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Formatting and arrays #74

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Formatting and arrays #74

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cc8a54b
Fixed "iteration 3 invokes undefined behavior"
Dudecake Jan 25, 2021
f4ff699
Changed c-arrays of atomics to std::arrays
Dudecake Jan 25, 2021
a8f6e0d
Changed `quat` in struct `pak` to a `float[4]`
Dudecake Feb 3, 2021
2386e2d
Update Relativty_HMDDriver.cpp
Dudecake Feb 3, 2021
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6 changes: 3 additions & 3 deletions Relativty_Driver/include/Relativty_EmbeddedPython.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
Expand All @@ -14,6 +14,6 @@
// along with this program. If not, see <https://www.gnu.org/licenses/>.

#pragma once
#pragma warning(disable:4996)
#pragma warning(disable : 4996)

void startPythonTrackingClient_threaded(std::string PyPath);
void startPythonTrackingClient_threaded(std::string PyPath);
29 changes: 16 additions & 13 deletions Relativty_Driver/include/Relativty_HMDDriver.hpp
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Expand Up @@ -5,7 +5,7 @@
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
Expand All @@ -14,20 +14,21 @@
// along with this program. If not, see <https://www.gnu.org/licenses/>.

#pragma once
#include <thread>

#include <atomic>
#include <array>
#include <thread>
#include <shared_mutex>
#include <WinSock2.h>
#include "hidapi/hidapi.h"
#include "openvr_driver.h"
#include "Relativty_components.h"
#include "Relativty_base_device.h"

namespace Relativty {
class HMDDriver : public RelativtyDevice<false>
{
class HMDDriver : public RelativtyDevice<false> {
public:
HMDDriver(std::string myserial);
~HMDDriver() = default;
HMDDriver(const std::string &myserial);

void frameUpdate();
inline void setProperties();
Expand All @@ -48,21 +49,23 @@ namespace Relativty {
float HeadToEyeDepth;

vr::DriverPose_t lastPose = {0};
hid_device* handle;
hid_device *handle;

std::atomic<float> quat[4];
std::shared_timed_mutex quatMutex;
std::array<float, 4> quat = { 0.0f, 0.0f, 0.0f, 0.0f };
std::atomic<bool> retrieve_quaternion_isOn = false;
std::atomic<bool> new_quaternion_avaiable = false;
std::atomic<bool> new_quaternion_available = false;

std::atomic<float> qconj[4] = {1, 0, 0, 0};
std::array<float, 4> qconj = { 1.0f, 0.0f, 0.0f, 0.0f };
void calibrate_quaternion();

std::thread retrieve_quaternion_thread_worker;
void retrieve_device_quaternion_packet_threaded();

std::atomic<float> vector_xyz[3];
std::shared_timed_mutex vectorMutex;
std::array<float, 3> vector_xyz = { 0.0f, 0.0f, 0.0f };
std::atomic<bool> retrieve_vector_isOn = false;
std::atomic<bool> new_vector_avaiable = false;
std::atomic<bool> new_vector_available = false;
bool start_tracking_server = false;
SOCKET sock, sock_receive;
float upperBound;
Expand Down Expand Up @@ -94,4 +97,4 @@ namespace Relativty {
std::string PyPath;
std::thread startPythonTrackingClient_worker;
};
}
} // namespace Relativty
19 changes: 9 additions & 10 deletions Relativty_Driver/include/Relativty_ServerDriver.hpp
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Expand Up @@ -5,37 +5,36 @@
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.

#pragma once
#ifndef RELATIVTY_SERVERDRIVER_H
#define RELATIVTY_SERVERDRIVER_H

#include "openvr_driver.h"
#include "Relativty_HMDDriver.hpp"

namespace Relativty {
class ServerDriver : public vr::IServerTrackedDeviceProvider
{
class ServerDriver : public vr::IServerTrackedDeviceProvider {
public:
virtual vr::EVRInitError Init(vr::IVRDriverContext* DriverContext) override;
virtual vr::EVRInitError Init(vr::IVRDriverContext *DriverContext) override;
virtual void Cleanup() override;
virtual const char* const* GetInterfaceVersions() override;
virtual const char *const *GetInterfaceVersions() override;
virtual void RunFrame() override;
virtual bool ShouldBlockStandbyMode() override;
virtual void EnterStandby() override;
virtual void LeaveStandby() override;

static void Log(std::string log);
static void Log(const std::string &log);

private:
HMDDriver* HMDDriver = nullptr;
HMDDriver *m_HMDDriver = nullptr;
};
}
} // namespace Relativty

#endif // RELATIVTY_SERVERDRIVER_H
#endif // RELATIVTY_SERVERDRIVER_H
94 changes: 44 additions & 50 deletions Relativty_Driver/include/Relativty_base_device.h
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Original file line number Diff line number Diff line change
@@ -1,46 +1,43 @@
#pragma once
// Copyright (C) 2020 Max Coutte, Gabriel Combe
// Copyright (C) 2020 Relativty.com
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.

#ifndef VR_DEVICE_BASE_H
#define VR_DEVICE_BASE_H

#include "driverlog.h"


#include "Relativty_components.h"

namespace Relativty {
inline vr::HmdQuaternion_t HmdQuaternion_Init(double w, double x, double y,
double z) {
vr::HmdQuaternion_t quat;
quat.w = w;
quat.x = x;
quat.y = y;
quat.z = z;
return quat;
}

static const char *const k_pch_Driver_Section = "driver_Relativty";
static const char *const k_pch_Driver_PoseTimeOffset_Float = "PoseTimeOffset";
static const char *const k_pch_Driver_UpdateUrl_String = "ManualUpdateURL";

// for now this will never signal for updates, this same function will be executed for all derived device classes on Activate
// for now this will never signal for updates, this same function will be executed for all derived device classes on Activate
// you can implement your own version/update check here
inline bool _checkForDeviceUpdates(std::string deviceSerial) {
return false; // true steamvr will signal an update, false not
}

// should be publicly inherited
template<bool UseHaptics>
class RelativtyDevice: public vr::ITrackedDeviceServerDriver {
template <bool UseHaptics>
class RelativtyDevice : public vr::ITrackedDeviceServerDriver {
public:
RelativtyDevice(std::string myserial, std::string deviceBreed): m_sSerialNumber(myserial) {
RelativtyDevice(const std::string &myserial, const std::string &deviceBreed) : m_unObjectId(vr::k_unTrackedDeviceIndexInvalid), m_ulPropertyContainer(vr::k_ulInvalidPropertyContainer), m_sSerialNumber(myserial), m_sModelNumber(deviceBreed + myserial) {
// boilerplate

m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer;

m_sModelNumber = deviceBreed + m_sSerialNumber;

m_fPoseTimeOffset = vr::VRSettings()->GetFloat(k_pch_Driver_Section, k_pch_Driver_PoseTimeOffset_Float);
char buff[1024];
vr::VRSettings()->GetString(k_pch_Driver_Section, k_pch_Driver_UpdateUrl_String, buff, sizeof(buff));
Expand All @@ -55,18 +52,17 @@ namespace Relativty {
m_Pose.poseTimeOffset = (double)m_fPoseTimeOffset;
m_Pose.poseIsValid = true;
m_Pose.deviceIsConnected = true;
m_Pose.qWorldFromDriverRotation = HmdQuaternion_Init(1, 0, 0, 0);
m_Pose.qDriverFromHeadRotation = HmdQuaternion_Init(1, 0, 0, 0);
m_Pose.qRotation = HmdQuaternion_Init(1, 0, 0, 0);
m_Pose.qWorldFromDriverRotation = {1, 0, 0, 0};
m_Pose.qDriverFromHeadRotation = {1, 0, 0, 0};
m_Pose.qRotation = {1, 0, 0, 0};
m_Pose.vecPosition[0] = 0.;
m_Pose.vecPosition[1] = 0.;
m_Pose.vecPosition[2] = 0.;
m_Pose.willDriftInYaw = true;
}

~RelativtyDevice(){
virtual ~RelativtyDevice() {
DriverLog("device with serial %s yeeted out of existence\n", m_sSerialNumber.c_str());

}

virtual vr::EVRInitError Activate(vr::TrackedDeviceIndex_t unObjectId) {
Expand All @@ -93,18 +89,18 @@ namespace Relativty {
DriverLog("device render model: \"%s\"\n", m_sRenderModelPath.c_str());
DriverLog("device input binding: \"%s\"\n", m_sBindPath.c_str());

if constexpr(UseHaptics) {
if constexpr (UseHaptics) {
DriverLog("device haptics added\n");
vr::VRDriverInput()->CreateHapticComponent(m_ulPropertyContainer,
"/output/haptic", &m_compHaptic);
"/output/haptic", &m_compHaptic);
}

vr::VRProperties()->SetBoolProperty(
m_ulPropertyContainer, vr::Prop_Identifiable_Bool, UseHaptics);

vr::VRProperties()->SetStringProperty(
m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdateURL_String,
m_sUpdateUrl.c_str());
m_ulPropertyContainer, vr::Prop_Firmware_ManualUpdateURL_String,
m_sUpdateUrl.c_str());

bool shouldUpdate = _checkForDeviceUpdates(m_sSerialNumber);

Expand All @@ -116,7 +112,6 @@ namespace Relativty {
vr::VRProperties()->SetBoolProperty(m_ulPropertyContainer,
vr::Prop_Firmware_ManualUpdate_Bool, shouldUpdate);


return vr::VRInitError_None;
}

Expand All @@ -130,7 +125,7 @@ namespace Relativty {

virtual void PowerOff() {}

// debug request from the client, TODO: uh... actually implement this?
// debug request from the client, TODO: uh... actually implement this?
virtual void DebugRequest(const char *pchRequest, char *pchResponseBuffer,
uint32_t unResponseBufferSize) {
DriverLog("device serial \"%s\", got debug request: \"%s\"", m_sSerialNumber.c_str(), pchRequest);
Expand All @@ -143,7 +138,7 @@ namespace Relativty {
void *GetComponent(const char *pchComponentNameAndVersion) {
// don't touch this
DriverLog("device serial \"%s\", got request for \"%s\" component\n", m_sSerialNumber.c_str(), pchComponentNameAndVersion);
if (!_stricmp(pchComponentNameAndVersion, vr::IVRDisplayComponent_Version) && m_spExtDisplayComp != nullptr){
if (!_stricmp(pchComponentNameAndVersion, vr::IVRDisplayComponent_Version) && m_spExtDisplayComp != nullptr) {
DriverLog("component found, responding...\n");
return m_spExtDisplayComp.get();
}
Expand All @@ -156,42 +151,41 @@ namespace Relativty {

// processes events, reacts to haptics only
void ProcessEvent(const vr::VREvent_t &vrEvent) {
if constexpr(UseHaptics)
{
if constexpr (UseHaptics) {
switch (vrEvent.eventType) {
case vr::VREvent_Input_HapticVibration: {
if (vrEvent.data.hapticVibration.componentHandle == m_compHaptic) {
// haptic!
DriverLog("%s haptic event: %f, %f, %f\n", m_sSerialNumber, vrEvent.data.hapticVibration.fDurationSeconds,
vrEvent.data.hapticVibration.fFrequency, vrEvent.data.hapticVibration.fAmplitude);
}
} break;
case vr::VREvent_Input_HapticVibration: {
if (vrEvent.data.hapticVibration.componentHandle == m_compHaptic) {
// haptic!
DriverLog("%s haptic event: %f, %f, %f\n", m_sSerialNumber, vrEvent.data.hapticVibration.fDurationSeconds,
vrEvent.data.hapticVibration.fFrequency, vrEvent.data.hapticVibration.fAmplitude);
}
}
break;
}
}
}

protected:
// openvr api stuff
vr::TrackedDeviceIndex_t m_unObjectId; // DO NOT TOUCH THIS, parent will handle this, use it as read only!
vr::TrackedDeviceIndex_t m_unObjectId; // DO NOT TOUCH THIS, parent will handle this, use it as read only!
vr::PropertyContainerHandle_t m_ulPropertyContainer; // THIS EITHER, use it as read only!


std::string m_sRenderModelPath; // path to the device's render model, should be populated in the constructor of the derived class
std::string m_sBindPath; // path to the device's input bindings, should be populated in the constructor of the derived class
std::string m_sBindPath; // path to the device's input bindings, should be populated in the constructor of the derived class

vr::DriverPose_t m_Pose; // device's pose, use this at runtime

std::shared_ptr<RelativtyExtendedDisplayComponent> m_spExtDisplayComp;

private:
// openvr api stuff that i don't trust you with
float m_fPoseTimeOffset; // time offset of the pose, set trough the config
float m_fPoseTimeOffset; // time offset of the pose, set trough the config
vr::VRInputComponentHandle_t m_compHaptic; // haptics, used if UseHaptics is true

std::string m_sUpdateUrl; // url to which steamvr will redirect if checkForDeviceUpdates returns true on Activate, set trough the config
std::string m_sUpdateUrl; // url to which steamvr will redirect if checkForDeviceUpdates returns true on Activate, set trough the config
std::string m_sSerialNumber; // steamvr uses this to identify devices, no need for you to touch this after init
std::string m_sModelNumber; // steamvr uses this to identify devices, no need for you to touch this after init
std::string m_sModelNumber; // steamvr uses this to identify devices, no need for you to touch this after init
};
}
} // namespace Relativty

#endif // VR_DEVICE_BASE_H
#endif // VR_DEVICE_BASE_H
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