(ich->ipc_c, "IPC: Error calling input update!");
	}
}

static void
ipc_client_hmd_get_tracked_pose(struct xrt_device *xdev,
                                enum xrt_input_name name,
                                uint64_t at_timestamp_ns,
                                uint64_t *out_relation_timestamp_ns,
                                struct xrt_space_relation *out_relation)
{
	struct ipc_client_hmd *ich = ipc_client_hmd(xdev);

	xrt_result_t r = ipc_call_device_get_tracked_pose(
	    ich->ipc_c, ich->device_id, name, at_timestamp_ns,
	    out_relation_timestamp_ns, out_relation);
	if (r != XRT_SUCCESS) {
		IPC_DEBUG(ich->ipc_c, "IPC: Error calling tracked pose!");
	}
}

static void
ipc_client_hmd_get_view_pose(struct xrt_device *xdev,
                             struct xrt_vec3 *eye_relation,
                             uint32_t view_index,
                             struct xrt_pose *out_pose)
{
	struct ipc_client_hmd *ich = ipc_client_hmd(xdev);

	xrt_result_t r = ipc_call_device_get_view_pose(
	    ich->ipc_c, ich->device_id, eye_relation, view_index, out_pose);
	if (r != XRT_SUCCESS) {
		IPC_DEBUG(ich->ipc_c, "IPC: Error calling view pose!");
	}
}

/*!
 * @public @memberof ipc_client_hmd
 */
struct xrt_device *
ipc_client_hmd_create(struct ipc_connection *ipc_c,
                      struct xrt_tracking_origin *xtrack,
                      uint32_t device_id)
{
	struct ipc_shared_memory *ism = ipc_c->ism;
	struct ipc_shared_device *isdev = &ism->isdevs[device_id];



	enum u_device_alloc_flags flags =
	    (enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD);
	struct ipc_client_hmd *ich =
	    U_DEVICE_ALLOCATE(struct ipc_client_hmd, flags, 0, 0);
	ich->ipc_c = ipc_c;
	ich->device_id = device_id;
	ich->base.update_inputs = ipc_client_hmd_update_inputs;
	ich->base.get_tracked_pose = ipc_client_hmd_get_tracked_pose;
	ich->base.get_view_pose = ipc_client_hmd_get_view_pose;
	ich->base.destroy = ipc_client_hmd_destroy;

	// Start copying the information from the isdev.
	ich->base.tracking_origin = xtrack;
	ich->base.name = isdev->name;
	ich->device_id = device_id;

	// Print name.
	snprintf(ich->base.str, XRT_DEVICE_NAME_LEN, "%s", isdev->str);

	// Setup inputs, by pointing directly to the shared memory.
	assert(isdev->num_inputs > 0);
	ich->base.inputs = &ism->inputs[isdev->first_input_index];
	ich->base.num_inputs = isdev->num_inputs;

#if 0
	// Setup info.
	struct u_device_simple_info info;
	info.display.w_pixels = 1920;
	info.display.h_pixels = 1080;
	info.display.w_meters = 0.13f;
	info.display.h_meters = 0.07f;
	info.lens_horizontal_separation_meters = 0.13f / 2.0f;
	info.lens_vertical_position_meters = 0.07f / 2.0f;
	info.views[0].fov = 85.0f * (M_PI / 180.0f);
	info.views[1].fov = 85.0f * (M_PI / 180.0f);

	if (!u_device_setup_split_side_by_side(&ich->base, &info)) {
		IPC_ERROR(ich->ipc_c, "Failed to setup basic device info");
		ipc_client_hmd_destroy(&ich->base);
		return NULL;
	}
#endif

	// clang-foramt off
	ich->base.hmd->blend_mode = XRT_BLEND_MODE_OPAQUE;
	ich->base.hmd->distortion.models = XRT_DISTORTION_MODEL_NONE;
	ich->base.hmd->distortion.preferred = XRT_DISTORTION_MODEL_NONE;
	ich->base.hmd->views[0].display.w_pixels =
	    ipc_c->ism->hmd.views[0].display.w_pixels;
	ich->base.hmd->views[0].display.h_pixels =
	    ipc_c->ism->hmd.views[0].display.h_pixels;
	ich->base.hmd->views[0].fov = ipc_c->ism->hmd.views[0].fov;
	ich->base.hmd->views[1].display.w_pixels =
	    ipc_c->ism->hmd.views[1].display.w_pixels;
	ich->base.hmd->views[1].display.h_pixels =
	    ipc_c->ism->hmd.views[1].display.h_pixels;
	ich->base.hmd->views[1].fov = ipc_c->ism->hmd.views[1].fov;
	// clang-foramt on

	// Setup variable tracker.
	u_var_add_root(ich, ich->base.str, true);
	u_var_add_ro_u32(ich, &ich->device_id, "device_id");

	ich->base.orientation_tracking_supported =
	    isdev->orientation_tracking_supported;
	ich->base.position_tracking_supported =
	    isdev->position_tracking_supported;
	ich->base.device_type = isdev->device_type;

	return &ich->base;
}