diff --git a/.github/actions/setup-conan/action.yml b/.github/actions/setup-conan/action.yml new file mode 100644 index 00000000..30812ab3 --- /dev/null +++ b/.github/actions/setup-conan/action.yml @@ -0,0 +1,22 @@ +name: "Set up conan" +description: "Set up conan using pip" +runs: + using: "composite" + steps: +# Disabled, because composite run steps don't support "using" yet +# - name: set up python +# uses: actions/setup-python@v1 +# with: +# python-version: '3.x' + + - name: install conan + run: | + python -m pip install --upgrade pip + pip install --upgrade conan + shell: bash + + - name: setup conan profile + run: | + conan profile new default --detect + conan profile show default + shell: bash \ No newline at end of file diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml index 6f312686..dde84a94 100644 --- a/.github/workflows/cmake.yml +++ b/.github/workflows/cmake.yml @@ -22,28 +22,53 @@ jobs: runs-on: ${{ inputs.platform }} steps: - - name: Clone repo - uses: actions/checkout@v3 - - - name: Clone submodules - run: git submodule init && git submodule update - - - name: Configure CMake - # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. - # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type - run: cmake driver -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{inputs.buildType}} - - - name: Build - # Build your program with the given configuration - run: cmake --build ${{github.workspace}}/build --config ${{inputs.buildType}} - - - name: Install - # Install the built driver into it's directory - run: cmake --install ${{github.workspace}}/build - - - name: Upload artifacts - uses: actions/upload-artifact@v3 - with: - name: hobovr-build-${{ inputs.platform }} - path: | - hobovr + - name: Clone repo + uses: actions/checkout@v3 + + - name: Clone submodules + run: git submodule update --init --recursive --jobs $(nproc) + + # Configure CMake projects + - name: Configure Driver CMake + run: cmake driver -B ${{github.workspace}}/driver_build -DCMAKE_BUILD_TYPE=${{inputs.buildType}} + + - name: Configure Poser Cmake + run: cmake bindings/cpp/examples/uduTest -B ${{github.workspace}}/poser_build -DCMAKE_BUILD_TYPE=${{inputs.buildType}} + + # Builds targets + - name: Build Driver + # Build your program with the given configuration + run: cmake --build ${{github.workspace}}/driver_build --config ${{inputs.buildType}} -j $(nproc) + + - name: Build Poser + run: cmake --build ${{github.workspace}}/poser_build --config ${{inputs.buildType}} -j $(nproc) + + - name: Fix Boost Install + uses: "finnp/create-file-action@master" + env: + FILE_NAME: ${{github.workspace}}/driver_build/boost/cmake_install.cmake + FILE_DATA: "" + + # Install targets + - name: Install Driver + # Install the built driver into it's directory + run: cmake --install ${{github.workspace}}/driver_build + + - name: Install Poser + run: cmake --install ${{github.workspace}}/poser_build + + # Upload build artifacts + - name: Upload Driver Artifacts + uses: actions/upload-artifact@v3 + with: + name: hobovr-build-${{ inputs.platform }} + path: | + hobovr + + - name: Upload poser Artifacts + uses: actions/upload-artifact@v3 + with: + name: test-poser-${{ inputs.platform }} + # could have different extensions depending on the platform + path: bindings/cpp/examples/uduTest/output/test_poser + diff --git a/.gitignore b/.gitignore index 17d7e993..3b8c744e 100644 --- a/.gitignore +++ b/.gitignore @@ -47,7 +47,6 @@ Matrix3x3.hpp Vector2.hpp Vector3.hpp Quaternion.hpp -boost/ venv/ bindings/cpp/examples/uduPoserTemplate/*.h bindings/cpp/examples/uduPoserTemplate/uduPoserTemplate/*.h diff --git a/.gitmodules b/.gitmodules index af1406b3..fc22157e 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,15 @@ [submodule "driver/openvr"] path = driver/openvr url = https://github.com/okawo80085/openvr.git +[submodule "driver/shroom"] + path = driver/shroom + url = https://github.com/HoboVR-Labs/shroom.git +[submodule "driver/lazy-sockets"] + path = driver/lazy-sockets + url = https://github.com/HoboVR-Labs/lazy-sockets.git +[submodule "bindings/cpp/examples/uduTest/lazy-sockets"] + path = bindings/cpp/examples/uduTest/lazy-sockets + url = https://github.com/HoboVR-Labs/lazy-sockets.git +[submodule "driver/boost"] + path = driver/boost + url = https://github.com/HoboVR-Labs/boost.git diff --git a/bindings/cpp/examples/uduTest/CMakeLists.txt b/bindings/cpp/examples/uduTest/CMakeLists.txt new file mode 100644 index 00000000..ad771b86 --- /dev/null +++ b/bindings/cpp/examples/uduTest/CMakeLists.txt @@ -0,0 +1,65 @@ +cmake_minimum_required(VERSION 3.16) + + +project(test_poser) + +set(TARGET_NAME test_poser) +set(CMAKE_CXX_STANDARD 17) + +# Set a default build type if none was specified +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message("Setting build type to 'RelWithDebInfo' as none was specified.") + set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose the type of build." FORCE) + # Set the possible values of build type for cmake-gui + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" + "MinSizeRel" "RelWithDebInfo") +endif() + +if (MSVC) + # all warnings as errors + add_compile_options(/W4 /WX) +else() + # all warnings as errors + add_compile_options(-Wall -Wextra -pedantic -Werror -Wno-missing-braces) +endif() + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2") + +# lazy-sockets dep +add_subdirectory("lazy-sockets") +set(LAZY_SOCKETS_INCLUDE_DIR "lazy-sockets/src/") + + +include_directories( + "../../../../driver/src/" + ${LAZY_SOCKETS_INCLUDE_DIR} +) + +file(GLOB poser_src + "./*.cpp" + "./*.h" +) + +add_executable(${TARGET_NAME} + "../../../../driver/src/timer.cpp" + ${poser_src} +) +set_target_properties( + ${TARGET_NAME} + PROPERTIES + OUTPUT_NAME ${TARGET_NAME} + SUFFIX "" +) + +target_link_libraries(${TARGET_NAME} + lazy_sockets + ${CMAKE_DL_LIBS} +) + + +install( + TARGETS + ${TARGET_NAME} + DESTINATION + ${test_poser_SOURCE_DIR}/output/ +) \ No newline at end of file diff --git a/bindings/cpp/examples/uduTest/lazy-sockets b/bindings/cpp/examples/uduTest/lazy-sockets new file mode 160000 index 00000000..6ffcac13 --- /dev/null +++ b/bindings/cpp/examples/uduTest/lazy-sockets @@ -0,0 +1 @@ +Subproject commit 6ffcac138ed26019cc94147d2e8b5321be041201 diff --git a/bindings/cpp/examples/uduTest/test.cpp b/bindings/cpp/examples/uduTest/test.cpp new file mode 100644 index 00000000..62d6fa5d --- /dev/null +++ b/bindings/cpp/examples/uduTest/test.cpp @@ -0,0 +1,600 @@ +// #include +#include + +#include +#include +#include + +#include +// #include + +#include +#include +#include +#include +#include +#include + +// #include + +#include "packets.h" +#include "ref/hobovr_defines.h" +#include "timer.h" + +using tcp_socket = lsc::LSocket; + +////////////////////////////////////////////////////////////// +// user types +////////////////////////////////////////////////////////////// + +struct hmd_and_controllers_t { + HoboVR_HeadsetPose_t hmd; + HoboVR_ControllerState_t ctrl_l; + HoboVR_ControllerState_t ctrl_r; + PacketEndTag tag = g_EndTag; +}; + +struct controllers_and_trackers_t { + HoboVR_ControllerState_t ctrl_l; + HoboVR_ControllerState_t ctrl_r; + HoboVR_TrackerPose_t trkr1; + HoboVR_TrackerPose_t trkr2; + HoboVR_TrackerPose_t trkr3; + HoboVR_TrackerPose_t trkr4; + PacketEndTag tag = g_EndTag; +}; + +struct hmd_and_everything_else_t { + HoboVR_HeadsetPose_t hmd; + HoboVR_ControllerState_t ctrl_l; + HoboVR_ControllerState_t ctrl_r; + HoboVR_TrackerPose_t trkr1; + HoboVR_TrackerPose_t trkr2; + HoboVR_TrackerPose_t trkr3; + HoboVR_TrackerPose_t trkr4; + HoboVR_GazeState_t gaze_master; + PacketEndTag tag = g_EndTag; +}; + +struct everything_else_t { + HoboVR_ControllerState_t ctrl_l; + HoboVR_ControllerState_t ctrl_r; + HoboVR_TrackerPose_t trkr1; + HoboVR_TrackerPose_t trkr2; + HoboVR_TrackerPose_t trkr3; + HoboVR_TrackerPose_t trkr4; + HoboVR_GazeState_t gaze_master; + PacketEndTag tag = g_EndTag; +}; + +struct hmd_and_gaze_master_t { + HoboVR_HeadsetPose_t hmd; + HoboVR_GazeState_t gaze_master; + PacketEndTag tag = g_EndTag; +}; + +struct hmd_and_trackers_t { + HoboVR_HeadsetPose_t hmd; + HoboVR_TrackerPose_t trkr1; + HoboVR_TrackerPose_t trkr2; + HoboVR_TrackerPose_t trkr3; + PacketEndTag tag = g_EndTag; +}; + +struct gaze_master_t { + HoboVR_GazeState_t gaze_master; + PacketEndTag tag = g_EndTag; +}; + +struct trackers_t { + HoboVR_TrackerPose_t trkr1; + HoboVR_TrackerPose_t trkr2; + HoboVR_TrackerPose_t trkr3; + PacketEndTag tag = g_EndTag; +}; + +enum ERuntype: uint8_t { + EHMD_AND_CNTRLS = 0, // hmd_and_controllers_t + EHMD_AND_TRKRS = 1, // hmd_and_trackers_t + EHMD_AND_GAZE_MASTER = 2, // hmd_and_gaze_master_t + EHMD_AND_EVERYTHING_ELSE = 3, // hmd_and_everything_else_t + ECNTRLS_AND_TRKRS = 4, // controllers_and_trackers_t + ETRACKERS = 5, // trackers_t + EGAZE_MASTER = 6, // gaze_master_t + EEVERYTHING_ELSE = 7, // everything_else_t + + ERuntype_max + +}; + +std::string getString(ERuntype mode) { + switch(mode) { + case EHMD_AND_CNTRLS: + return "EHMD_AND_CNTRLS"; + case ECNTRLS_AND_TRKRS: + return "ECNTRLS_AND_TRKRS"; + case EHMD_AND_EVERYTHING_ELSE: + return "EHMD_AND_EVERYTHING_ELSE"; + case EEVERYTHING_ELSE: + return "EEVERYTHING_ELSE"; + case EHMD_AND_GAZE_MASTER: + return "EHMD_AND_GAZE_MASTER"; + case EGAZE_MASTER: + return "EGAZE_MASTER"; + case EHMD_AND_TRKRS: + return "EHMD_AND_TRKRS"; + case ETRACKERS: + return "ETRACKERS"; + default: + if (mode >= ERuntype_max) + return "INVALID_MODE"; + } + + return "FAILED SWITCH"; +} + +////////////////////////////////////////////////////////////// +// poser class +////////////////////////////////////////////////////////////// + +class Poser { + +std::mutex m_mutex; +std::condition_variable m_block_main; +std::atomic m_keep_blocking{true}; + +std::unique_ptr m_recv_thread; + +// sockets +std::unique_ptr tracking_sock; +std::unique_ptr manager_sock; + +std::unique_ptr timer; + +uint8_t m_mode; + +float time; + +// device packets +hmd_and_controllers_t m_pkt1; +hmd_and_trackers_t m_pkt2; +hmd_and_gaze_master_t m_pkt3; +hmd_and_everything_else_t m_pkt4; +controllers_and_trackers_t m_pkt5; +trackers_t m_pkt6; +gaze_master_t m_pkt7; +everything_else_t m_pkt8; + +public: +//////////////////////////////////////////////////////////////////// +// poser's constructor +//////////////////////////////////////////////////////////////////// + +Poser(ERuntype mode): m_mode(mode) { + timer = std::make_unique(); +} + +//////////////////////////////////////////////////////////////////// +// starts the poser +//////////////////////////////////////////////////////////////////// + +int start() { + int res = init_sockets(); + if (res) return res; + + // res = setup_device_list(); + // if (res) return res; + + m_recv_thread = std::make_unique( + std::bind(&Poser::recv_tracking_responses, this) + ); + + timer->registerTimer( + std::chrono::milliseconds(16), + std::bind(&Poser::send_packet, this) + ); + + return 0; +} + +//////////////////////////////////////////////////////////////////// +// udu device list setup +//////////////////////////////////////////////////////////////////// + +int setup_device_list() { + + HoboVR_ManagerMsgUduString_t udu_descriptor; + switch(m_mode) { + case EHMD_AND_CNTRLS: + udu_descriptor.len = 3; + udu_descriptor.devices[0] = EDeviceType_headset; + udu_descriptor.devices[1] = EDeviceType_controller; + udu_descriptor.devices[2] = EDeviceType_controller; + break; + case ECNTRLS_AND_TRKRS: + udu_descriptor.len = 6; + udu_descriptor.devices[0] = EDeviceType_controller; + udu_descriptor.devices[1] = EDeviceType_controller; + udu_descriptor.devices[2] = EDeviceType_tracker; + udu_descriptor.devices[3] = EDeviceType_tracker; + udu_descriptor.devices[4] = EDeviceType_tracker; + udu_descriptor.devices[5] = EDeviceType_tracker; + break; + case EHMD_AND_EVERYTHING_ELSE: + udu_descriptor.len = 8; + udu_descriptor.devices[0] = EDeviceType_headset; + udu_descriptor.devices[1] = EDeviceType_controller; + udu_descriptor.devices[2] = EDeviceType_controller; + udu_descriptor.devices[3] = EDeviceType_tracker; + udu_descriptor.devices[4] = EDeviceType_tracker; + udu_descriptor.devices[5] = EDeviceType_tracker; + udu_descriptor.devices[6] = EDeviceType_tracker; + udu_descriptor.devices[7] = EDeviceType_gazeMaster; + break; + case EEVERYTHING_ELSE: + udu_descriptor.len = 7; + udu_descriptor.devices[0] = EDeviceType_controller; + udu_descriptor.devices[1] = EDeviceType_controller; + udu_descriptor.devices[2] = EDeviceType_tracker; + udu_descriptor.devices[3] = EDeviceType_tracker; + udu_descriptor.devices[4] = EDeviceType_tracker; + udu_descriptor.devices[5] = EDeviceType_tracker; + udu_descriptor.devices[6] = EDeviceType_gazeMaster; + break; + case EHMD_AND_GAZE_MASTER: + udu_descriptor.len = 2; + udu_descriptor.devices[0] = EDeviceType_headset; + udu_descriptor.devices[1] = EDeviceType_gazeMaster; + break; + case EGAZE_MASTER: + udu_descriptor.len = 1; + udu_descriptor.devices[0] = EDeviceType_gazeMaster; + break; + case EHMD_AND_TRKRS: + udu_descriptor.len = 4; + udu_descriptor.devices[0] = EDeviceType_headset; + udu_descriptor.devices[1] = EDeviceType_tracker; + udu_descriptor.devices[2] = EDeviceType_tracker; + udu_descriptor.devices[3] = EDeviceType_tracker; + break; + case ETRACKERS: + udu_descriptor.len = 3; + udu_descriptor.devices[0] = EDeviceType_tracker; + udu_descriptor.devices[1] = EDeviceType_tracker; + udu_descriptor.devices[2] = EDeviceType_tracker; + break; + default: + printf("invalid mode: %d\n", (int)m_mode); + return -EINVAL; + } + + printf("setting up devices for %s...\n", getString((ERuntype)m_mode).c_str()); + + HoboVR_ManagerMsg_t msg{ + EManagerMsgType_uduString, + (HoboVR_ManagerData_t&)udu_descriptor, + g_EndTag + }; + + int res = manager_sock->Send(&msg, sizeof(msg)); + if (res != sizeof(msg)) { + printf("failed to send udu descriptor: %d\n", lerrno); + return -ECONNREFUSED; + } + + char buff[256]; + + res = manager_sock->Recv(buff, sizeof(HoboVR_ManagerResp_t)); + if (res != sizeof(HoboVR_ManagerResp_t)) { + printf("failed to receive manager response: %d,%d\n", res, lerrno); + if (res <= 0) + return -ECONNRESET; + else + return -EBADMSG; + } + + uint32_t* status_code = (uint32_t*)buff; + + if (*status_code != EManagerResp_ok) { + printf("failed to update udu state: %d", (int)(*status_code)); + return -EBADMSG; + } + + printf("finished setting up devices for %s\n", getString((ERuntype)m_mode).c_str()); + + return 0; +} + +//////////////////////////////////////////////////////////////////// +// driver communication initialization +//////////////////////////////////////////////////////////////////// + +int init_sockets() { + // main poser logic + tcp_socket binder; + + int res = binder.Bind("0.0.0.0", 6969); + if (res) return -lerrno; + + printf("waiting for driver to connect...\n"); + + res = binder.Listen(2); + if (res) return -lerrno; + + + // accept sockets + lsc::lsocket_t sockA = binder.Accept(); + if (sockA == lsc::EAccept_error) return -lerrno; + + lsc::lsocket_t sockB = binder.Accept(); + if (sockB == lsc::EAccept_error) return -lerrno; + + // id sockets + char buffA[32]; + char buffB[32]; + + printf("resolving socket IDs\n"); + printf("sockets: A:%d B:%d\n", (int)sockA, (int)sockB); + + res = recv(sockA, buffA, sizeof(KHoboVR_TrackingIdMessage), 0); + if (res < 0) return -lerrno; + res = recv(sockB, buffB, sizeof(KHoboVR_ManagerIdMessage), 0); + if (res < 0) return -lerrno; + + lsc::lsocket_t tracking_fd, manager_fd; + + if ( + !memcmp(buffA, KHoboVR_TrackingIdMessage, sizeof(KHoboVR_TrackingIdMessage)) && + !memcmp(buffB, KHoboVR_ManagerIdMessage, sizeof(KHoboVR_ManagerIdMessage)) + ) { + tracking_fd = sockA; + manager_fd = sockB; + } else if ( + !memcmp(buffB, KHoboVR_TrackingIdMessage, sizeof(KHoboVR_TrackingIdMessage)) && + !memcmp(buffA, KHoboVR_ManagerIdMessage, sizeof(KHoboVR_ManagerIdMessage)) + ) { + tracking_fd = sockB; + manager_fd = sockA; + } else { + printf("buffA: '%s' == '%s' => %d,%d\n", + buffA, + KHoboVR_TrackingIdMessage, + memcmp(buffA, KHoboVR_TrackingIdMessage, sizeof(KHoboVR_TrackingIdMessage)), + memcmp(buffA, KHoboVR_ManagerIdMessage, sizeof(KHoboVR_ManagerIdMessage)) + ); + printf("buffB: '%s' == '%s' => %d,%d\n", + buffB, + KHoboVR_ManagerIdMessage, + memcmp(buffB, KHoboVR_TrackingIdMessage, sizeof(KHoboVR_TrackingIdMessage)), + memcmp(buffB, KHoboVR_ManagerIdMessage, sizeof(KHoboVR_ManagerIdMessage)) + ); + printf("failed to ID sockets\n"); + return -EBADMSG; + } + + // init lazy_socket objects + tracking_sock = std::make_unique(tracking_fd, lsc::EStat_connected); + manager_sock = std::make_unique(manager_fd, lsc::EStat_connected); + printf("sockets: tracking:%d manager:%d\n", (int)tracking_sock->GetHandle(), (int)manager_sock->GetHandle()); + + return 0; +} + +//////////////////////////////////////////////////////////////////// +// method to block the main thread while the poser is running +//////////////////////////////////////////////////////////////////// + +void block() { + std::unique_lock lk(m_mutex); + m_block_main.wait(lk, [this](){return !is_alive();}); +} + +//////////////////////////////////////////////////////////////////// +// or a check for poser status +//////////////////////////////////////////////////////////////////// + +bool is_alive() const { + return m_keep_blocking.load(); +} + +//////////////////////////////////////////////////////////////////// +// and of course you can stop the poser if you need to +//////////////////////////////////////////////////////////////////// + +void stop() { + m_keep_blocking.store(false); + m_block_main.notify_one(); + m_recv_thread->join(); +} + +//////////////////////////////////////////////////////////////////// +// send packet callback +//////////////////////////////////////////////////////////////////// + +void send_packet() { + + switch(m_mode) { + //////////////////////////////////////////////////// + case EHMD_AND_CNTRLS: { + hmd_and_controllers_t pose; + pose.hmd.position[0] = sin(time); + pose.hmd.orientation[0] = 1; + + int res = tracking_sock->Send(&pose, sizeof(pose)); + + printf("sent %zd, %d\n", sizeof(pose), res); + + + break; + } // case EHMD_AND_CNTRLS + + //////////////////////////////////////////////////// + case EHMD_AND_TRKRS: { + hmd_and_trackers_t pose; + pose.hmd.position[0] = sin(time); + pose.hmd.orientation[0] = 1; + + int res = tracking_sock->Send(&pose, sizeof(pose)); + + printf("sent %zd, %d\n", sizeof(pose), res); + + break; + + } // case EHMD_AND_TRKRS + + case EHMD_AND_GAZE_MASTER: { + hmd_and_gaze_master_t pose; + pose.hmd.position[0] = sin(time); + pose.hmd.orientation[0] = 1; + + int res = tracking_sock->Send(&pose, sizeof(pose)); + + printf("sent %zd, %d\n", sizeof(pose), res); + + break; + + } // case EHMD_AND_GAZE_MASTER + + case EGAZE_MASTER: { + gaze_master_t pose; + + pose.gaze_master.status = EGazeStatus_active; + + pose.gaze_master.age_seconds = 0.1; + + pose.gaze_master.pupil_position_r[0] = sin(time); + pose.gaze_master.pupil_position_r[1] = cos(time); + + pose.gaze_master.pupil_position_l[0] = sin(-time); + pose.gaze_master.pupil_position_l[1] = cos(-time); + + int res = tracking_sock->Send(&pose, sizeof(pose)); + + printf("sent %zd, %d\n", sizeof(pose), res); + + break; + + } // case EGAZE_MASTER + + //////////////////////////////////////////////////// + + default: + printf("mode not supported... yet...\n"); + stop(); + } + + // printf("packet processing end\n"); + + time += 0.016f; +} + +//////////////////////////////////////////////////////////////////// +// receive tracking responses, has to be a different thread +//////////////////////////////////////////////////////////////////// + +void recv_tracking_responses() { + char buff[256]; + while (m_keep_blocking.load()) { + int res = tracking_sock->Recv(buff, sizeof(HoboVR_PoserResp_t)); + if (res < 0) { + printf("failed to receive driver response: %d\n", lerrno); + std::this_thread::sleep_for( + std::chrono::milliseconds(5) + ); + stop(); + } + + if (res == sizeof(HoboVR_PoserResp_t)) { + process_tracking_response((HoboVR_PoserResp_t*)buff); + } + } +} + +//////////////////////////////////////////////////////////////////// +// poser response processing +//////////////////////////////////////////////////////////////////// + +void process_tracking_response(HoboVR_PoserResp_t* data) { + printf("response processing start\n"); + + switch (data->type) { + case EPoserRespType_badDeviceList: { + int res = setup_device_list(); + if (res) { + printf("failed to setup devices: %d\n", res); + stop(); + } + + break; + } + + case EPoserRespType_haptics: + printf("haptics:\n"); + + printf("\tname: %s\n", + data->data.haptics.name + ); + printf("\tduration: %f\n", + data->data.haptics.duration_seconds + ); + printf("\tfrequency: %f\n", + data->data.haptics.frequency + ); + printf("\tfrequency: %f\n", + data->data.haptics.amplitude + ); + + break; + + case EPoserRespType_driverShutdown: + printf("driver is shutting down...\n"); + stop(); + break; + + default: + printf("bad response type\n"); + } + printf("response processing end\n"); +} + +}; + +//////////////////////////////////////////////////////////////////// +// main +//////////////////////////////////////////////////////////////////// + +int main() { + + printf( + "hobovr version: %d.%d.%d %s\n", + hobovr::k_nHobovrVersionMajor, + hobovr::k_nHobovrVersionMinor, + hobovr::k_nHobovrVersionBuild, + hobovr::k_sHobovrVersionGG.c_str() + ); + + uint8_t mode; + printf("choose mode:\n"); + for (uint8_t i=0; i != ERuntype_max; ++i) + printf("\t%s = %d\n", getString((ERuntype)i).c_str(), (int)i); + + std::cin >> (int&)mode; + + if (mode >= ERuntype_max) { + printf("bad mode: %d\n", mode); + return -EINVAL; + } + + Poser poser((ERuntype)mode); + + int res = poser.start(); + if (res) return res; + + printf("started event loop\n"); + + poser.block(); + + printf("thank you for using hobovr airlines, goodbye\n"); + + return 0; +} diff --git a/bindings/python/examples/full_udu_test.py b/bindings/python/examples/full_udu_test.py index 5d3107e7..c9823ac9 100644 --- a/bindings/python/examples/full_udu_test.py +++ b/bindings/python/examples/full_udu_test.py @@ -357,9 +357,32 @@ time.sleep(1 / 60) +####################################################################### +# now lets add some an addon :P + +# tell the manager about current device setup +device_list = MANAGER_UDU_MSG_t.pack( + 20, # HobovrManagerMsgType::Emsg_uduString + 7, # 6 devices - 1 hmd, 2 controllers, 3 trackers + 0, 6969, # device description + 1, 6969, # device description + 1, 6969, # device description + 2, 6969, # device description + 2, 6969, # device description + 2, 6969, # device description + 3, 69, # device description + *np.zeros((128 - 2 * 7), dtype=int) +) + +manager_socket.sendall(device_list + SEND_TERMINATOR) + +print("hmd with controllers and trackers: orbit...") print("press ctrl+C to stop...") +GAZE_t = struct.Struct("I13f") + + try: i = 0 @@ -440,6 +463,17 @@ 0, 0, 0 ) + # yes this thing is an eye tracker :P + temp = GAZE_t.pack( + 1, # status + 0.001, # age + i % 200, 32, + 0, 0, + 1, 0, 0, 0, + 1, 0, 0, 0 + ) + packet += temp + tracking_socket.sendall( hmd_pose + packet + SEND_TERMINATOR ) diff --git a/driver/CMakeLists.txt b/driver/CMakeLists.txt index 6fff1d1c..f3384350 100644 --- a/driver/CMakeLists.txt +++ b/driver/CMakeLists.txt @@ -26,14 +26,6 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) endif() -if (MSVC) - # all warnings as errors - add_compile_options(/W4 /WX) -else() - # all warnings as errors - add_compile_options(-Wall -Wextra -pedantic -Werror) -endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2") # options @@ -42,7 +34,7 @@ option(INSTALL_X86_DRIVER "Overrides the platform architecture on install, will # Check if 32 or 64 bit system or a 32 bit override. set(SIZEOF_VOIDP ${CMAKE_SIZEOF_VOID_P}) -if(CMAKE_SIZEOF_VOID_P EQUAL 8 AND NOT INSTALL_32BIT) +if(CMAKE_SIZEOF_VOID_P EQUAL 8 AND NOT INSTALL_X86_DRIVER) set(HOBOVR_PROCESSOR_ARCH "64") else() set(HOBOVR_PROCESSOR_ARCH "32") @@ -54,7 +46,7 @@ message(STATUS "Compilation set for ${HOBOVR_PROCESSOR_ARCH}bit architectures.") if(${CMAKE_SYSTEM_NAME} MATCHES "Linux") set(PLATFORM_NAME "linux") set(PLATFORM_SCRIPT_EXT "sh") - add_definitions(-DLINUX -DPOSIX) + add_definitions(-DLINUX) if(HOBOVR_PROCESSOR_ARCH MATCHES "64") add_definitions(-DLINUX64) @@ -65,14 +57,10 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows") set(PLATFORM_NAME "win") set(PLATFORM_SCRIPT_EXT "bat") - add_definitions(-D_WIN32) + add_definitions(-DWIN) # Binaries path for thirdparties are not generics so we try to guess their suffixes. set(WINDOWS_PATH_SUFFIXES win${HOBOVR_PROCESSOR_ARCH} Win${HOBOVR_PROCESSOR_ARCH} x${HOBOVR_PROCESSOR_ARCH}) - - if(${HOBOVR_PROCESSOR_ARCH} MATCHES 64) - message(WARNING "SDL x64 runtime binaries not provided on Windows.") - endif() endif() # set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${hobo_vr_SOURCE_DIR}/../hobovr/bin/${PLATFORM_NAME}${HOBOVR_PROCESSOR_ARCH}) @@ -104,16 +92,41 @@ set(OPENVR_INCLUDE_DIR ${hobo_vr_SOURCE_DIR}/openvr/headers) message(NOTICE "openvr libs: ${OPENVR_LIBRARIES}") message(NOTICE "openvr headers: ${OPENVR_INCLUDE_DIR}") +# shroom dep +add_subdirectory(shroom) +set(SHROOM_INCLUDE_DIR "shroom/include/") + +# lazy-sockets dep +add_subdirectory("lazy-sockets") +set(LAZY_SOCKETS_INCLUDE_DIR "lazy-sockets/src/") + +set(Boost_USE_STATIC_LIBS ON) +add_subdirectory(boost) + +file(GLOB Boost_LOCAL_INCLUDE_DIRS + "./boost/libs/*/include" +) + +# example gaze master plugin +add_subdirectory("gaze_master_plugins") + # actual build instructions include_directories( ${OPENVR_INCLUDE_DIR} + ${Boost_LOCAL_INCLUDE_DIRS} + ${SHROOM_INCLUDE_DIR} + ${LAZY_SOCKETS_INCLUDE_DIR} + "src/plugins/" "src/ref/" + "src/" ) file(GLOB driver_hobovr_src "src/*.cpp" "src/*.h" - "src/ref/*.cpp" + "src/plugins/gaze_master_plugin_interface.h" + "src/ref/hobovr*.cpp" + "src/ref/util.cpp" "src/ref/*.h" ) # grab all source files @@ -121,10 +134,20 @@ add_library(${TARGET_NAME} SHARED ${driver_hobovr_src} ) -add_definitions(-DDRIVER_HOBOVR_EXPORTS) +if (MSVC) + # all warnings as errors + target_compile_options(${TARGET_NAME} PRIVATE /W4 /WX) +else() + # all warnings as errors + target_compile_options(${TARGET_NAME} PRIVATE -Wall -Wextra -pedantic -Werror -Wno-missing-braces) +endif() target_link_libraries(${TARGET_NAME} "${OPENVR_LIBRARIES}" + shoom + lazy_sockets + -lstdc++fs + boost_dll ${CMAKE_DL_LIBS} ) diff --git a/driver/boost b/driver/boost new file mode 160000 index 00000000..09666b66 --- /dev/null +++ b/driver/boost @@ -0,0 +1 @@ +Subproject commit 09666b66b2623dd60e8886db53f4faa73e81085c diff --git a/driver/gaze_master_plugins/CMakeLists.txt b/driver/gaze_master_plugins/CMakeLists.txt new file mode 100644 index 00000000..a1a82ee6 --- /dev/null +++ b/driver/gaze_master_plugins/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.16) + +project(gaze_master_example_plugin) + +add_library(gaze_logger SHARED + "../src/plugins/gaze_master_plugin_interface.h" + "src/plugin.cpp" +) + +target_include_directories(gaze_logger PRIVATE + "../src/plugins" + "../src/" + ${Boost_LOCAL_INCLUDE_DIRS} +) + +target_link_libraries(gaze_logger PRIVATE + ${CMAKE_DL_LIBS} +) + +install( + TARGETS + gaze_logger + DESTINATION + ${hobo_vr_SOURCE_DIR}/../hobovr/bin/${PLATFORM_NAME}${HOBOVR_PROCESSOR_ARCH} +) \ No newline at end of file diff --git a/driver/gaze_master_plugins/README.md b/driver/gaze_master_plugins/README.md new file mode 100644 index 00000000..1ccd630d --- /dev/null +++ b/driver/gaze_master_plugins/README.md @@ -0,0 +1,5 @@ +# Gaze logger + +Example plugin for GazeMaster device class. + +This thing is setup as a sub project of our driver. \ No newline at end of file diff --git a/driver/gaze_master_plugins/src/plugin.cpp b/driver/gaze_master_plugins/src/plugin.cpp new file mode 100644 index 00000000..dbb5efa8 --- /dev/null +++ b/driver/gaze_master_plugins/src/plugin.cpp @@ -0,0 +1,96 @@ +#ifdef WIN +#include +#include +#include +#include + // #define _snprintf _snprintf_s + // #define snprintf _snprintf + // #undef snprintf + namespace std { + inline int snprintf (char *s, size_t maxlen, const char *format, ...) + { + va_list arg; + int done; + va_start (arg, format); + done = _snprintf_s(s, maxlen, maxlen, format, arg, 0); + va_end (arg); + return done; + } + } +#endif +#include + +#if !defined(WIN) && !defined(LINUX) +#error "incorrect setup" +#endif + +#include "gaze_master_plugin_interface.h" + +#include + +namespace glog { + +class GazeLogger: public gaze::PluginBase { +public: + GazeLogger() = default; + virtual ~GazeLogger() = default; + + virtual bool Activate(const gaze::PluginVersion_t version) { + if (version.major != gaze::g_plugin_interface_version_major && + version.minor != gaze::g_plugin_interface_version_minor && + version.hotfix != gaze::g_plugin_interface_version_hotfix) + { + m_error_msg = "plugin interface version miss match"; + return false; // interface version incompatibility is a no no + } + + #ifdef WIN + m_file = std::move(std::ofstream(".\\GazeLogger_out.log", std::ios::binary)); + #else + m_file = std::move(std::ofstream("/tmp/GazeLogger_out.log", std::ios::binary)); + #endif + + h = 0; + return !m_file.bad() && m_file.is_open(); + } + + virtual void ProcessData(const HoboVR_GazeState_t& data) { + if (h % 200 == 0 && m_file.is_open()) { + m_file << "gaze data: " << data.status << ", " + << data.age_seconds << ", (" + << data.pupil_position_r[0] << "," << data.pupil_position_r[1] << "), " + << data.pupil_position_l[0] << "," << data.pupil_position_l[1] << "), " + << data.pupil_dilation_r << ", " << data.pupil_dilation_l << ", " + << data.eye_close_r << ", " << data.eye_close_l << ";\n"; + m_file.flush(); + h = 0; + } + h++; + } + + virtual std::string GetNameAndVersion() { + return "GazeLogger_v0.0.1"; + } + + virtual std::string GetLastError() { + return m_error_msg; + } + + +private: + std::ofstream m_file; + int h = 0; + std::string m_error_msg = "failed to open file"; +}; + +gaze::PluginBase* factory() { + auto m_file = std::ofstream("/tmp/GazeLogger_out.alive.log", std::ios::binary); + m_file << "yes"; + return reinterpret_cast(new GazeLogger); +} + +} // namespace glog + +extern "C" BOOST_SYMBOL_EXPORT gaze::PluginBase* gazePluginFactory() { + return glog::factory(); +} \ No newline at end of file diff --git a/driver/lazy-sockets b/driver/lazy-sockets new file mode 160000 index 00000000..6ffcac13 --- /dev/null +++ b/driver/lazy-sockets @@ -0,0 +1 @@ +Subproject commit 6ffcac138ed26019cc94147d2e8b5321be041201 diff --git a/driver/shroom b/driver/shroom new file mode 160000 index 00000000..72a774ba --- /dev/null +++ b/driver/shroom @@ -0,0 +1 @@ +Subproject commit 72a774ba37e0fe8c0c3632a3da86bd86ea8a6730 diff --git a/driver/src/addons.cpp b/driver/src/addons.cpp new file mode 100644 index 00000000..0b78daca --- /dev/null +++ b/driver/src/addons.cpp @@ -0,0 +1,268 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "addons.h" +#include "hobovr_defines.h" +#include "path_helpers.h" + +std::string get_self_path() { + return boost::dll::symbol_location_ptr(get_self_path).string(); +} + +GazeMasterDriver::GazeMasterDriver( + std::string myserial +): HobovrDevice( + myserial, + "hobovr_gaze_master", + "{hobovr}/rendermodels/hobovr_gaze_master", + "{hobovr}/input/hobovr_gaze_master_profile.json" +) {} + +//////////////////////////////////////////////////////////////////////////////// + +vr::EVRInitError GazeMasterDriver::Activate(vr::TrackedDeviceIndex_t unObjectId) { + auto res = HobovrDevice::Activate(unObjectId); + + // if parent failed on Activate, stop here + if (res != vr::VRInitError_None) + return res; + + // opt out of hand selection, this device is meant for your face! + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_ControllerRoleHint_Int32, + vr::TrackedControllerRole_OptOut + ); + + std::string driver_path = get_self_path(); + + if (driver_path.size() == 0) { + DriverLog("GazeMasterDriver::Activate() could not resolve driver path, no plugins will be loaded"); + return vr::VRInitError_None; + } + + + std::string driver_folder_path = hobovr::Path_StripFilename(driver_path); + // driver_folder_path = hobovr::Path_Join(driver_folder_path, "..", "plugins"); + + DriverLog("GazeMasterDriver::Activate() driver path: '%s'", driver_folder_path.c_str()); + + std::vector plugin_paths; + + std::string dl_exention = hobovr::Path_GetExtension(driver_path); + + for (const auto& i : std::filesystem::directory_iterator(driver_folder_path)) { + //DriverLog("\t%s -> %s", i.path().string().c_str(), hobovr::Path_GetExtension(i.path().string()).c_str()); + if (hobovr::Path_GetExtension(i.path().string()) == dl_exention && i.path().string() != driver_path) + plugin_paths.push_back(i.path().string()); + } + + if (plugin_paths.size() == 0) { + DriverLog("GazeMasterDriver::Activate() 0 potential plugins found"); + return vr::VRInitError_None; + } + + DriverLog("GazeMasterDriver::Activate() Processing %d potential plugins:", + plugin_paths.size()); + + for (auto& i : plugin_paths) + m_plugin_handles.emplace_back(i); + + std::vector> plugin_adapters_candidates; + std::string factory_symbol_name = "gazePluginFactory"; + + int h = 0; + + for (auto& i : m_plugin_handles) { + if (!i.is_loaded()) { + DriverLog("\t%d failed to load plugin, skipping...", h); + continue; + } + + if (!i.has(factory_symbol_name)) { + DriverLog("\t%d does not contain factory function, skipping...", h); + continue; + } + + std::function factory_func; + + factory_func = i.get(factory_symbol_name); + + if (factory_func == nullptr) { + DriverLog("\t%d failed to obtain factory function ptr", h); + continue; + } + + std::unique_ptr plugin(factory_func()); + + if (!plugin) { + DriverLog("\t%d failed to construct plugin", h); + continue; + } + + DriverLog("\tcreated plugin %d at %p", + h, plugin.get()); + + plugin_adapters_candidates.push_back(std::move(plugin)); + + h++; + } + + DriverLog("GazeMasterDriver::Activate() Activating plugins:"); + + for (auto& i : plugin_adapters_candidates) { + std::string name = i->GetNameAndVersion(); + bool plugin_res = i->Activate( + { + gaze::g_plugin_interface_version_major, + gaze::g_plugin_interface_version_minor, + gaze::g_plugin_interface_version_hotfix + } + ); + if (plugin_res) { + DriverLog("\t'%s' activated", name.c_str()); + m_plugin_adapters.push_back(std::move(i)); + } else { + DriverLog("\t'%s' failed to activate, reason: '%s'", + name.c_str(), i->GetLastError().c_str()); + } + } + + return vr::VRInitError_None; +} + + +//////////////////////////////////////////////////////////////////////////////// + +void GazeMasterDriver::UpdateState(void* data) { + // do nothing if not activated + if (m_unObjectId == vr::k_unTrackedDeviceIndexInvalid) { + return; + } + + + HoboVR_GazeState_t* packet = (HoboVR_GazeState_t*)data; + + updateStatus(packet->status); + + // process inputs + // pupil position tracking + float default_pupil_pos[2] = {0.0f, 0.0f}; + auto pupil_position_l = (packet->status & EGazeStatus_leftPupilLost) + ? default_pupil_pos : packet->pupil_position_l; + + auto pupil_position_r = (packet->status & EGazeStatus_rightPupilLost) + ? default_pupil_pos : packet->pupil_position_r; + + // pupil dilation tracking + float pupil_dilation_l = + (packet->status & EGazeStatus_leftPupilDilationLost) + ? 0.5f : packet->pupil_dilation_l; + float pupil_dilation_r = + (packet->status & EGazeStatus_rightPupilDilationLost) + ? 0.5f : packet->pupil_dilation_r; + + // eye close tracking + float eye_close_l = (packet->status & EGazeStatus_leftNoEyeClose) + ? 0.1f : packet->eye_close_l; + float eye_close_r = (packet->status & EGazeStatus_rightNoEyeClose) + ? 0.1f : packet->eye_close_r; + + // process smoothing + if (packet->status & EGazeStatus_lowPupilConfidence) { + auto [l_x, l_y] = smooth2D(pupil_position_l); + auto [r_x, r_y] = smooth2D(pupil_position_r); + pupil_position_l[0] = l_x; + pupil_position_l[1] = l_y; + pupil_position_r[0] = r_x; + pupil_position_r[1] = r_y; + } + + if (packet->status & EGazeStatus_lowPupilDilationConfidence) { + pupil_dilation_l = smooth1D(pupil_dilation_l); + pupil_dilation_r = smooth1D(pupil_dilation_r); + } + + if (packet->status & EGazeStatus_lowEyeCloseConfidence) { + eye_close_l = smooth1D(eye_close_l); + eye_close_r = smooth1D(eye_close_r); + } + + HoboVR_GazeState_t res = { + packet->status, + packet->age_seconds, + pupil_position_r[0], pupil_position_r[1], + pupil_position_l[0], pupil_position_l[1], + pupil_dilation_r, + pupil_dilation_l, + eye_close_r, + eye_close_l + }; + + for (auto& i : m_plugin_adapters) + i->ProcessData(res); + +} + +//////////////////////////////////////////////////////////////////////////////// + +float GazeMasterDriver::smooth1D(float val) { + m_smooth_buff_1D.push_back(val); + + if (m_smooth_buff_1D.size() >= smooth_buff_size_max) + m_smooth_buff_1D.erase(m_smooth_buff_1D.begin()); + + float ret = 0.0f; + + for (auto i : m_smooth_buff_1D) + ret += i; + + return ret / m_smooth_buff_1D.size(); +} + +//////////////////////////////////////////////////////////////////////////////// + +std::pair GazeMasterDriver::smooth2D(float vec[2]) { + m_smooth_buff_2D.push_back({vec[0], vec[1]}); + + if (m_smooth_buff_2D.size() >= smooth_buff_size_max) + m_smooth_buff_2D.erase(m_smooth_buff_2D.begin()); + + float ret[2] = {0.0f, 0.0f}; + + for (auto& i : m_smooth_buff_2D) { + ret[0] += i.first; + ret[1] += i.second; + } + + return {ret[0] / m_smooth_buff_2D.size(), ret[1] / m_smooth_buff_2D.size()}; +} + +//////////////////////////////////////////////////////////////////////////////// + +void GazeMasterDriver::updateStatus(const uint16_t status) { + vr::DriverPose_t pose; + memset(&pose, 0, sizeof(pose)); + + if (status & EGazeStatus_active) { + pose.deviceIsConnected = true; + pose.result = vr::TrackingResult_Running_OK; + } + + if (status & EGazeStatus_calibrating) + pose.result = vr::TrackingResult_Calibrating_InProgress; + + if (status < EGazeStatus_active) { + pose.deviceIsConnected = false; + pose.result = vr::TrackingResult_Uninitialized; + } + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + pose, + sizeof(pose) + ); + } +} diff --git a/driver/src/addons.h b/driver/src/addons.h new file mode 100644 index 00000000..f6fbf8fe --- /dev/null +++ b/driver/src/addons.h @@ -0,0 +1,92 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_ADDONS +#define __HOBO_VR_ADDONS + +#include +#include "driverlog.h" +#include "hobovr_device_base.h" +#include "packets.h" +#include +#include + +#include +#ifdef WIN +#include + // #define _snprintf _snprintf_s + // #define snprintf _snprintf + // #undef snprintf + namespace std { + inline int snprintf (char *s, size_t maxlen, const char *format, ...) + { + va_list arg; + int done; + va_start (arg, format); + done = _snprintf_s(s, maxlen, maxlen, format, arg, 0); + va_end (arg); + return done; + } + } +#endif +#include + +// #include + +// #include + +#include "gaze_master_plugin_interface.h" + +//----------------------------------------------------------------------------- +// Purpose: eye tracking addon device, code name: Gaze Master +//----------------------------------------------------------------------------- + +class GazeMasterDriver: public hobovr::HobovrDevice { +public: + GazeMasterDriver(std::string myserial); + virtual ~GazeMasterDriver() = default; + + virtual vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) final; + + virtual void UpdateState(void* data) final; + inline virtual size_t GetPacketSize() final {return sizeof(HoboVR_GazeState_t);} + + inline virtual void Deactivate() override final { + m_plugin_adapters.clear(); + m_plugin_handles.clear(); + + HobovrDevice::Deactivate(); + } + + +private: + + void updateStatus(const uint16_t status); // status is EHoboVR_GazeStatus enum + + float smooth1D(float val); + std::pair smooth2D(float vec[2]); + + std::vector m_smooth_buff_1D; + std::vector> m_smooth_buff_2D; + static constexpr int smooth_buff_size_max = 100; + + std::vector> m_plugin_adapters; + std::vector m_plugin_handles; +}; + + + +//----------------------------------------------------------------------------- +// Purpose: (WIP) face tracking addon device, code name: Smile Driver +//----------------------------------------------------------------------------- + +class SmileDriver: public hobovr::HobovrDevice { +public: + SmileDriver(std::string myserial); + + void UpdateState(void* data) override; + size_t GetPacketSize() override; +}; + +#endif // #ifndef __HOBO_VR_ADDONS \ No newline at end of file diff --git a/driver/src/controllers.cpp b/driver/src/controllers.cpp new file mode 100644 index 00000000..27f0ce15 --- /dev/null +++ b/driver/src/controllers.cpp @@ -0,0 +1,403 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "controllers.h" + +//----------------------------------------------------------------------------- +// Purpose:controller device implementation +//----------------------------------------------------------------------------- + +ControllerDriver::ControllerDriver( + bool side, + std::string myserial, + const std::shared_ptr ReceiverObj +): HobovrDevice( + myserial, + "hobovr_controller", + "{hobovr}/rendermodels/hobovr_controller_mc0", + "{hobovr}/input/hobovr_controller_profile.json", + ReceiverObj + ), + m_skeletonHandle(vr::k_ulInvalidInputComponentHandle), + m_bHandSide(side) {} + +//////////////////////////////////////////////////////////////////////////////// + +vr::EVRInitError ControllerDriver::Activate(vr::TrackedDeviceIndex_t unObjectId) { + HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff + + // the "make me look like a vive wand" bullshit + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_TrackingSystemName_String, + "lighthouse" + ); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_SerialNumber_String, m_serialNumber.c_str()); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_WillDriftInYaw_Bool, + false + ); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DeviceIsWireless_Bool, + true + ); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_DeviceIsCharging_Bool, false); + // vr::VRProperties()->SetFloatProperty(m_ulPropertyContainer, vr::Prop_DeviceBatteryPercentage_Float, 1.f); // Always charged + + // why is this here? this is a controller! + vr::HmdMatrix34_t l_matrix = { + -1.f, 0.f, 0.f, 0.f, + 0.f, 0.f, -1.f, 0.f, + 0.f, -1.f, 0.f, 0.f + }; + vr::VRProperties()->SetProperty( + m_ulPropertyContainer, + vr::Prop_StatusDisplayTransform_Matrix34, + &l_matrix, sizeof(vr::HmdMatrix34_t), + vr::k_unHmdMatrix34PropertyTag + ); + + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_UpdateAvailable_Bool, false); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdate_Bool, false); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdateURL_String, "https://developer.valvesoftware.com/wiki/SteamVR/HowTo_Update_Firmware"); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_DeviceProvidesBatteryStatus_Bool, true); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DeviceCanPowerOff_Bool, + true + ); + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_DeviceClass_Int32, + vr::TrackedDeviceClass_Controller + ); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_ForceUpdateRequired_Bool, false); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Identifiable_Bool, true); + // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_RemindUpdate_Bool, false); + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_Axis0Type_Int32, + vr::k_eControllerAxis_TrackPad + ); + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_Axis1Type_Int32, + vr::k_eControllerAxis_Trigger + ); + // vr::VRProperties()->SetInt32Property(m_ulPropertyContainer, vr::Prop_ControllerRoleHint_Int32, (m_bHandSide) ? vr::TrackedControllerRole_RightHand : vr::TrackedControllerRole_LeftHand); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_HasDisplayComponent_Bool, + false + ); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_HasCameraComponent_Bool, + false + ); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_HasDriverDirectModeComponent_Bool, + false + ); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_HasVirtualDisplayComponent_Bool, + false + ); + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_ControllerHandSelectionPriority_Int32, + 0 + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ModelNumber_String, + "Vive. Controller MV" + ); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_SerialNumber_String, m_serialNumber.c_str()); // Changed + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_RenderModelName_String, "vr_controller_vive_1_5"); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ManufacturerName_String, + "HTC" + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_TrackingFirmwareVersion_String, + "1533720215 htcvrsoftware@firmware-win32 2018-08-08 FPGA 262(1.6/0/0) BL 0 VRC 1533720214 Radio 1532585738" + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_HardwareRevision_String, + "product 129 rev 1.5.0 lot 2000/0/0 0" + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ConnectedWirelessDongle_String, + "1E8092840E" + ); // Changed + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_HardwareRevision_Uint64, + 2164327680U + ); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_FirmwareVersion_Uint64, + 1533720215U + ); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_FPGAVersion_Uint64, + 262U + ); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_VRCVersion_Uint64, + 1533720214U + ); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_RadioVersion_Uint64, + 1532585738U + ); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_DongleVersion_Uint64, + 1461100729U + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ResourceRoot_String, + "htc" + ); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_RegisteredDeviceType_String, + (m_bHandSide) ? "htc/vive_controllerLHR-F94B3BD9" : "htc/vive_controllerLHR-F94B3BD8" + ); // Changed + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_InputProfilePath_String, + "{htc}/input/vive_controller_profile.json" + ); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceOff_String, "{htc}/icons/controller_status_off.png"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceSearching_String, "{htc}/icons/controller_status_searching.gif"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceSearchingAlert_String, "{htc}/icons/controller_status_searching_alert.gif"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceReady_String, "{htc}/icons/controller_status_ready.png"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceReadyAlert_String, "{htc}/icons/controller_status_ready_alert.png"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceNotReady_String, "{htc}/icons/controller_status_error.png"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceStandby_String, "{htc}/icons/controller_status_off.png"); + // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceAlertLow_String, "{htc}/icons/controller_status_ready_low.png"); + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ControllerType_String, + "vive_controller" + ); + + if (m_bHandSide) { + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_ControllerRoleHint_Int32, + vr::TrackedControllerRole_RightHand + ); + // vr::VRDriverInput()->CreateSkeletonComponent(m_ulPropertyContainer, "/input/skeleton/right", + // "/skeleton/hand/right", + // "/pose/raw", vr::VRSkeletalTracking_Partial + // , nullptr, 0U, &m_skeletonHandle); + } else { + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_ControllerRoleHint_Int32, + vr::TrackedControllerRole_LeftHand + ); + // vr::VRDriverInput()->CreateSkeletonComponent(m_ulPropertyContainer, "/input/skeleton/left", + // "/skeleton/hand/left", + // "/pose/raw", vr::VRSkeletalTracking_Partial + // , nullptr, 0U, &m_skeletonHandle); + } + + // create all the bool input components + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/grip/click", + &m_compGrip + ); + + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/system/click", + &m_compSystem + ); + + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/application_menu/click", + &m_compAppMenu + ); + + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/trackpad/click", + &m_compTrackpadClick + ); + + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/trackpad/touch", + &m_compTrackpadTouch + ); + + vr::VRDriverInput()->CreateBooleanComponent( + m_ulPropertyContainer, + "/input/trigger/click", + &m_compTriggerClick + ); + + + // trigger + vr::VRDriverInput()->CreateScalarComponent( + m_ulPropertyContainer, + "/input/trigger/value", + &m_compTrigger, + vr::VRScalarType_Absolute, + vr::VRScalarUnits_NormalizedOneSided + ); + + // trackpad + vr::VRDriverInput()->CreateScalarComponent( + m_ulPropertyContainer, + "/input/trackpad/x", + &m_compTrackpadX, + vr::VRScalarType_Absolute, + vr::VRScalarUnits_NormalizedTwoSided + ); + vr::VRDriverInput()->CreateScalarComponent( + m_ulPropertyContainer, + "/input/trackpad/y", + &m_compTrackpadY, + vr::VRScalarType_Absolute, + vr::VRScalarUnits_NormalizedTwoSided + ); + + + return vr::VRInitError_None; +} + +//////////////////////////////////////////////////////////////////////////////// + +void ControllerDriver::UpdateState(void* data) { + HoboVR_ControllerState_t* packet = (HoboVR_ControllerState_t*)data; + // update all the things + // vr::DriverPose_t pose; + pose.poseTimeOffset = m_fPoseTimeOffset; + pose.result = vr::TrackingResult_Running_OK; + pose.poseIsValid = true; + pose.deviceIsConnected = true; + pose.willDriftInYaw = false; + pose.shouldApplyHeadModel = true; + pose.vecPosition[0] = packet->position[0]; + pose.vecPosition[1] = packet->position[1]; + pose.vecPosition[2] = packet->position[2]; + + pose.qRotation = { + (double)(packet->orientation[0]), + (double)(packet->orientation[1]), + (double)(packet->orientation[2]), + (double)(packet->orientation[3]) + }; + + pose.vecVelocity[0] = packet->velocity[0]; + pose.vecVelocity[1] = packet->velocity[1]; + pose.vecVelocity[2] = packet->velocity[2]; + + pose.vecAngularVelocity[0] = packet->angular_velocity[0]; + pose.vecAngularVelocity[1] = packet->angular_velocity[1]; + pose.vecAngularVelocity[2] = packet->angular_velocity[2]; + + pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; + pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; + pose.vecWorldFromDriverTranslation[0] = 0; + pose.vecWorldFromDriverTranslation[1] = 0; + pose.vecWorldFromDriverTranslation[2] = 0; + + pose.vecDriverFromHeadTranslation[0] = 0; + pose.vecDriverFromHeadTranslation[1] = 0; + pose.vecDriverFromHeadTranslation[2] = 0; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + pose, + sizeof(pose) + ); + } + + auto ivrinput_cache = vr::VRDriverInput(); + + ivrinput_cache->UpdateBooleanComponent( + m_compGrip, + (bool)(packet->inputs_mask & 0b000001), + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateBooleanComponent( + m_compSystem, + (bool)(packet->inputs_mask & 0b000010), + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateBooleanComponent( + m_compAppMenu, + (bool)(packet->inputs_mask & 0b000100), + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateBooleanComponent( + m_compTrackpadClick, + (bool)(packet->inputs_mask & 0b001000), + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateScalarComponent( + m_compTrigger, + packet->scalar_inputs[0], + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateScalarComponent( + m_compTrackpadX, + packet->scalar_inputs[1], + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateScalarComponent( + m_compTrackpadY, + packet->scalar_inputs[2], + (double)m_fPoseTimeOffset + ); + + + ivrinput_cache->UpdateBooleanComponent( + m_compTrackpadTouch, + (bool)(packet->inputs_mask & 0b010000), + (double)m_fPoseTimeOffset + ); + + ivrinput_cache->UpdateBooleanComponent( + m_compTriggerClick, + (bool)(packet->inputs_mask & 0b100000), + (double)m_fPoseTimeOffset + ); + +} + +//////////////////////////////////////////////////////////////////////////////// + +size_t ControllerDriver::GetPacketSize() { + return sizeof(HoboVR_ControllerState_t); +} diff --git a/driver/src/controllers.h b/driver/src/controllers.h new file mode 100644 index 00000000..b05419aa --- /dev/null +++ b/driver/src/controllers.h @@ -0,0 +1,50 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_CONTRLRS +#define __HOBO_VR_CONTRLRS + +#include +#include "driverlog.h" +#include "hobovr_device_base.h" +#include "packets.h" + +//----------------------------------------------------------------------------- +// Purpose: controller device implementation +//----------------------------------------------------------------------------- + + +class ControllerDriver : public hobovr::HobovrDevice { +public: + ControllerDriver( + bool side, + std::string myserial, + const std::shared_ptr ReceiverObj + ); + + vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) override; + + void UpdateState(void* data) override; + size_t GetPacketSize() override; + + +private: + vr::DriverPose_t pose; + vr::VRInputComponentHandle_t m_compGrip; + vr::VRInputComponentHandle_t m_compSystem; + vr::VRInputComponentHandle_t m_compAppMenu; + vr::VRInputComponentHandle_t m_compTrigger; + vr::VRInputComponentHandle_t m_compTrackpadX; + vr::VRInputComponentHandle_t m_compTrackpadY; + vr::VRInputComponentHandle_t m_compTrackpadTouch; + vr::VRInputComponentHandle_t m_compTriggerClick; + vr::VRInputComponentHandle_t m_compTrackpadClick; + + vr::VRInputComponentHandle_t m_skeletonHandle; + + bool m_bHandSide; + +}; + +#endif // #ifndef __HOBO_VR_CONTRLRS \ No newline at end of file diff --git a/driver/src/device_factory.cpp b/driver/src/device_factory.cpp new file mode 100644 index 00000000..ad260ef2 --- /dev/null +++ b/driver/src/device_factory.cpp @@ -0,0 +1,114 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "device_factory.h" + +#include +#include + +#include "driverlog.h" + +// devices +#include "headsets.h" +#include "controllers.h" +#include "trackers.h" +#include "addons.h" + + +std::unique_ptr hobovr::createDeviceFactory( + char type, + int number, + std::shared_ptr soc +) { + + switch(type) { + case 'h': { + DriverLog("%s: Creating Headset device: h%d", __FUNCTION__, number); + + auto tmp = std::make_unique(type + std::to_string(number)); + + bool resp = vr::VRServerDriverHost()->TrackedDeviceAdded( + tmp->GetSerialNumber().c_str(), + vr::TrackedDeviceClass_HMD, + tmp.get() + ); + + if (!resp) { + DriverLog("%s: Failed to create device"); + return nullptr; + } + + return tmp; + } + + case 'c': { + DriverLog("%s: Creating Controller device: c%d", __FUNCTION__, number); + + auto tmp = std::make_unique( + !!(number % 2), + type + std::to_string(number), + soc + ); + + bool resp = vr::VRServerDriverHost()->TrackedDeviceAdded( + tmp->GetSerialNumber().c_str(), + vr::TrackedDeviceClass_Controller, + tmp.get() + ); + + if (!resp) { + DriverLog("%s: Failed to create device"); + return nullptr; + } + + return tmp; + } + + case 't': { + DriverLog("%s: Creating Tracker device: t%d", __FUNCTION__, number); + + auto tmp = std::make_unique( + type + std::to_string(number), + soc + ); + + bool resp = vr::VRServerDriverHost()->TrackedDeviceAdded( + tmp->GetSerialNumber().c_str(), + vr::TrackedDeviceClass_GenericTracker, + tmp.get() + ); + + if (!resp) { + DriverLog("%s: Failed to create device"); + return nullptr; + } + + return tmp; + } + + case 'g': { + DriverLog("%s: Creating GazeMaster device: t%d", __FUNCTION__, number); + + auto tmp = std::make_unique(type + std::to_string(number)); + + bool resp = vr::VRServerDriverHost()->TrackedDeviceAdded( + tmp->GetSerialNumber().c_str(), + vr::TrackedDeviceClass_GenericTracker, + tmp.get() + ); + + if (!resp) { + DriverLog("%s: Failed to create device"); + return nullptr; + } + + return tmp; + } + + default: + DriverLog("%s: bad decive type: %c", __FUNCTION__, type); + } + + return nullptr; +} \ No newline at end of file diff --git a/driver/src/device_factory.h b/driver/src/device_factory.h new file mode 100644 index 00000000..ffcf42ca --- /dev/null +++ b/driver/src/device_factory.h @@ -0,0 +1,22 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_DEVICE_FACTORY +#define __HOBO_VR_DEVICE_FACTORY + +#include + +#include + +#include "hobovr_device_base.h" + +namespace hobovr { + std::unique_ptr createDeviceFactory( + char type, + int number, + std::shared_ptr soc + ); +} // namespace hobovr + +#endif // #ifndef __HOBO_VR_DEVICE_FACTORY \ No newline at end of file diff --git a/driver/src/driver_hobovr.cpp b/driver/src/driver_hobovr.cpp index f2426008..47123aad 100644 --- a/driver/src/driver_hobovr.cpp +++ b/driver/src/driver_hobovr.cpp @@ -10,1127 +10,48 @@ //#include "openvr_capi.h" #include "driverlog.h" +#include + #include #include #include - -#if defined(_WIN32) -#include "ref/receiver_win.h" - -#elif defined(__linux__) -#include "ref/receiver_linux.h" -#define _stricmp strcasecmp - -#endif - -#if defined(_WINDOWS) -#include -#endif - - - -#include -#include -#include -#include -#include -#include +#include +#include +#include using namespace vr; -#if defined(_WIN32) -#define HMD_DLL_EXPORT extern "C" __declspec(dllexport) -#define HMD_DLL_IMPORT extern "C" __declspec(dllimport) -#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__) -#define HMD_DLL_EXPORT extern "C" __attribute__((visibility("default"))) -#define HMD_DLL_IMPORT extern "C" +#if defined(_WINDOWS) + #define HMD_DLL_EXPORT extern "C" __declspec(dllexport) + #define HMD_DLL_IMPORT extern "C" __declspec(dllimport) +#elif defined(LINUX) + #define HMD_DLL_EXPORT extern "C" __attribute__((visibility("default"))) + #define HMD_DLL_IMPORT extern "C" #else -#error "Unsupported Platform." + #error "Unsupported Platform." #endif -namespace hobovr { - // le version - static const uint32_t k_nHobovrVersionMajor = 0; - static const uint32_t k_nHobovrVersionMinor = 6; - static const uint32_t k_nHobovrVersionBuild = 6; - static const std::string k_sHobovrVersionGG = "the under world"; - -} // namespace hobovr - -// keys for use with the settings API -// driver keys -static const char *const k_pch_Hobovr_Section = "driver_hobovr"; -static const char *const k_pch_Hobovr_UduDeviceManifestList_String = "uduSettings"; - -// hmd device keys -static const char *const k_pch_Hmd_Section = "hobovr_device_hmd"; -static const char *const k_pch_Hmd_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; -static const char *const k_pch_Hmd_DisplayFrequency_Float = "displayFrequency"; -static const char* const k_pch_Hmd_IPD_Float = "IPD"; -static const char* const k_pch_Hmd_UserHead2EyeDepthMeters_Float = "UserHeadToEyeDepthMeters"; - -// include has to be here, dont ask -#include "ref/hobovr_device_base.h" -#include "ref/hobovr_components.h" - -//----------------------------------------------------------------------------- -// Purpose: hmd device implementation -//----------------------------------------------------------------------------- - -class HeadsetDriver : public hobovr::HobovrDevice { -public: - HeadsetDriver(std::string myserial):HobovrDevice(myserial, "hobovr_hmd_m") { - - m_sRenderModelPath = "{hobovr}/rendermodels/hobovr_hmd_mh0"; - m_sBindPath = "{hobovr}/input/hobovr_hmd_profile.json"; - - m_flSecondsFromVsyncToPhotons = vr::VRSettings()->GetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_SecondsFromVsyncToPhotons_Float - ); - - m_flDisplayFrequency = vr::VRSettings()->GetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_DisplayFrequency_Float - ); - - m_flIPD = vr::VRSettings()->GetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_IPD_Float - ); - - m_fUserHead2EyeDepthMeters = vr::VRSettings()->GetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_UserHead2EyeDepthMeters_Float - ); - - // log non boilerplate device specific settings - DriverLog("device hmd settings: vsync time %fs, display freq %f, ipd %fm, head2eye depth %fm", - m_flSecondsFromVsyncToPhotons, - m_flDisplayFrequency, - m_flIPD, - m_fUserHead2EyeDepthMeters - ); - - hobovr::HobovrComponent_t extDisplayComp; - extDisplayComp.type = hobovr::EHobovrCompType::EHobovrComp_ExtendedDisplay; - extDisplayComp.tag = vr::IVRDisplayComponent_Version; - extDisplayComp.ptr_handle = new hobovr::HobovrExtendedDisplayComponent(); - m_vComponents.push_back(extDisplayComp); - } - - EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) { - HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_UserIpdMeters_Float, - m_flIPD - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_UserHeadToEyeDepthMeters_Float, - 0.f - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_DisplayFrequency_Float, - m_flDisplayFrequency - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_SecondsFromVsyncToPhotons_Float, - m_flSecondsFromVsyncToPhotons - ); - - // avoid "not fullscreen" warnings from vrmonitor - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - Prop_IsOnDesktop_Bool, - false - ); - - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - Prop_DisplayDebugMode_Bool, - false - ); - - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - Prop_UserHeadToEyeDepthMeters_Float, - m_fUserHead2EyeDepthMeters - ); - - return VRInitError_None; - } - - void UpdateSectionSettings() { - // get new ipd - m_flIPD = vr::VRSettings()->GetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_IPD_Float - ); - // set new ipd - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_UserIpdMeters_Float, - m_flIPD - ); - - DriverLog("device hmd: ipd set to %f", m_flIPD); - } - - - void RunFrame(std::vector &trackingPacket) override { - DriverPose_t pose; - pose.poseTimeOffset = m_fPoseTimeOffset; - pose.result = TrackingResult_Running_OK; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - pose.willDriftInYaw = false; - pose.shouldApplyHeadModel = true; - pose.vecPosition[0] = trackingPacket[0]; - pose.vecPosition[1] = trackingPacket[1]; - pose.vecPosition[2] = trackingPacket[2]; - - pose.qRotation = { - (double)trackingPacket[3], - (double)trackingPacket[4], - (double)trackingPacket[5], - (double)trackingPacket[6] - }; - - pose.vecVelocity[0] = trackingPacket[7]; - pose.vecVelocity[1] = trackingPacket[8]; - pose.vecVelocity[2] = trackingPacket[9]; - - pose.vecAngularVelocity[0] = trackingPacket[10]; - pose.vecAngularVelocity[1] = trackingPacket[11]; - pose.vecAngularVelocity[2] = trackingPacket[12]; - - pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; - pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; - pose.vecWorldFromDriverTranslation[0] = 0; - pose.vecWorldFromDriverTranslation[1] = 0; - pose.vecWorldFromDriverTranslation[2] = 0; - - pose.vecDriverFromHeadTranslation[0] = 0; - pose.vecDriverFromHeadTranslation[1] = 0; - pose.vecDriverFromHeadTranslation[2] = 0; - - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - pose, - sizeof(pose) - ); - } - } - - -private: - float m_flSecondsFromVsyncToPhotons; - float m_flDisplayFrequency; - float m_flIPD; - float m_fUserHead2EyeDepthMeters; -}; - -//----------------------------------------------------------------------------- -// Purpose:controller device implementation -//----------------------------------------------------------------------------- - -class ControllerDriver : public hobovr::HobovrDevice { -public: - ControllerDriver( - bool side, - std::string myserial, - const std::shared_ptr ReceiverObj - ): HobovrDevice(myserial, "hobovr_controller_m", ReceiverObj), m_bHandSide(side) { - - m_sRenderModelPath = "{hobovr}/rendermodels/hobovr_controller_mc0"; - m_sBindPath = "{hobovr}/input/hobovr_controller_profile.json"; - - m_skeletonHandle = vr::k_ulInvalidInputComponentHandle; - } - - EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) { - HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff - - // the "make me look like a vive wand" bullshit - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_TrackingSystemName_String, - "lighthouse" - ); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_SerialNumber_String, m_serialNumber.c_str()); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_WillDriftInYaw_Bool, - false - ); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_DeviceIsWireless_Bool, - true - ); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_DeviceIsCharging_Bool, false); - // vr::VRProperties()->SetFloatProperty(m_ulPropertyContainer, vr::Prop_DeviceBatteryPercentage_Float, 1.f); // Always charged - - // why is this here? this is a controller! - vr::HmdMatrix34_t l_matrix = { - -1.f, 0.f, 0.f, 0.f, - 0.f, 0.f, -1.f, 0.f, - 0.f, -1.f, 0.f, 0.f - }; - vr::VRProperties()->SetProperty( - m_ulPropertyContainer, - vr::Prop_StatusDisplayTransform_Matrix34, - &l_matrix, sizeof(vr::HmdMatrix34_t), - vr::k_unHmdMatrix34PropertyTag - ); - - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_UpdateAvailable_Bool, false); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdate_Bool, false); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdateURL_String, "https://developer.valvesoftware.com/wiki/SteamVR/HowTo_Update_Firmware"); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_DeviceProvidesBatteryStatus_Bool, true); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_DeviceCanPowerOff_Bool, - true - ); - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - vr::Prop_DeviceClass_Int32, - vr::TrackedDeviceClass_Controller - ); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_ForceUpdateRequired_Bool, false); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Identifiable_Bool, true); - // vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, vr::Prop_Firmware_RemindUpdate_Bool, false); - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - vr::Prop_Axis0Type_Int32, - vr::k_eControllerAxis_TrackPad - ); - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - vr::Prop_Axis1Type_Int32, - vr::k_eControllerAxis_Trigger - ); - // vr::VRProperties()->SetInt32Property(m_ulPropertyContainer, vr::Prop_ControllerRoleHint_Int32, (m_bHandSide) ? vr::TrackedControllerRole_RightHand : vr::TrackedControllerRole_LeftHand); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_HasDisplayComponent_Bool, - false - ); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_HasCameraComponent_Bool, - false - ); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_HasDriverDirectModeComponent_Bool, - false - ); - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - vr::Prop_HasVirtualDisplayComponent_Bool, - false - ); - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - vr::Prop_ControllerHandSelectionPriority_Int32, - 0 - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_ModelNumber_String, - "Vive. Controller MV" - ); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_SerialNumber_String, m_serialNumber.c_str()); // Changed - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_RenderModelName_String, "vr_controller_vive_1_5"); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_ManufacturerName_String, - "HTC" - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_TrackingFirmwareVersion_String, - "1533720215 htcvrsoftware@firmware-win32 2018-08-08 FPGA 262(1.6/0/0) BL 0 VRC 1533720214 Radio 1532585738" - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_HardwareRevision_String, - "product 129 rev 1.5.0 lot 2000/0/0 0" - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_ConnectedWirelessDongle_String, - "1E8092840E" - ); // Changed - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_HardwareRevision_Uint64, - 2164327680U - ); - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_FirmwareVersion_Uint64, - 1533720215U - ); - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_FPGAVersion_Uint64, - 262U - ); - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_VRCVersion_Uint64, - 1533720214U - ); - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_RadioVersion_Uint64, - 1532585738U - ); - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - vr::Prop_DongleVersion_Uint64, - 1461100729U - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_ResourceRoot_String, - "htc" - ); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_RegisteredDeviceType_String, - (m_bHandSide) ? "htc/vive_controllerLHR-F94B3BD9" : "htc/vive_controllerLHR-F94B3BD8" - ); // Changed - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_InputProfilePath_String, - "{htc}/input/vive_controller_profile.json" - ); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceOff_String, "{htc}/icons/controller_status_off.png"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceSearching_String, "{htc}/icons/controller_status_searching.gif"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceSearchingAlert_String, "{htc}/icons/controller_status_searching_alert.gif"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceReady_String, "{htc}/icons/controller_status_ready.png"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceReadyAlert_String, "{htc}/icons/controller_status_ready_alert.png"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceNotReady_String, "{htc}/icons/controller_status_error.png"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceStandby_String, "{htc}/icons/controller_status_off.png"); - // vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, vr::Prop_NamedIconPathDeviceAlertLow_String, "{htc}/icons/controller_status_ready_low.png"); - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - vr::Prop_ControllerType_String, - "vive_controller" - ); - - if (m_bHandSide) { - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - Prop_ControllerRoleHint_Int32, - TrackedControllerRole_RightHand - ); - // vr::VRDriverInput()->CreateSkeletonComponent(m_ulPropertyContainer, "/input/skeleton/right", - // "/skeleton/hand/right", - // "/pose/raw", vr::VRSkeletalTracking_Partial - // , nullptr, 0U, &m_skeletonHandle); - } else { - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - Prop_ControllerRoleHint_Int32, - TrackedControllerRole_LeftHand - ); - // vr::VRDriverInput()->CreateSkeletonComponent(m_ulPropertyContainer, "/input/skeleton/left", - // "/skeleton/hand/left", - // "/pose/raw", vr::VRSkeletalTracking_Partial - // , nullptr, 0U, &m_skeletonHandle); - } - - // create all the bool input components - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/grip/click", - &m_compGrip - ); - - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/system/click", - &m_compSystem - ); - - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/application_menu/click", - &m_compAppMenu - ); - - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/trackpad/click", - &m_compTrackpadClick - ); - - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/trackpad/touch", - &m_compTrackpadTouch - ); - - vr::VRDriverInput()->CreateBooleanComponent( - m_ulPropertyContainer, - "/input/trigger/click", - &m_compTriggerClick - ); - - - // trigger - vr::VRDriverInput()->CreateScalarComponent( - m_ulPropertyContainer, - "/input/trigger/value", - &m_compTrigger, - vr::VRScalarType_Absolute, - vr::VRScalarUnits_NormalizedOneSided - ); - - // trackpad - vr::VRDriverInput()->CreateScalarComponent( - m_ulPropertyContainer, - "/input/trackpad/x", - &m_compTrackpadX, - vr::VRScalarType_Absolute, - vr::VRScalarUnits_NormalizedTwoSided - ); - vr::VRDriverInput()->CreateScalarComponent( - m_ulPropertyContainer, - "/input/trackpad/y", - &m_compTrackpadY, - vr::VRScalarType_Absolute, - vr::VRScalarUnits_NormalizedTwoSided - ); - - - return VRInitError_None; - } - - - void RunFrame(std::vector &lastRead) override { - // update all the things - DriverPose_t pose; - pose.poseTimeOffset = m_fPoseTimeOffset; - pose.result = TrackingResult_Running_OK; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - pose.willDriftInYaw = false; - pose.shouldApplyHeadModel = true; - pose.vecPosition[0] = lastRead[0]; - pose.vecPosition[1] = lastRead[1]; - pose.vecPosition[2] = lastRead[2]; - - pose.qRotation = { - (double)lastRead[3], - (double)lastRead[4], - (double)lastRead[5], - (double)lastRead[6] - }; - - pose.vecVelocity[0] = lastRead[7]; - pose.vecVelocity[1] = lastRead[8]; - pose.vecVelocity[2] = lastRead[9]; - - pose.vecAngularVelocity[0] = lastRead[10]; - pose.vecAngularVelocity[1] = lastRead[11]; - pose.vecAngularVelocity[2] = lastRead[12]; - - pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; - pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; - pose.vecWorldFromDriverTranslation[0] = 0; - pose.vecWorldFromDriverTranslation[1] = 0; - pose.vecWorldFromDriverTranslation[2] = 0; - - pose.vecDriverFromHeadTranslation[0] = 0; - pose.vecDriverFromHeadTranslation[1] = 0; - pose.vecDriverFromHeadTranslation[2] = 0; - - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - pose, - sizeof(pose) - ); - } - - auto ivrinput_cache = vr::VRDriverInput(); - - ivrinput_cache->UpdateBooleanComponent( - m_compGrip, - (bool)lastRead[13], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateBooleanComponent( - m_compSystem, - (bool)lastRead[14], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateBooleanComponent( - m_compAppMenu, - (bool)lastRead[15], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateBooleanComponent( - m_compTrackpadClick, - (bool)lastRead[16], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateScalarComponent( - m_compTrigger, - lastRead[17], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateScalarComponent( - m_compTrackpadX, - lastRead[18], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateScalarComponent( - m_compTrackpadY, - lastRead[19], - (double)m_fPoseTimeOffset - ); - - - ivrinput_cache->UpdateBooleanComponent( - m_compTrackpadTouch, - (bool)lastRead[20], - (double)m_fPoseTimeOffset - ); - - ivrinput_cache->UpdateBooleanComponent( - m_compTriggerClick, - (bool)lastRead[21], - (double)m_fPoseTimeOffset - ); - - } - -private: - vr::VRInputComponentHandle_t m_compGrip; - vr::VRInputComponentHandle_t m_compSystem; - vr::VRInputComponentHandle_t m_compAppMenu; - vr::VRInputComponentHandle_t m_compTrigger; - vr::VRInputComponentHandle_t m_compTrackpadX; - vr::VRInputComponentHandle_t m_compTrackpadY; - vr::VRInputComponentHandle_t m_compTrackpadTouch; - vr::VRInputComponentHandle_t m_compTriggerClick; - vr::VRInputComponentHandle_t m_compTrackpadClick; - - vr::VRInputComponentHandle_t m_skeletonHandle; - - bool m_bHandSide; - -}; - - -//----------------------------------------------------------------------------- -// Purpose: tracker device implementation -//----------------------------------------------------------------------------- -class TrackerDriver : public hobovr::HobovrDevice { -public: - TrackerDriver( - std::string myserial, - const std::shared_ptr ReceiverObj - ): HobovrDevice(myserial, "hobovr_tracker_m", ReceiverObj) { - - m_sRenderModelPath = "{hobovr}/rendermodels/hobovr_tracker_mt0"; - m_sBindPath = "{hobovr}/input/hobovr_tracker_profile.json"; - } - - EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) { - HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff - - vr::VRProperties()->SetInt32Property( - m_ulPropertyContainer, - Prop_ControllerRoleHint_Int32, - TrackedControllerRole_RightHand - ); - - return VRInitError_None; - } - - - void RunFrame(std::vector &lastRead) override { - // update all the things - DriverPose_t pose; - pose.poseTimeOffset = m_fPoseTimeOffset; - pose.result = TrackingResult_Running_OK; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - pose.willDriftInYaw = false; - pose.shouldApplyHeadModel = true; - pose.vecPosition[0] = lastRead[0]; - pose.vecPosition[1] = lastRead[1]; - pose.vecPosition[2] = lastRead[2]; - - pose.qRotation = { - (double)lastRead[3], - (double)lastRead[4], - (double)lastRead[5], - (double)lastRead[6] - }; - - pose.vecVelocity[0] = lastRead[7]; - pose.vecVelocity[1] = lastRead[8]; - pose.vecVelocity[2] = lastRead[9]; - - pose.vecAngularVelocity[0] = lastRead[10]; - pose.vecAngularVelocity[1] = lastRead[11]; - pose.vecAngularVelocity[2] = lastRead[12]; - - pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; - pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; - pose.vecWorldFromDriverTranslation[0] = 0; - pose.vecWorldFromDriverTranslation[1] = 0; - pose.vecWorldFromDriverTranslation[2] = 0; - - pose.vecDriverFromHeadTranslation[0] = 0; - pose.vecDriverFromHeadTranslation[1] = 0; - pose.vecDriverFromHeadTranslation[2] = 0; - - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - pose, - sizeof(pose) - ); - } - } -}; - -//----------------------------------------------------------------------------- -// Purpose: settings manager using a tracking reference, this is meant to be -// a settings and other utility communication and management tool -// for that purpose it will have a it's own server connection and poser protocol -// for now tho it will just stay as a tracking reference -// also a device that will always be present with hobo_vr devices from now on -// it will also allow live device management in the future -// -// think of it as a settings manager made to look like a tracking reference -//----------------------------------------------------------------------------- - -enum HobovrTrackingRef_Msg_type -{ - Emsg_invalid = 0, - Emsg_ipd = 10, - Emsg_uduString = 20, - Emsg_poseTimeOffset = 30, - Emsg_distortion = 40, - Emsg_eyeGap = 50, - Emsg_setSelfPose = 60, -}; - -enum HobovrVendorEvents -{ - UduChange = 19998, // in the vendor event range -}; - -std::vector> g_vpUduChangeBuffer; - -class HobovrTrackingRef_SettManager: public vr::ITrackedDeviceServerDriver, public SockReceiver::Callback { -private: - std::shared_ptr m_pSocketComm; -public: - HobovrTrackingRef_SettManager(std::string myserial): m_sSerialNumber(myserial) { - m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; - m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer; - - m_sModelNumber = "tracking_reference_" + m_sSerialNumber; - m_sRenderModelPath = "{hobovr}/rendermodels/hobovr_tracking_reference"; - - DriverLog("device: settings manager tracking reference created\n"); - - // manager stuff - try { - m_pSocketComm = std::make_shared("h520"); - m_pSocketComm->m_sIdMessage = "monky\n"; - m_pSocketComm->start(); - } catch (...) { - DriverLog("tracking reference: couldn't connect to the server"); - } - m_pSocketComm->setCallback(this); - - } - - void OnPacket(char* buff, int len) { +// timer +#include "timer.h" - if (len != 523) { - return; // do nothing if bad message - } - - uint32_t* data = (uint32_t*)buff; - // DriverLog("tracking reference: message %d %d %d %d", data[0], data[1], data[2], data[129]); - switch(data[0]) { - case Emsg_ipd: { - float newIpd = (float)data[1]/(float)data[2]; - vr::VRSettings()->SetFloat( - k_pch_Hmd_Section, - k_pch_Hmd_IPD_Float, - newIpd - ); - m_pSocketComm->send2("2000"); - DriverLog("tracking reference: ipd change request processed"); - break; - } - - case Emsg_uduString: { - int iUduLen = data[1]; - std::vector> temp; - for (int i=0; i p; - p.second = dp; - - if (dt == 0) - p.first = "h"; - else if (dt == 1) - p.first = "c"; - else if (dt == 2) - p.first = "t"; - - temp.push_back(p); - } - g_vpUduChangeBuffer = temp; - - vr::VREvent_Notification_t event_data = {20, 0}; - vr::VRServerDriverHost()->VendorSpecificEvent( - m_unObjectId, - (vr::EVREventType)HobovrVendorEvents::UduChange, - (VREvent_Data_t&)event_data, - 0 - ); - - DriverLog( - "tracking reference: udu settings change request processed" - ); - m_pSocketComm->send2("2000"); - break; - } - - case Emsg_setSelfPose: { - DriverPose_t pose; - pose.poseTimeOffset = 0; - pose.result = TrackingResult_Running_OK; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - pose.poseTimeOffset = 0; - pose.qWorldFromDriverRotation = {1, 0, 0, 0}; - pose.qDriverFromHeadRotation = {1, 0, 0, 0}; - pose.qRotation = {1, 0, 0, 0}; - pose.vecPosition[0] = 0.01; - pose.vecPosition[1] = 0; - pose.vecPosition[2] = 0; - pose.willDriftInYaw = false; - pose.deviceIsConnected = true; - pose.poseIsValid = true; - pose.shouldApplyHeadModel = false; - - pose.vecPosition[0] = (float)data[1]/(float)data[2]; - pose.vecPosition[1] = (float)data[3]/(float)data[4]; - pose.vecPosition[2] = (float)data[5]/(float)data[6]; - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - pose, - sizeof(pose) - ); - } - - m_pSocketComm->send2("2000"); - DriverLog("tracking reference: pose change request processed"); - break; - } - - case Emsg_distortion: { - float newK1 = (float)data[1]/(float)data[2]; - float newK2 = (float)data[3]/(float)data[4]; - float newZoomW = (float)data[5]/(float)data[6]; - float newZoomH = (float)data[7]/(float)data[8]; - vr::VRSettings()->SetFloat( - hobovr::k_pch_ExtDisplay_Section, - hobovr::k_pch_ExtDisplay_DistortionK1_Float, - newK1 - ); - - vr::VRSettings()->SetFloat( - hobovr::k_pch_ExtDisplay_Section, - hobovr::k_pch_ExtDisplay_DistortionK2_Float, - newK2 - ); - - vr::VRSettings()->SetFloat( - hobovr::k_pch_ExtDisplay_Section, - hobovr::k_pch_ExtDisplay_ZoomWidth_Float, - newZoomW - ); - - vr::VRSettings()->SetFloat( - hobovr::k_pch_ExtDisplay_Section, - hobovr::k_pch_ExtDisplay_ZoomHeight_Float, - newZoomH - ); - - - m_pSocketComm->send2("2000"); - DriverLog("tracking reference: distortion update request processed"); - break; - } - - case Emsg_eyeGap: { - vr::VRSettings()->SetInt32( - hobovr::k_pch_ExtDisplay_Section, - hobovr::k_pch_ExtDisplay_EyeGapOffset_Int, - data[1] - ); - - m_pSocketComm->send2("2000"); - DriverLog("tracking reference: eye gap change request processed"); - break; - } - - case Emsg_poseTimeOffset: { - float newTimeOffset = (float)data[1]/(float)data[2]; - vr::VRSettings()->SetFloat( - k_pch_Hobovr_Section, - hobovr::k_pch_Hobovr_PoseTimeOffset_Float, - newTimeOffset - ); - - m_pSocketComm->send2("2000"); - DriverLog( - "tracking reference: pose time offset change request processed" - ); - break; - } - - default: - DriverLog("tracking reference: message not recognized"); - m_pSocketComm->send2("-100"); - } - } - - vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) { - m_unObjectId = unObjectId; - m_ulPropertyContainer = - vr::VRProperties()->TrackedDeviceToPropertyContainer(m_unObjectId); - - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - Prop_ModelNumber_String, - m_sModelNumber.c_str() - ); - - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - Prop_RenderModelName_String, - m_sRenderModelPath.c_str() - ); - - DriverLog("device: tracking reference activated\n"); - DriverLog("device: \tserial: %s\n", m_sSerialNumber.c_str()); - DriverLog("device: \tmodel: %s\n", m_sModelNumber.c_str()); - DriverLog("device: \trender model path: \"%s\"\n", m_sRenderModelPath.c_str()); - - // return a constant that's not 0 (invalid) or 1 (reserved for Oculus) - vr::VRProperties()->SetUint64Property( - m_ulPropertyContainer, - Prop_CurrentUniverseId_Uint64, - 2 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_FieldOfViewLeftDegrees_Float, - 180 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_FieldOfViewRightDegrees_Float, - 180 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_FieldOfViewTopDegrees_Float, - 180 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_FieldOfViewBottomDegrees_Float, - 180 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_TrackingRangeMinimumMeters_Float, - 0 - ); - - vr::VRProperties()->SetFloatProperty( - m_ulPropertyContainer, - Prop_TrackingRangeMaximumMeters_Float, - 10 - ); - - vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, - Prop_ModeLabel_String, - m_sModelNumber.c_str() - ); - - vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, - Prop_CanWirelessIdentify_Bool, - false - ); - - DriverPose_t pose; - pose.poseTimeOffset = 0; - pose.result = TrackingResult_Running_OK; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - pose.poseTimeOffset = 0; - pose.qWorldFromDriverRotation = {1, 0, 0, 0}; - pose.qDriverFromHeadRotation = {1, 0, 0, 0}; - pose.qRotation = {1, 0, 0, 0}; - pose.vecPosition[0] = 0.01; - pose.vecPosition[1] = 0; - pose.vecPosition[2] = 0; - pose.willDriftInYaw = false; - pose.deviceIsConnected = true; - pose.poseIsValid = true; - pose.shouldApplyHeadModel = false; - - pose.vecPosition[0] = 0; - pose.vecPosition[1] = 0; - pose.vecPosition[2] = 0; - - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - pose, - sizeof(pose) - ); - } - - return VRInitError_None; - } - - virtual void Deactivate() { - DriverLog("device: \"%s\" deactivated\n", m_sSerialNumber.c_str()); - // "signal" device disconnected - m_Pose.poseIsValid = false; - m_Pose.deviceIsConnected = false; - - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - m_Pose, - sizeof(DriverPose_t) - ); - } - - m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; - } - - void EnterStandby() {} - - void *GetComponent(const char *pchComponentNameAndVersion) { - DriverLog("tracking reference: got a request for \"%s\" component, request ignored\n", - pchComponentNameAndVersion - ); - - return NULL; - } - - void DebugRequest( - const char *pchRequest, - char *pchResponseBuffer, - uint32_t unResponseBufferSize - ) { - - DriverLog("device: \"%s\" got a debug request: \"%s\"", - m_sSerialNumber.c_str(), - pchRequest - ); - - if (unResponseBufferSize >= 1) - pchResponseBuffer[0] = 0; - } - - vr::DriverPose_t GetPose() {return m_Pose;} - - std::string GetSerialNumber() const { return m_sSerialNumber;} - - void UpdatePose() { - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - DriverLog("tracking reference: pose updated"); - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, - m_Pose, - sizeof(DriverPose_t) - ); - } - } - -private: - // openvr api stuff - vr::TrackedDeviceIndex_t m_unObjectId; // DO NOT TOUCH THIS, parent will handle this, use it as read only! - vr::PropertyContainerHandle_t m_ulPropertyContainer; // THIS EITHER, use it as read only! +// devices +#include "device_factory.h" - std::string m_sRenderModelPath; // path to the device's render model, should be populated in the constructor of the derived class +#include "hobovr_defines.h" - vr::DriverPose_t m_Pose; // device's pose, use this at runtime +#include "hobovr_device_base.h" +#include "hobovr_components.h" - std::string m_sSerialNumber; // steamvr uses this to identify devices, no need for you to touch this after init - std::string m_sModelNumber; // steamvr uses this to identify devices, no need for you to touch this after init +#include "tracking_references.h" -}; +#include "util.h" -//----------------------------------------------------------------------------- +/////////////////////////////////////////////////////////////////////////////// // Purpose: serverDriver -//----------------------------------------------------------------------------- - -enum EHobovrDeviceNodeTypes { - hmd = 0, - controller = 1, - tracker = 2 -}; - - -struct HobovrDeviceStorageNode_t { - EHobovrDeviceNodeTypes type; - void* handle; -}; - +/////////////////////////////////////////////////////////////////////////////// -class CServerDriver_hobovr : public IServerTrackedDeviceProvider, public SockReceiver::Callback { +class CServerDriver_hobovr : public IServerTrackedDeviceProvider { public: CServerDriver_hobovr() {} virtual EVRInitError Init(vr::IVRDriverContext *pDriverContext); @@ -1143,32 +64,31 @@ class CServerDriver_hobovr : public IServerTrackedDeviceProvider, public SockRec virtual void EnterStandby() {} virtual void LeaveStandby() {} - virtual void RunFrame(); - void OnPacket(char* buff, int len); + virtual void RunFrame() {} + void OnPacket(void* buff, size_t len); private: - void SlowUpdateThread(); - static void SlowUpdateThreadEnter(CServerDriver_hobovr *ptr) { - ptr->SlowUpdateThread(); - } - + // void InternalThread(); void UpdateServerDeviceList(); - std::vector m_vDevices; - std::vector m_vStandbyDevices; + std::vector> mvDevices; + std::vector> mvOffDevices; - std::shared_ptr m_pSocketComm; - std::shared_ptr m_pSettManTref; + size_t muInternalBufferSize = 16; - bool m_bDeviceListSyncEvent = false; + std::shared_ptr mlSocket; + std::unique_ptr mpReceiver; + std::unique_ptr mpTimer; + std::unique_ptr mpSettingsManager; - // slower thread stuff - bool m_bSlowUpdateThreadIsAlive; - std::thread* m_ptSlowUpdateThread; + std::atomic mbUduEvent; }; +/////////////////////////////////////////////////////////////////////////////// // yes +/////////////////////////////////////////////////////////////////////////////// + EVRInitError CServerDriver_hobovr::Init(vr::IVRDriverContext *pDriverContext) { VR_INIT_SERVER_DRIVER_CONTEXT(pDriverContext); InitDriverLog(vr::VRDriverLog()); @@ -1180,448 +100,285 @@ EVRInitError CServerDriver_hobovr::Init(vr::IVRDriverContext *pDriverContext) { hobovr::k_sHobovrVersionGG.c_str() ); - std::string uduThing; - char buf[1024]; - vr::VRSettings()->GetString( - k_pch_Hobovr_Section, - k_pch_Hobovr_UduDeviceManifestList_String, - buf, - sizeof(buf) - ); - uduThing = buf; - DriverLog("driver: udu settings: '%s'\n", uduThing.c_str()); - - // udu setting parse is done by SockReceiver - try{ - m_pSocketComm = std::make_shared(uduThing); - m_pSocketComm->start(); + // ensure we can activate our hmd later on + bool need_restart = vr::VRSettings()->GetBool("steamvr", "requireHmd"); + if (need_restart) { + vr::VRSettings()->SetBool( + k_pch_Robotic_Persistence_Section, + k_pch_Robotic_recover_requireHMD_Bool, + true + ); + DriverLog("driver: 'requireHmd' is enabled, need a restart...\n"); + vr::VRSettings()->SetBool("steamvr", "requireHmd", false); + return VRInitError_Init_Retry; + } - } catch (...){ - DriverLog("m_pSocketComm broke on create or broke on start, either way you're fucked\n"); - DriverLog("check if the server is running...\n"); - DriverLog("... 10061 means \"couldn't connect to server\"...(^_^;)..\n"); - return VRInitError_Init_WebServerFailed; + // time to init the connection to the poser :P + mlSocket = std::make_shared(); + int res = mlSocket->Connect("127.0.0.1", 6969); + if (res) { + DriverLog("driver: failed to connect: errno=%s", lsc::getString(lerrno).c_str()); + return VRInitError_IPC_ServerInitFailed; } - int counter_hmd = 0; - int counter_cntrlr = 0; - int counter_trkr = 0; - int controller_hs = 1; - - // add new devices based on the udu parse - for (std::string i:m_pSocketComm->m_vsDevice_list) { - if (i == "h") { - HeadsetDriver* temp = new HeadsetDriver( - "h" + std::to_string(counter_hmd) - ); - - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_HMD, - temp - ); - - m_vDevices.push_back({EHobovrDeviceNodeTypes::hmd, temp}); - - counter_hmd++; - - } else if (i == "c") { - ControllerDriver* temp = new ControllerDriver( - controller_hs, - "c" + std::to_string(counter_cntrlr), - m_pSocketComm - ); - - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_Controller, - temp); - m_vDevices.push_back({EHobovrDeviceNodeTypes::controller, temp}); - - controller_hs = (controller_hs) ? 0 : 1; - counter_cntrlr++; - - } else if (i == "t") { - TrackerDriver* temp = new TrackerDriver( - "t" + std::to_string(counter_trkr), - m_pSocketComm - ); - - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_GenericTracker, - temp - ); - - m_vDevices.push_back({EHobovrDeviceNodeTypes::tracker, temp}); - - counter_trkr++; - - } else { - DriverLog("driver: unsupported device type: %s", i.c_str()); - return VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck; - } - } + DriverLog("driver: tracking socket fd=%d", (int)mlSocket->GetHandle()); - // start listening for device data - m_pSocketComm->setCallback(this); + // send an id message saying this is a tracking socket + res = mlSocket->Send(KHoboVR_TrackingIdMessage, sizeof(KHoboVR_TrackingIdMessage)); + if (res < 0) { + DriverLog("driver: failed to send id message: errno=%d\n", lerrno); + return vr::VRInitError_IPC_ConnectFailed; + } - // misc slow update thread - m_bSlowUpdateThreadIsAlive = true; - m_ptSlowUpdateThread = new std::thread(this->SlowUpdateThreadEnter, this); - if (!m_bSlowUpdateThreadIsAlive) { - DriverLog("driver: slow update thread broke on start\n"); - return VRInitError_IPC_Failed; - } + mpReceiver = std::make_unique( + mlSocket, + g_EndTag, + std::bind(&CServerDriver_hobovr::OnPacket, this, std::placeholders::_1, std::placeholders::_2), + 16 + ); + mpReceiver->Start(); - // settings manager - m_pSettManTref = std::make_shared("trsm0"); + // create manager now + mpSettingsManager = std::make_unique("trsm0"); vr::VRServerDriverHost()->TrackedDeviceAdded( - m_pSettManTref->GetSerialNumber().c_str(), + mpSettingsManager->GetSerialNumber().c_str(), vr::TrackedDeviceClass_TrackingReference, - m_pSettManTref.get() + mpSettingsManager.get() ); - m_pSettManTref->UpdatePose(); - - return VRInitError_None; -} - -void CServerDriver_hobovr::Cleanup() { - DriverLog("driver cleanup called"); - m_pSocketComm->stop(); - m_bSlowUpdateThreadIsAlive = false; - m_ptSlowUpdateThread->join(); - - for (auto& i : m_vDevices) { - switch (i.type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)i.handle; - free(device); - break; - } - - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)i.handle; - free(device); - break; - } - - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)i.handle; - free(device); - break; + // misc start timer + mpTimer = std::make_unique(); + // and add some timed events + // equivalent of the old slow thread + mpTimer->registerTimer( + std::chrono::seconds(1), + [this]() { + for (auto &i : mvDevices){ + i->UpdateDeviceBatteryCharge(); + i->CheckForUpdates(); } + mpSettingsManager->UpdatePose(); } - } - - for (auto& i : m_vStandbyDevices) { - switch (i.type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)i.handle; - free(device); - break; + ); + // equivalent of the old fast thread + mpTimer->registerTimer( + std::chrono::milliseconds(1), + [this]() { + // fast part + // check of incoming udu events + if (mpSettingsManager->GetUduEvent() && !mbUduEvent.load()) { + DriverLog("udu change event"); + muInternalBufferSize = util::udu2sizet( + mpSettingsManager->GetUduBuffer() + ); + + // pause packet processing + mbUduEvent.store(true); + UpdateServerDeviceList(); + mpReceiver->ReallocInternalBuffer(muInternalBufferSize); + // resume packet processing + mbUduEvent.store(false); + DriverLog("udu change event end"); } - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)i.handle; - free(device); - break; - } + vr::VREvent_t vrEvent; + while (vr::VRServerDriverHost()->PollNextEvent(&vrEvent, sizeof(vrEvent))) { + for (auto& i : mvDevices) { + i->ProcessEvent(vrEvent); + } - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)i.handle; - free(device); - break; } } - } - - m_vDevices.clear(); - m_vStandbyDevices.clear(); + ); - CleanupDriverLog(); - VR_CLEANUP_SERVER_DRIVER_CONTEXT(); + return VRInitError_None; } -void CServerDriver_hobovr::OnPacket(char* buff, int len) { - if (len == (m_pSocketComm->m_iExpectedMessageSize*4+3) && !m_bDeviceListSyncEvent) - { - float* temp= (float*)buff; - std::vector v(temp, temp+m_pSocketComm->m_iExpectedMessageSize); - auto tempPose = SockReceiver::split_pk(v, m_pSocketComm->m_viEps); - - for (size_t i=0; i < m_vDevices.size(); i++){ - switch (m_vDevices[i].type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)m_vDevices[i].handle; - device->RunFrame(tempPose[i]); - break; - } - - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)m_vDevices[i].handle; - device->RunFrame(tempPose[i]); - break; - } - - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)m_vDevices[i].handle; - device->RunFrame(tempPose[i]); - break; - } - } +/////////////////////////////////////////////////////////////////////////////// - } +void CServerDriver_hobovr::OnPacket(void* buff, size_t len) { + if (mbUduEvent.load()) + return; // sync in progress, do nothing - } else { - DriverLog("driver: bad packet, expected %d, got %d. double check your udu settings\n", (m_pSocketComm->m_iExpectedMessageSize*4+3), len); - } + if (len != muInternalBufferSize) { + // tell the poser it fucked up + // TODO: make different responses for different fuck ups... + // and detect different fuck ups + HoboVR_RespBufSize_t expected_size = {(uint32_t)muInternalBufferSize}; + HoboVR_PoserResp_t resp{ + EPoserRespType_badDeviceList, + (HoboVR_RespData_t&)expected_size, + g_EndTag + }; -} + mlSocket->Send( + &resp, + sizeof(resp) + ); + // GOD FUCKING FINALLY -void CServerDriver_hobovr::RunFrame() { - vr::VREvent_t vrEvent; - while (vr::VRServerDriverHost()->PollNextEvent(&vrEvent, sizeof(vrEvent))) { - for (auto& i : m_vDevices) { - switch (i.type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)i.handle; - device->ProcessEvent(vrEvent); - break; - } + // so logs in steamvr take ages to complete... TOO BAD! + DriverLog("driver: posers are getting ignored~ expected %d bytes, got %d bytes~\n", + (int)muInternalBufferSize, + (int)len + ); - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)i.handle; - device->ProcessEvent(vrEvent); - break; - } + return; // do nothing on bad messages + } - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)i.handle; - device->ProcessEvent(vrEvent); - break; - } - } - } - if (vrEvent.eventType == HobovrVendorEvents::UduChange) { - DriverLog("udu change event"); - std::vector newD; - std::vector newEps; - auto uduBufferCopy = g_vpUduChangeBuffer; + size_t buff_offset = 0; - for (auto i : uduBufferCopy) { - DriverLog("pair: (%s, %d)", i.first.c_str(), i.second); - newD.push_back(i.first); - newEps.push_back(i.second); - } + // need that + op no cap + char* buff2 = (char*)buff; - m_bDeviceListSyncEvent = true; - m_pSocketComm->UpdateParams(newD, newEps); - UpdateServerDeviceList(); - m_bDeviceListSyncEvent = false; - } + for (auto& i : mvDevices){ + i->UpdateState(buff2 + buff_offset); + buff_offset += i->GetPacketSize(); } -} -void CServerDriver_hobovr::UpdateServerDeviceList() { - for (auto i : m_vDevices) { - switch (i.type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)i.handle; - device->PowerOff(); - break; - } + DebugDriverLog("got data: %d %p '%c%c%c%c'", len, buff2, buff2[0], buff2[1], buff2[2], buff2[3]); - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)i.handle; - device->PowerOff(); - break; - } - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)i.handle; - device->PowerOff(); - break; - } - } - m_vStandbyDevices.push_back(i); - } +} + +/////////////////////////////////////////////////////////////////////////////// - m_vDevices.clear(); +void CServerDriver_hobovr::Cleanup() { + DriverLog("driver cleanup called"); + // set slow/fast thread alive signals to exit + mpTimer.reset(); - auto uduBufferCopy = g_vpUduChangeBuffer; + // send a "driver exit" notification to the poser + HoboVR_RespReserved_t fake_data = {}; + HoboVR_PoserResp_t resp{ + EPoserRespType_driverShutdown, + (HoboVR_RespData_t&)fake_data, + g_EndTag + }; + mlSocket->Send(&resp, sizeof(resp)); - int counter_hmd = 0; - int counter_cntrlr = 0; - int counter_trkr = 0; - int controller_hs = 1; + // release ownership to signal the receiver thread to finish + mlSocket.reset(); - for (auto i : uduBufferCopy) { - if (i.first == "h") { - auto target = "h" + std::to_string(counter_hmd); - auto key = [target](HobovrDeviceStorageNode_t d)->bool { - switch (d.type) { - case EHobovrDeviceNodeTypes::hmd: - return ((HeadsetDriver*)d.handle)->GetSerialNumber() == target; + // call stop to make sure the receiver thread has joined + mpReceiver->Stop(); - case EHobovrDeviceNodeTypes::controller: - return ((ControllerDriver*)d.handle)->GetSerialNumber() == target; + mvDevices.clear(); + mvOffDevices.clear(); - case EHobovrDeviceNodeTypes::tracker: - return ((TrackerDriver*)d.handle)->GetSerialNumber() == target; - } - return false; - }; - - auto res = std::find_if(m_vStandbyDevices.begin(), m_vStandbyDevices.end(), key); - if (res != m_vStandbyDevices.end()) { - ((HeadsetDriver*)((*res).handle))->PowerOn(); - m_vDevices.push_back(*res); - m_vStandbyDevices.erase(res); - } else { - HeadsetDriver* temp = new HeadsetDriver( - "h" + std::to_string(counter_hmd) - ); - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_HMD, - temp - ); - m_vDevices.push_back({EHobovrDeviceNodeTypes::hmd, temp}); - } + if ( + vr::VRSettings()->GetBool( + k_pch_Robotic_Persistence_Section, + k_pch_Robotic_recover_requireHMD_Bool + ) + ) { + vr::VRSettings()->SetBool( + k_pch_Robotic_Persistence_Section, + k_pch_Robotic_recover_requireHMD_Bool, + false + ); + vr::VRSettings()->SetBool("steamvr", "requireHmd", true); + DriverLog("driver: recovered requireHmd...\n"); + } - counter_hmd++; - } else if (i.first == "c") { - auto target = "c" + std::to_string(counter_cntrlr); - auto key = [target](HobovrDeviceStorageNode_t d)->bool { - switch (d.type) { - case EHobovrDeviceNodeTypes::hmd: - return ((HeadsetDriver*)d.handle)->GetSerialNumber() == target; + CleanupDriverLog(); + VR_CLEANUP_SERVER_DRIVER_CONTEXT(); +} - case EHobovrDeviceNodeTypes::controller: - return ((ControllerDriver*)d.handle)->GetSerialNumber() == target; +/////////////////////////////////////////////////////////////////////////////// +// Updates currently running devices +/////////////////////////////////////////////////////////////////////////////// - case EHobovrDeviceNodeTypes::tracker: - return ((TrackerDriver*)d.handle)->GetSerialNumber() == target; - } - return false; - }; - - auto res = std::find_if(m_vStandbyDevices.begin(), m_vStandbyDevices.end(), key); - if (res != m_vStandbyDevices.end()) { - ((ControllerDriver*)((*res).handle))->PowerOn(); - m_vDevices.push_back(*res); - m_vStandbyDevices.erase(res); - } else { - ControllerDriver* temp = new ControllerDriver( - controller_hs, - "c" + std::to_string(counter_cntrlr), - m_pSocketComm - ); +void CServerDriver_hobovr::UpdateServerDeviceList() { - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_Controller, - temp + // temporarily move all devices into the off list + std::move(mvDevices.begin(), mvDevices.end(), std::back_inserter(mvOffDevices)); + + mvDevices.clear(); + + // assemble a list of new active devices + std::vector tmp; + + std::unordered_map counters; + + // fill map with zeros for appropriate keys + for (char i : "htcg") + counters[i] = 0; + + for (char i : mpSettingsManager->GetUduBuffer()) { + std::string target_serial = std::string(&i, 1) + std::to_string(counters[i]); + DriverLog("%s: looking for '%s'", __FUNCTION__, target_serial.c_str()); + // first try to find an old device that had this serial + auto res = std::find_if( + mvOffDevices.begin(), + mvOffDevices.end(), + [&target_serial](const std::unique_ptr& val) { + bool res = target_serial == val->GetSerialNumber(); + DebugDriverLog( + "\t'%s' == '%s' => %d", + target_serial.c_str(), + val->GetSerialNumber().c_str(), + (int)(res) ); - m_vDevices.push_back({EHobovrDeviceNodeTypes::controller, temp}); - + return res; } + ); - controller_hs = (controller_hs) ? 0 : 1; - counter_cntrlr++; - - } else if (i.first == "t") { - auto target = "t" + std::to_string(counter_trkr); - auto key = [target](HobovrDeviceStorageNode_t d)->bool { - switch (d.type) { - case EHobovrDeviceNodeTypes::hmd: - return ((HeadsetDriver*)d.handle)->GetSerialNumber() == target; - - case EHobovrDeviceNodeTypes::controller: - return ((ControllerDriver*)d.handle)->GetSerialNumber() == target; + // old device found, no need to create a new one + if (res != mvOffDevices.end()) { + DriverLog("%s: '%s' found, moving to the next...", __FUNCTION__, target_serial.c_str()); + auto device = std::move(*res); - case EHobovrDeviceNodeTypes::tracker: - return ((TrackerDriver*)d.handle)->GetSerialNumber() == target; - } - return false; - }; - - auto res = std::find_if(m_vStandbyDevices.begin(), m_vStandbyDevices.end(), key); - if (res != m_vStandbyDevices.end()) { - ((TrackerDriver*)((*res).handle))->PowerOn(); - m_vDevices.push_back(*res); - m_vStandbyDevices.erase(res); - } else { - TrackerDriver* temp = new TrackerDriver("t" + std::to_string(counter_trkr), m_pSocketComm); - - vr::VRServerDriverHost()->TrackedDeviceAdded( - temp->GetSerialNumber().c_str(), - vr::TrackedDeviceClass_GenericTracker, - temp - ); - m_vDevices.push_back({EHobovrDeviceNodeTypes::tracker, temp}); + // push device to the on list + mvDevices.push_back(std::move(device)); - } + // remove device from the off list + mvOffDevices.erase(res); - counter_trkr++; + counters[i]++; + continue; } - } - g_vpUduChangeBuffer.clear(); -} - -void CServerDriver_hobovr::SlowUpdateThread() { - DriverLog("driver: slow update thread started\n"); - int h = 0; - while (m_bSlowUpdateThreadIsAlive){ - for (auto &i : m_vDevices){ - switch (i.type) { - case EHobovrDeviceNodeTypes::hmd: { - HeadsetDriver* device = (HeadsetDriver*)i.handle; - device->UpdateDeviceBatteryCharge(); - device->CheckForUpdates(); - break; - } + // DriverLog("%s: %p == %p => %d", __FUNCTION__, res, mvOffDevices.end(), res != mvOffDevices.end()); + DriverLog("%s: '%s' not found...", __FUNCTION__, target_serial.c_str()); - case EHobovrDeviceNodeTypes::controller: { - ControllerDriver* device = (ControllerDriver*)i.handle; - device->UpdateDeviceBatteryCharge(); - device->CheckForUpdates(); - break; - } + // couldn't find an old device, time to make a new one + std::unique_ptr new_device = hobovr::createDeviceFactory( + i, + counters[i], + mlSocket + ); - case EHobovrDeviceNodeTypes::tracker: { - TrackerDriver* device = (TrackerDriver*)i.handle; - device->UpdateDeviceBatteryCharge(); - device->CheckForUpdates(); - break; - } - } + if (!new_device) { + DriverLog("%s: failed to create device '%s', trying again...", __FUNCTION__, target_serial.c_str()); + continue; } - std::this_thread::sleep_for(std::chrono::seconds(5)); + // push device to the on list + mvDevices.push_back(std::move(new_device)); - if (!h) { - m_pSettManTref->UpdatePose(); - h = 1; - } + DriverLog("%s: New device '%s': %p", __FUNCTION__, target_serial.c_str(), mvDevices.back().get()); + + counters[i]++; } - DriverLog("driver: slow update thread closed\n"); - m_bSlowUpdateThreadIsAlive = false; + + // power off unused devices + for (auto& i : mvOffDevices) + i->PowerOff(); + } CServerDriver_hobovr g_hobovrServerDriver; -//----------------------------------------------------------------------------- +/////////////////////////////////////////////////////////////////////////////// // Purpose: driverFactory -//----------------------------------------------------------------------------- +/////////////////////////////////////////////////////////////////////////////// + HMD_DLL_EXPORT void *HmdDriverFactory( const char *pInterfaceName, int *pReturnCode @@ -1634,5 +391,5 @@ HMD_DLL_EXPORT void *HmdDriverFactory( if (pReturnCode) *pReturnCode = VRInitError_Init_InterfaceNotFound; - return NULL; + return NULL; } diff --git a/driver/src/headsets.cpp b/driver/src/headsets.cpp new file mode 100644 index 00000000..6d654126 --- /dev/null +++ b/driver/src/headsets.cpp @@ -0,0 +1,177 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "headsets.h" + +//----------------------------------------------------------------------------- +// Purpose: hmd device implementation +//----------------------------------------------------------------------------- + +HeadsetDriver::HeadsetDriver( + std::string myserial +): HobovrDevice( + myserial, + "hobovr_hmd", + "{hobovr}/rendermodels/hobovr_hmd_mh0", + "{hobovr}/input/hobovr_hmd_profile.json" +) { + m_flSecondsFromVsyncToPhotons = vr::VRSettings()->GetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_SecondsFromVsyncToPhotons_Float + ); + + m_flDisplayFrequency = vr::VRSettings()->GetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_DisplayFrequency_Float + ); + + m_flIPD = vr::VRSettings()->GetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_IPD_Float + ); + + m_fUserHead2EyeDepthMeters = vr::VRSettings()->GetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_UserHead2EyeDepthMeters_Float + ); + + // log non boilerplate device specific settings + DriverLog("device hmd settings: vsync time %fs, display freq %f, ipd %fm, head2eye depth %fm", + m_flSecondsFromVsyncToPhotons, + m_flDisplayFrequency, + m_flIPD, + m_fUserHead2EyeDepthMeters + ); + + hobovr::HobovrComponent_t extDisplayComp; + extDisplayComp.type = hobovr::EHobovrCompType::EHobovrComp_ExtendedDisplay; + extDisplayComp.tag = vr::IVRDisplayComponent_Version; + extDisplayComp.ptr_handle = new hobovr::HobovrExtendedDisplayComponent(); + m_vComponents.push_back(extDisplayComp); +} + +//////////////////////////////////////////////////////////////////////////////// + +vr::EVRInitError HeadsetDriver::Activate(vr::TrackedDeviceIndex_t unObjectId) { + HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_UserIpdMeters_Float, + m_flIPD + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_UserHeadToEyeDepthMeters_Float, + 0.f + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_DisplayFrequency_Float, + m_flDisplayFrequency + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_SecondsFromVsyncToPhotons_Float, + m_flSecondsFromVsyncToPhotons + ); + + // avoid "not fullscreen" warnings from vrmonitor + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_IsOnDesktop_Bool, + false + ); + + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DisplayDebugMode_Bool, + false + ); + + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_UserHeadToEyeDepthMeters_Float, + m_fUserHead2EyeDepthMeters + ); + + return vr::VRInitError_None; +} + +//////////////////////////////////////////////////////////////////////////////// + +void HeadsetDriver::UpdateSectionSettings() { + // get new ipd + m_flIPD = vr::VRSettings()->GetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_IPD_Float + ); + // set new ipd + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_UserIpdMeters_Float, + m_flIPD + ); + + DriverLog("device hmd: ipd set to %f", m_flIPD); +} + +//////////////////////////////////////////////////////////////////////////////// + +void HeadsetDriver::UpdateState(void* data) { + HoboVR_HeadsetPose_t* packet = (HoboVR_HeadsetPose_t*)data; + + // vr::DriverPose_t pose; + pose.poseTimeOffset = m_fPoseTimeOffset; + pose.result = vr::TrackingResult_Running_OK; + pose.poseIsValid = true; + pose.deviceIsConnected = true; + pose.willDriftInYaw = false; + pose.shouldApplyHeadModel = true; + pose.vecPosition[0] = packet->position[0]; + pose.vecPosition[1] = packet->position[1]; + pose.vecPosition[2] = packet->position[2]; + + pose.qRotation = { + (double)(packet->orientation[0]), + (double)(packet->orientation[1]), + (double)(packet->orientation[2]), + (double)(packet->orientation[3]) + }; + + pose.vecVelocity[0] = packet->velocity[0]; + pose.vecVelocity[1] = packet->velocity[1]; + pose.vecVelocity[2] = packet->velocity[2]; + + pose.vecAngularVelocity[0] = packet->angular_velocity[0]; + pose.vecAngularVelocity[1] = packet->angular_velocity[1]; + pose.vecAngularVelocity[2] = packet->angular_velocity[2]; + + pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; + pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; + pose.vecWorldFromDriverTranslation[0] = 0; + pose.vecWorldFromDriverTranslation[1] = 0; + pose.vecWorldFromDriverTranslation[2] = 0; + + pose.vecDriverFromHeadTranslation[0] = 0; + pose.vecDriverFromHeadTranslation[1] = 0; + pose.vecDriverFromHeadTranslation[2] = 0; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + pose, + sizeof(pose) + ); + } +} + +//////////////////////////////////////////////////////////////////////////////// + +size_t HeadsetDriver::GetPacketSize() { + return sizeof(HoboVR_HeadsetPose_t); +} diff --git a/driver/src/headsets.h b/driver/src/headsets.h new file mode 100644 index 00000000..fd41982b --- /dev/null +++ b/driver/src/headsets.h @@ -0,0 +1,37 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_HMDS +#define __HOBO_VR_HMDS + +#include +#include "driverlog.h" +#include "hobovr_device_base.h" +#include "packets.h" + +//----------------------------------------------------------------------------- +// Purpose: hmd device implementation +//----------------------------------------------------------------------------- + +class HeadsetDriver : public hobovr::HobovrDevice { +public: + HeadsetDriver(std::string myserial); + + vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) override; + + void UpdateSectionSettings() override; + + void UpdateState(void* data) override; + size_t GetPacketSize() override; + + +private: + vr::DriverPose_t pose; + float m_flSecondsFromVsyncToPhotons; + float m_flDisplayFrequency; + float m_flIPD; + float m_fUserHead2EyeDepthMeters; +}; + +#endif // #ifndef __HOBO_VR_HMDS \ No newline at end of file diff --git a/driver/src/packets.h b/driver/src/packets.h new file mode 100644 index 00000000..8123a2de --- /dev/null +++ b/driver/src/packets.h @@ -0,0 +1,280 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_PACKETS +#define __HOBO_VR_PACKETS + +#include + +#pragma pack(push, 1) + +//////////////////////////////////////////////////////////////////////////////// +// Common structs +//////////////////////////////////////////////////////////////////////////////// + +static constexpr char KHoboVR_TrackingIdMessage[] = "hello\n"; +static constexpr char KHoboVR_ManagerIdMessage[] = "monky\n"; + +struct PacketEndTag { + char a; + char b; + char c; + // char d; +}; + +static constexpr PacketEndTag g_EndTag = {'\t', '\r', '\n'}; + +enum EHoboVR_PoserRespTypes { + EPoserRespType_invalid = 0, + + EPoserRespType_badDeviceList = 10, // poser fucked up, data is HoboVR_RespBufSize_t + + EPoserRespType_driverShutdown = 20, // driver shutdown was called, poser needs to exit + + EPoserRespType_haptics = 30, // device responds with a haptics packet + + EPoserRespType_max +}; + +struct HoboVR_HapticResponse_t { + char name[10]; // device name: "%c%d", device_type, id + double duration_seconds; + double frequency; + double amplitude; +}; + +struct HoboVR_RespBufSize_t { + uint32_t size; // number of bytes allocated +}; + +struct HoboVR_RespReserved_t { + uint8_t parts[32]; // we get 32 reserved bytes +}; + +typedef union { + HoboVR_RespReserved_t reserved; + HoboVR_RespBufSize_t buf_size; + HoboVR_HapticResponse_t haptics; +} HoboVR_RespData_t; + +struct HoboVR_PoserResp_t { + uint32_t type; // EHoboVR_PoserRespTypes enum + HoboVR_RespData_t data; + PacketEndTag terminator; +}; + +//////////////////////////////////////////////////////////////////////////////// +// Structs related to headsets +//////////////////////////////////////////////////////////////////////////////// + +//----------------------------------------------------------------------------- +// Purpose: hmd device implementation +//----------------------------------------------------------------------------- + +struct HoboVR_HeadsetPose_t { + float position[3]; // 3D vector + float orientation[4]; // quaternion + float velocity[3]; // 3D vector + float angular_velocity[3]; // 3D vector +}; + + +//////////////////////////////////////////////////////////////////////////////// +// Structs related to controllers +//////////////////////////////////////////////////////////////////////////////// + +//----------------------------------------------------------------------------- +// Purpose:controller device implementation +//----------------------------------------------------------------------------- + +struct HoboVR_ControllerState_t { + float position[3]; // 3D vector + float orientation[4]; // quaternion + float velocity[3]; // 3D vector + float angular_velocity[3]; // 3D vector + + float scalar_inputs[3]; + // scalar_inputs[0] - trigger value, one sided normalized scalar axis + // scalar_inputs[1] - trackpad x axis, normalized two sided scalar axis + // scalar_inputs[2] - trackpad y axis, normalized two sided scalar axis + + uint8_t inputs_mask: 6; // bit field of size 6 + // (bool)(inputs_mask & 0b000001) - grip button + // (bool)(inputs_mask & 0b000010) - SteamVR system button + // (bool)(inputs_mask & 0b000100) - app menu button + // (bool)(inputs_mask & 0b001000) - trackpad click button + // (bool)(inputs_mask & 0b010000) - trackpad touch signal + // (bool)(inputs_mask & 0b100000) - trigger click button +}; + +//////////////////////////////////////////////////////////////////////////////// +// Structs related to trackers +//////////////////////////////////////////////////////////////////////////////// + +//----------------------------------------------------------------------------- +// Purpose: tracker device implementation +//----------------------------------------------------------------------------- + +struct HoboVR_TrackerPose_t { + float position[3]; // 3D vector + float orientation[4]; // quaternion + float velocity[3]; // 3D vector + float angular_velocity[3]; // 3D vector +}; + + +//////////////////////////////////////////////////////////////////////////////// +// Structs related to the manager +//////////////////////////////////////////////////////////////////////////////// + +//----------------------------------------------------------------------------- +// Purpose: tracking reference device that manages settings +//----------------------------------------------------------------------------- + +enum EHoboVR_ManagerMsgTypes { + EManagerMsgType_invalid = 0, + EManagerMsgType_ipd = 10, + EManagerMsgType_uduString = 20, + EManagerMsgType_poseTimeOffset = 30, + EManagerMsgType_distortion = 40, + EManagerMsgType_eyeGap = 50, + EManagerMsgType_setSelfPose = 60, + EManagerMsgType_getTrkBuffSize = 70, + + EManagerMsgType_max +}; + +enum EHoboVR_DeviceTypes { + EDeviceType_invalid = -1, + EDeviceType_headset = 0, + EDeviceType_controller = 1, + EDeviceType_tracker = 2, + EDeviceType_gazeMaster = 3, + + EDeviceType_max +}; + +// changes the ipd for hmd devices +struct HoboVR_ManagerMsgIpd_t { + float ipd_meters; +}; + +// updates device list live +struct HoboVR_ManagerMsgUduString_t { + uint16_t len; // number of devices, with the maximum being 512 + uint8_t devices[512]; // elements are EHoboVR_DeviceTypes enum +}; + +// updates pose time offsets +struct HoboVR_ManagerMsgPoseTimeOff_t { + double time_offset_seconds; +}; + +// updates distortion parameters, will require a restart to take effect +struct HoboVR_ManagerMsgDistortion_t { + double k1; + double k2; + double zoom_width; + double zoom_height; +}; + +// updates the hobovr_comp_extendedDisplay eye gap setting, +// will require a restart to take effect +struct HoboVR_ManagerMsgEyeGap_t { + uint32_t width; // in pixels +}; + +// updates the location of the virtual base station device (which manager runs as) +struct HoboVR_ManagerMsgSelfPose_t { + float position[3]; +}; + +struct HoboVR_ManagerMsgReserved_t { + uint8_t meh[520]; // 520 total reserved bytes +}; + +union HoboVR_ManagerData_t { + HoboVR_ManagerMsgReserved_t reserved; + HoboVR_ManagerMsgIpd_t ipd; + HoboVR_ManagerMsgUduString_t udu; + HoboVR_ManagerMsgPoseTimeOff_t time_offset; + HoboVR_ManagerMsgDistortion_t distortion; + HoboVR_ManagerMsgEyeGap_t eye_offset; + HoboVR_ManagerMsgSelfPose_t self_pose; +}; + +struct HoboVR_ManagerMsg_t { + uint32_t type; // EHoboVR_ManagerMsgTypes enum + HoboVR_ManagerData_t data; + PacketEndTag terminator; +}; + +//////////////////////////////////////////////////////////////////////////////// + +enum EHoboVR_ManagerResp { + EManagerResp_invalid = 0, + + EManagerResp_notification = 100, + + EManagerResp_ok = 200, + EManagerResp_okRestartRequired = 201, + + EManagerResp_failed = 400, + EManagerResp_failedToProcess = 401, + + EManagerResp_max +}; + +// manager response message, only sent in response to ManagerMsg structs +struct HoboVR_ManagerResp_t { + uint32_t status; // EHoboVR_ManagerResp enum +}; + +//////////////////////////////////////////////////////////////////////////////// +// Structs related to addons +//////////////////////////////////////////////////////////////////////////////// + +//----------------------------------------------------------------------------- +// Purpose: eye tracking addon device, code name: Gaze Master +//----------------------------------------------------------------------------- + +enum EHoboVR_GazeStatus { + EGazeStatus_invalid = 0, + EGazeStatus_active = 0b00000000001, // everything is ok, both eyes are tracking + EGazeStatus_calibrating = 0b00000000010, // device is performing calibration, + // application might receive invalid data while this flag is present + + EGazeStatus_leftPupilLost = 0b00000000100, // left eye lost tracking, (0,0) position will be used instead + EGazeStatus_rightPupilLost = 0b00000001000, // right eye lost tracking, (0,0) position will be used instead + EGazeStatus_lowPupilConfidence = 0b00000010000, // low confidence in pupil tracking, it will be smoothed + + EGazeStatus_leftPupilDilationLost = 0b00000100000, // left pupil dilation tracking lost, default to relaxed: 0.5 + EGazeStatus_rightPupilDilationLost = 0b00001000000, // right pupil dilation tracking lost, default to relaxed: 0.5 + EGazeStatus_lowPupilDilationConfidence = 0b00010000000, // low confidence in pupil dilation tracking, it will be smoothed + + EGazeStatus_leftNoEyeClose = 0b00100000000, // can't track how closed the left eyelid is, default to relaxed open: 0.1 + EGazeStatus_rightNoEyeClose = 0b01000000000, // can't track how closed the right eyelid is, default to relaxed open: 0.1 + EGazeStatus_lowEyeCloseConfidence = 0b10000000000, // low confidence in eyelid tracking, it will be smoothed + + EGazeStatus_max +}; + +struct HoboVR_GazeState_t { + uint16_t status; // EHoboVR_GazeStatus enum + + double age_seconds; + + float pupil_position_r[2]; // vec 2D + float pupil_position_l[2]; // vec 2D + + float pupil_dilation_r; // 0 to 1 + float pupil_dilation_l; // 0 to 1 + + float eye_close_r; // 0 to 1 + float eye_close_l; // 0 to 1 +}; + +#pragma pack(pop) + +#endif // #ifndef __HOBO_VR_PACKETS \ No newline at end of file diff --git a/driver/src/path_helpers.h b/driver/src/path_helpers.h new file mode 100644 index 00000000..ff8da6a6 --- /dev/null +++ b/driver/src/path_helpers.h @@ -0,0 +1,66 @@ +//========= Copyright Valve Corporation ============// +// See https://github.com/ValveSoftware/openvr/blob/master/src/vrcommon/pathtools_public.h + +#ifndef __HOBO_VR_PATH_HELPERS +#define __HOBO_VR_PATH_HELPERS + +#include + +namespace hobovr { + +inline char Path_GetSlash() { +#if defined(WIN) + return '\\'; +#else + return '/'; +#endif +} +inline std::string Path_GetExtension( const std::string & sPath ) { + for ( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ ) + { + if ( *i == '.' ) + { + return std::string( i.base(), sPath.end() ); + } + + // if we find a slash there is no extension + if ( *i == '\\' || *i == '/' ) + break; + } + + // we didn't find an extension + return ""; +} +inline std::string Path_StripFilename( const std::string & sPath, char slash = 0 ) { + if( slash == 0 ) + slash = Path_GetSlash(); + + std::string::size_type n = sPath.find_last_of( slash ); + if( n == std::string::npos ) + return sPath; + else + return std::string( sPath.begin(), sPath.begin() + n ); +} +inline std::string Path_Join( const std::string & first, const std::string & second, char slash = 0 ) { + if( slash == 0 ) + slash = Path_GetSlash(); + + // only insert a slash if we don't already have one + std::string::size_type nLen = first.length(); + if( !nLen ) + return second; +#if defined(WIN) + if( first.back() == '\\' || first.back() == '/' ) + nLen--; +#else + char last_char = first[first.length()-1]; + if (last_char == '\\' || last_char == '/') + nLen--; +#endif + + return first.substr( 0, nLen ) + std::string( 1, slash ) + second; +} + +} + +#endif // #ifndef __HOBO_VR_PATH_HELPERS \ No newline at end of file diff --git a/driver/src/plugins/gaze_master_plugin_interface.h b/driver/src/plugins/gaze_master_plugin_interface.h new file mode 100644 index 00000000..a10e443d --- /dev/null +++ b/driver/src/plugins/gaze_master_plugin_interface.h @@ -0,0 +1,37 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2022 Oleg Vorobiov + +#ifndef __HOBO_VR_GAZE_PLUGINS +#define __HOBO_VR_GAZE_PLUGINS + +#include "packets.h" +#include + +namespace gaze { + +struct PluginVersion_t { + uint8_t major; + uint8_t minor; + uint8_t hotfix; +}; + +class PluginBase { +public: + virtual ~PluginBase() = default; + + virtual bool Activate(const PluginVersion_t version) = 0; + + virtual void ProcessData(const HoboVR_GazeState_t& data) = 0; + + virtual std::string GetNameAndVersion() = 0; + virtual std::string GetLastError() = 0; +}; + +static constexpr uint8_t g_plugin_interface_version_major = 0; +static constexpr uint8_t g_plugin_interface_version_minor = 1; +static constexpr uint8_t g_plugin_interface_version_hotfix = 0; + +} + +#endif // #ifndef __HOBO_VR_GAZE_PLUGINS \ No newline at end of file diff --git a/driver/src/ref/hobovr_components.h b/driver/src/ref/hobovr_components.h index 8aa0e09b..847b79e0 100644 --- a/driver/src/ref/hobovr_components.h +++ b/driver/src/ref/hobovr_components.h @@ -7,6 +7,16 @@ #ifndef HOBOVR_COMPONENTS_H #define HOBOVR_COMPONENTS_H +#include +#include "driverlog.h" + +#include +#include + +#define _stricmp strcasecmp + +#include "hobovr_defines.h" + namespace hobovr { enum ELensMathType { Mt_Invalid = 0, @@ -177,9 +187,9 @@ namespace hobovr { } } - virtual DistortionCoordinates_t ComputeDistortion(vr::EVREye eEye, float fU, + virtual vr::DistortionCoordinates_t ComputeDistortion(vr::EVREye eEye, float fU, float fV) { - DistortionCoordinates_t coordinates; + vr::DistortionCoordinates_t coordinates; (void)eEye; // because its not used and i cant remove this argument diff --git a/driver/src/ref/hobovr_defines.h b/driver/src/ref/hobovr_defines.h new file mode 100644 index 00000000..56b5493a --- /dev/null +++ b/driver/src/ref/hobovr_defines.h @@ -0,0 +1,41 @@ +#ifndef __HOBO_VR_DEFINES +#define __HOBO_VR_DEFINES + +namespace hobovr { + // le version + static const uint32_t k_nHobovrVersionMajor = 0; + static const uint32_t k_nHobovrVersionMinor = 7; + static const uint32_t k_nHobovrVersionBuild = 11; + static const std::string k_sHobovrVersionGG = "deep dark"; + +} // namespace hobovr + +// keys for use with the settings API +// driver keys +static const char *const k_pch_Hobovr_Section = "driver_hobovr"; + +// persistence keys +static const char *const k_pch_Robotic_Persistence_Section = "hobovr_robotic_persistence"; +static const char *const k_pch_Robotic_recover_requireHMD_Bool = "recover_requireHMD"; + +// hmd device keys +static const char *const k_pch_Hmd_Section = "hobovr_device_hmd"; +static const char *const k_pch_Hmd_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; +static const char *const k_pch_Hmd_DisplayFrequency_Float = "displayFrequency"; +static const char* const k_pch_Hmd_IPD_Float = "IPD"; +static const char* const k_pch_Hmd_UserHead2EyeDepthMeters_Float = "UserHeadToEyeDepthMeters"; + + + +enum EHoboVR_VendorEvents +{ + // in vendor event range, event data is VREvent_Notification_t + EHoboVR_EyeTrackingActive = 19996, + // in vendor event range, event data is VREvent_Notification_t, + // after this event no eye tracking updates will come until the next VREvent_Notification_t + EHoboVR_EyeTrackingEnd = 19997, + // in the vendor event range, event data is VREvent_Notification_t + EHoboVR_UduChange = 19998, +}; + +#endif // #ifndef __HOBO_VR_DEFINES \ No newline at end of file diff --git a/driver/src/ref/hobovr_device_base.h b/driver/src/ref/hobovr_device_base.h index c803d6ba..24ae0888 100644 --- a/driver/src/ref/hobovr_device_base.h +++ b/driver/src/ref/hobovr_device_base.h @@ -8,6 +8,21 @@ #define VR_DEVICE_BASE_H #include "hobovr_components.h" +#include "packets.h" + +#include + +#include + +#include +#include "driverlog.h" + +#ifdef WIN + #define snprintf _snprintf + #define vsnprintf _vsnprintf + #define strcasecmp _stricmp + #define strncasecmp _strnicmp +#endif // #ifdef WIN namespace hobovr { static const char *const k_pch_Hobovr_PoseTimeOffset_Float = "PoseTimeOffset"; @@ -32,7 +47,7 @@ namespace hobovr { // for now this will never signal for updates, this same function will be executed for all derived device classes on Activate // you can implement your own version/update check here // this needs to be thread safe, it will be run in a slow thread, about every 5 seconds - bool checkForDeviceUpdates(const std::string deviceSerial) { + inline bool checkForDeviceUpdates(const std::string deviceSerial) { (void)deviceSerial; // because its not used and i cant remove this argument return false; // true steamvr will signal an update, false not, will always return false for now } @@ -43,7 +58,7 @@ namespace hobovr { // this is called on each device charge update event // should return values within [0, 1] range, 1 is full, 0 is empty // this will receive the serial of the device on charge update event - float GetDeviceCharge(const std::string deviceSerial) { + inline float GetDeviceCharge(const std::string deviceSerial) { (void)deviceSerial; // because its not used and i cant remove this argument return 1.0; // return permanent full charge for now } @@ -54,7 +69,7 @@ namespace hobovr { // this will be called on each device charge update event // this function should manage the indication of weather the device is charging or not // this will receive the serial of the device on charge update event - bool ManageDeviceCharging(const std::string deviceSerial) { + inline bool ManageDeviceCharging(const std::string deviceSerial) { (void)deviceSerial; // because its not used and i cant remove this argument // true steamvr will signal device is charging, false not return false; // will always be false for now @@ -62,32 +77,67 @@ namespace hobovr { // NOTE: this function needs to be thread safe, it will be ran every 5 seconds - // should be publicly inherited + using tcp_socket = lsc::LSocket; + using tcp_receiver_loop = lsc::ThreadedRecvLoop; + + /////////////////////////////////////////////////////////////////////////// + // Device interface class + /////////////////////////////////////////////////////////////////////////// + + class IHobovrDevice: public vr::ITrackedDeviceServerDriver { + public: + virtual ~IHobovrDevice() = default; + virtual std::string GetSerialNumber() const = 0; + virtual void PowerOff() = 0; + virtual void PowerOn() = 0; + virtual void ProcessEvent(const vr::VREvent_t &vrEvent) = 0; + virtual void UpdateDeviceBatteryCharge() = 0; + virtual void CheckForUpdates() = 0; + virtual void UpdateSectionSettings() = 0; + + /////////////////////////////////////////////////////////////////////// + // these methods *have* to be overridden by the latest child + /////////////////////////////////////////////////////////////////////// + + virtual void UpdateState(void* packet) = 0; + virtual size_t GetPacketSize() = 0; + }; + + /////////////////////////////////////////////////////////////////////////// + // Devices should publicly inherit this + /////////////////////////////////////////////////////////////////////////// + template - class HobovrDevice: public vr::ITrackedDeviceServerDriver { + class HobovrDevice: public IHobovrDevice { public: - HobovrDevice(std::string myserial, std::string deviceBreed, - const std::shared_ptr commSocket=nullptr): m_pBrodcastSocket(commSocket), - m_sSerialNumber(myserial) { + inline HobovrDevice( + const std::string& serial, + const std::string& model, + const std::string& renderModelPath, + const std::string& bindingPath, + std::shared_ptr commSocket=nullptr + ): m_pBrodcastSocket(commSocket), + m_sRenderModelPath(renderModelPath), + m_sBindPath(bindingPath), + m_sSerialNumber(serial), + m_sModelNumber(model) { m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer; - m_sModelNumber = deviceBreed + m_sSerialNumber; - m_fPoseTimeOffset = vr::VRSettings()->GetFloat(k_pch_Hobovr_Section, k_pch_Hobovr_PoseTimeOffset_Float); char buff[1024]; vr::VRSettings()->GetString(k_pch_Hobovr_Section, k_pch_Hobovr_UpdateUrl_String, buff, sizeof(buff)); m_sUpdateUrl = buff; DriverLog("device: created\n"); - DriverLog("device: breed: %s\n", deviceBreed.c_str()); + DriverLog("device: breed: %s\n", model.c_str()); DriverLog("device: serial: %s\n", m_sSerialNumber.c_str()); DriverLog("device: model: %s\n", m_sModelNumber.c_str()); DriverLog("device: pose time offset: %f\n", m_fPoseTimeOffset); if (m_pBrodcastSocket == nullptr && UseHaptics) - DriverLog("communication socket object is not supplied and haptics are enabled, this device will break on back communication requests(e.g. haptics)\n"); + DriverLog("no socket provided and haptics are enabled, this device will break on haptics\n"); // m_Pose.result = TrackingResult_Running_OK; // m_Pose.poseTimeOffset = (double)m_fPoseTimeOffset; @@ -103,7 +153,7 @@ namespace hobovr { // m_Pose.shouldApplyHeadModel = false; } - ~HobovrDevice(){ + inline virtual ~HobovrDevice() { for (auto &i : m_vComponents) free(i.ptr_handle); @@ -112,26 +162,47 @@ namespace hobovr { } - virtual EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) { + /////////////////////////////////////////////////////////////////////// + // ITrackedDeviceServerDriver methods + /////////////////////////////////////////////////////////////////////// + + inline virtual vr::EVRInitError Activate( + vr::TrackedDeviceIndex_t unObjectId + ) override { + m_unObjectId = unObjectId; m_ulPropertyContainer = vr::VRProperties()->TrackedDeviceToPropertyContainer(m_unObjectId); vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, Prop_ModelNumber_String, m_sModelNumber.c_str()); + m_ulPropertyContainer, + vr::Prop_ModelNumber_String, + m_sModelNumber.c_str() + ); vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, Prop_RenderModelName_String, m_sRenderModelPath.c_str()); + m_ulPropertyContainer, + vr::Prop_RenderModelName_String, + m_sRenderModelPath.c_str() + ); // return a constant that's not 0 (invalid) or 1 (reserved for Oculus) - vr::VRProperties()->SetUint64Property(m_ulPropertyContainer, - Prop_CurrentUniverseId_Uint64, 2); + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_CurrentUniverseId_Uint64, + 2 + ); vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, Prop_InputProfilePath_String, - m_sBindPath.c_str()); + m_ulPropertyContainer, + vr::Prop_InputProfilePath_String, + m_sBindPath.c_str() + ); vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, vr::Prop_DeviceCanPowerOff_Bool, true); + m_ulPropertyContainer, + vr::Prop_DeviceCanPowerOff_Bool, + true + ); DriverLog("device: activated\n"); DriverLog("device: serial: %s\n", m_sSerialNumber.c_str()); @@ -140,87 +211,116 @@ namespace hobovr { if constexpr(UseHaptics) { DriverLog("device: haptics added\n"); - vr::VRDriverInput()->CreateHapticComponent(m_ulPropertyContainer, - "/output/haptic", &m_compHaptic); + vr::VRDriverInput()->CreateHapticComponent( + m_ulPropertyContainer, + "/output/haptic", + &m_compHaptic + ); } + vr::VRProperties()->SetBoolProperty( - m_ulPropertyContainer, vr::Prop_Identifiable_Bool, UseHaptics); + m_ulPropertyContainer, + vr::Prop_Identifiable_Bool, + UseHaptics + ); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_DeviceProvidesBatteryStatus_Bool, HasBattery); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DeviceProvidesBatteryStatus_Bool, + HasBattery + ); + if constexpr(HasBattery) { m_fDeviceCharge = GetDeviceCharge(m_sSerialNumber); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_DeviceIsCharging_Bool, false); - vr::VRProperties()->SetFloatProperty(m_ulPropertyContainer, - Prop_DeviceBatteryPercentage_Float, - m_fDeviceCharge); - DriverLog("device: has battery, current charge: %.3f", m_fDeviceCharge*100); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DeviceIsCharging_Bool, + false + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_DeviceBatteryPercentage_Float, + m_fDeviceCharge + ); + DriverLog( + "device: has battery, current charge: %.3f%", + m_fDeviceCharge*100 + ); } vr::VRProperties()->SetStringProperty( - m_ulPropertyContainer, Prop_Firmware_ManualUpdateURL_String, - m_sUpdateUrl.c_str()); + m_ulPropertyContainer, + vr::Prop_Firmware_ManualUpdateURL_String, + m_sUpdateUrl.c_str() + ); bool shouldUpdate = checkForDeviceUpdates(m_sSerialNumber); if (shouldUpdate) DriverLog("device: update available!\n"); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_Firmware_UpdateAvailable_Bool, shouldUpdate); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_Firmware_ManualUpdate_Bool, shouldUpdate); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_Firmware_UpdateAvailable_Bool, + shouldUpdate + ); - return VRInitError_None; - } + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_Firmware_ManualUpdate_Bool, + shouldUpdate + ); - virtual void PowerOff() { - // signal device is "aliven't" - vr::DriverPose_t pose; - pose.poseTimeOffset = 0; - pose.poseIsValid = false; - pose.deviceIsConnected = false; - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, pose, sizeof(pose)); - } - DriverLog("device: '%s' disconnected", m_sSerialNumber.c_str()); + return vr::VRInitError_None; } - virtual void PowerOn() { - // signal device is "alive" - vr::DriverPose_t pose; - pose.poseTimeOffset = 0; - pose.poseIsValid = true; - pose.deviceIsConnected = true; - if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { - vr::VRServerDriverHost()->TrackedDevicePoseUpdated( - m_unObjectId, pose, sizeof(pose)); - } - DriverLog("device: '%s' connected", m_sSerialNumber.c_str()); - } + /////////////////////////////////////////////////////////////////////// - virtual void Deactivate() { + inline virtual void Deactivate() override { DriverLog("device: \"%s\" deactivated\n", m_sSerialNumber.c_str()); PowerOff(); m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; } - virtual void EnterStandby() {} + /////////////////////////////////////////////////////////////////////// + + inline virtual void EnterStandby() override {} + + /////////////////////////////////////////////////////////////////////// /* debug request from a client, TODO: uh... actually implement this? */ - virtual void DebugRequest(const char *pchRequest, char *pchResponseBuffer, - uint32_t unResponseBufferSize) { - DriverLog("device: \"%s\" got a debug request: \"%s\"", m_sSerialNumber.c_str(), pchRequest); + inline virtual void DebugRequest( + const char *pchRequest, + char *pchResponseBuffer, + uint32_t unResponseBufferSize + ) override { + DriverLog( + "device: \"%s\" got a debug request: \"%s\"", + m_sSerialNumber.c_str(), + pchRequest + ); + if (unResponseBufferSize >= 1) pchResponseBuffer[0] = 0; } - virtual vr::DriverPose_t GetPose() {vr::DriverPose_t tmp; return tmp; } + /////////////////////////////////////////////////////////////////////// + + inline virtual vr::DriverPose_t GetPose() override { + vr::DriverPose_t tmp; + tmp.poseIsValid = true; + tmp.deviceIsConnected = true; + tmp.result = vr::TrackingResult_Running_OK; + return tmp; + } - virtual void *GetComponent(const char *pchComponentNameAndVersion) { + /////////////////////////////////////////////////////////////////////// + + inline virtual void *GetComponent( + const char *pchComponentNameAndVersion + ) override { for (auto &i : m_vComponents) { if (!_stricmp(pchComponentNameAndVersion, i.tag)){ DriverLog("%s: request for \"%s\": component found", @@ -240,18 +340,76 @@ namespace hobovr { return NULL; } - virtual std::string GetSerialNumber() const { return m_sSerialNumber; } + /////////////////////////////////////////////////////////////////////// + // HoboVR device methods + /////////////////////////////////////////////////////////////////////// + + inline virtual std::string GetSerialNumber() const override { + return m_sSerialNumber; + } + + /////////////////////////////////////////////////////////////////////// + + inline virtual void PowerOff() override { + // signal device is "aliven't" + vr::DriverPose_t pose; + pose.poseTimeOffset = 0; + pose.poseIsValid = false; + pose.deviceIsConnected = false; + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, pose, sizeof(pose)); + } + DriverLog("device: '%s' disconnected", m_sSerialNumber.c_str()); + } + + /////////////////////////////////////////////////////////////////////// + + inline virtual void PowerOn() override { + // signal device is "alive" + vr::DriverPose_t pose; + pose.poseTimeOffset = 0; + pose.poseIsValid = true; + pose.deviceIsConnected = true; + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, pose, sizeof(pose)); + } + DriverLog("device: '%s' connected", m_sSerialNumber.c_str()); + } + + /////////////////////////////////////////////////////////////////////// - virtual void ProcessEvent(const vr::VREvent_t &vrEvent) { + inline virtual void ProcessEvent(const vr::VREvent_t &vrEvent) override { if constexpr(UseHaptics) { if (vrEvent.eventType == vr::VREvent_Input_HapticVibration) { if (vrEvent.data.hapticVibration.componentHandle == m_compHaptic) { // haptic! - m_pBrodcastSocket->send2((m_sSerialNumber + ',' + - std::to_string(vrEvent.data.hapticVibration.fDurationSeconds) + ',' + - std::to_string(vrEvent.data.hapticVibration.fFrequency) + ',' + - std::to_string(vrEvent.data.hapticVibration.fAmplitude) + "\n").c_str()); + HoboVR_HapticResponse_t msg; + // copy the device name + memset(msg.name, 0, sizeof(msg.name)); + memcpy( + msg.name, + m_sSerialNumber.c_str(), +// a long ass expression of terribleness, but its to avoid a memory leak fast +m_sSerialNumber.size() * !!(m_sSerialNumber.size() < 10) + 10 * !(m_sSerialNumber.size() < 10) + ); + + msg.duration_seconds = vrEvent.data.hapticVibration.fDurationSeconds; + msg.frequency = vrEvent.data.hapticVibration.fFrequency; + msg.amplitude = vrEvent.data.hapticVibration.fAmplitude; + + HoboVR_PoserResp_t resp { + EPoserRespType_haptics, + (HoboVR_RespData_t&)msg, + g_EndTag + }; + + m_pBrodcastSocket->Send( + &resp, + sizeof(resp) + ); } } } @@ -261,30 +419,30 @@ namespace hobovr { // handle component settings update for (auto &i : m_vComponents) { switch(i.type){ - case EHobovrCompType::EHobovrComp_ExtendedDisplay: - ((HobovrExtendedDisplayComponent*)i.ptr_handle)->ReloadSectionSettings(); - break; + case EHobovrComp_ExtendedDisplay: + ((HobovrExtendedDisplayComponent*)i.ptr_handle)->ReloadSectionSettings(); + break; - case EHobovrCompType::EHobovrComp_DriverDirectMode: - ((HobovrDriverDirectModeComponent*)i.ptr_handle)->ReloadSectionSettings(); - break; + case EHobovrComp_DriverDirectMode: + ((HobovrDriverDirectModeComponent*)i.ptr_handle)->ReloadSectionSettings(); + break; - case EHobovrCompType::EHobovrComp_Camera: - ((HobovrCameraComponent*)i.ptr_handle)->ReloadSectionSettings(); - break; + case EHobovrComp_Camera: + ((HobovrCameraComponent*)i.ptr_handle)->ReloadSectionSettings(); + break; - case EHobovrCompType::EHobovrComp_VirtualDisplay: - ((HobovrVirtualDisplayComponent*)i.ptr_handle)->ReloadSectionSettings(); - break; + case EHobovrComp_VirtualDisplay: + ((HobovrVirtualDisplayComponent*)i.ptr_handle)->ReloadSectionSettings(); + break; - default: - DriverLog( - "%s: invalid display component encountered on event update", - m_sSerialNumber.c_str() - ); + default: + DriverLog( + "%s: invalid display component encountered on event update", + m_sSerialNumber.c_str() + ); - } + } } // handle device settings update UpdateSectionSettings(); @@ -293,72 +451,104 @@ namespace hobovr { } } - virtual void UpdateDeviceBatteryCharge() { + /////////////////////////////////////////////////////////////////////// + + inline virtual void UpdateDeviceBatteryCharge() override { if constexpr(HasBattery) { float fNewCharge = GetDeviceCharge(m_sSerialNumber); if (fNewCharge != m_fDeviceCharge){ m_fDeviceCharge = fNewCharge; - vr::VRProperties()->SetFloatProperty(m_ulPropertyContainer, - Prop_DeviceBatteryPercentage_Float, m_fDeviceCharge); - DriverLog("device: \"%s\" battery charge updated: %f", m_sSerialNumber, m_fDeviceCharge); + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_DeviceBatteryPercentage_Float, + m_fDeviceCharge + ); + + DriverLog( + "device: \"%s\" battery charge updated: %f", + m_sSerialNumber, + m_fDeviceCharge + ); } bool bNewIsCharging = ManageDeviceCharging(m_sSerialNumber); if (bNewIsCharging != m_bDeviceIsCharging) { m_bDeviceIsCharging = bNewIsCharging; - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_DeviceIsCharging_Bool, m_bDeviceIsCharging); - DriverLog("device: \"%s\" is charging: %d", m_bDeviceIsCharging); + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_DeviceIsCharging_Bool, + m_bDeviceIsCharging + ); + + DriverLog( + "device: \"%s\" is charging: %d", + m_bDeviceIsCharging + ); } } } - virtual void CheckForUpdates() { + /////////////////////////////////////////////////////////////////////// + + inline virtual void CheckForUpdates() override { bool shouldUpdate = checkForDeviceUpdates(m_sSerialNumber); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_Firmware_UpdateAvailable_Bool, + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_Firmware_UpdateAvailable_Bool, shouldUpdate ); - vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer, - Prop_Firmware_ManualUpdate_Bool, + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_Firmware_ManualUpdate_Bool, shouldUpdate ); } - virtual void UpdateSectionSettings() {}; - virtual void RunFrame(std::vector &trackingPacket) = 0; + /////////////////////////////////////////////////////////////////////// - protected: - // openvr api stuff - vr::TrackedDeviceIndex_t m_unObjectId; // DO NOT TOUCH THIS, parent will handle this, use it as read only! - vr::PropertyContainerHandle_t m_ulPropertyContainer; // THIS EITHER, use it as read only! + inline virtual void UpdateSectionSettings() override {}; + /////////////////////////////////////////////////////////////////////// - std::string m_sRenderModelPath; // path to the device's render model, should be populated in the constructor of the derived class - std::string m_sBindPath; // path to the device's input bindings, should be populated in the constructor of the derived class + protected: + // openvr api stuff + // DO NOT TOUCH THIS, parent will handle this, use it as read only! + vr::TrackedDeviceIndex_t m_unObjectId; + vr::PropertyContainerHandle_t m_ulPropertyContainer; - std::vector m_vComponents; // components that this device has, should be populated in the constructor of the derived class + // components that this device has, should be populated in the constructor of the derived class + std::vector m_vComponents; - float m_fPoseTimeOffset; // time offset of the pose, set trough the config + // time offset of the pose, set trough the config + float m_fPoseTimeOffset; // hobovr stuff - std::shared_ptr m_pBrodcastSocket; + std::shared_ptr m_pBrodcastSocket; private: // openvr api stuff that i don't trust you to touch vr::VRInputComponentHandle_t m_compHaptic; // haptics, used if UseHaptics is true - float m_fDeviceCharge; // device charge, 0-none, 1-full, only used if HasBattery is true - bool m_bDeviceIsCharging; // is device charing, 0-no, 1-yes, only used if HasBattery is true - - std::string m_sUpdateUrl; // url to which steamvr will redirect if checkForDeviceUpdates returns true on Activate, set trough the config - std::string m_sSerialNumber; // steamvr uses this to identify devices, no need for you to touch this after init - std::string m_sModelNumber; // steamvr uses this to identify devices, no need for you to touch this after init + // device charge, 0-none, 1-full, only used if HasBattery is true + float m_fDeviceCharge; + // is device charing, 0-no, 1-yes, only used if HasBattery is true + bool m_bDeviceIsCharging; + + // path to the device's render model + std::string m_sRenderModelPath; + // path to the device's input bindings + std::string m_sBindPath; + // url to which steamvr will redirect if checkForDeviceUpdates returns true on Activate, set trough the config + std::string m_sUpdateUrl; + // steamvr uses this to identify devices, no need for you to touch this after init + std::string m_sSerialNumber; + // steamvr uses this to identify devices, no need for you to touch this after init + std::string m_sModelNumber; }; } diff --git a/driver/src/ref/receiver_linux.h b/driver/src/ref/receiver_linux.h deleted file mode 100644 index 7174ff9b..00000000 --- a/driver/src/ref/receiver_linux.h +++ /dev/null @@ -1,231 +0,0 @@ -// SPDX-License-Identifier: GPL-2.0-only - -// Copyright (C) 2020-2021 Oleg Vorobiov - -#pragma once - -#ifndef RECEIVER_H -#define RECEIVER_H - - - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -// #include -#include -// #include -#include - -#define SOCKET char //needed for a type check to be possible -#include "util.h" - -namespace SockReceiver { - - class DriverReceiver { - public: - std::vector m_vsDevice_list; - std::vector m_viEps; - int m_iExpectedMessageSize; - std::string m_sIdMessage = "hello\n"; - - DriverReceiver(std::string expected_pose_struct, int port=6969, std::string addr="127.0.01") { - std::regex rgx("[htc]"); - std::regex rgx2("[0-9]+"); - - m_viEps = split_to_number(get_rgx_vector(expected_pose_struct, rgx2)); - m_vsDevice_list = get_rgx_vector(expected_pose_struct, rgx); - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - // placeholders - int portno; - struct sockaddr_in serv_addr; - struct hostent *server; - - server = gethostbyname(addr.c_str()); // oh and did i mention that this is also convoluted as shit in winsock? - portno = port; - - m_pSocketObject = socket(AF_INET, SOCK_STREAM, 0); // create socket, surprisingly winsock didn't fuck this up - - if (m_pSocketObject < 0) { - //log and throw -#ifdef DRIVERLOG_H - DriverLog("receiver opening socket error"); -#endif - throw std::runtime_error("failed to open socket"); - } - - if (server == NULL){ - //log and throw -#ifdef DRIVERLOG_H - DriverLog("receiver bad host"); -#endif - throw std::runtime_error("bad host addr"); - } - - bzero((char *) &serv_addr, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; - - // a long ass function call just to copy the addr into a socket addr struct, still better then winsock - bcopy((char *)server->h_addr, - (char *)&serv_addr.sin_addr.s_addr, - server->h_length); - serv_addr.sin_port = htons(portno); // copy port to the same struct - - if (connect(m_pSocketObject,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) { // connect and check if successful - //log and throw -#ifdef DRIVERLOG_H - DriverLog("receiver failed to connect to host"); -#endif - throw std::runtime_error("connection error"); - } - } - - ~DriverReceiver() { - this->stop(); - } - - void start() { - m_bThreadKeepAlive = true; - this->send2(m_sIdMessage.c_str()); - - this->m_pMyTread = new std::thread(this->my_thread_enter, this); - - if (!this->m_pMyTread || !m_bThreadKeepAlive) { - // log failed to create recv thread - // printf("thread start error\n"); - this->close_me(); -#ifdef DRIVERLOG_H - DriverLog("receiver thread start error\n"); -#endif - throw std::runtime_error("failed to crate receiver thread or thread already exited"); - } - } - - void stop() { - this->close_me(); - m_bThreadKeepAlive = false; - // m_pCallback = &m_NullCallback; - if (this->m_pMyTread) { - this->m_pMyTread->join(); - delete this->m_pMyTread; - this->m_pMyTread = nullptr; - } - } - - void close_me() { - if (m_pSocketObject) { - this->send2("CLOSE\n"); - close(m_pSocketObject); - - - } - - m_pSocketObject = 0; - } - - int send2(const char* message) { - return write(m_pSocketObject, message, (int)strlen(message)); - } - - void setCallback(Callback* pCb){ - m_pCallback = pCb; - } - - void UpdateParams(std::string new_udu_string) { - std::regex rgx("[htc]"); - std::regex rgx2("[0-9]+"); - - m_viEps = split_to_number(get_rgx_vector(new_udu_string, rgx2)); - m_vsDevice_list = get_rgx_vector(new_udu_string, rgx); - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - m_bThreadReset = true; - } - - void UpdateParams(std::vector newDeviceList, std::vector newEps) { - m_viEps = newEps; - m_vsDevice_list = newDeviceList; - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - m_bThreadReset = true; - } - - private: - bool m_bThreadKeepAlive = false; - std::thread *m_pMyTread = nullptr; - bool m_bThreadReset = false; - - // Callback m_NullCallback; - // Callback* m_pCallback = &m_NullCallback; - Callback* m_pCallback = nullptr; - - int m_pSocketObject; - - static void my_thread_enter(DriverReceiver *ptr) { - ptr->my_thread(); - } - - void my_thread() { - while (m_bThreadKeepAlive){ - m_bThreadReset = false; - int numbit = 0, msglen; - int l_iTempMsgSize = m_iExpectedMessageSize*4*10; - char* l_cpRecvBuffer = new char[l_iTempMsgSize]; - - #ifdef DRIVERLOG_H - DriverLog("receiver thread started\n"); - #endif - - while (m_bThreadKeepAlive && !m_bThreadReset) { - try { - msglen = receive_till_zero(m_pSocketObject, l_cpRecvBuffer, numbit, l_iTempMsgSize); - - if (msglen == -1 || m_bThreadReset) break; - - if (!m_bThreadReset && m_pCallback != nullptr) - m_pCallback->OnPacket(l_cpRecvBuffer, msglen); - - remove_message_from_buffer(l_cpRecvBuffer, numbit, msglen); - - std::this_thread::sleep_for(std::chrono::microseconds(1)); - - } catch(...) { - #ifdef DRIVERLOG_H - DriverLog("receiver thread error"); - #endif - break; - } - } - delete[] l_cpRecvBuffer; - - - // log end of recv thread - #ifdef DRIVERLOG_H - DriverLog("receiver thread ended\n"); - #endif - } - m_bThreadKeepAlive = false; - - } - - }; - -} -#undef SOCKET - - -#endif // RECEIVER_H diff --git a/driver/src/ref/receiver_win.h b/driver/src/ref/receiver_win.h deleted file mode 100644 index ea130434..00000000 --- a/driver/src/ref/receiver_win.h +++ /dev/null @@ -1,247 +0,0 @@ -// SPDX-License-Identifier: GPL-2.0-only - -// Copyright (C) 2020-2021 Oleg Vorobiov - -#pragma once - -#ifndef RECEIVER_H -#define RECEIVER_H - -#include - - -#include -#include - -#pragma comment(lib, "Ws2_32.lib") -#pragma comment (lib, "Mswsock.lib") -#pragma comment (lib, "AdvApi32.lib") - -#include "util.h" - -#include -#include -#include -#include -#include -#include - - -#include -#include - -#include - -namespace SockReceiver { - static bool g_bDriverReceiver_wsastartup_happen = false; - - class DriverReceiver { - public: - std::vector m_vsDevice_list; - std::vector m_viEps; - int m_iExpectedMessageSize; - std::string m_sIdMessage = "hello\n"; - - DriverReceiver(std::string expected_pose_struct, int port=6969) { - std::regex rgx("[htc]"); - std::regex rgx2("[0-9]+"); - - m_viEps = split_to_number(get_rgx_vector(expected_pose_struct, rgx2)); - m_vsDevice_list = get_rgx_vector(expected_pose_struct, rgx); - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - if (!g_bDriverReceiver_wsastartup_happen) { - // init winsock - WSADATA wsaData; - int iResult = WSAStartup(MAKEWORD(2, 2), &wsaData); - if (iResult != NO_ERROR) { - // log init error - // printf("init error: %d\n", iResult); - #ifdef DRIVERLOG_H - DriverLog("receiver init error: %d\n", WSAGetLastError()); - #endif - throw std::runtime_error("failed to init winsock"); - } - g_bDriverReceiver_wsastartup_happen = true; - } - - // create socket - m_pSocketObject = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); - - if (m_pSocketObject == INVALID_SOCKET) { - // log create error - // printf("create error\n"); -#ifdef DRIVERLOG_H - DriverLog("receiver create error: %d\n", WSAGetLastError()); -#endif - WSACleanup(); - throw std::runtime_error("failed to create socket"); - } - - // addr details - sockaddr_in addrDetails; - addrDetails.sin_family = AF_INET; - InetPton(AF_INET, _T("127.0.0.1"), &addrDetails.sin_addr.s_addr); - addrDetails.sin_port = htons((u_short)port); - - // connect socket - int iResult2 = connect(m_pSocketObject, (SOCKADDR *) & addrDetails, sizeof (addrDetails)); - if (iResult2 == SOCKET_ERROR) { - // log connect error - // printf("cennect error: %d\n", iResult); -#ifdef DRIVERLOG_H - DriverLog("receiver connect error: %d\n", WSAGetLastError()); -#endif - int iResult3 = closesocket(m_pSocketObject); - if (iResult3 == SOCKET_ERROR) - // log closesocket error - // printf("closesocket error: %d\n", iResult); -#ifdef DRIVERLOG_H - DriverLog("receiver connect error: %d\n", WSAGetLastError()); -#endif - WSACleanup(); - throw std::runtime_error("failed to connect"); - } - - } - - ~DriverReceiver() { - this->stop(); - } - - void start() { - m_bThreadKeepAlive = true; - this->send2(m_sIdMessage.c_str()); - - m_pMyTread = new std::thread(my_thread_enter, this); - - if (!m_pMyTread || !m_bThreadKeepAlive) { - // log failed to create recv thread - // printf("thread start error\n"); - close(); -#ifdef DRIVERLOG_H - DriverLog("receiver thread start error\n"); -#endif - throw std::runtime_error("failed to crate receiver thread or thread already exited"); - } - } - - void stop() { - this->close(); - m_pCallback = nullptr; - m_bThreadKeepAlive = false; - if (m_pMyTread) { - m_pMyTread->join(); - delete m_pMyTread; - m_pMyTread = nullptr; - } - } - - void close() { - if (m_pSocketObject != NULL) { - int res = send2("CLOSE\n"); - res = closesocket(m_pSocketObject); - if (res == SOCKET_ERROR) { - // log closesocket error - // printf("closesocket error: %d\n", WSAGetLastError()); -#ifdef DRIVERLOG_H - DriverLog("receiver closesocket error: %d\n", WSAGetLastError()); -#endif - WSACleanup(); - throw std::runtime_error("failed to closesocket"); - } - else - WSACleanup(); - } - - m_pSocketObject = NULL; - } - - int send2(const char* message) { - return send(m_pSocketObject, message, (int)strlen(message), 0); - } - - void setCallback(Callback* pCb){ - m_pCallback = pCb; - } - - void UpdateParams(std::string new_udu_string) { - std::regex rgx("[htc]"); - std::regex rgx2("[0-9]+"); - - m_viEps = split_to_number(get_rgx_vector(new_udu_string, rgx2)); - m_vsDevice_list = get_rgx_vector(new_udu_string, rgx); - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - m_bThreadReset = true; - } - - void UpdateParams(std::vector newDeviceList, std::vector newEps) { - m_viEps = newEps; - m_vsDevice_list = newDeviceList; - m_iExpectedMessageSize = std::accumulate(m_viEps.begin(), m_viEps.end(), 0); - - m_bThreadReset = true; - } - - private: - bool m_bThreadKeepAlive = false; - std::thread *m_pMyTread = nullptr; - bool m_bThreadReset = false; - - SOCKET m_pSocketObject; - - Callback* m_pCallback = nullptr; - - static void my_thread_enter(DriverReceiver *ptr) { - ptr->my_thread(); - } - - void my_thread() { - while (m_bThreadKeepAlive){ - m_bThreadReset = false; - int numbit = 0, msglen; - int l_iTempMsgSize = m_iExpectedMessageSize*4*10; - char* l_cpRecvBuffer = new char[l_iTempMsgSize]; - - #ifdef DRIVERLOG_H - DriverLog("receiver thread started\n"); - #endif - - while (m_bThreadKeepAlive && !m_bThreadReset) { - try { - msglen = receive_till_zero(m_pSocketObject, l_cpRecvBuffer, numbit, l_iTempMsgSize); - - if (msglen == -1 || m_bThreadReset) break; - - if (!m_bThreadReset) - if (m_pCallback != nullptr) - m_pCallback->OnPacket(l_cpRecvBuffer, msglen); - - remove_message_from_buffer(l_cpRecvBuffer, numbit, msglen); - - std::this_thread::sleep_for(std::chrono::microseconds(1)); - - } catch(...) { - #ifdef DRIVERLOG_H - DriverLog("receiver thread error"); - #endif - break; - } - } - delete[] l_cpRecvBuffer; - - - // log end of recv thread - #ifdef DRIVERLOG_H - DriverLog("receiver thread ended\n"); - #endif - } - m_bThreadKeepAlive = false; - - } - }; - -}; - -#endif // RECEIVER_H diff --git a/driver/src/ref/util.h b/driver/src/ref/util.h index d2870cb3..f1c79db9 100644 --- a/driver/src/ref/util.h +++ b/driver/src/ref/util.h @@ -13,171 +13,34 @@ #include #include -namespace SockReceiver { - //can receive packets ending with \t\r\n using either winsock2 or unix sockets - template - int receive_till_zero( T sock, char* buf, int& numbytes, int max_packet_size ) - { - // receives a message until an end token is reached - // thanks to https://stackoverflow.com/a/13528453/10190971 - int i = 0; - int n=-1; - do { - // Check if we have a complete message - for( ; i < numbytes-2; i++ ) { - if((buf[i] == '\t' && buf[i+1] == '\r' && buf[i+2] == '\n')) { - // \0 indicate end of message! so we are done - return i + 3; // return length of message - } - } - if constexpr(std::is_same::value) - { - n = recv( sock, buf + numbytes, max_packet_size - numbytes, 0 ); - } - else if constexpr(std::is_same::value) - { - n = read( sock, buf + numbytes, max_packet_size - numbytes); - } else { - #ifdef DRIVERLOG_H - DriverLog("that is not a socket you retard"); - #endif - throw std::runtime_error("bruh, thats not a raw socket"); - } - - if( n == -1 ) { - return -1; // operation failed! - } - numbytes += n; - } while( true ); - } - - // reshapes packet vector into shape inxs - template - std::vector> split_pk(std::vector arr, std::vector inxs) { - std::vector> out; - int oof = 0; - int ms = (int)arr.size(); - for (int i : inxs) { - if (oof + i <= ms) { - std::vector temp(arr.begin() + oof, arr.begin() + oof + i); - out.push_back(temp); - oof += i; - } - else { - std::vector temp(arr.begin() + oof, arr.end()); - out.push_back(temp); - break; - } - - } - return out; - } - - // returns the found text - std::string first_rgx_match(std::string ss, std::regex rgx) { - std::smatch mm; - if (std::regex_search(ss, mm, rgx)) - return mm[0]; - return ""; - } - - // get regex vector - std::vector get_rgx_vector(std::string ss, std::regex rgx) { - std::sregex_token_iterator iter(ss.begin(), - ss.end(), - rgx, - 0); - std::sregex_token_iterator end; - - std::vector out; - for (; iter != end; ++iter) - out.push_back((std::string)*iter); - return out; - } - - // split by regex - std::vector split_by_rgx(std::string ss, std::regex rgx) { - std::sregex_token_iterator iter(ss.begin(), - ss.end(), - rgx, - -1); - std::sregex_token_iterator end; - - std::vector out; - for (; iter != end; ++iter) - out.push_back((std::string) * iter); - return out; - } - - // gets the shape of a 2D vector - template - std::vector get_poses_shape(std::vector> arr) { - std::vector out; - for (auto i : arr) - out.push_back(i.size()); - return out; - } - - // convert vector of strings to type - template - std::vector split_to_number(std::vector split) - { - // converts a vector of strings to a vector of doubles - std::vector out(split.size()); - try { - std::transform(split.begin(), split.end(), out.begin(), [](const std::string& val) - { - return (T)std::stod(val); - }); - } - catch (...) { - out = { (T)0, (T)0 }; - } - - return out; - } - - // something socket related idk - void remove_message_from_buffer( char* buf, int& numbytes, int msglen ) - { - // remove complete message from the buffer. - // thanks to https://stackoverflow.com/a/13528453/10190971 - memmove( buf, buf + msglen, numbytes - msglen ); - numbytes -= msglen; - } - - // char buffer to string - std::string buffer_to_string(char* buffer, int bufflen) - { - std::string ret(buffer, bufflen); - - return ret; - } - - // splits string somehow - std::vector split_string(std::string text) - { - std::istringstream iss(text); - - std::vector tokens{std::istream_iterator{iss}, - std::istream_iterator{}}; - - return tokens; - } - - // yes - bool strings_share_characters(std::string a, std::string b) - { - for (auto i : b) { - if (a.find(i) != std::string::npos) return true; - } - return false; - } - - class Callback { - public: - virtual void OnPacket(char* buff, int len) = 0; - }; +#include "packets.h" + +namespace util { + + // get regex vector + inline std::vector get_rgx_vector(std::string ss, std::regex rgx) { + std::sregex_token_iterator iter(ss.begin(), ss.end(), rgx, 0); + std::sregex_token_iterator end; + + std::vector out; + for (; iter != end; ++iter) + out.push_back((std::string)*iter); + return out; + } + + inline size_t udu2sizet(std::string udu_string) { + size_t out = 0; + for (auto i : udu_string) { + switch(i) { + case 'h': {out += sizeof(HoboVR_HeadsetPose_t); break;} + case 'c': {out += sizeof(HoboVR_ControllerState_t); break;} + case 't': {out += sizeof(HoboVR_TrackerPose_t); break;} + case 'g': {out += sizeof(HoboVR_GazeState_t); break;} + } + } + + return out; + } } #endif // UTIL_H \ No newline at end of file diff --git a/driver/src/timer.cpp b/driver/src/timer.cpp new file mode 100644 index 00000000..530bf298 --- /dev/null +++ b/driver/src/timer.cpp @@ -0,0 +1,59 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "timer.h" + +namespace hobovr { + +/////////////////////////////////////////////////////////////////////////////// + +Timer::Timer() { + m_thread = std::make_unique( + std::bind(&Timer::internal_thread, this) + ); +} + +/////////////////////////////////////////////////////////////////////////////// + +Timer::~Timer() { + m_alive.store(false); + if (m_thread->joinable()) + m_thread->join(); +} + +/////////////////////////////////////////////////////////////////////////////// + +void Timer::internal_thread() { + while(m_alive.load()) { + // calculate next sleep duration + auto next_wakeup = std::chrono::high_resolution_clock::now().time_since_epoch() + 3s; + + { // locked context, to not lock while in sleep + std::lock_guard lk(m_mutex); + + for (auto& i : m_timers) { + if (i.second < next_wakeup) + next_wakeup = i.second; + } + } + + // sleep + std::this_thread::sleep_until( + std::chrono::time_point(next_wakeup) + ); + auto now = std::chrono::high_resolution_clock::now().time_since_epoch(); + + { // locked context, to not lock while in sleep + std::lock_guard lk(m_mutex); + // process callbacks + for (auto& i : m_timers) { + if (i.second <= now) + i.second = now + i.first(); + } + } + } +} + + +} // namespace hobovr \ No newline at end of file diff --git a/driver/src/timer.h b/driver/src/timer.h new file mode 100644 index 00000000..6b65b262 --- /dev/null +++ b/driver/src/timer.h @@ -0,0 +1,60 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_TIMER +#define __HOBO_VR_TIMER + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace hobovr { + +using namespace std::chrono_literals; + +class Timer { +public: + Timer(); + ~Timer(); + + // no moving/coping this object + Timer(const Timer&) = delete; + Timer(Timer&&) = delete; + Timer& operator= (Timer) = delete; + Timer& operator= (Timer&&) = delete; + + template + inline void registerTimer( + const std::chrono::duration& delay, + std::function func + ) { + if (delay <= 0s || func == nullptr) + return; // do nothing in case of bad args + + std::lock_guard lk(m_mutex); + + // calculate next callback wakeup time and register it + auto next_wakeup = std::chrono::high_resolution_clock::now().time_since_epoch() + delay; + m_timers.push_back({[=]() -> std::chrono::nanoseconds {func(); return delay;}, next_wakeup}); + } + +private: + void internal_thread(); + + std::unique_ptr m_thread; + + std::mutex m_mutex; + std::atomic m_alive{true}; + + std::vector, std::chrono::nanoseconds>> m_timers; +}; + +} // namespace hobovr + +#endif // #ifndef __HOBO_VR_TIMER \ No newline at end of file diff --git a/driver/src/trackers.cpp b/driver/src/trackers.cpp new file mode 100644 index 00000000..5848fd89 --- /dev/null +++ b/driver/src/trackers.cpp @@ -0,0 +1,91 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "trackers.h" + +//----------------------------------------------------------------------------- +// Purpose: tracker device implementation +//----------------------------------------------------------------------------- + +TrackerDriver::TrackerDriver( + std::string myserial, + const std::shared_ptr ReceiverObj +): HobovrDevice( + myserial, + "hobovr_tracker", + "{hobovr}/rendermodels/hobovr_tracker_mt0", + "{hobovr}/input/hobovr_tracker_profile.json", + ReceiverObj +) {} + +//////////////////////////////////////////////////////////////////////////////// + +vr::EVRInitError TrackerDriver::Activate(vr::TrackedDeviceIndex_t unObjectId) { + HobovrDevice::Activate(unObjectId); // let the parent handle boilerplate stuff + + vr::VRProperties()->SetInt32Property( + m_ulPropertyContainer, + vr::Prop_ControllerRoleHint_Int32, + vr::TrackedControllerRole_RightHand + ); + + return vr::VRInitError_None; +} + +//////////////////////////////////////////////////////////////////////////////// + +void TrackerDriver::UpdateState(void* data) { + HoboVR_TrackerPose_t* packet = (HoboVR_TrackerPose_t*)data; + + // update all the things + // vr::DriverPose_t pose; + pose.poseTimeOffset = m_fPoseTimeOffset; + pose.result = vr::TrackingResult_Running_OK; + pose.poseIsValid = true; + pose.deviceIsConnected = true; + pose.willDriftInYaw = true; + pose.shouldApplyHeadModel = false; + pose.vecPosition[0] = packet->position[0]; + pose.vecPosition[1] = packet->position[1]; + pose.vecPosition[2] = packet->position[2]; + + pose.qRotation = { + (double)(packet->orientation[0]), + (double)(packet->orientation[1]), + (double)(packet->orientation[2]), + (double)(packet->orientation[3]) + }; + + pose.vecVelocity[0] = packet->velocity[0]; + pose.vecVelocity[1] = packet->velocity[1]; + pose.vecVelocity[2] = packet->velocity[2]; + + pose.vecAngularVelocity[0] = packet->angular_velocity[0]; + pose.vecAngularVelocity[1] = packet->angular_velocity[1]; + pose.vecAngularVelocity[2] = packet->angular_velocity[2]; + + pose.qWorldFromDriverRotation = { 1, 0, 0, 0 }; + pose.qDriverFromHeadRotation = { 1, 0, 0, 0 }; + pose.vecWorldFromDriverTranslation[0] = 0; + pose.vecWorldFromDriverTranslation[1] = 0; + pose.vecWorldFromDriverTranslation[2] = 0; + + pose.vecDriverFromHeadTranslation[0] = 0; + pose.vecDriverFromHeadTranslation[1] = 0; + pose.vecDriverFromHeadTranslation[2] = 0; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + pose, + sizeof(pose) + ); + } +} + +//////////////////////////////////////////////////////////////////////////////// + +size_t TrackerDriver::GetPacketSize() { + return sizeof(HoboVR_TrackerPose_t); +} \ No newline at end of file diff --git a/driver/src/trackers.h b/driver/src/trackers.h new file mode 100644 index 00000000..82d5ecc9 --- /dev/null +++ b/driver/src/trackers.h @@ -0,0 +1,36 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_TRACKERS +#define __HOBO_VR_TRACKERS + +#include +#include "driverlog.h" +#include "hobovr_device_base.h" +#include "packets.h" + + +//----------------------------------------------------------------------------- +// Purpose: tracker device implementation +//----------------------------------------------------------------------------- + +class TrackerDriver : public hobovr::HobovrDevice { +public: + TrackerDriver( + std::string myserial, + const std::shared_ptr ReceiverObj + ); + + vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) override; + + void UpdateState(void* data) override; + size_t GetPacketSize() override; + +private: + vr::DriverPose_t pose; + +}; + + +#endif // #ifndef __HOBO_VR_TRACKERS \ No newline at end of file diff --git a/driver/src/tracking_references.cpp b/driver/src/tracking_references.cpp new file mode 100644 index 00000000..0413ec74 --- /dev/null +++ b/driver/src/tracking_references.cpp @@ -0,0 +1,491 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#include "tracking_references.h" + +#include "packets.h" + +#include + +//----------------------------------------------------------------------------- +// Purpose: settings manager using a tracking reference, this is meant to be +// a settings and other utility communication and management tool +// for that purpose it will have a it's own server connection and poser protocol +// for now tho it will just stay as a tracking reference +// also a device that will always be present with hobo_vr devices from now on +// it will also allow live device management in the future +// +// think of it as a settings manager made to look like a tracking reference +//----------------------------------------------------------------------------- + + +HobovrTrackingRef_SettManager::HobovrTrackingRef_SettManager( + std::string myserial +): m_sSerialNumber(myserial) { + + _UduEvent = false; + + m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; + m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer; + + m_sModelNumber = "tracking_reference_" + m_sSerialNumber; + m_sRenderModelPath = "{hobovr}/rendermodels/hobovr_tracking_reference"; + + DriverLog( + "%s: settings manager created", + m_sSerialNumber.c_str() + ); + + m_Pose.poseTimeOffset = 0; + m_Pose.result = vr::TrackingResult_Running_OK; + m_Pose.poseIsValid = true; + m_Pose.deviceIsConnected = true; + m_Pose.poseTimeOffset = 0; + m_Pose.qWorldFromDriverRotation = {1, 0, 0, 0}; + m_Pose.qDriverFromHeadRotation = {1, 0, 0, 0}; + m_Pose.qRotation = {1, 0, 0, 0}; + m_Pose.vecPosition[0] = 0.01; + m_Pose.vecPosition[1] = 0; + m_Pose.vecPosition[2] = 0; + m_Pose.willDriftInYaw = false; + m_Pose.deviceIsConnected = true; + m_Pose.shouldApplyHeadModel = false; +} + +/////////////////////////////////////////////////////////////////////////////////// + +void HobovrTrackingRef_SettManager::OnPacket(void* buff, size_t len) { + + // DriverLog("AAAAAAAAAAAAAAA: PACKET %d %d", len, sizeof(HoboVR_ManagerMsg_t)); + + // yeah dumb ass, it was this stupid of a fix + if (len != sizeof(HoboVR_ManagerMsg_t) - sizeof(PacketEndTag)) { + DriverLog("tracking reference: bad message"); + HoboVR_ManagerResp_t resp{EManagerResp_invalid}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + + return; // do nothing if bad message + } + + DriverLog("tracking reference: got a packet lol"); + + HoboVR_ManagerMsg_t* message = (HoboVR_ManagerMsg_t*)buff; + + switch (message->type) { + // case EManagerMsgType_getTrkBuffSize: { + // HoboVR_ManagerResp_t resp{ + // (uint32_t)(m_pOtherSocketComm->GetBufferSize()+3) + // }; + + // m_pSocketComm->Send( + // &resp, + // sizeof(resp) + // ); + + // DriverLog("tracking reference: queue for buffer size processed"); + // break; + // } + + case EManagerMsgType_ipd: { + vr::VRSettings()->SetFloat( + k_pch_Hmd_Section, + k_pch_Hmd_IPD_Float, + message->data.ipd.ipd_meters + ); + + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + DriverLog("tracking reference: ipd change request processed"); + break; + } + + case EManagerMsgType_uduString: { + std::string temp; + for (int i=0; i < message->data.udu.len; i++) { + if (message->data.udu.devices[i] == 0) + temp += "h"; + else if (message->data.udu.devices[i] == 1) + temp += "c"; + else if (message->data.udu.devices[i] == 2) + temp += "t"; + else if (message->data.udu.devices[i] == 3) + temp += "g"; + } + _vpUduChangeBuffer = temp; + + // vr::VREvent_Notification_t event_data = {20, 0}; + // vr::VRServerDriverHost()->VendorSpecificEvent( + // m_unObjectId, + // vr::VREvent_VendorSpecific_HoboVR_UduChange, + // (vr::VREvent_Data_t&)event_data, + // 0 + // ); + _UduEvent = true; + + DriverLog( + "tracking reference: udu settings change request processed" + ); + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + break; + } + + case EManagerMsgType_setSelfPose: { + + m_Pose.vecPosition[0] = message->data.self_pose.position[0]; + m_Pose.vecPosition[1] = message->data.self_pose.position[1]; + m_Pose.vecPosition[2] = message->data.self_pose.position[2]; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + m_Pose, + sizeof(m_Pose) + ); + } + + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + DriverLog("tracking reference: pose change request processed"); + break; + } + + case EManagerMsgType_distortion: { + float newK1 = (float)message->data.distortion.k1; + float newK2 = (float)message->data.distortion.k2; + float newZoomW = (float)message->data.distortion.zoom_width; + float newZoomH = (float)message->data.distortion.zoom_height; + + vr::VRSettings()->SetFloat( + hobovr::k_pch_ExtDisplay_Section, + hobovr::k_pch_ExtDisplay_DistortionK1_Float, + newK1 + ); + + vr::VRSettings()->SetFloat( + hobovr::k_pch_ExtDisplay_Section, + hobovr::k_pch_ExtDisplay_DistortionK2_Float, + newK2 + ); + + vr::VRSettings()->SetFloat( + hobovr::k_pch_ExtDisplay_Section, + hobovr::k_pch_ExtDisplay_ZoomWidth_Float, + newZoomW + ); + + vr::VRSettings()->SetFloat( + hobovr::k_pch_ExtDisplay_Section, + hobovr::k_pch_ExtDisplay_ZoomHeight_Float, + newZoomH + ); + + + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + DriverLog("tracking reference: distortion update request processed"); + break; + } + + case EManagerMsgType_eyeGap: { + vr::VRSettings()->SetInt32( + hobovr::k_pch_ExtDisplay_Section, + hobovr::k_pch_ExtDisplay_EyeGapOffset_Int, + message->data.eye_offset.width + ); + + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + DriverLog("tracking reference: eye gap change request processed"); + break; + } + + case EManagerMsgType_poseTimeOffset: { + float newTimeOffset = (float)message->data.time_offset.time_offset_seconds; + + vr::VRSettings()->SetFloat( + k_pch_Hobovr_Section, + hobovr::k_pch_Hobovr_PoseTimeOffset_Float, + newTimeOffset + ); + + + HoboVR_ManagerResp_t resp{EManagerResp_ok}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + DriverLog( + "tracking reference: pose time offset change request processed" + ); + break; + } + + default: + DriverLog("tracking reference: message not recognized"); + + HoboVR_ManagerResp_t resp{EManagerResp_invalid}; + m_pSocketComm->Send( + &resp, + sizeof(resp) + ); + } + + memset(message, 0, sizeof(*message)); +} + +/////////////////////////////////////////////////////////////////////////////////// + +vr::EVRInitError HobovrTrackingRef_SettManager::Activate( + vr::TrackedDeviceIndex_t unObjectId +) { + DriverLog("tracking reference: Activate called"); + m_pSocketComm = std::make_shared(); + + int res = m_pSocketComm->Connect("127.0.0.1", 6969); + if (res){ + DriverLog("tracking reference: failed to connect: errno=%s\n", lsc::getString(lerrno).c_str()); + return vr::VRInitError_IPC_ServerInitFailed; + } + + // send an id message saying this is a manager socket + res = m_pSocketComm->Send(KHoboVR_ManagerIdMessage, sizeof(KHoboVR_ManagerIdMessage)); + + if (res < 0) { + DriverLog("tracking reference: failed to send id message: errno=%d\n", lerrno); + return vr::VRInitError_IPC_ConnectFailed; + } + + DriverLog("tracking reference: manager socket fd=%d", (int)m_pSocketComm->GetHandle()); + + m_pReceiver = std::make_unique( + m_pSocketComm, + m_tag, + std::bind(&HobovrTrackingRef_SettManager::OnPacket, this, std::placeholders::_1, std::placeholders::_2) + ); + m_pReceiver->Start(); + + DriverLog("tracking reference: receiver startup status: %d", m_pReceiver->IsAlive()); + + m_unObjectId = unObjectId; + m_ulPropertyContainer = + vr::VRProperties()->TrackedDeviceToPropertyContainer( + m_unObjectId + ); + + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ModelNumber_String, + m_sModelNumber.c_str() + ); + + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_RenderModelName_String, + m_sRenderModelPath.c_str() + ); + + DriverLog("tracking reference: Activate!\n"); + DriverLog("tracking reference: \tserial: %s\n", m_sSerialNumber.c_str()); + DriverLog("tracking reference: \tmodel: %s\n", m_sModelNumber.c_str()); + DriverLog("tracking reference: \trender model path: \"%s\"\n", m_sRenderModelPath.c_str()); + + // return a constant that's not 0 (invalid) or 1 (reserved for Oculus) + vr::VRProperties()->SetUint64Property( + m_ulPropertyContainer, + vr::Prop_CurrentUniverseId_Uint64, + 2 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_FieldOfViewLeftDegrees_Float, + 180 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_FieldOfViewRightDegrees_Float, + 180 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_FieldOfViewTopDegrees_Float, + 180 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_FieldOfViewBottomDegrees_Float, + 180 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_TrackingRangeMinimumMeters_Float, + 0 + ); + + vr::VRProperties()->SetFloatProperty( + m_ulPropertyContainer, + vr::Prop_TrackingRangeMaximumMeters_Float, + 10 + ); + + vr::VRProperties()->SetStringProperty( + m_ulPropertyContainer, + vr::Prop_ModeLabel_String, + m_sModelNumber.c_str() + ); + + vr::VRProperties()->SetBoolProperty( + m_ulPropertyContainer, + vr::Prop_CanWirelessIdentify_Bool, + false + ); + + vr::DriverPose_t pose; + pose.poseTimeOffset = 0; + pose.result = vr::TrackingResult_Running_OK; + pose.poseIsValid = true; + pose.deviceIsConnected = true; + pose.poseTimeOffset = 0; + pose.qWorldFromDriverRotation = {1, 0, 0, 0}; + pose.qDriverFromHeadRotation = {1, 0, 0, 0}; + pose.qRotation = {1, 0, 0, 0}; + pose.vecPosition[0] = 0.01; + pose.vecPosition[1] = 0; + pose.vecPosition[2] = 0; + pose.willDriftInYaw = false; + pose.deviceIsConnected = true; + pose.poseIsValid = true; + pose.shouldApplyHeadModel = false; + + pose.vecPosition[0] = 0; + pose.vecPosition[1] = 0; + pose.vecPosition[2] = 0; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + pose, + sizeof(pose) + ); + } + + return vr::VRInitError_None; +} + +/////////////////////////////////////////////////////////////////////////////////// + +void HobovrTrackingRef_SettManager::Deactivate() { + DriverLog("tracking reference: \"%s\" deactivated\n", m_sSerialNumber.c_str()); + // release ownership to signal receiver to finish + m_pSocketComm.reset(); + + m_pReceiver->Stop(); + // "signal" device disconnected + m_Pose.poseIsValid = false; + m_Pose.deviceIsConnected = false; + + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + m_Pose, + sizeof(m_Pose) + ); + } + + m_unObjectId = vr::k_unTrackedDeviceIndexInvalid; +} + +/////////////////////////////////////////////////////////////////////////////////// + +void* HobovrTrackingRef_SettManager::GetComponent( + const char* pchComponentNameAndVersion +) { + DriverLog("tracking reference: request for \"%s\" component ignored\n", + pchComponentNameAndVersion + ); + + return NULL; +} + +/////////////////////////////////////////////////////////////////////////////////// + +void HobovrTrackingRef_SettManager::DebugRequest( + const char *pchRequest, + char *pchResponseBuffer, + uint32_t unResponseBufferSize +) { + + DriverLog("tracking reference: \"%s\" got a debug request: \"%s\"", + m_sSerialNumber.c_str(), + pchRequest + ); + + if (unResponseBufferSize >= 1) + pchResponseBuffer[0] = 0; +} + +/////////////////////////////////////////////////////////////////////////////////// + +vr::DriverPose_t HobovrTrackingRef_SettManager::GetPose() { + return m_Pose; +} + +/////////////////////////////////////////////////////////////////////////////////// + +std::string HobovrTrackingRef_SettManager::GetSerialNumber() const { + return m_sSerialNumber; +} + +/////////////////////////////////////////////////////////////////////////////////// + +void HobovrTrackingRef_SettManager::UpdatePose() { + if (m_unObjectId != vr::k_unTrackedDeviceIndexInvalid) { + DriverLog("tracking reference: pose updated"); + vr::VRServerDriverHost()->TrackedDevicePoseUpdated( + m_unObjectId, + m_Pose, + sizeof(m_Pose) + ); + } +} + +/////////////////////////////////////////////////////////////////////////////////// + +bool HobovrTrackingRef_SettManager::GetUduEvent() { + if (!_UduEvent) + return false; + + _UduEvent = false; // consume a true call + DriverLog("tracking reference: consume call triggered"); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////// + +std::string HobovrTrackingRef_SettManager::GetUduBuffer() { + return _vpUduChangeBuffer; +} \ No newline at end of file diff --git a/driver/src/tracking_references.h b/driver/src/tracking_references.h new file mode 100644 index 00000000..89416be9 --- /dev/null +++ b/driver/src/tracking_references.h @@ -0,0 +1,94 @@ +// SPDX-License-Identifier: GPL-2.0-only + +// Copyright (C) 2020-2021 Oleg Vorobiov + +#ifndef __HOBO_VR_TRACKING_REF +#define __HOBO_VR_TRACKING_REF + +#include +#include +#include +#include "driverlog.h" + +#include "hobovr_device_base.h" + +//----------------------------------------------------------------------------- +// Purpose: settings manager using a tracking reference, this is meant to be +// a settings and other utility communication and management tool +// for that purpose it will have a it's own server connection and poser protocol +// for now tho it will just stay as a tracking reference +// also a device that will always be present with hobo_vr devices from now on +// it will also allow live device management in the future +// +// think of it as a settings manager made to look like a tracking reference +//----------------------------------------------------------------------------- + +enum HobovrTrackingRef_Msg_type +{ + Emsg_invalid = 0, + Emsg_ipd = 10, + Emsg_uduString = 20, + Emsg_poseTimeOffset = 30, + Emsg_distortion = 40, + Emsg_eyeGap = 50, + Emsg_setSelfPose = 60, +}; + +// static std::vector> g_vpUduChangeBuffer; + +class HobovrTrackingRef_SettManager: public vr::ITrackedDeviceServerDriver { +private: + PacketEndTag m_tag = {'\t', '\r', '\n'}; + std::shared_ptr m_pSocketComm; + std::unique_ptr m_pReceiver; + + +public: + HobovrTrackingRef_SettManager(std::string myserial); + inline virtual ~HobovrTrackingRef_SettManager() { + m_pReceiver->Stop(); + } + + void OnPacket(void* buff, size_t len); + + vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) override; + + void Deactivate() override; + + inline void EnterStandby() override {} + + void *GetComponent(const char *pchComponentNameAndVersion) override; + + void DebugRequest( + const char *pchRequest, + char *pchResponseBuffer, + uint32_t unResponseBufferSize + ) override; + + vr::DriverPose_t GetPose() override; + + std::string GetSerialNumber() const; + + void UpdatePose(); + bool GetUduEvent(); + std::string GetUduBuffer(); + +private: + // interproc sync + bool _UduEvent; + std::string _vpUduChangeBuffer; // for passing udu data + + // openvr api stuff + vr::TrackedDeviceIndex_t m_unObjectId; // DO NOT TOUCH THIS, parent will handle this, use it as read only! + vr::PropertyContainerHandle_t m_ulPropertyContainer; // THIS EITHER, use it as read only! + + std::string m_sRenderModelPath; // path to the device's render model, should be populated in the constructor of the derived class + + vr::DriverPose_t m_Pose; // device's pose, use this at runtime + + std::string m_sSerialNumber; // steamvr uses this to identify devices, no need for you to touch this after init + std::string m_sModelNumber; // steamvr uses this to identify devices, no need for you to touch this after init + +}; + +#endif // #ifndef __HOBO_VR_TRACKING_REF \ No newline at end of file diff --git a/hobovr/resources/driver.vrresources b/hobovr/resources/driver.vrresources index eb8cc810..60e5380c 100644 --- a/hobovr/resources/driver.vrresources +++ b/hobovr/resources/driver.vrresources @@ -50,6 +50,16 @@ "Prop_NamedIconPathDeviceNotReady_String" : "{hobovr}/icons/base_status_error.png", "Prop_NamedIconPathDeviceStandby_String" : "{hobovr}/icons/base_status_standby.png", "Prop_NamedIconPathDeviceAlertLow_String" : "{hobovr}/icons/base_status_ready_low.png" + }, + "hobovr_gaze_master" : { + "Prop_NamedIconPathDeviceOff_String" : "{hobovr}/icons/gaze_master_status_off.png", + "Prop_NamedIconPathDeviceSearching_String" : "{hobovr}/icons/gaze_master_status_searching.gif", + "Prop_NamedIconPathDeviceSearchingAlert_String" : "{hobovr}/icons/gaze_master_status_searching_alert.gif", + "Prop_NamedIconPathDeviceReady_String" : "{hobovr}/icons/gaze_master_status_off.png", + "Prop_NamedIconPathDeviceReadyAlert_String" : "{hobovr}/icons/gaze_master_status_ready_alert.png", + "Prop_NamedIconPathDeviceNotReady_String" : "{hobovr}/icons/gaze_master_status_error.png", + "Prop_NamedIconPathDeviceStandby_String" : "{hobovr}/icons/gaze_master_status_standby.png", + "Prop_NamedIconPathDeviceAlertLow_String" : "{hobovr}/icons/gaze_master_status_ready_low.png" } } } diff --git a/hobovr/resources/icons/gaze_master_status_error.b4bfb144.png b/hobovr/resources/icons/gaze_master_status_error.b4bfb144.png new file mode 100644 index 00000000..3aef4a62 Binary files /dev/null and b/hobovr/resources/icons/gaze_master_status_error.b4bfb144.png differ diff --git a/hobovr/resources/icons/gaze_master_status_error.png b/hobovr/resources/icons/gaze_master_status_error.png new file mode 100644 index 00000000..10a99327 Binary files /dev/null and b/hobovr/resources/icons/gaze_master_status_error.png differ diff --git a/hobovr/resources/icons/gaze_master_status_error@2x.b4bfb144.png b/hobovr/resources/icons/gaze_master_status_error@2x.b4bfb144.png new file mode 100644 index 00000000..c4b153cb Binary files /dev/null and b/hobovr/resources/icons/gaze_master_status_error@2x.b4bfb144.png differ diff --git a/hobovr/resources/icons/gaze_master_status_error@2x.png 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00000000..48137eba Binary files /dev/null and b/hobovr/resources/icons/gaze_master_status_standby@2x.png differ diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend new file mode 100644 index 00000000..1de74698 Binary files /dev/null and b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend differ diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend1 b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend1 new file mode 100644 index 00000000..216ffbd9 Binary files /dev/null and b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.blend1 differ diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.json b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.json new file mode 100644 index 00000000..e69b44b6 --- /dev/null +++ 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3019/6330/5752 3009/6323/5752 3020/6265/5752 +f 3019/6330/5753 3020/6265/5753 3017/6259/5753 +f 3017/6259/5754 3020/6265/5754 3004/6257/5754 +f 3016/6329/5755 3006/6267/5755 3018/6269/5755 +f 3016/6258/5756 3018/6331/5756 3017/6259/5756 +f 3017/6262/5757 3018/6320/5757 3005/6260/5757 diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.png b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.png new file mode 100644 index 00000000..e142a58d Binary files /dev/null and b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master.png differ diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_diff.png b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_diff.png new file mode 100644 index 00000000..2e774dcf Binary files /dev/null and b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_diff.png differ diff --git a/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_spec.png b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_spec.png new file mode 100644 index 00000000..9a789269 Binary files /dev/null and b/hobovr/resources/rendermodels/hobovr_gaze_master/hobovr_gaze_master_spec.png differ diff --git a/hobovr/resources/settings/default.vrsettings b/hobovr/resources/settings/default.vrsettings index d1aeeb45..465fdbae 100644 --- a/hobovr/resources/settings/default.vrsettings +++ b/hobovr/resources/settings/default.vrsettings @@ -2,8 +2,10 @@ "driver_hobovr" : { "enable" : true, "PoseTimeOffset" : 0.035, - "ManualUpdateURL" : "https://gist.github.com/okawo80085/dd327eda3b87c8df353cf783b17e1c82", - "uduSettings" : "h13 c22 c22" + "ManualUpdateURL" : "https://gist.github.com/okawo80085/dd327eda3b87c8df353cf783b17e1c82" + }, + "hobovr_robotic_persistence": { + "recover_requireHMD": false }, "hobovr_device_hmd": { "IPD" : 0.063, diff --git a/scripts/linux/register_driver.sh b/scripts/linux/register_driver.sh index e2852f4e..850125d8 100755 --- a/scripts/linux/register_driver.sh +++ b/scripts/linux/register_driver.sh @@ -6,6 +6,6 @@ hobo_dir="" true_hobo_dir="$(cd "$(dirname "$hobo_dir")"; pwd)/$(basename "$hobo_dir")" -LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc adddriver $true_hobo_dir +LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc adddriver "${true_hobo_dir}" LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc show \ No newline at end of file diff --git a/scripts/linux/unregister_driver.sh b/scripts/linux/unregister_driver.sh index 13af5699..f641f00c 100755 --- a/scripts/linux/unregister_driver.sh +++ b/scripts/linux/unregister_driver.sh @@ -6,6 +6,6 @@ hobo_dir="" true_hobo_dir="$(cd "$(dirname "$hobo_dir")"; pwd)/$(basename "$hobo_dir")" -LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc removedriver $true_hobo_dir +LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc removedriver "${true_hobo_dir}" LD_LIBRARY_PATH="${vr_reg_loc_dir}" $vr_reg_loc show \ No newline at end of file