feature: Switch console logging to Unix sockets

interface_lib/CMakeLists.txt

@@ -8,6 +8,10 @@ find_package(json-c REQUIRED CONFIG)
 add_subdirectory(modules/hidapi)
 add_subdirectory(modules/Fusion/Fusion)
 
+if (CMAKE_BUILD_TYPE STREQUAL "Release")
+    add_definitions(-DNDEBUG)
+endif()
+
 add_library(
 		xrealAirLibrary
 		src/crc32.c

src/driver.c

@@ -1,7 +1,8 @@
 //
-// Created by thejackimonster on 29.03.23.
+// Created by thejackimonster on 29.03.23. Modified by UnrealXR on 08.06.25.
 //
 // Copyright (c) 2023-2024 thejackimonster. All rights reserved.
+// Copyright (c) 2025 UnrealXR. All rights reserved.
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -25,68 +26,79 @@
 #include "device_imu.h"
 #include "device_mcu.h"
 
-#include <stdio.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
 #include <sys/wait.h>
+#include <sys/un.h>
 #include <unistd.h>
-
+#include <stdlib.h>
+#include <stdio.h>
 #include <math.h>
 
-void test_imu(uint64_t timestamp,
+enum XrealDriverCommand {
-              device_imu_event_type event,
+    ROLL,
-              const device_imu_ahrs_type* ahrs) {
+    PITCH,
-	static device_imu_quat_type old;
+    YAW,
-	static float dmax = -1.0f;
+    GENERIC_MESSAGE,
+    BRIGHTNESS_UP,
+    BRIGHTNESS_DOWN,
+};
 
+int sock_fd;
+
+void imu_event(uint64_t timestamp, device_imu_event_type event, const device_imu_ahrs_type* ahrs) {
 	if (event != DEVICE_IMU_EVENT_UPDATE) {
 		return;
 	}
 
 	device_imu_quat_type q = device_imu_get_orientation(ahrs);
-	
-	const float dx = (old.x - q.x) * (old.x - q.x);
-	const float dy = (old.y - q.y) * (old.y - q.y);
-	const float dz = (old.z - q.z) * (old.z - q.z);
-	const float dw = (old.w - q.w) * (old.w - q.w);
-	
-	const float d = sqrtf(dx*dx + dy*dy + dz*dz + dw*dw);
-	
-	if (dmax < 0.0f) {
-		dmax = 0.0f;
-	} else {
-		dmax = (d > dmax? d : dmax);
-	}
-	
 	device_imu_euler_type e = device_imu_get_euler(q);
 
-	if (d >= 0.00005f) {
+	char status_event = 0;
-		device_imu_euler_type e0 = device_imu_get_euler(old);
+	uint32_t encoded_data;
 
-		printf("Roll: %f; Pitch: %f; Yaw: %f\n", e0.roll, e0.pitch, e0.yaw);
+	status_event = ROLL;
-		printf("Roll: %f; Pitch: %f; Yaw: %f\n", e.roll, e.pitch, e.yaw);
+	memcpy(&encoded_data, &e.roll, sizeof(encoded_data));
-		printf("D = %f; ( %f )\n", d, dmax);
+	encoded_data = htonl(encoded_data);
+    write(sock_fd, &status_event, 1);
+    write(sock_fd, &encoded_data, sizeof(encoded_data));
 
-		printf("X: %f; Y: %f; Z: %f; W: %f;\n", old.x, old.y, old.z, old.w);
+    status_event = PITCH;
-		printf("X: %f; Y: %f; Z: %f; W: %f;\n", q.x, q.y, q.z, q.w);
+	memcpy(&encoded_data, &e.pitch, sizeof(encoded_data));
-	} else {
+    encoded_data = htonl(encoded_data);
-		printf("Roll: %.2f; Pitch: %.2f; Yaw: %.2f\n", e.roll, e.pitch, e.yaw);
+    write(sock_fd, &status_event, 1);
+    write(sock_fd, &encoded_data, sizeof(encoded_data));
+
+    status_event = YAW;
+	memcpy(&encoded_data, &e.yaw, sizeof(encoded_data));
+    encoded_data = htonl(encoded_data);
+    write(sock_fd, &status_event, 1);
+    write(sock_fd, &encoded_data, sizeof(encoded_data));
 }
 
-	old = q;
+void mcu_event(uint64_t timestamp, device_mcu_event_type event, uint8_t brightness, const char* msg) {
-}
+    char status_event = 0;
 
-void test_mcu(uint64_t timestamp,
-              device_mcu_event_type event,
-              uint8_t brightness,
-              const char* msg) {
 	switch (event) {
 		case DEVICE_MCU_EVENT_MESSAGE:
-			printf("Message: `%s`\n", msg);
+		    status_event = GENERIC_MESSAGE;
+			write(sock_fd, &status_event, 1);
+
+			uint32_t msg_len = strlen(msg);
+			uint32_t len_net = htonl(msg_len);
+
+			write(sock_fd, &len_net, sizeof(len_net));
+			write(sock_fd, msg, msg_len);
 			break;
 		case DEVICE_MCU_EVENT_BRIGHTNESS_UP:
-			printf("Increase Brightness: %u\n", brightness);
+		    status_event = BRIGHTNESS_UP;
+			write(sock_fd, &status_event, 1);
+			write(sock_fd, &brightness, 1);
 			break;
 		case DEVICE_MCU_EVENT_BRIGHTNESS_DOWN:
-			printf("Decrease Brightness: %u\n", brightness);
+		    status_event = BRIGHTNESS_DOWN;
+		    write(sock_fd, &status_event, 1);
+            write(sock_fd, &brightness, 1);
 			break;
 		default:
 			break;
@@ -94,6 +106,29 @@ void test_mcu(uint64_t timestamp,
 }
 
 int main(int argc, const char** argv) {
+    printf("Connecting to Unix socket\n");
+    char *unix_socket_path = getenv("UNREALXR_NREAL_DRIVER_SOCK");
+
+    if (unix_socket_path == NULL) {
+        printf("Unix socket not set!\n");
+        return 1;
+    }
+
+    sock_fd = socket(AF_UNIX, SOCK_STREAM, 0);
+
+    struct sockaddr_un server_addr;
+    server_addr.sun_family = AF_UNIX;
+    strcpy(server_addr.sun_path, unix_socket_path);
+
+    int connection_result = connect(sock_fd, (struct sockaddr *)&server_addr, sizeof(server_addr));
+
+    if (connection_result == -1) {
+        perror("Failed to connect to Unix socket");
+        exit(1);
+    }
+
+    printf("Connected to Unix socket\n");
+
 	pid_t pid = fork();
 
 	if (pid == -1) {
@@ -103,24 +138,30 @@ int main(int argc, const char** argv) {
 
 	if (pid == 0) {
 		device_imu_type dev_imu;
-		if (DEVICE_IMU_ERROR_NO_ERROR != device_imu_open(&dev_imu, test_imu)) {
+		if (DEVICE_IMU_ERROR_NO_ERROR != device_imu_open(&dev_imu, imu_event)) {
 			return 1;
 		}
 
+		printf("Clearing and calibrating IMU\n");
 		device_imu_clear(&dev_imu);
 		device_imu_calibrate(&dev_imu, 1000, true, true, false);
+		printf("Finished IMU tasks. Beginning data read\n");
+
 		while (DEVICE_IMU_ERROR_NO_ERROR == device_imu_read(&dev_imu, -1));
 		device_imu_close(&dev_imu);
+
 		return 0;
 	} else {
 		int status = 0;
 
 		device_mcu_type dev_mcu;
-		if (DEVICE_MCU_ERROR_NO_ERROR != device_mcu_open(&dev_mcu, test_mcu)) {
+		if (DEVICE_MCU_ERROR_NO_ERROR != device_mcu_open(&dev_mcu, mcu_event)) {
 			status = 1;
 			goto exit;
 		}
 
+		printf("Reading MCU data\n");
+
 		device_mcu_clear(&dev_mcu);
 		while (DEVICE_MCU_ERROR_NO_ERROR == device_mcu_read(&dev_mcu, -1));
 		device_mcu_close(&dev_mcu);