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// Copyright (C) 2023, Alex Badics
// This file is part of ar-drivers-rs
// Licensed under the MIT license. See LICENSE file in the project root for details.
#![warn(missing_docs)]
//! This crate contains a simplified driver for Rokid Air and Mad Gaze Glow AR glasses.
//! It supports getting basic sensor data and setting up the display.
//!
//! Example usage (in a thread, probably):
//! ```ignore
//! let mut glasses = any_glasses().unwrap();
//! loop {
//! match glasses.read_event().unwrap() {
//! GlassesEvent::Accelerometer(data) => ...,
//! GlassesEvent::Gyroscope(data) => ...,
//! GlassesEvent::Magnetometer(data) => ...,
//! GlassesEvent::Misc(data) => ...,
//! }
//! }
//! ```
//!
//! As opposed to e.g. Rokid's own API, this is all that you get, since this is what comes
//! out of the hardware. To get quaternions, you should probably use a lib that implements
//! Madgwicks algorithm or a proper EKF. One good choice is the `eskf` crate.
use mad_gaze::MadGazeGlow;
use rokid::RokidAir;
pub mod mad_gaze;
pub mod rokid;
/// Possible errors resulting from `ar-drivers` API calls
#[derive(Debug)]
pub enum Error {
/// A standard IO error happened. See [`std::io::Error`] for specifics
IoError(std::io::Error),
/// An rusb error happened. See [`rusb::Error`] for specifics
UsbError(rusb::Error),
/// A serialport error happened. See [`serialport::Error`] for specifics
SerialPortError(serialport::Error),
/// No glasses were found.
NotFound,
/// Other fatal error, usually a problem with the library itself, or
/// a device support issue. File a bug if you encounter this.
Other(&'static str),
}
type Result<T> = std::result::Result<T, Error>;
/// AR glasses sensor event, got from [`Glasses::read_event`]
#[derive(Debug, Clone)]
pub enum GlassesEvent {
/// Accelerometer data in m^2/s
Accelerometer(SensorData3D),
/// Gyroscope data. Right handed rotation in rad/sec,
/// e.g. turning left is positive y axis.
Gyroscope(SensorData3D),
/// Magnetometer data. Vector points to magnetic north (mostly)
Magnetometer(SensorData3D),
/// Other sensor data
Misc(MiscSensors),
}
/// Structure to hold a typical 3D sensor value (accelerometer, gyroscope, magnetomer)
#[derive(Debug, Clone)]
pub struct SensorData3D {
/// Timestamp, in device time, in microseconds
pub timestamp: u64,
/// Sensor value in the X coordinate. Positive is Right.
pub x: f32,
/// Sensor value in the Y coordinate. Positive is Up.
pub y: f32,
/// Sensor value in the Z coordinate. Positive is Backwards.
pub z: f32,
}
/// Container for other sensor data
#[derive(Debug, Clone)]
pub struct MiscSensors {
/// Keys pressed. On the Rokid Air, the only button is the brightness button,
/// And it corresponds to the value `4`
pub keys: u8,
/// Proximity sensor report. `true` if the user is currently wearing the glasses
pub proximity: bool,
}
/// Display mode used by [`Glasses::set_display_mode`]
pub enum DisplayMode {
/// Picture should be same for both eyes (simple full HD mode)
SameOnBoth = 0,
/// Set display to 3840*1080, where the left half is the left eye, the right half
/// is the right eye
Stereo = 1,
}
/// Common interface for AR implemented glasses
pub trait ARGlasses {
/// Get the serial number of the glasses
fn serial(&mut self) -> Result<String>;
/// Get a single sensor event. Blocks.
fn read_event(&mut self) -> Result<GlassesEvent>;
/// Set the display mode of the glasses. See [`DisplayMode`]
fn set_display_mode(&mut self, display_mode: DisplayMode) -> Result<()>;
}
/// Convenience function to detect and connect to any of the supported glasses
pub fn any_glasses() -> Result<Box<dyn ARGlasses>> {
if let Ok(glasses) = RokidAir::new() {
return Ok(Box::new(glasses));
};
if let Ok(glasses) = MadGazeGlow::new() {
return Ok(Box::new(glasses));
};
Err(Error::NotFound)
}
impl From<std::io::Error> for Error {
fn from(e: std::io::Error) -> Self {
Error::IoError(e)
}
}
impl From<rusb::Error> for Error {
fn from(e: rusb::Error) -> Self {
Error::UsbError(e)
}
}
impl From<serialport::Error> for Error {
fn from(e: serialport::Error) -> Self {
Error::SerialPortError(e)
}
}
impl From<&'static str> for Error {
fn from(e: &'static str) -> Self {
Error::Other(e)
}
}