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d/survive: Use hand tracking if there aren't any controllers

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rebase-survive
This commit is contained in:
Moses Turner 2021-09-02 19:18:53 -05:00 committed by Moses Turner
parent 624a676f56
commit db4a50410c
2 changed files with 37 additions and 2 deletions
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4
src/xrt/drivers/CMakeLists.txt
View file

@ -277,6 +277,10 @@ if (XRT_BUILD_DRIVER_SURVIVE)
add_library(drv_survive STATIC ${SURVIVE_SOURCE_FILES}) add_library(drv_survive STATIC ${SURVIVE_SOURCE_FILES})
target_link_libraries(drv_survive PRIVATE xrt-interfaces aux_os aux_util aux_math aux_vive PkgConfig::SURVIVE) target_link_libraries(drv_survive PRIVATE xrt-interfaces aux_os aux_util aux_math aux_vive PkgConfig::SURVIVE)
list(APPEND ENABLED_HEADSET_DRIVERS survive) list(APPEND ENABLED_HEADSET_DRIVERS survive)
if (XRT_BUILD_DRIVER_HANDTRACKING)
target_link_libraries(drv_survive PRIVATE drv_ht)
endif()
endif() endif()
if(XRT_BUILD_DRIVER_ANDROID) if(XRT_BUILD_DRIVER_ANDROID)

35
src/xrt/drivers/survive/survive_driver.c
View file

@ -5,6 +5,7 @@
* @brief Adapter to Libsurvive. * @brief Adapter to Libsurvive.
* @author Christoph Haag <christoph.haag@collabora.com> * @author Christoph Haag <christoph.haag@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com> * @author Jakob Bornecrantz <jakob@collabora.com>
* @author Moses Turner <moses@collabora.com>
* @ingroup drv_survive * @ingroup drv_survive
*/ */
@ -17,6 +18,7 @@
#include <inttypes.h> #include <inttypes.h>
#include "math/m_api.h" #include "math/m_api.h"
#include "tracking/t_tracking.h"
#include "xrt/xrt_device.h" #include "xrt/xrt_device.h"
#include "util/u_debug.h" #include "util/u_debug.h"
#include "util/u_device.h" #include "util/u_device.h"
@ -28,7 +30,7 @@
#include "os/os_threading.h" #include "os/os_threading.h"
#include "../auxiliary/os/os_time.h" #include "os/os_time.h"
#include "xrt/xrt_prober.h" #include "xrt/xrt_prober.h"
#include "survive_interface.h" #include "survive_interface.h"
@ -43,6 +45,11 @@
#include "math/m_predict.h" #include "math/m_predict.h"
#include "vive/vive_config.h" #include "vive/vive_config.h"
#include "../ht/ht_interface.h"
#include "../multi_wrapper/multi.h"
#include "xrt/xrt_config_drivers.h"
#include "survive_driver.h" #include "survive_driver.h"
// reading usb config takes libsurvive about 50ms per device // reading usb config takes libsurvive about 50ms per device
@ -1333,6 +1340,8 @@ survive_device_autoprobe(struct xrt_auto_prober *xap,
out_xdevs[out_idx++] = &ss->hmd->base; out_xdevs[out_idx++] = &ss->hmd->base;
} }
bool found_controllers = false;
for (int i = 0; i < MAX_TRACKED_DEVICE_COUNT; i++) { for (int i = 0; i < MAX_TRACKED_DEVICE_COUNT; i++) {
if (out_idx == XRT_MAX_DEVICES_PER_PROBE - 1) { if (out_idx == XRT_MAX_DEVICES_PER_PROBE - 1) {
@ -1343,9 +1352,32 @@ survive_device_autoprobe(struct xrt_auto_prober *xap,
if (ss->controllers[i] != NULL) { if (ss->controllers[i] != NULL) {
out_xdevs[out_idx++] = &ss->controllers[i]->base; out_xdevs[out_idx++] = &ss->controllers[i]->base;
found_controllers = true;
} }
} }
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
// We want to hit this codepath when we find a HMD but no controllers.
if ((ss->hmd != NULL) && !found_controllers) {
struct t_stereo_camera_calibration *cal = NULL;
struct xrt_pose head_in_left_cam;
vive_get_stereo_camera_calibration(&ss->hmd->hmd.config, &cal, &head_in_left_cam);
struct xrt_device *ht = ht_device_create(xp, cal);
if (ht != NULL) { // Returns NULL if there's a problem and the hand tracker can't start. By no means a
// fatal error.
struct xrt_device *wrap =
multi_create_tracking_override(XRT_TRACKING_OVERRIDE_ATTACHED, ht, &ss->hmd->base,
XRT_INPUT_GENERIC_HEAD_POSE, &head_in_left_cam);
out_xdevs[out_idx++] = wrap;
}
// Don't need it anymore. And it's not even created unless we hit this codepath, which is somewhat hard.
t_stereo_camera_calibration_reference(&cal, NULL);
}
#endif
survive_already_initialized = true; survive_already_initialized = true;
// Mutex before thread. // Mutex before thread.
@ -1368,6 +1400,5 @@ survive_device_autoprobe(struct xrt_auto_prober *xap,
} }
return 0; return 0;
} }
return out_idx; return out_idx;
} }