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https://github.com/mii443/rust-openvr.git
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added linux makefile
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Colin Sherratt
316
modules/oculus_sdk_linux/LibOVR/Src/OVR_SensorImpl.h
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316
modules/oculus_sdk_linux/LibOVR/Src/OVR_SensorImpl.h
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/************************************************************************************
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Filename : OVR_SensorImpl.h
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Content : Sensor device specific implementation.
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Created : March 7, 2013
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Authors : Lee Cooper
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Copyright : Copyright 2014 Oculus VR, Inc. All Rights reserved.
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Licensed under the Oculus VR Rift SDK License Version 3.1 (the "License");
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you may not use the Oculus VR Rift SDK except in compliance with the License,
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which is provided at the time of installation or download, or which
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otherwise accompanies this software in either electronic or hard copy form.
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You may obtain a copy of the License at
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http://www.oculusvr.com/licenses/LICENSE-3.1
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Unless required by applicable law or agreed to in writing, the Oculus VR SDK
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*************************************************************************************/
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#ifndef OVR_SensorImpl_h
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#define OVR_SensorImpl_h
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#include "OVR_HIDDeviceImpl.h"
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#include "OVR_SensorTimeFilter.h"
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#include "OVR_Device.h"
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#ifdef OVR_OS_ANDROID
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#include "OVR_PhoneSensors.h"
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#endif
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namespace OVR {
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struct TrackerMessage;
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class ExternalVisitor;
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//-------------------------------------------------------------------------------------
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// SensorDeviceFactory enumerates Oculus Sensor devices.
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class SensorDeviceFactory : public DeviceFactory
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{
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public:
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static SensorDeviceFactory &GetInstance();
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// Enumerates devices, creating and destroying relevant objects in manager.
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virtual void EnumerateDevices(EnumerateVisitor& visitor);
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virtual bool MatchVendorProduct(UInt16 vendorId, UInt16 productId) const;
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virtual bool DetectHIDDevice(DeviceManager* pdevMgr, const HIDDeviceDesc& desc);
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protected:
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DeviceManager* getManager() const { return (DeviceManager*) pManager; }
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};
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// Describes a single a Oculus Sensor device and supports creating its instance.
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class SensorDeviceCreateDesc : public HIDDeviceCreateDesc
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{
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public:
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SensorDeviceCreateDesc(DeviceFactory* factory, const HIDDeviceDesc& hidDesc)
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: HIDDeviceCreateDesc(factory, Device_Sensor, hidDesc) { }
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virtual DeviceCreateDesc* Clone() const
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{
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return new SensorDeviceCreateDesc(*this);
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}
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virtual DeviceBase* NewDeviceInstance();
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virtual MatchResult MatchDevice(const DeviceCreateDesc& other,
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DeviceCreateDesc**) const
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{
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if ((other.Type == Device_Sensor) && (pFactory == other.pFactory))
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{
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const SensorDeviceCreateDesc& s2 = (const SensorDeviceCreateDesc&) other;
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if (MatchHIDDevice(s2.HIDDesc))
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return Match_Found;
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}
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return Match_None;
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}
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virtual bool MatchHIDDevice(const HIDDeviceDesc& hidDesc) const
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{
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// should paths comparison be case insensitive?
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return ((HIDDesc.Path.CompareNoCase(hidDesc.Path) == 0) &&
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(HIDDesc.SerialNumber == hidDesc.SerialNumber) &&
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(HIDDesc.VersionNumber == hidDesc.VersionNumber));
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}
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virtual bool GetDeviceInfo(DeviceInfo* info) const;
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};
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// A simple stub for notification of a sensor in Boot Loader mode
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// This descriptor does not support the creation of a device, only the detection
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// of its existence to warn apps that the sensor device needs firmware.
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// The Boot Loader descriptor reuses and is created by the Sensor device factory
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// but in the future may use a dedicated factory
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class BootLoaderDeviceCreateDesc : public HIDDeviceCreateDesc
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{
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public:
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BootLoaderDeviceCreateDesc(DeviceFactory* factory, const HIDDeviceDesc& hidDesc)
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: HIDDeviceCreateDesc(factory, Device_BootLoader, hidDesc) { }
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virtual DeviceCreateDesc* Clone() const
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{
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return new BootLoaderDeviceCreateDesc(*this);
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}
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// Boot Loader device creation is not allowed
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virtual DeviceBase* NewDeviceInstance() { return NULL; };
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virtual MatchResult MatchDevice(const DeviceCreateDesc& other,
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DeviceCreateDesc**) const
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{
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if ((other.Type == Device_BootLoader) && (pFactory == other.pFactory))
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{
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const BootLoaderDeviceCreateDesc& s2 = (const BootLoaderDeviceCreateDesc&) other;
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if (MatchHIDDevice(s2.HIDDesc))
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return Match_Found;
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}
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return Match_None;
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}
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virtual bool MatchHIDDevice(const HIDDeviceDesc& hidDesc) const
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{
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// should paths comparison be case insensitive?
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return ((HIDDesc.Path.CompareNoCase(hidDesc.Path) == 0) &&
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(HIDDesc.SerialNumber == hidDesc.SerialNumber));
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}
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virtual bool GetDeviceInfo(DeviceInfo* info) const
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{
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OVR_UNUSED(info);
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return false;
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}
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};
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//-------------------------------------------------------------------------------------
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// ***** OVR::SensorDisplayInfoImpl
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// DisplayInfo obtained from sensor; these values are used to report distortion
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// settings and other coefficients.
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// Older SensorDisplayInfo will have all zeros, causing the library to apply hard-coded defaults.
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// Currently, only resolutions and sizes are used.
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struct SensorDisplayInfoImpl
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{
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enum { PacketSize = 56 };
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UByte Buffer[PacketSize];
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enum
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{
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Mask_BaseFmt = 0x0f,
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Mask_OptionFmts = 0xf0,
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Base_None = 0,
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Base_ScreenOnly = 1,
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Base_Distortion = 2,
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};
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UInt16 CommandId;
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UByte DistortionType;
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UInt16 HResolution, VResolution;
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float HScreenSize, VScreenSize;
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float VCenter;
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float LensSeparation;
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// Currently these values are not well-measured.
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float OutsideLensSurfaceToScreen[2];
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// TODO: add DistortionEqn
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// TODO: currently these values are all zeros and the
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// distortion is hard-coded in HMDDeviceCreateDesc::GetDeviceInfo()
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float DistortionK[6];
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SensorDisplayInfoImpl();
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void Unpack();
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};
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//-------------------------------------------------------------------------------------
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// ***** OVR::SensorDeviceImpl
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// Oculus Sensor interface.
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class SensorDeviceImpl : public HIDDeviceImpl<OVR::SensorDevice>
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{
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public:
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SensorDeviceImpl(SensorDeviceCreateDesc* createDesc);
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~SensorDeviceImpl();
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// DeviceCommaon interface
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virtual bool Initialize(DeviceBase* parent);
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virtual void Shutdown();
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virtual void AddMessageHandler(MessageHandler* handler);
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// HIDDevice::Notifier interface.
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virtual void OnInputReport(UByte* pData, UInt32 length);
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virtual double OnTicks(double tickSeconds);
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// HMD-Mounted sensor has a different coordinate frame.
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virtual void SetCoordinateFrame(CoordinateFrame coordframe);
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virtual CoordinateFrame GetCoordinateFrame() const;
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// SensorDevice interface
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virtual bool SetRange(const SensorRange& range, bool waitFlag);
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virtual void GetRange(SensorRange* range) const;
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virtual void GetFactoryCalibration(Vector3f* AccelOffset, Vector3f* GyroOffset,
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Matrix4f* AccelMatrix, Matrix4f* GyroMatrix,
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float* Temperature);
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virtual void SetOnboardCalibrationEnabled(bool enabled);
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virtual bool IsMagCalibrated();
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// Sets report rate (in Hz) of MessageBodyFrame messages (delivered through MessageHandler::OnMessage call).
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// Currently supported maximum rate is 1000Hz. If the rate is set to 500 or 333 Hz then OnMessage will be
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// called twice or thrice at the same 'tick'.
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// If the rate is < 333 then the OnMessage / MessageBodyFrame will be called three
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// times for each 'tick': the first call will contain averaged values, the second
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// and third calls will provide with most recent two recorded samples.
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virtual void SetReportRate(unsigned rateHz);
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// Returns currently set report rate, in Hz. If 0 - error occurred.
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// Note, this value may be different from the one provided for SetReportRate. The return
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// value will contain the actual rate.
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virtual unsigned GetReportRate() const;
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bool SetSerialReport(const SerialReport& data);
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bool GetSerialReport(SerialReport* data);
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// Hack to create HMD device from sensor display info.
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static void EnumerateHMDFromSensorDisplayInfo(const SensorDisplayInfoImpl& displayInfo,
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DeviceFactory::EnumerateVisitor& visitor);
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// These methods actually store data in a JSON file
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virtual bool SetMagCalibrationReport(const MagCalibrationReport& data);
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virtual bool GetMagCalibrationReport(MagCalibrationReport* data);
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protected:
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virtual void openDevice();
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void closeDeviceOnError();
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Void setCoordinateFrame(CoordinateFrame coordframe);
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bool setRange(const SensorRange& range);
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Void setReportRate(unsigned rateHz);
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Void setOnboardCalibrationEnabled(bool enabled);
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bool setSerialReport(const SerialReport& data);
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bool getSerialReport(SerialReport* data);
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// Called for decoded messages
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void onTrackerMessage(TrackerMessage* message);
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bool decodeTrackerMessage(TrackerMessage* message, UByte* buffer, int size);
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// Helpers to reduce casting.
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/*
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SensorDeviceCreateDesc* getCreateDesc() const
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{ return (SensorDeviceCreateDesc*)pCreateDesc.GetPtr(); }
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HIDDeviceDesc* getHIDDesc() const
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{ return &getCreateDesc()->HIDDesc; }
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*/
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// Set if the sensor is located on the HMD.
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// Older prototype firmware doesn't support changing HW coordinates,
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// so we track its state.
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CoordinateFrame Coordinates;
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CoordinateFrame HWCoordinates;
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double NextKeepAliveTickSeconds;
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bool SequenceValid;
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UInt16 LastTimestamp;
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UByte LastSampleCount;
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float LastTemperature;
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Vector3f LastAcceleration;
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Vector3f LastRotationRate;
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Vector3f LastMagneticField;
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// This tracks wrap around, and should be monotonically increasing.
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UInt32 FullTimestamp;
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// Current sensor range obtained from device.
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SensorRange MaxValidRange;
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SensorRange CurrentRange;
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// IMU calibration obtained from device.
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Vector3f AccelCalibrationOffset;
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Vector3f GyroCalibrationOffset;
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Matrix4f AccelCalibrationMatrix;
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Matrix4f GyroCalibrationMatrix;
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float CalibrationTemperature;
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UInt16 OldCommandId;
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SensorTimeFilter TimeFilter;
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double PrevAbsoluteTime;
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#ifdef OVR_OS_ANDROID
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void replaceWithPhoneMag(Vector3f* val);
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PhoneSensors* pPhoneSensors;
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#endif
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private:
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Matrix4f magCalibration;
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bool magCalibrated;
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};
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} // namespace OVR
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#endif // OVR_SensorImpl_h
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