d/survive: Add survive driver

CMakeLists.txt

@@ -107,6 +107,7 @@ option(BUILD_WITH_HDK "Enable HDK driver" ON)
 option(BUILD_WITH_PSMV "Enable Playstation Move driver" ON)
 option(BUILD_WITH_HYDRA "Enable Hydra driver" ON)
 option(BUILD_WITH_NS "Enable North Star driver" ON)
+option(BUILD_WITH_LIBSURVIVE "Enable libsurvive driver" OFF)
 
 # You can set this from a superproject to add a driver
 list(APPEND AVAILABLE_DRIVERS ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM)
@@ -182,6 +183,13 @@ if(BUILD_WITH_NS)
 	set(BUILD_DRIVER_NS TRUE)
 endif()
 
+if (BUILD_WITH_LIBSURVIVE)
+	find_package(PkgConfig REQUIRED)
+	pkg_check_modules(SURVIVE REQUIRED IMPORTED_TARGET survive)
+	add_definitions(-DXRT_BUILD_DRIVER_SURVIVE)
+	set(BUILD_DRIVER_SURVIVE TRUE)
+endif()
+
 if(BUILD_WITH_PSVR)
 	if (NOT ${HIDAPI_FOUND})
 		message(FATAL_ERROR "PSVR driver requires hidapi")

README.md

@@ -178,6 +178,32 @@ You can verify that it stuck with the command.
 xrandr --prop
 ```
 
+## Using libsurvive
+
+To enable the libsurvive driver, libsurvive has to be installed as a library with a pkgconfig file
+(https://github.com/cntools/libsurvive/pull/187).
+
+When starting any libsrvive or OpenXR application, libsurvive will run calibration and save
+configuration and calibration data in the current working directory.
+
+Make sure the HMD can see both basestations and is not moved during calibration.
+
+To remove libsurvive's calibration data (e.g. to force recalibration) delete the following
+files/directories:
+
+    rm -r *config.json calinfo
+
+Though working and somewhat usable, support for the libsurvive driver is **experimental**.
+Therefore with both meson and cmake, the survive driver has to be explicitly enabled with
+
+```
+#cmake
+-DBUILD_WITH_LIBSURVIVE=On
+
+#meson
+-Ddrivers=auto,survive
+```
+
 ## Coding style and formatting
 
 [clang-format][] is used,

meson.build

@@ -65,6 +65,7 @@ udev    = dependency('libudev', required: false)
 libuvc  = dependency('libuvc', required: false)
 vulkan  = dependency('vulkan', required: true)
 zlib    = dependency('zlib', required: false)
+survive = dependency('survive', required: false)
 
 opencv = dependency('opencv4', required: false)
 if not opencv.found()
@@ -183,6 +184,12 @@ if v4l2.found() and ('auto' in drivers or 'v4l2' in drivers)
 	endif
 endif
 
+if survive.found() and ('survive' in drivers)
+  if 'survive' not in drivers
+    drivers += ['survive']
+    endif
+endif
+
 if drivers.length() == 0 or drivers == ['auto']
 	error('You must enable at least one driver.')
 endif

meson_options.txt

@@ -3,7 +3,7 @@
 
 option('drivers',
 	type: 'array',
-	choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vive'],
+	choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vive', 'survive'],
 	value: ['auto'],
 	description: 'Set of drivers to build')
 

src/xrt/drivers/CMakeLists.txt

@@ -162,6 +162,19 @@ if(BUILD_DRIVER_V4L2)
 	list(APPEND ENABLED_DRIVERS v4l2)
 endif()
 
+if (BUILD_WITH_LIBSURVIVE)
+	set(SURVIVE_SOURCE_FILES
+		survive/survive_driver.c
+		survive/survive_interface.h
+		survive/survive_wrap.c
+		survive/survive_wrap.h
+		)
+
+	add_library(drv_survive STATIC ${SURVIVE_SOURCE_FILES})
+	target_link_libraries(drv_survive PRIVATE xrt-interfaces aux_os aux_util aux_math PkgConfig::SURVIVE)
+	list(APPEND ENABLED_HEADSET_DRIVERS survive)
+endif()
+
 if(ENABLED_HEADSET_DRIVERS)
 	set(ENABLED_DRIVERS ${ENABLED_HEADSET_DRIVERS} ${ENABLED_DRIVERS})
 	list(SORT ENABLED_DRIVERS)

src/xrt/drivers/meson.build

@@ -136,3 +136,19 @@ lib_drv_vive = static_library(
 	dependencies: [aux, zlib],
 	build_by_default: 'vive' in drivers,
 )
+
+lib_drv_survive = static_library(
+	'drv_survive',
+	files(
+		'survive/survive_driver.c',
+		'survive/survive_interface.h',
+		'survive/survive_wrap.c',
+		'survive/survive_wrap.h'
+	),
+	include_directories: [
+		xrt_include,
+		cjson_include,
+	],
+	dependencies: [aux, zlib, survive],
+	build_by_default: 'survive' in drivers,
+)

src/xrt/drivers/survive/survive_interface.h

@@ -0,0 +1,36 @@
+// Copyright 2019, Collabora, Ltd.
+// SPDX-License-Identifier: Apache-2.0
+/*!
+ * @file
+ * @brief  Interface to Libsurvive adapter.
+ * @author Christoph Haag <christoph.haag@collabora.com>
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup drv_survive
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define HTC_VID 0x0bb4
+#define VALVE_VID 0x28de
+
+#define VIVE_PID 0x2c87
+#define VIVE_LIGHTHOUSE_FPGA_RX 0x2000
+
+#define VIVE_PRO_MAINBOARD_PID 0x0309
+#define VIVE_PRO_LHR_PID 0x2300
+
+int
+survive_found(struct xrt_prober *xp,
+              struct xrt_prober_device **devices,
+              size_t num_devices,
+              size_t index,
+              cJSON *attached_data,
+              struct xrt_device **out_xdevs);
+
+#ifdef __cplusplus
+}
+#endif

src/xrt/drivers/survive/survive_wrap.c

@@ -0,0 +1,30 @@
+// Copyright 2020, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief low level libsurvive wrapper
+ * @author Christoph Haag <christoph.haag@collabora.com>
+ * @ingroup drv_survive
+ */
+
+#define SURVIVE_ENABLE_FULL_API 1
+#include "survive_api.h"
+
+#include "survive_wrap.h"
+
+// TODO: expose config values we need through actual survive API
+#include "survive.h"
+
+bool
+survive_config_ready(const SurviveSimpleObject *sso)
+{
+	SurviveObject *so = survive_simple_get_survive_object(sso);
+	return so->conf != 0;
+}
+
+char *
+survive_get_json_config(const SurviveSimpleObject *sso)
+{
+	SurviveObject *so = survive_simple_get_survive_object(sso);
+	return so->conf;
+}

src/xrt/drivers/survive/survive_wrap.h

@@ -0,0 +1,18 @@
+// Copyright 2020, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief low level libsurvive wrapper
+ * @author Christoph Haag <christoph.haag@collabora.com>
+ * @ingroup drv_survive
+ */
+
+#pragma once
+
+#include "survive_api.h"
+
+bool
+survive_config_ready(const SurviveSimpleObject *sso);
+
+char *
+survive_get_json_config(const SurviveSimpleObject *sso);

src/xrt/targets/common/CMakeLists.txt

@@ -67,6 +67,9 @@ if(BUILD_DRIVER_VIVE)
 	target_link_libraries(target_lists PRIVATE drv_vive)
 endif()
 
+if(BUILD_DRIVER_SURVIVE)
+	target_link_libraries(target_lists PRIVATE drv_survive)
+endif()
 
 ####
 # Instance

src/xrt/targets/common/target_lists.c

@@ -42,6 +42,10 @@
 #include "hydra/hydra_interface.h"
 #endif
 
+#ifdef XRT_BUILD_DRIVER_SURVIVE
+#include "survive/survive_interface.h"
+#endif
+
 #ifdef XRT_BUILD_DRIVER_VIVE
 #include "vive/vive_prober.h"
 #include "vive/vive_controller_interface.h"
@@ -82,6 +86,12 @@ struct xrt_prober_entry target_entry_list[] = {
     {HDK_VID, HDK_PID, hdk_found, "OSVR HDK"},
 #endif // XRT_BUILD_DRIVER_HDK
 
+#ifdef XRT_BUILD_DRIVER_SURVIVE
+    {HTC_VID, VIVE_PID, survive_found, "HTC Vive"},
+    {HTC_VID, VIVE_PRO_MAINBOARD_PID, survive_found, "HTC Vive Pro"},
+    {VALVE_VID, VIVE_PRO_LHR_PID, survive_found, "Valve Index"},
+#endif
+
 #ifdef XRT_BUILD_DRIVER_VIVE
     {HTC_VID, VIVE_PID, vive_found, "HTC Vive"},
     {HTC_VID, VIVE_PRO_MAINBOARD_PID, vive_found, "HTC Vive Pro"},

src/xrt/targets/meson.build

@@ -54,6 +54,10 @@ if 'vive' in drivers
 	driver_libs += [lib_drv_vive]
 endif
 
+if 'survive' in drivers
+	driver_libs += [lib_drv_survive]
+endif
+
 subdir('common')
 subdir('openxr')
 subdir('cli')