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authorWenZheng Li <wzli@rapyuta-robotics.com>2018-06-15 17:56:43 +0900
committerWenZheng Li <wzli@rapyuta-robotics.com>2018-06-15 17:56:43 +0900
commit92939b1ff61c4f3675db5d223b77a59599e6f242 (patch)
tree92f2d9219a05e01af78507ac2fb5a4f3100d4c5f
parent8261107f6f276ec49b13aa75781a496e26d63b4b (diff)
downloadlibsurvive-92939b1ff61c4f3675db5d223b77a59599e6f242.tar.gz
libsurvive-92939b1ff61c4f3675db5d223b77a59599e6f242.tar.bz2
added TR1 device for vive tracker(2018)
-rw-r--r--src/survive_default_devices.c4
-rw-r--r--src/survive_default_devices.h2
-rwxr-xr-xsrc/survive_vive.c68
3 files changed, 54 insertions, 20 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c
index 05dd10d..48f3b41 100644
--- a/src/survive_default_devices.c
+++ b/src/survive_default_devices.c
@@ -40,6 +40,10 @@ SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name,
void *driver) {
return survive_create_device(ctx, driver_name, driver, "TR0", 0);
}
+SurviveObject *survive_create_tr1(SurviveContext *ctx, const char *driver_name,
+ void *driver) {
+ return survive_create_device(ctx, driver_name, driver, "TR1", 0);
+}
SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name,
void *driver) {
return survive_create_device(ctx, driver_name, driver, "WW0", 0);
diff --git a/src/survive_default_devices.h b/src/survive_default_devices.h
index de7f0d4..2af6280 100644
--- a/src/survive_default_devices.h
+++ b/src/survive_default_devices.h
@@ -11,6 +11,8 @@ SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name,
void *driver, haptic_func cb);
SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name,
void *driver);
+SurviveObject *survive_create_tr1(SurviveContext *ctx, const char *driver_name,
+ void *driver);
SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name,
void *driver);
diff --git a/src/survive_vive.c b/src/survive_vive.c
index ef94677..87ec1fe 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -58,7 +58,7 @@ const short vidpids[] = {
0x28de, 0x2000, 2, //Valve HMD lighthouse(B) (only used on HIDAPI, for lightcap)
0x28de, 0x2022, 2, //HTC Tracker (only used on HIDAPI, for lightcap)
- 0x28de, 0x2300, 2, //HTC Tracker (only used on HIDAPI, for lightcap)
+ 0x28de, 0x2300, 2, //HTC Tracker 2018 (only used on HIDAPI, for lightcap)
0x28de, 0x2012, 2, //Valve Watchman, USB connected (only used on HIDAPI, for lightcap)
#endif
@@ -70,64 +70,64 @@ const char * devnames[] = {
"Watchman 1",
"Watchman 2",
"Tracker 0",
- "Tracker(2018) 0",
+ "Tracker 1",
"Wired Watchman 1",
#ifdef HIDAPI
"HMD Lightcap",
"Tracker 0 Lightcap",
- "Tracker(2018) 0 Lightcap",
+ "Tracker 1 Lightcap",
"Wired Watchman 1 Lightcap",
"HMD Buttons",
"Tracker 0 Buttons",
- "Tracker(2018) Buttons",
+ "Tracker 1 Buttons",
"Wired Watchman 1 Buttons",
#endif
}; //length MAX_USB_INTERFACES
enum {
- USB_DEV_HMD = 0,
+ USB_DEV_HMD = 0,
USB_DEV_HMD_IMU_LH,
USB_DEV_WATCHMAN1,
USB_DEV_WATCHMAN2,
USB_DEV_TRACKER0,
- USB_DEV_TRACKER0_2018,
+ USB_DEV_TRACKER1,
USB_DEV_W_WATCHMAN1, // Wired Watchman attached via USB
#ifdef HIDAPI
USB_DEV_HMD_IMU_LHB,
USB_DEV_TRACKER0_LIGHTCAP,
- USB_DEV_TRACKER0_2018_LIGHTCAP,
+ USB_DEV_TRACKER1_LIGHTCAP,
USB_DEV_W_WATCHMAN1_LIGHTCAP,
USB_DEV_HMD_BUTTONS,
USB_DEV_TRACKER0_BUTTONS,
- USB_DEV_TRACKER0_2018_BUTTONS,
+ USB_DEV_TRACKER1_BUTTONS,
USB_DEV_W_WATCHMAN1_BUTTONS,
#endif
MAX_USB_DEVS
-}
+};
enum {
- USB_IF_HMD = 0
+ USB_IF_HMD = 0,
USB_IF_HMD_IMU_LH,
USB_IF_WATCHMAN1,
USB_IF_WATCHMAN2,
USB_IF_TRACKER0,
- USB_IF_TRACKER0_2018,
+ USB_IF_TRACKER1,
USB_IF_W_WATCHMAN1,
USB_IF_LIGHTCAP,
USB_IF_TRACKER0_LIGHTCAP,
- USB_IF_TRACKER0_2018_LIGHTCAP,
+ USB_IF_TRACKER1_LIGHTCAP,
USB_IF_W_WATCHMAN1_LIGHTCAP,
USB_IF_HMD_BUTTONS,
- USB_IF_TRACKER0_BUTTON,
- USB_IF_TRACKER0_2018_BUTTON,
+ USB_IF_TRACKER0_BUTTONS,
+ USB_IF_TRACKER1_BUTTONS,
USB_IF_W_WATCHMAN1_BUTTONS,
MAX_INTERFACES
-}
+};
typedef struct SurviveUSBInterface SurviveUSBInterface;
typedef struct SurviveViveData SurviveViveData;
@@ -182,7 +182,7 @@ void survive_data_cb( SurviveUSBInterface * si );
//USB Subsystem
void survive_usb_close( SurviveContext * t );
-int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 , SurviveObject * ww0 );
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 , SurviveObject * tr1, SurviveObject * ww0 );
int survive_usb_poll( SurviveContext * ctx );
int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int iface, int send_extra_magic );
int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen );
@@ -349,7 +349,7 @@ static inline int hid_get_feature_report_timeout(USBHANDLE device, uint16_t ifac
return -1;
}
-int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 , SurviveObject * ww0 )
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0, SurviveObject * tr1, SurviveObject * ww0 )
{
SurviveContext * ctx = sv->ctx;
#ifdef HIDAPI
@@ -517,6 +517,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
if( sv->udev[USB_DEV_WATCHMAN1] ) { survive_add_object( ctx, wm0 ); }
if( sv->udev[USB_DEV_WATCHMAN2] ) { survive_add_object( ctx, wm1 ); }
if( sv->udev[USB_DEV_TRACKER0] ) { survive_add_object( ctx, tr0 ); }
+ if( sv->udev[USB_DEV_TRACKER1] ) { survive_add_object( ctx, tr1 ); }
if( sv->udev[USB_DEV_W_WATCHMAN1] ) { survive_add_object( ctx, ww0 ); }
if( sv->udev[USB_DEV_HMD] && AttachInterface( sv, hmd, USB_IF_HMD, sv->udev[USB_DEV_HMD], 0x81, survive_data_cb, "Mainboard" ) ) { return -6; }
@@ -524,6 +525,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
if( sv->udev[USB_DEV_WATCHMAN1] && AttachInterface( sv, wm0, USB_IF_WATCHMAN1, sv->udev[USB_DEV_WATCHMAN1], 0x81, survive_data_cb, "Watchman 1" ) ) { return -8; }
if( sv->udev[USB_DEV_WATCHMAN2] && AttachInterface( sv, wm1, USB_IF_WATCHMAN2, sv->udev[USB_DEV_WATCHMAN2], 0x81, survive_data_cb, "Watchman 2")) { return -9; }
if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, tr0, USB_IF_TRACKER0, sv->udev[USB_DEV_TRACKER0], 0x81, survive_data_cb, "Tracker 1")) { return -10; }
+ if( sv->udev[USB_DEV_TRACKER1] && AttachInterface( sv, tr0, USB_IF_TRACKER1, sv->udev[USB_DEV_TRACKER1], 0x81, survive_data_cb, "Tracker 2")) { return -10; }
if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1, sv->udev[USB_DEV_W_WATCHMAN1], 0x81, survive_data_cb, "Wired Watchman 1")) { return -11; }
#ifdef HIDAPI
//Tricky: use other interface for actual lightcap. XXX THIS IS NOT YET RIGHT!!!
@@ -531,7 +533,9 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
// This is a HACK! But it works. Need to investigate further
sv->uiface[USB_DEV_TRACKER0_LIGHTCAP].actual_len = 64;
+ sv->uiface[USB_DEV_TRACKER1_LIGHTCAP].actual_len = 64;
if( sv->udev[USB_DEV_TRACKER0_LIGHTCAP] && AttachInterface( sv, tr0, USB_IF_TRACKER0_LIGHTCAP, sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0x82, survive_data_cb, "Tracker 1 Lightcap")) { return -13; }
+ if( sv->udev[USB_DEV_TRACKER1_LIGHTCAP] && AttachInterface( sv, tr0, USB_IF_TRACKER1_LIGHTCAP, sv->udev[USB_DEV_TRACKER1_LIGHTCAP], 0x82, survive_data_cb, "Tracker 2 Lightcap")) { return -13; }
if( sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; }
@@ -542,6 +546,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
#else
if( sv->udev[USB_DEV_HMD_IMU_LH] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_HMD_IMU_LH], 0x82, survive_data_cb, "Lightcap")) { return -12; }
if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, tr0, USB_IF_TRACKER0_LIGHTCAP, sv->udev[USB_DEV_TRACKER0], 0x82, survive_data_cb, "Tracker 0 Lightcap")) { return -13; }
+ if( sv->udev[USB_DEV_TRACKER1] && AttachInterface( sv, tr0, USB_IF_TRACKER1_LIGHTCAP, sv->udev[USB_DEV_TRACKER1], 0x82, survive_data_cb, "Tracker 1 Lightcap")) { return -13; }
if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; }
#endif
SV_INFO( "All enumerated devices attached." );
@@ -1529,8 +1534,7 @@ void survive_data_cb( SurviveUSBInterface * si )
break;
}
case USB_IF_LIGHTCAP:
- case USB_IF_TRACKER0_LIGHTCAP:
- case USB_IF_W_WATCHMAN1_LIGHTCAP:
+ case USB_IF_TRACKER1_LIGHTCAP:
{
int i;
for( i = 0; i < 9; i++ )
@@ -1544,6 +1548,29 @@ void survive_data_cb( SurviveUSBInterface * si )
}
break;
}
+ case USB_IF_W_WATCHMAN1_LIGHTCAP:
+ case USB_IF_TRACKER0_LIGHTCAP:
+ {
+ int i=0;
+ for( i = 0; i < 7; i++ )
+ {
+ unsigned short *sensorId = (unsigned short *)readdata;
+ unsigned short *length = (unsigned short *)(&(readdata[2]));
+ unsigned long *time = (unsigned long *)(&(readdata[4]));
+ LightcapElement le;
+ le.sensor_id = (uint8_t)POP2;
+ le.length = POP2;
+ le.timestamp = POP4;
+ if( le.sensor_id > 0xfd ) continue; //
+ handle_lightcap( obj, &le );
+ }
+ break;
+
+ if (id != 33)
+ {
+ int a = 0; // breakpoint here
+ }
+ }
case USB_IF_TRACKER0_BUTTONS:
case USB_IF_W_WATCHMAN1_BUTTONS:
{
@@ -1690,6 +1717,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
SurviveObject * wm0 = survive_create_wm0(ctx, "HTC", sv, 0);
SurviveObject * wm1 = survive_create_wm1(ctx, "HTC", sv, 0);
SurviveObject * tr0 = survive_create_tr0(ctx, "HTC", sv);
+ SurviveObject * tr1 = survive_create_tr1(ctx, "HTC", sv);
SurviveObject * ww0 = survive_create_ww0(ctx, "HTC", sv);
sv->ctx = ctx;
@@ -1703,7 +1731,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
#endif
//USB must happen last.
- if (survive_usb_init(sv, hmd, wm0, wm1, tr0, ww0)) {
+ if (survive_usb_init(sv, hmd, wm0, wm1, tr0, tr1, ww0)) {
// TODO: Cleanup any libUSB stuff sitting around.
goto fail_gracefully;
}