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d/ulv2: Create the driver.

Browse source 
Co-authored-by: Moses Turner <mosesturner@protonmail.com>
Co-authored-by: Christoph Haag <christoph.haag@collabora.com>
This commit is contained in:
Moses Turner 2021-03-29 17:31:12 -05:00 committed by Christoph Haag
parent b319371500
commit 55b86fe815
11 changed files with 599 additions and 18 deletions
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16
CMakeLists.txt
View file

@ -43,6 +43,19 @@ find_package(cJSON)
find_package(Systemd)
find_package(OpenGLES COMPONENTS V3)
#find_package(Leap)
find_library(Leap
NAMES libLeap.so
PATHS /usr/local/lib
)
if (Leap)
include_directories(include /usr/local/include/)
message(STATUS "Found libLeap: ${Leap}")
else()
message(STATUS "Could NOT find libLeap: (missing: /usr/local/lib/libLeap.so)")
endif()
# Android SDK doesn't look for 3.8 and 3.9, which is what new distros ship with.
set(Python_ADDITIONAL_VERSIONS 3.8 3.9)
if(NOT CMAKE_VERSION VERSION_LESS 3.12)
@ -185,6 +198,7 @@ cmake_dependent_option(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device wit
cmake_dependent_option(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" ON "ILLIXR_PATH" OFF)
option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
cmake_dependent_option(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" ON "Leap" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" ON "XRT_HAVE_LINUX OR ANDROID" OFF)
# These all use the Monado internal hid wrapper.
@ -219,6 +233,7 @@ list(APPEND AVAILABLE_DRIVERS
"REMOTE"
"SURVIVE"
"V4L2"
"ULV2"
"VF"
"VIVE"
"QWERTY"
@ -350,6 +365,7 @@ message(STATUS "# DRIVER_HDK: ${XRT_BUILD_DRIVER_HDK}")
message(STATUS "# DRIVER_HYDRA: ${XRT_BUILD_DRIVER_HYDRA}")
message(STATUS "# DRIVER_ILLIXR: ${XRT_BUILD_DRIVER_ILLIXR}")
message(STATUS "# DRIVER_NS: ${XRT_BUILD_DRIVER_NS}")
message(STATUS "# DRIVER_ULV2: ${XRT_BUILD_DRIVER_ULV2}")
message(STATUS "# DRIVER_OHMD: ${XRT_BUILD_DRIVER_OHMD}")
message(STATUS "# DRIVER_PSMV: ${XRT_BUILD_DRIVER_PSMV}")
message(STATUS "# DRIVER_PSVR: ${XRT_BUILD_DRIVER_PSVR}")

57
doc/example_configs/config_v0.json.northstar_lonestar
View file

@ -1,23 +1,44 @@
{
"active": "tracking",
"tracking": {
"tracking_overrides": [{
"target_device_serial": "North Star",
"tracker_device_serial": "Intel RealSense 6-DOF",
"offset": {
"orientation": {
"x": 0,
"y": -0.068300001323223114,
"z": 0.074400000274181366,
"w": 0.99468898773193359
"active": "tracking",
"tracking": {
"tracking_overrides": [
{
"target_device_serial": "North Star",
"tracker_device_serial": "Intel RealSense 6-DOF",
"type": "direct",
"offset": {
"orientation": {
"x": -0.102931,
"y": 0,
"z": 0,
"w": 0.994689
},
"position": {
"x": 0,
"y": -0.068300001323223114,
"z": 0.074400000274181366
"position": {
"x": 0,
"y": 0.0683,
"z": -0.0744
}
}
}],
"version": 0
},
{
"target_device_serial": "Leap Motion v2 driver",
"tracker_device_serial": "Intel RealSense 6-DOF",
"type": "attached",
"offset": {
"orientation": {
"x": 0,
"y": 0,
"z": 0,
"w": 1
},
"position": {
"x": 0,
"y": 0.005,
"z": 0
}
}
}
],
"version": 0
}
}
}

9
meson.build
View file

@ -78,6 +78,9 @@ gst_video= dependency('gstreamer-video-1.0', required: false)
gst_found = gst.found() and gst_app.found() and gst_video.found()
leap = cc.find_library('Leap', dirs : ['/usr/local/lib'], required: false)
inc_leap = include_directories('/usr/local/include')
opencv = dependency('opencv4', required: false)
if not opencv.found()
opencv = dependency('opencv', required: get_option('tracking'))
@ -207,6 +210,12 @@ if gst_found and ('auto' in drivers or 'vf' in drivers)
endif
endif
if leap.found() and ('auto' in drivers or 'ulv2' in drivers)
if 'ulv2' not in drivers
drivers += ['ulv2']
endif
endif
if survive.found() and ('auto' in drivers and 'survive' not in drivers)
drivers += ['survive']
endif

9
src/xrt/drivers/CMakeLists.txt
View file

@ -101,6 +101,15 @@ if(XRT_BUILD_DRIVER_NS)
list(APPEND ENABLED_HEADSET_DRIVERS ns)
endif()
if(XRT_BUILD_DRIVER_ULV2)
set(ULV2_SOURCE_FILES
ultraleap_v2/ulv2_driver.cpp
ultraleap_v2/ulv2_interface.h
)
add_library(drv_ulv2 STATIC ${ULV2_SOURCE_FILES})
target_link_libraries(drv_ulv2 PRIVATE xrt-interfaces aux_util aux_math Leap)
endif()
if(XRT_BUILD_DRIVER_OHMD)
set(OHMD_SOURCE_FILES
ohmd/oh_device.c

11
src/xrt/drivers/meson.build
View file

@ -58,6 +58,17 @@ lib_drv_ns = static_library(
build_by_default: 'ns' in drivers,
)
lib_drv_ulv2 = static_library(
'drv_ulv2',
files(
'ultraleap_v2/ulv2_driver.cpp',
'ultraleap_v2/ulv2_interface.h',
),
include_directories: [xrt_include, inc_leap],
dependencies: [aux, leap],
build_by_default: 'ulv2' in drivers,
)
lib_drv_ht = static_library(
'drv_ht',
files(

12
src/xrt/drivers/ultraleap_v2/readme.MD Normal file
View file

@ -0,0 +1,12 @@
## Building
To build you need `Leap.h` and `LeapMath.h` in `/usr/local/include`; and `libLeap.so` in `/usr/local/lib`, and this should automatically build.
## Running
To have the ultraleap driver successfully initialize, you need to have the Leap Motion Controller plugged in, and `leapd` running. Running `sudo leapd` in another terminal works but it may be slightly more convenient to have it run as a systemd service.
## Configuring
Presumably, you're using this driver because you want to stick the Leap Motion Controller on the front of your HMD and have it track your hands.
If you don't have a config file at ~/.config/monado/config_v0.json (or wherever you set `XDG_CONFIG_DIR`), your tracked hands will show up near the tracking origin and not move around with your HMD, which is probably not what you want.
Instead you probably want to configure Monado to make your Leap Motion Controller-tracked hands follow around your HMD. There's an example of how to do this with North Star in `doc/example_configs/config_v0.json.northstar_lonestar`. If you're using a North Star headset, that should work but unless you're using the Lone Star NS variant you'll need to edit the offsets. If you're using some other HMD you'll have to edit the `tracker_device_serial` to be your HMD serial, and your own offsets.

452
src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp Normal file
View file

@ -0,0 +1,452 @@
// Copyright 2020-2021, Collabora, Ltd.
// Copyright 2020-2021, Moses Turner
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Driver for Ultraleap's V2 API for the Leap Motion Controller.
* @author Moses Turner <mosesturner@protonmail.com>
* @author Christoph Haag <christoph.haag@collabora.com>
* @ingroup drv_ulv2
*/
#include "ulv2_interface.h"
#include "util/u_device.h"
#include "util/u_var.h"
#include "util/u_debug.h"
#include "math/m_space.h"
#include "math/m_api.h"
#include "util/u_time.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "Leap.h"
DEBUG_GET_ONCE_LOG_OPTION(ulv2_log, "ULV2_LOG", U_LOGGING_INFO)
#define ULV2_TRACE(ulv2d, ...) U_LOG_XDEV_IFL_T(&ulv2d->base, ulv2d->ll, __VA_ARGS__)
#define ULV2_DEBUG(ulv2d, ...) U_LOG_XDEV_IFL_D(&ulv2d->base, ulv2d->ll, __VA_ARGS__)
#define ULV2_INFO(ulv2d, ...) U_LOG_XDEV_IFL_I(&ulv2d->base, ulv2d->ll, __VA_ARGS__)
#define ULV2_WARN(ulv2d, ...) U_LOG_XDEV_IFL_W(&ulv2d->base, ulv2d->ll, __VA_ARGS__)
#define ULV2_ERROR(ulv2d, ...) U_LOG_XDEV_IFL_E(&ulv2d->base, ulv2d->ll, __VA_ARGS__)
#define printf_pose(pose) \
printf("%f %f %f %f %f %f %f\n", pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, \
pose.orientation.y, pose.orientation.z, pose.orientation.w);
extern "C" {
enum xrt_space_relation_flags valid_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
// Excuse my sketchy thread stuff, I'm sure this violates all kinds of best practices. It uusssuallyyy doesn't explode.
// -Moses Turner
enum leap_thread_status
{
THREAD_NOT_STARTED,
THREAD_OK,
THREAD_ERRORED_OUT,
};
struct ulv2_device
{
struct xrt_device base;
struct xrt_tracking_origin tracking_origin;
enum u_logging_level ll;
bool pthread_should_stop;
enum leap_thread_status our_thread_status;
struct os_thread_helper leap_loop_oth;
struct xrt_hand_joint_set joints_write_in[2];
// Only read/write these last two if you have the mutex
struct xrt_hand_joint_set joints_read_out[2];
bool hand_exists[2];
};
inline struct ulv2_device *
ulv2_device(struct xrt_device *xdev)
{
return (struct ulv2_device *)xdev;
}
// Roughly, take the Leap hand joint, do some coordinate conversions, and save it in a xrt_hand_joint_value
static void
ulv2_process_joint(
Leap::Vector jointpos, Leap::Matrix jointbasis, float width, int side, struct xrt_hand_joint_value *joint)
{
struct xrt_space_relation *relation = &joint->relation;
joint->radius = (width / 1000) / 2;
struct xrt_matrix_3x3 turn_into_quat;
// clang-format off
// These are matrices so we want to preserve where the rows and columns are, hence the clang-format off
if (side == 1)
{
turn_into_quat = {-jointbasis.xBasis.x, -jointbasis.yBasis.x, -jointbasis.zBasis.x,
-jointbasis.xBasis.z, -jointbasis.yBasis.z, -jointbasis.zBasis.z,
-jointbasis.xBasis.y, -jointbasis.yBasis.y, -jointbasis.zBasis.y};
}
else
{
turn_into_quat = {jointbasis.xBasis.x, -jointbasis.yBasis.x, -jointbasis.zBasis.x,
jointbasis.xBasis.z, -jointbasis.yBasis.z, -jointbasis.zBasis.z,
jointbasis.xBasis.y, -jointbasis.yBasis.y, -jointbasis.zBasis.y};
}
// clang-format on
math_quat_from_matrix_3x3(&turn_into_quat, &relation->pose.orientation);
relation->pose.position.x = jointpos.x * -1 / 1000.0;
relation->pose.position.y = jointpos.z * -1 / 1000.0;
relation->pose.position.z = jointpos.y * -1 / 1000.0;
relation->relation_flags = valid_flags;
}
static int error_time; // Lazy counter to prevent printing error messages at 120hz
void
ulv2_process_hand(Leap::Hand hand, xrt_hand_joint_set *joint_set, int hi)
{
#define xrtj(y) &joint_set->values.hand_joint_set_default[XRT_HAND_JOINT_##y]
ulv2_process_joint(hand.palmPosition(), hand.basis(), 50, hi, xrtj(PALM));
ulv2_process_joint(hand.wristPosition(), hand.arm().basis(), 50, hi, xrtj(WRIST));
const Leap::FingerList fingers = hand.fingers();
// Bunch of macros to make the following
// boilerplate easier to deal with
#define fb(y) finger.bone(y)
#define prevJ(y) finger.bone(y).prevJoint()
#define nextJ(y) finger.bone(y).nextJoint()
#define lm Leap::Bone::TYPE_METACARPAL
#define lp Leap::Bone::TYPE_PROXIMAL
#define li Leap::Bone::TYPE_INTERMEDIATE
#define ld Leap::Bone::TYPE_DISTAL
for (Leap::FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
// Iterate on the list of fingers Leap gives us
const Leap::Finger finger = *fl;
Leap::Finger::Type fingerType = finger.type();
switch (fingerType) {
case Leap::Finger::Type::TYPE_THUMB:
// If the finger is a thumb, then for each joint: process the Leap joint location,
// rotation matrix, finger width, hand side (0 if left, 1 if right),
// and write the finger radius and powe out to the correct xrt_hand_joint_value.
ulv2_process_joint(prevJ(lp), fb(lp).basis(), fb(lp).width(), hi, xrtj(THUMB_METACARPAL));
ulv2_process_joint(prevJ(li), fb(li).basis(), fb(lp).width(), hi, xrtj(THUMB_PROXIMAL));
ulv2_process_joint(prevJ(ld), fb(ld).basis(), fb(li).width(), hi, xrtj(THUMB_DISTAL));
ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(THUMB_TIP));
// Note that there are only four joints here as opposed to all the other fingers which have five
// joints.
break;
case Leap::Finger::Type::TYPE_INDEX:
// If the finger is an index finger, do the same thing but with index joints
ulv2_process_joint(prevJ(lm), fb(lm).basis(), fb(lm).width(), hi, xrtj(INDEX_METACARPAL));
ulv2_process_joint(prevJ(lp), fb(lp).basis(), fb(lm).width(), hi, xrtj(INDEX_PROXIMAL));
ulv2_process_joint(prevJ(li), fb(li).basis(), fb(lp).width(), hi, xrtj(INDEX_INTERMEDIATE));
ulv2_process_joint(prevJ(ld), fb(ld).basis(), fb(li).width(), hi, xrtj(INDEX_DISTAL));
ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(INDEX_TIP));
break;
case Leap::Finger::Type::TYPE_MIDDLE:
// If the finger is a middle finger, do the same thing but with middle joints
ulv2_process_joint(prevJ(lm), fb(lm).basis(), fb(lm).width(), hi, xrtj(MIDDLE_METACARPAL));
ulv2_process_joint(prevJ(lp), fb(lp).basis(), fb(lm).width(), hi, xrtj(MIDDLE_PROXIMAL));
ulv2_process_joint(prevJ(li), fb(li).basis(), fb(lp).width(), hi, xrtj(MIDDLE_INTERMEDIATE));
ulv2_process_joint(prevJ(ld), fb(ld).basis(), fb(li).width(), hi, xrtj(MIDDLE_DISTAL));
ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(MIDDLE_TIP));
break;
case Leap::Finger::Type::TYPE_RING:
// Ad nauseum.
ulv2_process_joint(prevJ(lm), fb(lm).basis(), fb(lm).width(), hi, xrtj(RING_METACARPAL));
ulv2_process_joint(prevJ(lp), fb(lp).basis(), fb(lm).width(), hi, xrtj(RING_PROXIMAL));
ulv2_process_joint(prevJ(li), fb(li).basis(), fb(lp).width(), hi, xrtj(RING_INTERMEDIATE));
ulv2_process_joint(prevJ(ld), fb(ld).basis(), fb(li).width(), hi, xrtj(RING_DISTAL));
ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(RING_TIP));
break;
case Leap::Finger::Type::TYPE_PINKY:
ulv2_process_joint(prevJ(lm), fb(lm).basis(), fb(lm).width(), hi, xrtj(LITTLE_METACARPAL));
ulv2_process_joint(prevJ(lp), fb(lp).basis(), fb(lm).width(), hi, xrtj(LITTLE_PROXIMAL));
ulv2_process_joint(prevJ(li), fb(li).basis(), fb(lp).width(), hi, xrtj(LITTLE_INTERMEDIATE));
ulv2_process_joint(prevJ(ld), fb(ld).basis(), fb(li).width(), hi, xrtj(LITTLE_DISTAL));
ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(LITTLE_TIP));
break;
// I hear that Sagittarius has a better api, in C even, so hopefully
// there'll be less weird boilerplate whenever we get access to that
}
}
}
void *
leap_input_loop(void *ptr_to_xdev)
{
float retry_sleep_time = 0.05;
float timeout = 0.5;
int num_tries = (timeout / retry_sleep_time);
bool succeeded_connected = false;
bool succeeded_service_connected = false;
struct xrt_device *xdev = (struct xrt_device *)ptr_to_xdev;
struct ulv2_device *ulv2d = ulv2_device(xdev);
ULV2_DEBUG(ulv2d, "num tries %d; sleep time %f", num_tries, timeout);
Leap::Controller LeapController;
os_nanosleep(U_1_000_000_000 * 0.01);
// sleep for an arbitrary amount of time so that Leap::Controller can initialize and connect to the service.
float start = (float)os_monotonic_get_ns() / (float)U_1_000_000_000;
// would be nice to do this only if we're not building release ^^. don't know how to do that though.
for (int i = 0; i < num_tries; i++) {
succeeded_connected = LeapController.isConnected();
succeeded_service_connected = LeapController.isServiceConnected();
if (succeeded_connected) {
ULV2_INFO(ulv2d, "Leap Motion Controller connected!");
break;
}
if (succeeded_service_connected) {
ULV2_INFO(ulv2d,
"Connected to Leap service, but not "
"connected to Leap Motion "
"controller. Retrying (%i / %i)",
i, num_tries);
// This codepath should very rarely get hit as nowadays this gets probed by VID/PID, so you'd
// have to be pretty fast to unplug after it gets probed and before this check.
} else {
ULV2_INFO(ulv2d,
"Not connected to Leap service. "
"Retrying (%i / %i)",
i, num_tries);
}
os_nanosleep(U_1_000_000_000 * retry_sleep_time); // 1 second * retry_sleep_time
}
ULV2_DEBUG(ulv2d, "Waited %f seconds", ((float)os_monotonic_get_ns() / (float)U_1_000_000_000) - start);
bool hmdpolicyset = false;
if (!succeeded_connected) {
if (succeeded_service_connected) {
ULV2_INFO(ulv2d,
"Connected to Leap service, but couldn't "
"connect to leap motion controller.\n"
"Is it plugged in and has your Leap service "
"detected it?");
// ditto on this codepath
} else {
ULV2_INFO(ulv2d,
"Couldn't connect to Leap service. Try "
"running sudo leapd in another terminal.");
}
goto cleanup_leap_loop;
}
// Try to let the Leap service know that we are on a HMD, not on a desk.
for (int i = 0; i < num_tries; i++) {
LeapController.setPolicy(Leap::Controller::POLICY_OPTIMIZE_HMD);
os_nanosleep(time_s_to_ns(0.02));
LeapController.setPolicy(Leap::Controller::POLICY_OPTIMIZE_HMD);
hmdpolicyset = LeapController.isPolicySet(Leap::Controller::POLICY_OPTIMIZE_HMD);
if (!hmdpolicyset) {
ULV2_ERROR(ulv2d, "Couldn't set HMD policy. Retrying (%i / %i)", i, num_tries);
} else {
ULV2_DEBUG(ulv2d, "HMD policy set.");
break;
}
os_nanosleep(U_1_000_000_000 * retry_sleep_time); // 1 second * retry_sleep_time
}
ULV2_TRACE(ulv2d, "thread OK\n");
ulv2d->our_thread_status = THREAD_OK;
// Main loop
while (!ulv2d->pthread_should_stop) {
if (!LeapController.isConnected()) {
if ((error_time % 100) == 0)
ULV2_ERROR(ulv2d, "LeapController is not connected\n");
os_nanosleep(U_1_000_000_000 * 0.1);
error_time += 1;
continue;
}
error_time = 100; // if there's an error next time, the modulo will return 0.
Leap::Frame frame = LeapController.frame();
Leap::HandList hands = frame.hands();
bool leftbeendone = false;
bool rightbeendone = false;
for (Leap::HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
int hi; // hand index
const Leap::Hand hand = *hl;
// if (hand.confidence() < *hand_min_confidence)
// continue;
if (hand.isLeft()) {
if (leftbeendone)
continue; // in case there are more than one left hand
leftbeendone = true;
hi = 0;
}
if (!hand.isLeft()) {
if (rightbeendone)
continue; // in case there are more than one right hand
rightbeendone = true;
hi = 1;
}
ulv2_process_hand(hand, &ulv2d->joints_write_in[hi], hi);
}
os_thread_helper_lock(&ulv2d->leap_loop_oth);
memcpy(&ulv2d->joints_read_out, &ulv2d->joints_write_in, sizeof(struct xrt_hand_joint_set) * 2);
//! @todo (Moses Turner) Could be using LeapController.now() to try to emulate our own pose prediction,
//! but I ain't got time for that
ulv2d->hand_exists[0] = leftbeendone;
ulv2d->hand_exists[1] = rightbeendone;
os_thread_helper_unlock(&ulv2d->leap_loop_oth);
}
cleanup_leap_loop:
ULV2_TRACE(ulv2d, "leaving input thread\n");
ulv2d->our_thread_status = THREAD_ERRORED_OUT;
pthread_exit(NULL);
}
static void
ulv2_device_update_inputs(struct xrt_device *xdev)
{
// Empty
}
static void
ulv2_device_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name,
uint64_t at_timestamp_ns,
struct xrt_hand_joint_set *out_value)
{
//! @todo this function doesn't do anything with at_timestamp_ns,
// would be nice to add pose-prediction. Probably once leap motion sagittarius comes out for Linux
struct ulv2_device *ulv2d = ulv2_device(xdev);
if (name != XRT_INPUT_GENERIC_HAND_TRACKING_LEFT && name != XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT) {
ULV2_ERROR(ulv2d, "unknown input name for hand tracker");
return;
}
bool hand_index = (name == XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT); // 0 if left, 1 if right.
bool hand_valid = ulv2d->hand_exists[hand_index];
os_thread_helper_lock(&ulv2d->leap_loop_oth);
memcpy(out_value, &ulv2d->joints_read_out[hand_index], sizeof(struct xrt_hand_joint_set));
hand_valid = ulv2d->hand_exists[hand_index];
os_thread_helper_unlock(&ulv2d->leap_loop_oth);
m_space_relation_ident(&out_value->hand_pose);
if (hand_valid) {
out_value->is_active = true;
out_value->hand_pose.relation_flags = valid_flags;
} else {
out_value->is_active = false;
}
}
static void
ulv2_device_destroy(struct xrt_device *xdev)
{
struct ulv2_device *ulv2d = ulv2_device(xdev);
ulv2d->pthread_should_stop = true;
os_thread_helper_stop(&ulv2d->leap_loop_oth);
// Remove the variable tracking.
u_var_remove_root(ulv2d);
u_device_free(&ulv2d->base);
}
int
ulv2_found(struct xrt_prober *xp,
struct xrt_prober_device **devices,
size_t num_devices,
size_t index,
cJSON *attached_data,
struct xrt_device **out_xdev)
{
enum u_device_alloc_flags flags = U_DEVICE_ALLOC_NO_FLAGS;
int num_hands = 2;
struct ulv2_device *ulv2d = U_DEVICE_ALLOCATE(struct ulv2_device, flags, num_hands, 0);
os_thread_helper_init(&ulv2d->leap_loop_oth);
os_thread_helper_start(&ulv2d->leap_loop_oth, (&leap_input_loop), (void *)&ulv2d->base);
ulv2d->base.tracking_origin = &ulv2d->tracking_origin;
ulv2d->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
math_pose_identity(&ulv2d->base.tracking_origin->offset);
ulv2d->ll = debug_get_log_option_ulv2_log();
ulv2d->base.update_inputs = ulv2_device_update_inputs;
ulv2d->base.get_hand_tracking = ulv2_device_get_hand_tracking;
ulv2d->base.destroy = ulv2_device_destroy;
strncpy(ulv2d->base.str, "Leap Motion v2 driver", XRT_DEVICE_NAME_LEN);
strncpy(ulv2d->base.serial, "Leap Motion v2 driver", XRT_DEVICE_NAME_LEN);
ulv2d->base.inputs[0].name = XRT_INPUT_GENERIC_HAND_TRACKING_LEFT;
ulv2d->base.inputs[1].name = XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT;
ulv2d->base.name = XRT_DEVICE_HAND_TRACKER;
ulv2d->base.device_type = XRT_DEVICE_TYPE_HAND_TRACKER;
ulv2d->base.hand_tracking_supported = true;
u_var_add_root(ulv2d, "Leap Motion v2 driver", true);
u_var_add_ro_text(ulv2d, ulv2d->base.str, "Name");
uint64_t start_time = os_monotonic_get_ns();
uint64_t too_long = time_s_to_ns(15.0f);
while (ulv2d->our_thread_status != THREAD_OK) {
ULV2_TRACE(ulv2d, "waiting... thread status is %d", ulv2d->our_thread_status);
if (ulv2d->our_thread_status == THREAD_ERRORED_OUT)
goto cleanup;
if ((os_monotonic_get_ns() - (uint64_t)start_time) > too_long) {
ULV2_ERROR(ulv2d,
"For some reason the Leap thread locked up. This is a serious error and should "
"never happen.");
goto cleanup;
}
os_nanosleep(time_s_to_ns(0.01));
}
ULV2_INFO(ulv2d, "Hand Tracker initialized!");
out_xdev[0] = &ulv2d->base;
return 1;
cleanup:
ulv2_device_destroy(&ulv2d->base);
return 0;
}
} // extern "C"

35
src/xrt/drivers/ultraleap_v2/ulv2_interface.h Normal file
View file

@ -0,0 +1,35 @@
// Copyright 2020-2021, Collabora, Ltd.
// Copyright 2020-2021, Moses Turner.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Driver for Ultraleap's V2 API for the Leap Motion Controller.
* @author Moses Turner <mosesturner@protonmail.com>
* @author Christoph Haag <christoph.haag@collabora.com>
* @ingroup drv_ulv2
*/
#pragma once
#include "math/m_api.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
#ifdef __cplusplus
extern "C" {
#endif
#define ULV2_VID 0xf182
#define ULV2_PID 0x0003
int
ulv2_found(struct xrt_prober *xp,
struct xrt_prober_device **devices,
size_t num_devices,
size_t index,
cJSON *attached_data,
struct xrt_device **out_xdev);
#ifdef __cplusplus
}
#endif

4
src/xrt/targets/common/CMakeLists.txt
View file

@ -44,6 +44,10 @@ if(XRT_BUILD_DRIVER_NS)
target_link_libraries(target_lists PRIVATE drv_ns)
endif()
if(XRT_BUILD_DRIVER_ULV2)
target_link_libraries(target_lists PRIVATE drv_ulv2)
endif()
if(XRT_BUILD_DRIVER_OHMD)
target_link_libraries(target_lists PRIVATE drv_ohmd)
endif()

8
src/xrt/targets/common/target_lists.c
View file

@ -70,6 +70,10 @@
#include "realsense/rs_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_ULV2
#include "ultraleap_v2/ulv2_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_QWERTY
#include "qwerty/qwerty_interface.h"
#endif
@ -113,6 +117,10 @@ struct xrt_prober_entry target_entry_list[] = {
{VALVE_VID, VIVE_WATCHMAN_DONGLE_GEN2, vive_controller_found, "Valve Watchman Wireless Device", "vive"},
#endif
#ifdef XRT_BUILD_DRIVER_ULV2
{ULV2_VID, ULV2_PID, ulv2_found, "Leap Motion Controller", "ulv2"},
#endif
{0x0000, 0x0000, NULL, NULL, NULL}, // Terminate
};

4
src/xrt/targets/meson.build
View file

@ -81,6 +81,10 @@ if 'remote' in drivers
driver_libs += [lib_drv_remote]
endif
if 'ulv2' in drivers
driver_libs += [lib_drv_ulv2]
endif
driver_libs += [lib_drv_multi]
subdir('common')