monado/src/xrt/drivers/rift_s/rift_s_hmd.c

/*
 * Copyright 2013, Fredrik Hultin.
 * Copyright 2013, Jakob Bornecrantz.
 * Copyright 2016 Philipp Zabel
 * Copyright 2019-2022 Jan Schmidt
 * SPDX-License-Identifier: BSL-1.0
 *
 */
/*!
 * @file
 * @brief  Driver code for Oculus Rift S headsets
 *
 * Implementation for the HMD communication, calibration and
 * IMU integration.
 *
 * Ported from OpenHMD
 *
 * @author Jan Schmidt <jan@centricular.com>
 * @ingroup drv_rift_s
 */

/* Oculus Rift S Driver - HID/USB Driver Implementation */

#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <time.h>
#include <assert.h>
#include <inttypes.h>

#include "math/m_api.h"
#include "math/m_vec3.h"

#include "os/os_time.h"

#include "util/u_device.h"
#include "util/u_trace_marker.h"
#include "util/u_var.h"

#include "xrt/xrt_device.h"

#include "rift_s_hmd.h"

#define DEG_TO_RAD(D) ((D)*M_PI / 180.)

static void
rift_s_update_inputs(struct xrt_device *xdev)
{}

static void
rift_s_get_tracked_pose(struct xrt_device *xdev,
                        enum xrt_input_name name,
                        uint64_t at_timestamp_ns,
                        struct xrt_space_relation *out_relation)
{
	struct rift_s_hmd *hmd = (struct rift_s_hmd *)(xdev);

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

	U_ZERO(out_relation);

	rift_s_tracker_get_tracked_pose(hmd->tracker, RIFT_S_TRACKER_POSE_DEVICE, at_timestamp_ns, out_relation);
}

static void
rift_s_get_view_poses(struct xrt_device *xdev,
                      const struct xrt_vec3 *default_eye_relation,
                      uint64_t at_timestamp_ns,
                      uint32_t view_count,
                      struct xrt_space_relation *out_head_relation,
                      struct xrt_fov *out_fovs,
                      struct xrt_pose *out_poses)
{
	u_device_get_view_poses(xdev, default_eye_relation, at_timestamp_ns, view_count, out_head_relation, out_fovs,
	                        out_poses);
}

void
rift_s_hmd_handle_report(struct rift_s_hmd *hmd, timepoint_ns local_ts, rift_s_hmd_report_t *report)
{
	struct rift_s_imu_config_info_t *imu_config = &hmd->config->imu_config_info;
	struct rift_s_imu_calibration *imu_calibration = &hmd->config->imu_calibration;

	const uint32_t TICK_LEN_US = 1000000 / imu_config->imu_hz;
	uint32_t dt = TICK_LEN_US;

	int n_samples = 0;

	for (int i = 0; i < 3; i++) {
		rift_s_hmd_imu_sample_t *s = report->samples + i;
		if (s->marker & 0x80)
			break; /* Sample (and remaining ones) are invalid */
		n_samples++;
	}

	/* Check that there's at least 1 valid sample */
	if (n_samples == 0)
		return;

	if (hmd->last_imu_timestamp_ns != 0) {
		/* Avoid wrap-around on 32-bit device times */
		dt = report->timestamp - hmd->last_imu_timestamp32;
	} else {
		hmd->last_imu_timestamp_ns = (timepoint_ns)(report->timestamp) * OS_NS_PER_USEC;
		hmd->last_imu_timestamp32 = report->timestamp;
	}

	/* Give the tracker an update for matching local clock to device. The sample ts we're
	 * given seems to be the time the first IMU sample was captured, but the local_ts
	 * is USB packet arrival time, which is after the last IMU sample was captured,
	 * so calculate the correct imu timestamp accordingly */
	uint64_t packet_duration_us = (n_samples - 1) * TICK_LEN_US + dt;
	uint64_t end_imu_timestamp_ns = hmd->last_imu_timestamp_ns + (OS_NS_PER_USEC * packet_duration_us);

	rift_s_tracker_clock_update(hmd->tracker, end_imu_timestamp_ns, local_ts);

	const float gyro_scale = 1.0 / imu_config->gyro_scale;
	const float accel_scale = MATH_GRAVITY_M_S2 / imu_config->accel_scale;
	const float temperature_scale = 1.0 / imu_config->temperature_scale;
	const float temperature_offset = imu_config->temperature_offset;

	for (int i = 0; i < 3; i++) {
		rift_s_hmd_imu_sample_t *s = report->samples + i;

		if (s->marker & 0x80)
			break; /* Sample (and remaining ones) are invalid */

		struct xrt_vec3 raw_accel, raw_gyro;
		struct xrt_vec3 accel, gyro;

		raw_gyro.x = DEG_TO_RAD(gyro_scale * s->gyro[0]);
		raw_gyro.y = DEG_TO_RAD(gyro_scale * s->gyro[1]);
		raw_gyro.z = DEG_TO_RAD(gyro_scale * s->gyro[2]);

		raw_accel.x = accel_scale * s->accel[0];
		raw_accel.y = accel_scale * s->accel[1];
		raw_accel.z = accel_scale * s->accel[2];

		/* Apply correction offsets first, then rectify */
		accel = m_vec3_sub(raw_accel, imu_calibration->accel.offset_at_0C);
		gyro = m_vec3_sub(raw_gyro, imu_calibration->gyro.offset);

		math_matrix_3x3_transform_vec3(&imu_calibration->accel.rectification, &raw_accel, &accel);
		math_matrix_3x3_transform_vec3(&imu_calibration->gyro.rectification, &raw_gyro, &gyro);

		/* FIXME: This doesn't seem to produce the right numbers, but it's OK - we don't use it anyway */
		hmd->temperature = temperature_scale * (s->temperature - temperature_offset) + 25;

#if 0
		RIFT_S_DEBUG("Sample %d dt %f ts %" PRIu64 " report ts %u "
			"accel %f %f %f (len %f) gyro %f %f %f",
			i, (double)(dt) / (1000000), hmd->last_imu_timestamp_ns,
			report->timestamp,
			accel.x, accel.y, accel.z, m_vec3_len(raw_accel),
			gyro.x, gyro.y, gyro.z);
#endif

		// Send the sample to the pose tracker
		rift_s_tracker_imu_update(hmd->tracker, hmd->last_imu_timestamp_ns, &accel, &gyro);

		hmd->last_imu_timestamp_ns += (uint64_t)dt * OS_NS_PER_USEC;
		hmd->last_imu_timestamp32 += dt;
		dt = TICK_LEN_US;
	}
}

static bool
rift_s_compute_distortion(struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
{
	struct rift_s_hmd *hmd = (struct rift_s_hmd *)(xdev);
	return u_compute_distortion_panotools(&hmd->distortion_vals[view], u, v, result);
}

#if 0
static int
dump_fw_block(struct os_hid_device *handle, uint8_t block_id) {
	int res;
	char *data = NULL;
	int len;

	res = rift_s_read_firmware_block (handle, block_id, &data, &len);
	if (res	< 0)
			return res;

	free (data);
	return 0;
}
#endif

static void
rift_s_hmd_destroy(struct xrt_device *xdev)
{
	struct rift_s_hmd *hmd = (struct rift_s_hmd *)(xdev);

	DRV_TRACE_MARKER();

	/* Remove this device from the system */
	rift_s_system_remove_hmd(hmd->sys);

	/* Drop the reference to the system */
	rift_s_system_reference(&hmd->sys, NULL);

	u_var_remove_root(hmd);

	u_device_free(&hmd->base);
}

struct rift_s_hmd *
rift_s_hmd_create(struct rift_s_system *sys, const unsigned char *hmd_serial_no, struct rift_s_hmd_config *config)
{
	DRV_TRACE_MARKER();

	enum u_device_alloc_flags flags =
	    (enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);

	struct rift_s_hmd *hmd = U_DEVICE_ALLOCATE(struct rift_s_hmd, flags, 1, 0);
	if (hmd == NULL) {
		return NULL;
	}

	/* Take a reference to the rift_s_system */
	rift_s_system_reference(&hmd->sys, sys);

	hmd->config = config;

	hmd->base.tracking_origin = &sys->base;

	hmd->base.update_inputs = rift_s_update_inputs;
	hmd->base.get_tracked_pose = rift_s_get_tracked_pose;
	hmd->base.get_view_poses = rift_s_get_view_poses;
	hmd->base.destroy = rift_s_hmd_destroy;
	hmd->base.name = XRT_DEVICE_GENERIC_HMD;
	hmd->base.device_type = XRT_DEVICE_TYPE_HMD;

	hmd->tracker = rift_s_system_get_tracker(sys);

	// Print name.
	snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Oculus Rift S");
	snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "%s", hmd_serial_no);

	// Setup input.
	hmd->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;

	hmd->last_imu_timestamp_ns = 0;

	struct os_hid_device *hid_hmd = rift_s_system_hid_handle(hmd->sys);

	RIFT_S_DEBUG("Configuring firmware provided proximity sensor threshold %u", config->proximity_threshold);

	if (rift_s_protocol_set_proximity_threshold(hid_hmd, (uint16_t)config->proximity_threshold) < 0)
		goto cleanup;

#if 0
	dump_fw_block(hid_hmd, 0xB);
	dump_fw_block(hid_hmd, 0xF);
	dump_fw_block(hid_hmd, 0x10);
	dump_fw_block(hid_hmd, 0x12);
#endif

	// Set up display details
	// FIXME: These are all wrong and should be derived from HMD reports
	// refresh rate
	hmd->base.hmd->screens[0].nominal_frame_interval_ns = time_s_to_ns(1.0f / 80.0f);

	/* In the Rift S, there's one panel that is rotated
	 * to the right, so reported to the OS as a
	 * 1440x2560 wxh panel that needs to be split
	 * in two and each view rotated for rendering */
	const int view_w = 1440;
	const int view_h = 1280;

	/* screen is the physical width/height of the panel
	 * as presented to the OS */
	hmd->base.hmd->screens[0].w_pixels = view_w;
	hmd->base.hmd->screens[0].h_pixels = view_h * 2;

	// Left, Right eye view setup
	for (uint8_t eye = 0; eye < 2; ++eye) {
		// Display w/h need to be swapped, as the client sees / renders
		hmd->base.hmd->views[eye].display.w_pixels = view_h;
		hmd->base.hmd->views[eye].display.h_pixels = view_w;
		// Viewport is position on the output panel
		hmd->base.hmd->views[eye].viewport.y_pixels = 0;
		hmd->base.hmd->views[eye].viewport.w_pixels = view_w;
		hmd->base.hmd->views[eye].viewport.h_pixels = view_h;
		hmd->base.hmd->views[eye].rot = u_device_rotation_right;
	}
	// left eye starts at y=0, right eye starts at y=view_height
	hmd->base.hmd->views[0].viewport.y_pixels = 0;
	hmd->base.hmd->views[1].viewport.y_pixels = view_h;

	/* FIXME: Incorrection distortion taken from the Rift CV1 for now */
	const double display_w_meters = 0.149760f / 2.0; // Per-eye width
	const double display_h_meters = 0.093600f;
	const double lens_sep = 0.074f;
	const double hFOV = DEG_TO_RAD(105.0);

	// center of projection
	const double hCOP = lens_sep / 2.0;
	const double vCOP = display_h_meters / 2.0;

	struct u_panotools_values distortion_vals = {
	    .distortion_k = {0.819f, -0.241f, 0.324f, 0.098f, 0.0},
	    .aberration_k = {0.9952420f, 1.0f, 1.0008074f},
	    .scale = display_w_meters -
	             lens_sep / 2.0, // Assume distortion is across the larger distance from lens center to edge
	    .lens_center = {display_w_meters - hCOP, vCOP},
	    .viewport_size = {display_w_meters, display_h_meters},
	};

	if (
	    /* right eye */
	    !math_compute_fovs(display_w_meters, hCOP, hFOV, display_h_meters, vCOP, 0.0,
	                       &hmd->base.hmd->distortion.fov[1]) ||
	    /*
	     * left eye - same as right eye, except the horizontal center of projection is moved in the opposite
	     * direction now
	     */
	    !math_compute_fovs(display_w_meters, display_w_meters - hCOP, hFOV, display_h_meters, vCOP, 0.0,
	                       &hmd->base.hmd->distortion.fov[0])) {
		// If those failed, it means our math was impossible.
		RIFT_S_ERROR("Failed to setup basic device info");
		goto cleanup;
	}

	hmd->distortion_vals[0] = distortion_vals;
	// Move the lens center for the right view
	distortion_vals.lens_center.x = hCOP;
	hmd->distortion_vals[1] = distortion_vals;

	hmd->base.hmd->distortion.models = XRT_DISTORTION_MODEL_COMPUTE;
	hmd->base.hmd->distortion.preferred = XRT_DISTORTION_MODEL_COMPUTE;
	hmd->base.compute_distortion = rift_s_compute_distortion;
	u_distortion_mesh_fill_in_compute(&hmd->base);

	/* Set Opaque blend mode */
	hmd->base.hmd->blend_modes[0] = XRT_BLEND_MODE_OPAQUE;
	hmd->base.hmd->blend_mode_count = 1;

	// Setup variable tracker: Optional but useful for debugging
	u_var_add_root(hmd, "Oculus Rift S", true);

	/* Add tracker variables to the HMD debug */
	rift_s_tracker_add_debug_ui(hmd->tracker, hmd);

	u_var_add_gui_header(hmd, NULL, "Misc");
	u_var_add_log_level(hmd, &rift_s_log_level, "log_level");

	RIFT_S_DEBUG("Oculus Rift S HMD serial %s initialised.", hmd_serial_no);

	return hmd;

cleanup:
	rift_s_system_reference(&hmd->sys, NULL);
	return NULL;
}

void
rift_s_hmd_set_proximity(struct rift_s_hmd *hmd, bool prox_sensor)
{
	/* Enable the screen if the prox sensor is triggered, or turn it off otherwise. */
	if (prox_sensor != hmd->display_on) {
		struct os_hid_device *hid_hmd = rift_s_system_hid_handle(hmd->sys);

		rift_s_set_screen_enable(hid_hmd, prox_sensor);
		hmd->display_on = prox_sensor;
	}
}