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Diffstat (limited to 'LibOVR/Src/OVR_SensorImpl.h')
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diff --git a/LibOVR/Src/OVR_SensorImpl.h b/LibOVR/Src/OVR_SensorImpl.h new file mode 100644 index 0000000..f53b831 --- /dev/null +++ b/LibOVR/Src/OVR_SensorImpl.h @@ -0,0 +1,316 @@ +/************************************************************************************ + +Filename : OVR_SensorImpl.h +Content : Sensor device specific implementation. +Created : March 7, 2013 +Authors : Lee Cooper + +Copyright : Copyright 2014 Oculus VR, Inc. All Rights reserved. + +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-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, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + +*************************************************************************************/ + +#ifndef OVR_SensorImpl_h +#define OVR_SensorImpl_h + +#include "OVR_HIDDeviceImpl.h" +#include "OVR_SensorTimeFilter.h" +#include "OVR_Device.h" + +#ifdef OVR_OS_ANDROID +#include "OVR_PhoneSensors.h" +#endif + +namespace OVR { + +struct TrackerMessage; +class ExternalVisitor; + +//------------------------------------------------------------------------------------- +// SensorDeviceFactory enumerates Oculus Sensor devices. +class SensorDeviceFactory : public DeviceFactory +{ +public: + static SensorDeviceFactory &GetInstance(); + + // Enumerates devices, creating and destroying relevant objects in manager. + virtual void EnumerateDevices(EnumerateVisitor& visitor); + + virtual bool MatchVendorProduct(UInt16 vendorId, UInt16 productId) const; + virtual bool DetectHIDDevice(DeviceManager* pdevMgr, const HIDDeviceDesc& desc); +protected: + DeviceManager* getManager() const { return (DeviceManager*) pManager; } +}; + + +// Describes a single a Oculus Sensor device and supports creating its instance. +class SensorDeviceCreateDesc : public HIDDeviceCreateDesc +{ +public: + SensorDeviceCreateDesc(DeviceFactory* factory, const HIDDeviceDesc& hidDesc) + : HIDDeviceCreateDesc(factory, Device_Sensor, hidDesc) { } + + virtual DeviceCreateDesc* Clone() const + { + return new SensorDeviceCreateDesc(*this); + } + + virtual DeviceBase* NewDeviceInstance(); + + virtual MatchResult MatchDevice(const DeviceCreateDesc& other, + DeviceCreateDesc**) const + { + if ((other.Type == Device_Sensor) && (pFactory == other.pFactory)) + { + const SensorDeviceCreateDesc& s2 = (const SensorDeviceCreateDesc&) other; + if (MatchHIDDevice(s2.HIDDesc)) + return Match_Found; + } + return Match_None; + } + + virtual bool MatchHIDDevice(const HIDDeviceDesc& hidDesc) const + { + // should paths comparison be case insensitive? + return ((HIDDesc.Path.CompareNoCase(hidDesc.Path) == 0) && + (HIDDesc.SerialNumber == hidDesc.SerialNumber) && + (HIDDesc.VersionNumber == hidDesc.VersionNumber)); + } + + virtual bool GetDeviceInfo(DeviceInfo* info) const; +}; + +// A simple stub for notification of a sensor in Boot Loader mode +// This descriptor does not support the creation of a device, only the detection +// of its existence to warn apps that the sensor device needs firmware. +// The Boot Loader descriptor reuses and is created by the Sensor device factory +// but in the future may use a dedicated factory +class BootLoaderDeviceCreateDesc : public HIDDeviceCreateDesc +{ +public: + BootLoaderDeviceCreateDesc(DeviceFactory* factory, const HIDDeviceDesc& hidDesc) + : HIDDeviceCreateDesc(factory, Device_BootLoader, hidDesc) { } + + virtual DeviceCreateDesc* Clone() const + { + return new BootLoaderDeviceCreateDesc(*this); + } + + // Boot Loader device creation is not allowed + virtual DeviceBase* NewDeviceInstance() { return NULL; }; + + virtual MatchResult MatchDevice(const DeviceCreateDesc& other, + DeviceCreateDesc**) const + { + if ((other.Type == Device_BootLoader) && (pFactory == other.pFactory)) + { + const BootLoaderDeviceCreateDesc& s2 = (const BootLoaderDeviceCreateDesc&) other; + if (MatchHIDDevice(s2.HIDDesc)) + return Match_Found; + } + return Match_None; + } + + virtual bool MatchHIDDevice(const HIDDeviceDesc& hidDesc) const + { + // should paths comparison be case insensitive? + return ((HIDDesc.Path.CompareNoCase(hidDesc.Path) == 0) && + (HIDDesc.SerialNumber == hidDesc.SerialNumber)); + } + + virtual bool GetDeviceInfo(DeviceInfo* info) const + { + OVR_UNUSED(info); + return false; + } +}; + + +//------------------------------------------------------------------------------------- +// ***** OVR::SensorDisplayInfoImpl + +// DisplayInfo obtained from sensor; these values are used to report distortion +// settings and other coefficients. +// Older SensorDisplayInfo will have all zeros, causing the library to apply hard-coded defaults. +// Currently, only resolutions and sizes are used. +struct SensorDisplayInfoImpl +{ + enum { PacketSize = 56 }; + UByte Buffer[PacketSize]; + + enum + { + Mask_BaseFmt = 0x0f, + Mask_OptionFmts = 0xf0, + Base_None = 0, + Base_ScreenOnly = 1, + Base_Distortion = 2, + }; + + UInt16 CommandId; + + UByte DistortionType; + UInt16 HResolution, VResolution; + float HScreenSize, VScreenSize; + float VCenter; + float LensSeparation; + // 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(); + + void Unpack(); +}; + +//------------------------------------------------------------------------------------- +// ***** OVR::SensorDeviceImpl + +// Oculus Sensor interface. + +class SensorDeviceImpl : public HIDDeviceImpl<OVR::SensorDevice> +{ +public: + SensorDeviceImpl(SensorDeviceCreateDesc* createDesc); + ~SensorDeviceImpl(); + + + // DeviceCommaon interface + virtual bool Initialize(DeviceBase* parent); + virtual void Shutdown(); + + virtual void AddMessageHandler(MessageHandler* handler); + + // HIDDevice::Notifier interface. + virtual void OnInputReport(UByte* pData, UInt32 length); + virtual double OnTicks(double tickSeconds); + + // HMD-Mounted sensor has a different coordinate frame. + virtual void SetCoordinateFrame(CoordinateFrame coordframe); + virtual CoordinateFrame GetCoordinateFrame() const; + + // SensorDevice interface + 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); + virtual bool IsMagCalibrated(); + + // 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'. + // If the rate is < 333 then the OnMessage / MessageBodyFrame will be called three + // times for each 'tick': the first call will contain averaged values, the second + // and third calls will provide with most recent two recorded samples. + virtual void SetReportRate(unsigned rateHz); + // Returns currently set report rate, in Hz. If 0 - error occurred. + // Note, this value may be different from the one provided for SetReportRate. The return + // value will contain the actual rate. + virtual unsigned GetReportRate() const; + + bool SetSerialReport(const SerialReport& data); + bool GetSerialReport(SerialReport* data); + + // Hack to create HMD device from sensor display info. + 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: + + virtual void openDevice(); + void closeDeviceOnError(); + + Void setCoordinateFrame(CoordinateFrame coordframe); + bool setRange(const SensorRange& range); + + Void setReportRate(unsigned rateHz); + + Void setOnboardCalibrationEnabled(bool enabled); + + bool setSerialReport(const SerialReport& data); + bool getSerialReport(SerialReport* data); + + // Called for decoded messages + void onTrackerMessage(TrackerMessage* message); + bool decodeTrackerMessage(TrackerMessage* message, UByte* buffer, int size); + + // Helpers to reduce casting. +/* + SensorDeviceCreateDesc* getCreateDesc() const + { return (SensorDeviceCreateDesc*)pCreateDesc.GetPtr(); } + + HIDDeviceDesc* getHIDDesc() const + { return &getCreateDesc()->HIDDesc; } +*/ + + // Set if the sensor is located on the HMD. + // Older prototype firmware doesn't support changing HW coordinates, + // so we track its state. + CoordinateFrame Coordinates; + CoordinateFrame HWCoordinates; + double NextKeepAliveTickSeconds; + + bool SequenceValid; + 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 + +#endif // OVR_SensorImpl_h |