feature: Add dummy mode
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40 changed files with 323 additions and 141 deletions
227
ardriver/xreal/xrealsrc/device_imu.h
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ardriver/xreal/xrealsrc/device_imu.h
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#pragma once
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//
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// Created by thejackimonster on 30.03.23.
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//
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// Copyright (c) 2023-2025 thejackimonster. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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//
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#ifndef __cplusplus
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#include <stdbool.h>
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#endif
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#ifndef __cplusplus
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#include <stdint.h>
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#else
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#include <cstdint>
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#endif
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#define DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH 0x14
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#define DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15
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#define DEVICE_IMU_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16
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#define DEVICE_IMU_MSG_WRITE_CAL_DATA_SEGMENT 0x17
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#define DEVICE_IMU_MSG_FREE_CAL_BUFFER 0x18
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#define DEVICE_IMU_MSG_START_IMU_DATA 0x19
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#define DEVICE_IMU_MSG_GET_STATIC_ID 0x1A
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#define DEVICE_IMU_MSG_UNKNOWN 0x1D
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum device_imu_error_t {
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DEVICE_IMU_ERROR_NO_ERROR = 0,
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DEVICE_IMU_ERROR_NO_DEVICE = 1,
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DEVICE_IMU_ERROR_NO_HANDLE = 2,
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DEVICE_IMU_ERROR_NO_ALLOCATION = 3,
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DEVICE_IMU_ERROR_WRONG_SIZE = 4,
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DEVICE_IMU_ERROR_FILE_NOT_OPEN = 5,
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DEVICE_IMU_ERROR_FILE_NOT_CLOSED = 6,
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DEVICE_IMU_ERROR_LOADING_FAILED = 7,
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DEVICE_IMU_ERROR_SAVING_FAILED = 8,
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DEVICE_IMU_ERROR_UNPLUGGED = 9,
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DEVICE_IMU_ERROR_UNEXPECTED = 10,
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DEVICE_IMU_ERROR_WRONG_SIGNATURE = 11,
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DEVICE_IMU_ERROR_INVALID_VALUE = 12,
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DEVICE_IMU_ERROR_NOT_INITIALIZED = 13,
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DEVICE_IMU_ERROR_PAYLOAD_FAILED = 14,
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DEVICE_IMU_ERROR_UNKNOWN = 15,
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};
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struct __attribute__((__packed__)) device_imu_packet_t {
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uint8_t signature [2];
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uint8_t temperature [2];
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uint64_t timestamp;
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uint8_t angular_multiplier [2];
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uint8_t angular_divisor [4];
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uint8_t angular_velocity_x [3];
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uint8_t angular_velocity_y [3];
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uint8_t angular_velocity_z [3];
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uint8_t acceleration_multiplier [2];
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uint8_t acceleration_divisor [4];
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uint8_t acceleration_x [3];
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uint8_t acceleration_y [3];
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uint8_t acceleration_z [3];
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uint8_t magnetic_multiplier [2];
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uint8_t magnetic_divisor [4];
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uint8_t magnetic_x [2];
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uint8_t magnetic_y [2];
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uint8_t magnetic_z [2];
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uint32_t checksum;
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uint8_t _padding [6];
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};
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enum device_imu_event_t {
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DEVICE_IMU_EVENT_UNKNOWN = 0,
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DEVICE_IMU_EVENT_INIT = 1,
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DEVICE_IMU_EVENT_UPDATE = 2,
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};
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struct device_imu_ahrs_t;
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struct device_imu_camera_sensor_t;
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struct device_imu_camera_t;
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struct device_imu_camera_calibration_t;
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struct device_imu_calibration_t;
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struct device_imu_vec2_t {
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float x;
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float y;
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};
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struct device_imu_vec3_t {
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float x;
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float y;
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float z;
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};
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struct device_imu_quat_t {
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float x;
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float y;
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float z;
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float w;
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};
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struct device_imu_euler_t {
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float roll;
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float pitch;
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float yaw;
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};
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struct device_imu_mat3x3_t {
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float m [9];
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};
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struct device_imu_size_t {
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uint16_t width;
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uint16_t height;
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};
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typedef enum device_imu_error_t device_imu_error_type;
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typedef struct device_imu_packet_t device_imu_packet_type;
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typedef enum device_imu_event_t device_imu_event_type;
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typedef struct device_imu_ahrs_t device_imu_ahrs_type;
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typedef struct device_imu_camera_sensor_t device_imu_camera_sensor_type;
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typedef struct device_imu_camera_t device_imu_camera_type;
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typedef struct device_imu_camera_calibration_t device_imu_camera_calibration_type;
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typedef struct device_imu_calibration_t device_imu_calibration_type;
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typedef struct device_imu_vec2_t device_imu_vec2_type;
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typedef struct device_imu_vec3_t device_imu_vec3_type;
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typedef struct device_imu_quat_t device_imu_quat_type;
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typedef struct device_imu_euler_t device_imu_euler_type;
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typedef struct device_imu_mat3x3_t device_imu_mat3x3_type;
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typedef struct device_imu_size_t device_imu_size_type;
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typedef void (*device_imu_event_callback)(
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uint64_t timestamp,
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device_imu_event_type event,
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const device_imu_ahrs_type* ahrs
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);
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struct device_imu_t {
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uint16_t vendor_id;
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uint16_t product_id;
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void* handle;
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uint16_t max_payload_size;
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uint32_t static_id;
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uint64_t last_timestamp;
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float temperature; // (in °C)
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void* offset;
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device_imu_ahrs_type* ahrs;
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device_imu_event_callback callback;
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device_imu_calibration_type* calibration;
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};
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typedef struct device_imu_t device_imu_type;
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device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_callback callback);
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device_imu_error_type device_imu_reset_calibration(device_imu_type* device);
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device_imu_error_type device_imu_load_calibration(device_imu_type* device, const char* path);
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device_imu_error_type device_imu_save_calibration(device_imu_type* device, const char* path);
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device_imu_error_type device_imu_clear(device_imu_type* device);
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device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet);
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device_imu_error_type device_imu_read(device_imu_type* device, int timeout);
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device_imu_vec3_type device_imu_get_earth_acceleration(const device_imu_ahrs_type* ahrs);
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device_imu_vec3_type device_imu_get_linear_acceleration(const device_imu_ahrs_type* ahrs);
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device_imu_quat_type device_imu_get_orientation(const device_imu_ahrs_type* ahrs);
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device_imu_euler_type device_imu_get_euler(device_imu_quat_type quat);
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uint32_t device_imu_get_num_of_cameras(device_imu_type *device);
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const device_imu_camera_type* device_imu_get_camera(const device_imu_type *device, uint32_t index);
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uint32_t device_imu_camera_get_num_of_sensors(const device_imu_camera_type *camera);
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const device_imu_camera_sensor_type* device_imu_camera_get_sensor(const device_imu_camera_type *camera, uint32_t index);
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device_imu_mat3x3_type device_imu_sensor_get_rotation(const device_imu_camera_sensor_type *sensor);
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device_imu_vec3_type device_imu_sensor_get_position(const device_imu_camera_sensor_type *sensor);
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device_imu_size_type device_imu_sensor_get_resolution(const device_imu_camera_sensor_type *sensor);
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device_imu_vec2_type device_imu_sensor_get_cc(const device_imu_camera_sensor_type *sensor);
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device_imu_vec2_type device_imu_sensor_get_fc(const device_imu_camera_sensor_type *sensor);
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device_imu_error_type device_imu_sensor_get_kc(const device_imu_camera_sensor_type *sensor, uint32_t *num_kc, float *kc);
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device_imu_error_type device_imu_close(device_imu_type* device);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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