mirror of
https://github.com/Rulez777/FramePicoTracker.git
synced 2026-10-23 20:00:31 +02:00
53 lines
2.9 KiB
C++
53 lines
2.9 KiB
C++
/* SPDX-License-Identifier: GPL-3.0-or-later
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* Copyright (C) 2026 L8OLOOE and contributors. See CREDITS.md and NOTICE.md.
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*/
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#include <openvr.h>
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#include <chrono>
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#include <cstdio>
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#include <thread>
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#include <cstdlib>
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#include <string>
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#include <cctype>
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// Read-only HMD/world transform history and controller coexistence watchdog.
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// No device registration or pose injection. stdout is one bounded JSON per poll.
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int main(int argc,char **argv) {
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vr::EVRInitError error=vr::VRInitError_None;
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auto *system=vr::VR_Init(&error,vr::VRApplication_Background);
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if(error!=vr::VRInitError_None){std::fprintf(stderr,"%s\n",vr::VR_GetVRInitErrorAsEnglishDescription(error));return 1;}
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const int count=argc>1?std::atoi(argv[1]):0;
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for(int n=0;!count || n<count;++n) {
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vr::TrackedDevicePose_t poses[vr::k_unMaxTrackedDeviceCount]{};
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const auto before=std::chrono::steady_clock::now();
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system->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding,0,poses,vr::k_unMaxTrackedDeviceCount);
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const auto after=std::chrono::steady_clock::now();
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const auto ns=std::chrono::duration_cast<std::chrono::nanoseconds>(before.time_since_epoch()+(after-before)/2).count();
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std::printf("{\"t_ns\":%lld,\"devices\":[",(long long)ns);
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bool first=true;
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for(unsigned i=0;i<vr::k_unMaxTrackedDeviceCount;++i) {
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const auto kind=system->GetTrackedDeviceClass(i);
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if(kind!=vr::TrackedDeviceClass_HMD && kind!=vr::TrackedDeviceClass_Controller && kind!=vr::TrackedDeviceClass_GenericTracker)continue;
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unsigned chip=0;
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if(kind==vr::TrackedDeviceClass_GenericTracker){
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char serial[128]{};
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system->GetStringTrackedDeviceProperty(i,vr::Prop_SerialNumber_String,serial,sizeof(serial));
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if(std::string(serial).size()==17 && std::string(serial).compare(0,9,"PicoSwift")==0){
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bool hex=true;for(int j=9;j<17;++j)if(!std::isxdigit((unsigned char)serial[j]))hex=false;
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if(hex)chip=(unsigned)std::strtoul(serial+9,nullptr,16);
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}
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}
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if(!first)std::printf(",");first=false;
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const auto &p=poses[i];
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std::printf("{\"index\":%u,\"kind\":%d,\"chip_id\":%u,\"role\":%d,\"connected\":%s,\"valid\":%s,\"result\":%d,\"matrix\":[",
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i,(int)kind,chip,(int)system->GetControllerRoleForTrackedDeviceIndex(i),
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p.bDeviceIsConnected?"true":"false",p.bPoseIsValid?"true":"false",(int)p.eTrackingResult);
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for(int row=0;row<3;++row)for(int col=0;col<4;++col)
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std::printf("%s%.9g",row||col?",":"",p.mDeviceToAbsoluteTracking.m[row][col]);
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std::printf("]}");
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}
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std::printf("]}\n");std::fflush(stdout);
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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vr::VR_Shutdown();
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}
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