The open source OpenXR runtime
d/blubur_s1: Add skeleton driver for Blubur S1
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2590>
authored by
Beyley Cardellio
and committed by
Marge Bot
de6c4bff
366df8fd
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+3
CMakeLists.txt
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CMakeLists.txt
···
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# Drivers to build (sorted)
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option_with_deps(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" DEPENDS ANDROID)
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option_with_deps(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE" DEPENDS XRT_HAVE_DBUS)
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option_with_deps(XRT_BUILD_DRIVER_BLUBUR_S1 "Enable 3Glasses Blubur S1 device driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE)" DEPENDS XRT_HAVE_DBUS)
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option_with_deps(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" DEPENDS depthai_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" DEPENDS XRT_HAVE_OPENCV "NOT MSVC")
···
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AVAILABLE_DRIVERS
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"ANDROID"
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"ARDUINO"
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"BLUBUR_S1"
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"DAYDREAM"
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"SIMULATED"
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"HANDTRACKING"
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message(STATUS "#")
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message(STATUS "# DRIVER_ANDROID: ${XRT_BUILD_DRIVER_ANDROID}")
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message(STATUS "# DRIVER_ARDUINO: ${XRT_BUILD_DRIVER_ARDUINO}")
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message(STATUS "# DRIVER_BLUBUR_S1: ${XRT_BUILD_DRIVER_BLUBUR_S1}")
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message(STATUS "# DRIVER_DAYDREAM: ${XRT_BUILD_DRIVER_DAYDREAM}")
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message(STATUS "# DRIVER_DEPTHAI: ${XRT_BUILD_DRIVER_DEPTHAI}")
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message(STATUS "# DRIVER_EUROC: ${XRT_BUILD_DRIVER_EUROC}")
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src/xrt/drivers/CMakeLists.txt
+9
src/xrt/drivers/CMakeLists.txt
···
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target_link_libraries(drv_cemu PRIVATE xrt-interfaces aux_generated_bindings_helpers aux_util)
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list(APPEND ENABLED_HEADSET_DRIVERS drv_cemu)
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if(XRT_BUILD_DRIVER_BLUBUR_S1)
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add_library(
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drv_blubur_s1 STATIC blubur_s1/blubur_s1_hmd.c blubur_s1/blubur_s1_interface.h
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blubur_s1/blubur_s1_prober.c
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)
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target_link_libraries(drv_blubur_s1 PRIVATE xrt-interfaces aux_util aux_os)
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list(APPEND ENABLED_DRIVERS blubur_s1)
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endif()
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if(XRT_BUILD_DRIVER_DAYDREAM)
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add_library(
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drv_daydream STATIC daydream/daydream_device.c daydream/daydream_device.h
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src/xrt/drivers/blubur_s1/blubur_s1_hmd.c
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src/xrt/drivers/blubur_s1/blubur_s1_hmd.c
···
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// Copyright 2025, Beyley Cardellio
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Implementation of Blubur S1 HMD driver.
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* @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
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* @ingroup drv_blubur_s1
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*/
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#include "math/m_api.h"
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#include "math/m_mathinclude.h"
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#include "util/u_device.h"
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#include "util/u_distortion_mesh.h"
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#include "util/u_misc.h"
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#include "util/u_time.h"
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#include "blubur_s1_interface.h"
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#include "blubur_s1_internal.h"
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static struct blubur_s1_hmd *
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blubur_s1_hmd(struct xrt_device *xdev)
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{
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return (struct blubur_s1_hmd *)xdev;
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}
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static void
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blubur_s1_hmd_destroy(struct xrt_device *xdev)
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{
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struct blubur_s1_hmd *hmd = blubur_s1_hmd(xdev);
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free(hmd);
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}
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static xrt_result_t
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blubur_s1_hmd_compute_distortion(
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struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *out_result)
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{
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float x = u * 2.0f - 1.0f;
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float y = v * 2.0f - 1.0f;
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float r2 = x * x + y * y;
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float r = sqrtf(r2);
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float r3 = r2 * r;
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float r4 = r2 * r2;
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float r5 = r4 * r;
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float radial = (0.5978f * r5) - (0.7257f * r4) + (0.504f * r3) - (0.0833f * r2) + (0.709f * r) - 0.00006f;
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struct xrt_vec2 result = {
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.x = (x * radial) / 2.0f + 0.5f,
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.y = (y * radial) / 2.0f + 0.5f,
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};
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out_result->r = result;
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out_result->g = result;
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out_result->b = result;
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return XRT_SUCCESS;
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}
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static xrt_result_t
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blubur_s1_hmd_update_inputs(struct xrt_device *xdev)
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{
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return XRT_SUCCESS;
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}
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static xrt_result_t
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blubur_s1_hmd_get_tracked_pose(struct xrt_device *xdev,
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enum xrt_input_name name,
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int64_t at_timestamp_ns,
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struct xrt_space_relation *out_relation)
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{
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if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
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return XRT_ERROR_INPUT_UNSUPPORTED;
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}
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// TODO: track pose
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*out_relation = (struct xrt_space_relation){
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.relation_flags = 0,
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};
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return XRT_SUCCESS;
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}
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static xrt_result_t
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blubur_s1_hmd_get_presence(struct xrt_device *xdev, bool *presence)
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{
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// TODO: read the presence sensor from the device
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*presence = true;
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return XRT_SUCCESS;
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}
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static xrt_result_t
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blubur_s1_get_view_poses(struct xrt_device *xdev,
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const struct xrt_vec3 *default_eye_relation,
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int64_t at_timestamp_ns,
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uint32_t view_count,
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struct xrt_space_relation *out_head_relation,
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struct xrt_fov *out_fovs,
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struct xrt_pose *out_poses)
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{
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return u_device_get_view_poses(xdev, default_eye_relation, at_timestamp_ns, view_count, out_head_relation,
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out_fovs, out_poses);
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}
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struct blubur_s1_hmd *
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blubur_s1_hmd_create(struct os_hid_device *dev, const char *serial)
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{
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struct blubur_s1_hmd *hmd =
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U_DEVICE_ALLOCATE(struct blubur_s1_hmd, U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE, 1, 0);
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if (hmd == NULL) {
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return NULL;
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}
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hmd->base.destroy = blubur_s1_hmd_destroy;
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hmd->base.name = XRT_DEVICE_GENERIC_HMD;
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hmd->base.device_type = XRT_DEVICE_TYPE_HMD;
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const int view_size = 1440;
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hmd->base.hmd->screens[0].w_pixels = view_size * 2;
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hmd->base.hmd->screens[0].h_pixels = view_size;
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hmd->base.hmd->screens[0].nominal_frame_interval_ns = 1000000000LLU / 120; // 120hz
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hmd->base.hmd->view_count = 2;
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hmd->base.hmd->views[0] = (struct xrt_view){
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.viewport =
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{
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.x_pixels = 0,
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.y_pixels = 0,
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.w_pixels = view_size,
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.h_pixels = view_size,
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},
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.display =
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{
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.w_pixels = view_size,
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.h_pixels = view_size,
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},
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.rot = u_device_rotation_ident,
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};
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hmd->base.hmd->views[1] = (struct xrt_view){
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.viewport =
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{
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.x_pixels = view_size,
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.y_pixels = 0,
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.w_pixels = view_size,
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.h_pixels = view_size,
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},
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.display =
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{
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.w_pixels = view_size,
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.h_pixels = view_size,
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},
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.rot = u_device_rotation_ident,
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};
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hmd->base.hmd->blend_modes[0] = XRT_BLEND_MODE_OPAQUE;
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hmd->base.hmd->blend_mode_count = 1;
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// TODO: what's the real FOV?
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hmd->base.hmd->distortion.fov[0] = (struct xrt_fov){
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.angle_left = 45.0f * (M_PI / 180.0f),
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.angle_right = 45.0f * (M_PI / 180.0f),
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.angle_up = 45.0f * (M_PI / 180.0f),
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.angle_down = 45.0f * (M_PI / 180.0f),
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};
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hmd->base.hmd->distortion.fov[1] = hmd->base.hmd->distortion.fov[0];
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hmd->base.hmd->distortion.models = XRT_DISTORTION_MODEL_COMPUTE;
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hmd->base.hmd->distortion.preferred = XRT_DISTORTION_MODEL_COMPUTE;
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hmd->base.compute_distortion = blubur_s1_hmd_compute_distortion;
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u_distortion_mesh_fill_in_compute(&hmd->base);
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snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Blubur S1");
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snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "%s", serial);
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hmd->base.supported.position_tracking = true;
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hmd->base.supported.presence = true;
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hmd->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
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hmd->base.update_inputs = blubur_s1_hmd_update_inputs;
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hmd->base.get_tracked_pose = blubur_s1_hmd_get_tracked_pose;
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hmd->base.get_presence = blubur_s1_hmd_get_presence;
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hmd->base.get_view_poses = blubur_s1_get_view_poses;
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return hmd;
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}
+56
src/xrt/drivers/blubur_s1/blubur_s1_interface.h
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src/xrt/drivers/blubur_s1/blubur_s1_interface.h
···
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// Copyright 2025, Beyley Cardellio
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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 Blubur S1 driver code.
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* @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
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* @ingroup drv_blubur_s1
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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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#ifdef __cplusplus
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extern "C" {
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#endif
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#define BLUBUR_S1_VID 0x2b1c
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#define BLUBUR_S1_PID 0x0001
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struct blubur_s1_hmd;
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/*!
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* Probing function for Blubur S1 devices.
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*
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* @ingroup drv_blubur_s1
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* @see xrt_prober_found_func_t
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*/
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int
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blubur_s1_found(struct xrt_prober *xp,
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struct xrt_prober_device **devices,
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size_t device_count,
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size_t index,
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cJSON *attached_data,
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struct xrt_device **out_xdev);
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/*!
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* Creates a Blubur S1 HMD device from an opened HID handle.
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*
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* @ingroup drv_blubur_s1
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*/
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struct blubur_s1_hmd *
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blubur_s1_hmd_create(struct os_hid_device *dev, const char *serial);
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/*!
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* @dir drivers/blubur_s1
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*
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* @brief @ref drv_blubur_s1 files.
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*/
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#ifdef __cplusplus
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}
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#endif
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src/xrt/drivers/blubur_s1/blubur_s1_internal.h
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src/xrt/drivers/blubur_s1/blubur_s1_internal.h
···
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// Copyright 2025, Beyley Cardellio
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Internal Blubur S1 driver definitions.
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* @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
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* @ingroup drv_blubur_s1
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*/
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#pragma once
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#include "blubur_s1_interface.h"
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struct blubur_s1_hmd
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{
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struct xrt_device base;
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};
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src/xrt/drivers/blubur_s1/blubur_s1_prober.c
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src/xrt/drivers/blubur_s1/blubur_s1_prober.c
···
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// Copyright 2025, Beyley Cardellio
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Implementation of Blubur S1 prober code.
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* @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
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* @ingroup drv_blubur_s1
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*/
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#include "blubur_s1_interface.h"
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#include "blubur_s1_internal.h"
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int
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blubur_s1_found(struct xrt_prober *xp,
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struct xrt_prober_device **devices,
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size_t device_count,
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size_t index,
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cJSON *attached_data,
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struct xrt_device **out_xdev)
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{
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struct xrt_prober_device *dev = devices[index];
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struct os_hid_device *hid = NULL;
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int result = xrt_prober_open_hid_interface(xp, dev, 0, &hid);
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if (result != 0) {
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return -1;
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}
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// TODO: figure out how to get the actual serial number of the device, since the official driver has multiple
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// methods, and the string descriptor doesn't work on the unit used for development.
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char serial[32] = {0};
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snprintf(serial, sizeof(serial), "%04x:%04x", dev->vendor_id, dev->product_id);
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struct blubur_s1_hmd *hmd = blubur_s1_hmd_create(hid, serial);
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if (hmd == NULL) {
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return -1;
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}
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*out_xdev = &hmd->base;
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return 1;
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}
+4
src/xrt/targets/common/CMakeLists.txt
+4
src/xrt/targets/common/CMakeLists.txt
···
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target_link_libraries(target_lists PRIVATE drv_arduino)
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endif()
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if(XRT_BUILD_DRIVER_BLUBUR_S1)
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target_link_libraries(target_lists PRIVATE drv_blubur_s1)
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endif()
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target_link_libraries(target_lists PRIVATE drv_cemu)
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if(XRT_BUILD_DRIVER_DAYDREAM)
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src/xrt/targets/common/target_lists.c
+8
src/xrt/targets/common/target_lists.c
···
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#include "arduino/arduino_interface.h"
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#endif
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#ifdef XRT_BUILD_DRIVER_BLUBUR_S1
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#include "blubur_s1/blubur_s1_interface.h"
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#endif
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#ifdef XRT_BUILD_DRIVER_SIMULATED
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#include "simulated/simulated_interface.h"
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#endif
···
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#ifdef XRT_BUILD_DRIVER_RIFT
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{OCULUS_VR_VID, OCULUS_DK2_PID, rift_found, "Rift (DK2)", "rift"},
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#endif // XRT_BUILD_DRIVER_RIFT
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#ifdef XRT_BUILD_DRIVER_BLUBUR_S1
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{BLUBUR_S1_VID, BLUBUR_S1_PID, blubur_s1_found, "Blubur S1", "blubur_s1"},
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#endif // XRT_BUILD_DRIVER_BLUBUR_S1
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#ifdef XRT_BUILD_DRIVER_ROKID
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{ROKID_VID, ROKID_PID, rokid_found, "Rokid Air or Max", "rokid"},