d/rs: Add prober and create xrt_device for rs

src/xrt/drivers/CMakeLists.txt

@@ -139,6 +139,7 @@ endif()
 if(XRT_BUILD_DRIVER_RS)
 	set(RS_SOURCE_FILES
 		realsense/rs_6dof.c
+		realsense/rs_prober.c
 		)
 
 	add_library(drv_rs STATIC ${RS_SOURCE_FILES})

src/xrt/drivers/meson.build

@@ -114,6 +114,7 @@ lib_drv_rs = static_library(
 	files(
 		'realsense/rs_6dof.c',
 		'realsense/rs_interface.h',
+		'realsense/rs_prober.c',
 	),
 	include_directories: xrt_include,
 	dependencies: [aux, rs],

src/xrt/drivers/realsense/rs_6dof.c

@@ -398,7 +398,7 @@ rs_6dof_create(void)
 	rs->base.get_tracked_pose = rs_6dof_get_tracked_pose;
 	rs->base.get_view_pose = rs_6dof_get_view_pose;
 	rs->base.destroy = rs_6dof_destroy;
-	rs->base.name = XRT_DEVICE_GENERIC_HMD; // This is a lie.
+	rs->base.name = XRT_DEVICE_REALSENSE;
 	rs->relation.pose.orientation.w = 1.0f; // All other values set to zero.
 
 	rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;

src/xrt/drivers/realsense/rs_interface.h

@@ -32,6 +32,14 @@ rs_6dof_create(void);
 void
 rs_update_offset(struct xrt_pose offset, struct xrt_device *xdev);
 
+/*!
+ * Create a auto prober for rs devices.
+ *
+ * @ingroup drv_rs
+ */
+struct xrt_auto_prober *
+rs_create_auto_prober(void);
+
 /*!
  * @dir drivers/realsense
  *

src/xrt/drivers/realsense/rs_prober.c

@@ -0,0 +1,74 @@
+// Copyright 2021, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Realsense prober code.
+ * @author Christoph Haag <christoph.haag@collabora.com>
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup drv_rs
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "xrt/xrt_prober.h"
+
+#include "util/u_misc.h"
+#include "util/u_debug.h"
+
+#include "rs_interface.h"
+
+/*!
+ * @implements xrt_auto_prober
+ */
+struct rs_prober
+{
+	struct xrt_auto_prober base;
+};
+
+//! @private @memberof rs_prober
+static inline struct rs_prober *
+rs_prober(struct xrt_auto_prober *p)
+{
+	return (struct rs_prober *)p;
+}
+
+//! @public @memberof rs_prober
+static void
+rs_prober_destroy(struct xrt_auto_prober *p)
+{
+	struct rs_prober *dp = rs_prober(p);
+
+	free(dp);
+}
+
+//! @public @memberof rs_prober
+static int
+rs_prober_autoprobe(struct xrt_auto_prober *xap,
+                    cJSON *attached_data,
+                    bool no_hmds,
+                    struct xrt_prober *xp,
+                    struct xrt_device **out_xdevs)
+{
+	struct rs_prober *dp = rs_prober(xap);
+	(void)dp;
+
+	struct xrt_device *dev = rs_6dof_create();
+	if (!dev) {
+		return 0;
+	}
+
+	out_xdevs[0] = dev;
+	return 1;
+}
+
+struct xrt_auto_prober *
+rs_create_auto_prober()
+{
+	struct rs_prober *dp = U_TYPED_CALLOC(struct rs_prober);
+	dp->base.name = "Realsense";
+	dp->base.destroy = rs_prober_destroy;
+	dp->base.lelo_dallas_autoprobe = rs_prober_autoprobe;
+
+	return &dp->base;
+}

src/xrt/include/xrt/xrt_defines.h

@@ -428,6 +428,8 @@ enum xrt_device_name
 	XRT_DEVICE_HAND_INTERACTION,
 
 	XRT_DEVICE_HAND_TRACKER,
+
+	XRT_DEVICE_REALSENSE,
 };
 
 /*!

src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp

@@ -338,6 +338,7 @@ public:
 		case XRT_DEVICE_XBOX_CONTROLLER: break;   // TODO
 		case XRT_DEVICE_VIVE_TRACKER_GEN1: break; // TODO
 		case XRT_DEVICE_VIVE_TRACKER_GEN2: break; // TODO
+		case XRT_DEVICE_REALSENSE: break;
 
 		case XRT_DEVICE_HAND_INTERACTION: break;  // there is no hardware
 		case XRT_DEVICE_GO_CONTROLLER: break;     // hardware has no haptics

src/xrt/targets/common/target_lists.c

@@ -66,6 +66,10 @@
 #include "illixr/illixr_interface.h"
 #endif
 
+#ifdef XRT_BUILD_DRIVER_RS
+#include "realsense/rs_interface.h"
+#endif
+
 /*!
  * Each entry should be a vendor ID (VID), product ID (PID), a "found" function,
  * and a string literal name.
@@ -154,6 +158,10 @@ xrt_auto_prober_creator target_auto_list[] = {
     illixr_create_auto_prober,
 #endif
 
+#ifdef XRT_BUILD_DRIVER_RS
+    rs_create_auto_prober,
+#endif
+
 #ifdef XRT_BUILD_DRIVER_DUMMY
     // Dummy headset driver last.
     dummy_create_auto_prober,