summaryrefslogtreecommitdiffhomepage
path: root/tracker-steamvr/steamvr.cpp
blob: 901c4241eb79965a940725ebc26d6e8ea7ea3c8d (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
/*
 * Copyright (c) 2017, Benjamin Flegel
 * Copyright (c) 2017, Stanislaw Halik
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
 * REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
 * INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
 * LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
 * OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 * PERFORMANCE OF THIS SOFTWARE.
 */

#include "steamvr.hpp"

#include "api/plugin-api.hpp"
#include "compat/util.hpp"

#include <cstdlib>
#include <cmath>
#include <type_traits>
#include <algorithm>

#include <QMessageBox>
#include <QDebug>

QMutex device_list::mtx(QMutex::Recursive);

template<typename F>
static auto with_vr_lock(F&& fun) -> decltype(fun(vr_t(), error_t()))
{
    QMutexLocker l(&device_list::mtx);
    error_t e; vr_t v;
    std::tie(v, e) = device_list::vr_init();
    return fun(v, e);
}

void device_list::fill_device_specs(QList<device_spec>& list)
{
    with_vr_lock([&](vr_t v, error_t)
    {
        list.clear();
        list.reserve(max_devices);

        pose_t device_states[max_devices];

        if (v)
        {
            v->GetDeviceToAbsoluteTrackingPose(origin::TrackingUniverseSeated, 0,
                                               device_states, vr::k_unMaxTrackedDeviceCount);

            static constexpr unsigned bufsiz = vr::k_unTrackingStringSize;
            static char str[bufsiz] {}; // vr_lock prevents reentrancy

            for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
            {
               if (v->GetTrackedDeviceClass(k) == vr::ETrackedDeviceClass::TrackedDeviceClass_Invalid ||
                   v->GetTrackedDeviceClass(k) == vr::ETrackedDeviceClass::TrackedDeviceClass_TrackingReference)
                   continue;

               if (!device_states[k].bDeviceIsConnected)
                   continue;

               unsigned len;

               len = v->GetStringTrackedDeviceProperty(k, vr::ETrackedDeviceProperty::Prop_SerialNumber_String, str, bufsiz);
               if (!len)
               {
                   qDebug() << "steamvr: getting serial number failed for" << k;
                   continue;
               }

               device_spec dev;

               dev.serial = str;

               len = v->GetStringTrackedDeviceProperty(k, vr::ETrackedDeviceProperty::Prop_ModelNumber_String, str, bufsiz);
               if (!len)
               {
                   qDebug() << "steamvr: getting model number failed for" << k;
                   continue;
               }

               switch (v->GetTrackedDeviceClass(k))
               {
               case vr::ETrackedDeviceClass::TrackedDeviceClass_HMD:
                   dev.type = "HMD"; break;
               case vr::ETrackedDeviceClass::TrackedDeviceClass_Controller:
                   dev.type = "Controller"; break;
               default:
                   dev.type = "Unknown"; break;
               }

               dev.model = str;
               dev.pose = device_states[k];
               dev.k = k;

               list.push_back(dev);
            }
        }
    });
}

device_list::device_list()
{
    refresh_device_list();
}

void device_list::refresh_device_list()
{
    fill_device_specs(device_specs);
}

device_list::maybe_pose device_list::get_pose(int k)
{
    if (k < 0 || !(k < max_devices))
        return maybe_pose(false, pose_t{});

    return with_vr_lock([k](vr_t v, error_t)
    {
        static pose_t poses[max_devices] {}; // vr_lock removes reentrancy

        v->GetDeviceToAbsoluteTrackingPose(origin::TrackingUniverseSeated, 0,
                                           poses, max_devices);

        const pose_t& pose = poses[k];

        if (pose.bPoseIsValid && pose.bDeviceIsConnected)
            return maybe_pose(true, poses[k]);
        else
            once_only(qDebug() << "steamvr:"
                               << "no valid pose from device" << k
                               << "valid" << pose.bPoseIsValid
                               << "connected" << pose.bDeviceIsConnected);

        return maybe_pose(false, pose_t{});
    });
}

tt device_list::vr_init()
{
    static tt t = vr_init_();
    return t;
}

tt device_list::vr_init_()
{
    error_t error = error_t::VRInitError_Unknown;
    vr_t v = vr::VR_Init(&error, vr::EVRApplicationType::VRApplication_Other);

    if (v)
        std::atexit(vr::VR_Shutdown);
    else
        qDebug() << "steamvr: init failure" << error << device_list::strerror(error);

    return tt(v, error);
}

QString device_list::strerror(error_t err)
{
    const char* str(vr::VR_GetVRInitErrorAsSymbol(err));
    return QString(str ? str : "No description");
}

steamvr::steamvr() : device_index(-1)
{
}

steamvr::~steamvr()
{
}

void steamvr::start_tracker(QFrame*)
{
    with_vr_lock([this](vr_t v, error_t e)
    {
        if (!v)
        {
            QMessageBox::warning(nullptr,
                                 tr("Valve SteamVR init error"), device_list::strerror(e),
                                 QMessageBox::Close, QMessageBox::NoButton);
            return;
        }

        const QString serial = s.device_serial().toString();
        device_list d;
        const QList<device_spec>& specs = d.devices();
        const int sz = specs.count();

        if (sz == 0)
        {
            QMessageBox::warning(nullptr,
                                 tr("Valve SteamVR init error"),
                                 tr("No HMD connected"),
                                 QMessageBox::Close, QMessageBox::NoButton);
            return;
        }

        for (const device_spec& spec : specs)
        {
            if (serial == "" || serial == spec.serial)
            {
                device_index = int(spec.k);
                break;
            }
        }
    });
}

void steamvr::data(double* data)
{
    if (device_index != -1)
    {
        pose_t pose; bool ok;
        std::tie(ok, pose) = device_list::get_pose(device_index);
        if (ok)
        {
            static constexpr int c = 10;

            const auto& result = pose.mDeviceToAbsoluteTracking;

            data[TX] = -result.m[0][3] * c;
            data[TY] = result.m[1][3] * c;
            data[TZ] = result.m[2][3] * c;

            matrix_to_euler(data[Yaw], data[Pitch], data[Roll], result);

            static constexpr double r2d = 180 / M_PI;
            data[Yaw] *= r2d; data[Pitch] *= r2d; data[Roll] *= r2d;
        }
    }
}

bool steamvr::center()
{
    with_vr_lock([&](vr_t v, error_t)
    {
        if (v)
            v->ResetSeatedZeroPose();
    });
    return false;
}

void steamvr::matrix_to_euler(double& yaw, double& pitch, double& roll, const vr::HmdMatrix34_t& result)
{
    using std::atan2;
    using std::asin;

    yaw = atan2(result.m[2][0], result.m[0][0]);
    pitch = atan2(result.m[1][1], result.m[1][2]);
    roll = asin(result.m[1][0]);
}

steamvr_dialog::steamvr_dialog()
{
    ui.setupUi(this);

    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));

    ui.device->clear();
    ui.device->addItem("First available", QVariant(QVariant::String));

    device_list list;
    for (const device_spec& spec : list.devices())
        ui.device->addItem(QStringLiteral("<%3> %1 [%2]").arg(spec.model).arg(spec.serial).arg(spec.type),
                           QVariant(spec.serial));

    tie_setting(s.device_serial, ui.device);
}

void steamvr_dialog::doOK()
{
    s.b->save();
    close();
}

void steamvr_dialog::doCancel()
{
    close();
}

OPENTRACK_DECLARE_TRACKER(steamvr, steamvr_dialog, steamvr_metadata)