1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/LibOVR/Src/Tracking/Tracking_SensorState.h	Wed Jan 14 06:51:16 2015 +0200
     1.3 @@ -0,0 +1,212 @@
     1.4 +/************************************************************************************
     1.5 +
     1.6 +Filename    :   Tracking_SensorState.h
     1.7 +Content     :   Sensor state information shared by tracking system with games
     1.8 +Created     :   May 13, 2014
     1.9 +Authors     :   Dov Katz, Chris Taylor
    1.10 +
    1.11 +Copyright   :   Copyright 2014 Oculus VR, LLC All Rights reserved.
    1.12 +
    1.13 +Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License");
    1.14 +you may not use the Oculus VR Rift SDK except in compliance with the License,
    1.15 +which is provided at the time of installation or download, or which
    1.16 +otherwise accompanies this software in either electronic or hard copy form.
    1.17 +
    1.18 +You may obtain a copy of the License at
    1.19 +
    1.20 +http://www.oculusvr.com/licenses/LICENSE-3.2
    1.21 +
    1.22 +Unless required by applicable law or agreed to in writing, the Oculus VR SDK
    1.23 +distributed under the License is distributed on an "AS IS" BASIS,
    1.24 +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    1.25 +See the License for the specific language governing permissions and
    1.26 +limitations under the License.
    1.27 +
    1.28 +*************************************************************************************/
    1.29 +
    1.30 +#ifndef Tracking_SensorState_h
    1.31 +#define Tracking_SensorState_h
    1.32 +
    1.33 +#include "Tracking_PoseState.h"
    1.34 +#include "../Kernel/OVR_SharedMemory.h"
    1.35 +#include "../Kernel/OVR_Lockless.h"
    1.36 +#include "../Kernel/OVR_String.h"
    1.37 +#include "../Util/Util_LatencyTest2State.h"
    1.38 +#include "../Sensors/OVR_DeviceConstants.h"
    1.39 +
    1.40 +// CAPI forward declarations.
    1.41 +struct ovrTrackingState_;
    1.42 +typedef struct ovrTrackingState_ ovrTrackingState;
    1.43 +struct ovrPoseStatef_;
    1.44 +typedef struct ovrPoseStatef_ ovrPoseStatef;
    1.45 +
    1.46 +namespace OVR { namespace Tracking {
    1.47 +
    1.48 +
    1.49 +//-------------------------------------------------------------------------------------
    1.50 +// ***** Sensor State
    1.51 +// These values are reported as compatible with C API.
    1.52 +
    1.53 +// Bit flags describing the current status of sensor tracking.
    1.54 +enum StatusBits
    1.55 +{
    1.56 +    // Tracked bits: Toggled by SensorFusion
    1.57 +	Status_OrientationTracked = 0x0001, // Orientation is currently tracked (connected and in use)
    1.58 +	Status_PositionTracked    = 0x0002, // Position is currently tracked (false if out of range)
    1.59 +    Status_CameraPoseTracked  = 0x0004, // Camera pose is currently tracked
    1.60 +
    1.61 +    // Connected bits: Toggled by TrackingManager
    1.62 +    Status_PositionConnected  = 0x0020, // Position tracking HW is connected
    1.63 +	Status_HMDConnected       = 0x0080, // HMD is available & connected
    1.64 +
    1.65 +    // Masks
    1.66 +    Status_AllMask = 0xffff,
    1.67 +    Status_TrackingMask = Status_PositionTracked | Status_OrientationTracked | Status_CameraPoseTracked,
    1.68 +    Status_ConnectedMask = Status_PositionConnected | Status_HMDConnected,
    1.69 +};
    1.70 +
    1.71 +
    1.72 +// Full state of of the sensor reported by GetSensorState() at a given absolute time.
    1.73 +class TrackingState
    1.74 +{
    1.75 +public:
    1.76 +	TrackingState() : HeadPose(), CameraPose(), LeveledCameraPose(), RawSensorData(), StatusFlags(0), LastVisionProcessingTime(0.0) { }
    1.77 +
    1.78 +	// C-interop support
    1.79 +	TrackingState(const ovrTrackingState& s);
    1.80 +	operator ovrTrackingState () const;
    1.81 +
    1.82 +	// HMD pose information for the requested time.
    1.83 +	PoseStatef   HeadPose;
    1.84 +
    1.85 +    // Orientation and position of the external camera, if present.
    1.86 +    Posef        CameraPose;
    1.87 +    // Orientation and position of the camera after alignment with gravity 
    1.88 +    Posef        LeveledCameraPose;
    1.89 +
    1.90 +    // Most recent sensor data received from the HMD
    1.91 +    SensorDataType RawSensorData;
    1.92 +
    1.93 +    // Sensor status described by ovrStatusBits.
    1.94 +	uint32_t     StatusFlags;
    1.95 +
    1.96 +    //// 0.4.1
    1.97 +
    1.98 +    // Measures the time from receiving the camera frame until vision CPU processing completes.
    1.99 +    double LastVisionProcessingTime;
   1.100 +
   1.101 +    //// 0.4.3
   1.102 +
   1.103 +    // Measures the time from exposure until the pose is available for the frame, including processing time.
   1.104 +    double LastVisionFrameLatency;
   1.105 +
   1.106 +    // Tag the vision processing results to a certain frame counter number.
   1.107 +    uint32_t LastCameraFrameCounter;
   1.108 +};
   1.109 +
   1.110 +
   1.111 +// -----------------------------------------------
   1.112 +
   1.113 +#pragma pack(push, 8)
   1.114 +
   1.115 +struct LocklessSensorStatePadding;
   1.116 +
   1.117 +// State version stored in lockless updater "queue" and used for 
   1.118 +// prediction by GetPoseAtTime/GetSensorStateAtTime
   1.119 +struct LocklessSensorState
   1.120 +{
   1.121 +	PoseState<double> WorldFromImu;
   1.122 +    SensorDataType    RawSensorData;
   1.123 +    Pose<double>      WorldFromCamera;
   1.124 +	uint32_t          StatusFlags;
   1.125 +    uint32_t          _PAD_0_;
   1.126 +
   1.127 +	// ImuFromCpf for HMD pose tracking
   1.128 +	Posed             ImuFromCpf;
   1.129 +
   1.130 +    // Performance logging
   1.131 +    double            LastVisionProcessingTime;
   1.132 +    double            LastVisionFrameLatency;
   1.133 +    uint32_t          LastCameraFrameCounter;
   1.134 +    uint32_t          _PAD_1_;
   1.135 +
   1.136 +	// Initialized to invalid state
   1.137 +	LocklessSensorState() :
   1.138 +       WorldFromImu()
   1.139 +     , RawSensorData()
   1.140 +     , WorldFromCamera()
   1.141 +	 , StatusFlags(0)
   1.142 +     , _PAD_0_(0) // This assignment should be irrelevant, but it quells static/runtime analysis complaints.
   1.143 +     , ImuFromCpf()
   1.144 +     , LastVisionProcessingTime(0.0)
   1.145 +     , LastVisionFrameLatency(0.0)
   1.146 +     , LastCameraFrameCounter(0)
   1.147 +     , _PAD_1_(0) // "
   1.148 +	{
   1.149 +	}
   1.150 +
   1.151 +    LocklessSensorState& operator = (const LocklessSensorStatePadding& rhs);
   1.152 +};
   1.153 +    
   1.154 +static_assert((sizeof(LocklessSensorState) == sizeof(PoseState<double>) + sizeof(SensorDataType) + sizeof(Pose<double>) + 2*sizeof(uint32_t) + sizeof(Posed) + sizeof(double)*2 + sizeof(uint32_t)*2), "sizeof(LocklessSensorState) failure");
   1.155 +
   1.156 +// Padded out version stored in the updater slots
   1.157 +// Designed to be a larger fixed size to allow the data to grow in the future
   1.158 +// without breaking older compiled code.
   1.159 +struct LocklessSensorStatePadding
   1.160 +{
   1.161 +    uint64_t words[64];
   1.162 +
   1.163 +    static const int DataWords = (sizeof(LocklessSensorState) + sizeof(uint64_t) - 1) / sizeof(uint64_t);
   1.164 +
   1.165 +    // Just copy the low data words
   1.166 +    inline LocklessSensorStatePadding& operator=(const LocklessSensorState& rhs)
   1.167 +    {
   1.168 +        const uint64_t* src = (const uint64_t*)&rhs;
   1.169 +
   1.170 +        // if this fires off, then increase words' array size
   1.171 +        OVR_ASSERT(sizeof(words) > sizeof(LocklessSensorState));
   1.172 +
   1.173 +        for (int i = 0; i < DataWords; ++i)
   1.174 +        {
   1.175 +            words[i] = src[i];
   1.176 +        }
   1.177 +
   1.178 +        return *this;
   1.179 +    }
   1.180 +};
   1.181 +
   1.182 +// Just copy the low data words
   1.183 +inline LocklessSensorState& LocklessSensorState::operator = (const LocklessSensorStatePadding& rhs)
   1.184 +{
   1.185 +    uint64_t* dest = (uint64_t*)this;
   1.186 +
   1.187 +    for (int i = 0; i < LocklessSensorStatePadding::DataWords; ++i)
   1.188 +    {
   1.189 +        dest[i] = rhs.words[i];
   1.190 +    }
   1.191 +
   1.192 +    return *this;
   1.193 +}
   1.194 +
   1.195 +#pragma pack(pop)
   1.196 +
   1.197 +// A lockless updater for sensor state
   1.198 +typedef LocklessUpdater<LocklessSensorState, LocklessSensorStatePadding> SensorStateUpdater;
   1.199 +
   1.200 +
   1.201 +//// Combined state
   1.202 +
   1.203 +struct CombinedSharedStateUpdater
   1.204 +{
   1.205 +    SensorStateUpdater         SharedSensorState;
   1.206 +    Util::LockessRecordUpdater SharedLatencyTestState;
   1.207 +};
   1.208 +
   1.209 +typedef SharedObjectWriter< CombinedSharedStateUpdater > CombinedSharedStateWriter;
   1.210 +typedef SharedObjectReader< CombinedSharedStateUpdater > CombinedSharedStateReader;
   1.211 +
   1.212 +
   1.213 +}} // namespace OVR::Tracking
   1.214 +
   1.215 +#endif