The open source OpenXR runtime
d/simulated: Add builder
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src/xrt/targets/common/CMakeLists.txt
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src/xrt/targets/common/CMakeLists.txt
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target_sources(target_lists PRIVATE target_builder_lighthouse.c)
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endif()
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if(XRT_BUILD_DRIVER_SIMULATED)
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target_sources(target_lists PRIVATE target_builder_simulated.c)
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endif()
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if(XRT_BUILD_DRIVER_SIMULAVR)
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target_sources(target_lists PRIVATE target_builder_simulavr.c)
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endif()
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src/xrt/targets/common/target_builder_interface.h
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src/xrt/targets/common/target_builder_interface.h
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#define T_BUILDER_RGB_TRACKING
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#endif
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#if defined(XRT_BUILD_DRIVER_SIMULATED) || defined(XRT_DOXYGEN)
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#define T_BUILDER_SIMULATED
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#endif
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#if defined(XRT_BUILD_DRIVER_SIMULAVR) || defined(XRT_DOXYGEN)
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#define T_BUILDER_SIMULAVR
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#endif
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struct xrt_builder *
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t_builder_rgb_tracking_create(void);
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#endif
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#ifdef T_BUILDER_SIMULATED
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/*!
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* Builder for @drv_simulated devices.
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*/
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struct xrt_builder *
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t_builder_simulated_create(void);
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#endif
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#ifdef T_BUILDER_SIMULAVR
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/*!
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src/xrt/targets/common/target_builder_simulated.c
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src/xrt/targets/common/target_builder_simulated.c
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// Copyright 2022-2023, 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 Simulated driver builder.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup xrt_iface
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*/
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#include "xrt/xrt_config_drivers.h"
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#include "xrt/xrt_prober.h"
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#include "util/u_debug.h"
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#include "util/u_builders.h"
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#include "util/u_config_json.h"
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#include "util/u_system_helpers.h"
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#include "target_builder_interface.h"
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#include "simulated/simulated_interface.h"
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#include <assert.h>
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#ifndef XRT_BUILD_DRIVER_SIMULATED
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#error "Must only be built with XRT_BUILD_DRIVER_SIMULATED set"
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#endif
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DEBUG_GET_ONCE_BOOL_OPTION(simulated_enabled, "SIMULATED_ENABLE", false)
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DEBUG_GET_ONCE_OPTION(simulated_left, "SIMULATED_LEFT", NULL)
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DEBUG_GET_ONCE_OPTION(simulated_right, "SIMULATED_RIGHT", NULL)
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/*
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*
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* Helper functions.
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*
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*/
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static const char *driver_list[] = {
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"simulated",
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};
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struct xrt_device *
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create_controller(const char *str,
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enum xrt_device_type type,
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const struct xrt_pose *center,
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struct xrt_tracking_origin *origin)
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{
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enum xrt_device_name name = XRT_DEVICE_SIMPLE_CONTROLLER;
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if (str == NULL) {
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return NULL;
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} else if (strcmp(str, "simple") == 0) {
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name = XRT_DEVICE_SIMPLE_CONTROLLER;
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type = XRT_DEVICE_TYPE_ANY_HAND_CONTROLLER; // Override left/right
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} else if (strcmp(str, "wmr") == 0) {
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name = XRT_DEVICE_WMR_CONTROLLER;
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} else if (strcmp(str, "ml2") == 0) {
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name = XRT_DEVICE_ML2_CONTROLLER;
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type = XRT_DEVICE_TYPE_ANY_HAND_CONTROLLER; // Override left/right
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} else {
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U_LOG_E("Unsupported controller '%s' available are: simple, wmr, ml2.", str);
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return NULL;
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}
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return simulated_create_controller(name, type, center, origin);
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}
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/*
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*
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* Member functions.
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*
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*/
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static xrt_result_t
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simulated_estimate_system(struct xrt_builder *xb,
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cJSON *config,
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struct xrt_prober *xp,
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struct xrt_builder_estimate *estimate)
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{
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estimate->certain.head = true;
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estimate->certain.left = true;
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estimate->certain.right = true;
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estimate->priority = -50;
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return XRT_SUCCESS;
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}
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static xrt_result_t
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simulated_open_system(struct xrt_builder *xb,
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cJSON *config,
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struct xrt_prober *xp,
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struct xrt_system_devices **out_xsysd)
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{
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assert(out_xsysd != NULL);
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assert(*out_xsysd == NULL);
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const struct xrt_pose head_center = {XRT_QUAT_IDENTITY, {0.0f, 1.6f, 0.0f}}; // "nominal height" 1.6m
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const struct xrt_pose left_center = {XRT_QUAT_IDENTITY, {-0.2f, 1.3f, -0.5f}};
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const struct xrt_pose right_center = {XRT_QUAT_IDENTITY, {0.2f, 1.3f, -0.5f}};
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const enum xrt_device_type left_type = XRT_DEVICE_TYPE_LEFT_HAND_CONTROLLER;
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const enum xrt_device_type right_type = XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER;
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const char *left_str = debug_get_option_simulated_left();
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const char *right_str = debug_get_option_simulated_right();
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struct xrt_device *head = simulated_hmd_create(SIMULATED_MOVEMENT_WOBBLE, &head_center);
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struct xrt_device *left = create_controller(left_str, left_type, &left_center, head->tracking_origin);
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struct xrt_device *right = create_controller(right_str, right_type, &right_center, head->tracking_origin);
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// Make the objects be tracked in space.
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//! @todo Make these be a option to the hmd create function, or just make it be there from the start.
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head->orientation_tracking_supported = true;
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head->position_tracking_supported = true;
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//! @todo Create a shared tracking origin on the system deviecs struct instead.
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head->tracking_origin->type = XRT_TRACKING_TYPE_OTHER; // Just anything other then none.
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struct u_system_devices *usysd = u_system_devices_allocate();
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usysd->base.roles.head = head;
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usysd->base.roles.left = left;
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usysd->base.roles.right = right;
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usysd->base.xdevs[usysd->base.xdev_count++] = head;
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if (left != NULL) {
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usysd->base.xdevs[usysd->base.xdev_count++] = left;
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}
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if (right != NULL) {
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usysd->base.xdevs[usysd->base.xdev_count++] = right;
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}
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*out_xsysd = &usysd->base;
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return XRT_SUCCESS;
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}
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static void
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simulated_destroy(struct xrt_builder *xb)
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{
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free(xb);
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}
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/*
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*
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* 'Exported' functions.
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*
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*/
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struct xrt_builder *
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t_builder_simulated_create(void)
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{
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struct xrt_builder *xb = U_TYPED_CALLOC(struct xrt_builder);
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xb->estimate_system = simulated_estimate_system;
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xb->open_system = simulated_open_system;
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xb->destroy = simulated_destroy;
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xb->identifier = "simulated";
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xb->name = "Simulated devices builder";
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xb->driver_identifiers = driver_list;
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xb->driver_identifier_count = ARRAY_SIZE(driver_list);
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xb->exclude_from_automatic_discovery = !debug_get_bool_option_simulated_enabled();
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return xb;
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}
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src/xrt/targets/common/target_lists.c
+4
src/xrt/targets/common/target_lists.c
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t_builder_rgb_tracking_create,
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#endif // T_BUILDER_RGB_TRACKING
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#ifdef T_BUILDER_SIMULATED
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t_builder_simulated_create,
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#endif // T_BUILDER_SIMULATED
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#ifdef T_BUILDER_SIMULAVR
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t_builder_simula_create,
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#endif // T_BUILDER_SIMULAVR