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d/xreal_air: Rename nreal air to xreal air in driver, support xreal air 2 and xreal air 2 pro
This commit is contained in:
TheJackiMonster
Tobias Frisch
parent
ffb71af26f
commit
9f4f2541a6
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@ -310,7 +310,6 @@ option_with_deps(XRT_BUILD_DRIVER_HDK "Enable HDK driver" DEPENDS XRT_HAVE_INTER
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option_with_deps(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" DEPENDS ILLIXR_PATH)
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option(XRT_BUILD_DRIVER_NS "Enable North Star driver" ON)
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option_with_deps(XRT_BUILD_DRIVER_NA "Enable Nreal Air HMD driver" DEPENDS XRT_HAVE_HIDAPI)
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option_with_deps(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" DEPENDS OPENHMD_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_OPENGLOVES "Enable OpenGloves driver" DEPENDS XRT_HAVE_LIBUDEV XRT_HAVE_BLUETOOTH)
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option_with_deps(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" DEPENDS XRT_HAVE_INTERNAL_HID "NOT MSVC")
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@ -328,6 +327,7 @@ option_with_deps(XRT_BUILD_DRIVER_ULV5 "Enable Ultraleap v5 driver" DEPENDS Leap
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option_with_deps(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" DEPENDS XRT_HAVE_GST)
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option_with_deps(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" DEPENDS ZLIB_FOUND XRT_HAVE_LINUX XRT_MODULE_AUX_VIVE)
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option_with_deps(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" DEPENDS "NOT WIN32")
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option_with_deps(XRT_BUILD_DRIVER_XREAL_AIR "Enable Xreal Air HMD driver" DEPENDS XRT_HAVE_HIDAPI)
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option_with_deps(XRT_BUILD_DRIVER_SIMULAVR "Enable simula driver" DEPENDS XRT_HAVE_REALSENSE)
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option(XRT_BUILD_DRIVER_SIMULATED "Enable simulated driver" ON)
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@ -663,7 +663,6 @@ message(STATUS "# DRIVER_HANDTRACKING: ${XRT_BUILD_DRIVER_HANDTRACKIN
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message(STATUS "# DRIVER_HDK: ${XRT_BUILD_DRIVER_HDK}")
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message(STATUS "# DRIVER_HYDRA: ${XRT_BUILD_DRIVER_HYDRA}")
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message(STATUS "# DRIVER_ILLIXR: ${XRT_BUILD_DRIVER_ILLIXR}")
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message(STATUS "# DRIVER_NA: ${XRT_BUILD_DRIVER_NA}")
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message(STATUS "# DRIVER_NS: ${XRT_BUILD_DRIVER_NS}")
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message(STATUS "# DRIVER_OHMD: ${XRT_BUILD_DRIVER_OHMD}")
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message(STATUS "# DRIVER_OPENGLOVES: ${XRT_BUILD_DRIVER_OPENGLOVES}")
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@ -684,6 +683,7 @@ message(STATUS "# DRIVER_ULV5: ${XRT_BUILD_DRIVER_ULV5}")
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message(STATUS "# DRIVER_VF: ${XRT_BUILD_DRIVER_VF}")
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message(STATUS "# DRIVER_VIVE: ${XRT_BUILD_DRIVER_VIVE}")
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message(STATUS "# DRIVER_WMR: ${XRT_BUILD_DRIVER_WMR}")
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message(STATUS "# DRIVER_XREAL_AIR: ${XRT_BUILD_DRIVER_XREAL_AIR}")
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message(STATUS "# DRIVER_STEAMVR_LIGHTHOUSE: ${XRT_BUILD_DRIVER_STEAMVR_LIGHTHOUSE}")
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message(STATUS "#####----- Config -----#####")
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# cmake-format: on
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@ -110,16 +110,16 @@ if(XRT_BUILD_DRIVER_NS)
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list(APPEND ENABLED_HEADSET_DRIVERS ns)
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endif()
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if(XRT_BUILD_DRIVER_NA)
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if(XRT_BUILD_DRIVER_XREAL_AIR)
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add_library(
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drv_na STATIC nreal_air/na_hmd.h nreal_air/na_hmd.c nreal_air/na_interface.h
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nreal_air/na_packet.c
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drv_xreal_air STATIC xreal_air/xreal_air_hmd.h xreal_air/xreal_air_hmd.c
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xreal_air/xreal_air_interface.h xreal_air/xreal_air_packet.c
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)
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target_link_libraries(
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drv_na PRIVATE xrt-interfaces HIDAPI::hidapi aux_util xrt-external-cjson
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drv_xreal_air PRIVATE xrt-interfaces HIDAPI::hidapi aux_util xrt-external-cjson
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)
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target_include_directories(drv_na PRIVATE ${HIDAPI_INCLUDE_DIRS})
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list(APPEND ENABLED_HEADSET_DRIVERS na)
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target_include_directories(drv_xreal_air PRIVATE ${HIDAPI_INCLUDE_DIRS})
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list(APPEND ENABLED_HEADSET_DRIVERS xreal_air)
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endif()
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if(XRT_BUILD_DRIVER_ULV2)
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@ -1,166 +0,0 @@
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// Copyright 2023, Tobias Frisch
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Nreal Air packet parsing implementation.
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* @author Tobias Frisch <thejackimonster@gmail.com>
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* @ingroup drv_na
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*/
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#pragma once
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#include "xrt/xrt_device.h"
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#include "xrt/xrt_prober.h"
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#include "os/os_hid.h"
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#include "util/u_logging.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define NA_HANDLE_IFACE 3
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#define NA_CONTROL_IFACE 4
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#define NA_MSG_R_BRIGHTNESS 0x03
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#define NA_MSG_W_BRIGHTNESS 0x04
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#define NA_MSG_R_DISP_MODE 0x07
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#define NA_MSG_W_DISP_MODE 0x08
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#define NA_MSG_P_START_HEARTBEAT 0x6c02
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#define NA_MSG_P_BUTTON_PRESSED 0x6C05
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#define NA_MSG_P_END_HEARTBEAT 0x6c12
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#define NA_MSG_P_ASYNC_TEXT_LOG 0x6c09
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#define NA_BUTTON_PHYS_DISPLAY_TOGGLE 0x1
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#define NA_BUTTON_PHYS_BRIGHTNESS_UP 0x2
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#define NA_BUTTON_PHYS_BRIGHTNESS_DOWN 0x3
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#define NA_BUTTON_VIRT_DISPLAY_TOGGLE 0x1
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#define NA_BUTTON_VIRT_MENU_TOGGLE 0x3
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#define NA_BUTTON_VIRT_BRIGHTNESS_UP 0x6
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#define NA_BUTTON_VIRT_BRIGHTNESS_DOWN 0x7
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#define NA_BUTTON_VIRT_MODE_UP 0x8
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#define NA_BUTTON_VIRT_MODE_DOWN 0x9
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#define NA_BRIGHTNESS_MIN 0
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#define NA_BRIGHTNESS_MAX 7
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#define NA_DISPLAY_MODE_2D 0x1
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#define NA_DISPLAY_MODE_3D 0x3
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#define NA_TICKS_PER_SECOND (1000.0) // 1 KHz ticks
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#define NA_NS_PER_TICK (1000000) // Each tick is a millisecond
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#define NA_MSG_GET_CAL_DATA_LENGTH 0x14
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#define NA_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15
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#define NA_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16
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#define NA_MSG_WRITE_CAL_DATA_SEGMENT 0x17
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#define NA_MSG_FREE_CAL_BUFFER 0x18
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#define NA_MSG_START_IMU_DATA 0x19
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#define NA_MSG_GET_STATIC_ID 0x1A
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#define NA_MSG_UNKNOWN 0x1D
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struct na_parsed_calibration
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{
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struct xrt_vec3 accel_bias;
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struct xrt_quat accel_q_gyro;
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struct xrt_vec3 gyro_bias;
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struct xrt_quat gyro_q_mag;
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struct xrt_vec3 mag_bias;
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struct xrt_vec3 scale_accel;
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struct xrt_vec3 scale_gyro;
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struct xrt_vec3 scale_mag;
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float imu_noises[4];
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};
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/*!
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* A parsed single gyroscope, accelerometer and
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* magnetometer sample with their corresponding
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* factors for conversion from raw data.
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*
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* @ingroup drv_na
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*/
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struct na_parsed_sample
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{
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struct xrt_vec3_i32 accel;
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struct xrt_vec3_i32 gyro;
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struct xrt_vec3_i32 mag;
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int16_t accel_multiplier;
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int16_t gyro_multiplier;
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int16_t mag_multiplier;
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int32_t accel_divisor;
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int32_t gyro_divisor;
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int32_t mag_divisor;
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};
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/*!
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* Over the wire sensor packet from the glasses.
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*
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* @ingroup drv_na
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*/
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struct na_parsed_sensor
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{
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int16_t temperature;
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uint64_t timestamp;
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struct na_parsed_sample sample;
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};
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/*!
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* Over the wire sensor control data packet from the glasses.
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*
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* @ingroup drv_na
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*/
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struct na_parsed_sensor_control_data
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{
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uint16_t length;
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uint8_t msgid;
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uint8_t data[56];
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};
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/*!
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* A control packet from the glasses in wire format.
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*
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* @ingroup drv_na
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*/
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struct na_parsed_control
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{
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uint16_t length;
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uint64_t timestamp;
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uint16_t action;
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uint8_t data[42];
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};
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/*!
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* Create Nreal Air glasses.
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*
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* @ingroup drv_na
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*/
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struct xrt_device *
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na_hmd_create_device(struct os_hid_device *sensor_device,
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struct os_hid_device *control_device,
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enum u_logging_level log_level);
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bool
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na_parse_calibration_buffer(struct na_parsed_calibration *calibration, const char *buffer, size_t size);
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bool
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na_parse_sensor_packet(struct na_parsed_sensor *sensor, const uint8_t *buffer, int size);
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bool
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na_parse_sensor_control_data_packet(struct na_parsed_sensor_control_data *data, const uint8_t *buffer, int size);
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bool
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na_parse_control_packet(struct na_parsed_control *control, const uint8_t *buffer, int size);
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#ifdef __cplusplus
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}
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#endif
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@ -1,53 +0,0 @@
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// Copyright 2023, Tobias Frisch
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Nreal Air packet parsing implementation.
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* @author Tobias Frisch <thejackimonster@gmail.com>
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* @ingroup drv_na
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* @defgroup drv_na Nreal Air driver
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* @ingroup drv
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*
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* @brief Driver for the Nreal Air HMD.
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*/
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/*!
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* Vendor id for Nreal Air.
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*
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* @ingroup drv_na
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*/
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#define NA_VID 0x3318
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/*!
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* Product id for Nreal Air.
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*
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* @ingroup drv_na
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*/
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#define NA_PID 0x0424
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/*!
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* Builder setup for Nreal Air glasses.
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*
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* @ingroup drv_na
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*/
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struct xrt_builder *
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nreal_air_builder_create(void);
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/*!
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* @dir drivers/nreal_air
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*
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* @brief nreal_air files.
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*/
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#ifdef __cplusplus
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}
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#endif
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@ -1,10 +1,10 @@
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// Copyright 2023, Tobias Frisch
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// Copyright 2023-2024, Tobias Frisch
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Nreal Air packet parsing implementation.
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* @brief Xreal Air packet parsing implementation.
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* @author Tobias Frisch <thejackimonster@gmail.com>
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* @ingroup drv_na
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* @ingroup drv_xreal_air
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*/
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#include "xrt/xrt_compiler.h"
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@ -21,7 +21,7 @@
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#include "util/u_trace_marker.h"
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#include "util/u_var.h"
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#include "na_hmd.h"
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#include "xreal_air_hmd.h"
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#include "math/m_mathinclude.h"
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#include "math/m_relation_history.h"
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@ -31,8 +31,8 @@
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#include <stdint.h>
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#include <stdbool.h>
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#define NA_DEBUG(hmd, ...) U_LOG_XDEV_IFL_D(&hmd->base, hmd->log_level, __VA_ARGS__)
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#define NA_ERROR(hmd, ...) U_LOG_XDEV_IFL_E(&hmd->base, hmd->log_level, __VA_ARGS__)
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#define XREAL_AIR_DEBUG(hmd, ...) U_LOG_XDEV_IFL_D(&hmd->base, hmd->log_level, __VA_ARGS__)
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#define XREAL_AIR_ERROR(hmd, ...) U_LOG_XDEV_IFL_E(&hmd->base, hmd->log_level, __VA_ARGS__)
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#define SENSOR_BUFFER_SIZE 64
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#define CONTROL_BUFFER_SIZE 64
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@ -41,12 +41,12 @@
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#define CONTROL_HEAD 0xFD
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/*!
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* Private struct for the nreal_air device.
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* Private struct for the xreal_air device.
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*
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* @ingroup drv_na
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* @ingroup drv_xreal_air
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* @implements xrt_device
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*/
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struct na_hmd
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struct xreal_air_hmd
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{
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struct xrt_device base;
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@ -63,7 +63,7 @@ struct na_hmd
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//! Only touched from the sensor thread.
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timepoint_ns last_sensor_time;
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struct na_parsed_sensor last;
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struct xreal_air_parsed_sensor last;
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struct
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{
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@ -97,7 +97,7 @@ struct na_hmd
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char *calibration_buffer;
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bool calibration_valid;
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struct na_parsed_calibration calibration;
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struct xreal_air_parsed_calibration calibration;
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struct
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{
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@ -115,10 +115,10 @@ struct na_hmd
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*
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*/
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static inline struct na_hmd *
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na_hmd(struct xrt_device *dev)
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static inline struct xreal_air_hmd *
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xreal_air_hmd(struct xrt_device *dev)
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{
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return (struct na_hmd *)dev;
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return (struct xreal_air_hmd *)dev;
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}
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const uint32_t crc32_table[256] = {
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@ -167,7 +167,8 @@ crc32_checksum(const uint8_t *buf, uint32_t len)
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static uint8_t
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scale_brightness(uint8_t brightness)
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{
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float relative = ((float)brightness - NA_BRIGHTNESS_MIN) / (NA_BRIGHTNESS_MAX - NA_BRIGHTNESS_MIN);
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float relative =
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((float)brightness - XREAL_AIR_BRIGHTNESS_MIN) / (XREAL_AIR_BRIGHTNESS_MAX - XREAL_AIR_BRIGHTNESS_MIN);
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relative = CLAMP(relative, 0.0f, 1.0f);
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return (uint8_t)(relative * 100.0f);
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}
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@ -177,7 +178,7 @@ unscale_brightness(uint8_t scaled_brightness)
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{
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float relative = ((float)scaled_brightness) / 100.0f;
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relative = CLAMP(relative, 0.0f, 1.0f);
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return (uint8_t)(relative * (NA_BRIGHTNESS_MAX - NA_BRIGHTNESS_MIN)) + NA_BRIGHTNESS_MIN;
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return (uint8_t)(relative * (XREAL_AIR_BRIGHTNESS_MAX - XREAL_AIR_BRIGHTNESS_MIN)) + XREAL_AIR_BRIGHTNESS_MIN;
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}
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/*
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@ -187,7 +188,7 @@ unscale_brightness(uint8_t scaled_brightness)
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*/
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static bool
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send_payload_to_sensor(struct na_hmd *hmd, uint8_t msgid, const uint8_t *data, uint8_t len)
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send_payload_to_sensor(struct xreal_air_hmd *hmd, uint8_t msgid, const uint8_t *data, uint8_t len)
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{
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uint8_t payload[SENSOR_BUFFER_SIZE];
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@ -229,8 +230,8 @@ post_biased_coordinate_system(const struct xrt_vec3 *in, struct xrt_vec3 *out)
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}
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static void
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read_sample_and_apply_calibration(struct na_hmd *hmd,
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struct na_parsed_sample *sample,
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read_sample_and_apply_calibration(struct xreal_air_hmd *hmd,
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struct xreal_air_parsed_sample *sample,
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struct xrt_vec3 *out_accel,
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struct xrt_vec3 *out_gyro,
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struct xrt_vec3 *out_mag)
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@ -302,14 +303,14 @@ read_sample_and_apply_calibration(struct na_hmd *hmd,
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}
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static void
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update_fusion_locked(struct na_hmd *hmd, struct na_parsed_sample *sample, uint64_t timestamp_ns)
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update_fusion_locked(struct xreal_air_hmd *hmd, struct xreal_air_parsed_sample *sample, uint64_t timestamp_ns)
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{
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read_sample_and_apply_calibration(hmd, sample, &hmd->read.accel, &hmd->read.gyro, &hmd->read.mag);
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m_imu_3dof_update(&hmd->fusion, timestamp_ns, &hmd->read.accel, &hmd->read.gyro);
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}
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static void
|
||||
update_fusion(struct na_hmd *hmd, struct na_parsed_sample *sample, uint64_t timestamp_ns)
|
||||
update_fusion(struct xreal_air_hmd *hmd, struct xreal_air_parsed_sample *sample, uint64_t timestamp_ns)
|
||||
{
|
||||
struct xrt_space_relation rel;
|
||||
U_ZERO(&rel); // Clear out the relation.
|
||||
|
|
@ -339,7 +340,7 @@ calc_delta_and_handle_rollover(uint32_t next, uint32_t last)
|
|||
}
|
||||
|
||||
static timepoint_ns
|
||||
ensure_forward_progress_timestamps(struct na_hmd *hmd, timepoint_ns timestamp_ns)
|
||||
ensure_forward_progress_timestamps(struct xreal_air_hmd *hmd, timepoint_ns timestamp_ns)
|
||||
{
|
||||
timepoint_ns t = timestamp_ns;
|
||||
|
||||
|
|
@ -356,48 +357,49 @@ ensure_forward_progress_timestamps(struct na_hmd *hmd, timepoint_ns timestamp_ns
|
|||
}
|
||||
|
||||
static void
|
||||
request_sensor_control_get_cal_data_length(struct na_hmd *hmd)
|
||||
request_sensor_control_get_cal_data_length(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
// Request calibration data length.
|
||||
|
||||
if (!send_payload_to_sensor(hmd, NA_MSG_GET_CAL_DATA_LENGTH, NULL, 0)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for receiving calibration data length!");
|
||||
if (!send_payload_to_sensor(hmd, XREAL_AIR_MSG_GET_CAL_DATA_LENGTH, NULL, 0)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for receiving calibration data length!");
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
request_sensor_control_cal_data_get_next_segment(struct na_hmd *hmd)
|
||||
request_sensor_control_cal_data_get_next_segment(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
// Request next segment of calibration data.
|
||||
|
||||
if (!send_payload_to_sensor(hmd, NA_MSG_CAL_DATA_GET_NEXT_SEGMENT, NULL, 0)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for receiving next calibration data segment! %d / %d",
|
||||
hmd->calibration_buffer_pos, hmd->calibration_buffer_len);
|
||||
if (!send_payload_to_sensor(hmd, XREAL_AIR_MSG_CAL_DATA_GET_NEXT_SEGMENT, NULL, 0)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for receiving next calibration data segment! %d / %d",
|
||||
hmd->calibration_buffer_pos, hmd->calibration_buffer_len);
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
request_sensor_control_get_static_id(struct na_hmd *hmd)
|
||||
request_sensor_control_get_static_id(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
// Request the static id.
|
||||
|
||||
if (!send_payload_to_sensor(hmd, NA_MSG_GET_STATIC_ID, NULL, 0)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for receiving static id!");
|
||||
if (!send_payload_to_sensor(hmd, XREAL_AIR_MSG_GET_STATIC_ID, NULL, 0)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for receiving static id!");
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
request_sensor_control_start_imu_data(struct na_hmd *hmd, uint8_t imu_stream_state)
|
||||
request_sensor_control_start_imu_data(struct xreal_air_hmd *hmd, uint8_t imu_stream_state)
|
||||
{
|
||||
// Request to change the imu stream state.
|
||||
|
||||
if (!send_payload_to_sensor(hmd, NA_MSG_START_IMU_DATA, &imu_stream_state, 1)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for changing the imu stream state! %d", imu_stream_state);
|
||||
if (!send_payload_to_sensor(hmd, XREAL_AIR_MSG_START_IMU_DATA, &imu_stream_state, 1)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for changing the imu stream state! %d", imu_stream_state);
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
handle_sensor_control_get_cal_data_length(struct na_hmd *hmd, const struct na_parsed_sensor_control_data *data)
|
||||
handle_sensor_control_get_cal_data_length(struct xreal_air_hmd *hmd,
|
||||
const struct xreal_air_parsed_sensor_control_data *data)
|
||||
{
|
||||
// Read calibration data length.
|
||||
const uint32_t calibration_data_length =
|
||||
|
|
@ -421,7 +423,8 @@ handle_sensor_control_get_cal_data_length(struct na_hmd *hmd, const struct na_pa
|
|||
}
|
||||
|
||||
static void
|
||||
handle_sensor_control_cal_data_get_next_segment(struct na_hmd *hmd, const struct na_parsed_sensor_control_data *data)
|
||||
handle_sensor_control_cal_data_get_next_segment(struct xreal_air_hmd *hmd,
|
||||
const struct xreal_air_parsed_sensor_control_data *data)
|
||||
{
|
||||
if (hmd->calibration_buffer_len == 0) {
|
||||
request_sensor_control_get_cal_data_length(hmd);
|
||||
|
|
@ -429,8 +432,8 @@ handle_sensor_control_cal_data_get_next_segment(struct na_hmd *hmd, const struct
|
|||
}
|
||||
|
||||
if (hmd->calibration_buffer_len <= hmd->calibration_buffer_pos) {
|
||||
NA_ERROR(hmd, "Failed to receive next calibration data segment! %d / %d", hmd->calibration_buffer_pos,
|
||||
hmd->calibration_buffer_len);
|
||||
XREAL_AIR_ERROR(hmd, "Failed to receive next calibration data segment! %d / %d",
|
||||
hmd->calibration_buffer_pos, hmd->calibration_buffer_len);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -448,9 +451,9 @@ handle_sensor_control_cal_data_get_next_segment(struct na_hmd *hmd, const struct
|
|||
|
||||
if (hmd->calibration_buffer_pos == hmd->calibration_buffer_len) {
|
||||
// Parse calibration data from raw json.
|
||||
if (!na_parse_calibration_buffer(&hmd->calibration, hmd->calibration_buffer,
|
||||
hmd->calibration_buffer_len)) {
|
||||
NA_ERROR(hmd, "Failed parse calibration data!");
|
||||
if (!xreal_air_parse_calibration_buffer(&hmd->calibration, hmd->calibration_buffer,
|
||||
hmd->calibration_buffer_len)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed parse calibration data!");
|
||||
} else {
|
||||
hmd->calibration_valid = true;
|
||||
|
||||
|
|
@ -469,7 +472,7 @@ handle_sensor_control_cal_data_get_next_segment(struct na_hmd *hmd, const struct
|
|||
}
|
||||
|
||||
static void
|
||||
handle_sensor_control_start_imu_data(struct na_hmd *hmd, const struct na_parsed_sensor_control_data *data)
|
||||
handle_sensor_control_start_imu_data(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
|
||||
{
|
||||
// Read the imu stream state.
|
||||
const uint8_t imu_stream_state = data->data[0];
|
||||
|
|
@ -484,7 +487,7 @@ handle_sensor_control_start_imu_data(struct na_hmd *hmd, const struct na_parsed_
|
|||
}
|
||||
|
||||
static void
|
||||
handle_sensor_control_get_static_id(struct na_hmd *hmd, const struct na_parsed_sensor_control_data *data)
|
||||
handle_sensor_control_get_static_id(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
|
||||
{
|
||||
// Read the static id.
|
||||
const uint32_t static_id =
|
||||
|
|
@ -498,30 +501,32 @@ handle_sensor_control_get_static_id(struct na_hmd *hmd, const struct na_parsed_s
|
|||
}
|
||||
|
||||
static void
|
||||
handle_sensor_control_data_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
||||
handle_sensor_control_data_msg(struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
|
||||
{
|
||||
struct na_parsed_sensor_control_data data;
|
||||
struct xreal_air_parsed_sensor_control_data data;
|
||||
|
||||
if (!na_parse_sensor_control_data_packet(&data, buffer, size)) {
|
||||
NA_ERROR(hmd, "Could not decode sensor control data packet");
|
||||
if (!xreal_air_parse_sensor_control_data_packet(&data, buffer, size)) {
|
||||
XREAL_AIR_ERROR(hmd, "Could not decode sensor control data packet");
|
||||
}
|
||||
|
||||
hmd->imu_stream_state = 0xAA;
|
||||
|
||||
switch (data.msgid) {
|
||||
case NA_MSG_GET_CAL_DATA_LENGTH: handle_sensor_control_get_cal_data_length(hmd, &data); break;
|
||||
case NA_MSG_CAL_DATA_GET_NEXT_SEGMENT: handle_sensor_control_cal_data_get_next_segment(hmd, &data); break;
|
||||
case NA_MSG_ALLOCATE_CAL_DATA_BUFFER: break;
|
||||
case NA_MSG_WRITE_CAL_DATA_SEGMENT: break;
|
||||
case NA_MSG_FREE_CAL_BUFFER: break;
|
||||
case NA_MSG_START_IMU_DATA: handle_sensor_control_start_imu_data(hmd, &data); break;
|
||||
case NA_MSG_GET_STATIC_ID: handle_sensor_control_get_static_id(hmd, &data); break;
|
||||
default: NA_ERROR(hmd, "Got unknown sensor control data msgid, 0x%02x", data.msgid); break;
|
||||
case XREAL_AIR_MSG_GET_CAL_DATA_LENGTH: handle_sensor_control_get_cal_data_length(hmd, &data); break;
|
||||
case XREAL_AIR_MSG_CAL_DATA_GET_NEXT_SEGMENT:
|
||||
handle_sensor_control_cal_data_get_next_segment(hmd, &data);
|
||||
break;
|
||||
case XREAL_AIR_MSG_ALLOCATE_CAL_DATA_BUFFER: break;
|
||||
case XREAL_AIR_MSG_WRITE_CAL_DATA_SEGMENT: break;
|
||||
case XREAL_AIR_MSG_FREE_CAL_BUFFER: break;
|
||||
case XREAL_AIR_MSG_START_IMU_DATA: handle_sensor_control_start_imu_data(hmd, &data); break;
|
||||
case XREAL_AIR_MSG_GET_STATIC_ID: handle_sensor_control_get_static_id(hmd, &data); break;
|
||||
default: XREAL_AIR_ERROR(hmd, "Got unknown sensor control data msgid, 0x%02x", data.msgid); break;
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
handle_sensor_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
||||
handle_sensor_msg(struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
|
||||
{
|
||||
if (buffer[0] == 0xAA) {
|
||||
handle_sensor_control_data_msg(hmd, buffer, size);
|
||||
|
|
@ -531,8 +536,8 @@ handle_sensor_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
|||
timepoint_ns now_ns = (timepoint_ns)os_monotonic_get_ns();
|
||||
uint64_t last_timestamp = hmd->last.timestamp;
|
||||
|
||||
if (!na_parse_sensor_packet(&hmd->last, buffer, size)) {
|
||||
NA_ERROR(hmd, "Could not decode sensor packet");
|
||||
if (!xreal_air_parse_sensor_packet(&hmd->last, buffer, size)) {
|
||||
XREAL_AIR_ERROR(hmd, "Could not decode sensor packet");
|
||||
} else {
|
||||
hmd->imu_stream_state = 0x1;
|
||||
}
|
||||
|
|
@ -541,7 +546,7 @@ handle_sensor_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
|||
request_sensor_control_start_imu_data(hmd, 0xAA);
|
||||
}
|
||||
|
||||
struct na_parsed_sensor *s = &hmd->last;
|
||||
struct xreal_air_parsed_sensor *s = &hmd->last;
|
||||
|
||||
// According to the ICM-42688-P datasheet: (offset: 25 °C, sensitivity: 132.48 LSB/°C)
|
||||
hmd->read.temperature = ((float)s->temperature) / 132.48f + 25.0f;
|
||||
|
|
@ -553,7 +558,7 @@ handle_sensor_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
|||
// If this is larger then one second something bad is going on.
|
||||
if (hmd->fusion.state != M_IMU_3DOF_STATE_START &&
|
||||
inter_sample_duration_ns >= (time_duration_ns)U_TIME_1S_IN_NS) {
|
||||
NA_ERROR(hmd, "Drop packet (sensor too slow): %lu", inter_sample_duration_ns);
|
||||
XREAL_AIR_ERROR(hmd, "Drop packet (sensor too slow): %lu", inter_sample_duration_ns);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -568,7 +573,7 @@ handle_sensor_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
|||
}
|
||||
|
||||
static void
|
||||
sensor_clear_queue(struct na_hmd *hmd)
|
||||
sensor_clear_queue(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
uint8_t buffer[SENSOR_BUFFER_SIZE];
|
||||
|
||||
|
|
@ -578,7 +583,7 @@ sensor_clear_queue(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static int
|
||||
sensor_read_one_packet(struct na_hmd *hmd)
|
||||
sensor_read_one_packet(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
uint8_t buffer[SENSOR_BUFFER_SIZE];
|
||||
|
||||
|
|
@ -592,14 +597,14 @@ sensor_read_one_packet(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static int
|
||||
read_one_control_packet(struct na_hmd *hmd);
|
||||
read_one_control_packet(struct xreal_air_hmd *hmd);
|
||||
|
||||
static void *
|
||||
read_thread(void *ptr)
|
||||
{
|
||||
U_TRACE_SET_THREAD_NAME("Nreal Air");
|
||||
U_TRACE_SET_THREAD_NAME("Xreal Air");
|
||||
|
||||
struct na_hmd *hmd = (struct na_hmd *)ptr;
|
||||
struct xreal_air_hmd *hmd = (struct xreal_air_hmd *)ptr;
|
||||
int ret = 0;
|
||||
|
||||
os_thread_helper_lock(&hmd->oth);
|
||||
|
|
@ -637,7 +642,7 @@ read_thread(void *ptr)
|
|||
*
|
||||
*/
|
||||
static bool
|
||||
send_payload_to_control(struct na_hmd *hmd, uint16_t msgid, const uint8_t *data, uint8_t len)
|
||||
send_payload_to_control(struct xreal_air_hmd *hmd, uint16_t msgid, const uint8_t *data, uint8_t len)
|
||||
{
|
||||
uint8_t payload[CONTROL_BUFFER_SIZE];
|
||||
|
||||
|
|
@ -670,7 +675,7 @@ send_payload_to_control(struct na_hmd *hmd, uint16_t msgid, const uint8_t *data,
|
|||
}
|
||||
|
||||
static void
|
||||
handle_control_brightness(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_brightness(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// Check status
|
||||
if (control->data[0] != 0) {
|
||||
|
|
@ -685,7 +690,7 @@ handle_control_brightness(struct na_hmd *hmd, const struct na_parsed_control *co
|
|||
}
|
||||
|
||||
static void
|
||||
handle_control_display_mode(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_display_mode(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// Check status
|
||||
if (control->data[0] != 0) {
|
||||
|
|
@ -700,13 +705,13 @@ handle_control_display_mode(struct na_hmd *hmd, const struct na_parsed_control *
|
|||
}
|
||||
|
||||
static void
|
||||
handle_control_heartbeat_start(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_heartbeat_start(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// TODO
|
||||
}
|
||||
|
||||
static void
|
||||
handle_control_button(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_button(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// Physical button
|
||||
const uint8_t phys_button = control->data[0];
|
||||
|
|
@ -718,82 +723,82 @@ handle_control_button(struct na_hmd *hmd, const struct na_parsed_control *contro
|
|||
const uint8_t value = control->data[8];
|
||||
|
||||
switch (virt_button) {
|
||||
case NA_BUTTON_VIRT_DISPLAY_TOGGLE: {
|
||||
case XREAL_AIR_BUTTON_VIRT_DISPLAY_TOGGLE: {
|
||||
hmd->display_on = value;
|
||||
break;
|
||||
}
|
||||
case NA_BUTTON_VIRT_MENU_TOGGLE: break;
|
||||
case NA_BUTTON_VIRT_BRIGHTNESS_UP:
|
||||
case NA_BUTTON_VIRT_BRIGHTNESS_DOWN: {
|
||||
case XREAL_AIR_BUTTON_VIRT_MENU_TOGGLE: break;
|
||||
case XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_UP:
|
||||
case XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_DOWN: {
|
||||
const uint8_t brightness = scale_brightness(value);
|
||||
|
||||
hmd->state.brightness = brightness;
|
||||
hmd->wants.brightness = brightness;
|
||||
break;
|
||||
}
|
||||
case NA_BUTTON_VIRT_MODE_UP: {
|
||||
case XREAL_AIR_BUTTON_VIRT_MODE_UP: {
|
||||
const uint8_t display_mode = hmd->state.display_mode;
|
||||
|
||||
if (display_mode == NA_DISPLAY_MODE_2D) {
|
||||
hmd->wants.display_mode = NA_DISPLAY_MODE_3D;
|
||||
if (display_mode == XREAL_AIR_DISPLAY_MODE_2D) {
|
||||
hmd->wants.display_mode = XREAL_AIR_DISPLAY_MODE_3D;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
case NA_BUTTON_VIRT_MODE_DOWN: {
|
||||
case XREAL_AIR_BUTTON_VIRT_MODE_DOWN: {
|
||||
const uint8_t display_mode = hmd->state.display_mode;
|
||||
|
||||
if (display_mode == NA_DISPLAY_MODE_3D) {
|
||||
hmd->wants.display_mode = NA_DISPLAY_MODE_2D;
|
||||
if (display_mode == XREAL_AIR_DISPLAY_MODE_3D) {
|
||||
hmd->wants.display_mode = XREAL_AIR_DISPLAY_MODE_2D;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
NA_ERROR(hmd, "Got unknown button pressed, 0x%02x (0x%02x)", virt_button, phys_button);
|
||||
XREAL_AIR_ERROR(hmd, "Got unknown button pressed, 0x%02x (0x%02x)", virt_button, phys_button);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
handle_control_async_text(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_async_text(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// Event only appears if the display is active!
|
||||
hmd->display_on = true;
|
||||
|
||||
NA_DEBUG(hmd, "Control message: %s", (const char *)control->data);
|
||||
XREAL_AIR_DEBUG(hmd, "Control message: %s", (const char *)control->data);
|
||||
}
|
||||
|
||||
static void
|
||||
handle_control_heartbeat_end(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_heartbeat_end(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
// TODO
|
||||
}
|
||||
|
||||
static void
|
||||
handle_control_action_locked(struct na_hmd *hmd, const struct na_parsed_control *control)
|
||||
handle_control_action_locked(struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
|
||||
{
|
||||
switch (control->action) {
|
||||
case NA_MSG_R_BRIGHTNESS: handle_control_brightness(hmd, control); break;
|
||||
case NA_MSG_W_BRIGHTNESS: break;
|
||||
case NA_MSG_R_DISP_MODE: handle_control_display_mode(hmd, control); break;
|
||||
case NA_MSG_W_DISP_MODE: break;
|
||||
case NA_MSG_P_START_HEARTBEAT: handle_control_heartbeat_start(hmd, control); break;
|
||||
case NA_MSG_P_BUTTON_PRESSED: handle_control_button(hmd, control); break;
|
||||
case NA_MSG_P_ASYNC_TEXT_LOG: handle_control_async_text(hmd, control); break;
|
||||
case NA_MSG_P_END_HEARTBEAT: handle_control_heartbeat_end(hmd, control); break;
|
||||
default: NA_ERROR(hmd, "Got unknown control action, 0x%02x", control->action); break;
|
||||
case XREAL_AIR_MSG_R_BRIGHTNESS: handle_control_brightness(hmd, control); break;
|
||||
case XREAL_AIR_MSG_W_BRIGHTNESS: break;
|
||||
case XREAL_AIR_MSG_R_DISP_MODE: handle_control_display_mode(hmd, control); break;
|
||||
case XREAL_AIR_MSG_W_DISP_MODE: break;
|
||||
case XREAL_AIR_MSG_P_START_HEARTBEAT: handle_control_heartbeat_start(hmd, control); break;
|
||||
case XREAL_AIR_MSG_P_BUTTON_PRESSED: handle_control_button(hmd, control); break;
|
||||
case XREAL_AIR_MSG_P_ASYNC_TEXT_LOG: handle_control_async_text(hmd, control); break;
|
||||
case XREAL_AIR_MSG_P_END_HEARTBEAT: handle_control_heartbeat_end(hmd, control); break;
|
||||
default: XREAL_AIR_ERROR(hmd, "Got unknown control action, 0x%02x", control->action); break;
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
handle_control_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
||||
handle_control_msg(struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
|
||||
{
|
||||
struct na_parsed_control control;
|
||||
struct xreal_air_parsed_control control;
|
||||
|
||||
if (!na_parse_control_packet(&control, buffer, size)) {
|
||||
NA_ERROR(hmd, "Could not decode control packet");
|
||||
if (!xreal_air_parse_control_packet(&control, buffer, size)) {
|
||||
XREAL_AIR_ERROR(hmd, "Could not decode control packet");
|
||||
}
|
||||
|
||||
os_mutex_lock(&hmd->device_mutex);
|
||||
|
|
@ -802,7 +807,7 @@ handle_control_msg(struct na_hmd *hmd, unsigned char *buffer, int size)
|
|||
}
|
||||
|
||||
static void
|
||||
control_clear_queue(struct na_hmd *hmd)
|
||||
control_clear_queue(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
uint8_t buffer[CONTROL_BUFFER_SIZE];
|
||||
|
||||
|
|
@ -812,7 +817,7 @@ control_clear_queue(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static int
|
||||
read_one_control_packet(struct na_hmd *hmd)
|
||||
read_one_control_packet(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
static uint8_t buffer[CONTROL_BUFFER_SIZE];
|
||||
int size = 0;
|
||||
|
|
@ -830,7 +835,7 @@ read_one_control_packet(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static bool
|
||||
wait_for_brightness(struct na_hmd *hmd)
|
||||
wait_for_brightness(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
for (int i = 0; i < 5000; i++) {
|
||||
read_one_control_packet(hmd);
|
||||
|
|
@ -846,13 +851,13 @@ wait_for_brightness(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static bool
|
||||
wait_for_display_mode(struct na_hmd *hmd)
|
||||
wait_for_display_mode(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
for (int i = 0; i < 5000; i++) {
|
||||
read_one_control_packet(hmd);
|
||||
|
||||
if ((hmd->state.display_mode == NA_DISPLAY_MODE_2D) ||
|
||||
(hmd->state.display_mode == NA_DISPLAY_MODE_3D)) {
|
||||
if ((hmd->state.display_mode == XREAL_AIR_DISPLAY_MODE_2D) ||
|
||||
(hmd->state.display_mode == XREAL_AIR_DISPLAY_MODE_3D)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -863,15 +868,15 @@ wait_for_display_mode(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static bool
|
||||
control_brightness(struct na_hmd *hmd)
|
||||
control_brightness(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
if (!send_payload_to_control(hmd, NA_MSG_R_BRIGHTNESS, NULL, 0)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for initial brightness value!");
|
||||
if (!send_payload_to_control(hmd, XREAL_AIR_MSG_R_BRIGHTNESS, NULL, 0)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for initial brightness value!");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!wait_for_brightness(hmd)) {
|
||||
NA_ERROR(hmd, "Failed to wait for valid brightness value!");
|
||||
XREAL_AIR_ERROR(hmd, "Failed to wait for valid brightness value!");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -879,15 +884,15 @@ control_brightness(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static bool
|
||||
control_display_mode(struct na_hmd *hmd)
|
||||
control_display_mode(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
if (!send_payload_to_control(hmd, NA_MSG_R_DISP_MODE, NULL, 0)) {
|
||||
NA_ERROR(hmd, "Failed to send payload for initial display mode!");
|
||||
if (!send_payload_to_control(hmd, XREAL_AIR_MSG_R_DISP_MODE, NULL, 0)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload for initial display mode!");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!wait_for_display_mode(hmd)) {
|
||||
NA_ERROR(hmd, "Failed to wait for valid display mode!");
|
||||
XREAL_AIR_ERROR(hmd, "Failed to wait for valid display mode!");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -895,9 +900,9 @@ control_display_mode(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static bool
|
||||
switch_display_mode(struct na_hmd *hmd, uint8_t display_mode)
|
||||
switch_display_mode(struct xreal_air_hmd *hmd, uint8_t display_mode)
|
||||
{
|
||||
if ((display_mode != NA_DISPLAY_MODE_2D) && (display_mode > NA_DISPLAY_MODE_3D)) {
|
||||
if ((display_mode != XREAL_AIR_DISPLAY_MODE_2D) && (display_mode > XREAL_AIR_DISPLAY_MODE_3D)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -912,7 +917,7 @@ switch_display_mode(struct na_hmd *hmd, uint8_t display_mode)
|
|||
info.display.w_meters *= 2.0f;
|
||||
info.lens_horizontal_separation_meters *= 2.0f;
|
||||
|
||||
if (display_mode == NA_DISPLAY_MODE_3D) {
|
||||
if (display_mode == XREAL_AIR_DISPLAY_MODE_3D) {
|
||||
info.display.w_pixels *= 2;
|
||||
}
|
||||
|
||||
|
|
@ -920,11 +925,11 @@ switch_display_mode(struct na_hmd *hmd, uint8_t display_mode)
|
|||
info.fov[1] = (float)(46.0 * (M_PI / 180.0));
|
||||
|
||||
if (!u_device_setup_split_side_by_side(&hmd->base, &info)) {
|
||||
NA_ERROR(hmd, "Failed to setup basic device info");
|
||||
XREAL_AIR_ERROR(hmd, "Failed to setup basic device info");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (display_mode == NA_DISPLAY_MODE_2D) {
|
||||
if (display_mode == XREAL_AIR_DISPLAY_MODE_2D) {
|
||||
hmd->base.hmd->views[0].display.w_pixels = info.display.w_pixels;
|
||||
hmd->base.hmd->views[0].viewport.w_pixels = info.display.w_pixels;
|
||||
|
||||
|
|
@ -945,7 +950,7 @@ switch_display_mode(struct na_hmd *hmd, uint8_t display_mode)
|
|||
*/
|
||||
|
||||
static void
|
||||
teardown(struct na_hmd *hmd)
|
||||
teardown(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
// Stop the variable tracking.
|
||||
u_var_remove_root(hmd);
|
||||
|
|
@ -973,7 +978,7 @@ teardown(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static void
|
||||
adjust_brightness(struct na_hmd *hmd)
|
||||
adjust_brightness(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
if (hmd->wants.brightness > 100) {
|
||||
return;
|
||||
|
|
@ -990,8 +995,8 @@ adjust_brightness(struct na_hmd *hmd)
|
|||
return;
|
||||
}
|
||||
|
||||
if (!send_payload_to_control(hmd, NA_MSG_W_BRIGHTNESS, &raw_brightness, 1)) {
|
||||
NA_ERROR(hmd, "Failed to send payload setting custom brightness value!");
|
||||
if (!send_payload_to_control(hmd, XREAL_AIR_MSG_W_BRIGHTNESS, &raw_brightness, 1)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload setting custom brightness value!");
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -999,9 +1004,10 @@ adjust_brightness(struct na_hmd *hmd)
|
|||
}
|
||||
|
||||
static void
|
||||
adjust_display_mode(struct na_hmd *hmd)
|
||||
adjust_display_mode(struct xreal_air_hmd *hmd)
|
||||
{
|
||||
if ((hmd->wants.display_mode != NA_DISPLAY_MODE_2D) && (hmd->wants.display_mode != NA_DISPLAY_MODE_3D)) {
|
||||
if ((hmd->wants.display_mode != XREAL_AIR_DISPLAY_MODE_2D) &&
|
||||
(hmd->wants.display_mode != XREAL_AIR_DISPLAY_MODE_3D)) {
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1011,8 +1017,8 @@ adjust_display_mode(struct na_hmd *hmd)
|
|||
|
||||
const uint8_t display_mode = hmd->wants.display_mode;
|
||||
|
||||
if (!send_payload_to_control(hmd, NA_MSG_W_DISP_MODE, &display_mode, 1)) {
|
||||
NA_ERROR(hmd, "Failed to send payload setting custom display mode!");
|
||||
if (!send_payload_to_control(hmd, XREAL_AIR_MSG_W_DISP_MODE, &display_mode, 1)) {
|
||||
XREAL_AIR_ERROR(hmd, "Failed to send payload setting custom display mode!");
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1026,9 +1032,9 @@ adjust_display_mode(struct na_hmd *hmd)
|
|||
*/
|
||||
|
||||
static void
|
||||
na_hmd_update_inputs(struct xrt_device *xdev)
|
||||
xreal_air_hmd_update_inputs(struct xrt_device *xdev)
|
||||
{
|
||||
struct na_hmd *hmd = na_hmd(xdev);
|
||||
struct xreal_air_hmd *hmd = xreal_air_hmd(xdev);
|
||||
|
||||
os_mutex_lock(&hmd->device_mutex);
|
||||
|
||||
|
|
@ -1042,15 +1048,15 @@ na_hmd_update_inputs(struct xrt_device *xdev)
|
|||
}
|
||||
|
||||
static void
|
||||
na_hmd_get_tracked_pose(struct xrt_device *xdev,
|
||||
enum xrt_input_name name,
|
||||
uint64_t at_timestamp_ns,
|
||||
struct xrt_space_relation *out_relation)
|
||||
xreal_air_hmd_get_tracked_pose(struct xrt_device *xdev,
|
||||
enum xrt_input_name name,
|
||||
uint64_t at_timestamp_ns,
|
||||
struct xrt_space_relation *out_relation)
|
||||
{
|
||||
struct na_hmd *hmd = na_hmd(xdev);
|
||||
struct xreal_air_hmd *hmd = xreal_air_hmd(xdev);
|
||||
|
||||
if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
|
||||
NA_ERROR(hmd, "unknown input name");
|
||||
XREAL_AIR_ERROR(hmd, "unknown input name");
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1071,16 +1077,17 @@ na_hmd_get_tracked_pose(struct xrt_device *xdev,
|
|||
}
|
||||
|
||||
static void
|
||||
na_hmd_destroy(struct xrt_device *xdev)
|
||||
xreal_air_hmd_destroy(struct xrt_device *xdev)
|
||||
{
|
||||
struct na_hmd *hmd = na_hmd(xdev);
|
||||
struct xreal_air_hmd *hmd = xreal_air_hmd(xdev);
|
||||
teardown(hmd);
|
||||
|
||||
u_device_free(&hmd->base);
|
||||
}
|
||||
|
||||
static bool
|
||||
na_hmd_compute_distortion(struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
|
||||
xreal_air_hmd_compute_distortion(
|
||||
struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
|
||||
{
|
||||
return u_compute_distortion_none(u, v, result);
|
||||
}
|
||||
|
|
@ -1092,21 +1099,21 @@ na_hmd_compute_distortion(struct xrt_device *xdev, uint32_t view, float u, float
|
|||
*/
|
||||
|
||||
struct xrt_device *
|
||||
na_hmd_create_device(struct os_hid_device *sensor_device,
|
||||
struct os_hid_device *control_device,
|
||||
enum u_logging_level log_level)
|
||||
xreal_air_hmd_create_device(struct os_hid_device *sensor_device,
|
||||
struct os_hid_device *control_device,
|
||||
enum u_logging_level log_level)
|
||||
{
|
||||
enum u_device_alloc_flags flags =
|
||||
(enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
|
||||
struct na_hmd *hmd = U_DEVICE_ALLOCATE(struct na_hmd, flags, 1, 0);
|
||||
struct xreal_air_hmd *hmd = U_DEVICE_ALLOCATE(struct xreal_air_hmd, flags, 1, 0);
|
||||
int ret;
|
||||
|
||||
hmd->log_level = log_level;
|
||||
hmd->base.update_inputs = na_hmd_update_inputs;
|
||||
hmd->base.get_tracked_pose = na_hmd_get_tracked_pose;
|
||||
hmd->base.update_inputs = xreal_air_hmd_update_inputs;
|
||||
hmd->base.get_tracked_pose = xreal_air_hmd_get_tracked_pose;
|
||||
hmd->base.get_view_poses = u_device_get_view_poses;
|
||||
hmd->base.compute_distortion = na_hmd_compute_distortion;
|
||||
hmd->base.destroy = na_hmd_destroy;
|
||||
hmd->base.compute_distortion = xreal_air_hmd_compute_distortion;
|
||||
hmd->base.destroy = xreal_air_hmd_destroy;
|
||||
hmd->base.name = XRT_DEVICE_GENERIC_HMD;
|
||||
hmd->base.device_type = XRT_DEVICE_TYPE_HMD;
|
||||
hmd->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
|
||||
|
|
@ -1140,8 +1147,8 @@ na_hmd_create_device(struct os_hid_device *sensor_device,
|
|||
hmd->last.timestamp = 0xFFFFFFFF;
|
||||
|
||||
// Print name
|
||||
snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Nreal Air Glasses");
|
||||
snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "Nreal Air Glasses");
|
||||
snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Xreal Air Glasses");
|
||||
snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "Xreal Air Glasses");
|
||||
|
||||
// Do mutex and thread init before any call to teardown happens.
|
||||
os_mutex_init(&hmd->device_mutex);
|
||||
|
|
@ -1186,7 +1193,7 @@ na_hmd_create_device(struct os_hid_device *sensor_device,
|
|||
* Setup variable.
|
||||
*/
|
||||
|
||||
u_var_add_root(hmd, "Nreal Air Glasses", true);
|
||||
u_var_add_root(hmd, "Xreal Air Glasses", true);
|
||||
u_var_add_u8(hmd, &hmd->wants.brightness, "Brightness");
|
||||
u_var_add_u8(hmd, &hmd->wants.display_mode, "Display mode");
|
||||
u_var_add_gui_header(hmd, &hmd->gui.last_frame, "Last data");
|
||||
|
|
@ -1208,15 +1215,15 @@ na_hmd_create_device(struct os_hid_device *sensor_device,
|
|||
*/
|
||||
|
||||
if (hmd->log_level <= U_LOGGING_DEBUG) {
|
||||
u_device_dump_config(&hmd->base, __func__, "Nreal Air");
|
||||
u_device_dump_config(&hmd->base, __func__, "Xreal Air");
|
||||
}
|
||||
|
||||
NA_DEBUG(hmd, "YES!");
|
||||
XREAL_AIR_DEBUG(hmd, "YES!");
|
||||
|
||||
return &hmd->base;
|
||||
|
||||
cleanup:
|
||||
NA_DEBUG(hmd, "NO! :(");
|
||||
XREAL_AIR_DEBUG(hmd, "NO! :(");
|
||||
|
||||
if (hmd->calibration_buffer) {
|
||||
free(hmd->calibration_buffer);
|
||||
168
src/xrt/drivers/xreal_air/xreal_air_hmd.h
Normal file
168
src/xrt/drivers/xreal_air/xreal_air_hmd.h
Normal file
|
|
@ -0,0 +1,168 @@
|
|||
// Copyright 2023-2024, Tobias Frisch
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Xreal Air packet parsing implementation.
|
||||
* @author Tobias Frisch <thejackimonster@gmail.com>
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "xrt/xrt_device.h"
|
||||
#include "xrt/xrt_prober.h"
|
||||
|
||||
#include "os/os_hid.h"
|
||||
|
||||
#include "util/u_logging.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#define XREAL_AIR_HANDLE_IFACE 3
|
||||
#define XREAL_AIR_CONTROL_IFACE 4
|
||||
|
||||
#define XREAL_AIR_MSG_R_BRIGHTNESS 0x03
|
||||
#define XREAL_AIR_MSG_W_BRIGHTNESS 0x04
|
||||
#define XREAL_AIR_MSG_R_DISP_MODE 0x07
|
||||
#define XREAL_AIR_MSG_W_DISP_MODE 0x08
|
||||
|
||||
#define XREAL_AIR_MSG_P_START_HEARTBEAT 0x6c02
|
||||
#define XREAL_AIR_MSG_P_BUTTON_PRESSED 0x6C05
|
||||
#define XREAL_AIR_MSG_P_END_HEARTBEAT 0x6c12
|
||||
#define XREAL_AIR_MSG_P_ASYNC_TEXT_LOG 0x6c09
|
||||
|
||||
#define XREAL_AIR_BUTTON_PHYS_DISPLAY_TOGGLE 0x1
|
||||
#define XREAL_AIR_BUTTON_PHYS_BRIGHTNESS_UP 0x2
|
||||
#define XREAL_AIR_BUTTON_PHYS_BRIGHTNESS_DOWN 0x3
|
||||
|
||||
#define XREAL_AIR_BUTTON_VIRT_DISPLAY_TOGGLE 0x1
|
||||
#define XREAL_AIR_BUTTON_VIRT_MENU_TOGGLE 0x3
|
||||
#define XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_UP 0x6
|
||||
#define XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_DOWN 0x7
|
||||
#define XREAL_AIR_BUTTON_VIRT_MODE_UP 0x8
|
||||
#define XREAL_AIR_BUTTON_VIRT_MODE_DOWN 0x9
|
||||
|
||||
#define XREAL_AIR_BRIGHTNESS_MIN 0
|
||||
#define XREAL_AIR_BRIGHTNESS_MAX 7
|
||||
|
||||
#define XREAL_AIR_DISPLAY_MODE_2D 0x1
|
||||
#define XREAL_AIR_DISPLAY_MODE_3D 0x3
|
||||
|
||||
#define XREAL_AIR_TICKS_PER_SECOND (1000.0) // 1 KHz ticks
|
||||
#define XREAL_AIR_NS_PER_TICK (1000000) // Each tick is a millisecond
|
||||
|
||||
#define XREAL_AIR_MSG_GET_CAL_DATA_LENGTH 0x14
|
||||
#define XREAL_AIR_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15
|
||||
#define XREAL_AIR_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16
|
||||
#define XREAL_AIR_MSG_WRITE_CAL_DATA_SEGMENT 0x17
|
||||
#define XREAL_AIR_MSG_FREE_CAL_BUFFER 0x18
|
||||
#define XREAL_AIR_MSG_START_IMU_DATA 0x19
|
||||
#define XREAL_AIR_MSG_GET_STATIC_ID 0x1A
|
||||
#define XREAL_AIR_MSG_UNKNOWN 0x1D
|
||||
|
||||
struct xreal_air_parsed_calibration
|
||||
{
|
||||
struct xrt_vec3 accel_bias;
|
||||
struct xrt_quat accel_q_gyro;
|
||||
struct xrt_vec3 gyro_bias;
|
||||
struct xrt_quat gyro_q_mag;
|
||||
struct xrt_vec3 mag_bias;
|
||||
|
||||
struct xrt_vec3 scale_accel;
|
||||
struct xrt_vec3 scale_gyro;
|
||||
struct xrt_vec3 scale_mag;
|
||||
|
||||
float imu_noises[4];
|
||||
};
|
||||
|
||||
/*!
|
||||
* A parsed single gyroscope, accelerometer and
|
||||
* magnetometer sample with their corresponding
|
||||
* factors for conversion from raw data.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xreal_air_parsed_sample
|
||||
{
|
||||
struct xrt_vec3_i32 accel;
|
||||
struct xrt_vec3_i32 gyro;
|
||||
struct xrt_vec3_i32 mag;
|
||||
|
||||
int16_t accel_multiplier;
|
||||
int16_t gyro_multiplier;
|
||||
int16_t mag_multiplier;
|
||||
|
||||
int32_t accel_divisor;
|
||||
int32_t gyro_divisor;
|
||||
int32_t mag_divisor;
|
||||
};
|
||||
|
||||
/*!
|
||||
* Over the wire sensor packet from the glasses.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xreal_air_parsed_sensor
|
||||
{
|
||||
int16_t temperature;
|
||||
uint64_t timestamp;
|
||||
|
||||
struct xreal_air_parsed_sample sample;
|
||||
};
|
||||
|
||||
/*!
|
||||
* Over the wire sensor control data packet from the glasses.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xreal_air_parsed_sensor_control_data
|
||||
{
|
||||
uint16_t length;
|
||||
uint8_t msgid;
|
||||
|
||||
uint8_t data[56];
|
||||
};
|
||||
|
||||
/*!
|
||||
* A control packet from the glasses in wire format.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xreal_air_parsed_control
|
||||
{
|
||||
uint16_t length;
|
||||
uint64_t timestamp;
|
||||
uint16_t action;
|
||||
|
||||
uint8_t data[42];
|
||||
};
|
||||
|
||||
/*!
|
||||
* Create Xreal Air glasses.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xrt_device *
|
||||
xreal_air_hmd_create_device(struct os_hid_device *sensor_device,
|
||||
struct os_hid_device *control_device,
|
||||
enum u_logging_level log_level);
|
||||
|
||||
bool
|
||||
xreal_air_parse_calibration_buffer(struct xreal_air_parsed_calibration *calibration, const char *buffer, size_t size);
|
||||
|
||||
bool
|
||||
xreal_air_parse_sensor_packet(struct xreal_air_parsed_sensor *sensor, const uint8_t *buffer, int size);
|
||||
|
||||
bool
|
||||
xreal_air_parse_sensor_control_data_packet(struct xreal_air_parsed_sensor_control_data *data,
|
||||
const uint8_t *buffer,
|
||||
int size);
|
||||
|
||||
bool
|
||||
xreal_air_parse_control_packet(struct xreal_air_parsed_control *control, const uint8_t *buffer, int size);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
67
src/xrt/drivers/xreal_air/xreal_air_interface.h
Normal file
67
src/xrt/drivers/xreal_air/xreal_air_interface.h
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
// Copyright 2023-2024, Tobias Frisch
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Xreal Air packet parsing implementation.
|
||||
* @author Tobias Frisch <thejackimonster@gmail.com>
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* @defgroup drv_xreal_air Xreal Air driver
|
||||
* @ingroup drv
|
||||
*
|
||||
* @brief Driver for the Xreal Air HMD.
|
||||
*/
|
||||
|
||||
/*!
|
||||
* Vendor id for Xreal Air.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
#define XREAL_AIR_VID 0x3318
|
||||
|
||||
/*!
|
||||
* Product id for Xreal Air.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
#define XREAL_AIR_PID 0x0424
|
||||
|
||||
/*!
|
||||
* Product id for Xreal Air 2.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
#define XREAL_AIR_2_PID 0x0428
|
||||
|
||||
/*!
|
||||
* Product id for Xreal Air 2 Pro.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
#define XREAL_AIR_2_PRO_PID 0x0432
|
||||
|
||||
/*!
|
||||
* Builder setup for Xreal Air glasses.
|
||||
*
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
struct xrt_builder *
|
||||
xreal_air_builder_create(void);
|
||||
|
||||
/*!
|
||||
* @dir drivers/xreal_air
|
||||
*
|
||||
* @brief xreal_air files.
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1,15 +1,15 @@
|
|||
// Copyright 2023, Tobias Frisch
|
||||
// Copyright 2023-2024, Tobias Frisch
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Nreal Air packet parsing implementation.
|
||||
* @brief Xreal Air packet parsing implementation.
|
||||
* @author Tobias Frisch <thejackimonster@gmail.com>
|
||||
* @ingroup drv_na
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
|
||||
#include "xrt/xrt_compiler.h"
|
||||
|
||||
#include "na_hmd.h"
|
||||
#include "xreal_air_hmd.h"
|
||||
|
||||
#include <cjson/cJSON.h>
|
||||
#include <string.h>
|
||||
|
|
@ -203,7 +203,7 @@ read_json_array(cJSON *object, const char *const string, int size, float *out_ar
|
|||
*/
|
||||
|
||||
static void
|
||||
read_sample(const uint8_t **buffer, struct na_parsed_sample *sample)
|
||||
read_sample(const uint8_t **buffer, struct xreal_air_parsed_sample *sample)
|
||||
{
|
||||
read_i16(buffer, &sample->gyro_multiplier);
|
||||
read_i32(buffer, &sample->gyro_divisor);
|
||||
|
|
@ -235,7 +235,7 @@ read_sample(const uint8_t **buffer, struct na_parsed_sample *sample)
|
|||
*/
|
||||
|
||||
bool
|
||||
na_parse_calibration_buffer(struct na_parsed_calibration *calibration, const char *buffer, size_t size)
|
||||
xreal_air_parse_calibration_buffer(struct xreal_air_parsed_calibration *calibration, const char *buffer, size_t size)
|
||||
{
|
||||
cJSON *root = cJSON_ParseWithLength(buffer, size);
|
||||
|
||||
|
|
@ -259,7 +259,7 @@ na_parse_calibration_buffer(struct na_parsed_calibration *calibration, const cha
|
|||
}
|
||||
|
||||
bool
|
||||
na_parse_sensor_packet(struct na_parsed_sensor *sensor, const uint8_t *buffer, int size)
|
||||
xreal_air_parse_sensor_packet(struct xreal_air_parsed_sensor *sensor, const uint8_t *buffer, int size)
|
||||
{
|
||||
const uint8_t *start = buffer;
|
||||
|
||||
|
|
@ -293,7 +293,9 @@ na_parse_sensor_packet(struct na_parsed_sensor *sensor, const uint8_t *buffer, i
|
|||
}
|
||||
|
||||
bool
|
||||
na_parse_sensor_control_data_packet(struct na_parsed_sensor_control_data *data, const uint8_t *buffer, int size)
|
||||
xreal_air_parse_sensor_control_data_packet(struct xreal_air_parsed_sensor_control_data *data,
|
||||
const uint8_t *buffer,
|
||||
int size)
|
||||
{
|
||||
const uint8_t *start = buffer;
|
||||
|
||||
|
|
@ -320,7 +322,7 @@ na_parse_sensor_control_data_packet(struct na_parsed_sensor_control_data *data,
|
|||
}
|
||||
|
||||
bool
|
||||
na_parse_control_packet(struct na_parsed_control *control, const uint8_t *buffer, int size)
|
||||
xreal_air_parse_control_packet(struct xreal_air_parsed_control *control, const uint8_t *buffer, int size)
|
||||
{
|
||||
const uint8_t *start = buffer;
|
||||
|
||||
|
|
@ -44,11 +44,6 @@ if(XRT_BUILD_DRIVER_SIMULAVR)
|
|||
target_sources(target_lists PRIVATE target_builder_simulavr.c)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_NA)
|
||||
target_sources(target_lists PRIVATE target_builder_nreal_air.c)
|
||||
target_link_libraries(target_lists PRIVATE drv_na)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_NS)
|
||||
target_sources(target_lists PRIVATE target_builder_north_star.c)
|
||||
target_link_libraries(target_lists PRIVATE drv_ns)
|
||||
|
|
@ -64,6 +59,11 @@ if(XRT_BUILD_DRIVER_QWERTY)
|
|||
target_link_libraries(target_lists PRIVATE drv_qwerty)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_XREAL_AIR)
|
||||
target_sources(target_lists PRIVATE target_builder_xreal_air.c)
|
||||
target_link_libraries(target_lists PRIVATE drv_xreal_air)
|
||||
endif()
|
||||
|
||||
###
|
||||
# Drivers
|
||||
#
|
||||
|
|
@ -94,10 +94,6 @@ if(XRT_BUILD_DRIVER_HYDRA)
|
|||
target_link_libraries(target_lists PRIVATE drv_hydra)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_NA)
|
||||
target_link_libraries(target_lists PRIVATE drv_na)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_NS)
|
||||
target_link_libraries(target_lists PRIVATE drv_ns)
|
||||
endif()
|
||||
|
|
@ -193,6 +189,10 @@ if(XRT_BUILD_DRIVER_WMR)
|
|||
target_link_libraries(target_lists PRIVATE drv_wmr)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_XREAL_AIR)
|
||||
target_link_libraries(target_lists PRIVATE drv_xreal_air)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_EUROC)
|
||||
target_link_libraries(target_lists PRIVATE drv_euroc)
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -1,13 +1,14 @@
|
|||
// Copyright 2023, Tobias Frisch
|
||||
// Copyright 2023-2024, Tobias Frisch
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Nreal Air prober code.
|
||||
* @brief Xreal Air prober code.
|
||||
* @author Tobias Frisch <thejackimonster@gmail.com>
|
||||
* @ingroup drv_na
|
||||
* @ingroup drv_xreal_air
|
||||
*/
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <wchar.h>
|
||||
|
|
@ -24,13 +25,13 @@
|
|||
#include "util/u_system_helpers.h"
|
||||
#include "util/u_trace_marker.h"
|
||||
|
||||
#include "nreal_air/na_hmd.h"
|
||||
#include "nreal_air/na_interface.h"
|
||||
#include "xreal_air/xreal_air_hmd.h"
|
||||
#include "xreal_air/xreal_air_interface.h"
|
||||
|
||||
enum u_logging_level nreal_air_log_level;
|
||||
enum u_logging_level xreal_air_log_level;
|
||||
|
||||
#define NA_WARN(...) U_LOG_IFL_W(nreal_air_log_level, __VA_ARGS__)
|
||||
#define NA_ERROR(...) U_LOG_IFL_E(nreal_air_log_level, __VA_ARGS__)
|
||||
#define XREAL_AIR_WARN(...) U_LOG_IFL_W(xreal_air_log_level, __VA_ARGS__)
|
||||
#define XREAL_AIR_ERROR(...) U_LOG_IFL_E(xreal_air_log_level, __VA_ARGS__)
|
||||
|
||||
|
||||
/*
|
||||
|
|
@ -39,10 +40,18 @@ enum u_logging_level nreal_air_log_level;
|
|||
*
|
||||
*/
|
||||
|
||||
DEBUG_GET_ONCE_LOG_OPTION(nreal_air_log, "NA_LOG", U_LOGGING_WARN)
|
||||
DEBUG_GET_ONCE_LOG_OPTION(xreal_air_log, "XREAL_AIR_LOG", U_LOGGING_WARN)
|
||||
|
||||
static const char *driver_list[] = {
|
||||
"nreal_air",
|
||||
"xreal_air",
|
||||
};
|
||||
|
||||
#define XREAL_AIR_DRIVER_PRODUCT_IDS 3
|
||||
|
||||
static const uint16_t driver_product_ids[XREAL_AIR_DRIVER_PRODUCT_IDS] = {
|
||||
XREAL_AIR_PID,
|
||||
XREAL_AIR_2_PID,
|
||||
XREAL_AIR_2_PRO_PID,
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -53,7 +62,7 @@ static const char *driver_list[] = {
|
|||
*/
|
||||
|
||||
static xrt_result_t
|
||||
nreal_air_estimate_system(struct xrt_builder *xb,
|
||||
xreal_air_estimate_system(struct xrt_builder *xb,
|
||||
cJSON *config,
|
||||
struct xrt_prober *xp,
|
||||
struct xrt_builder_estimate *estimate)
|
||||
|
|
@ -65,12 +74,24 @@ nreal_air_estimate_system(struct xrt_builder *xb,
|
|||
U_ZERO(estimate);
|
||||
|
||||
xret = xrt_prober_lock_list(xp, &xpdevs, &xpdev_count);
|
||||
|
||||
if (xret != XRT_SUCCESS) {
|
||||
return xret;
|
||||
}
|
||||
|
||||
struct xrt_prober_device *dev =
|
||||
u_builder_find_prober_device(xpdevs, xpdev_count, NA_VID, NA_PID, XRT_BUS_TYPE_USB);
|
||||
struct xrt_prober_device *dev = NULL;
|
||||
uint16_t product_index = 0;
|
||||
|
||||
while (product_index < XREAL_AIR_DRIVER_PRODUCT_IDS) {
|
||||
dev = u_builder_find_prober_device(xpdevs, xpdev_count, XREAL_AIR_VID,
|
||||
driver_product_ids[product_index], XRT_BUS_TYPE_USB);
|
||||
|
||||
if (dev != NULL)
|
||||
break;
|
||||
|
||||
product_index++;
|
||||
}
|
||||
|
||||
if (dev != NULL) {
|
||||
estimate->certain.head = true;
|
||||
}
|
||||
|
|
@ -82,7 +103,7 @@ nreal_air_estimate_system(struct xrt_builder *xb,
|
|||
}
|
||||
|
||||
static xrt_result_t
|
||||
nreal_air_open_system_impl(struct xrt_builder *xb,
|
||||
xreal_air_open_system_impl(struct xrt_builder *xb,
|
||||
cJSON *config,
|
||||
struct xrt_prober *xp,
|
||||
struct xrt_tracking_origin *origin,
|
||||
|
|
@ -96,39 +117,53 @@ nreal_air_open_system_impl(struct xrt_builder *xb,
|
|||
|
||||
DRV_TRACE_MARKER();
|
||||
|
||||
nreal_air_log_level = debug_get_log_option_nreal_air_log();
|
||||
xreal_air_log_level = debug_get_log_option_xreal_air_log();
|
||||
|
||||
xret = xrt_prober_lock_list(xp, &xpdevs, &xpdev_count);
|
||||
if (xret != XRT_SUCCESS) {
|
||||
goto unlock_and_fail;
|
||||
}
|
||||
|
||||
struct xrt_prober_device *dev_hmd =
|
||||
u_builder_find_prober_device(xpdevs, xpdev_count, NA_VID, NA_PID, XRT_BUS_TYPE_USB);
|
||||
struct xrt_prober_device *dev_hmd = NULL;
|
||||
uint16_t product_index = 0;
|
||||
|
||||
while (product_index < XREAL_AIR_DRIVER_PRODUCT_IDS) {
|
||||
dev_hmd = u_builder_find_prober_device(xpdevs, xpdev_count, XREAL_AIR_VID,
|
||||
driver_product_ids[product_index], XRT_BUS_TYPE_USB);
|
||||
|
||||
if (dev_hmd != NULL)
|
||||
break;
|
||||
|
||||
product_index++;
|
||||
}
|
||||
|
||||
if (dev_hmd == NULL) {
|
||||
goto unlock_and_fail;
|
||||
}
|
||||
|
||||
struct os_hid_device *hid_handle = NULL;
|
||||
int result = xrt_prober_open_hid_interface(xp, dev_hmd, NA_HANDLE_IFACE, &hid_handle);
|
||||
int result = xrt_prober_open_hid_interface(xp, dev_hmd, XREAL_AIR_HANDLE_IFACE, &hid_handle);
|
||||
|
||||
if (result != 0) {
|
||||
NA_ERROR("Failed to open Nreal Air handle interface");
|
||||
XREAL_AIR_ERROR("Failed to open Xreal Air handle interface");
|
||||
goto unlock_and_fail;
|
||||
}
|
||||
|
||||
struct os_hid_device *hid_control = NULL;
|
||||
result = xrt_prober_open_hid_interface(xp, dev_hmd, NA_CONTROL_IFACE, &hid_control);
|
||||
result = xrt_prober_open_hid_interface(xp, dev_hmd, XREAL_AIR_CONTROL_IFACE, &hid_control);
|
||||
|
||||
if (result != 0) {
|
||||
os_hid_destroy(hid_handle);
|
||||
NA_ERROR("Failed to open Nreal Air control interface");
|
||||
XREAL_AIR_ERROR("Failed to open Xreal Air control interface");
|
||||
goto unlock_and_fail;
|
||||
}
|
||||
|
||||
unsigned char hmd_serial_no[XRT_DEVICE_NAME_LEN];
|
||||
result = xrt_prober_get_string_descriptor(xp, dev_hmd, XRT_PROBER_STRING_SERIAL_NUMBER, hmd_serial_no,
|
||||
XRT_DEVICE_NAME_LEN);
|
||||
|
||||
if (result < 0) {
|
||||
NA_WARN("Could not read Nreal Air serial number from USB");
|
||||
XREAL_AIR_WARN("Could not read Xreal Air serial number from USB");
|
||||
snprintf((char *)hmd_serial_no, XRT_DEVICE_NAME_LEN, "Unknown");
|
||||
}
|
||||
|
||||
|
|
@ -137,17 +172,18 @@ nreal_air_open_system_impl(struct xrt_builder *xb,
|
|||
goto fail;
|
||||
}
|
||||
|
||||
struct xrt_device *na_device = na_hmd_create_device(hid_handle, hid_control, nreal_air_log_level);
|
||||
if (na_device == NULL) {
|
||||
NA_ERROR("Failed to initialise Nreal Air driver");
|
||||
struct xrt_device *xreal_air_device = xreal_air_hmd_create_device(hid_handle, hid_control, xreal_air_log_level);
|
||||
|
||||
if (xreal_air_device == NULL) {
|
||||
XREAL_AIR_ERROR("Failed to initialise Xreal Air driver");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
// Add to device list.
|
||||
xsysd->xdevs[xsysd->xdev_count++] = na_device;
|
||||
xsysd->xdevs[xsysd->xdev_count++] = xreal_air_device;
|
||||
|
||||
// Assign to role(s).
|
||||
ubrh->head = na_device;
|
||||
ubrh->head = xreal_air_device;
|
||||
|
||||
return XRT_SUCCESS;
|
||||
|
||||
|
|
@ -168,7 +204,7 @@ fail:
|
|||
}
|
||||
|
||||
static void
|
||||
nreal_air_destroy(struct xrt_builder *xb)
|
||||
xreal_air_destroy(struct xrt_builder *xb)
|
||||
{
|
||||
free(xb);
|
||||
}
|
||||
|
|
@ -181,21 +217,21 @@ nreal_air_destroy(struct xrt_builder *xb)
|
|||
*/
|
||||
|
||||
struct xrt_builder *
|
||||
nreal_air_builder_create(void)
|
||||
xreal_air_builder_create(void)
|
||||
{
|
||||
struct u_builder *ub = U_TYPED_CALLOC(struct u_builder);
|
||||
|
||||
// xrt_builder fields.
|
||||
ub->base.estimate_system = nreal_air_estimate_system;
|
||||
ub->base.estimate_system = xreal_air_estimate_system;
|
||||
ub->base.open_system = u_builder_open_system_static_roles;
|
||||
ub->base.destroy = nreal_air_destroy;
|
||||
ub->base.identifier = "nreal_air";
|
||||
ub->base.name = "Nreal Air";
|
||||
ub->base.destroy = xreal_air_destroy;
|
||||
ub->base.identifier = "xreal_air";
|
||||
ub->base.name = "Xreal Air";
|
||||
ub->base.driver_identifiers = driver_list;
|
||||
ub->base.driver_identifier_count = ARRAY_SIZE(driver_list);
|
||||
|
||||
// u_builder fields.
|
||||
ub->open_system_static_roles = nreal_air_open_system_impl;
|
||||
ub->open_system_static_roles = xreal_air_open_system_impl;
|
||||
|
||||
return &ub->base;
|
||||
}
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
// Copyright 2019-2023, Collabora, Ltd.
|
||||
// Copyright 2019-2024, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
|
|
@ -80,15 +80,15 @@
|
|||
#include "depthai/depthai_interface.h"
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_NA
|
||||
#include "nreal_air/na_interface.h"
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_WMR
|
||||
#include "wmr/wmr_interface.h"
|
||||
#include "wmr/wmr_common.h"
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_XREAL_AIR
|
||||
#include "xreal_air/xreal_air_interface.h"
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_EUROC
|
||||
#include "euroc/euroc_interface.h"
|
||||
#endif
|
||||
|
|
@ -136,10 +136,6 @@ xrt_builder_create_func_t target_builder_list[] = {
|
|||
t_builder_lighthouse_create,
|
||||
#endif // T_BUILDER_LIGHTHOUSE
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_NA
|
||||
nreal_air_builder_create,
|
||||
#endif // T_BUILDER_NA
|
||||
|
||||
#ifdef T_BUILDER_NS
|
||||
t_builder_north_star_create,
|
||||
#endif // T_BUILDER_NS
|
||||
|
|
@ -148,6 +144,10 @@ xrt_builder_create_func_t target_builder_list[] = {
|
|||
t_builder_wmr_create,
|
||||
#endif // T_BUILDER_WMR
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_XREAL_AIR
|
||||
xreal_air_builder_create,
|
||||
#endif // T_BUILDER_XREAL_AIR
|
||||
|
||||
#ifdef T_BUILDER_LEGACY
|
||||
t_builder_legacy_create,
|
||||
#endif // T_BUILDER_LEGACY
|
||||
|
|
|
|||
Loading…
Reference in a new issue