steamvr: Implement basic SteamVR driver

v3:
  targets: Add Monado-SteamVR driver target
  st/ovrd: Add OpenVR driver header
  build: Factor out sdl hack into lib_sdl2_hack and update steamvr build
  build: Revert lib_sdl2_refactor
  steamvr: Emulate Index Controller by default
  steamvr: Use oxr_handle_destroy instead of exposing oxr_instance_destroy
  steamvr: don't use oxr internals
  steamvr: communicate 3dof tracking to steamvr
  steamvr: use util functions for device assignment and tracking origin setup
  steamvr: Install plugin to <prefix>/share/steamvr-monado
  steamvr: Use thread for updating poses every 1ms

Makes a big difference for the Index @144Hz on the vive driver.
Still somewhat choppy on survive driver - prediction should solve it.

Main-author: Christoph Haag <christoph.haag@collabora.com>
Co-author: Jakob Bornecrantz <jakob@collabora.com>

CMakeLists.txt

@@ -123,6 +123,8 @@ option(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" O
 cmake_dependent_option(XRT_HAVE_SYSTEMD "Enable systemd support (for socket activation of service)" ON "Systemd_FOUND AND XRT_FEATURE_SERVICE" OFF)
 cmake_dependent_option(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" ON "XRT_HAVE_SYSTEMD" OFF)
 cmake_dependent_option(XRT_INSTALL_ABSOLUTE_SYSTEMD_UNIT_FILES "Use an absolute path to monado-system in installed user unit files for systemd socket activation" ON "XRT_INSTALL_SYSTEMD_UNIT_FILES" OFF)
+option(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" ON)
+
 if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_DEPTH)
 	set(XRT_FEATURE_OPENXR_LAYER_DEPTH ON)
 endif()
@@ -283,6 +285,7 @@ message(STATUS "#    FEATURE_OPENXR_LAYER_CUBE:            ${XRT_FEATURE_OPENXR_
 message(STATUS "#    FEATURE_OPENXR_LAYER_CYLINDER:        ${XRT_FEATURE_OPENXR_LAYER_CYLINDER}")
 message(STATUS "#    FEATURE_OPENXR_LAYER_EQUIRECT:        ${XRT_FEATURE_OPENXR_LAYER_EQUIRECT}")
 message(STATUS "#    FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY: ${XRT_FEATURE_OPENXR_LAYER_EQUIRECT_LEGACY}")
+message(STATUS "#    FEATURE_STEAMVR_PLUGIN:               ${XRT_FEATURE_STEAMVR_PLUGIN}")
 message(STATUS "#")
 message(STATUS "#    DRIVER_ANDROID:  ${XRT_BUILD_DRIVER_ANDROID}")
 message(STATUS "#    DRIVER_ARDUINO:  ${XRT_BUILD_DRIVER_ARDUINO}")

meson.build

@@ -245,3 +245,9 @@ if build_tracking
 else
 	message('    tracking: no')
 endif
+
+if get_option('steamvr_plugin')
+	message('steamvr plugin: yes')
+else
+	message('steamvr plugin: no')
+endif

meson_options.txt

@@ -107,3 +107,10 @@ option('layer_equirect2',
 	value: true,
 	description: 'Enable support for Equirect2 Layers'
 )
+
+option('steamvr_plugin',
+	type: 'boolean',
+	value: true,
+	description: 'Enable SteamVR Plugin'
+)
+

src/external/meson.build

@@ -1,7 +1,7 @@
 # Copyright 2019-2020, Collabora, Ltd.
 # SPDX-License-Identifier: BSL-1.0
 
-openvr_include = include_directories('openvr_includes')
+openvr_include = include_directories('openvr_includes', is_system: true)
 cjson_include = include_directories('cjson')
 flexkalman_include = include_directories('flexkalman')
 glad_include = include_directories('glad/include')

src/xrt/include/meson.build

@@ -1,4 +1,6 @@
 # Copyright 2020, Collabora, Ltd.
 # SPDX-License-Identifier: BSL-1.0
 
+xrt_include = include_directories('.')
+
 subdir('xrt')

src/xrt/state_trackers/CMakeLists.txt

@@ -6,3 +6,7 @@ if(XRT_HAVE_OPENGL)
 endif()
 add_subdirectory(oxr)
 add_subdirectory(prober)
+
+if(XRT_FEATURE_STEAMVR_PLUGIN)
+	add_subdirectory(steamvr_drv)
+endif()

src/xrt/state_trackers/meson.build

@@ -6,3 +6,7 @@ st_include = include_directories('.')
 subdir('gui')
 subdir('oxr')
 subdir('prober')
+
+if get_option('steamvr_plugin')
+	subdir('steamvr_drv')
+endif

src/xrt/state_trackers/steamvr_drv/CMakeLists.txt

@@ -0,0 +1,19 @@
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+set(OVRD_SOURCE_FILES
+	ovrd_driver.cpp
+	ovrd_interface.h
+	)
+
+add_library(st_ovrd STATIC
+	${OVRD_SOURCE_FILES}
+	)
+target_include_directories(st_ovrd INTERFACE
+	${CMAKE_CURRENT_SOURCE_DIR}
+	)
+target_link_libraries(st_ovrd PRIVATE
+	xrt-interfaces
+	xrt-external-openvr
+	aux_math
+	)

src/xrt/state_trackers/steamvr_drv/meson.build

@@ -0,0 +1,20 @@
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+st_ovrd_include = include_directories('.')
+
+lib_st_ovrd = static_library(
+	'st_ovrd',
+	files(
+		'ovrd_driver.cpp',
+		'ovrd_interface.h'
+	),
+	include_directories: [
+		openvr_include,
+		st_include, # Sigh debian meson requires this.
+		xrt_include,
+	],
+	dependencies: aux_util,
+	c_args: compile_args,
+	cpp_args: compile_args,
+)

src/xrt/state_trackers/steamvr_drv/ovrd_interface.h

@@ -0,0 +1,29 @@
+// Copyright 2020, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Interface to the Monado SteamVR Driver exporter.
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup st_ovrd
+ */
+
+#pragma once
+
+#include "xrt/xrt_defines.h"
+
+/*!
+ * @defgroup st_ovrd SteamVR driver provider
+ *
+ * Wraps a @ref xrt_instance and one or more @ref xrt_device and exposes those
+ * to SteamVR via the OpenVR driver interface.
+ *
+ * @ingroup xrt
+ */
+
+/*!
+ * Implementation of the HmdDriverFactory function.
+ *
+ * @ingroup st_ovrd
+ */
+void *
+ovrd_hmd_driver_impl(const char *pInterfaceName, int *pReturnCode);

src/xrt/state_trackers/steamvr_drv/ovrd_log.hpp

@@ -0,0 +1,62 @@
+// Copyright 2020, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Logger code.
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup st_ovrd
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdarg.h>
+
+#include "xrt/xrt_compiler.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "openvr_driver.h"
+
+static vr::IVRDriverLog *s_pLogFile = NULL;
+
+static inline void
+ovrd_log_init(vr::IVRDriverLog *pDriverLog)
+{
+	// Noop
+	s_pLogFile = vr::VRDriverLog();
+}
+
+// Can not use the XRT_PRINTF_FORMAT macro on a function definition.
+static inline void
+ovrd_log(const char *fmt, ...) XRT_PRINTF_FORMAT(1, 2);
+
+static inline void
+ovrd_log(const char *fmt, ...)
+{
+	va_list args;
+	va_start(args, fmt);
+
+	char buf[1024];
+#if defined(WIN32)
+	vsprintf_s(buf, pMsgFormat, args);
+#else
+	vsnprintf(buf, sizeof(buf), fmt, args);
+#endif
+
+	if (s_pLogFile)
+		s_pLogFile->Log(buf);
+
+	va_end(args);
+}
+
+static inline void
+ovrd_log_cleanup()
+{
+	s_pLogFile = nullptr;
+}

src/xrt/targets/CMakeLists.txt

@@ -29,3 +29,7 @@ if(XRT_FEATURE_SERVICE AND XRT_FEATURE_OPENXR)
 		add_subdirectory(service)
 	endif()
 endif()
+
+if(XRT_FEATURE_STEAMVR_PLUGIN)
+	add_subdirectory(steamvr_drv)
+endif()

src/xrt/targets/meson.build

@@ -78,3 +78,6 @@ if get_option('service')
 	subdir('ctl')
 endif
 
+if get_option('steamvr_plugin')
+	subdir('steamvr_drv')
+endif

src/xrt/targets/steamvr_drv/CMakeLists.txt

@@ -0,0 +1,51 @@
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+
+add_library(driver_monado MODULE
+	main.c
+	)
+
+target_link_libraries(driver_monado PRIVATE
+	xrt-external-openvr
+	aux_util
+	st_ovrd
+	st_prober
+	target_lists
+	target_instance_no_comp
+	)
+
+
+# meta data that the steamvr plugin needs in the base directory of the steamvr plugin
+file(COPY driver.vrdrivermanifest DESTINATION ${CMAKE_BINARY_DIR}/steamvr-monado)
+file(COPY resources DESTINATION ${CMAKE_BINARY_DIR}/steamvr-monado)
+
+#determine the output directory for the steamvr plugin
+if (WIN32)
+  # FIXME need to account for different architectures
+  if ("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/win64 CACHE TYPE INTERNAL)
+  else()
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/win32 CACHE TYPE INTERNAL)
+  endif()
+elseif(APPLE)
+  if ("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/osx64 CACHE STRING INTERNAL)
+  else()
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/osx32 CACHE STRING INTERNAL)
+  endif()
+elseif(NOT ANDROID)
+  if ("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/linux64 CACHE STRING INTERNAL)
+  else()
+    set(PLUGINDIR ${CMAKE_BINARY_DIR}/steamvr-monado/bin/linux32 CACHE STRING INTERNAL)
+  endif()
+endif()
+
+MESSAGE("SteamVR plugin path: ${PLUGINDIR}")
+set_target_properties(driver_monado PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${PLUGINDIR}")
+
+# don't add lib prefix to driver_monado.so
+SET_TARGET_PROPERTIES(driver_monado PROPERTIES PREFIX "")
+
+install(DIRECTORY "${PROJECT_BINARY_DIR}/steamvr-monado" DESTINATION "${CMAKE_INSTALL_PREFIX}/share")

src/xrt/targets/steamvr_drv/copy_assets.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+import os, sys, shutil
+
+print(sys.argv[1], sys.argv[2], sys.argv[3])
+
+is_file = sys.argv[1] == "FILE"
+is_dir = sys.argv[1] == "DIRECTORY"
+
+# get absolute input and output paths
+input_path = os.path.join(
+    os.getenv('MESON_SOURCE_ROOT'),
+    os.getenv('MESON_SUBDIR'),
+    sys.argv[2])
+
+output_path = os.path.join(
+    os.getenv('MESON_BUILD_ROOT'),
+    sys.argv[3])
+
+# make sure destination directory exists
+os.makedirs(os.path.dirname(output_path), exist_ok=True)
+
+if is_file:
+    shutil.copyfile(input_path, output_path)
+elif is_dir:
+    shutil.copytree(input_path, output_path)
+
+print("Copying asset " + str(input_path) + " to " + str(output_path))

src/xrt/targets/steamvr_drv/copy_plugin.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+import os, sys, shutil
+
+# get absolute input and output paths
+input_path = os.path.join(
+    sys.argv[1])
+
+output_path = os.path.join(
+    sys.argv[2])
+
+# make sure destination directory exists
+os.makedirs(os.path.dirname(output_path), exist_ok=True)
+
+shutil.copyfile(input_path, output_path)
+
+print("Copying plugin " + str(input_path) + " to " + str(output_path))

src/xrt/targets/steamvr_drv/driver.vrdrivermanifest

@@ -0,0 +1,11 @@
+{
+	"alwaysActivate": false,
+	"name" : "monado",
+	"directory" : "",
+	"resourceOnly" : false,
+
+	"hmd_presence" :
+	[
+		"*.*"
+	]
+}

src/xrt/targets/steamvr_drv/main.c

@@ -0,0 +1,28 @@
+// Copyright 2020, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Very simple target main file to export the right symbol.
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @author Christoph Haag <christoph.haag@collabora.com>
+ * @ingroup st_ovrd
+ */
+
+#include "ovrd_interface.h"
+
+#if defined(_WIN32)
+#define HMD_DLL_EXPORT __declspec(dllexport)
+#define HMD_DLL_IMPORT __declspec(dllimport)
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+#define HMD_DLL_EXPORT __attribute__((visibility("default")))
+#define HMD_DLL_IMPORT
+#else
+#error "Unsupported Platform."
+#endif
+
+
+HMD_DLL_EXPORT void *
+HmdDriverFactory(const char *pInterfaceName, int *pReturnCode)
+{
+	return ovrd_hmd_driver_impl(pInterfaceName, pReturnCode);
+}

src/xrt/targets/steamvr_drv/meson.build

@@ -0,0 +1,65 @@
+# Copyright 2020, Collabora, Ltd.
+# SPDX-License-Identifier: BSL-1.0
+
+plugin_dir = 'steamvr-monado'
+
+driver_monado = shared_library(
+	'driver_monado',
+	files(
+		'main.c'
+	),
+	link_whole: [
+		lib_target_instance_no_comp,
+		lib_st_ovrd,
+	],
+	include_directories: [
+	openvr_include,
+	st_ovrd_include,
+	openvr_include,
+		aux_include,
+		xrt_include,
+	],
+	link_with : driver_libs,
+	dependencies : [pthreads, libjpeg],
+	# build 'driver_monado.so' instead of 'libdriver_monado.so'
+	name_prefix: '',
+)
+
+copy_asset = find_program('copy_assets.py')
+copy_plugin = find_program('copy_plugin.py')
+
+
+run_command(copy_asset, 'FILE', 'driver.vrdrivermanifest', join_paths(plugin_dir, 'driver.vrdrivermanifest'))
+run_command(copy_asset, 'DIRECTORY', 'resources', join_paths(plugin_dir, 'resources'))
+
+plugin_archdir = ''
+
+if host_machine.system() == 'windows'
+	if host_machine.cpu_family() == 'x86'
+		plugin_archdir = 'win32'
+	elif host_machine.cpu_family() == 'x86_64'
+		plugin_archdir = 'win64'
+	endif
+elif host_machine.system() == 'linux'
+	if host_machine.cpu_family() == 'x86'
+		plugin_archdir = 'linux32'
+	elif host_machine.cpu_family() == 'x86_64'
+		plugin_archdir = 'linux64'
+	endif
+endif
+
+custom_target(
+	'plugin_copy',
+	depends : driver_monado,
+	input : driver_monado,
+	output : 'fake_plugin',
+	command : [copy_plugin, '@INPUT@', join_paths(plugin_dir, 'bin', plugin_archdir, '@PLAINNAME@')],
+	build_by_default : true
+)
+
+if meson.version().version_compare('<0.56')
+	build_root = meson.build_root()
+else
+	build_root = meson.project_build_root()
+endif
+install_subdir(join_paths(build_root, plugin_dir), install_dir: join_paths(get_option('prefix'), 'share'))

src/xrt/targets/steamvr_drv/resources/driver.vrresources

@@ -0,0 +1,47 @@
+{
+	"jsonid" : "vrresources",
+	"statusicons" : {
+		"HMD" : {
+			"Prop_NamedIconPathDeviceOff_String" : "{monado}/icons/headset_monado_status_off.png",
+			"Prop_NamedIconPathDeviceSearching_String" : "{monado}/icons/headset_monado_status_searching.gif",
+			"Prop_NamedIconPathDeviceSearchingAlert_String" : "{monado}/icons/headset_monado_status_searching_alert.gif",
+			"Prop_NamedIconPathDeviceReady_String" : "{monado}/icons/headset_monado_status_ready.png",
+			"Prop_NamedIconPathDeviceReadyAlert_String" : "{monado}/icons/headset_monado_status_ready_alert.png",
+			"Prop_NamedIconPathDeviceNotReady_String" : "{monado}/icons/headset_monado_status_error.png",
+			"Prop_NamedIconPathDeviceStandby_String" : "{monado}/icons/headset_monado_status_standby.png",
+			"Prop_NamedIconPathDeviceAlertLow_String" : "{monado}/icons/headset_monado_status_ready_low.png"
+		},
+
+		"Model-v Defaults" : {
+			"Prop_NamedIconPathDeviceOff_String" : "{monado}/icons/headset_monado_status_off.png",
+			"Prop_NamedIconPathDeviceSearching_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceSearchingAlert_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceReady_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceReadyAlert_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceNotReady_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceStandby_String" : "Prop_NamedIconPathDeviceOff_String",
+			"Prop_NamedIconPathDeviceAlertLow_String" : "Prop_NamedIconPathDeviceOff_String"
+		},
+
+		"Model-v1.0" : {
+			"Alias" : "Model-v Defaults",
+			"Prop_NamedIconPathDeviceAlertLow_String" : "{monado}/icons/headset_model1_alertlow.png"
+		},
+
+		"Model-v2.0" : {
+			"Alias" : "Model-v1.0",
+			"Prop_NamedIconPathDeviceAlertLow_String" : "{monado}/icons/headset_model2_alertlow.png"
+		},
+
+		"Controller" : {
+			"Prop_NamedIconPathDeviceOff_String" : "{monado}/icons/controller_status_off.png",
+			"Prop_NamedIconPathDeviceSearching_String" : "{monado}/icons/controller_status_searching.gif",
+			"Prop_NamedIconPathDeviceSearchingAlert_String" : "{monado}/icons/controller_status_searching_alert.gif",
+			"Prop_NamedIconPathDeviceReady_String" : "{monado}/icons/controller_status_ready.png",
+			"Prop_NamedIconPathDeviceReadyAlert_String" : "{monado}/icons/controller_status_ready_alert.png",
+			"Prop_NamedIconPathDeviceNotReady_String" : "{monado}/icons/controller_status_error.png",
+			"Prop_NamedIconPathDeviceStandby_String" : "{monado}/icons/controller_status_standby.png",
+			"Prop_NamedIconPathDeviceAlertLow_String" : "{monado}/icons/controller_status_ready_low.png"
+		}
+    }
+}

src/xrt/targets/steamvr_drv/resources/localization/localization.json

@@ -0,0 +1,6 @@
+[
+	{
+		"language_tag": "en_US",
+		"monado_controller" : "Monado Driver Controller"
+	}
+]

src/xrt/targets/steamvr_drv/resources/settings/default.vrsettings

@@ -0,0 +1,5 @@
+{
+   "driver_monado" : {
+      "enable" : true
+   }
+}

src/xrt/targets/steamvr_drv/steamvr.vrsettings

@@ -0,0 +1,16 @@
+{
+   "jsonid" : "vrsettings",
+   "driver_lighthouse": {
+		"enable": false
+	},
+   "driver_oculus": {
+		"enable": false
+	},
+   "driver_oculus_legacy": {
+		"enable": false
+	},
+   "driver_monado" : {
+		 "enable": true
+   },
+   "version" : "1"
+}