libs/vr/libdvr/include/dvr/dvr_pose.h

#ifndef ANDROID_DVR_PUBLIC_POSE_H_
#define ANDROID_DVR_PUBLIC_POSE_H_

#include <stdint.h>
#include <sys/cdefs.h>

__BEGIN_DECLS

#ifdef __ARM_NEON
#include <arm_neon.h>
#else
#ifndef __FLOAT32X4T_86
#define __FLOAT32X4T_86
typedef float float32x4_t __attribute__((__vector_size__(16)));
#endif
#endif

typedef struct DvrPoseClient DvrPoseClient;
typedef struct DvrReadBufferQueue DvrReadBufferQueue;

// Represents an estimated pose, accessed asynchronously through a shared ring
// buffer. No assumptions should be made about the data in padding space.
// The size of this struct is 128 bytes.
typedef struct __attribute__((packed, aligned(16))) DvrPoseAsync {
  // Left eye head-from-start orientation quaternion x,y,z,w.
  float32x4_t orientation;
  // Left eye head-from-start position x,y,z,pad in meters.
  float32x4_t position;
  // Right eye head-from-start orientation quaternion x,y,z,w.
  float32x4_t right_orientation;
  // Right eye head-from-start position x,y,z,pad in meters.
  float32x4_t right_position;
  // Start-space angular velocity x,y,z,pad in radians per second.
  float32x4_t angular_velocity;
  // Start-space positional velocity x,y,z,pad in meters per second.
  float32x4_t velocity;
  // Timestamp of when this pose is predicted for, typically halfway through
  // scanout.
  int64_t timestamp_ns;
  // Bitmask of DVR_POSE_FLAG_* constants that apply to this pose.
  //
  // If DVR_POSE_FLAG_INVALID is set, the pose is indeterminate.
  uint64_t flags;
  // Reserved padding to 128 bytes.
  uint8_t pad[16];
} DvrPoseAsync;

enum {
  DVR_POSE_FLAG_INVALID = (1ULL << 0),       // This pose is invalid.
  DVR_POSE_FLAG_INITIALIZING = (1ULL << 1),  // The pose delivered during
                                             // initialization and it may not be
                                             // correct.
  DVR_POSE_FLAG_3DOF =
      (1ULL << 2),  // This pose is derived from 3Dof sensors. If
                    // this is not set, pose is derived using
                    // 3Dof and 6Dof sensors.
  DVR_POSE_FLAG_FLOOR_HEIGHT_INVALID =
      (1ULL << 3),  // If set the floor height is invalid.

  // Bits that indicate the tracking system state.
  DVR_POSE_FLAG_SERVICE_EXCEPTION = (1ULL << 32),
  DVR_POSE_FLAG_FISHEYE_OVER_EXPOSED = (1ULL << 33),
  DVR_POSE_FLAG_FISHEYE_UNDER_EXPOSED = (1ULL << 34),
  DVR_POSE_FLAG_COLOR_OVER_EXPOSED = (1ULL << 35),
  DVR_POSE_FLAG_COLOR_UNDER_EXPOSED = (1ULL << 36),
  DVR_POSE_FLAG_TOO_FEW_FEATURES_TRACKED = (1ULL << 37)
};

// Represents a sensor pose sample.
typedef struct __attribute__((packed, aligned(16))) DvrPose {
  // Head-from-start orientation quaternion x,y,z,w.
  float32x4_t orientation;

  // The angular velocity where the x,y,z is the rotation axis and the
  // magnitude is the radians / second in the same coordinate frame as
  // orientation.
  float32x4_t angular_velocity;

  // Head-from-start position x,y,z,pad in meters.
  float32x4_t position;

  // In meters / second in the same coordinate frame as position.
  float32x4_t velocity;

  // In meters / second ^ 2 in the same coordinate frame as position.
  float32x4_t acceleration;

  // Timestamp for the measurement in nanoseconds.
  int64_t timestamp_ns;

  // The combination of flags above.
  uint64_t flags;

  // The current floor height. May be updated at a lower cadence than pose.
  float floor_height;

  // Padding to 112 bytes so the size is a multiple of 16.
  uint8_t padding[12];
} DvrPose;

// Represents a data type that can be streamed from pose service.
enum {
  DVR_POSE_RAW_DATA_STEREO_IMAGE = (1ULL << 0),
  DVR_POSE_RAW_DATA_POINT_CLOUD = (1ULL << 1),
  DVR_POSE_RAW_DATA_FEATURES = (1ULL << 2),

  // Always last.
  DVR_POSE_RAW_DATA_COUNT = (1ULL << 3),
};

// A request to retrieve data from the pose service. Expects that a buffer
// queue has been initialized through dvrPoseClientGetDataReader().
typedef struct DvrPoseDataCaptureRequest {
  // The type of data to capture. Refer to enum DVR_POSE_RAW_DATA_* for types.
  uint64_t data_type;
  // The sample interval. This can be used to skip samples. For example, a
  // value of 5 will capture every fifth frame and discard the 4 frames in
  // between. Set to 1 to capture all frames.
  uint32_t sample_interval;
  // The length of time to capture samples in milliseconds. Set to 0 to capture
  // indefinitely.
  uint32_t capture_time_ms;
  // Reserved fields.
  uint32_t reserved0;
  uint32_t reserved1;
  uint32_t reserved2;
  uint32_t reserved3;
  uint32_t reserved4;
} DvrPoseDataCaptureRequest;

// Gets a read buffer queue for the data type |data_type|. Each call returns a
// different read buffer queue connected to the same write buffer queue. A
// separate write buffer queue exists for each |data_type|.
//
// PoseService supports a single consumer per write buffer queue. The consumer
// is expected to hold a single DvrReadBufferQueue at a time. Callers should
// cache these instead of requesting new ones when possible. If the consumer
// disconnects from the queue, it can regain a read buffer queue for the same
// producer by calling this function.
//
// For data_type DVR_POSE_RAW_DATA_STEREO_IMAGE, each buffer consists of two
// images formatted as a AHARDWAREBUFFER_FORMAT_BLOB, where height is 1 and
// width is the total size of both images. The size of an individual image can
// be found in the metadata struct DvrNativeBufferMetadata, where width is
// |crop_right| and height is |crop_bottom|/2. Each image is contiguous in
// memory with stride equal to width.
int dvrPoseClientGetDataReader(DvrPoseClient* client, uint64_t data_type,
                               DvrReadBufferQueue** queue_out);

// TODO(b/65067592): Move pose api's from pose_client.h to here.

__END_DECLS

#endif  // ANDROID_DVR_PUBLIC_POSE_H_