monado/src/xrt/drivers/remote/r_hmd.c

// Copyright 2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  HMD remote driver.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup drv_remote
 */

#include "os/os_time.h"

#include "util/u_var.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_distortion_mesh.h"

#include "math/m_api.h"
#include "math/m_mathinclude.h"

#include "r_internal.h"

#include <stdio.h>


/*
 *
 * Functions
 *
 */

static inline struct r_hmd *
r_hmd(struct xrt_device *xdev)
{
	return (struct r_hmd *)xdev;
}

static void
r_hmd_destroy(struct xrt_device *xdev)
{
	struct r_hmd *rh = r_hmd(xdev);

	// Remove the variable tracking.
	u_var_remove_root(rh);

	// Free this device with the helper.
	u_device_free(&rh->base);
}

static void
r_hmd_update_inputs(struct xrt_device *xdev)
{
	struct r_hmd *rh = r_hmd(xdev);
	(void)rh;
}

static void
r_hmd_get_tracked_pose(struct xrt_device *xdev,
                       enum xrt_input_name name,
                       uint64_t at_timestamp_ns,
                       struct xrt_space_relation *out_relation)
{
	struct r_hmd *rh = r_hmd(xdev);

	if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
		U_LOG_E("Unknown input name");
		return;
	}

	out_relation->pose = rh->r->latest.hmd.pose;
	out_relation->relation_flags = (enum xrt_space_relation_flags)(
	    XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
	    XRT_SPACE_RELATION_POSITION_VALID_BIT |
	    XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
	    XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
}

static void
r_hmd_get_hand_tracking(struct xrt_device *xdev,
                        enum xrt_input_name name,
                        uint64_t at_timestamp_ns,
                        struct xrt_hand_joint_set *out_value)
{
	struct r_hmd *rh = r_hmd(xdev);
	(void)rh;
}

static void
r_hmd_get_view_pose(struct xrt_device *xdev,
                    struct xrt_vec3 *eye_relation,
                    uint32_t view_index,
                    struct xrt_pose *out_pose)
{
	struct xrt_pose pose = {{0.0f, 0.0f, 0.0f, 1.0f}, {0.0f, 0.0f, 0.0f}};
	bool adjust = view_index == 0;

	pose.position.x = eye_relation->x / 2.0f;
	pose.position.y = eye_relation->y / 2.0f;
	pose.position.z = eye_relation->z / 2.0f;

	// Adjust for left/right while also making sure there aren't any -0.f.
	if (pose.position.x > 0.0f && adjust) {
		pose.position.x = -pose.position.x;
	}
	if (pose.position.y > 0.0f && adjust) {
		pose.position.y = -pose.position.y;
	}
	if (pose.position.z > 0.0f && adjust) {
		pose.position.z = -pose.position.z;
	}

	*out_pose = pose;
}

static void
r_hmd_set_output(struct xrt_device *xdev,
                 enum xrt_output_name name,
                 union xrt_output_value *value)
{
	// Empty
}

/*!
 * @public @memberof r_hmd
 */
struct xrt_device *
r_hmd_create(struct r_hub *r)
{
	// Allocate.
	const enum u_device_alloc_flags flags = U_DEVICE_ALLOC_HMD;
	const uint32_t num_inputs = 1;
	const uint32_t num_outputs = 0;
	struct r_hmd *rh = U_DEVICE_ALLOCATE( //
	    struct r_hmd, flags, num_inputs, num_outputs);

	// Setup the basics.
	rh->base.update_inputs = r_hmd_update_inputs;
	rh->base.get_tracked_pose = r_hmd_get_tracked_pose;
	rh->base.get_hand_tracking = r_hmd_get_hand_tracking;
	rh->base.get_view_pose = r_hmd_get_view_pose;
	rh->base.set_output = r_hmd_set_output;
	rh->base.destroy = r_hmd_destroy;
	rh->base.tracking_origin = &r->base;
	rh->base.orientation_tracking_supported = true;
	rh->base.position_tracking_supported = true;
	rh->base.hand_tracking_supported = false;
	rh->base.name = XRT_DEVICE_GENERIC_HMD;
	rh->base.device_type = XRT_DEVICE_TYPE_HMD;
	rh->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
	rh->base.inputs[0].active = true;
	rh->r = r;

	// Print name.
	snprintf(rh->base.str, sizeof(rh->base.str), "Remote HMD");

	// Setup info.
	struct u_device_simple_info info;
	info.display.w_pixels = 1920;
	info.display.h_pixels = 1080;
	info.display.w_meters = 0.13f;
	info.display.h_meters = 0.07f;
	info.lens_horizontal_separation_meters = 0.13f / 2.0f;
	info.lens_vertical_position_meters = 0.07f / 2.0f;
	info.views[0].fov = 85.0f * (M_PI / 180.0f);
	info.views[1].fov = 85.0f * (M_PI / 180.0f);

	if (!u_device_setup_split_side_by_side(&rh->base, &info)) {
		U_LOG_E("Failed to setup basic device info");
		r_hmd_destroy(&rh->base);
		return NULL;
	}

	// Distortion information, fills in xdev->compute_distortion().
	u_distortion_mesh_set_none(&rh->base);

	// Setup variable tracker.
	u_var_add_root(rh, rh->base.str, true);

	return &rh->base;
}