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st/gui: Add remote device control ui

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Jakob Bornecrantz 2020-10-14 20:12:33 +01:00 committed by Jakob Bornecrantz
parent 3483a7286d
commit 541bdd2fce
6 changed files with 367 additions and 0 deletions
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8
src/xrt/state_trackers/gui/CMakeLists.txt
View file

@ -13,6 +13,7 @@ set(GUI_SOURCE_FILES
gui_scene_calibrate.c
gui_scene_debug.c
gui_scene_main_menu.c
gui_scene_remote.c
gui_scene_video.c
../../../external/imgui/imgui/cimgui.cpp
../../../external/imgui/imgui/cimgui.h
@ -49,8 +50,15 @@ target_link_libraries(st_gui PRIVATE
target_include_directories(st_gui PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/..
${CMAKE_CURRENT_SOURCE_DIR}/../../../external/imgui
${CMAKE_CURRENT_SOURCE_DIR}/../../drivers
)
if(XRT_BUILD_DRIVER_REMOTE)
target_link_libraries(st_gui PRIVATE
drv_remote
)
endif()
if(XRT_HAVE_SDL2)
add_library(imgui_impl_sdl STATIC
../../../external/imgui/imgui/cimgui_sdl.cpp

8
src/xrt/state_trackers/gui/gui_common.h
View file

@ -207,6 +207,14 @@ gui_scene_select_video_calibrate(struct gui_program *p);
void
gui_scene_debug(struct gui_program *p);
/*!
* Remote control debugging UI.
*
* @ingroup gui
*/
void
gui_scene_remote(struct gui_program *p);
/*!
* Given the frameserver runs the calibration code on it.
* Claims ownership of @p s.

6
src/xrt/state_trackers/gui/gui_scene_main_menu.c
View file

@ -45,6 +45,12 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
gui_scene_debug(p);
}
if (igButton("Remote", button_dims)) {
gui_scene_delete_me(p, scene);
gui_scene_remote(p);
}
igSeparator();
if (igButton("Exit", button_dims)) {

341
src/xrt/state_trackers/gui/gui_scene_remote.c Normal file
View file

@ -0,0 +1,341 @@
// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Remote debugging UI.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup gui
*/
#include "xrt/xrt_config_drivers.h"
#include "util/u_misc.h"
#include "math/m_api.h"
#include "gui_common.h"
#include "gui_imgui.h"
#include "remote/r_interface.h"
/*
*
* Structs and defines.
*
*/
/*!
* A GUI scene that lets the user select a user device.
* @implements gui_scene
*/
struct gui_remote
{
struct gui_scene base;
struct r_remote_connection rc;
struct r_remote_data reset;
struct r_remote_data data;
bool cheat_menu;
};
const ImVec2 zero_dims = {0, 0};
/*
*
* Functions.
*
*/
#ifdef XRT_BUILD_DRIVER_REMOTE
static void
handle_draggable_vec3_f32(const char *name,
struct xrt_vec3 *v,
const struct xrt_vec3 *reset)
{
float min = -256.0f;
float max = 256.0f;
char tmp[256];
snprintf(tmp, sizeof(tmp), "%s.reset", name);
if (igArrowButton(tmp, ImGuiDir_Left)) {
*v = *reset;
}
igSameLine(0, 3);
igDragFloat3(name, (float *)v, 0.005f, min, max, "%+f", 1.0f);
}
static void
handle_draggable_quat(const char *name,
struct xrt_quat *q,
const struct xrt_quat *reset)
{
float min = -1.0f;
float max = 1.0f;
char tmp[256];
snprintf(tmp, sizeof(tmp), "%s.reset", name);
if (igArrowButton(tmp, ImGuiDir_Left)) {
*q = *reset;
}
igSameLine(0, 3);
igDragFloat4(name, (float *)q, 0.005f, min, max, "%+f", 1.0f);
// Avoid invalid
if (q->x == 0.0f && q->y == 0.0f && q->z == 0.0f && q->w == 0.0f) {
q->w = 1.0f;
}
// And make sure it's a unit rotation.
math_quat_normalize(q);
}
static bool
handle_downable_button(const char *name)
{
igButton(name, zero_dims);
return igIsItemHovered(ImGuiHoveredFlags_RectOnly) &&
igIsMouseDown(ImGuiMouseButton_Left);
}
static void
render_cheat_menu(struct gui_remote *gr, struct gui_program *p)
{
struct r_remote_data *d = &gr->data;
if (igButton("Reset all", zero_dims)) {
*d = gr->reset;
}
if (igButton("Interactive Throw #1", zero_dims)) {
#if 0
d->left.pose.position.x = -1.0f;
d->left.pose.position.y = 1.0f;
d->left.pose.position.z = -3.0f;
#else
d->left.pose.position.x = -0.200000f;
d->left.pose.position.y = 1.300000f;
d->left.pose.position.z = -0.500000f;
d->left.pose.orientation.x = 0.000000f;
d->left.pose.orientation.y = 0.000000f;
d->left.pose.orientation.z = 0.000000f;
d->left.pose.orientation.w = 1.000000f;
d->left.linear_velocity.x = -0.770000f;
d->left.linear_velocity.y = 3.255000f;
d->left.linear_velocity.z = -2.620000f;
d->left.angular_velocity.x = 0.000000f;
d->left.angular_velocity.y = 0.000000f;
d->left.angular_velocity.z = 0.000000f;
#endif
}
if (igButton("Interactive Throw #2", zero_dims)) {
#if 0
d->left.pose.position.x = 1.0f;
d->left.pose.position.y = 1.1f;
d->left.pose.position.z = -4.0f;
#else
d->left.pose.position.x = -0.200000f;
d->left.pose.position.y = 1.300000f;
d->left.pose.position.z = -0.500000f;
d->left.pose.orientation.x = 0.858999f;
d->left.pose.orientation.y = -0.163382f;
d->left.pose.orientation.z = -0.000065f;
d->left.pose.orientation.w = 0.485209f;
d->left.linear_velocity.x = 0.000000f;
d->left.linear_velocity.y = 0.000000f;
d->left.linear_velocity.z = 0.000000f;
d->left.angular_velocity.x = -10.625000f;
d->left.angular_velocity.y = 0.000000f;
d->left.angular_velocity.z = 0.000000f;
#endif
}
if (igButton("Interactive Throw #3", zero_dims)) {
#if 0
d->left.pose.position.x = 0.0f;
d->left.pose.position.y = 3.0f;
d->left.pose.position.z = -5.0f;
#else
d->left.pose.position.x = -0.200000f;
d->left.pose.position.y = 1.300000f;
d->left.pose.position.z = -0.500000f;
d->left.pose.orientation.x = 0.862432f;
d->left.pose.orientation.y = 0.000000f;
d->left.pose.orientation.z = 0.000000f;
d->left.pose.orientation.w = 0.506174f;
d->left.linear_velocity.x = 0.000000f;
d->left.linear_velocity.y = 0.000000f;
d->left.linear_velocity.z = -1.830000f;
d->left.angular_velocity.x = -16.900000f;
d->left.angular_velocity.y = 0.000000f;
d->left.angular_velocity.z = 0.000000f;
#endif
}
if (igButton("Dump left", zero_dims)) {
fprintf(stderr,
"d->left.pose.position.x = %ff;\n"
"d->left.pose.position.y = %ff;\n"
"d->left.pose.position.z = %ff;\n"
"d->left.pose.orientation.x = %ff;\n"
"d->left.pose.orientation.y = %ff;\n"
"d->left.pose.orientation.z = %ff;\n"
"d->left.pose.orientation.w = %ff;\n"
"d->left.linear_velocity.x = %ff;\n"
"d->left.linear_velocity.y = %ff;\n"
"d->left.linear_velocity.z = %ff;\n"
"d->left.angular_velocity.x = %ff;\n"
"d->left.angular_velocity.y = %ff;\n"
"d->left.angular_velocity.z = %ff;\n",
d->left.pose.position.x, d->left.pose.position.y,
d->left.pose.position.z, d->left.pose.orientation.x,
d->left.pose.orientation.y, d->left.pose.orientation.z,
d->left.pose.orientation.w, d->left.linear_velocity.x,
d->left.linear_velocity.y, d->left.linear_velocity.z,
d->left.angular_velocity.x, d->left.angular_velocity.y,
d->left.angular_velocity.z);
}
}
#define POSE(prefix) \
do { \
handle_draggable_vec3_f32(#prefix ".pose.position", \
&d->prefix.pose.position, \
&r->prefix.pose.position); \
handle_draggable_quat(#prefix ".pose.orientation", \
&d->prefix.pose.orientation, \
&r->prefix.pose.orientation); \
} while (false)
#define LIN_ANG(prefix) \
do { \
handle_draggable_vec3_f32(#prefix ".linear_velocity", \
&d->prefix.linear_velocity, \
&r->prefix.linear_velocity); \
handle_draggable_vec3_f32(#prefix ".angular_velocity", \
&d->prefix.angular_velocity, \
&r->prefix.angular_velocity); \
} while (false)
#define BUTTONS(prefix) \
do { \
d->prefix.select = handle_downable_button("Select"); \
igSameLine(0, 3); \
d->prefix.menu = handle_downable_button("Menu"); \
igSameLine(0, 3); \
igCheckbox("Active", &d->prefix.active); \
} while (false)
static void
on_connected(struct gui_remote *gr, struct gui_program *p)
{
const struct r_remote_data *r = &gr->reset;
struct r_remote_data *d = &gr->data;
const ImVec2 hmd_size = {0, 42 + 4};
const ImVec2 ctrl_size = {0, 64 + 24 + 24 + 4};
igBeginChildStr("hmd", hmd_size, false, 0);
POSE(hmd);
igEndChild();
igBeginChildStr("left", ctrl_size, false, 0);
POSE(left);
LIN_ANG(left);
BUTTONS(left);
igEndChild();
igBeginChildStr("right", ctrl_size, false, 0);
POSE(right);
LIN_ANG(right);
BUTTONS(right);
igEndChild();
igCheckbox("Predefined poses", &gr->cheat_menu);
if (gr->cheat_menu) {
render_cheat_menu(gr, p);
}
r_remote_connection_write_one(&gr->rc, &gr->data);
}
static void
on_not_connected(struct gui_remote *gr, struct gui_program *p)
{
if (!igButton("Connect", zero_dims)) {
return;
}
r_remote_connection_init(&gr->rc, "127.0.0.1", 4242);
r_remote_connection_read_one(&gr->rc, &gr->reset);
r_remote_connection_read_one(&gr->rc, &gr->data);
}
#endif
/*
*
* Scene functions.
*
*/
static void
scene_render(struct gui_scene *scene, struct gui_program *p)
{
struct gui_remote *gr = (struct gui_remote *)scene;
(void)gr;
igBegin("Remote control", NULL, 0);
#ifdef XRT_BUILD_DRIVER_REMOTE
if (gr->rc.fd < 0) {
on_not_connected(gr, p);
} else {
on_connected(gr, p);
}
#else
igText("Not compiled with the remote driver");
if (igButton("Exit", zero_dims)) {
gui_scene_delete_me(p, &gr->base);
}
#endif
igEnd();
}
static void
scene_destroy(struct gui_scene *scene, struct gui_program *p)
{
struct gui_remote *gr = (struct gui_remote *)scene;
(void)gr;
free(scene);
}
/*
*
* 'Exported' functions.
*
*/
void
gui_scene_remote(struct gui_program *p)
{
struct gui_remote *gr = U_TYPED_CALLOC(struct gui_remote);
gr->base.render = scene_render;
gr->base.destroy = scene_destroy;
gr->rc.fd = -1;
gui_scene_push_front(p, &gr->base);
}

2
src/xrt/state_trackers/gui/meson.build
View file

@ -10,6 +10,7 @@ gui_sources = [
'gui_scene_calibrate.c',
'gui_scene_debug.c',
'gui_scene_main_menu.c',
'gui_scene_remote.c',
'gui_scene_video.c',
'../../../external/imgui/imgui/cimgui.cpp',
'../../../external/imgui/imgui/cimgui.h',
@ -42,6 +43,7 @@ lib_st_gui = static_library(
files(gui_sources),
include_directories: [
xrt_include,
drv_include,
glad_include,
cjson_include,
imgui_include,

2
src/xrt/targets/gui/gui_sdl2_main.c
View file

@ -39,6 +39,8 @@ main(int argc, char **argv)
gui_scene_debug(&p.base);
} else if (argc >= 2 && strcmp("calibrate", argv[1]) == 0) {
gui_scene_select_video_calibrate(&p.base);
} else if (argc >= 2 && strcmp("remote", argv[1]) == 0) {
gui_scene_remote(&p.base);
} else {
gui_scene_main_menu(&p.base);
}