diff options
Diffstat (limited to 'LibOVR/Src/OVR_SensorImpl.h')
| -rw-r--r-- | LibOVR/Src/OVR_SensorImpl.h | 90 |
1 files changed, 67 insertions, 23 deletions
diff --git a/LibOVR/Src/OVR_SensorImpl.h b/LibOVR/Src/OVR_SensorImpl.h index 8b9eefb..70e05f8 100644 --- a/LibOVR/Src/OVR_SensorImpl.h +++ b/LibOVR/Src/OVR_SensorImpl.h @@ -5,16 +5,16 @@ Content : Sensor device specific implementation. Created : March 7, 2013 Authors : Lee Cooper -Copyright : Copyright 2013 Oculus VR, Inc. All Rights reserved. +Copyright : Copyright 2014 Oculus VR, Inc. All Rights reserved. -Licensed under the Oculus VR SDK License Version 2.0 (the "License"); -you may not use the Oculus VR SDK except in compliance with the License, +Licensed under the Oculus VR Rift SDK License Version 3.1 (the "License"); +you may not use the Oculus VR Rift SDK except in compliance with the License, which is provided at the time of installation or download, or which otherwise accompanies this software in either electronic or hard copy form. You may obtain a copy of the License at -http://www.oculusvr.com/licenses/LICENSE-2.0 +http://www.oculusvr.com/licenses/LICENSE-3.1 Unless required by applicable law or agreed to in writing, the Oculus VR SDK distributed under the License is distributed on an "AS IS" BASIS, @@ -28,9 +28,14 @@ limitations under the License. #define OVR_SensorImpl_h #include "OVR_HIDDeviceImpl.h" +#include "OVR_SensorTimeFilter.h" + +#ifdef OVR_OS_ANDROID +#include "OVR_PhoneSensors.h" +#endif namespace OVR { - + struct TrackerMessage; class ExternalVisitor; @@ -150,18 +155,23 @@ struct SensorDisplayInfoImpl { Mask_BaseFmt = 0x0f, Mask_OptionFmts = 0xf0, - Base_None = 0x00, - Base_Screen = 0x01, - Base_Distortion = 0x02, + Base_None = 0, + Base_ScreenOnly = 1, + Base_Distortion = 2, }; UInt16 CommandId; + UByte DistortionType; UInt16 HResolution, VResolution; float HScreenSize, VScreenSize; float VCenter; float LensSeparation; - float EyeToScreenDistance[2]; + // Currently these values are not well-measured. + float OutsideLensSurfaceToScreen[2]; + // TODO: add DistortionEqn + // TODO: currently these values are all zeros and the + // distortion is hard-coded in HMDDeviceCreateDesc::GetDeviceInfo() float DistortionK[6]; SensorDisplayInfoImpl(); @@ -169,7 +179,6 @@ struct SensorDisplayInfoImpl void Unpack(); }; - //------------------------------------------------------------------------------------- // ***** OVR::SensorDeviceImpl @@ -186,11 +195,11 @@ public: virtual bool Initialize(DeviceBase* parent); virtual void Shutdown(); - virtual void SetMessageHandler(MessageHandler* handler); + virtual void AddMessageHandler(MessageHandler* handler); // HIDDevice::Notifier interface. virtual void OnInputReport(UByte* pData, UInt32 length); - virtual UInt64 OnTicks(UInt64 ticksMks); + virtual double OnTicks(double tickSeconds); // HMD-Mounted sensor has a different coordinate frame. virtual void SetCoordinateFrame(CoordinateFrame coordframe); @@ -200,6 +209,11 @@ public: virtual bool SetRange(const SensorRange& range, bool waitFlag); virtual void GetRange(SensorRange* range) const; + virtual void GetFactoryCalibration(Vector3f* AccelOffset, Vector3f* GyroOffset, + Matrix4f* AccelMatrix, Matrix4f* GyroMatrix, + float* Temperature); + virtual void SetOnboardCalibrationEnabled(bool enabled); + // Sets report rate (in Hz) of MessageBodyFrame messages (delivered through MessageHandler::OnMessage call). // Currently supported maximum rate is 1000Hz. If the rate is set to 500 or 333 Hz then OnMessage will be // called twice or thrice at the same 'tick'. @@ -213,20 +227,28 @@ public: virtual unsigned GetReportRate() const; // Hack to create HMD device from sensor display info. - static void EnumerateHMDFromSensorDisplayInfo(const SensorDisplayInfoImpl& displayInfo, - DeviceFactory::EnumerateVisitor& visitor); + static void EnumerateHMDFromSensorDisplayInfo(const SensorDisplayInfoImpl& displayInfo, + DeviceFactory::EnumerateVisitor& visitor); + + // These methods actually store data in a JSON file + virtual bool SetMagCalibrationReport(const MagCalibrationReport& data); + virtual bool GetMagCalibrationReport(MagCalibrationReport* data); + protected: - void openDevice(); - void closeDeviceOnError(); + virtual void openDevice(); + void closeDeviceOnError(); - Void setCoordinateFrame(CoordinateFrame coordframe); - bool setRange(const SensorRange& range); + Void setCoordinateFrame(CoordinateFrame coordframe); + bool setRange(const SensorRange& range); - Void setReportRate(unsigned rateHz); + Void setReportRate(unsigned rateHz); + + Void setOnboardCalibrationEnabled(bool enabled); // Called for decoded messages - void onTrackerMessage(TrackerMessage* message); + void onTrackerMessage(TrackerMessage* message); + bool decodeTrackerMessage(TrackerMessage* message, UByte* buffer, int size); // Helpers to reduce casting. /* @@ -242,23 +264,45 @@ protected: // so we track its state. CoordinateFrame Coordinates; CoordinateFrame HWCoordinates; - UInt64 NextKeepAliveTicks; + double NextKeepAliveTickSeconds; bool SequenceValid; - SInt16 LastTimestamp; + UInt16 LastTimestamp; UByte LastSampleCount; float LastTemperature; Vector3f LastAcceleration; Vector3f LastRotationRate; Vector3f LastMagneticField; + // This tracks wrap around, and should be monotonically increasing. + UInt32 FullTimestamp; + // Current sensor range obtained from device. SensorRange MaxValidRange; SensorRange CurrentRange; + + // IMU calibration obtained from device. + Vector3f AccelCalibrationOffset; + Vector3f GyroCalibrationOffset; + Matrix4f AccelCalibrationMatrix; + Matrix4f GyroCalibrationMatrix; + float CalibrationTemperature; UInt16 OldCommandId; -}; + SensorTimeFilter TimeFilter; + double PrevAbsoluteTime; + +#ifdef OVR_OS_ANDROID + void replaceWithPhoneMag(Vector3f* val); + + PhoneSensors* pPhoneSensors; +#endif + +private: + Matrix4f magCalibration; + bool magCalibrated; +}; } // namespace OVR |