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https://github.com/SlimeVR/SlimeVR-Server.git
synced 2026-04-06 02:01:58 +02:00
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This commit is contained in:
ColdIce
@@ -16,6 +16,8 @@ import java.util.concurrent.LinkedBlockingQueue;
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import java.util.function.Consumer;
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import dev.slimevr.bridge.Bridge;
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import dev.slimevr.platform.linux.LinuxNamedPipeBridge;
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import dev.slimevr.platform.linux.LinuxSteamVRPipeInputBridge;
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import dev.slimevr.platform.windows.WindowsNamedPipeBridge;
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import dev.slimevr.platform.windows.WindowsSteamVRPipeInputBridge;
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import dev.slimevr.bridge.VMCBridge;
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@@ -62,7 +64,7 @@ public class VRServer extends Thread {
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// Start server for SlimeVR trackers
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trackersServer = new TrackersUDPServer(6969, "Sensors UDP server", this::registerTracker);
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// OpenVR bridge currently only supports Windows
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// OpenVR bridge currently only supports Windows and Linux
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if(OperatingSystem.getCurrentPlatform() == OperatingSystem.WINDOWS) {
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/*
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// Create named pipe bridge for SteamVR driver
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@@ -78,6 +80,21 @@ public class VRServer extends Thread {
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WindowsNamedPipeBridge driverBridge = new WindowsNamedPipeBridge(hmdTracker, "steamvr", "SteamVR Driver Bridge", "\\\\.\\pipe\\SlimeVRDriver", shareTrackers);
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tasks.add(() -> driverBridge.startBridge());
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bridges.add(driverBridge);
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} else if (OperatingSystem.getCurrentPlatform() == OperatingSystem.LINUX) {
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/*
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// Create named pipe bridge for SteamVR driver
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NamedPipeVRBridge driverBridge = new NamedPipeVRBridge(hmdTracker, shareTrackers, this);
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tasks.add(() -> driverBridge.startBridge());
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bridges.add(driverBridge);
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//*/
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// Create named pipe bridge for SteamVR input
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LinuxSteamVRPipeInputBridge steamVRInput = new LinuxSteamVRPipeInputBridge(this);
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tasks.add(() -> steamVRInput.startBridge());
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bridges.add(steamVRInput);
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//*/
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LinuxNamedPipeBridge driverBridge = new LinuxNamedPipeBridge(hmdTracker, "steamvr", "SteamVR Driver Bridge", "\\\\.\\pipe\\SlimeVRDriver", shareTrackers);
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tasks.add(() -> driverBridge.startBridge());
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bridges.add(driverBridge);
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}
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// Create WebSocket server
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@@ -7,6 +7,7 @@ import javax.swing.event.MouseInputAdapter;
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import dev.slimevr.Main;
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import dev.slimevr.VRServer;
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import dev.slimevr.platform.linux.LinuxNamedPipeBridge;
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import dev.slimevr.platform.windows.WindowsNamedPipeBridge;
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import dev.slimevr.gui.swing.ButtonTimer;
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import dev.slimevr.gui.swing.EJBagNoStretch;
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@@ -337,6 +338,70 @@ public class VRServerGUI extends JFrame {
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add(Box.createVerticalStrut(10));
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} else if(server.hasBridge(LinuxNamedPipeBridge.class)) { // Linux GUI ver
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LinuxNamedPipeBridge br = server.getVRBridge(LinuxNamedPipeBridge.class);
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add(l = new JLabel("SteamVR Trackers"));
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l.setFont(l.getFont().deriveFont(Font.BOLD));
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l.setAlignmentX(0.5f);
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add(l = new JLabel("Changes may require restart of SteamVR"));
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l.setFont(l.getFont().deriveFont(Font.ITALIC));
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l.setAlignmentX(0.5f);
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add(new EJBagNoStretch(false, true) {{
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JCheckBox waistCb;
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add(waistCb = new JCheckBox("Waist"), c(1, 1));
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waistCb.setSelected(br.getShareSetting(TrackerRole.WAIST));
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waistCb.addActionListener(new ActionListener() {
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@Override
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public void actionPerformed(ActionEvent e) {
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server.queueTask(() -> {
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br.changeShareSettings(TrackerRole.WAIST, waistCb.isSelected());
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});
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}
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});
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JCheckBox legsCb;
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add(legsCb = new JCheckBox("Legs"), c(2, 1));
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legsCb.setSelected(br.getShareSetting(TrackerRole.LEFT_FOOT) && br.getShareSetting(TrackerRole.RIGHT_FOOT));
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legsCb.addActionListener(new ActionListener() {
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@Override
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public void actionPerformed(ActionEvent e) {
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server.queueTask(() -> {
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br.changeShareSettings(TrackerRole.LEFT_FOOT, legsCb.isSelected());
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br.changeShareSettings(TrackerRole.RIGHT_FOOT, legsCb.isSelected());
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});
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}
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});
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JCheckBox chestCb;
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add(chestCb = new JCheckBox("Chest"), c(1, 2));
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chestCb.setSelected(br.getShareSetting(TrackerRole.CHEST));
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chestCb.addActionListener(new ActionListener() {
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@Override
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public void actionPerformed(ActionEvent e) {
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server.queueTask(() -> {
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br.changeShareSettings(TrackerRole.CHEST, chestCb.isSelected());
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});
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}
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});
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JCheckBox kneesCb;
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add(kneesCb = new JCheckBox("Knees"), c(2, 2));
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kneesCb.setSelected(br.getShareSetting(TrackerRole.LEFT_KNEE) && br.getShareSetting(TrackerRole.RIGHT_KNEE));
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kneesCb.addActionListener(new ActionListener() {
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@Override
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public void actionPerformed(ActionEvent e) {
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server.queueTask(() -> {
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br.changeShareSettings(TrackerRole.LEFT_KNEE, kneesCb.isSelected());
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br.changeShareSettings(TrackerRole.RIGHT_KNEE, kneesCb.isSelected());
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});
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}
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});
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}});
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add(Box.createVerticalStrut(10));
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}
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add(new JLabel("Skeleton data"));
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add(skeletonList);
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@@ -0,0 +1,221 @@
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package dev.slimevr.platform.linux;
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import com.google.protobuf.CodedOutputStream;
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import java.nio.*;
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import com.sun.jna.Native;
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import com.sun.jna.ptr.IntByReference;
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import dev.slimevr.Main;
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import dev.slimevr.bridge.BridgeThread;
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import dev.slimevr.bridge.PipeState;
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import dev.slimevr.bridge.ProtobufBridge;
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import dev.slimevr.bridge.ProtobufMessages;
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import dev.slimevr.util.ann.VRServerThread;
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import dev.slimevr.vr.trackers.*;
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import io.eiren.util.logging.LogManager;
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import java.io.IOException;
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import java.io.RandomAccessFile;
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import java.nio.channels.FileChannel;
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import java.util.List;
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public class LinuxNamedPipeBridge extends ProtobufBridge<VRTracker> implements Runnable {
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private final TrackerRole[] defaultRoles = new TrackerRole[] {TrackerRole.WAIST, TrackerRole.LEFT_FOOT, TrackerRole.RIGHT_FOOT};
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private final byte[] buffArray = new byte[2048];
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protected LinuxPipe pipe;
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protected final String pipeName;
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protected final String bridgeSettingsKey;
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protected final Thread runnerThread;
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private final List<? extends ShareableTracker> shareableTrackers;
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public LinuxNamedPipeBridge(HMDTracker hmd, String bridgeSettingsKey, String bridgeName, String pipeName, List<? extends ShareableTracker> shareableTrackers) {
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super(bridgeName, hmd);
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this.pipeName = pipeName;
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this.bridgeSettingsKey = bridgeSettingsKey;
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this.runnerThread = new Thread(this, "Named pipe thread");
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this.shareableTrackers = shareableTrackers;
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}
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@Override
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@VRServerThread
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public void startBridge() {
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for(TrackerRole role : defaultRoles) {
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changeShareSettings(role, Main.vrServer.config.getBoolean("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), true));
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}
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for(int i = 0; i < shareableTrackers.size(); ++i) {
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ShareableTracker tr = shareableTrackers.get(i);
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TrackerRole role = tr.getTrackerRole();
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changeShareSettings(role, Main.vrServer.config.getBoolean("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), false));
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}
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runnerThread.start();
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}
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@VRServerThread
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public boolean getShareSetting(TrackerRole role) {
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for(int i = 0; i < shareableTrackers.size(); ++i) {
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ShareableTracker tr = shareableTrackers.get(i);
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if(tr.getTrackerRole() == role) {
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return sharedTrackers.contains(tr);
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}
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}
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return false;
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}
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@VRServerThread
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public void changeShareSettings(TrackerRole role, boolean share) {
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if(role == null)
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return;
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for(int i = 0; i < shareableTrackers.size(); ++i) {
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ShareableTracker tr = shareableTrackers.get(i);
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if(tr.getTrackerRole() == role) {
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if(share) {
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addSharedTracker(tr);
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} else {
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removeSharedTracker(tr);
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}
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Main.vrServer.config.setProperty("bridge." + bridgeSettingsKey + ".trackers." + role.name().toLowerCase(), share);
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Main.vrServer.saveConfig();
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}
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}
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}
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@Override
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@VRServerThread
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protected VRTracker createNewTracker(ProtobufMessages.TrackerAdded trackerAdded) {
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VRTracker tracker = new VRTracker(trackerAdded.getTrackerId(), trackerAdded.getTrackerSerial(), trackerAdded.getTrackerName(), true, true);
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TrackerRole role = TrackerRole.getById(trackerAdded.getTrackerRole());
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if(role != null) {
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tracker.setBodyPosition(TrackerPosition.getByRole(role));
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}
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return tracker;
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}
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@Override
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@BridgeThread
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public void run() {
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try {
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createPipe();
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while(true) {
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boolean pipesUpdated = false;
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if(pipe.state == PipeState.CREATED) {
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tryOpeningPipe(pipe);
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}
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if(pipe.state == PipeState.OPEN) {
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pipesUpdated = updatePipe();
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updateMessageQueue();
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}
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if(pipe.state == PipeState.ERROR) {
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resetPipe();
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}
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if(!pipesUpdated) {
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try {
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Thread.sleep(5); // Up to 200Hz
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} catch(InterruptedException e) {
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e.printStackTrace();
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}
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}
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}
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} catch(IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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}
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@Override
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@BridgeThread
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protected boolean sendMessageReal(ProtobufMessages.ProtobufMessage message) {
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if(pipe.state == PipeState.OPEN) {
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try {
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int size = message.getSerializedSize();
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CodedOutputStream os = CodedOutputStream.newInstance(buffArray, 4, size);
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message.writeTo(os);
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size += 4;
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buffArray[0] = (byte) (size & 0xFF);
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buffArray[1] = (byte) ((size >> 8) & 0xFF);
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buffArray[2] = (byte) ((size >> 16) & 0xFF);
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buffArray[3] = (byte) ((size >> 24) & 0xFF);
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try {
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pipe.pipe.write(ByteBuffer.wrap(buffArray));
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return true;
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} catch (IOException e) {
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pipe.state = PipeState.ERROR;
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LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Native.getLastError());
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e.printStackTrace();
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}
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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return false;
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}
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private boolean updatePipe() throws IOException {
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if(pipe.state == PipeState.OPEN) {
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boolean readAnything = false;
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IntByReference bytesAvailable = new IntByReference(0);
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while(pipe.pipe.isOpen()) {
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if(bytesAvailable.getValue() >= 4) { // Got size
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int messageLength = (buffArray[3] << 24) | (buffArray[2] << 16) | (buffArray[1] << 8) | buffArray[0];
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if(messageLength > 1024) { // Overflow
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LogManager.log.severe("[" + bridgeName + "] Pipe overflow. Message length: " + messageLength);
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pipe.state = PipeState.ERROR;
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return readAnything;
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}
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if(bytesAvailable.getValue() >= messageLength) {
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if(pipe.pipe.read(ByteBuffer.wrap(buffArray)) == 0) {
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ProtobufMessages.ProtobufMessage message = ProtobufMessages.ProtobufMessage.parser().parseFrom(buffArray, 4, messageLength - 4);
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messageReceived(message);
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readAnything = true;
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} else {
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pipe.state = PipeState.ERROR;
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LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Native.getLastError());
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return readAnything;
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}
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} else {
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return readAnything; // Wait for more data
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}
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} else {
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return readAnything; // Wait for more data
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}
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}
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pipe.state = PipeState.ERROR;
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LogManager.log.severe("[" + bridgeName + "] Pipe error: " + Native.getLastError());
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}
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return false;
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}
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private void resetPipe() {
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LinuxPipe.safeDisconnect(pipe);
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pipe.state = PipeState.CREATED;
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Main.vrServer.queueTask(this::disconnected);
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}
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private void createPipe() throws IOException {
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try {
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RandomAccessFile rw = new RandomAccessFile(pipeName, "rw");
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FileChannel fc = rw.getChannel();
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pipe = new LinuxPipe(fc, pipeName); // lpSecurityAttributes
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LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " created");
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//if(pipe.pipe.)
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// throw new IOException("Can't open " + pipeName + " pipe: " + Native.getLastError());
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LogManager.log.info("[SteamVRPipeInputBridge] Pipes are open");
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} catch(IOException e) {
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LinuxPipe.safeDisconnect(pipe);
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throw e;
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}
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}
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private boolean tryOpeningPipe(LinuxPipe pipe) {
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if(pipe.pipe.isOpen()) {
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pipe.state = PipeState.OPEN;
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LogManager.log.info("[" + bridgeName + "] Pipe " + pipe.name + " is open");
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Main.vrServer.queueTask(this::reconnected);
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return true;
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}
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LogManager.log.info("[" + bridgeName + "] Error connecting to pipe " + pipe.name + ": " + Native.getLastError());
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return false;
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}
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}
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@@ -0,0 +1,282 @@
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package dev.slimevr.platform.linux;
|
||||
|
||||
import com.jme3.math.Quaternion;
|
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import com.jme3.math.Vector3f;
|
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import com.sun.jna.Native;
|
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import com.sun.jna.ptr.IntByReference;
|
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import dev.slimevr.VRServer;
|
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import dev.slimevr.bridge.Bridge;
|
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import dev.slimevr.bridge.PipeState;
|
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import dev.slimevr.vr.trackers.*;
|
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import io.eiren.util.collections.FastList;
|
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import io.eiren.util.logging.LogManager;
|
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|
||||
import java.io.IOException;
|
||||
import java.io.RandomAccessFile;
|
||||
import java.nio.ByteBuffer;
|
||||
import java.nio.channels.FileChannel;
|
||||
import java.nio.charset.Charset;
|
||||
import java.util.List;
|
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import java.util.concurrent.atomic.AtomicBoolean;
|
||||
|
||||
public class LinuxNamedPipeVRBridge extends Thread implements Bridge {
|
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private static final int MAX_COMMAND_LENGTH = 2048;
|
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public static final String HMDPipeName = "\\\\.\\pipe\\HMDPipe";
|
||||
public static final String TrackersPipeName = "\\\\.\\pipe\\TrackPipe";
|
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public static final Charset ASCII = Charset.forName("ASCII");
|
||||
|
||||
private final byte[] buffArray = new byte[1024];
|
||||
private final StringBuilder commandBuilder = new StringBuilder(1024);
|
||||
private final StringBuilder sbBuffer = new StringBuilder(1024);
|
||||
private final Vector3f vBuffer = new Vector3f();
|
||||
private final Vector3f vBuffer2 = new Vector3f();
|
||||
private final Quaternion qBuffer = new Quaternion();
|
||||
private final Quaternion qBuffer2 = new Quaternion();
|
||||
|
||||
private LinuxPipe hmdPipe;
|
||||
private final HMDTracker hmd;
|
||||
private final List<LinuxPipe> trackerPipes;
|
||||
private final List<? extends Tracker> shareTrackers;
|
||||
private final List<ComputedTracker> internalTrackers;
|
||||
|
||||
private final HMDTracker internalHMDTracker = new HMDTracker("internal://HMD");
|
||||
private final AtomicBoolean newHMDData = new AtomicBoolean(false);
|
||||
|
||||
public LinuxNamedPipeVRBridge(HMDTracker hmd, List<? extends Tracker> shareTrackers, VRServer server) {
|
||||
super("Named Pipe VR Bridge");
|
||||
this.hmd = hmd;
|
||||
this.shareTrackers = new FastList<>(shareTrackers);
|
||||
this.trackerPipes = new FastList<>(shareTrackers.size());
|
||||
this.internalTrackers = new FastList<>(shareTrackers.size());
|
||||
for(int i = 0; i < shareTrackers.size(); ++i) {
|
||||
Tracker t = shareTrackers.get(i);
|
||||
ComputedTracker ct = new ComputedTracker(t.getTrackerId(), "internal://" + t.getName(), true, true);
|
||||
ct.setStatus(TrackerStatus.OK);
|
||||
this.internalTrackers.add(ct);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
try {
|
||||
createPipes();
|
||||
while(true) {
|
||||
waitForPipesToOpen();
|
||||
if(areAllPipesOpen()) {
|
||||
boolean hmdUpdated = updateHMD(); // Update at HMDs frequency
|
||||
for(int i = 0; i < trackerPipes.size(); ++i) {
|
||||
updateTracker(i, hmdUpdated);
|
||||
}
|
||||
if(!hmdUpdated) {
|
||||
Thread.sleep(5); // Up to 200Hz
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch(Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void dataRead() {
|
||||
if(newHMDData.compareAndSet(true, false)) {
|
||||
hmd.position.set(internalHMDTracker.position);
|
||||
hmd.rotation.set(internalHMDTracker.rotation);
|
||||
hmd.dataTick();
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void dataWrite() {
|
||||
for(int i = 0; i < shareTrackers.size(); ++i) {
|
||||
Tracker t = shareTrackers.get(i);
|
||||
ComputedTracker it = this.internalTrackers.get(i);
|
||||
if(t.getPosition(vBuffer2))
|
||||
it.position.set(vBuffer2);
|
||||
if(t.getRotation(qBuffer2))
|
||||
it.rotation.set(qBuffer2);
|
||||
}
|
||||
}
|
||||
|
||||
private void waitForPipesToOpen() {
|
||||
if(hmdPipe.state == PipeState.CREATED) {
|
||||
if(tryOpeningPipe(hmdPipe))
|
||||
initHMDPipe(hmdPipe);
|
||||
}
|
||||
for(int i = 0; i < trackerPipes.size(); ++i) {
|
||||
LinuxPipe trackerPipe = trackerPipes.get(i);
|
||||
if(trackerPipe.state == PipeState.CREATED) {
|
||||
if(tryOpeningPipe(trackerPipe))
|
||||
initTrackerPipe(trackerPipe, i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public boolean updateHMD() throws IOException {
|
||||
if(hmdPipe.state == PipeState.OPEN) {
|
||||
IntByReference bytesAvailable = new IntByReference(0);
|
||||
if(bytesAvailable.getValue() > 0) {
|
||||
while(hmdPipe.pipe.read(ByteBuffer.wrap(buffArray)) != 0) {
|
||||
int bytesRead = bytesAvailable.getValue();
|
||||
for(int i = 0; i < bytesRead; ++i) {
|
||||
char c = (char) buffArray[i];
|
||||
if(c == '\n') {
|
||||
executeHMDInput();
|
||||
commandBuilder.setLength(0);
|
||||
} else {
|
||||
commandBuilder.append(c);
|
||||
if(commandBuilder.length() >= MAX_COMMAND_LENGTH) {
|
||||
LogManager.log.severe("[VRBridge] Command from the pipe is too long, flushing buffer");
|
||||
commandBuilder.setLength(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(bytesRead < buffArray.length)
|
||||
break; // Don't repeat, we read all available bytes
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
private void executeHMDInput() throws IOException {
|
||||
String[] split = commandBuilder.toString().split(" ");
|
||||
if(split.length < 7) {
|
||||
LogManager.log.severe("[VRBridge] Short HMD data received: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
try {
|
||||
double x = Double.parseDouble(split[0]);
|
||||
double y = Double.parseDouble(split[1]);
|
||||
double z = Double.parseDouble(split[2]);
|
||||
double qw = Double.parseDouble(split[3]);
|
||||
double qx = Double.parseDouble(split[4]);
|
||||
double qy = Double.parseDouble(split[5]);
|
||||
double qz = Double.parseDouble(split[6]);
|
||||
|
||||
internalHMDTracker.position.set((float) x, (float) y, (float) z);
|
||||
internalHMDTracker.rotation.set((float) qx, (float) qy, (float) qz, (float) qw);
|
||||
internalHMDTracker.dataTick();
|
||||
newHMDData.set(true);
|
||||
} catch(NumberFormatException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
public void updateTracker(int trackerId, boolean hmdUpdated) {
|
||||
Tracker sensor = internalTrackers.get(trackerId);
|
||||
if(sensor.getStatus().sendData) {
|
||||
LinuxPipe trackerPipe = trackerPipes.get(trackerId);
|
||||
if(hmdUpdated && trackerPipe.state == PipeState.OPEN) {
|
||||
sbBuffer.setLength(0);
|
||||
sensor.getPosition(vBuffer);
|
||||
sensor.getRotation(qBuffer);
|
||||
sbBuffer.append(vBuffer.x).append(' ').append(vBuffer.y).append(' ').append(vBuffer.z).append(' ');
|
||||
sbBuffer.append(qBuffer.getW()).append(' ').append(qBuffer.getX()).append(' ').append(qBuffer.getY()).append(' ').append(qBuffer.getZ()).append('\n');
|
||||
String str = sbBuffer.toString();
|
||||
System.arraycopy(str.getBytes(ASCII), 0, buffArray, 0, str.length());
|
||||
buffArray[str.length()] = '\0';
|
||||
IntByReference lpNumberOfBytesWritten = new IntByReference(0);
|
||||
try {
|
||||
trackerPipe.pipe.write(ByteBuffer.wrap(buffArray));
|
||||
} catch(IOException e) {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void initHMDPipe(LinuxPipe pipe) {
|
||||
hmd.setStatus(TrackerStatus.OK);
|
||||
}
|
||||
|
||||
private void initTrackerPipe(LinuxPipe pipe, int trackerId) {
|
||||
String trackerHello = this.shareTrackers.size() + " 0";
|
||||
System.arraycopy(trackerHello.getBytes(ASCII), 0, buffArray, 0, trackerHello.length());
|
||||
buffArray[trackerHello.length()] = '\0';
|
||||
IntByReference lpNumberOfBytesWritten = new IntByReference(0);
|
||||
try {
|
||||
pipe.pipe.write(ByteBuffer.wrap(buffArray));
|
||||
} catch(IOException e) {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
private boolean tryOpeningPipe(LinuxPipe pipe) {
|
||||
if(pipe.pipe.isOpen()) {
|
||||
pipe.state = PipeState.OPEN;
|
||||
LogManager.log.info("[VRBridge] Pipe " + pipe.name + " is open");
|
||||
return true;
|
||||
}
|
||||
|
||||
LogManager.log.info("[VRBridge] Error connecting to pipe " + pipe.name + ": " + Native.getLastError());
|
||||
return false;
|
||||
}
|
||||
|
||||
private boolean areAllPipesOpen() {
|
||||
if(hmdPipe == null || hmdPipe.state == PipeState.CREATED) {
|
||||
return false;
|
||||
}
|
||||
for(int i = 0; i < trackerPipes.size(); ++i) {
|
||||
if(trackerPipes.get(i).state == PipeState.CREATED)
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
private void createPipes() throws IOException {
|
||||
try {
|
||||
RandomAccessFile rw = new RandomAccessFile(HMDPipeName, "rw");
|
||||
FileChannel fc = rw.getChannel();
|
||||
hmdPipe = new LinuxPipe(fc, HMDPipeName); // lpSecurityAttributes
|
||||
LogManager.log.info("[VRBridge] Pipe " + hmdPipe.name + " created");
|
||||
//if(WinBase.INVALID_HANDLE_VALUE.equals(hmdPipe.pipeHandle))
|
||||
// throw new IOException("Can't open " + HMDPipeName + " pipe: " + Native.getLastError());
|
||||
for(int i = 0; i < this.shareTrackers.size(); ++i) {
|
||||
String pipeName = TrackersPipeName + i;
|
||||
RandomAccessFile Trw = new RandomAccessFile(pipeName, "rw");
|
||||
FileChannel Tfc = Trw.getChannel();
|
||||
LinuxPipe pipeHandle = new LinuxPipe(Tfc, pipeName+i); // lpSecurityAttributes
|
||||
//if(WinBase.INVALID_HANDLE_VALUE.equals(pipeHandle))
|
||||
// throw new IOException("Can't open " + pipeName + " pipe: " + Native.getLastError());
|
||||
LogManager.log.info("[VRBridge] Pipe " + pipeName + " created");
|
||||
trackerPipes.add(new LinuxPipe(pipeHandle.pipe, pipeName));
|
||||
}
|
||||
LogManager.log.info("[VRBridge] Pipes are open");
|
||||
} catch(IOException e) {
|
||||
safeDisconnect(hmdPipe);
|
||||
for(int i = 0; i < trackerPipes.size(); ++i)
|
||||
safeDisconnect(trackerPipes.get(i));
|
||||
trackerPipes.clear();
|
||||
throw e;
|
||||
}
|
||||
}
|
||||
|
||||
public static void safeDisconnect(LinuxPipe pipe) {
|
||||
try {
|
||||
if(pipe != null && pipe.pipe != null) {
|
||||
pipe.pipe.close();
|
||||
}
|
||||
} catch (Exception e) {
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void addSharedTracker(ShareableTracker tracker) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void removeSharedTracker(ShareableTracker tracker) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void startBridge() {
|
||||
start();
|
||||
}
|
||||
}
|
||||
26
src/main/java/dev/slimevr/platform/linux/LinuxPipe.java
Normal file
26
src/main/java/dev/slimevr/platform/linux/LinuxPipe.java
Normal file
@@ -0,0 +1,26 @@
|
||||
package dev.slimevr.platform.linux;
|
||||
|
||||
import dev.slimevr.bridge.PipeState;
|
||||
|
||||
import java.nio.channels.FileChannel;
|
||||
|
||||
public class LinuxPipe {
|
||||
|
||||
public final String name;
|
||||
|
||||
public FileChannel pipe;
|
||||
public PipeState state = PipeState.CREATED;
|
||||
|
||||
public LinuxPipe(FileChannel pipe, String name) {
|
||||
this.pipe = pipe;
|
||||
this.name = name;
|
||||
}
|
||||
public static void safeDisconnect(LinuxPipe pipe) {
|
||||
try {
|
||||
if(pipe != null && pipe.pipe != null) {
|
||||
pipe.pipe.close();
|
||||
}
|
||||
} catch (Exception e) {
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,291 @@
|
||||
package dev.slimevr.platform.linux;
|
||||
|
||||
import com.jme3.math.Quaternion;
|
||||
import com.jme3.math.Vector3f;
|
||||
import com.sun.jna.Native;
|
||||
import com.sun.jna.platform.linux.Fcntl;
|
||||
import com.sun.jna.platform.linux.ErrNo;
|
||||
import com.sun.jna.ptr.IntByReference;
|
||||
import dev.slimevr.VRServer;
|
||||
import dev.slimevr.bridge.Bridge;
|
||||
import dev.slimevr.bridge.PipeState;
|
||||
import dev.slimevr.vr.trackers.ShareableTracker;
|
||||
import dev.slimevr.vr.trackers.TrackerPosition;
|
||||
import dev.slimevr.vr.trackers.TrackerStatus;
|
||||
import dev.slimevr.vr.trackers.VRTracker;
|
||||
import io.eiren.util.collections.FastList;
|
||||
import io.eiren.util.logging.LogManager;
|
||||
import org.apache.commons.lang3.StringUtils;
|
||||
|
||||
import java.io.IOException;
|
||||
import java.io.RandomAccessFile;
|
||||
import java.nio.ByteBuffer;
|
||||
import java.nio.channels.FileChannel;
|
||||
import java.util.HashMap;
|
||||
import java.util.Iterator;
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
import java.util.concurrent.atomic.AtomicBoolean;
|
||||
|
||||
public class LinuxSteamVRPipeInputBridge extends Thread implements Bridge {
|
||||
|
||||
private static final int MAX_COMMAND_LENGTH = 2048;
|
||||
public static final String PipeName = "\\\\.\\pipe\\SlimeVRInput";
|
||||
|
||||
private final byte[] buffArray = new byte[1024];
|
||||
private final VRServer server;
|
||||
private final StringBuilder commandBuilder = new StringBuilder(1024);
|
||||
private final List<VRTracker> trackers = new FastList<>();
|
||||
private final Map<Integer, VRTracker> trackersInternal = new HashMap<>();
|
||||
private AtomicBoolean newData = new AtomicBoolean(false);
|
||||
private final Vector3f vBuffer = new Vector3f();
|
||||
private final Quaternion qBuffer = new Quaternion();
|
||||
private LinuxPipe pipe;
|
||||
|
||||
public LinuxSteamVRPipeInputBridge(VRServer server) {
|
||||
this.server = server;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
try {
|
||||
createPipes();
|
||||
while(true) {
|
||||
boolean pipesUpdated = false;
|
||||
if(pipe.state == PipeState.CREATED) {
|
||||
tryOpeningPipe(pipe);
|
||||
}
|
||||
if(pipe.state == PipeState.OPEN) {
|
||||
pipesUpdated = updatePipes();
|
||||
}
|
||||
if(pipe.state == PipeState.ERROR) {
|
||||
resetPipe();
|
||||
}
|
||||
if(!pipesUpdated) {
|
||||
try {
|
||||
Thread.sleep(5); // Up to 200Hz
|
||||
} catch(InterruptedException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch(Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
public boolean updatePipes() throws IOException {
|
||||
if(pipe.state == PipeState.OPEN) {
|
||||
IntByReference bytesAvailable = new IntByReference(0);
|
||||
if(bytesAvailable.getValue() > 0) {
|
||||
while(pipe.pipe.write(ByteBuffer.wrap(buffArray)) != 0) {
|
||||
int bytesRead = bytesAvailable.getValue();
|
||||
for(int i = 0; i < bytesRead; ++i) {
|
||||
char c = (char) buffArray[i];
|
||||
if(c == '\n') {
|
||||
executeInputCommand();
|
||||
commandBuilder.setLength(0);
|
||||
} else {
|
||||
commandBuilder.append(c);
|
||||
if(commandBuilder.length() >= MAX_COMMAND_LENGTH) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Command from the pipe is too long, flushing buffer");
|
||||
commandBuilder.setLength(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(bytesRead < buffArray.length)
|
||||
return true; // All pipe data read
|
||||
}
|
||||
} else {
|
||||
return false; // Pipe was empty, it's okay
|
||||
}
|
||||
// PeekNamedPipe or ReadFile returned an error
|
||||
pipe.state = PipeState.ERROR;
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Pipe error: " + Native.getLastError());
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
private void executeInputCommand() throws IOException {
|
||||
String[] command = commandBuilder.toString().split(" ");
|
||||
switch(command[0]) {
|
||||
case "ADD": // Add new tracker
|
||||
if(command.length < 4) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Error in ADD command. Command requires at least 4 arguments. Supplied: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
VRTracker internalTracker = new VRTracker(Integer.parseInt(command[1]), StringUtils.join(command, " ", 3, command.length), true, true);
|
||||
int roleId = Integer.parseInt(command[2]);
|
||||
if(roleId >= 0 && roleId < LinuxSteamVRPipeInputBridge.SteamVRInputRoles.values.length) {
|
||||
LinuxSteamVRPipeInputBridge.SteamVRInputRoles svrRole = LinuxSteamVRPipeInputBridge.SteamVRInputRoles.values[roleId];
|
||||
internalTracker.bodyPosition = svrRole.bodyPosition;
|
||||
}
|
||||
VRTracker oldTracker;
|
||||
synchronized(trackersInternal) {
|
||||
oldTracker = trackersInternal.put(internalTracker.getTrackerId(), internalTracker);
|
||||
}
|
||||
if(oldTracker != null) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] New tracker added with the same id. Supplied: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
newData.set(true);
|
||||
break;
|
||||
case "UPD": // Update tracker data
|
||||
if(command.length < 9) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Error in UPD command. Command requires at least 9 arguments. Supplied: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
int id = Integer.parseInt(command[1]);
|
||||
double x = Double.parseDouble(command[2]);
|
||||
double y = Double.parseDouble(command[3]);
|
||||
double z = Double.parseDouble(command[4]);
|
||||
double qw = Double.parseDouble(command[5]);
|
||||
double qx = Double.parseDouble(command[6]);
|
||||
double qy = Double.parseDouble(command[7]);
|
||||
double qz = Double.parseDouble(command[8]);
|
||||
internalTracker = trackersInternal.get(id);
|
||||
if(internalTracker != null) {
|
||||
internalTracker.position.set((float) x, (float) y, (float) z);
|
||||
internalTracker.rotation.set((float) qx, (float) qy, (float) qz, (float) qw);
|
||||
internalTracker.dataTick();
|
||||
newData.set(true);
|
||||
}
|
||||
break;
|
||||
case "STA": // Update tracker status
|
||||
if(command.length < 3) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Error in STA command. Command requires at least 3 arguments. Supplied: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
id = Integer.parseInt(command[1]);
|
||||
int status = Integer.parseInt(command[2]);
|
||||
TrackerStatus st = TrackerStatus.getById(status);
|
||||
if(st == null) {
|
||||
LogManager.log.severe("[SteamVRPipeInputBridge] Unrecognized status id. Supplied: " + commandBuilder.toString());
|
||||
return;
|
||||
}
|
||||
internalTracker = trackersInternal.get(id);
|
||||
if(internalTracker != null) {
|
||||
internalTracker.setStatus(st);
|
||||
newData.set(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void dataRead() {
|
||||
if(newData.getAndSet(false)) {
|
||||
if(trackers.size() < trackersInternal.size()) {
|
||||
// Add new trackers
|
||||
synchronized(trackersInternal) {
|
||||
Iterator<VRTracker> iterator = trackersInternal.values().iterator();
|
||||
internal: while(iterator.hasNext()) {
|
||||
VRTracker internalTracker = iterator.next();
|
||||
for(int i = 0; i < trackers.size(); ++i) {
|
||||
VRTracker t = trackers.get(i);
|
||||
if(t.getTrackerId() == internalTracker.getTrackerId())
|
||||
continue internal;
|
||||
}
|
||||
// Tracker is not found in current trackers
|
||||
VRTracker tracker = new VRTracker(internalTracker.getTrackerId(), internalTracker.getName(), true, true);
|
||||
tracker.bodyPosition = internalTracker.bodyPosition;
|
||||
trackers.add(tracker);
|
||||
server.registerTracker(tracker);
|
||||
}
|
||||
}
|
||||
}
|
||||
for(int i = 0; i < trackers.size(); ++i) {
|
||||
VRTracker tracker = trackers.get(i);
|
||||
VRTracker internal = trackersInternal.get(tracker.getTrackerId());
|
||||
if(internal == null)
|
||||
throw new NullPointerException("Lost internal tracker somehow: " + tracker.getTrackerId()); // Shouldn't really happen even, but better to catch it like this
|
||||
if(internal.getPosition(vBuffer))
|
||||
tracker.position.set(vBuffer);
|
||||
if(internal.getRotation(qBuffer))
|
||||
tracker.rotation.set(qBuffer);
|
||||
tracker.setStatus(internal.getStatus());
|
||||
tracker.dataTick();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void dataWrite() {
|
||||
// Not used, only input
|
||||
}
|
||||
|
||||
private void resetPipe() {
|
||||
LinuxPipe.safeDisconnect(pipe);
|
||||
pipe.state = PipeState.CREATED;
|
||||
//Main.vrServer.queueTask(this::disconnected);
|
||||
}
|
||||
|
||||
|
||||
private boolean tryOpeningPipe(LinuxPipe pipe) {
|
||||
if(pipe.pipe.isOpen()) {
|
||||
pipe.state = PipeState.OPEN;
|
||||
LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " is open");
|
||||
return true;
|
||||
}
|
||||
|
||||
LogManager.log.info("[SteamVRPipeInputBridge] Error connecting to pipe " + pipe.name + ": " + Native.getLastError());
|
||||
return false;
|
||||
}
|
||||
|
||||
private void createPipes() throws IOException {
|
||||
try {
|
||||
RandomAccessFile rw = new RandomAccessFile(PipeName, "rw");
|
||||
FileChannel fc = rw.getChannel();
|
||||
pipe = new LinuxPipe(fc, PipeName); // lpSecurityAttributes
|
||||
LogManager.log.info("[SteamVRPipeInputBridge] Pipe " + pipe.name + " created");
|
||||
if(pipe.pipe == null)
|
||||
throw new IOException("Can't open " + PipeName + " pipe: " + Native.getLastError());
|
||||
LogManager.log.info("[SteamVRPipeInputBridge] Pipes are open");
|
||||
} catch(IOException e) {
|
||||
LinuxPipe.safeDisconnect(pipe);
|
||||
throw e;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void addSharedTracker(ShareableTracker tracker) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void removeSharedTracker(ShareableTracker tracker) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
}
|
||||
|
||||
public enum SteamVRInputRoles {
|
||||
HEAD(TrackerPosition.HMD),
|
||||
LEFT_HAND(TrackerPosition.LEFT_CONTROLLER),
|
||||
RIGHT_HAND(TrackerPosition.RIGHT_CONTROLLER),
|
||||
LEFT_FOOT(TrackerPosition.LEFT_FOOT),
|
||||
RIGHT_FOOT(TrackerPosition.RIGHT_FOOT),
|
||||
LEFT_SHOULDER(TrackerPosition.NONE),
|
||||
RIGHT_SHOULDER(TrackerPosition.NONE),
|
||||
LEFT_ELBOW(TrackerPosition.NONE),
|
||||
RIGHT_ELBOW(TrackerPosition.NONE),
|
||||
LEFT_KNEE(TrackerPosition.LEFT_LEG),
|
||||
RIGHT_KNEE(TrackerPosition.RIGHT_LEG),
|
||||
WAIST(TrackerPosition.WAIST),
|
||||
CHEST(TrackerPosition.CHEST),
|
||||
;
|
||||
|
||||
private static final LinuxSteamVRPipeInputBridge.SteamVRInputRoles[] values = values();
|
||||
public final TrackerPosition bodyPosition;
|
||||
|
||||
private SteamVRInputRoles(TrackerPosition slimeVrPosition) {
|
||||
this.bodyPosition = slimeVrPosition;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void startBridge() {
|
||||
start();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user