mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-28 02:26:16 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

xrt: Devices get a timekeeping object, must return a timestamp.

Browse source 
Updates drivers to match.
This commit is contained in:
Ryan Pavlik 2019-03-22 08:39:35 -07:00
parent 294be21392
commit 9004ea80bb
4 changed files with 18 additions and 1 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
src/xrt/drivers/hdk/hdk_device.cpp
View file

@ -28,6 +28,7 @@
#include "util/u_debug.h"
#include "util/u_misc.h"
#include "util/u_device.h"
#include "util/u_time.h"
#include "hdk_device.h"
@ -99,11 +100,14 @@ hdk_device_destroy(struct xrt_device *xdev)
static void
hdk_device_get_tracked_pose(struct xrt_device *xdev,
struct time_state *timekeeping,
int64_t *out_timestamp,
struct xrt_space_relation *out_relation)
{
struct hdk_device *hd = hdk_device(xdev);
uint8_t buffer[32];
int64_t now = time_state_get_now(timekeeping);
auto bytesRead = hid_read(hd->dev, &(buffer[0]), sizeof(buffer));
if (bytesRead == -1) {
if (!hd->disconnect_notified) {
@ -121,6 +125,8 @@ hdk_device_get_tracked_pose(struct xrt_device *xdev,
out_relation->relation_flags = XRT_SPACE_RELATION_BITMASK_NONE;
return;
}
//! @todo adjust for latency here
*out_timestamp = now;
uint8_t *buf = &(buffer[0]);
#if 0

6
src/xrt/drivers/ohmd/oh_device.c
View file

@ -20,6 +20,7 @@
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_time.h"
#include "oh_device.h"
@ -41,11 +42,16 @@ oh_device_destroy(struct xrt_device *xdev)
static void
oh_device_get_tracked_pose(struct xrt_device *xdev,
struct time_state *timekeeping,
int64_t *out_timestamp,
struct xrt_space_relation *out_relation)
{
struct oh_device *ohd = oh_device(xdev);
struct xrt_quat quat = {0.f, 0.f, 0.f, 1.f};
ohmd_ctx_update(ohd->ctx);
int64_t now = time_state_get_now(timekeeping);
//! @todo adjust for latency here
*out_timestamp = now;
ohmd_device_getf(ohd->dev, OHMD_ROTATION_QUAT, &quat.x);
out_relation->pose.orientation = quat;
//! @todo assuming that orientation is actually currently tracked.

3
src/xrt/include/xrt/xrt_device.h
View file

@ -15,6 +15,7 @@
extern "C" {
#endif
struct time_state;
/*!
* A per-lens view information.
@ -153,6 +154,8 @@ struct xrt_device
* This is very very WIP and will need to be made a lot more advanced.
*/
void (*get_tracked_pose)(struct xrt_device *xdev,
struct time_state *timekeeping,
int64_t *out_timestamp,
struct xrt_space_relation *out_relation);
/*!

4
src/xrt/state_trackers/oxr/oxr_session.c
View file

@ -135,7 +135,9 @@ oxr_session_get_view_pose_at(struct oxr_logger *log,
struct xrt_device *xdev = sess->sys->device;
struct xrt_space_relation relation;
xdev->get_tracked_pose(xdev, &relation);
int64_t timestamp;
xdev->get_tracked_pose(xdev, sess->sys->inst->timekeeping, &timestamp,
&relation);
if ((relation.relation_flags &
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) != 0) {
pose->orientation = relation.pose.orientation;