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Author SHA1 Message Date
Christoph Haag 87680c69d4 d/ohmd: Get rid of enum alias 
The last enum index was used to determine the size of the inputs array.
The "clever" solution of aliasing enum values saved a minor amount of space
when allocating the xrt_device, while still allowing to dynamically assign
any input profile.

It also has drawbacks of being confusing and making it impossible to
validate that inputs from the correct xrt_input_name is requested.
Therefore just get rid of it, the minor space savings is not worth it.

fixes 2be4cbf4c3
 2023-01-23 17:46:33 +01:00
Mario Kleiner 50f7b5ba5f d/ohmd: Fix input from controls_mapping[0]. 
Use INPUT_INDICES_LAST instead of 0 for checking if control_mapping[i]
is unassigned for index i, ie. for skipping input.

As 0 is a valid mapping assignment defined in "enum input_indices", this
lead to dead input for SIMPLE_SELECT_CLICK and OCULUS_TOUCH_X_CLICK, both
assigned to 0.

This commit makes the Oculus Rift CV-1 left touch controllers X-Button
work in Monado OpenXR native and SteamVR via. Monado driver plugin.

Signed-off-by: Mario Kleiner <mario.kleiner.de@gmail.com>
 2023-01-23 16:30:27 +00:00
Christoph Haag 694baebd07 d/ohmd: Fix build 
fixes 2be4cbf4c3
 2023-01-22 22:04:47 +01:00
Christoph Haag 2be4cbf4c3 d/ohmd: Support generic trackers and clean up 2023-01-21 19:21:59 +00:00
Moses Turner 1ef49b92f2 d/dai: Control floodlight brightness with an env var 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2023-01-15 09:54:54 -05:00
Christoph Haag 01dd02dc83 d/hdk: initialized thread helper 
Fixes assert in debug mode.
 2023-01-08 23:42:31 +01:00
Mateo de Mayo 6bd921b390 d/wmr: Fix unused corrected IMU timestamp 2023-01-02 16:21:08 -03:00
Jakob Bornecrantz b87239e7d8 d/wmr: Increase display init sleep and also add debug variable to control it 2022-12-14 12:20:10 +00:00
Jakob Bornecrantz ebb7c3cac2 d/wmr: Tidy prober code 2022-12-05 15:21:20 +00:00
Moses Turner 8c0735feec d/rift_s: Link to hand tracking driver if necessary 2022-12-04 18:05:02 +00:00
Mateo de Mayo dad7957fb2 a/math: Add clock_offset.h 
For now it only has our simple exponential smoothing clock offset estimator.
But more advanced ones can go here too.
 2022-12-02 16:10:09 +00:00
Moses Turner f580271291 d/wmr: Guess camera orientation for Reverb G2 based on HT0 twist value 2022-11-23 13:02:35 -06:00
Jakob Bornecrantz 8efb55403c d/psvr: Switch to reading sensors from its own thread 
Tested-by: number-g <g@imagination.eu.org>
 2022-11-22 17:58:07 +00:00
Jakob Bornecrantz b1b63a9397 d/vive: Do more tracing during packet handling 2022-11-21 13:47:58 +00:00
Jakob Bornecrantz c9bbeac70a d/v4l2: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 36d1734377 d/vive: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 5142fa7e88 d/psmv: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 0691ed9b89 d/wmr: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 89aee1892b d/remote: Update protocol to allow per view data 2022-11-14 16:07:15 +00:00
Ryan Pavlik 11bdba7e64 drivers: can not -> cannot 2022-11-09 14:52:03 -06:00
Mateo de Mayo 0ebc7e042f d/vive: Improve readability of precompute_sensor_transforms (NFC) 2022-11-08 17:41:43 +00:00
Mateo de Mayo 9d6c29397f misc: Fix multiple compile warnings in gcc and clang 2022-11-03 20:08:52 +00:00
Mateo de Mayo 8f14c572ee d/vive: Apply IMU pose correction for SLAM tracking 
The offset between IMU and middle-of-eyes for the Index is quite noticeable and
tracking felt very off before this.
 2022-11-03 13:08:02 +00:00
Jakob Bornecrantz ede2292690 d/psvr: Paranoia 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz 200bbc9da0 d/psvr: Protect sensore reads with device_mutex 
Fixes asserts by the fusion code where samples where pushed in the wrong
order to the fusion code.
 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz fdac0b5137 d/psvr: Make sure to init the device_mutex before teardown can be called 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz 637c49c1ea a/os: Refactor out BLE functions into own library 2022-10-27 17:19:57 +00:00
Jakob Bornecrantz 8ca60f4304 a/util: Split out sink functions into own library 2022-10-27 17:19:57 +00:00
Christoph Haag 9054dc01ca d/ht_ctrl_emu: Stub set_output 2022-10-24 17:20:59 +00:00
Jakob Bornecrantz 9077261ada d/dai: Set fields after nullptr check 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 00c3cc4c2f d/dai: With the latest depthai-core we can support color OV9782 sensors 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 4814f627c6 d/dai: Fix conversion warnings 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 504a2a288e d/dai: Fix typo 2022-10-10 22:39:38 +00:00
Christoph Haag 74d82ff37f d/ht_ctrl_emu: Set xdev serial 2022-10-03 19:23:24 +02:00
Jan Schmidt e409264ba7 d/wmr: Fix Reverb G2 detection 
196bf24276 broke Reverb G2
detection. Use the right PID to match the Reverb G2 headset
again.
 2022-10-02 03:57:19 +11:00
Jakob Bornecrantz 13124f019e d/opengloves: Fix left/right typos 2022-09-29 21:12:44 +00:00
Jakob Bornecrantz 2673787429 d/opengloves: Fix leak of config JSON 2022-09-29 21:12:44 +00:00
Jakob Bornecrantz 1e639fc2f3 d/opengloves: Fix leaks of udev objects 2022-09-29 21:12:44 +00:00
Moses Turner 034099211f d/dai: Initialize mutex and thread helper 2022-09-28 18:37:49 -05:00
Jan Schmidt 3b7f95b39e d/rift_s: Rework hw2mono clock tracking 
Use the common hw2mono/a2b clock code from vive_source
 2022-09-26 00:32:28 +10:00
Jan Schmidt 942df72c26 d/rift_s: Reduce camera frame delay to 2 2022-09-26 00:32:28 +10:00
Jan Schmidt 32cc6e05da d/rift_s: Move builder to targets/common 
Move the builder into the common area.
 2022-09-26 00:32:28 +10:00
Jan Schmidt 5c573152a8 d/rift_s: Set camera orientation in calibration 
Put the right rotation of the front cameras
into the camera calibration struct
 2022-09-26 00:32:28 +10:00
Jan Schmidt 495eecb65f d/rift_s: Add 6DOF SLAM tracking and hand tracking 
Find and capture input from cameras, and split according to
frame type. Send long exposure tracking frames through
the AEG module, and SLAM and hand tracking trackers.

Add controller emulated hand devices.

The native "fisheye62" camera distortion model is
dynamically converted to OpenCV Kannala-Brandt
parameters using a TinyCeres solver.
 2022-09-26 00:32:28 +10:00
Jan Schmidt 9fbe81e494 d/rift_s: Port OpenHMD Oculus Rift S driver 
Port across the Oculus Rift S driver from OpenHMD as a native
Monado driver.

This is mostly the same as the OpenHMD 3DOF driver, with
slightly better HMD distortion correction, various small
fixes, some capsense touch detection support.

Controller poses are rotated 40° to match grip pose.
 2022-09-25 02:17:44 +10:00
Moses Turner 6ec9b73e1e d/wmr: Provide camera orientation to hand tracking 2022-09-21 23:11:58 -05:00
Jakob Bornecrantz 5c958d096d d/vive: Make sure to free the source 2022-09-22 00:41:10 +01:00
Moses Turner 45e52dee8f d/ns: Switch NS driver to builders 2022-09-21 07:57:03 -05:00
Moses Turner 6fdd790da0 d/dai: Update DepthAI driver 
* Removed depthai_tracked_device - now you create a "SLAM" device, plug any frameserver into it and you're done
* Consolidated the grayscale frameservers into just one that gives you SLAM sinks
* Allows for different framerates and half-size for ov9282s
* Added debug frame sinks
* Added the ability to wait at startup for a number of frames for the streams to stabilize before submitting them to SLAM
 2022-09-21 07:57:03 -05:00
Moses Turner 201708dee5 d/ht: Remove DepthAI hand tracking device 
This was super crufty. Instead now you use a builder to create SLAM sinks with the DepthAI builder and plug them into a regular HT device
 2022-09-21 07:57:03 -05:00
Moses Turner 074e18cac9 d/twrap: Add tracking wrapper driver 2022-09-21 07:57:03 -05:00
Moses Turner ef767af2ad cmake: Always build ht_ctrl_emu driver 2022-09-21 07:57:03 -05:00
Moses Turner 16dffc8d3b cmake: Link drv_ht and drv_cemu in t/common instead of vive/survive 2022-09-21 07:57:03 -05:00
Moses Turner 5c18f83e8d d/ulv2: Convert Ultraleap driver create function to helper 2022-09-21 01:54:40 +01:00
Moses Turner a23bf9ab36 d/ns: Use math/m_mathinclude.h to fix Windows build 2022-09-21 01:45:24 +01:00
Moses Turner 956ee5ae9d d/ns: Allow for freeing the 3D optical system 2022-09-21 01:45:24 +01:00
Daniel Willmott c83c21ef90 d/opengloves: Clarify encoding constants 2022-09-19 22:08:28 +00:00
Daniel Willmott f953ed7846 d/opengloves: Clarify input enums 2022-09-19 22:08:28 +00:00
Daniel Willmott ddda9ec727 d/opengloves: Add force feedback extension support 2022-09-19 22:08:28 +00:00
Daniel Willmott 74f14f2414 d/opengloves: Communication api change 2022-09-19 22:08:28 +00:00
Moses Turner d2e2c3a988 cmake: Run cmake-format.sh 2022-09-19 21:57:37 +01:00
Christoph Haag 196bf24276 d/wmr: Add HP VR1000 support 2022-09-19 18:16:21 +00:00
Moses Turner bd265c611d d/ns: update Moses's distortion method 2022-09-19 11:20:04 -05:00
Moses Turner 33226dd892 d/rs: Add PID/VIDs for T265 2022-09-19 11:17:34 -05:00
Moses Turner 34d158b299 d/dai: Use setXLinkChunkSize(0) to reduce latency 2022-09-19 11:17:34 -05:00
Moses Turner bea3569016 d/dai: Enable IR floodlight code and allow the floodlight to be controlled with an env var 
IR floodlight support has been merged into DepthAI core
 2022-09-13 19:56:27 -05:00
Moses Turner 4c55364d95 d/vive: Always give a vive config 2022-09-13 22:10:58 +00:00
Moses Turner 9d6ca80af3 xrt: Add SimulaVR driver 2022-09-12 12:20:51 +00:00
Moses Turner cc62600972 d/rs: Allow Realsense device to be created outside of normal target list 2022-09-12 12:20:51 +00:00
Jan Schmidt 1811951dd6 t/ht: Add support for camera orientation 
Add a way to pass in extra information about camera views, this new
struct is merged with the old image boundary information struct.

Co-authored-by: Moses Turner <moses@collabora.com>
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2022-09-06 18:36:53 +01:00
Jarvis Huang 7be4163b91 d/android: Fix errors while getting display metrics 2022-09-02 16:25:12 +00:00
Jakob Bornecrantz ff4ce5f7e2 d/remote: Reset timout argument to select 
Select can modify the argument, so need to reset it.
 2022-08-24 14:36:56 +01:00
Ryan Pavlik 1b02783113 d/sample: Clean up, specify a blend mode 2022-08-18 16:45:45 -05:00
Jakob Bornecrantz 8e70290ec1 d/opengloves: Pass in identity pose to hand simulation 2022-08-14 16:16:27 +01:00
Jakob Bornecrantz 936733d4b7 d/vive: Pass in identity pose to hand simulation 2022-08-14 16:16:27 +01:00
Jakob Bornecrantz d978a863c1 d/vive: Tidy 2022-08-14 16:16:27 +01:00
Jakob Bornecrantz e6efcd7a02 u/hand: Take xrt_hand enum instead of bool 2022-08-14 16:16:27 +01:00
Jakob Bornecrantz dc28c1f04a d/remote: Fix hand tracking 2022-08-14 16:16:27 +01:00
Jakob Bornecrantz f535135c13 d/survive: Fix warning and org code (NFC) 2022-08-14 13:19:00 +01:00
Moses Turner e5466553a2 d/euroc: Allow zero timestamps 
Negative timestamps are still not allowed, but artificially generated datasets might start at exactly zero
 2022-08-10 15:09:53 +00:00
Jakob Bornecrantz d6df203d03 d/opengloves: Fix warning (NFC) 2022-08-10 16:03:33 +01:00
Jakob Bornecrantz 39f80f2ef5 d/vive: Remove unsued variable 2022-08-10 14:18:45 +00:00
Jakob Bornecrantz 42f5cf4c9d d/opengloves: Use correct argument when casting 2022-08-10 14:18:45 +00:00
Jan Schmidt 96fb9ce34a wmr: Clean up camera debug last. 
Make sure to stop the USB thread before destroying the debug sink
as cancelling the transfers is not sufficient to guarantee
there will be no final callback (or one in progress)
 2022-08-08 17:31:53 +00:00
Christoph Haag c24e482e5e st/oxr: Make OpenXR timestamps relative to service startup 
This solves a problem where OpenXR timestamps could become invalid
(negative) in certain circumstances:

The timestamps that the OpenXR state tracker returned were offset such
that they appeared to start at OpenXR application startup time.

However monado-service is a long running service using system timestamps.
Because of this, if monado-service started work using a system timestamp
acquired before an OpenXR application started, then this system timestamp
could not be converted into an OpenXR without becoming invalid.

With this change, the OpenXR timestamps for OpenXR applications are offset
such that they appear to start at monado-service startup time instead.

As a side effect, all OpenXR applications connected to the same
monado-service instance will receive timestamps from the same domain.
 2022-08-08 15:52:18 +00:00
danwillm 76f96686d1 xrt/drivers: Convert hand tracking drivers to use hand simulation 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-08-01 17:33:40 +00:00
Moses Turner 2868348e8c t/common: Make controllers work again with the Lighthouse builder 
!1418 briefly broke controller setup.
 2022-07-27 10:49:29 +00:00
Moses Turner c0eed827c5 xrt: Remove t_hand_tracking_output_space 
LEFT_CAMERA is the only one that remained useful
 2022-07-27 10:49:29 +00:00
Jakob Bornecrantz 86ae6a5bb1 d/wmr: Fix warning 2022-07-26 18:15:04 +00:00
danwillm fd61dd08b2 drivers: add all of opengloves driver 2022-07-25 23:57:45 +01:00
danwillm 0943ce10be a/util, xrt: u_hand_tracking interface change 2022-07-25 23:57:45 +01:00
Mateo de Mayo 36ca9260cf d/vive: Update tracking status to fix segfault 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-07-25 19:08:46 +00:00
Mateo de Mayo 6e16959098 d/vive: Add vive_source to convert v4l2 timestamps into monotonic clock 
Use a sink in the middle of the stream to correct for v4l2 timestamps with
hardware timestamps to monotonic clock.

This sink, together with other utilities related to data streaming, lives in a
new vive_source entity, with similar functionality to wmr_source or rs_source.

The vive_source lifetime is managed by the builder xfctx, which prevents
deallocation dependencies between vive_device and the v4l2_fs to cause segfaults.
 2022-07-25 19:08:46 +00:00
Mateo de Mayo 13d90bff77 d/vive: Implement 3DoF/SLAM switching button and pose offset 2022-07-25 19:08:46 +00:00
Mateo de Mayo f0ceb40f6a d/vive: Prepare data streaming and SLAM tracker 2022-07-25 19:08:46 +00:00
Mateo de Mayo 3cbb7f6b9f d/vive: Pass status of visual tracking into the driver 2022-07-25 19:08:46 +00:00
Mateo de Mayo 8d929fe2fa d/v4l2: Split some definitions into a new header 2022-07-25 19:08:46 +00:00
danwillm de53e431ed d/multi: fix untested codepath 2022-07-25 15:23:49 +01:00
Nova 0954bd0dd8 d/wmr: Clean up check_and_get_interface in wmr_prober.c 2022-07-25 12:19:48 +01:00
Nova e141aa2d55 d/wmr: Add initial support for original Odyssey HMD 2022-07-25 12:19:48 +01:00