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Diffstat (limited to 'LibOVR/Src/Tracking/Tracking_SensorState.h')
| -rw-r--r-- | LibOVR/Src/Tracking/Tracking_SensorState.h | 212 |
1 files changed, 0 insertions, 212 deletions
diff --git a/LibOVR/Src/Tracking/Tracking_SensorState.h b/LibOVR/Src/Tracking/Tracking_SensorState.h deleted file mode 100644 index e13c3ef..0000000 --- a/LibOVR/Src/Tracking/Tracking_SensorState.h +++ /dev/null @@ -1,212 +0,0 @@ -/************************************************************************************ - -Filename : Tracking_SensorState.h -Content : Sensor state information shared by tracking system with games -Created : May 13, 2014 -Authors : Dov Katz, Chris Taylor - -Copyright : Copyright 2014 Oculus VR, LLC All Rights reserved. - -Licensed under the Oculus VR Rift SDK License Version 3.2 (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-3.2 - -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 Tracking_SensorState_h -#define Tracking_SensorState_h - -#include "Tracking_PoseState.h" -#include "../Kernel/OVR_SharedMemory.h" -#include "../Kernel/OVR_Lockless.h" -#include "../Kernel/OVR_String.h" -#include "../Util/Util_LatencyTest2State.h" -#include "../Sensors/OVR_DeviceConstants.h" - -// CAPI forward declarations. -struct ovrTrackingState_; -typedef struct ovrTrackingState_ ovrTrackingState; -struct ovrPoseStatef_; -typedef struct ovrPoseStatef_ ovrPoseStatef; - -namespace OVR { namespace Tracking { - - -//------------------------------------------------------------------------------------- -// ***** Sensor State -// These values are reported as compatible with C API. - -// Bit flags describing the current status of sensor tracking. -enum StatusBits -{ - // Tracked bits: Toggled by SensorFusion - Status_OrientationTracked = 0x0001, // Orientation is currently tracked (connected and in use) - Status_PositionTracked = 0x0002, // Position is currently tracked (false if out of range) - Status_CameraPoseTracked = 0x0004, // Camera pose is currently tracked - - // Connected bits: Toggled by TrackingManager - Status_PositionConnected = 0x0020, // Position tracking HW is connected - Status_HMDConnected = 0x0080, // HMD is available & connected - - // Masks - Status_AllMask = 0xffff, - Status_TrackingMask = Status_PositionTracked | Status_OrientationTracked | Status_CameraPoseTracked, - Status_ConnectedMask = Status_PositionConnected | Status_HMDConnected, -}; - - -// Full state of of the sensor reported by GetSensorState() at a given absolute time. -class TrackingState -{ -public: - TrackingState() : HeadPose(), CameraPose(), LeveledCameraPose(), RawSensorData(), StatusFlags(0), LastVisionProcessingTime(0.0) { } - - // C-interop support - TrackingState(const ovrTrackingState& s); - operator ovrTrackingState () const; - - // HMD pose information for the requested time. - PoseStatef HeadPose; - - // Orientation and position of the external camera, if present. - Posef CameraPose; - // Orientation and position of the camera after alignment with gravity - Posef LeveledCameraPose; - - // Most recent sensor data received from the HMD - SensorDataType RawSensorData; - - // Sensor status described by ovrStatusBits. - uint32_t StatusFlags; - - //// 0.4.1 - - // Measures the time from receiving the camera frame until vision CPU processing completes. - double LastVisionProcessingTime; - - //// 0.4.3 - - // Measures the time from exposure until the pose is available for the frame, including processing time. - double LastVisionFrameLatency; - - // Tag the vision processing results to a certain frame counter number. - uint32_t LastCameraFrameCounter; -}; - - -// ----------------------------------------------- - -#pragma pack(push, 8) - -struct LocklessSensorStatePadding; - -// State version stored in lockless updater "queue" and used for -// prediction by GetPoseAtTime/GetSensorStateAtTime -struct LocklessSensorState -{ - PoseState<double> WorldFromImu; - SensorDataType RawSensorData; - Pose<double> WorldFromCamera; - uint32_t StatusFlags; - uint32_t _PAD_0_; - - // ImuFromCpf for HMD pose tracking - Posed ImuFromCpf; - - // Performance logging - double LastVisionProcessingTime; - double LastVisionFrameLatency; - uint32_t LastCameraFrameCounter; - uint32_t _PAD_1_; - - // Initialized to invalid state - LocklessSensorState() : - WorldFromImu() - , RawSensorData() - , WorldFromCamera() - , StatusFlags(0) - , _PAD_0_(0) // This assignment should be irrelevant, but it quells static/runtime analysis complaints. - , ImuFromCpf() - , LastVisionProcessingTime(0.0) - , LastVisionFrameLatency(0.0) - , LastCameraFrameCounter(0) - , _PAD_1_(0) // " - { - } - - LocklessSensorState& operator = (const LocklessSensorStatePadding& rhs); -}; - -static_assert((sizeof(LocklessSensorState) == sizeof(PoseState<double>) + sizeof(SensorDataType) + sizeof(Pose<double>) + 2*sizeof(uint32_t) + sizeof(Posed) + sizeof(double)*2 + sizeof(uint32_t)*2), "sizeof(LocklessSensorState) failure"); - -// Padded out version stored in the updater slots -// Designed to be a larger fixed size to allow the data to grow in the future -// without breaking older compiled code. -struct LocklessSensorStatePadding -{ - uint64_t words[64]; - - static const int DataWords = (sizeof(LocklessSensorState) + sizeof(uint64_t) - 1) / sizeof(uint64_t); - - // Just copy the low data words - inline LocklessSensorStatePadding& operator=(const LocklessSensorState& rhs) - { - const uint64_t* src = (const uint64_t*)&rhs; - - // if this fires off, then increase words' array size - OVR_ASSERT(sizeof(words) > sizeof(LocklessSensorState)); - - for (int i = 0; i < DataWords; ++i) - { - words[i] = src[i]; - } - - return *this; - } -}; - -// Just copy the low data words -inline LocklessSensorState& LocklessSensorState::operator = (const LocklessSensorStatePadding& rhs) -{ - uint64_t* dest = (uint64_t*)this; - - for (int i = 0; i < LocklessSensorStatePadding::DataWords; ++i) - { - dest[i] = rhs.words[i]; - } - - return *this; -} - -#pragma pack(pop) - -// A lockless updater for sensor state -typedef LocklessUpdater<LocklessSensorState, LocklessSensorStatePadding> SensorStateUpdater; - - -//// Combined state - -struct CombinedSharedStateUpdater -{ - SensorStateUpdater SharedSensorState; - Util::LockessRecordUpdater SharedLatencyTestState; -}; - -typedef SharedObjectWriter< CombinedSharedStateUpdater > CombinedSharedStateWriter; -typedef SharedObjectReader< CombinedSharedStateUpdater > CombinedSharedStateReader; - - -}} // namespace OVR::Tracking - -#endif |