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- /*
- * OpenHMD - Free and Open Source API and drivers for immersive technology.
- * Copyright (C) 2013 Fredrik Hultin.
- * Copyright (C) 2013 Jakob Bornecrantz.
- * Distributed under the Boost 1.0 licence, see LICENSE for full text.
- */
- /* Oculus Rift Driver - HID/USB Driver Implementation */
- #include <stdlib.h>
- #include <hidapi.h>
- #include <string.h>
- #include <stdio.h>
- #include <time.h>
- #include <assert.h>
- #include "rift.h"
- #define TICK_LEN (1.0f / 1000.0f) // 1000 Hz ticks
- #define KEEP_ALIVE_VALUE (10 * 1000)
- #define SETFLAG(_s, _flag, _val) (_s) = ((_s) & ~(_flag)) | ((_val) ? (_flag) : 0)
- typedef struct {
- ohmd_device base;
- hid_device* handle;
- pkt_sensor_range sensor_range;
- pkt_sensor_display_info display_info;
- rift_coordinate_frame coordinate_frame, hw_coordinate_frame;
- pkt_sensor_config sensor_config;
- pkt_tracker_sensor sensor;
- double last_keep_alive;
- fusion sensor_fusion;
- vec3f raw_mag, raw_accel, raw_gyro;
- // These values are derived from the display_info struct and
- // from user provided values.
- struct {
- float idp; // inter-pupillary distance, user provided.
- float znear; // depth near value, user provided.
- float zfar; // depth far value, user provided.
- float proj_offset; // lens offset on screen
- mat4x4f proj_base; // base projection matrix
- mat4x4f proj_left; // adjusted projection matrix for left screen
- mat4x4f proj_right; // adjusted projection matrix for right screen
- float full_ratio; // screen ratio for the entire device
- float stereo_fov; // horizontal fov for one sub screen
- float stereo_ratio; // screen ratio for one sub screen
- } calc_values;
- } rift_priv;
- static rift_priv* rift_priv_get(ohmd_device* device)
- {
- return (rift_priv*)device;
- }
- static int get_feature_report(rift_priv* priv, rift_sensor_feature_cmd cmd, unsigned char* buf)
- {
- memset(buf, 0, FEATURE_BUFFER_SIZE);
- buf[0] = (unsigned char)cmd;
- return hid_get_feature_report(priv->handle, buf, FEATURE_BUFFER_SIZE);
- }
- static int send_feature_report(rift_priv* priv, const unsigned char *data, size_t length)
- {
- return hid_send_feature_report(priv->handle, data, length);
- }
- static void set_coordinate_frame(rift_priv* priv, rift_coordinate_frame coordframe)
- {
- priv->coordinate_frame = coordframe;
- // set the RIFT_SCF_SENSOR_COORDINATES in the sensor config to match whether coordframe is hmd or sensor
- SETFLAG(priv->sensor_config.flags, RIFT_SCF_SENSOR_COORDINATES, coordframe == RIFT_CF_SENSOR);
- // encode send the new config to the Rift
- unsigned char buf[FEATURE_BUFFER_SIZE];
- int size = encode_sensor_config(buf, &priv->sensor_config);
- if(send_feature_report(priv, buf, size) == -1){
- ohmd_set_error(priv->base.ctx, "send_feature_report failed in set_coordinate frame");
- return;
- }
- // read the state again, set the hw_coordinate_frame to match what
- // the hardware actually is set to just incase it doesn't stick.
- size = get_feature_report(priv, RIFT_CMD_SENSOR_CONFIG, buf);
- if(size <= 0){
- LOGW("could not set coordinate frame");
- priv->hw_coordinate_frame = RIFT_CF_HMD;
- return;
- }
- decode_sensor_config(&priv->sensor_config, buf, size);
- priv->hw_coordinate_frame = (priv->sensor_config.flags & RIFT_SCF_SENSOR_COORDINATES) ? RIFT_CF_SENSOR : RIFT_CF_HMD;
- if(priv->hw_coordinate_frame != coordframe) {
- LOGW("coordinate frame didn't stick");
- }
- }
- static void handle_tracker_sensor_msg(rift_priv* priv, unsigned char* buffer, int size)
- {
- if(!decode_tracker_sensor_msg(&priv->sensor, buffer, size)){
- LOGE("couldn't decode tracker sensor message");
- }
- pkt_tracker_sensor* s = &priv->sensor;
- dump_packet_tracker_sensor(s);
- // TODO handle missed samples etc.
- float dt = s->num_samples > 3 ? (s->num_samples - 2) * TICK_LEN : TICK_LEN;
- int32_t mag32[] = { s->mag[0], s->mag[1], s->mag[2] };
- vec3f_from_rift_vec(mag32, &priv->raw_mag);
- for(int i = 0; i < OHMD_MIN(s->num_samples, 3); i++){
- vec3f_from_rift_vec(s->samples[i].accel, &priv->raw_accel);
- vec3f_from_rift_vec(s->samples[i].gyro, &priv->raw_gyro);
- ofusion_update(&priv->sensor_fusion, dt, &priv->raw_gyro, &priv->raw_accel, &priv->raw_mag);
- // reset dt to tick_len for the last samples if there were more than one sample
- dt = TICK_LEN;
- }
- }
- static void update_device(ohmd_device* device)
- {
- rift_priv* priv = rift_priv_get(device);
- unsigned char buffer[FEATURE_BUFFER_SIZE];
- // Handle keep alive messages
- double t = ohmd_get_tick();
- if(t - priv->last_keep_alive >= (double)priv->sensor_config.keep_alive_interval / 1000.0 - .2){
- // send keep alive message
- pkt_keep_alive keep_alive = { 0, priv->sensor_config.keep_alive_interval };
- int ka_size = encode_keep_alive(buffer, &keep_alive);
- send_feature_report(priv, buffer, ka_size);
- // Update the time of the last keep alive we have sent.
- priv->last_keep_alive = t;
- }
- // Read all the messages from the device.
- while(true){
- int size = hid_read(priv->handle, buffer, FEATURE_BUFFER_SIZE);
- if(size < 0){
- LOGE("error reading from device");
- return;
- } else if(size == 0) {
- return; // No more messages, return.
- }
- // currently the only message type the hardware supports (I think)
- if(buffer[0] == RIFT_IRQ_SENSORS){
- handle_tracker_sensor_msg(priv, buffer, size);
- }else{
- LOGE("unknown message type: %u", buffer[0]);
- }
- }
- }
- static void calc_derived_values(rift_priv *priv)
- {
- priv->calc_values.idp = 0.061f; // TODO settable.
- priv->calc_values.znear = 0.1f; // TODO settable.
- priv->calc_values.zfar = 1000.0f; // TODO settable.
- priv->calc_values.stereo_fov = DEG_TO_RAD(125.5144f); // TODO calculate.
- // Calculate the screen ratio of each subscreen.
- float full_ratio = (float)priv->display_info.h_resolution /
- (float)priv->display_info.v_resolution;
- float ratio = full_ratio / 2.0f;
- priv->calc_values.stereo_ratio = ratio;
- // Calculate where the lens is on each screen,
- // and with the given value offset the projection matrix.
- float screen_center = priv->display_info.h_screen_size / 4.0f;
- float lens_shift = screen_center - priv->display_info.lens_separation / 2.0f;
- float proj_offset = 4.0f * lens_shift / priv->display_info.h_screen_size;
- priv->calc_values.proj_offset = proj_offset;
- // Setup the base projection matrix. Each eye mostly have the
- // same projection matrix with the exception of the offset.
- omat4x4f_init_perspective(&priv->calc_values.proj_base,
- priv->calc_values.stereo_fov,
- priv->calc_values.stereo_ratio,
- priv->calc_values.znear,
- priv->calc_values.zfar);
- // Setup the two adjusted projection matricies. Each is setup to deal
- // with the fact that the lens is not in the center of the screen.
- // These matrices only change of the hardware changes, so static.
- mat4x4f translate;
- omat4x4f_init_translate(&translate, proj_offset, 0, 0);
- omat4x4f_mult(&translate,
- &priv->calc_values.proj_base,
- &priv->calc_values.proj_left);
- omat4x4f_init_translate(&translate, -proj_offset, 0, 0);
- omat4x4f_mult(&translate,
- &priv->calc_values.proj_base,
- &priv->calc_values.proj_right);
- }
-
- static int getf(ohmd_device* device, ohmd_float_value type, float* out)
- {
- rift_priv* priv = rift_priv_get(device);
- switch(type){
- case OHMD_ROTATION_QUAT: {
- *(quatf*)out = priv->sensor_fusion.orient;
- break;
- }
- case OHMD_MAT4X4_LEFT_EYE_GL_MODELVIEW: {
- vec3f point = {{0, 0, 0}};
- mat4x4f orient, world_shift, result;
- omat4x4f_init_look_at(&orient, &priv->sensor_fusion.orient, &point);
- omat4x4f_init_translate(&world_shift, +(priv->calc_values.idp / 2.0f), 0, 0);
- omat4x4f_mult(&world_shift, &orient, &result);
- omat4x4f_transpose(&result, (mat4x4f*)out);
- break;
- }
- case OHMD_MAT4X4_RIGHT_EYE_GL_MODELVIEW: {
- vec3f point = {{0, 0, 0}};
- mat4x4f orient, world_shift, result;
- omat4x4f_init_look_at(&orient, &priv->sensor_fusion.orient, &point);
- omat4x4f_init_translate(&world_shift, -(priv->calc_values.idp / 2.0f), 0, 0);
- omat4x4f_mult(&world_shift, &orient, &result);
- omat4x4f_transpose(&result, (mat4x4f*)out);
- break;
- }
- case OHMD_MAT4X4_LEFT_EYE_GL_PROJECTION: {
- omat4x4f_transpose(&priv->calc_values.proj_left, (mat4x4f*)out);
- break;
- }
- case OHMD_MAT4X4_RIGHT_EYE_GL_PROJECTION: {
- omat4x4f_transpose(&priv->calc_values.proj_right, (mat4x4f*)out);
- break;
- }
- default:
- ohmd_set_error(priv->base.ctx, "invalid type given to getf (%d)", type);
- return -1;
- break;
- }
- return 0;
- }
- static void close_device(ohmd_device* device)
- {
- LOGD("closing device");
- rift_priv* priv = rift_priv_get(device);
- hid_close(priv->handle);
- free(priv);
- }
- static ohmd_device* open_device(ohmd_driver* driver, ohmd_device_desc* desc)
- {
- rift_priv* priv = ohmd_alloc(driver->ctx, sizeof(rift_priv));
- if(!priv)
- goto cleanup;
- priv->base.ctx = driver->ctx;
- // Open the HID device
- priv->handle = hid_open_path(desc->path);
- if(!priv->handle)
- goto cleanup;
-
- if(hid_set_nonblocking(priv->handle, 1) == -1){
- ohmd_set_error(driver->ctx, "failed to set non-blocking on device");
- goto cleanup;
- }
- unsigned char buf[FEATURE_BUFFER_SIZE];
-
- int size;
- // Read and decode the sensor range
- size = get_feature_report(priv, RIFT_CMD_RANGE, buf);
- decode_sensor_range(&priv->sensor_range, buf, size);
- dump_packet_sensor_range(&priv->sensor_range);
- // Read and decode display information
- size = get_feature_report(priv, RIFT_CMD_DISPLAY_INFO, buf);
- decode_sensor_display_info(&priv->display_info, buf, size);
- dump_packet_sensor_display_info(&priv->display_info);
- // Read and decode the sensor config
- size = get_feature_report(priv, RIFT_CMD_SENSOR_CONFIG, buf);
- decode_sensor_config(&priv->sensor_config, buf, size);
- dump_packet_sensor_config(&priv->sensor_config);
- // if the sensor has display info data, use HMD coordinate frame
- priv->coordinate_frame = priv->display_info.distortion_type != RIFT_DT_NONE ? RIFT_CF_HMD : RIFT_CF_SENSOR;
- // apply sensor config
- set_coordinate_frame(priv, priv->coordinate_frame);
- // set keep alive interval to n seconds
- pkt_keep_alive keep_alive = { 0, KEEP_ALIVE_VALUE };
- size = encode_keep_alive(buf, &keep_alive);
- send_feature_report(priv, buf, size);
- // Update the time of the last keep alive we have sent.
- priv->last_keep_alive = ohmd_get_tick();
- // update sensor settings with new keep alive value
- // (which will have been ignored in favor of the default 1000 ms one)
- size = get_feature_report(priv, RIFT_CMD_SENSOR_CONFIG, buf);
- decode_sensor_config(&priv->sensor_config, buf, size);
- dump_packet_sensor_config(&priv->sensor_config);
- calc_derived_values(priv);
- priv->base.update = update_device;
- priv->base.close = close_device;
- priv->base.getf = getf;
- ofusion_init(&priv->sensor_fusion);
- return &priv->base;
- cleanup:
- if(priv)
- free(priv);
- return NULL;
- }
- static void get_device_list(ohmd_driver* driver, ohmd_device_list* list)
- {
- // enumerate HID devices and add any Rifts found to the device list
- #define OCULUS_VR_INC_ID 0x2833
- #define RIFT_DEVKIT_ID 0x0001
- struct hid_device_info* devs = hid_enumerate(OCULUS_VR_INC_ID, RIFT_DEVKIT_ID);
- struct hid_device_info* cur_dev = devs;
- if(devs == NULL)
- return;
- while (cur_dev) {
- ohmd_device_desc* desc = &list->devices[list->num_devices++];
- strcpy(desc->driver, "OpenHMD Rift Driver");
- strcpy(desc->vendor, "Oculus VR, Inc.");
- strcpy(desc->product, "Rift (Devkit)");
- strcpy(desc->path, cur_dev->path);
- desc->driver_ptr = driver;
- cur_dev = cur_dev->next;
- }
- hid_free_enumeration(devs);
- }
- static void destroy_driver(ohmd_driver* drv)
- {
- LOGD("shutting down driver");
- hid_exit();
- free(drv);
- }
- ohmd_driver* ohmd_create_oculus_rift_drv(ohmd_context* ctx)
- {
- ohmd_driver* drv = ohmd_alloc(ctx, sizeof(ohmd_driver));
- if(drv == NULL)
- return NULL;
- drv->get_device_list = get_device_list;
- drv->open_device = open_device;
- drv->ctx = ctx;
- drv->get_device_list = get_device_list;
- drv->open_device = open_device;
- drv->destroy = destroy_driver;
- return drv;
- }
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