The open source OpenXR runtime
d/vive: Factor out controller config into separate struct
authored by
Christoph Haag
and committed by
Jakob Bornecrantz
a2e7e1c3
e4b0e628
+82
-60
+1
-1
src/xrt/drivers/vive/vive_config.c
+1
-1
src/xrt/drivers/vive/vive_config.c
+43
-1
src/xrt/drivers/vive/vive_config.h
+43
-1
src/xrt/drivers/vive/vive_config.h
···
23
23
VIVE_VARIANT_INDEX
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24
};
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+
enum VIVE_CONTROLLER_VARIANT
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+
{
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CONTROLLER_VIVE_WAND,
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CONTROLLER_INDEX_LEFT,
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+
CONTROLLER_INDEX_RIGHT,
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CONTROLLER_TRACKER_GEN1,
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CONTROLLER_TRACKER_GEN2,
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+
CONTROLLER_UNKNOWN
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};
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+
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/*!
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* A single lighthouse senosor point and normal, in IMU space.
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*/
···
98
108
struct lh_model lh;
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};
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+
struct vive_controller_config
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{
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enum u_logging_level ll;
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+
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enum VIVE_CONTROLLER_VARIANT variant;
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+
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struct
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{
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uint32_t firmware_version;
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uint8_t hardware_revision;
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uint8_t hardware_version_micro;
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uint8_t hardware_version_minor;
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uint8_t hardware_version_major;
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+
char mb_serial_number[32];
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+
char model_number[32];
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+
char device_serial_number[32];
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} firmware;
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+
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struct
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{
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double acc_range;
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+
double gyro_range;
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struct xrt_vec3 acc_bias;
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struct xrt_vec3 acc_scale;
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struct xrt_vec3 gyro_bias;
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struct xrt_vec3 gyro_scale;
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+
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//! IMU position in tracking space.
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struct xrt_pose trackref;
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} imu;
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};
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+
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bool
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vive_config_parse(struct vive_config *d, char *json_string);
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···
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struct vive_controller_device;
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bool
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-
vive_config_parse_controller(struct vive_controller_device *d, char *json_string);
150
+
vive_config_parse_controller(struct vive_controller_config *d, char *json_string);
+33
-26
src/xrt/drivers/vive/vive_controller.c
+33
-26
src/xrt/drivers/vive/vive_controller.c
···
543
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__le16_to_cpu(sample->gyro[2]),
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};
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-
float scale = (float)d->imu.acc_range / 32768.0f;
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+
float scale = (float)d->config.imu.acc_range / 32768.0f;
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struct xrt_vec3 acceleration = {
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-
scale * d->imu.acc_scale.x * acc[0] - d->imu.acc_bias.x,
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-
scale * d->imu.acc_scale.y * acc[1] - d->imu.acc_bias.y,
550
-
scale * d->imu.acc_scale.z * acc[2] - d->imu.acc_bias.z,
548
+
scale * d->config.imu.acc_scale.x * acc[0] - d->config.imu.acc_bias.x,
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+
scale * d->config.imu.acc_scale.y * acc[1] - d->config.imu.acc_bias.y,
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+
scale * d->config.imu.acc_scale.z * acc[2] - d->config.imu.acc_bias.z,
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};
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-
scale = (float)d->imu.gyro_range / 32768.0f;
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+
scale = (float)d->config.imu.gyro_range / 32768.0f;
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struct xrt_vec3 angular_velocity = {
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-
scale * d->imu.gyro_scale.x * gyro[0] - d->imu.gyro_bias.x,
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-
scale * d->imu.gyro_scale.y * gyro[1] - d->imu.gyro_bias.y,
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-
scale * d->imu.gyro_scale.z * gyro[2] - d->imu.gyro_bias.z,
555
+
scale * d->config.imu.gyro_scale.x * gyro[0] - d->config.imu.gyro_bias.x,
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+
scale * d->config.imu.gyro_scale.y * gyro[1] - d->config.imu.gyro_bias.y,
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+
scale * d->config.imu.gyro_scale.z * gyro[2] - d->config.imu.gyro_bias.z,
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};
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VIVE_TRACE(d, "ACC %f %f %f", acceleration.x, acceleration.y, acceleration.z);
···
1030
1030
m_imu_3dof_init(&d->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
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/* default values, will be queried from device */
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-
d->imu.gyro_range = 8.726646f;
1034
-
d->imu.acc_range = 39.226600f;
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+
d->config.imu.gyro_range = 8.726646f;
1034
+
d->config.imu.acc_range = 39.226600f;
1035
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1036
-
d->imu.acc_scale.x = 1.0f;
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d->imu.acc_scale.y = 1.0f;
1038
-
d->imu.acc_scale.z = 1.0f;
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d->imu.gyro_scale.x = 1.0f;
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d->imu.gyro_scale.y = 1.0f;
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d->imu.gyro_scale.z = 1.0f;
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+
d->config.imu.acc_scale.x = 1.0f;
1037
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d->config.imu.acc_scale.y = 1.0f;
1038
+
d->config.imu.acc_scale.z = 1.0f;
1039
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d->config.imu.gyro_scale.x = 1.0f;
1040
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d->config.imu.gyro_scale.y = 1.0f;
1041
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d->config.imu.gyro_scale.z = 1.0f;
1042
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1043
-
d->imu.acc_bias.x = 0.0f;
1044
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d->imu.acc_bias.y = 0.0f;
1045
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d->imu.acc_bias.z = 0.0f;
1046
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d->imu.gyro_bias.x = 0.0f;
1047
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d->imu.gyro_bias.y = 0.0f;
1048
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d->imu.gyro_bias.z = 0.0f;
1043
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d->config.imu.acc_bias.x = 0.0f;
1044
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d->config.imu.acc_bias.y = 0.0f;
1045
+
d->config.imu.acc_bias.z = 0.0f;
1046
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d->config.imu.gyro_bias.x = 0.0f;
1047
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d->config.imu.gyro_bias.y = 0.0f;
1048
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d->config.imu.gyro_bias.z = 0.0f;
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d->controller_hid = controller_hid;
1051
1051
···
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d->index = controller_num;
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//! @todo: reading range report fails for powered off controller
1061
-
if (vive_get_imu_range_report(d->controller_hid, &d->imu.gyro_range, &d->imu.acc_range) != 0) {
1061
+
if (vive_get_imu_range_report(d->controller_hid, &d->config.imu.gyro_range, &d->config.imu.acc_range) != 0) {
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VIVE_ERROR(d, "Could not get watchman IMU range packet!");
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free(d);
1064
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return 0;
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}
1066
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-
VIVE_DEBUG(d, "Vive controller gyroscope range %f", d->imu.gyro_range);
1068
-
VIVE_DEBUG(d, "Vive controller accelerometer range %f", d->imu.acc_range);
1067
+
VIVE_DEBUG(d, "Vive controller gyroscope range %f", d->config.imu.gyro_range);
1068
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VIVE_DEBUG(d, "Vive controller accelerometer range %f", d->config.imu.acc_range);
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// successful config parsing determines d->variant
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char *config = vive_read_config(d->controller_hid);
1072
+
1073
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d->config.ll = d->ll;
1074
+
1072
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if (config != NULL) {
1073
-
vive_config_parse_controller(d, config);
1076
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vive_config_parse_controller(&d->config, config);
1074
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free(config);
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} else {
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VIVE_ERROR(d, "Could not get Vive controller config\n");
1077
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free(d);
1078
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return 0;
1079
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}
1083
+
1084
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// watchman rf connected device variant is read from config json
1085
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//! @todo usb connected controllers
1086
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d->variant = d->config.variant;
1080
1087
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if (d->variant == CONTROLLER_VIVE_WAND) {
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d->base.name = XRT_DEVICE_VIVE_WAND;
+5
-32
src/xrt/drivers/vive/vive_controller.h
+5
-32
src/xrt/drivers/vive/vive_controller.h
···
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#include "util/u_hand_tracking.h"
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#include "vive_config.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
···
36
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WATCHMAN_GEN_UNKNOWN
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};
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-
enum controller_variant
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-
{
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-
CONTROLLER_VIVE_WAND,
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-
CONTROLLER_INDEX_LEFT,
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CONTROLLER_INDEX_RIGHT,
44
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CONTROLLER_TRACKER_GEN1,
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-
CONTROLLER_TRACKER_GEN2,
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CONTROLLER_UNKNOWN
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-
};
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-
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/*!
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* A Vive Controller device, representing just a single controller.
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*
···
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{
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uint64_t time_ns;
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uint32_t last_sample_time_raw;
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-
double acc_range;
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double gyro_range;
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struct xrt_vec3 acc_bias;
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-
struct xrt_vec3 acc_scale;
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struct xrt_vec3 gyro_bias;
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-
struct xrt_vec3 gyro_scale;
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-
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//! IMU position in tracking space.
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struct xrt_pose trackref;
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} imu;
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struct m_imu_3dof fusion;
···
113
96
uint8_t battery;
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} state;
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-
struct
117
-
{
118
-
uint32_t firmware_version;
119
-
uint8_t hardware_revision;
120
-
uint8_t hardware_version_micro;
121
-
uint8_t hardware_version_minor;
122
-
uint8_t hardware_version_major;
123
-
char mb_serial_number[32];
124
-
char model_number[32];
125
-
char device_serial_number[32];
126
-
} firmware;
127
-
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enum watchman_gen watchman_gen;
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-
enum controller_variant variant;
100
+
enum VIVE_CONTROLLER_VARIANT variant;
130
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struct u_hand_tracking hand_tracking;
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+
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struct vive_controller_config config;
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};
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struct vive_controller_device *