// Thank you to Oliver Kreylos for the info needed to write this function.
// It is based on his OculusRiftHIDReports.cpp, used with permission.
void vrpn_Oculus_DK1::writeKeepAlive(
vrpn_uint16 interval
, vrpn_uint16 commandId)
{
// Buffer to store our report in.
vrpn_uint8 pktBuffer[5];
/* Pack the packet buffer, using little-endian packing: */
vrpn_uint8 *bufptr = pktBuffer;
vrpn_int32 buflen = sizeof(pktBuffer);
vrpn_buffer_to_little_endian(&bufptr, &buflen, vrpn_uint8(0x08U));
vrpn_buffer_to_little_endian(&bufptr, &buflen, commandId);
vrpn_buffer_to_little_endian(&bufptr, &buflen, interval);
/* Write the feature report: */
send_feature_report(sizeof(pktBuffer), pktBuffer);
}
// Thank you to Oliver Kreylos for the info needed to write this function.
// It is based on his OculusRiftHIDReports.cpp, used with permission.
void vrpn_Oculus_DK2::writeKeepAlive(
vrpn_uint16 interval
, vrpn_uint16 commandId)
{
// Buffer to store our report in.
vrpn_uint8 pktBuffer[6];
/* Pack the packet buffer, using little-endian packing: */
vrpn_uint8 *bufptr = pktBuffer;
vrpn_int32 buflen = sizeof(pktBuffer);
vrpn_buffer_to_little_endian(&bufptr, &buflen, vrpn_uint8(0x11U));
vrpn_buffer_to_little_endian(&bufptr, &buflen, commandId);
vrpn_uint8 flags = d_enableLEDs ? 0x0bU : 0x01U;
vrpn_buffer_to_little_endian(&bufptr, &buflen, flags);
vrpn_buffer_to_little_endian(&bufptr, &buflen, interval);
/* Write the LED control feature report: */
send_feature_report(sizeof(pktBuffer), pktBuffer);
}
void vrpn_Tracker_OSVRHackerDevKit::on_data_received(std::size_t bytes,
vrpn_uint8 *buffer)
{
if (bytes != 32 && bytes != 16) {
send_text_message(vrpn_TEXT_WARNING)
<< "Received a report " << bytes
<< " in length, but expected it to be 32 or 16 bytes. Discarding. "
"(May indicate issues with HID!)";
return;
}
vrpn_uint8 firstByte = vrpn_unbuffer_from_little_endian<vrpn_uint8>(buffer);
vrpn_uint8 version = vrpn_uint8(0x0f) & firstByte;
_reportVersion = version;
switch (version) {
case 1:
if (bytes != 32 && bytes != 16) {
send_text_message(vrpn_TEXT_WARNING)
<< "Received a v1 report " << bytes
<< " in length, but expected it to be 32 or 16 bytes. "
"Discarding. "
"(May indicate issues with HID!)";
return;
}
break;
case 2:
if (bytes != 16) {
send_text_message(vrpn_TEXT_WARNING)
<< "Received a v2 report " << bytes
<< " in length, but expected it to be 16 bytes. Discarding. "
"(May indicate issues with HID!)";
return;
}
break;
case 3:
/// @todo once this report format is finalized, tighten up the
/// requirements.
if (bytes < 16) {
send_text_message(vrpn_TEXT_WARNING)
<< "Received a v3 report " << bytes
<< " in length, but expected it to be at least 16 bytes. "
"Discarding. "
"(May indicate issues with HID!)";
return;
}
break;
default:
/// Highlight that we don't know this report version well...
_knownVersion = false;
/// Do a minimal check of it.
if (bytes < 16) {
send_text_message(vrpn_TEXT_WARNING)
<< "Received a report claiming to be version " << int(version)
<< " that was " << bytes << " in length, but expected it to be "
"at least 16 bytes. Discarding. "
"(May indicate issues with HID!)";
return;
}
break;
}
// Report version as analog channel 0.
channel[0] = version;
vrpn_uint8 msg_seq = vrpn_unbuffer_from_little_endian<vrpn_uint8>(buffer);
// Signed, 16-bit, fixed-point numbers in Q1.14 format.
typedef vrpn::FixedPoint<1, 14> FixedPointValue;
d_quat[Q_X] =
FixedPointValue(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
d_quat[Q_Y] =
FixedPointValue(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
d_quat[Q_Z] =
FixedPointValue(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
d_quat[Q_W] =
FixedPointValue(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
vrpn_Tracker::timestamp = _timestamp;
{
char msgbuf[512];
int len = vrpn_Tracker::encode_to(msgbuf);
if (d_connection->pack_message(len, _timestamp, position_m_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "vrpn_Tracker_OSVRHackerDevKit: cannot write "
"message: tossing\n");
}
}
if (version >= 2) {
// We've got angular velocity in this message too
// Given XYZ radians per second velocity.
// Signed Q6.9
typedef vrpn::FixedPoint<6, 9> VelFixedPoint;
q_vec_type angVel;
angVel[0] =
VelFixedPoint(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
angVel[1] =
VelFixedPoint(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
angVel[2] =
VelFixedPoint(vrpn_unbuffer_from_little_endian<vrpn_int16>(buffer))
.get<vrpn_float64>();
//==================================================================
// Determine the rotational velocity, which is
// measured in the rotated coordinate system. We need to rotate the
// difference Euler angles back to the canonical orientation, apply
// the change, and then rotate back to change our coordinates.
// Be sure to scale by the time value vrpn_HDK_DT.
q_type forward, inverse;
q_copy(forward, d_quat);
q_invert(inverse, forward);
// Remember that Euler angles in Quatlib have rotation around Z in
// the first term. Compute the time-scaled delta transform in
// canonical space.
q_type delta;
{
delta[Q_W] = 0;
delta[Q_X] = angVel[Q_X] * vrpn_HDK_DT * 0.5;
delta[Q_Y] = angVel[Q_Y] * vrpn_HDK_DT * 0.5;
delta[Q_Z] = angVel[Q_Z] * vrpn_HDK_DT * 0.5;
q_exp(delta, delta);
q_normalize(delta, delta);
}
// Bring the delta back into canonical space
q_type canonical;
q_mult(canonical, delta, inverse);
q_mult(vel_quat, forward, canonical);
// Send the rotational velocity information.
// The dt value was set once, in the constructor.
char msgbuf[512];
int len = vrpn_Tracker::encode_vel_to(msgbuf);
if (d_connection->pack_message(len, _timestamp, velocity_m_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "vrpn_Tracker_OSVRHackerDevKit: cannot write "
"message: tossing\n");
}
}
if (version < 3) {
// No status info hidden in the first byte.
channel[1] = STATUS_UNKNOWN;
}
else {
// v3+: We've got status info in the upper nibble of the first byte.
bool gotVideo = (firstByte & (0x01 << 4)) != 0; // got video?
bool gotPortrait = (firstByte & (0x01 << 5)) != 0; // portrait mode?
if (!gotVideo) {
channel[1] = STATUS_NO_VIDEO_INPUT;
}
else {
if (gotPortrait) {
channel[1] = STATUS_PORTRAIT_VIDEO_INPUT;
}
else {
channel[1] = STATUS_LANDSCAPE_VIDEO_INPUT;
}
}
}
if (_messageCount == 0) {
// When _messageCount overflows, send a report whether or not there was
// a change.
vrpn_Analog::report();
}
else {
// otherwise just report if we have a change.
vrpn_Analog::report_changes();
};
_messageCount = (_messageCount + 1) % vrpn_HDK_STATUS_STRIDE;
}
