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162 lines
3.9 KiB
C
162 lines
3.9 KiB
C
// Copyright 2018, Philipp Zabel.
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// Copyright 2020-2021, N Madsen.
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// Copyright 2020-2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Interface to the WMR HMD driver code.
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* @author Philipp Zabel <philipp.zabel@gmail.com>
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* @author nima01 <nima_zero_one@protonmail.com>
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup drv_wmr
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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_threading.h"
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#include "math/m_imu_3dof.h"
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#include "util/u_logging.h"
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#include "util/u_distortion_mesh.h"
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#include "wmr_protocol.h"
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#include "wmr_config.h"
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#include "wmr_camera.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum wmr_headset_type
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{
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WMR_HEADSET_GENERIC,
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WMR_HEADSET_REVERB_G1,
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WMR_HEADSET_REVERB_G2,
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WMR_HEADSET_SAMSUNG_800ZAA,
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WMR_HEADSET_LENOVO_EXPLORER
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};
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struct wmr_hmd;
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struct wmr_headset_descriptor
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{
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enum wmr_headset_type hmd_type;
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/* String by which we recognise the device */
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const char *dev_id_str;
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/* Friendly ID string for debug */
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const char *debug_name;
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int (*init_func)(struct wmr_hmd *wh);
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void (*deinit_func)(struct wmr_hmd *wh);
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};
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struct wmr_hmd_distortion_params
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{
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/* Inverse affine transform to move from (undistorted) pixels
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* to image plane / normalised image coordinates
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*/
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struct xrt_matrix_3x3 inv_affine_xform;
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/* tan(angle) FoV min/max for X and Y in the input texture */
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struct xrt_vec2 tex_x_range;
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struct xrt_vec2 tex_y_range;
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};
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/*!
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* @implements xrt_device
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*/
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struct wmr_hmd
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{
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struct xrt_device base;
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const struct wmr_headset_descriptor *hmd_desc;
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/* firmware configuration block, with device names etc */
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struct wmr_config_header config_hdr;
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/* Config data parsed from the firmware JSON */
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struct wmr_hmd_config config;
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//! Packet reading thread.
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struct os_thread_helper oth;
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struct wmr_camera *camera;
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enum u_logging_level log_level;
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/*!
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* This is the hololens sensor device, this is were we get all of the
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* IMU data and read the config from.
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*
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* During start it is owned by the thread creating the device, after
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* init it is owned by the reading thread, there is no mutex protecting
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* this field as it's only used by the reading thread in @p oth.
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*/
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struct os_hid_device *hid_hololens_sensors_dev;
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struct os_hid_device *hid_control_dev;
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//! Latest raw IPD value from the device.
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uint16_t raw_ipd;
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//! Latest proximity sensor value from the device.
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uint8_t proximity_sensor;
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/* Distortion related parameters */
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struct wmr_hmd_distortion_params distortion_params[2];
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// Config-derived poses
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struct xrt_pose centerline;
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struct xrt_pose display_to_centerline[2];
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struct xrt_pose accel_to_centerline;
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struct xrt_pose gyro_to_centerline;
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struct xrt_pose mag_to_centerline;
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struct hololens_sensors_packet packet;
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struct
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{
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//! Protects all members of the `fusion` substruct.
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struct os_mutex mutex;
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//! Main fusion calculator.
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struct m_imu_3dof i3dof;
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//! The last angular velocity from the IMU, for prediction.
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struct xrt_vec3 last_angular_velocity;
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//! When did we get the last IMU sample, in CPU time.
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uint64_t last_imu_timestamp_ns;
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} fusion;
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struct
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{
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bool fusion;
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bool misc;
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} gui;
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};
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static inline struct wmr_hmd *
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wmr_hmd(struct xrt_device *p)
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{
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return (struct wmr_hmd *)p;
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}
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struct xrt_device *
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wmr_hmd_create(enum wmr_headset_type hmd_type,
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struct os_hid_device *hid_holo,
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struct os_hid_device *hid_ctrl,
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struct wmr_camera *cam,
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enum u_logging_level log_level);
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#define WMR_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->log_level, __VA_ARGS__)
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#define WMR_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->log_level, __VA_ARGS__)
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#define WMR_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->log_level, __VA_ARGS__)
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#define WMR_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->log_level, __VA_ARGS__)
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#define WMR_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->log_level, __VA_ARGS__)
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#ifdef __cplusplus
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}
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#endif
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