monado/src/xrt/drivers/CMakeLists.txt

# Copyright 2019-2021, Collabora, Ltd.
#
# SPDX-License-Identifier: BSL-1.0

set(ENABLED_HEADSET_DRIVERS)
set(ENABLED_DRIVERS)

add_library(drv_includes INTERFACE)
target_include_directories(drv_includes INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

if(XRT_BUILD_DRIVER_ARDUINO)
	add_library(
		drv_arduino STATIC arduino/arduino_device.c arduino/arduino_interface.h
				   arduino/arduino_prober.c
		)
	target_link_libraries(drv_arduino PRIVATE xrt-interfaces aux_util aux_os)
	list(APPEND ENABLED_DRIVERS arduino)
endif()

if(XRT_BUILD_DRIVER_DAYDREAM)
	add_library(
		drv_daydream STATIC daydream/daydream_device.c daydream/daydream_device.h
				    daydream/daydream_interface.h daydream/daydream_prober.c
		)
	target_link_libraries(drv_daydream PRIVATE xrt-interfaces aux_util aux_os)
	list(APPEND ENABLED_DRIVERS daydream)
endif()

if(XRT_BUILD_DRIVER_DEPTHAI)
	add_library(drv_depthai STATIC depthai/depthai_driver.cpp depthai/depthai_interface.h)
	target_link_libraries(
		drv_depthai
		PRIVATE
			xrt-interfaces
			aux_os
			aux_tracking
			${OpenCV_LIBRARIES}
			depthai::opencv
			depthai::core
			XLink
		)
	target_include_directories(drv_depthai PRIVATE ${OpenCV_INCLUDE_DIRS})
	list(APPEND ENABLED_DRIVERS depthai)
endif()

if(XRT_BUILD_DRIVER_DUMMY)
	add_library(drv_dummy STATIC dummy/dummy_hmd.c dummy/dummy_interface.h dummy/dummy_prober.c)
	target_link_libraries(drv_dummy PRIVATE xrt-interfaces aux_util)
	list(APPEND ENABLED_HEADSET_DRIVERS dummy)
endif()

if(XRT_BUILD_DRIVER_QWERTY)
	add_library(
		drv_qwerty STATIC
		qwerty/qwerty_device.c
		qwerty/qwerty_device.h
		qwerty/qwerty_interface.h
		qwerty/qwerty_prober.c
		qwerty/qwerty_sdl.c
		)
	target_link_libraries(drv_qwerty PRIVATE xrt-interfaces aux_util ${SDL2_LIBRARIES})
	target_include_directories(drv_qwerty PRIVATE ${SDL2_INCLUDE_DIRS})
	list(APPEND ENABLED_DRIVERS qwerty)

	add_library(drv_qwerty_includes INTERFACE)
	target_include_directories(drv_qwerty_includes INTERFACE qwerty)
endif()

if(XRT_BUILD_DRIVER_HDK)
	set(HDK_SOURCE_FILES)

	add_library(
		drv_hdk STATIC hdk/hdk_device.cpp hdk/hdk_device.h hdk/hdk_interface.h
			       hdk/hdk_prober.c
		)
	target_link_libraries(drv_hdk PRIVATE xrt-interfaces aux_math)
	list(APPEND ENABLED_HEADSET_DRIVERS hdk)
endif()

if(XRT_BUILD_DRIVER_HYDRA)
	set(HYDRA_SOURCE_FILES)

	add_library(drv_hydra STATIC hydra/hydra_driver.c hydra/hydra_interface.h)
	target_link_libraries(drv_hydra PRIVATE xrt-interfaces aux_os)
	list(APPEND ENABLED_DRIVERS hydra)
endif()

if(XRT_BUILD_DRIVER_NS)
	add_library(
		drv_ns STATIC
		north_star/distortion_3d/utility_northstar.h
		north_star/distortion_3d/deformation_northstar.h
		north_star/distortion_3d/deformation_northstar.cpp
		north_star/ns_hmd.h
		north_star/ns_hmd.c
		north_star/ns_interface.h
		north_star/ns_prober.c
		)
	target_link_libraries(drv_ns PRIVATE xrt-interfaces aux_math xrt-external-cjson)
	list(APPEND ENABLED_HEADSET_DRIVERS ns)
endif()

if(XRT_BUILD_DRIVER_ULV2)
	add_library(drv_ulv2 STATIC ultraleap_v2/ulv2_driver.cpp ultraleap_v2/ulv2_interface.h)
	target_link_libraries(drv_ulv2 PRIVATE xrt-interfaces aux_util aux_math LeapV2::LeapV2)
endif()

if(XRT_BUILD_DRIVER_OHMD)
	add_library(
		drv_ohmd STATIC ohmd/oh_device.c ohmd/oh_device.h ohmd/oh_interface.h
				ohmd/oh_prober.c
		)
	target_link_libraries(drv_ohmd PRIVATE xrt-interfaces OpenHMD::OpenHMD aux_util aux_math)
	list(APPEND ENABLED_HEADSET_DRIVERS openhmd)
endif()

if(XRT_BUILD_DRIVER_PSMV)
	add_library(drv_psmv STATIC psmv/psmv_driver.c psmv/psmv_interface.h)
	target_link_libraries(
		drv_psmv
		PRIVATE xrt-interfaces
		PUBLIC aux_os aux_tracking
		)
	list(APPEND ENABLED_DRIVERS psmv)
endif()

if(XRT_BUILD_DRIVER_PSVR)
	add_library(
		drv_psvr STATIC
		psvr/psvr_device.c
		psvr/psvr_device.h
		psvr/psvr_interface.h
		psvr/psvr_packet.c
		psvr/psvr_prober.c
		)
	target_link_libraries(drv_psvr PRIVATE xrt-interfaces HIDAPI::hidapi aux_util)
	target_include_directories(drv_psvr PRIVATE ${HIDAPI_INCLUDE_DIRS})
	list(APPEND ENABLED_HEADSET_DRIVERS psvr)
endif()

if(XRT_BUILD_DRIVER_REALSENSE)
	add_library(
		drv_realsense STATIC
		realsense/rs_ddev.c
		realsense/rs_hdev.c
		realsense/rs_prober.c
		realsense/rs_driver.h
		realsense/rs_interface.h
		)
	target_link_libraries(drv_realsense PRIVATE xrt-interfaces realsense2::realsense2 aux_util)
	list(APPEND ENABLED_HEADSET_DRIVERS rs)
endif()

if(XRT_BUILD_DRIVER_REMOTE)
	add_library(
		drv_remote STATIC
		remote/r_device.c
		remote/r_hmd.c
		remote/r_hub.c
		remote/r_interface.h
		remote/r_internal.h
		)
	target_link_libraries(drv_remote PRIVATE xrt-interfaces aux_util)
	list(APPEND ENABLED_HEADSET_DRIVERS remote)
endif()

set(VIVE_CONFIG_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/vive")
if(XRT_BUILD_DRIVER_VIVE)
	add_library(
		drv_vive STATIC
		vive/vive_device.h
		vive/vive_device.c
		vive/vive_prober.h
		vive/vive_prober.c
		vive/vive_protocol.c
		vive/vive_protocol.h
		vive/vive_controller.h
		vive/vive_controller.c
		vive/vive_lighthouse.h
		vive/vive_lighthouse.c
		)
	target_link_libraries(
		drv_vive
		PRIVATE
			xrt-interfaces
			aux_os
			aux_util
			aux_math
			xrt-external-cjson
			aux_vive
		)
	target_link_libraries(drv_vive PRIVATE ${ZLIB_LIBRARIES})
	target_include_directories(drv_vive PRIVATE ${ZLIB_INCLUDE_DIRS})
	list(APPEND ENABLED_HEADSET_DRIVERS vive)

	if(XRT_BUILD_DRIVER_HANDTRACKING)
		target_link_libraries(drv_vive PRIVATE drv_ht)
		target_link_libraries(drv_vive PRIVATE drv_cemu)
	endif()
endif()

if(XRT_HAVE_V4L2)
	add_library(drv_v4l2 STATIC v4l2/v4l2_driver.c)
	target_link_libraries(drv_v4l2 PRIVATE xrt-interfaces aux_os aux_util)
	list(APPEND ENABLED_DRIVERS v4l2)
endif()

if(XRT_BUILD_DRIVER_VF)
	add_library(drv_vf STATIC vf/vf_driver.c)
	target_link_libraries(drv_vf PRIVATE xrt-interfaces aux_os aux_util ${GST_LIBRARIES})
	target_include_directories(drv_vf PRIVATE ${GST_INCLUDE_DIRS})
	list(APPEND ENABLED_DRIVERS vf)
endif()

if(XRT_BUILD_DRIVER_HANDTRACKING)
	add_library(
		drv_ht STATIC
		ht/ht_algorithm.cpp
		ht/ht_driver.cpp
		ht/ht_driver.hpp
		ht/ht_interface.h
		ht/ht_model.cpp
		ht/ht_hand_math.cpp
		ht/ht_image_math.cpp
		ht/ht_nms.cpp
		)
	target_link_libraries(
		drv_ht
		PRIVATE
			xrt-interfaces
			aux_os
			aux_util
			aux_math
			aux_gstreamer
			ONNXRuntime::ONNXRuntime
			${OpenCV_LIBRARIES}
		)
	target_include_directories(drv_ht PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
	list(APPEND ENABLED_DRIVERS ht)

	add_library(
		drv_cemu STATIC
		ht_ctrl_emu/ht_ctrl_emu.cpp
		ht_ctrl_emu/ht_ctrl_emu_interface.h
		)
	target_link_libraries(
		drv_cemu
		PRIVATE
			xrt-interfaces
			aux_generated_bindings
			aux_util
		)
	list(APPEND ENABLED_HEADSET_DRIVERS drv_cemu)
endif()

if(XRT_BUILD_DRIVER_SURVIVE)
	add_library(
		drv_survive STATIC survive/survive_driver.c survive/survive_driver.h
				   survive/survive_interface.h survive/survive_prober.c
		)
	target_link_libraries(
		drv_survive
		PRIVATE
			xrt-interfaces
			aux_os
			aux_util
			aux_math
			aux_vive
			PkgConfig::SURVIVE
		)
	list(APPEND ENABLED_HEADSET_DRIVERS survive)

	if(XRT_BUILD_DRIVER_HANDTRACKING)
		target_link_libraries(drv_survive PRIVATE drv_ht)
		target_link_libraries(drv_survive PRIVATE drv_cemu)
	endif()
endif()

if(XRT_BUILD_DRIVER_ANDROID)
	add_library(
		drv_android STATIC android/android_prober.c android/android_prober.h
				   android/android_sensors.c android/android_sensors.h
		)
	target_link_libraries(
		drv_android
		PRIVATE
			xrt-interfaces
			aux_util
			aux_os
			aux_android
			${ANDROID_LIBRARY}
		)
	list(APPEND ENABLED_DRIVERS android)
endif()

if(XRT_BUILD_DRIVER_ILLIXR)
	add_library(
		drv_illixr STATIC
		illixr/illixr_device.cpp
		illixr/illixr_interface.h
		illixr/illixr_prober.c
		illixr/illixr_component.cpp
		illixr/illixr_component.h
		)
	target_link_libraries(drv_illixr PUBLIC ${CMAKE_DL_LIBS} xrt-interfaces aux_util aux_os)
	target_include_directories(drv_illixr PUBLIC ${ILLIXR_PATH})
	list(APPEND ENABLED_HEADSET_DRIVERS illixr)
endif()

add_library(drv_multi STATIC multi_wrapper/multi.c multi_wrapper/multi.h)
target_link_libraries(drv_multi PUBLIC xrt-interfaces aux_util)
list(APPEND ENABLED_HEADSET_DRIVERS drv_multi)

if(XRT_BUILD_DRIVER_WMR)
	add_library(
		drv_wmr STATIC
		wmr/wmr_camera.h
		wmr/wmr_common.h
		wmr/wmr_config.c
		wmr/wmr_config.h
		wmr/wmr_bt_controller.c
		wmr/wmr_bt_controller.h
		wmr/wmr_hmd.c
		wmr/wmr_hmd.h
		wmr/wmr_interface.h
		wmr/wmr_prober.c
		wmr/wmr_protocol.c
		wmr/wmr_protocol.h
		wmr/wmr_controller_protocol.c
		wmr/wmr_controller_protocol.h
		wmr/wmr_source.c
		wmr/wmr_source.h
		)
	target_link_libraries(drv_wmr PRIVATE xrt-interfaces aux_util aux_math aux_tracking xrt-external-cjson)
	list(APPEND ENABLED_HEADSET_DRIVERS wmr)

	# Can only build camera support with libusb
	if(XRT_HAVE_LIBUSB)
		target_sources(drv_wmr PRIVATE wmr/wmr_camera.c)
		target_include_directories(drv_wmr PUBLIC ${LIBUSB1_INCLUDE_DIRS})
		target_link_libraries(drv_wmr PRIVATE ${LIBUSB1_LIBRARIES})
	endif()
endif()

if(XRT_BUILD_DRIVER_EUROC)
	add_library(
		drv_euroc STATIC euroc/euroc_player.cpp euroc/euroc_driver.h euroc/euroc_device.c
				 euroc/euroc_interface.h
		)
	target_link_libraries(
		drv_euroc PRIVATE xrt-interfaces aux_util aux_tracking ${OpenCV_LIBRARIES}
		)
	target_include_directories(drv_euroc PRIVATE ${OpenCV_INCLUDE_DIRS})
	list(APPEND ENABLED_DRIVERS euroc)
endif()

if(XRT_BUILD_SAMPLES)
	# We build the sample driver to make sure it stays valid,
	# but it never gets linked into a final target.
	add_library(
		drv_sample STATIC sample/sample_hmd.c sample/sample_interface.h
				  sample/sample_prober.c
		)
	target_link_libraries(drv_sample PRIVATE xrt-interfaces aux_util)
endif()

if(ENABLED_HEADSET_DRIVERS)
	set(ENABLED_DRIVERS ${ENABLED_HEADSET_DRIVERS} ${ENABLED_DRIVERS})
	list(SORT ENABLED_DRIVERS)
	string(REPLACE ";" " " ENABLED_DRIVERS "${ENABLED_DRIVERS}")
	message(STATUS "Enabled drivers: ${ENABLED_DRIVERS}")
else()
	message(FATAL_ERROR "You must enable at least one headset driver to build Monado.")
endif()