d/ns: Add North Star stub driver

CMakeLists.txt

@@ -80,6 +80,7 @@ cmake_dependent_option(BUILD_WITH_SDL2 "Enable SDL2 based test application" ON "
 option(BUILD_WITH_HDK "Enable HDK driver" ON)
 option(BUILD_WITH_PSMV "Enable Playstation Move driver" ON)
 option(BUILD_WITH_HYDRA "Enable Hydra driver" ON)
+option(BUILD_WITH_NS "Enable North Star driver" ON)
 
 ###
 # Flags
@@ -139,6 +140,10 @@ if(BUILD_WITH_OPENHMD)
 	set(BUILD_DRIVER_OHMD TRUE)
 endif()
 
+if(BUILD_WITH_NS)
+	set(BUILD_DRIVER_NS TRUE)
+endif()
+
 if(BUILD_WITH_PSVR)
 	if (NOT ${HIDAPI_FOUND})
 		message(FATAL_ERROR "PSVR driver requires hidapi")

meson.build

@@ -131,6 +131,9 @@ drivers = get_option('drivers')
 if 'ohmd' in drivers
 	openhmd_required = true
 endif
+if 'ns' in drivers
+	ns_required = true
+endif
 if 'psvr' in drivers
 	hidapi_required = true
 endif
@@ -146,6 +149,12 @@ openhmd = dependency('openhmd', required: openhmd_required)
 hidapi  = dependency('hidapi-libusb', required: hidapi_required)
 v4l2    = dependency('libv4l2', required: v4l2_required)
 
+if 'auto' in drivers or 'ns' in drivers
+	if 'ns' not in drivers
+		drivers += ['ns']
+	endif
+endif
+
 if openhmd.found() and ('auto' in drivers or 'ohmd' in drivers)
 	if 'ohmd' not in drivers
 		drivers += ['ohmd']

meson_options.txt

@@ -3,7 +3,7 @@
 
 option('drivers',
 	type: 'array',
-	choices: ['auto', 'dummy', 'hdk', 'hydra', 'ohmd', 'psmv', 'psvr', 'v4l2', 'vive'],
+	choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'v4l2', 'vive'],
 	value: ['auto'],
 	description: 'Set of drivers to build')
 

src/CMakeLists.txt

@@ -18,6 +18,10 @@ if(BUILD_DRIVER_HYDRA)
 	set(XRT_BUILD_DRIVER_HYDRA TRUE)
 endif()
 
+if(BUILD_DRIVER_NS)
+	set(XRT_BUILD_DRIVER_NS TRUE)
+endif()
+
 if(BUILD_DRIVER_OHMD)
 	set(XRT_BUILD_DRIVER_OHMD TRUE)
 endif()

src/meson.build

@@ -6,6 +6,7 @@ conf_data.set('XRT_BUILD_TRACKING', build_tracking)
 conf_data.set('XRT_BUILD_DRIVER_DUMMY', 'dummy' in drivers)
 conf_data.set('XRT_BUILD_DRIVER_HDK', 'hdk' in drivers)
 conf_data.set('XRT_BUILD_DRIVER_HYDRA', 'hydra' in drivers)
+conf_data.set('XRT_BUILD_DRIVER_NS', 'ns' in drivers)
 conf_data.set('XRT_BUILD_DRIVER_OHMD', 'ohmd' in drivers)
 conf_data.set('XRT_BUILD_DRIVER_PSMV', 'psmv' in drivers)
 conf_data.set('XRT_BUILD_DRIVER_PSVR', 'psvr' in drivers)

src/targets_enabled_drivers.h.cmake_in

@@ -15,6 +15,8 @@
 
 #cmakedefine XRT_BUILD_DRIVER_HYDRA
 
+#cmakedefine XRT_BUILD_DRIVER_NS
+
 #cmakedefine XRT_BUILD_DRIVER_OHMD
 
 #cmakedefine XRT_BUILD_DRIVER_PSMV

src/targets_enabled_drivers.h.meson_in

@@ -15,6 +15,8 @@
 
 #mesondefine XRT_BUILD_DRIVER_HYDRA
 
+#mesondefine XRT_BUILD_DRIVER_NS
+
 #mesondefine XRT_BUILD_DRIVER_OHMD
 
 #mesondefine XRT_BUILD_DRIVER_PSMV

src/xrt/drivers/CMakeLists.txt

@@ -48,6 +48,18 @@ if(BUILD_DRIVER_HYDRA)
 	list(APPEND ENABLED_DRIVERS hydra)
 endif()
 
+if(BUILD_DRIVER_NS)
+	set(NS_SOURCE_FILES
+		north_star/ns_hmd.c
+		north_star/ns_interface.h
+		north_star/ns_prober.c
+		)
+
+	# Use OBJECT to not create a archive, since it just gets in the way.
+	add_library(drv_ns OBJECT ${NS_SOURCE_FILES})
+	list(APPEND ENABLED_HEADSET_DRIVERS ns)
+endif()
+
 if(BUILD_DRIVER_OHMD)
 	set(OHMD_SOURCE_FILES
 		ohmd/oh_device.c

src/xrt/drivers/meson.build

@@ -39,6 +39,18 @@ lib_drv_hydra = static_library(
 	build_by_default: 'hydra' in drivers,
 )
 
+lib_drv_ns = static_library(
+	'drv_ns',
+	files(
+		'north_star/ns_hmd.c',
+		'north_star/ns_interface.h',
+		'north_star/ns_prober.c',
+	),
+	include_directories: xrt_include,
+	dependencies: [aux],
+	build_by_default: 'ns' in drivers,
+)
+
 lib_drv_ohmd = static_library(
 	'drv_ohmd',
 	files(

src/xrt/drivers/north_star/ns_hmd.c

+// Copyright 2020, Collabora, Ltd.
+// Copyright 2020, Nova King.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  North Star HMD code.
+ * @author Nova King <technobaboo@gmail.com>
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup drv_ns
+ */
+
+
+#include <math.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include "math/m_api.h"
+#include "xrt/xrt_device.h"
+#include "util/u_var.h"
+#include "util/u_misc.h"
+#include "util/u_debug.h"
+#include "util/u_device.h"
+#include "util/u_time.h"
+#include "util/u_distortion_mesh.h"
+
+/*
+ *
+ * Structs and defines.
+ *
+ */
+
+struct ns_hmd
+{
+	struct xrt_device base;
+
+	struct xrt_pose pose;
+
+	bool print_spew;
+	bool print_debug;
+};
+
+
+/*
+ *
+ * Functions
+ *
+ */
+
+static inline struct ns_hmd *
+ns_hmd(struct xrt_device *xdev)
+{
+	return (struct ns_hmd *)xdev;
+}
+
+#define NS_SPEW(c, ...)                                                        \
+	do {                                                                   \
+		if (c->print_spew) {                                           \
+			fprintf(stderr, "%s - ", __func__);                    \
+			fprintf(stderr, __VA_ARGS__);                          \
+			fprintf(stderr, "\n");                                 \
+		}                                                              \
+	} while (false)
+
+#define NS_DEBUG(c, ...)                                                       \
+	do {                                                                   \
+		if (c->print_debug) {                                          \
+			fprintf(stderr, "%s - ", __func__);                    \
+			fprintf(stderr, __VA_ARGS__);                          \
+			fprintf(stderr, "\n");                                 \
+		}                                                              \
+	} while (false)
+
+#define NS_ERROR(c, ...)                                                       \
+	do {                                                                   \
+		fprintf(stderr, "%s - ", __func__);                            \
+		fprintf(stderr, __VA_ARGS__);                                  \
+		fprintf(stderr, "\n");                                         \
+	} while (false)
+
+static void
+ns_hmd_destroy(struct xrt_device *xdev)
+{
+	struct ns_hmd *ns = ns_hmd(xdev);
+
+	// Remove the variable tracking.
+	u_var_remove_root(ns);
+
+	u_device_free(&ns->base);
+}
+
+static void
+ns_hmd_update_inputs(struct xrt_device *xdev, struct time_state *timekeeping)
+{
+	// Empty
+}
+
+static void
+ns_hmd_get_tracked_pose(struct xrt_device *xdev,
+                        enum xrt_input_name name,
+                        struct time_state *timekeeping,
+                        int64_t *out_timestamp,
+                        struct xrt_space_relation *out_relation)
+{
+	struct ns_hmd *ns = ns_hmd(xdev);
+
+	if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
+		NS_ERROR(ns, "unknown input name");
+		return;
+	}
+
+	int64_t now = time_state_get_now(timekeeping);
+
+	*out_timestamp = now;
+	out_relation->pose = ns->pose;
+	out_relation->relation_flags = (enum xrt_space_relation_flags)(
+	    XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
+	    XRT_SPACE_RELATION_POSITION_VALID_BIT);
+}
+
+static void
+ns_hmd_get_view_pose(struct xrt_device *xdev,
+                     struct xrt_vec3 *eye_relation,
+                     uint32_t view_index,
+                     struct xrt_pose *out_pose)
+{
+	struct xrt_pose pose = {{0.0f, 0.0f, 0.0f, 1.0f}, {0.0f, 0.0f, 0.0f}};
+	bool adjust = view_index == 0;
+
+	pose.position.x = eye_relation->x / 2.0f;
+	pose.position.y = eye_relation->y / 2.0f;
+	pose.position.z = eye_relation->z / 2.0f;
+
+	// Adjust for left/right while also making sure there aren't any -0.f.
+	if (pose.position.x > 0.0f && adjust) {
+		pose.position.x = -pose.position.x;
+	}
+	if (pose.position.y > 0.0f && adjust) {
+		pose.position.y = -pose.position.y;
+	}
+	if (pose.position.z > 0.0f && adjust) {
+		pose.position.z = -pose.position.z;
+	}
+
+	*out_pose = pose;
+}
+
+struct xrt_device *
+ns_hmd_create(bool print_spew, bool print_debug)
+{
+	enum u_device_alloc_flags flags = (enum u_device_alloc_flags)(
+	    U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
+	struct ns_hmd *ns = U_DEVICE_ALLOCATE(struct ns_hmd, flags, 1, 0);
+	ns->base.update_inputs = ns_hmd_update_inputs;
+	ns->base.get_tracked_pose = ns_hmd_get_tracked_pose;
+	ns->base.get_view_pose = ns_hmd_get_view_pose;
+	ns->base.destroy = ns_hmd_destroy;
+	ns->base.name = XRT_DEVICE_GENERIC_HMD;
+	ns->pose.orientation.w = 1.0f; // All other values set to zero.
+	ns->print_spew = print_spew;
+	ns->print_debug = print_debug;
+
+	// Print name.
+	snprintf(ns->base.str, XRT_DEVICE_NAME_LEN, "North Star");
+
+	// Setup input.
+	ns->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
+
+	// Setup info.
+	struct u_device_simple_info info;
+	info.display.w_pixels = 1920;
+	info.display.h_pixels = 1080;
+	info.display.w_meters = 0.13f;
+	info.display.h_meters = 0.07f;
+	info.lens_horizontal_separation_meters = 0.13f / 2.0f;
+	info.lens_vertical_position_meters = 0.07f / 2.0f;
+	info.views[0].fov = 85.0f * (M_PI / 180.0f);
+	info.views[1].fov = 85.0f * (M_PI / 180.0f);
+
+	if (!u_device_setup_split_side_by_side(&ns->base, &info)) {
+		NS_ERROR(ns, "Failed to setup basic device info");
+		ns_hmd_destroy(&ns->base);
+		return NULL;
+	}
+
+	// Setup variable tracker.
+	u_var_add_root(ns, "North Star", true);
+	u_var_add_pose(ns, &ns->pose, "pose");
+
+	if (ns->base.hmd->distortion.preferred == XRT_DISTORTION_MODEL_NONE) {
+		// Setup the distortion mesh.
+		u_distortion_mesh_none(ns->base.hmd);
+	}
+
+	return &ns->base;
+}

src/xrt/drivers/north_star/ns_interface.h

+// Copyright 2019, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Interface to North Star driver code.
+ * @author Nova King <technobaboo@gmail.com>
+ * @ingroup drv_ns
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*!
+ * @defgroup drv_ns North Star Driver
+ * @ingroup drv
+ *
+ * @brief Driver for the North Star HMD.
+ */
+
+
+/*!
+ * Create a probe for NS devices.
+ *
+ * @ingroup drv_ns
+ */
+struct xrt_auto_prober *
+ns_create_auto_prober(void);
+
+/*!
+ * Create a North Star hmd.
+ *
+ * @ingroup drv_ns
+ */
+struct xrt_device *
+ns_hmd_create(bool print_spew, bool print_debug);
+
+/*!
+ * @dir drivers/ns
+ *
+ * @brief @ref drv_ns files.
+ */
+
+
+#ifdef __cplusplus
+}
+#endif

src/xrt/drivers/north_star/ns_prober.c

+// Copyright 2019, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  North Star prober code.
+ * @author Nova King <technobaboo@gmail.com>
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup drv_ns
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "xrt/xrt_prober.h"
+
+#include "util/u_misc.h"
+#include "util/u_debug.h"
+
+#include "ns_interface.h"
+
+
+DEBUG_GET_ONCE_BOOL_OPTION(ns_spew, "NS_PRINT_SPEW", false)
+DEBUG_GET_ONCE_BOOL_OPTION(ns_debug, "NS_PRINT_DEBUG", false)
+
+struct ns_prober
+{
+	struct xrt_auto_prober base;
+	bool print_spew;
+	bool print_debug;
+};
+
+static inline struct ns_prober *
+ns_prober(struct xrt_auto_prober *p)
+{
+	return (struct ns_prober *)p;
+}
+
+static void
+ns_prober_destroy(struct xrt_auto_prober *p)
+{
+	struct ns_prober *nsp = ns_prober(p);
+
+	free(nsp);
+}
+
+static struct xrt_device *
+ns_prober_autoprobe(struct xrt_auto_prober *xap,
+                    bool no_hmds,
+                    struct xrt_prober *xp)
+{
+	struct ns_prober *nsp = ns_prober(xap);
+
+	if (no_hmds) {
+		return NULL;
+	}
+
+	return ns_hmd_create(nsp->print_spew, nsp->print_debug);
+}
+
+struct xrt_auto_prober *
+ns_create_auto_prober()
+{
+	struct ns_prober *nsp = U_TYPED_CALLOC(struct ns_prober);
+	nsp->base.destroy = ns_prober_destroy;
+	nsp->base.lelo_dallas_autoprobe = ns_prober_autoprobe;
+	nsp->print_spew = debug_get_bool_option_ns_spew();
+	nsp->print_debug = debug_get_bool_option_ns_debug();
+
+	return &nsp->base;
+}

src/xrt/targets/CMakeLists.txt

@@ -33,6 +33,10 @@ if(BUILD_DRIVER_HYDRA)
 	list(APPEND DRIVER_OBJECTS $<TARGET_OBJECTS:drv_hydra>)
 endif()
 
+if(BUILD_DRIVER_NS)
+	list(APPEND DRIVER_OBJECTS $<TARGET_OBJECTS:drv_ns>)
+endif()
+
 if(BUILD_DRIVER_OHMD)
 	list(APPEND DRIVER_OBJECTS $<TARGET_OBJECTS:drv_ohmd>)
 	list(APPEND DRIVER_LIBRARIES OpenHMD::OpenHMD)

src/xrt/targets/common/target_lists.c

@@ -22,6 +22,10 @@
 #include "ohmd/oh_interface.h"
 #endif
 
+#ifdef XRT_BUILD_DRIVER_NS
+#include "north_star/ns_interface.h"
+#endif
+
 #ifdef XRT_BUILD_DRIVER_PSMV
 #include "psmv/psmv_interface.h"
 #endif
@@ -89,10 +93,15 @@ xrt_auto_prober_creator target_auto_list[] = {
 #endif
 
 #ifdef XRT_BUILD_DRIVER_OHMD
-    // OpenHMD second last as we want to override it with native drivers.
+    // OpenHMD almost as the end as we want to override it with native drivers.
     oh_create_auto_prober,
 #endif
 
+#ifdef XRT_BUILD_DRIVER_NS
+    // North star driver here for now.
+    ns_create_auto_prober,
+#endif
+
 #ifdef XRT_BUILD_DRIVER_DUMMY
     // Dummy headset driver last.
     dummy_create_auto_prober,

src/xrt/targets/meson.build

@@ -24,6 +24,10 @@ if 'hydra' in drivers
 	driver_libs += [lib_drv_hydra]
 endif
 
+if 'ns' in drivers
+	driver_libs += [lib_drv_ns]
+endif
+
 if 'ohmd' in drivers
 	driver_libs += [lib_drv_ohmd]
 endif