mirror of
https://github.com/saphid/frame-control.git
synced 2026-10-06 05:02:50 +02:00
feat(tracking): add local OpenXR OSC and BlueZ heart-rate tools
This commit is contained in:
saphid committed
1 parent
dcf9689f64
commit
ce9e476ec7
9 files changed
+973
No files matched your search
@@ -204,6 +204,7 @@ Frame's software fits together, all checked against a real headset and labelled
|
|||||||
| [SSH](docs/ssh.md) · [Streaming](docs/streaming.md) · [Files](docs/file-transfer.md) · [Panels](docs/panels.md) · [Tailscale](docs/tailscale.md) | Topic notes |
|
| [SSH](docs/ssh.md) · [Streaming](docs/streaming.md) · [Files](docs/file-transfer.md) · [Panels](docs/panels.md) · [Tailscale](docs/tailscale.md) | Topic notes |
|
||||||
| [Frame Control for iPhone](docs/iphone.md) | The iPhone and iPad app, how it runs the server on the Frame, pairing |
|
| [Frame Control for iPhone](docs/iphone.md) | The iPhone and iPad app, how it runs the server on the Frame, pairing |
|
||||||
| [Recovery and OS images](docs/recovery-and-images.md) | Where to download the Frame's OS, what's inside, testing without the headset |
|
| [Recovery and OS images](docs/recovery-and-images.md) | Where to download the Frame's OS, what's inside, testing without the headset |
|
||||||
|
| [Eye tracking and heart rate](docs/tracking.md) | Our OpenXR → OSC bridge, BlueZ heart-rate panel and optional local session log; SlimeVR feasibility notes |
|
||||||
| [Testing](docs/testing.md) | Unit tests, end-to-end tests against a fake Frame in Docker, and the headset smoke test |
|
| [Testing](docs/testing.md) | Unit tests, end-to-end tests against a fake Frame in Docker, and the headset smoke test |
|
||||||
| [Open questions](docs/open-questions.md) | What's still unchecked |
|
| [Open questions](docs/open-questions.md) | What's still unchecked |
|
||||||
|
|
||||||
|
|||||||
@@ -20,6 +20,15 @@ SteamVR (vrserver, vrcompositor, vrdashboard) ← renders the room + pane
|
|||||||
Lepton (Android 11, podman container "lepton-dev") ← its own panel, app 3056000
|
Lepton (Android 11, podman container "lepton-dev") ← its own panel, app 3056000
|
||||||
```
|
```
|
||||||
|
|
||||||
|
## Tracking additions (verified 2026-09-28)
|
||||||
|
|
||||||
|
On SteamOS 0.4.1, build `20260925.6191901`, SteamVR exposes combined gaze
|
||||||
|
through `XR_EXT_eye_gaze_interaction` in a headless OpenXR 1.0 session. Our
|
||||||
|
reader obtained valid tracked samples and sent OSC to a configured loopback
|
||||||
|
receiver. BlueZ LE discovery works; GTK4/GI can render our heart-rate panel.
|
||||||
|
No BLE strap or SlimeVR trackers were attached. See [tracking](tracking.md)
|
||||||
|
for the evidence, privacy defaults and untested integration boundaries.
|
||||||
|
|
||||||
## Facts worth knowing
|
## Facts worth knowing
|
||||||
|
|
||||||
| Fact | Where it matters |
|
| Fact | Where it matters |
|
||||||
|
|||||||
Binary file not shown.
|
After Width: | Height: | Size: 19 KiB |
@@ -148,3 +148,10 @@ For example, on 2026-09-27 the smoke test found that Steam's `create-shortcut`
|
|||||||
refuses ids with a hyphen (`missing/invalid arguments`), which the fake had
|
refuses ids with a hyphen (`missing/invalid arguments`), which the fake had
|
||||||
accepted. The fake now refuses them the same way, and Frame Control makes ids
|
accepted. The fake now refuses them the same way, and Frame Control makes ids
|
||||||
Steam accepts.
|
Steam accepts.
|
||||||
|
|
||||||
|
## Tracking protocols and fake BlueZ
|
||||||
|
|
||||||
|
`tests/test_tracking.py` exercises our gaze conversion, OSC sender, HRS parser
|
||||||
|
and BlueZ lifecycle with an in-memory fake object tree. It runs in the normal
|
||||||
|
unit suite without Bluetooth, GTK or OpenXR. Real Frame results and the absent
|
||||||
|
strap/tracker boundaries are recorded in [tracking](tracking.md).
|
||||||
@@ -0,0 +1,188 @@
|
|||||||
|
# Eye tracking and heart rate
|
||||||
|
|
||||||
|
Frame Control's own tools run on the Frame, using OpenXR and BlueZ. No
|
||||||
|
VRCFaceTracking, LunaHR, Pulsoid or other tracking app is required. This is a
|
||||||
|
command-line first version; it does not add a desktop app tab.
|
||||||
|
|
||||||
|
## What was checked
|
||||||
|
|
||||||
|
**Verified 2026-09-28**, on a real aarch64 Frame running SteamOS 0.4.1,
|
||||||
|
BUILD_ID `20260925.6191901`:
|
||||||
|
|
||||||
|
| Check | Result |
|
||||||
|
|---|---|
|
||||||
|
| OpenXR gaze | SteamVR advertises `XR_EXT_eye_gaze_interaction`, `XR_MND_headless` and `XR_KHR_convert_timespec_time`. `supportsEyeGazeInteraction=1`. A headless session reached FOCUSED and produced 269 valid, tracked orientations in the first ten-second probe. |
|
||||||
|
| Our gaze → OSC bridge | A separate ten-second run produced 280 valid samples and 280 correctly padded 44-byte `/tracking/eye/CenterPitchYaw` messages at an explicitly configured loopback receiver. Only counters and packet-layout checks were retained. |
|
||||||
|
| Bluetooth stack | BlueZ active, adapter powered, central/peripheral roles available. LE discovery started and stopped successfully. No pairing or adapter power settings changed. |
|
||||||
|
| Our heart-rate panel | GTK4/GI runs on the stock image. A **synthetic 72 BPM** notification displayed in our X11 window, tagged `STEAM_GAME=2000000027`. Window capture checked; no real heart-rate measurement was taken. |
|
||||||
|
| SlimeVR, separate feasibility check | Native aarch64 server v21.1.0 ran with an isolated Temurin 21 JRE, created its driver sockets and accepted a local TCP connection on port 21110. Driver v6.0.0 loaded with all shared libraries resolved; `HmdDriverFactory("IServerTrackedDeviceProvider_004")` returned a non-null provider and error 0. |
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
The image is a capture of our own Frame window using a fake notification,
|
||||||
|
not a real sensor reading.
|
||||||
|
|
||||||
|
**Untested:** a real BLE strap's notifications, physical fit/contact behaviour,
|
||||||
|
end-to-end heart-rate display/OSC/log with a strap, avatar response in VRChat,
|
||||||
|
gaze accuracy/calibration, coexistence with every immersive app, in-headset
|
||||||
|
panel placement, SlimeVR tracker/calibration data and the SlimeVR driver running
|
||||||
|
inside SteamVR. No trackers or strap are attached. The driver was loaded in a
|
||||||
|
separate process; it was **not registered or activated in SteamVR**. Steam and
|
||||||
|
SteamVR were not stopped or restarted.
|
||||||
|
|
||||||
|
**Verified blocker resolved:** importing `tkinter` fails because `libtk8.6.so`
|
||||||
|
is absent. The panel uses the installed GTK4/GI bindings instead. The Frame's
|
||||||
|
OpenXR headers advertise a newer API version than the runtime accepts; our
|
||||||
|
reader requests OpenXR 1.0 explicitly.
|
||||||
|
|
||||||
|
## Install our tools
|
||||||
|
|
||||||
|
From this checkout on your computer, while the Frame is awake:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 scripts/tracking-on-frame.py install
|
||||||
|
```
|
||||||
|
|
||||||
|
This copies our Python code and compiles our small C OpenXR reader into
|
||||||
|
`~/.local/share/frame-control/tracking/` on the Frame. It uses the Frame's
|
||||||
|
existing compiler, OpenXR headers/loader, Python, dbus-python, GI and GTK4.
|
||||||
|
Nothing is downloaded, and no sudo, driver registration, system setting,
|
||||||
|
service or autostart is added. `FRAME_ALIAS` can select another SSH alias.
|
||||||
|
The desktop app/server keeps its existing stdlib-only dependency set.
|
||||||
|
|
||||||
|
## Eye tracking → OSC
|
||||||
|
|
||||||
|
Start with a ten-second capability/data-availability check:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 scripts/tracking-on-frame.py gaze --seconds 10
|
||||||
|
```
|
||||||
|
|
||||||
|
This prints support, session-state numbers and sample counters. It opens no
|
||||||
|
OSC socket and prints no gaze coordinates. Exit 0 means at least one valid
|
||||||
|
sample, 3 means no valid sample was observed, and 1 means an API/runtime error.
|
||||||
|
If there are no valid samples, wake/wear the headset and check its tracking
|
||||||
|
setup; a successful capability check alone does not prove usable gaze.
|
||||||
|
|
||||||
|
To send to VRChat running **on the Frame**, explicitly enable OSC in VRChat
|
||||||
|
and choose its local UDP endpoint:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 scripts/tracking-on-frame.py gaze --seconds 3600 --osc 127.0.0.1 9000
|
||||||
|
```
|
||||||
|
|
||||||
|
For a receiver on another computer, replace `127.0.0.1` with that computer's
|
||||||
|
IP address and choose its listening port. Addresses are IP literals (IPv4 or
|
||||||
|
IPv6); there is no discovery or default destination. Loopback here always
|
||||||
|
means **the Frame**, not the computer running the SSH command. OSC uses
|
||||||
|
unencrypted UDP: configure only a receiver you intend to receive this data.
|
||||||
|
|
||||||
|
**Documented:** [VRChat's eye OSC interface](https://docs.vrchat.com/docs/osc-eye-tracking)
|
||||||
|
accepts `/tracking/eye/CenterPitchYaw` with two floats in degrees, positive down
|
||||||
|
and right. We locate OpenXR's combined gaze pose relative to VIEW (the head),
|
||||||
|
rotate its -Z forward vector and convert that direction to these angles.
|
||||||
|
Only active, orientation-valid **and tracked** samples are sent, at up to
|
||||||
|
30 Hz. No eyelid/blink, individual-eye or face values are invented. We do not
|
||||||
|
send neutral gaze on tracking loss; VRChat's documented timeout restores its
|
||||||
|
automatic eye behaviour after input stops.
|
||||||
|
|
||||||
|
**Privacy:** gaze is personal data. It stays in process memory and a private
|
||||||
|
pipe between our reader and bridge. There is no gaze log option, telemetry,
|
||||||
|
OSC receiver or raw gaze on stdout/stderr. Only an explicit `--osc IP PORT`
|
||||||
|
opens an output socket. Runtime diagnostics and validity counters are not
|
||||||
|
measurements. Stop with Ctrl-C or let `--seconds` expire (maximum 24 hours).
|
||||||
|
A lost headless session ends the run; it does not silently reconnect.
|
||||||
|
|
||||||
|
## BLE heart rate → our panel, OSC and optional log
|
||||||
|
|
||||||
|
First discover/pair your strap in SteamOS's Bluetooth settings. Select that
|
||||||
|
strap's Bluetooth address explicitly; our tool does not scan for or connect
|
||||||
|
to arbitrary nearby devices.
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 scripts/tracking-on-frame.py heart \
|
||||||
|
--device AA:BB:CC:DD:EE:FF --panel --seconds 3600
|
||||||
|
```
|
||||||
|
|
||||||
|
This uses BlueZ's standard Heart Rate Service (`180d`) and Heart Rate
|
||||||
|
Measurement (`2a37`) notifications. It finds the characteristic only beneath
|
||||||
|
the selected device's HRS service. The reader handles 8- and 16-bit BPM,
|
||||||
|
contact flags and optional energy/RR fields; energy and RR intervals are
|
||||||
|
validated for length but discarded. Zero BPM, reported loss of skin contact,
|
||||||
|
malformed packets and readings older than five seconds are not shown as a
|
||||||
|
current measurement. A disconnect stops the run; reconnect and start again.
|
||||||
|
This is a social/fitness readout, not a medical monitor.
|
||||||
|
|
||||||
|
The panel is our GTK4 window on gamescope's X display. Use SteamVR's panel
|
||||||
|
controls to float/dock it (see [panels](panels.md)). **Stop**, closing the panel,
|
||||||
|
Ctrl-C, SSH hangup or the duration limit ends our subscription. A connection
|
||||||
|
that was already open when we started is preserved; a connection we opened
|
||||||
|
is disconnected on exit. No Bluetooth power or pairing state is changed.
|
||||||
|
|
||||||
|
Add either output explicitly:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 scripts/tracking-on-frame.py heart \
|
||||||
|
--device AA:BB:CC:DD:EE:FF --panel --seconds 3600 \
|
||||||
|
--osc 127.0.0.1 9000 --address /avatar/parameters/HeartRate \
|
||||||
|
--log /home/steamos/heart-session.csv
|
||||||
|
```
|
||||||
|
|
||||||
|
The OSC value is integer BPM. `HeartRate` is a chosen avatar parameter, **not a
|
||||||
|
built-in VRChat heart-rate feature**; your avatar/receiver must define the
|
||||||
|
matching parameter. `--address` can select another literal OSC path. The local
|
||||||
|
panel works without OSC, a log or an avatar integration.
|
||||||
|
|
||||||
|
The optional CSV contains only `unix_seconds,bpm`. It is created privately
|
||||||
|
(mode 0600), refuses existing files/symlinks, and lives **on the Frame** at the
|
||||||
|
path you specify. Nothing is logged by default, and heart-rate values are not
|
||||||
|
printed to the terminal. Delete your session file when you no longer need it.
|
||||||
|
|
||||||
|
## SlimeVR: feasibility only
|
||||||
|
|
||||||
|
SlimeVR is an independent application stack. Neither of our features installs,
|
||||||
|
launches or depends on it. Users who want it can follow
|
||||||
|
[SlimeVR's setup documentation](https://docs.slimevr.dev/server/index.html).
|
||||||
|
The consented upstream releases tested were
|
||||||
|
[server v21.1.0](https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v21.1.0)
|
||||||
|
and [driver v6.0.0](https://github.com/SlimeVR/SlimeVR-OpenVR-Driver/releases/tag/v6.0.0),
|
||||||
|
under SlimeVR's MIT/Apache-2.0 licensing.
|
||||||
|
|
||||||
|
**Verified layout, read-only:** the Frame's registered runtime is `/opt/steamvr`;
|
||||||
|
its native driver is `drivers/cv/bin/linuxarm64/driver_cv.so`, with a
|
||||||
|
`drivers/cv/driver.vrdrivermanifest`. Frame controller manifests/resources are
|
||||||
|
under `drivers/frame_controller/`. Configuration is under
|
||||||
|
`~/.config/openvr/config/`, not the Steam client's config directory. The
|
||||||
|
SlimeVR release also uses `slimevr/bin/linuxarm64/driver_slimevr.so` plus its
|
||||||
|
manifest. Nothing in those installed SteamVR directories was changed.
|
||||||
|
|
||||||
|
**Inferred:** the matching ABI/layout and standalone factory success make
|
||||||
|
SteamVR integration plausible. They do not prove successful driver `Init`,
|
||||||
|
server/driver IPC, tracking, or calibration. That needs a separate integration
|
||||||
|
check with hardware and an agreed SteamVR restart. No Java executable was on
|
||||||
|
PATH for this check, so an isolated JRE was used. SlimeVR's server opens LAN
|
||||||
|
listeners; our temporary server was stopped and the temporary downloads,
|
||||||
|
configuration and logs were removed. It is not left installed or running.
|
||||||
|
|
||||||
|
## Tests and remaining checks
|
||||||
|
|
||||||
|
```sh
|
||||||
|
python3 -m unittest discover -s tests
|
||||||
|
```
|
||||||
|
|
||||||
|
`tests/test_tracking.py` covers HRS packet parsing, contact/staleness, OSC
|
||||||
|
padding/types and a real loopback socket, quaternion signs, opt-in networking,
|
||||||
|
private/exclusive logging and a fake BlueZ object tree. The fake checks service
|
||||||
|
ownership, notification routing, delayed GATT discovery and connection cleanup.
|
||||||
|
It does not pretend to be a physical strap or a real OpenXR runtime.
|
||||||
|
|
||||||
|
Before calling hardware support complete, attach a strap and check BPM against
|
||||||
|
its own display/reference, loss of contact, disconnect/reconnect, Stop, OSC and
|
||||||
|
CSV together. Check avatar eyes while looking up/down/left/right in a supported
|
||||||
|
VRChat session. No third-party tracking app is needed for either test.
|
||||||
|
|
||||||
|
Independent review attempt: `devin -p --model swe-2-max` with the frozen diff,
|
||||||
|
contribution standards and read-only instructions returned no output for ten
|
||||||
|
minutes. It was terminated with exit 143. No completed review or actual model
|
||||||
|
identity was returned; hardware checks and independent review remain follow-up
|
||||||
|
work before making the draft ready.
|
||||||
@@ -0,0 +1,135 @@
|
|||||||
|
/* Frame Control's OpenXR gaze source. No values on stdout/stderr or disk.
|
||||||
|
* The Python bridge supplies a private pipe with --fd; standalone probes only
|
||||||
|
* report counters. Uses a headless session, never submits frames or takes focus. */
|
||||||
|
#define XR_USE_TIMESPEC
|
||||||
|
#include <time.h>
|
||||||
|
#include <openxr/openxr.h>
|
||||||
|
#include <openxr/openxr_platform.h>
|
||||||
|
#include <signal.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
|
||||||
|
static volatile sig_atomic_t stopped;
|
||||||
|
static void stop(int sig) { (void)sig; stopped = 1; }
|
||||||
|
#define CHECK(call) do { result = (call); if (XR_FAILED(result)) { \
|
||||||
|
fprintf(stderr, "%s failed (%d)\n", #call, result); goto cleanup; } } while (0)
|
||||||
|
|
||||||
|
int main(int argc, char **argv) {
|
||||||
|
int seconds = 10, fd = -1, running = 0, rc = 1;
|
||||||
|
unsigned active = 0, valid = 0, samples = 0;
|
||||||
|
for (int i = 1; i < argc; i++) {
|
||||||
|
if (!strcmp(argv[i], "--seconds") && i+1 < argc) seconds = atoi(argv[++i]);
|
||||||
|
else if (!strcmp(argv[i], "--fd") && i+1 < argc) fd = atoi(argv[++i]);
|
||||||
|
else { fprintf(stderr, "usage: gaze [--seconds 1..86400] [--fd private-pipe]\n"); return 2; }
|
||||||
|
}
|
||||||
|
if (seconds < 1 || seconds > 86400 || (fd != -1 && fd < 3)) return 2;
|
||||||
|
FILE *out = fd == -1 ? NULL : fdopen(fd, "w");
|
||||||
|
if (fd != -1 && !out) return 2;
|
||||||
|
signal(SIGINT, stop); signal(SIGTERM, stop); signal(SIGHUP, stop); signal(SIGPIPE, SIG_IGN);
|
||||||
|
XrResult result;
|
||||||
|
XrInstance instance = XR_NULL_HANDLE;
|
||||||
|
XrSession session = XR_NULL_HANDLE;
|
||||||
|
XrActionSet set = XR_NULL_HANDLE;
|
||||||
|
XrSpace gaze = XR_NULL_HANDLE, view = XR_NULL_HANDLE;
|
||||||
|
const char *extensions[] = {"XR_EXT_eye_gaze_interaction", "XR_MND_headless", "XR_KHR_convert_timespec_time"};
|
||||||
|
XrInstanceCreateInfo create = {.type = XR_TYPE_INSTANCE_CREATE_INFO};
|
||||||
|
strcpy(create.applicationInfo.applicationName, "Frame Control gaze");
|
||||||
|
create.applicationInfo.apiVersion = XR_MAKE_VERSION(1, 0, 0);
|
||||||
|
create.enabledExtensionCount = 3; create.enabledExtensionNames = extensions;
|
||||||
|
CHECK(xrCreateInstance(&create, &instance));
|
||||||
|
XrSystemGetInfo get = {.type = XR_TYPE_SYSTEM_GET_INFO, .formFactor = XR_FORM_FACTOR_HEAD_MOUNTED_DISPLAY};
|
||||||
|
XrSystemId system;
|
||||||
|
CHECK(xrGetSystem(instance, &get, &system));
|
||||||
|
XrSystemEyeGazeInteractionPropertiesEXT eye = {.type = XR_TYPE_SYSTEM_EYE_GAZE_INTERACTION_PROPERTIES_EXT};
|
||||||
|
XrSystemProperties props = {.type = XR_TYPE_SYSTEM_PROPERTIES, .next = &eye};
|
||||||
|
CHECK(xrGetSystemProperties(instance, system, &props));
|
||||||
|
printf("supportsEyeGazeInteraction=%u\n", eye.supportsEyeGazeInteraction);
|
||||||
|
if (!eye.supportsEyeGazeInteraction) goto cleanup;
|
||||||
|
XrSessionCreateInfo sc = {.type = XR_TYPE_SESSION_CREATE_INFO, .systemId = system};
|
||||||
|
CHECK(xrCreateSession(instance, &sc, &session));
|
||||||
|
XrActionSetCreateInfo asc = {.type = XR_TYPE_ACTION_SET_CREATE_INFO};
|
||||||
|
strcpy(asc.actionSetName, "gaze"); strcpy(asc.localizedActionSetName, "Gaze");
|
||||||
|
CHECK(xrCreateActionSet(instance, &asc, &set));
|
||||||
|
XrActionCreateInfo ac = {.type = XR_TYPE_ACTION_CREATE_INFO, .actionType = XR_ACTION_TYPE_POSE_INPUT};
|
||||||
|
strcpy(ac.actionName, "gaze_pose"); strcpy(ac.localizedActionName, "Gaze pose");
|
||||||
|
XrAction action;
|
||||||
|
CHECK(xrCreateAction(set, &ac, &action));
|
||||||
|
XrPath profile, input;
|
||||||
|
CHECK(xrStringToPath(instance, "/interaction_profiles/ext/eye_gaze_interaction", &profile));
|
||||||
|
CHECK(xrStringToPath(instance, "/user/eyes_ext/input/gaze_ext/pose", &input));
|
||||||
|
XrActionSuggestedBinding binding = {action, input};
|
||||||
|
XrInteractionProfileSuggestedBinding suggested = {.type = XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING,
|
||||||
|
.interactionProfile = profile, .countSuggestedBindings = 1, .suggestedBindings = &binding};
|
||||||
|
CHECK(xrSuggestInteractionProfileBindings(instance, &suggested));
|
||||||
|
XrSessionActionSetsAttachInfo attach = {.type = XR_TYPE_SESSION_ACTION_SETS_ATTACH_INFO, .countActionSets = 1, .actionSets = &set};
|
||||||
|
CHECK(xrAttachSessionActionSets(session, &attach));
|
||||||
|
XrActionSpaceCreateInfo space = {.type = XR_TYPE_ACTION_SPACE_CREATE_INFO, .action = action, .poseInActionSpace.orientation.w = 1};
|
||||||
|
CHECK(xrCreateActionSpace(session, &space, &gaze));
|
||||||
|
XrReferenceSpaceCreateInfo ref = {.type = XR_TYPE_REFERENCE_SPACE_CREATE_INFO, .referenceSpaceType = XR_REFERENCE_SPACE_TYPE_VIEW,
|
||||||
|
.poseInReferenceSpace.orientation.w = 1};
|
||||||
|
CHECK(xrCreateReferenceSpace(session, &ref, &view));
|
||||||
|
PFN_xrConvertTimespecTimeToTimeKHR convert;
|
||||||
|
CHECK(xrGetInstanceProcAddr(instance, "xrConvertTimespecTimeToTimeKHR", (PFN_xrVoidFunction *)&convert));
|
||||||
|
struct timespec start, now;
|
||||||
|
clock_gettime(CLOCK_MONOTONIC, &start);
|
||||||
|
while (!stopped) {
|
||||||
|
clock_gettime(CLOCK_MONOTONIC, &now);
|
||||||
|
if (now.tv_sec - start.tv_sec >= seconds) break;
|
||||||
|
XrEventDataBuffer event = {.type = XR_TYPE_EVENT_DATA_BUFFER};
|
||||||
|
while ((result = xrPollEvent(instance, &event)) == XR_SUCCESS) {
|
||||||
|
if (event.type == XR_TYPE_EVENT_DATA_SESSION_STATE_CHANGED) {
|
||||||
|
XrSessionState state = ((XrEventDataSessionStateChanged *)&event)->state;
|
||||||
|
printf("sessionState=%d\n", state); fflush(stdout);
|
||||||
|
if (state == XR_SESSION_STATE_READY && !running) {
|
||||||
|
XrSessionBeginInfo begin = {.type = XR_TYPE_SESSION_BEGIN_INFO, .primaryViewConfigurationType = XR_VIEW_CONFIGURATION_TYPE_PRIMARY_STEREO};
|
||||||
|
CHECK(xrBeginSession(session, &begin)); running = 1;
|
||||||
|
} else if (state == XR_SESSION_STATE_STOPPING) {
|
||||||
|
CHECK(xrEndSession(session)); running = 0; stopped = 1;
|
||||||
|
} else if (state == XR_SESSION_STATE_EXITING || state == XR_SESSION_STATE_LOSS_PENDING) stopped = 1;
|
||||||
|
} else if (event.type == XR_TYPE_EVENT_DATA_INSTANCE_LOSS_PENDING) stopped = 1;
|
||||||
|
event.type = XR_TYPE_EVENT_DATA_BUFFER;
|
||||||
|
}
|
||||||
|
if (XR_FAILED(result)) goto cleanup;
|
||||||
|
if (running && !stopped) {
|
||||||
|
XrActiveActionSet activeSet = {set, XR_NULL_PATH};
|
||||||
|
XrActionsSyncInfo sync = {.type = XR_TYPE_ACTIONS_SYNC_INFO, .countActiveActionSets = 1, .activeActionSets = &activeSet};
|
||||||
|
CHECK(xrSyncActions(session, &sync));
|
||||||
|
if (result != XR_SUCCESS) {
|
||||||
|
struct timespec delay = {.tv_nsec = 33333333};
|
||||||
|
nanosleep(&delay, NULL);
|
||||||
|
continue; /* No stale gaze when the runtime denies focus. */
|
||||||
|
}
|
||||||
|
XrActionStateGetInfo ag = {.type = XR_TYPE_ACTION_STATE_GET_INFO, .action = action};
|
||||||
|
XrActionStatePose pose = {.type = XR_TYPE_ACTION_STATE_POSE};
|
||||||
|
CHECK(xrGetActionStatePose(session, &ag, &pose));
|
||||||
|
samples++;
|
||||||
|
if (pose.isActive) {
|
||||||
|
active++;
|
||||||
|
XrTime time; CHECK(convert(instance, &now, &time));
|
||||||
|
XrSpaceLocation location = {.type = XR_TYPE_SPACE_LOCATION};
|
||||||
|
CHECK(xrLocateSpace(gaze, view, time, &location));
|
||||||
|
XrSpaceLocationFlags needed = XR_SPACE_LOCATION_ORIENTATION_VALID_BIT | XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT;
|
||||||
|
if ((location.locationFlags & needed) == needed) {
|
||||||
|
valid++;
|
||||||
|
if (out) {
|
||||||
|
XrQuaternionf q = location.pose.orientation;
|
||||||
|
if (fprintf(out, "%g %g %g %g\n", q.x, q.y, q.z, q.w) < 0 || fflush(out)) goto cleanup;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
struct timespec delay = {.tv_nsec = 33333333}; nanosleep(&delay, NULL);
|
||||||
|
}
|
||||||
|
printf("samples=%u active=%u valid=%u\n", samples, active, valid);
|
||||||
|
rc = valid ? 0 : 3; /* Distinguish a working session from observed gaze. */
|
||||||
|
cleanup:
|
||||||
|
if (view) xrDestroySpace(view);
|
||||||
|
if (gaze) xrDestroySpace(gaze);
|
||||||
|
if (session) xrDestroySession(session);
|
||||||
|
if (set) xrDestroyActionSet(set);
|
||||||
|
if (instance) xrDestroyInstance(instance);
|
||||||
|
if (out) fclose(out);
|
||||||
|
return rc;
|
||||||
|
}
|
||||||
@@ -0,0 +1,387 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Frame-local tracking tools. No network destination or data log by default."""
|
||||||
|
import argparse
|
||||||
|
import math
|
||||||
|
import os
|
||||||
|
from pathlib import Path
|
||||||
|
import signal
|
||||||
|
import socket
|
||||||
|
import struct
|
||||||
|
import subprocess
|
||||||
|
import time
|
||||||
|
|
||||||
|
|
||||||
|
class TrackingError(RuntimeError):
|
||||||
|
"""A safe, actionable status message containing no sensor data."""
|
||||||
|
|
||||||
|
|
||||||
|
HRS = "0000180d-0000-1000-8000-00805f9b34fb"
|
||||||
|
MEASUREMENT = "00002a37-0000-1000-8000-00805f9b34fb"
|
||||||
|
DEVICE = "org.bluez.Device1"
|
||||||
|
SERVICE = "org.bluez.GattService1"
|
||||||
|
CHARACTERISTIC = "org.bluez.GattCharacteristic1"
|
||||||
|
|
||||||
|
|
||||||
|
def heart_rate(data):
|
||||||
|
"""Validate the Bluetooth HRS measurement, returning BPM/contact only.
|
||||||
|
|
||||||
|
Energy and RR intervals are checked for length but never retained.
|
||||||
|
None means contact is supported and the strap reports no skin contact.
|
||||||
|
"""
|
||||||
|
data = bytes(data)
|
||||||
|
if len(data) < 2 or data[0] & 0xe0:
|
||||||
|
raise ValueError("invalid HRS measurement")
|
||||||
|
flags = data[0]
|
||||||
|
size = 2 if flags & 1 else 1
|
||||||
|
end = 1 + size + (2 if flags & 8 else 0)
|
||||||
|
if len(data) < end:
|
||||||
|
raise ValueError("truncated HRS measurement")
|
||||||
|
extra = len(data) - end
|
||||||
|
if (flags & 16 and (extra < 2 or extra % 2)) or (not flags & 16 and extra):
|
||||||
|
raise ValueError("invalid HRS optional fields")
|
||||||
|
if flags & 4 and not flags & 2:
|
||||||
|
return None
|
||||||
|
bpm = int.from_bytes(data[1:1 + size], "little")
|
||||||
|
return bpm if bpm else None
|
||||||
|
|
||||||
|
|
||||||
|
def gaze_angles(quaternion):
|
||||||
|
"""OpenXR head-relative -Z forward → VRChat degrees, down/right positive."""
|
||||||
|
if len(quaternion) != 4 or not all(math.isfinite(v) for v in quaternion):
|
||||||
|
raise ValueError("invalid gaze orientation")
|
||||||
|
norm = math.sqrt(sum(v * v for v in quaternion))
|
||||||
|
if not 0.9 < norm < 1.1:
|
||||||
|
raise ValueError("invalid gaze orientation")
|
||||||
|
x, y, z, w = (v / norm for v in quaternion)
|
||||||
|
# Rotate OpenXR's forward vector (0, 0, -1) into VIEW space.
|
||||||
|
dx, dy, dz = -2 * (x*z + w*y), 2 * (w*x - y*z), 2 * (x*x + y*y) - 1
|
||||||
|
return math.degrees(math.atan2(-dy, math.hypot(dx, dz))), math.degrees(math.atan2(dx, -dz))
|
||||||
|
|
||||||
|
|
||||||
|
def osc_message(address, values):
|
||||||
|
if not address.startswith("/") or any(c.isspace() or c in '\0#*,?[]{}' for c in address):
|
||||||
|
raise ValueError("OSC address must be a literal path")
|
||||||
|
def string(value):
|
||||||
|
encoded = value.encode("utf-8") + b"\0"
|
||||||
|
return encoded + b"\0" * (-len(encoded) % 4)
|
||||||
|
tags, payload = ",", b""
|
||||||
|
for value in values:
|
||||||
|
if type(value) is int:
|
||||||
|
tags += "i"
|
||||||
|
payload += struct.pack(">i", value)
|
||||||
|
else:
|
||||||
|
if not math.isfinite(value):
|
||||||
|
raise ValueError("OSC value must be finite")
|
||||||
|
tags += "f"
|
||||||
|
payload += struct.pack(">f", value)
|
||||||
|
return string(address) + string(tags) + payload
|
||||||
|
|
||||||
|
|
||||||
|
class Osc:
|
||||||
|
def __init__(self, endpoint=None):
|
||||||
|
self.sock = None
|
||||||
|
self.target = None
|
||||||
|
if endpoint:
|
||||||
|
import ipaddress
|
||||||
|
address = ipaddress.ip_address(endpoint[0])
|
||||||
|
port = int(endpoint[1])
|
||||||
|
if address.is_unspecified or address.is_multicast or not 1 <= port <= 65535:
|
||||||
|
raise ValueError("OSC needs a unicast IP address and port 1..65535")
|
||||||
|
self.sock = socket.socket(socket.AF_INET6 if address.version == 6 else socket.AF_INET, socket.SOCK_DGRAM)
|
||||||
|
self.target = (str(address), port)
|
||||||
|
|
||||||
|
def send(self, address, values):
|
||||||
|
if self.sock:
|
||||||
|
self.sock.sendto(osc_message(address, values), self.target)
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
if self.sock:
|
||||||
|
self.sock.close()
|
||||||
|
|
||||||
|
|
||||||
|
class HeartSession:
|
||||||
|
def __init__(self, osc, address, log=None, clock=time.monotonic):
|
||||||
|
self.osc, self.address, self.clock = osc, address, clock
|
||||||
|
self.bpm, self.updated = None, None
|
||||||
|
self.log = None
|
||||||
|
if log:
|
||||||
|
# Exclusive creation refuses existing files and symlinks; mode is
|
||||||
|
# private even with a permissive process umask.
|
||||||
|
fd = os.open(log, os.O_WRONLY | os.O_CREAT | os.O_EXCL, 0o600)
|
||||||
|
self.log = os.fdopen(fd, "w")
|
||||||
|
self.log.write("unix_seconds,bpm\n")
|
||||||
|
|
||||||
|
def notification(self, data):
|
||||||
|
self.bpm = heart_rate(data)
|
||||||
|
self.updated = self.clock()
|
||||||
|
if self.bpm is not None:
|
||||||
|
self.osc.send(self.address, [self.bpm])
|
||||||
|
if self.log:
|
||||||
|
self.log.write(f"{time.time():.3f},{self.bpm}\n")
|
||||||
|
self.log.flush()
|
||||||
|
|
||||||
|
def current(self):
|
||||||
|
if self.updated is None or self.clock() - self.updated > 5:
|
||||||
|
return None
|
||||||
|
return self.bpm
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
if self.log:
|
||||||
|
self.log.close()
|
||||||
|
|
||||||
|
|
||||||
|
class BluezHeart:
|
||||||
|
"""One explicitly selected, already discovered strap; no ambient scan."""
|
||||||
|
def __init__(self, bus, interface, address, on_value):
|
||||||
|
self.bus, self.interface, self.on_value = bus, interface, on_value
|
||||||
|
self.device = self.characteristic = None
|
||||||
|
self.connected_here = False
|
||||||
|
self.notifying = False
|
||||||
|
self.match = None
|
||||||
|
objects = self.objects()
|
||||||
|
matches = [path for path, interfaces in objects.items()
|
||||||
|
if str(interfaces.get(DEVICE, {}).get("Address", "")).upper() == address.upper()]
|
||||||
|
if len(matches) != 1:
|
||||||
|
raise TrackingError("Strap not found uniquely in BlueZ; pair/discover it in SteamOS Bluetooth settings first")
|
||||||
|
self.device = matches[0]
|
||||||
|
self.match = bus.add_signal_receiver(self.changed, signal_name="PropertiesChanged",
|
||||||
|
dbus_interface="org.freedesktop.DBus.Properties",
|
||||||
|
bus_name="org.bluez", path_keyword="path")
|
||||||
|
try:
|
||||||
|
if not objects[self.device][DEVICE].get("Connected"):
|
||||||
|
self.call(self.device, DEVICE).Connect(timeout=20)
|
||||||
|
self.connected_here = True
|
||||||
|
except Exception:
|
||||||
|
self.close()
|
||||||
|
raise
|
||||||
|
|
||||||
|
def objects(self):
|
||||||
|
return self.call("/", "org.freedesktop.DBus.ObjectManager").GetManagedObjects()
|
||||||
|
|
||||||
|
def call(self, path, kind):
|
||||||
|
return self.interface(self.bus.get_object("org.bluez", path), kind)
|
||||||
|
|
||||||
|
def subscribe(self):
|
||||||
|
objects = self.objects()
|
||||||
|
if not objects.get(self.device, {}).get(DEVICE, {}).get("ServicesResolved"):
|
||||||
|
return False
|
||||||
|
services = {p for p, obj in objects.items() if str(obj.get(SERVICE, {}).get("UUID", "")).lower() == HRS
|
||||||
|
and obj[SERVICE].get("Device") == self.device}
|
||||||
|
for path, obj in objects.items():
|
||||||
|
props = obj.get(CHARACTERISTIC, {})
|
||||||
|
if props.get("Service") in services and str(props.get("UUID", "")).lower() == MEASUREMENT:
|
||||||
|
if "notify" not in props.get("Flags", []):
|
||||||
|
raise TrackingError("Heart-rate characteristic does not support notifications")
|
||||||
|
self.characteristic = path
|
||||||
|
self.call(path, CHARACTERISTIC).StartNotify()
|
||||||
|
self.notifying = True
|
||||||
|
return True
|
||||||
|
raise TrackingError("Selected device has no standard Heart Rate Service measurement")
|
||||||
|
|
||||||
|
def changed(self, kind, changes, invalidated, path=None):
|
||||||
|
if kind == CHARACTERISTIC and path == self.characteristic and "Value" in changes:
|
||||||
|
self.on_value(changes["Value"])
|
||||||
|
elif kind == DEVICE and path == self.device and "Connected" in changes and not changes["Connected"]:
|
||||||
|
self.on_value(None)
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
try:
|
||||||
|
if self.notifying:
|
||||||
|
self.call(self.characteristic, CHARACTERISTIC).StopNotify()
|
||||||
|
finally:
|
||||||
|
if self.match:
|
||||||
|
self.match.remove()
|
||||||
|
if self.connected_here:
|
||||||
|
self.call(self.device, DEVICE).Disconnect()
|
||||||
|
|
||||||
|
|
||||||
|
def run_gaze(args, osc):
|
||||||
|
binary = Path(__file__).with_name("gaze")
|
||||||
|
command = [str(binary), "--seconds", str(args.seconds)]
|
||||||
|
if not args.osc:
|
||||||
|
return subprocess.call(command)
|
||||||
|
read_fd, write_fd = os.pipe()
|
||||||
|
process = None
|
||||||
|
try:
|
||||||
|
process = subprocess.Popen(command + ["--fd", str(write_fd)], pass_fds=(write_fd,))
|
||||||
|
os.close(write_fd)
|
||||||
|
write_fd = None
|
||||||
|
with os.fdopen(read_fd) as source:
|
||||||
|
read_fd = None
|
||||||
|
for line in source:
|
||||||
|
try:
|
||||||
|
angles = gaze_angles([float(v) for v in line.split()])
|
||||||
|
except ValueError:
|
||||||
|
continue
|
||||||
|
osc.send("/tracking/eye/CenterPitchYaw", angles)
|
||||||
|
return process.wait()
|
||||||
|
finally:
|
||||||
|
if read_fd is not None:
|
||||||
|
os.close(read_fd)
|
||||||
|
if write_fd is not None:
|
||||||
|
os.close(write_fd)
|
||||||
|
if process and process.poll() is None:
|
||||||
|
process.terminate()
|
||||||
|
try:
|
||||||
|
process.wait(timeout=5)
|
||||||
|
except subprocess.TimeoutExpired:
|
||||||
|
process.kill()
|
||||||
|
process.wait()
|
||||||
|
|
||||||
|
|
||||||
|
class HeartPanel:
|
||||||
|
"""Our GTK panel, using the Frame's existing GTK4/GI platform libraries."""
|
||||||
|
def __init__(self):
|
||||||
|
os.environ["GDK_BACKEND"] = "x11"
|
||||||
|
import gi
|
||||||
|
gi.require_version("Gtk", "4.0")
|
||||||
|
gi.require_version("GdkX11", "4.0")
|
||||||
|
from gi.repository import Gtk, Gdk, GdkX11, GLib
|
||||||
|
Gtk.init()
|
||||||
|
self.running = True
|
||||||
|
self.window = Gtk.Window(title="Frame Control · Heart rate")
|
||||||
|
self.window.set_default_size(480, 320)
|
||||||
|
self.window.connect("close-request", self.stop)
|
||||||
|
Gtk.Settings.get_default().set_property("gtk-application-prefer-dark-theme", True)
|
||||||
|
box = Gtk.Box(orientation=Gtk.Orientation.VERTICAL, spacing=16)
|
||||||
|
box.set_valign(Gtk.Align.CENTER)
|
||||||
|
box.set_halign(Gtk.Align.CENTER)
|
||||||
|
box.set_size_request(440, -1)
|
||||||
|
for side in ("top", "bottom", "start", "end"):
|
||||||
|
getattr(box, "set_margin_" + side)(24)
|
||||||
|
self.window.set_child(box)
|
||||||
|
title = Gtk.Label(label="Heart rate")
|
||||||
|
title.add_css_class("title-2")
|
||||||
|
box.append(title)
|
||||||
|
self.reading = Gtk.Label(label="—")
|
||||||
|
self.reading.add_css_class("reading")
|
||||||
|
box.append(self.reading)
|
||||||
|
self.status = Gtk.Label(label="Waiting for strap")
|
||||||
|
box.append(self.status)
|
||||||
|
button = Gtk.Button(label="Stop")
|
||||||
|
button.connect("clicked", self.stop)
|
||||||
|
box.append(button)
|
||||||
|
css = Gtk.CssProvider()
|
||||||
|
css.load_from_data(b".reading { font-size: 144px; font-weight: 700; }")
|
||||||
|
Gtk.StyleContext.add_provider_for_display(Gdk.Display.get_default(), css, Gtk.STYLE_PROVIDER_PRIORITY_APPLICATION)
|
||||||
|
self.window.present()
|
||||||
|
context = GLib.MainContext.default()
|
||||||
|
while context.pending():
|
||||||
|
context.iteration(False)
|
||||||
|
try:
|
||||||
|
xid = GdkX11.X11Surface.get_xid(self.window.get_surface())
|
||||||
|
subprocess.run(["xprop", "-id", str(xid), "-f", "STEAM_GAME", "32c", "-set", "STEAM_GAME", "2000000027"],
|
||||||
|
check=True, stdout=subprocess.DEVNULL)
|
||||||
|
except Exception:
|
||||||
|
self.window.destroy()
|
||||||
|
raise
|
||||||
|
|
||||||
|
def stop(self, *args):
|
||||||
|
self.running = False
|
||||||
|
return True
|
||||||
|
|
||||||
|
def update(self, bpm):
|
||||||
|
self.reading.set_label(str(bpm) if bpm is not None else "—")
|
||||||
|
self.status.set_label("beats per minute" if bpm is not None else "Waiting for strap")
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
self.window.destroy()
|
||||||
|
|
||||||
|
|
||||||
|
def run_heart(args, osc):
|
||||||
|
import dbus
|
||||||
|
from dbus.mainloop.glib import DBusGMainLoop
|
||||||
|
from gi.repository import GLib
|
||||||
|
DBusGMainLoop(set_as_default=True)
|
||||||
|
session = HeartSession(osc, args.address, args.log)
|
||||||
|
reader, root = None, None
|
||||||
|
failure = []
|
||||||
|
def value(data):
|
||||||
|
if data is None:
|
||||||
|
session.bpm = None
|
||||||
|
failure.append("Strap disconnected; reconnect and start again")
|
||||||
|
return
|
||||||
|
try:
|
||||||
|
session.notification(data)
|
||||||
|
except ValueError:
|
||||||
|
session.bpm = None
|
||||||
|
except OSError:
|
||||||
|
failure.append("OSC or session log write failed")
|
||||||
|
try:
|
||||||
|
reader = BluezHeart(dbus.SystemBus(), dbus.Interface, args.device, value)
|
||||||
|
context = GLib.MainContext.default()
|
||||||
|
deadline = time.monotonic() + 20
|
||||||
|
while not reader.subscribe():
|
||||||
|
if time.monotonic() > deadline:
|
||||||
|
raise TrackingError("Timed out waiting for the strap's GATT services")
|
||||||
|
while context.pending():
|
||||||
|
context.iteration(False)
|
||||||
|
time.sleep(0.1)
|
||||||
|
end = time.monotonic() + args.seconds
|
||||||
|
print("Heart-rate notifications started; readings stay local unless OSC or a log was selected.")
|
||||||
|
if args.panel:
|
||||||
|
root = HeartPanel()
|
||||||
|
running = lambda: root.running if root else True
|
||||||
|
while running() and time.monotonic() < end and not failure:
|
||||||
|
while context.pending():
|
||||||
|
context.iteration(False)
|
||||||
|
if root:
|
||||||
|
root.update(session.current())
|
||||||
|
time.sleep(0.05)
|
||||||
|
if failure:
|
||||||
|
raise TrackingError(failure[0])
|
||||||
|
return 0
|
||||||
|
finally:
|
||||||
|
if root:
|
||||||
|
root.close()
|
||||||
|
try:
|
||||||
|
if reader:
|
||||||
|
reader.close()
|
||||||
|
finally:
|
||||||
|
session.close()
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
parser = argparse.ArgumentParser(description=__doc__)
|
||||||
|
commands = parser.add_subparsers(dest="command", required=True)
|
||||||
|
gaze = commands.add_parser("gaze", help="headless OpenXR; prints counters only without --osc")
|
||||||
|
heart = commands.add_parser("heart", help="standard BLE HRS from an explicitly selected strap")
|
||||||
|
for command in (gaze, heart):
|
||||||
|
command.add_argument("--osc", nargs=2, metavar=("IP", "PORT"), help="explicit UDP destination; no default")
|
||||||
|
command.add_argument("--seconds", type=int, default=10, help="bounded run, 1..86400 seconds (default: 10)")
|
||||||
|
heart.add_argument("--device", required=True, help="strap Bluetooth address already discovered by BlueZ")
|
||||||
|
heart.add_argument("--panel", action="store_true", help="show our panel on gamescope DISPLAY=:0")
|
||||||
|
heart.add_argument("--address", default="/avatar/parameters/HeartRate", help="integer BPM OSC parameter")
|
||||||
|
heart.add_argument("--log", help="new private CSV file; disabled by default")
|
||||||
|
args = parser.parse_args()
|
||||||
|
if not 1 <= args.seconds <= 86400:
|
||||||
|
parser.error("--seconds must be 1..86400")
|
||||||
|
def interrupted(signum, frame):
|
||||||
|
raise KeyboardInterrupt
|
||||||
|
signal.signal(signal.SIGTERM, interrupted)
|
||||||
|
if hasattr(signal, "SIGHUP"):
|
||||||
|
signal.signal(signal.SIGHUP, interrupted)
|
||||||
|
osc = None
|
||||||
|
try:
|
||||||
|
if args.command == "heart":
|
||||||
|
osc_message(args.address, [0])
|
||||||
|
if args.panel:
|
||||||
|
os.environ["DISPLAY"] = ":0"
|
||||||
|
osc = Osc(args.osc)
|
||||||
|
return run_gaze(args, osc) if args.command == "gaze" else run_heart(args, osc)
|
||||||
|
except TrackingError as error:
|
||||||
|
print(str(error))
|
||||||
|
return 1
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
return 130
|
||||||
|
except Exception as error:
|
||||||
|
# Never dump notifications, gaze, BLE addresses or exception payloads.
|
||||||
|
print(f"Tracking stopped ({type(error).__name__}). Check the device, runtime and selected output.")
|
||||||
|
return 1
|
||||||
|
finally:
|
||||||
|
if osc:
|
||||||
|
osc.close()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
raise SystemExit(main())
|
||||||
@@ -0,0 +1,58 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Install or run our local-only tracking tools on the Frame.
|
||||||
|
|
||||||
|
python3 scripts/tracking-on-frame.py install
|
||||||
|
python3 scripts/tracking-on-frame.py gaze --seconds 10
|
||||||
|
python3 scripts/tracking-on-frame.py gaze --seconds 3600 --osc 127.0.0.1 9000
|
||||||
|
python3 scripts/tracking-on-frame.py heart --device AA:BB:CC:DD:EE:FF --panel
|
||||||
|
|
||||||
|
FRAME_ALIAS overrides the SSH alias (default: frame). Runs in the foreground;
|
||||||
|
Ctrl-C stops the reader. No service, autostart, sudo or SteamVR settings changes.
|
||||||
|
"""
|
||||||
|
import os
|
||||||
|
from pathlib import Path
|
||||||
|
import shlex
|
||||||
|
import subprocess
|
||||||
|
import sys
|
||||||
|
import tarfile
|
||||||
|
|
||||||
|
REMOTE = '"$HOME/.local/share/frame-control/tracking"'
|
||||||
|
INSTALL = '''set -eu
|
||||||
|
base="$HOME/.local/share/frame-control/tracking"
|
||||||
|
mkdir -p "$base"
|
||||||
|
stage=$(mktemp -d "$base/.install.XXXXXX")
|
||||||
|
trap 'rm -rf "$stage"' EXIT
|
||||||
|
tar -xf - -C "$stage"
|
||||||
|
cc -O2 -Wall -Wextra -Werror "$stage/gaze.c" \\
|
||||||
|
-L/opt/steamvr/bin/linuxarm64 -Wl,-rpath,/opt/steamvr/bin/linuxarm64 \\
|
||||||
|
-lopenxr_loader -o "$stage/gaze"
|
||||||
|
chmod 700 "$stage/gaze" "$stage/tracking.py"
|
||||||
|
mv "$stage/gaze" "$stage/tracking.py" "$base/"
|
||||||
|
echo 'Installed Frame Control tracking tools (no service started).'
|
||||||
|
'''
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
if len(sys.argv) < 2 or sys.argv[1] not in ("install", "gaze", "heart"):
|
||||||
|
print(__doc__)
|
||||||
|
return 2
|
||||||
|
host = os.environ.get("FRAME_ALIAS", "frame")
|
||||||
|
if not host or host.startswith("-"):
|
||||||
|
raise ValueError("invalid SSH alias")
|
||||||
|
ssh = ["ssh", "-o", "BatchMode=yes", "-o", "ConnectTimeout=10", host]
|
||||||
|
if sys.argv[1] == "install":
|
||||||
|
import tempfile
|
||||||
|
source = Path(__file__).resolve().parents[1] / "frame" / "tracking"
|
||||||
|
with tempfile.TemporaryFile() as archive:
|
||||||
|
with tarfile.open(fileobj=archive, mode="w") as tar:
|
||||||
|
for name in ("gaze.c", "tracking.py"):
|
||||||
|
tar.add(source / name, arcname=name)
|
||||||
|
archive.seek(0)
|
||||||
|
return subprocess.call(ssh + ["bash -c " + shlex.quote(INSTALL)], stdin=archive)
|
||||||
|
# Allocate a tty so SSH forwards Ctrl-C and hangup to the foreground process.
|
||||||
|
command = 'exec python3 ' + REMOTE + '/tracking.py ' + shlex.join(sys.argv[1:])
|
||||||
|
return subprocess.call(ssh[:-1] + ["-tt", host, command])
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
raise SystemExit(main())
|
||||||
@@ -0,0 +1,188 @@
|
|||||||
|
"""Tracking protocols and fake-Frame BlueZ lifecycle; no headset or strap needed."""
|
||||||
|
import importlib.util
|
||||||
|
import math
|
||||||
|
import os
|
||||||
|
from pathlib import Path
|
||||||
|
import socket
|
||||||
|
import stat
|
||||||
|
import struct
|
||||||
|
import tempfile
|
||||||
|
import unittest
|
||||||
|
from unittest.mock import Mock, patch
|
||||||
|
|
||||||
|
SPEC = importlib.util.spec_from_file_location("tracking", Path(__file__).resolve().parents[1] / "frame/tracking/tracking.py")
|
||||||
|
t = importlib.util.module_from_spec(SPEC)
|
||||||
|
SPEC.loader.exec_module(t)
|
||||||
|
|
||||||
|
|
||||||
|
class Protocols(unittest.TestCase):
|
||||||
|
def test_hrs_formats(self):
|
||||||
|
self.assertEqual(t.heart_rate(b"\x00\x48"), 72)
|
||||||
|
self.assertEqual(t.heart_rate(b"\x01\x2c\x01"), 300)
|
||||||
|
self.assertEqual(t.heart_rate(b"\x1e\x48\x01\x00\x00\x04\x00\x04"), 72)
|
||||||
|
self.assertEqual(t.heart_rate(b"\x02\x48"), 72) # contact not supported
|
||||||
|
self.assertIsNone(t.heart_rate(b"\x04\x48")) # no contact
|
||||||
|
self.assertIsNone(t.heart_rate(b"\x00\x00"))
|
||||||
|
|
||||||
|
def test_hrs_malformed(self):
|
||||||
|
for packet in (b"", b"\x00", b"\x01\x48", b"\x08\x48\x00", b"\x10\x48",
|
||||||
|
b"\x10\x48\x00", b"\x00\x48\x01", b"\xe0\x48"):
|
||||||
|
with self.subTest(packet=packet), self.assertRaises(ValueError):
|
||||||
|
t.heart_rate(packet)
|
||||||
|
|
||||||
|
def test_gaze_coordinates(self):
|
||||||
|
self.assertEqual(t.gaze_angles([0, 0, 0, 1]), (0, 0))
|
||||||
|
angle = math.radians(15)
|
||||||
|
pitch, yaw = t.gaze_angles([math.sin(angle), 0, 0, math.cos(angle)])
|
||||||
|
self.assertAlmostEqual(pitch, -30) # OpenXR +X rotation looks up
|
||||||
|
self.assertAlmostEqual(yaw, 0)
|
||||||
|
pitch, yaw = t.gaze_angles([0, -math.sin(angle), 0, math.cos(angle)])
|
||||||
|
self.assertAlmostEqual(pitch, 0)
|
||||||
|
self.assertAlmostEqual(yaw, 30) # right
|
||||||
|
|
||||||
|
def test_invalid_gaze(self):
|
||||||
|
for pose in ([0, 0, 0, 0], [math.nan, 0, 0, 1], [0, 0, 0], [0, 0, 0, math.inf]):
|
||||||
|
with self.assertRaises(ValueError):
|
||||||
|
t.gaze_angles(pose)
|
||||||
|
|
||||||
|
def test_osc_wire(self):
|
||||||
|
self.assertEqual(t.osc_message('/x', [72]), b'/x\0\0,i\0\0' + struct.pack('>i', 72))
|
||||||
|
self.assertEqual(t.osc_message('/x', [1.0, -2.0]), b'/x\0\0,ff\0' + struct.pack('>ff', 1, -2))
|
||||||
|
for address in ('x', '/x\0y', '/x y', '/x*'):
|
||||||
|
with self.assertRaises(ValueError):
|
||||||
|
t.osc_message(address, [1])
|
||||||
|
|
||||||
|
def test_default_never_opens_socket(self):
|
||||||
|
with patch.object(t.socket, 'socket') as create:
|
||||||
|
osc = t.Osc()
|
||||||
|
osc.send('/x', [72])
|
||||||
|
osc.close()
|
||||||
|
create.assert_not_called()
|
||||||
|
|
||||||
|
def test_only_configured_endpoint(self):
|
||||||
|
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as receiver:
|
||||||
|
receiver.bind(('127.0.0.1', 0))
|
||||||
|
receiver.settimeout(1)
|
||||||
|
osc = t.Osc(receiver.getsockname())
|
||||||
|
try:
|
||||||
|
osc.send('/tracking/eye/CenterPitchYaw', [0.0, 30.0])
|
||||||
|
self.assertEqual(receiver.recv(1024), t.osc_message('/tracking/eye/CenterPitchYaw', [0.0, 30.0]))
|
||||||
|
finally:
|
||||||
|
osc.close()
|
||||||
|
|
||||||
|
def test_endpoint_validation(self):
|
||||||
|
for endpoint in [('example.org', 9000), ('0.0.0.0', 9000), ('224.0.0.1', 9000), ('127.0.0.1', 0), ('::1', 65536)]:
|
||||||
|
with self.assertRaises(ValueError):
|
||||||
|
t.Osc(endpoint)
|
||||||
|
|
||||||
|
def test_heart_staleness_contact_and_log(self):
|
||||||
|
now = [0]
|
||||||
|
osc = Mock()
|
||||||
|
with tempfile.TemporaryDirectory() as directory:
|
||||||
|
path = Path(directory) / 'session.csv'
|
||||||
|
session = t.HeartSession(osc, '/hr', path, lambda: now[0])
|
||||||
|
self.assertIsNone(session.current())
|
||||||
|
session.notification(b'\x00\x48')
|
||||||
|
self.assertEqual(session.current(), 72)
|
||||||
|
osc.send.assert_called_once_with('/hr', [72])
|
||||||
|
now[0] = 6
|
||||||
|
self.assertIsNone(session.current())
|
||||||
|
session.notification(b'\x04\x48')
|
||||||
|
self.assertIsNone(session.current())
|
||||||
|
self.assertEqual(osc.send.call_count, 1)
|
||||||
|
session.close()
|
||||||
|
self.assertEqual(path.read_text().splitlines()[0], 'unix_seconds,bpm')
|
||||||
|
self.assertEqual(len(path.read_text().splitlines()), 2)
|
||||||
|
if os.name != 'nt':
|
||||||
|
self.assertEqual(stat.S_IMODE(path.stat().st_mode), 0o600)
|
||||||
|
with self.assertRaises(FileExistsError):
|
||||||
|
t.HeartSession(osc, '/hr', path)
|
||||||
|
|
||||||
|
def test_no_log_by_default(self):
|
||||||
|
with patch.object(t.os, 'open') as create:
|
||||||
|
session = t.HeartSession(Mock(), '/hr')
|
||||||
|
session.notification(b'\x00\x48')
|
||||||
|
session.close()
|
||||||
|
create.assert_not_called()
|
||||||
|
|
||||||
|
|
||||||
|
class FakeBluez(unittest.TestCase):
|
||||||
|
def setUp(self):
|
||||||
|
self.device = '/org/bluez/hci0/dev_TEST'
|
||||||
|
self.service = self.device + '/service1'
|
||||||
|
self.char = self.service + '/char1'
|
||||||
|
self.objects = {
|
||||||
|
self.device: {t.DEVICE: {'Address': 'AA:BB:CC:DD:EE:FF', 'Connected': False, 'ServicesResolved': True}},
|
||||||
|
self.service: {t.SERVICE: {'UUID': t.HRS, 'Device': self.device}},
|
||||||
|
self.char: {t.CHARACTERISTIC: {'UUID': t.MEASUREMENT, 'Service': self.service, 'Flags': ['notify']}},
|
||||||
|
}
|
||||||
|
self.api = Mock()
|
||||||
|
self.api.GetManagedObjects.side_effect = lambda: self.objects
|
||||||
|
self.bus = Mock()
|
||||||
|
self.interface = Mock(return_value=self.api)
|
||||||
|
self.values = Mock()
|
||||||
|
|
||||||
|
def reader(self):
|
||||||
|
return t.BluezHeart(self.bus, self.interface, 'AA:BB:CC:DD:EE:FF', self.values)
|
||||||
|
|
||||||
|
def test_subscribe_receive_and_cleanup(self):
|
||||||
|
reader = self.reader()
|
||||||
|
self.api.Connect.assert_called_once()
|
||||||
|
self.assertTrue(reader.subscribe())
|
||||||
|
self.api.StartNotify.assert_called_once()
|
||||||
|
reader.changed(t.CHARACTERISTIC, {'Value': [0, 72]}, [], self.char)
|
||||||
|
self.values.assert_called_once_with([0, 72])
|
||||||
|
reader.changed(t.CHARACTERISTIC, {'Value': [0, 73]}, [], '/other/strap')
|
||||||
|
self.assertEqual(self.values.call_count, 1)
|
||||||
|
reader.close()
|
||||||
|
self.api.StopNotify.assert_called_once()
|
||||||
|
self.api.Disconnect.assert_called_once()
|
||||||
|
self.bus.add_signal_receiver.return_value.remove.assert_called_once()
|
||||||
|
|
||||||
|
def test_preserve_existing_connection(self):
|
||||||
|
self.objects[self.device][t.DEVICE]['Connected'] = True
|
||||||
|
reader = self.reader()
|
||||||
|
reader.subscribe()
|
||||||
|
reader.close()
|
||||||
|
self.api.Connect.assert_not_called()
|
||||||
|
self.api.Disconnect.assert_not_called()
|
||||||
|
|
||||||
|
def test_only_selected_device_service(self):
|
||||||
|
self.objects[self.service][t.SERVICE]['Device'] = '/other/device'
|
||||||
|
reader = self.reader()
|
||||||
|
try:
|
||||||
|
with self.assertRaises(RuntimeError):
|
||||||
|
reader.subscribe()
|
||||||
|
finally:
|
||||||
|
reader.close()
|
||||||
|
self.api.StartNotify.assert_not_called()
|
||||||
|
|
||||||
|
def test_wait_for_services(self):
|
||||||
|
self.objects[self.device][t.DEVICE]['ServicesResolved'] = False
|
||||||
|
reader = self.reader()
|
||||||
|
self.assertFalse(reader.subscribe())
|
||||||
|
reader.close()
|
||||||
|
self.api.StartNotify.assert_not_called()
|
||||||
|
self.api.StopNotify.assert_not_called()
|
||||||
|
|
||||||
|
def test_disconnect_notification(self):
|
||||||
|
reader = self.reader()
|
||||||
|
reader.changed(t.DEVICE, {'Connected': 0}, [], self.device) # dbus.Boolean behaves as int
|
||||||
|
self.values.assert_called_once_with(None)
|
||||||
|
reader.close()
|
||||||
|
|
||||||
|
def test_failed_notify_cleans_connection(self):
|
||||||
|
reader = self.reader()
|
||||||
|
self.api.StartNotify.side_effect = RuntimeError('failure')
|
||||||
|
with self.assertRaises(RuntimeError):
|
||||||
|
reader.subscribe()
|
||||||
|
reader.close()
|
||||||
|
self.api.StopNotify.assert_not_called()
|
||||||
|
self.api.Disconnect.assert_called_once()
|
||||||
|
|
||||||
|
def test_unknown_device_does_not_connect_or_scan(self):
|
||||||
|
self.objects.clear()
|
||||||
|
with self.assertRaises(RuntimeError):
|
||||||
|
self.reader()
|
||||||
|
self.api.Connect.assert_not_called()
|
||||||
|
self.api.StartDiscovery.assert_not_called()
|
||||||
Reference in new issue
Block a user