hdk_device.h

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// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface to direct OSVR HDK driver code.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @author Ryan Pavlik <ryan.pavlik@collabora.com>
 * @ingroup drv_hdk
 */

#pragma once

#include "os/os_threading.h"

#ifdef __cplusplus
extern "C" {
#endif

enum HDK_VARIANT
{
        HDK_UNKNOWN = 0,
        HDK_VARIANT_1_2,
        HDK_VARIANT_1_3_1_4,
        HDK_VARIANT_2
};

struct hdk_device
{
        struct xrt_device base;
        struct os_hid_device *dev;
        enum HDK_VARIANT variant;

        struct os_thread_helper imu_thread;

        bool print_spew;
        bool print_debug;
        bool disconnect_notified;

        struct xrt_quat quat;
        struct xrt_quat ang_vel_quat;
        bool quat_valid;
};

static inline struct hdk_device *
hdk_device(struct xrt_device *xdev)
{
        return (struct hdk_device *)xdev;
}

struct hdk_device *
hdk_device_create(struct os_hid_device *dev,
                  enum HDK_VARIANT variant,
                  bool print_spew,
                  bool print_debug);

#define HDK_SPEW(c, ...)                                                       \
        do {                                                                   \
                if (c->print_spew) {                                           \
                        fprintf(stderr, "%s - ", __func__);                    \
                        fprintf(stderr, __VA_ARGS__);                          \
                        fprintf(stderr, "\n");                                 \
                }                                                              \
        } while (false)
#define HDK_DEBUG(c, ...)                                                      \
        do {                                                                   \
                if (c->print_debug) {                                          \
                        fprintf(stderr, "%s - ", __func__);                    \
                        fprintf(stderr, __VA_ARGS__);                          \
                        fprintf(stderr, "\n");                                 \
                }                                                              \
        } while (false)

#define HDK_ERROR(c, ...)                                                      \
        do {                                                                   \
                fprintf(stderr, "%s - ", __func__);                            \
                fprintf(stderr, __VA_ARGS__);                                  \
                fprintf(stderr, "\n");                                         \
        } while (false)


#ifdef __cplusplus
}
#endif