monado/src/xrt/drivers/vive/vive_lighthouse.h

// Copyright 2016-2019, Philipp Zabel
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Vive Lighthouse Watchman implementation
 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 * @ingroup drv_vive
 */

#pragma once

#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include "xrt/xrt_defines.h"

struct lighthouse_rotor_calibration
{
	float tilt;
	float phase;
	float curve;
	float gibphase;
	float gibmag;
};

struct lighthouse_base_calibration
{
	struct lighthouse_rotor_calibration rotor[2];
};

struct lighthouse_frame
{
	uint32_t sync_timestamp;
	uint32_t sync_duration;
	uint32_t sync_ids;
	uint32_t sweep_ids;
	uint32_t sweep_offset[32];
	uint16_t sweep_duration[32];
	uint32_t frame_duration;
};

struct lighthouse_base
{
	int data_sync;
	int data_word;
	int data_bit;
	uint8_t ootx[40];

	int firmware_version;
	uint32_t serial;
	struct lighthouse_base_calibration calibration;
	struct xrt_vec3 gravity;
	char channel;
	int model_id;
	int reset_count;

	uint32_t last_sync_timestamp;
	int active_rotor;

	struct lighthouse_frame frame[2];
};

struct lighthouse_pulse
{
	uint32_t timestamp;
	uint16_t duration;
	uint8_t id;
};

struct lighthouse_sensor
{
	struct lighthouse_pulse sync;
	struct lighthouse_pulse sweep;
};

struct tracking_model
{
	uint32_t num_points;
	struct xrt_vec3 *points;
	struct xrt_vec3 *normals;
};

struct lighthouse_watchman
{
	uint32_t id;
	const char *name;
	struct tracking_model model;
	bool base_visible;
	struct lighthouse_base base[2];
	struct lighthouse_base *active_base;
	uint32_t seen_by;
	uint32_t last_timestamp;
	struct lighthouse_sensor sensor[32];
	struct lighthouse_pulse last_sync;
	bool sync_lock;
};

void
lighthouse_watchman_handle_pulse(struct lighthouse_watchman *watchman,
                                 uint8_t id,
                                 uint16_t duration,
                                 uint32_t timestamp);
void
lighthouse_watchman_init(struct lighthouse_watchman *watchman,
                         const char *name);