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added threading handler for capturing VRPN input

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This commit is contained in:
Hartmut Seichter 2022-12-20 23:23:03 +01:00
parent 6c8c9d70cb
commit d39fd7b0f6
7 changed files with 119 additions and 102 deletions
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12
Cargo.lock generated
View file

@ -74,9 +74,9 @@ checksum = "85965b6739a430150bdd138e2374a98af0c3ee0d030b3bb7fc3bddff58d0102e"
[[package]]
name = "android_logger"
version = "0.11.2"
version = "0.11.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4c0c6cfd3264e874d461c0316a78fb78e4147562c68a64881af36fe10573613e"
checksum = "8619b80c242aa7bd638b5c7ddd952addeecb71f69c75e33f1d47b2804f8f883a"
dependencies = [
"android_log-sys",
"env_logger",
@ -1817,9 +1817,9 @@ dependencies = [
[[package]]
name = "hermit-abi"
version = "0.1.19"
version = "0.2.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
checksum = "ee512640fe35acbfb4bb779db6f0d80704c2cacfa2e39b601ef3e3f47d1ae4c7"
dependencies = [
"libc",
]
@ -2506,9 +2506,9 @@ dependencies = [
[[package]]
name = "num_cpus"
version = "1.14.0"
version = "1.15.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f6058e64324c71e02bc2b150e4f3bc8286db6c83092132ffa3f6b1eab0f9def5"
checksum = "0fac9e2da13b5eb447a6ce3d392f23a29d8694bff781bf03a16cd9ac8697593b"
dependencies = [
"hermit-abi",
"libc",

11
README.md
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@ -18,11 +18,11 @@ PixSpace deals/ plans to deal with:
* [x] custom projection matrices
* [~] build a system that updates a cameras frustum (w/ offaxis)
* [~] VRPN (https://github.com/seichter/vrpn-rs) - sync_client.rs seems to do what we need - issue it is Rust 2018
* [ ] multiple cameras
* [ ] render to texture
* [~] VRPN (https://github.com/seichter/vrpn-rs) - sync_client.rs seems to do what we need - issue it is Rust 2018
# Contributions
# Contributions / Notes
Though, I am mostly writing this software on my own, I often ask for help and fortunately FOSS
people will be happy to help
@ -34,3 +34,10 @@ https://github.com/bevyengine/bevy/blob/main/examples/3d/split_screen.rs
https://github.com/bevyengine/bevy/blob/main/examples/3d/render_to_texture.rs
And ria8651 on bevy #rendering Discord channel explained pointed me towards reversed Z frustum
further
https://thxforthefish.com/posts/reverse_z/
https://vincent-p.github.io/posts/vulkan_perspective_matrix/

4
src/main.rs
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@ -52,7 +52,9 @@ fn main() {
.add_startup_system(offaxis_camera_setup)
// .add_startup_system(setup_tracker)
// .add_system(update_tracker)
.add_startup_system(setup_threaded_tracker)
// .add_startup_system(setup_threaded_tracker)
// .add_startup_system(setup_threaded_tracker_simple)
.init_resource::<Tracker>()
.add_plugin(CameraProjectionPlugin::<OffAxisProjection>::default())
// .add_system(simulate_viewer_with_circle)

6
src/offaxis.rs
View file

@ -24,7 +24,11 @@ impl CameraProjection for OffAxisProjection {
// what to do on window resize
fn update(&mut self, width: f32, height: f32) {
// self.aspect = width / height;
// extract sx and sy from matrix
// let sx = self.projection_matrix.x_axis.x;
// let sy = self.projection_matrix.y_axis.y;
}
fn far(&self) -> f32 {

12
src/projection.rs
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@ -48,11 +48,8 @@ pub fn make_projection_rh_from_frustum_reversed(
info!("near {:?}", z_near);
//
// reversed z 0..1 projection based on https://thxforthefish.com/posts/reverse_z/ and
// https://vincent-p.github.io/posts/vulkan_perspective_matrix/
// reversed z 0..1 projection
//
let a = (right + left) / (right - left); // position in frame horizontal
let b = (top + bottom) / (top - bottom); // position in frame vertical
@ -95,12 +92,13 @@ pub fn create_offaxis_matrices(
screen_upper_left: Vec3,
pos_eye: Vec3,
z_far: f32,
) -> (Mat4, Mat4) {
) -> (Mat4, Mat4)
{
//
let vec_right = screen_lower_right - screen_lower_left; // vr
let vec_up = screen_upper_left - screen_lower_left; // vu
let vec_up = screen_upper_left - screen_lower_left; // vu
let frustum_left = screen_lower_left - pos_eye; // va
let frustum_left = screen_lower_left - pos_eye; // va
let frustum_right = screen_lower_right - pos_eye; // vb
let frustum_up = screen_upper_left - pos_eye; // vc

2
src/scene.rs
View file

@ -26,7 +26,7 @@ pub fn build_scene(
shadows_enabled: true,
..default()
},
transform: Transform::from_xyz(4.0, 4.0, -1.5),
transform: Transform::from_xyz(4.0, 4.0, 0.0),
..default()
});
}

160
src/tracker.rs
View file

@ -1,3 +1,4 @@
use bevy::prelude::*;
extern crate bytes;
@ -13,7 +14,7 @@ use std::{
net::{SocketAddr, TcpStream},
};
use std::sync::mpsc::{Receiver,channel};
use std::sync::mpsc::{channel, Receiver};
use vrpn::{
codec::peek_u32,
@ -23,25 +24,20 @@ use vrpn::{
message::MessageSize,
sync_io::{read_cookie, write_cookie, EndpointSyncTcp},
tracker::PoseReport,
unbuffer, CookieData, Message, Result, SequencedGenericMessage, TypeDispatcher, Unbuffer, TypedBodylessHandler,
unbuffer, CookieData, Message, Result, SequencedGenericMessage, TypeDispatcher,
TypedBodylessHandler, Unbuffer,
};
struct TrackerProxy;
#[derive(Resource, Debug)]
pub struct Tracker;
#[derive(Resource,Debug)]
struct Tracker;
impl Tracker {
pub fn start_tracker(&self) {
impl FromWorld for Tracker {
fn from_world(world: &mut World) -> Self {
let (sender, receiver): (_, Receiver<PoseReport>) = channel();
std::thread::spawn(move || {
let (sender, receiver): (_, Receiver<PoseReport>) = channel();
let addr: SocketAddr = "127.0.0.1:3883".parse().unwrap();
let mut stream = TcpStream::connect(addr).unwrap();
stream.set_nodelay(true).unwrap();
@ -52,38 +48,74 @@ impl Tracker {
let mut cookie_buf = Bytes::from(&cookie_buf[..]);
CookieData::unbuffer_ref(&mut cookie_buf)
.and_then(|msg| check_ver_nonfile_compatible(msg.version)).unwrap();
let mut endpoint = EndpointSyncTcp::new(stream);
let mut dispatcher = TypeDispatcher::new();
//let _ = dispatcher.add_typed_handler(Box::new(TrackerHandler {}), None).unwrap();
let _ = dispatcher.add_typed_handler(Box::new( Tracker {} ), None).unwrap();
// setup a channel
// let (tx, rx) = mpsc::channel();
.and_then(|msg| check_ver_nonfile_compatible(msg.version))
.unwrap();
// Not actually doing anything with the messages here, just receiving them and printing them.
loop {
let mut buf = BytesMut::new();
// vrpn implementation is rather verbose - we need to see what specific errors
// should be handled properly!
endpoint.poll_endpoint(&mut dispatcher).unwrap_or_else(|err| {
info!("error from tracker thread {:?}",err);
})
// Read the message header and padding
buf.resize(24, 0);
stream.read_exact(buf.as_mut()).unwrap();
// dispatcher.han
// Peek the size field, to compute the MessageSize.
let total_len = peek_u32(&buf.clone().freeze()).unwrap().unwrap();
let size = MessageSize::from_length_field(total_len);
// Read the body of the message
let mut body_buf = BytesMut::new();
body_buf.resize(size.padded_body_size(), 0);
stream.read_exact(body_buf.as_mut()).unwrap();
// Combine the body with the header
buf.extend_from_slice(&body_buf[..]);
let mut buf = buf.freeze();
// Unbuffer the message.
let unbuffered = SequencedGenericMessage::unbuffer_ref(&mut buf).unwrap();
let message = Message::from(unbuffered);
// let result: Message<PoseReport> = Message::try_from_generic(&message)?;
let result = Message::<PoseReport>::try_from_generic(&message);
match result {
Ok(result) => { eprintln!("Ok! {:?}",result.body);},
Err(_) => {}
}
// match result {
// Ok(i) => i,
// _ => false
// }
// match result {
// Message<PoseReport> => println!("")
// }
// eprintln!(
// "{:?} {:?}",
// typed_message.body.sensor, typed_message.body.pos
// );
}
});
Self {}
}
}
// pub fn setup_threaded_tracker_simple(mut commands: Commands) {
// commands.spawn(Tracker::new());
// }
// impl TypedBodylessHandler for Tracker {
// type Item = PoseReport;
// fn handle_typed_bodyless(&mut self, header: &vrpn::MessageHeader) -> Result<HandlerCode> {
@ -92,41 +124,13 @@ impl Tracker {
// }
// }
impl TypedHandler for Tracker {
type Item = PoseReport;
fn handle_typed(&mut self, msg: &Message<PoseReport>) -> Result<HandlerCode> {
println!("{:?}\n {:?}", msg.header, msg.body);
Ok(HandlerCode::ContinueProcessing)
}
}
impl FromWorld for Tracker {
fn from_world(world: &mut World) -> Self {
Self {}
}
}
// impl TypedHandler for Tracker {
// type Item = PoseReport;
// fn handle_typed(&mut self, msg: &Message<PoseReport>) -> Result<HandlerCode> {
// println!("{:?}\n {:?}", msg.header, msg.body);
// Ok(HandlerCode::ContinueProcessing)
// }
// }
#[derive(Debug)]
struct TrackerHandler;
@ -151,27 +155,29 @@ pub fn setup_threaded_tracker(mut commands: Commands) {
let mut cookie_buf = Bytes::from(&cookie_buf[..]);
CookieData::unbuffer_ref(&mut cookie_buf)
.and_then(|msg| check_ver_nonfile_compatible(msg.version)).unwrap();
.and_then(|msg| check_ver_nonfile_compatible(msg.version))
.unwrap();
let mut endpoint = EndpointSyncTcp::new(stream);
let mut dispatcher = TypeDispatcher::new();
let _ = dispatcher.add_typed_handler(Box::new(TrackerHandler {}), None).unwrap();
let _ = dispatcher
.add_typed_handler(Box::new(TrackerHandler {}), None)
.unwrap();
// setup a channel
// let (tx, rx) = mpsc::channel();
loop {
// vrpn implementation is rather verbose - we need to see what specific errors
// should be handled properly!
endpoint.poll_endpoint(&mut dispatcher).unwrap_or_else(|err| {
info!("error from tracker thread {:?}",err);
})
endpoint
.poll_endpoint(&mut dispatcher)
.unwrap_or_else(|err| {
info!("error from tracker thread {:?}", err);
})
// dispatcher.han
}
});
}