Commit a71de192 authored by Jae Lee's avatar Jae Lee Committed by Jakob Bornecrantz
Browse files

illixr: Add initial integration.

parent 15320d9e
......@@ -156,6 +156,9 @@ endif()
# Most users won't touch these.
mark_as_advanced(XRT_FEATURE_COMPOSITOR_MAIN XRT_FEATURE_OPENXR)
# ILLIXR
set(ILLIXR_PATH "" CACHE PATH "Path to ILLIXR headers")
if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
set(XRT_HAVE_LIBUDEV ON)
set(XRT_HAVE_INTERNAL_HID ON)
......@@ -178,6 +181,7 @@ cmake_dependent_option(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" ON "OPENHMD
cmake_dependent_option(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" ON "XRT_HAVE_V4L2" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" ON "XRT_HAVE_DBUS" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" ON "XRT_HAVE_DBUS" OFF)
cmake_dependent_option(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" ON "ILLIXR_PATH" OFF)
option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
cmake_dependent_option(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" ON "XRT_HAVE_LINUX OR ANDROID" OFF)
......@@ -195,7 +199,7 @@ cmake_dependent_option(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver"
# You can set this from a superproject to add a driver
# All drivers must be listed in here to be included in the generated header!
list(APPEND AVAILABLE_DRIVERS "ANDROID" ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE HANDTRACKING)
list(APPEND AVAILABLE_DRIVERS "ANDROID" ARDUINO DUMMY HDK HYDRA NS OHMD PSMV PSVR RS V4L2 VIVE DAYDREAM REMOTE SURVIVE HANDTRACKING ILLIXR)
# Package name needs to be known by the native code itself.
......@@ -315,6 +319,7 @@ message(STATUS "# DRIVER_DAYDREAM: ${XRT_BUILD_DRIVER_DAYDREAM}")
message(STATUS "# DRIVER_DUMMY: ${XRT_BUILD_DRIVER_DUMMY}")
message(STATUS "# DRIVER_HDK: ${XRT_BUILD_DRIVER_HDK}")
message(STATUS "# DRIVER_HYDRA: ${XRT_BUILD_DRIVER_HYDRA}")
message(STATUS "# DRIVER_ILLIXR: ${XRT_BUILD_DRIVER_ILLIXR}")
message(STATUS "# DRIVER_NS: ${XRT_BUILD_DRIVER_NS}")
message(STATUS "# DRIVER_OHMD: ${XRT_BUILD_DRIVER_OHMD}")
message(STATUS "# DRIVER_HANDTRACKING: ${XRT_BUILD_DRIVER_HANDTRACKING}")
......
......@@ -231,6 +231,22 @@ if(XRT_BUILD_DRIVER_ANDROID)
list(APPEND ENABLED_DRIVERS android)
endif()
if (XRT_BUILD_DRIVER_ILLIXR)
set(ILLIXR_SOURCE_FILES
illixr/illixr_device.cpp
illixr/illixr_interface.h
illixr/illixr_prober.c
illixr/illixr_component.cpp
illixr/illixr_component.h
)
add_library(drv_illixr STATIC ${ILLIXR_SOURCE_FILES})
target_link_libraries(drv_illixr PUBLIC ${CMAKE_DL_LIBS} xrt-interfaces aux_util aux_os)
target_include_directories(drv_illixr PUBLIC ${ILLIXR_PATH})
target_compile_options(drv_illixr PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-std=c++17>)
list(APPEND ENABLED_HEADSET_DRIVERS illixr)
endif()
if(ENABLED_HEADSET_DRIVERS)
set(ENABLED_DRIVERS ${ENABLED_HEADSET_DRIVERS} ${ENABLED_DRIVERS})
list(SORT ENABLED_DRIVERS)
......@@ -238,4 +254,4 @@ if(ENABLED_HEADSET_DRIVERS)
message(STATUS "Enabled drivers: ${ENABLED_DRIVERS}")
else()
message(FATAL_ERROR "You must enable at least one headset driver to build Monado.")
endif()
endif()
\ No newline at end of file
// Copyright 2020-2021, The Board of Trustees of the University of Illinois.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief ILLIXR plugin
* @author RSIM Group <illixr@cs.illinois.edu>
* @ingroup drv_illixr
*/
#include "xrt/xrt_device.h"
#include <iostream>
#include "common/plugin.hpp"
#include "common/phonebook.hpp"
#include "common/switchboard.hpp"
#include "common/data_format.hpp"
#include "common/pose_prediction.hpp"
using namespace ILLIXR;
/// Dummy plugin class for an instance during phonebook registration
class illixr_plugin : public plugin
{
public:
illixr_plugin(std::string name_, phonebook *pb_)
: plugin{name_, pb_}, sb{pb->lookup_impl<switchboard>()},
sb_pose{pb->lookup_impl<pose_prediction>()},
sb_eyebuffer{sb->publish<rendered_frame>("eyebuffer")},
sb_vsync_estimate{
sb->subscribe_latest<time_type>("vsync_estimate")}
{}
const std::shared_ptr<switchboard> sb;
const std::shared_ptr<pose_prediction> sb_pose;
const std::unique_ptr<writer<rendered_frame>> sb_eyebuffer;
const std::unique_ptr<reader_latest<time_type>> sb_vsync_estimate;
fast_pose_type prev_pose; /* stores a copy of pose each time
illixr_read_pose() is called */
std::chrono::time_point<std::chrono::system_clock>
sample_time; /* when prev_pose was stored */
};
static illixr_plugin *illixr_plugin_obj = nullptr;
extern "C" plugin *
illixr_monado_create_plugin(phonebook *pb)
{
illixr_plugin_obj = new illixr_plugin{"illixr_plugin", pb};
illixr_plugin_obj->start();
return illixr_plugin_obj;
}
extern "C" struct xrt_pose
illixr_read_pose()
{
assert(illixr_plugin_obj &&
"illixr_plugin_obj must be initialized first.");
if (!illixr_plugin_obj->sb_pose->fast_pose_reliable()) {
std::cerr << "Pose not reliable yet; returning best guess"
<< std::endl;
}
struct xrt_pose ret;
const fast_pose_type fast_pose =
illixr_plugin_obj->sb_pose->get_fast_pose();
const pose_type pose = fast_pose.pose;
// record when the pose was read for use in write_frame
illixr_plugin_obj->sample_time = std::chrono::system_clock::now();
ret.orientation.x = pose.orientation.x();
ret.orientation.y = pose.orientation.y();
ret.orientation.z = pose.orientation.z();
ret.orientation.w = pose.orientation.w();
ret.position.x = pose.position.x();
ret.position.y = pose.position.y();
ret.position.z = pose.position.z();
// store pose in static variable for use in write_frame
illixr_plugin_obj->prev_pose = fast_pose; // copy member variables
return ret;
}
\ No newline at end of file
// Copyright 2020-2021, The Board of Trustees of the University of Illinois.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief ILLIXR plugin
* @author RSIM Group <illixr@cs.illinois.edu>
* @ingroup drv_illixr
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
void *
illixr_monado_create_plugin(void *pb);
struct xrt_pose
illixr_read_pose();
#ifdef __cplusplus
}
#endif
// Copyright 2020-2021, The Board of Trustees of the University of Illinois.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief ILLIXR HMD
* @author RSIM Group <illixr@cs.illinois.edu>
* @ingroup drv_illixr
*/
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <dlfcn.h>
#include <alloca.h>
#include <string>
#include <sstream>
#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"
#include "illixr_component.h"
#include "common/dynamic_lib.hpp"
#include "common/runtime.hpp"
/*
*
* Structs and defines.
*
*/
struct illixr_hmd
{
struct xrt_device base;
struct xrt_pose pose;
bool print_spew;
bool print_debug;
const char *path;
const char *comp;
ILLIXR::dynamic_lib *runtime_lib;
ILLIXR::runtime *runtime;
};
/*
*
* Functions
*
*/
static inline struct illixr_hmd *
illixr_hmd(struct xrt_device *xdev)
{
return (struct illixr_hmd *)xdev;
}
DEBUG_GET_ONCE_BOOL_OPTION(illixr_spew, "ILLIXR_PRINT_SPEW", false)
DEBUG_GET_ONCE_BOOL_OPTION(illixr_debug, "ILLIXR_PRINT_DEBUG", false)
#define DH_SPEW(dh, ...) \
do { \
if (dh->print_spew) { \
fprintf(stderr, "%s - ", __func__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n"); \
} \
} while (false)
#define DH_DEBUG(dh, ...) \
do { \
if (dh->print_debug) { \
fprintf(stderr, "%s - ", __func__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n"); \
} \
} while (false)
#define DH_ERROR(dh, ...) \
do { \
fprintf(stderr, "%s - ", __func__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n"); \
} while (false)
static void
illixr_hmd_destroy(struct xrt_device *xdev)
{
struct illixr_hmd *dh = illixr_hmd(xdev);
dh->runtime->stop();
delete dh->runtime;
delete dh->runtime_lib;
// Remove the variable tracking.
u_var_remove_root(dh);
u_device_free(&dh->base);
}
static void
illixr_hmd_update_inputs(struct xrt_device *xdev)
{
// Empty
}
static void
illixr_hmd_get_tracked_pose(struct xrt_device *xdev,
enum xrt_input_name name,
uint64_t at_timestamp_ns,
struct xrt_space_relation *out_relation)
{
if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
DH_ERROR(illixr_hmd(xdev), "unknown input name");
return;
}
out_relation->pose = illixr_read_pose();
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
}
static void
illixr_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 = illixr_read_pose();
*out_pose = pose;
}
std::vector<std::string>
split(const std::string &s, char delimiter)
{
std::vector<std::string> tokens;
std::string token;
std::istringstream tokenStream{s};
while (std::getline(tokenStream, token, delimiter)) {
tokens.push_back(token);
}
return tokens;
}
static int
illixr_rt_launch(struct illixr_hmd *dh, const char *path, const char *comp)
{
dh->runtime_lib = new ILLIXR::dynamic_lib{
ILLIXR::dynamic_lib::create(std::string{path})};
dh->runtime =
dh->runtime_lib->get<ILLIXR::runtime *(*)()>("runtime_factory")();
dh->runtime->load_so(split(std::string{comp}, ':'));
dh->runtime->load_plugin_factory(
(ILLIXR::plugin_factory)illixr_monado_create_plugin);
return 0;
}
extern "C" struct xrt_device *
illixr_hmd_create(const char *path_in, const char *comp_in)
{
struct illixr_hmd *dh;
enum u_device_alloc_flags flags = (enum u_device_alloc_flags)(
U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
dh = U_DEVICE_ALLOCATE(struct illixr_hmd, flags, 1, 0);
dh->base.update_inputs = illixr_hmd_update_inputs;
dh->base.get_tracked_pose = illixr_hmd_get_tracked_pose;
dh->base.get_view_pose = illixr_hmd_get_view_pose;
dh->base.destroy = illixr_hmd_destroy;
dh->base.name = XRT_DEVICE_GENERIC_HMD;
dh->base.device_type = XRT_DEVICE_TYPE_HMD;
dh->base.hmd->blend_mode = XRT_BLEND_MODE_OPAQUE;
dh->pose.orientation.w = 1.0f; // All other values set to zero.
dh->print_spew = debug_get_bool_option_illixr_spew();
dh->print_debug = debug_get_bool_option_illixr_debug();
dh->path = path_in;
dh->comp = comp_in;
// Print name.
snprintf(dh->base.str, XRT_DEVICE_NAME_LEN, "ILLIXR");
// Setup input.
dh->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
// Setup info.
struct u_device_simple_info info;
info.display.w_pixels = 2048;
info.display.h_pixels = 1024;
info.display.w_meters = 0.14f;
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(&dh->base, &info)) {
DH_ERROR(dh, "Failed to setup basic device info");
illixr_hmd_destroy(&dh->base);
return NULL;
}
// Setup variable tracker.
u_var_add_root(dh, "ILLIXR", true);
u_var_add_pose(dh, &dh->pose, "pose");
if (dh->base.hmd->distortion.preferred == XRT_DISTORTION_MODEL_NONE) {
// Setup the distortion mesh.
u_distortion_mesh_set_none(&dh->base);
}
// start ILLIXR runtime
if (illixr_rt_launch(dh, dh->path, dh->comp) != 0) {
DH_ERROR(dh, "Failed to load ILLIXR Runtime");
illixr_hmd_destroy(&dh->base);
}
return &dh->base;
}
// Copyright 2020-2021, The Board of Trustees of the University of Illinois.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief ILLIXR driver interface
* @author RSIM Group <illixr@cs.illinois.edu>
* @ingroup drv_illixr
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/*!
* @defgroup drv_illixr illixr driver.
* @ingroup drv
*
* @brief illixr driver.
*/
/*!
* Create a auto prober for illixr devices.
*
* @ingroup drv_illixr
*/
struct xrt_auto_prober *
illixr_create_auto_prober(void);
/*!
* Create a illixr hmd.
*
* @ingroup drv_illixr
*/
struct xrt_device *
illixr_hmd_create(const char *path, const char *comp);
/*!
* @dir drivers/illixr
*
* @brief @ref drv_illixr files.
*/
#ifdef __cplusplus
}
#endif
// Copyright 2020-2021, The Board of Trustees of the University of Illinois.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief ILLIXR prober
* @author RSIM Group <illixr@cs.illinois.edu>
* @ingroup drv_illixr
*/
#include "xrt/xrt_prober.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "illixr_interface.h"
struct illixr_prober
{
struct xrt_auto_prober base;
};
static inline struct illixr_prober *
illixr_prober(struct xrt_auto_prober *p)
{
return (struct illixr_prober *)p;
}
static void
illixr_prober_destroy(struct xrt_auto_prober *p)
{
struct illixr_prober *dp = illixr_prober(p);
free(dp);
}
static struct xrt_device *
illixr_prober_autoprobe(struct xrt_auto_prober *xap,
cJSON *attached_data,
bool no_hmds,
struct xrt_prober *xp)
{
struct illixr_prober *dp = illixr_prober(xap);
(void)dp;
if (no_hmds) {
return NULL;
}
const char *illixr_path, *illixr_comp;
illixr_path = getenv("ILLIXR_PATH");
illixr_comp = getenv("ILLIXR_COMP");
if (!illixr_path || !illixr_comp) {
return NULL;
}
return illixr_hmd_create(illixr_path, illixr_comp);
}
struct xrt_auto_prober *
illixr_create_auto_prober()
{
struct illixr_prober *dp = U_TYPED_CALLOC(struct illixr_prober);
dp->base.destroy = illixr_prober_destroy;
dp->base.lelo_dallas_autoprobe = illixr_prober_autoprobe;
return &dp->base;
}
......@@ -89,4 +89,4 @@ if(XRT_BUILD_DRIVER_REMOTE)
target_link_libraries(st_prober PRIVATE
drv_remote
)
endif()
endif()
\ No newline at end of file
......@@ -92,6 +92,10 @@ cli_cmd_probe(int argc, const char **argv)
printf(" libsurvive,");
#endif
#ifdef XRT_BUILD_DRIVER_ILLIXR
printf(" ILLIXR,");
#endif
printf("\n");
// Initialize the prober.
......
......@@ -88,6 +88,10 @@ if(XRT_BUILD_DRIVER_ANDROID)
target_link_libraries(target_lists PRIVATE drv_android)
endif()
if(XRT_BUILD_DRIVER_ILLIXR)
target_link_libraries(target_lists PRIVATE drv_illixr)
endif()
####
# Instance
#
......
......@@ -62,6 +62,10 @@
#include "android/android_prober.h"
#endif
#ifdef XRT_BUILD_DRIVER_ILLIXR
#include "illixr/illixr_interface.h"
#endif
/*!
* Each entry should be a vendor ID (VID), product ID (PID), a "found" function,
* and a string literal name.
......@@ -150,6 +154,10 @@ xrt_auto_prober_creator target_auto_list[] = {
android_create_auto_prober,
#endif
#ifdef XRT_BUILD_DRIVER_ILLIXR
illixr_create_auto_prober,
#endif
#ifdef XRT_BUILD_DRIVER_DUMMY
// Dummy headset driver last.
dummy_create_auto_prober,
......
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