Finished IPC rewrite to gRPC (API, Driver, Amethyst)

KinectToVR · Nov 3, 2022 · 00fc4b9 · 00fc4b9
1 parent b79d379
commit 00fc4b9
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Showing 25 changed files with 7,357 additions and 12,365 deletions.
diff --git a/Amethyst/Amethyst.vcxproj b/Amethyst/Amethyst.vcxproj
@@ -90,7 +90,7 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)'=='Debug'">
     <ClCompile>
-      <PreprocessorDefinitions>EIGEN_DONT_ALIGN_STATICALLY;NOGDI;NOMINMAX;_CRT_SECURE_NO_WARNINGS;_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS;_SILENCE_ALL_CXX20_DEPRECATION_WARNINGS;EIGEN_DONT_ALIGN_STATICALLY;NOGDI;NOMINMAX;_CRT_SECURE_NO_WARNINGS;_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <LanguageStandard Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">stdcpp20</LanguageStandard>
       <AdditionalIncludeDirectories Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">$(SolutionDir)external\Kinect;$(SolutionDir)external\openvr\headers;$(SolutionDir)Amethyst_API;$(SolutionDir)Amethyst_API\Generated Files;$(SolutionDir)external\vendor;$(ProjectDir);$(GeneratedFilesDir);$(IntDir);%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <RuntimeLibrary Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">MultiThreadedDebug</RuntimeLibrary>
@@ -113,7 +113,7 @@ xcopy /y /d /s /i "$(ProjectDir)Assets\Strings\*" "$(OutDir)Assets\Strings\"</Co
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)'=='Release'">
     <ClCompile>
-      <PreprocessorDefinitions>EIGEN_DONT_ALIGN_STATICALLY;NOGDI;NOMINMAX;_CRT_SECURE_NO_WARNINGS;_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS;_SILENCE_ALL_CXX20_DEPRECATION_WARNINGS;EIGEN_DONT_ALIGN_STATICALLY;NOGDI;NOMINMAX;_CRT_SECURE_NO_WARNINGS;_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <FavorSizeOrSpeed Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Speed</FavorSizeOrSpeed>
       <AdditionalIncludeDirectories Condition="'$(Configuration)|$(Platform)'=='Release|x64'">$(SolutionDir)external\Kinect;$(SolutionDir)external\openvr\headers;$(SolutionDir)Amethyst_API;$(SolutionDir)Amethyst_API\Generated Files;$(SolutionDir)external\vendor;$(ProjectDir);$(GeneratedFilesDir);$(IntDir);%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <LanguageStandard Condition="'$(Configuration)|$(Platform)'=='Release|x64'">stdcpp20</LanguageStandard>

diff --git a/Amethyst/Amethyst.vcxproj.filters b/Amethyst/Amethyst.vcxproj.filters
@@ -384,4 +384,7 @@
   <ItemGroup>
     <None Include="packages.config" />
   </ItemGroup>
+  <ItemGroup>
+    <Natvis Include="$(MSBuildThisFileDirectory)..\..\natvis\wil.natvis" />
+  </ItemGroup>
 </Project>
diff --git a/Amethyst/JointExpander.h b/Amethyst/JointExpander.h
@@ -348,9 +348,9 @@ namespace winrt::Microsoft::UI::Xaml::Controls
 			{
 				std::wstring _managing_device_name;
 				switch (const auto& device = TrackingDevices::TrackingDevicesVector[
-					TrackingDevices::deviceGUID_ID_Map[
-						TrackingDevices::GetManagingDevice(*_tracker_pointers[0])]];
-				device.index())
+						TrackingDevices::deviceGUID_ID_Map[
+							TrackingDevices::GetManagingDevice(*_tracker_pointers[0])]];
+					device.index())
 				{
 				case 0:
 					_managing_device_name =
@@ -378,8 +378,8 @@ namespace winrt::Microsoft::UI::Xaml::Controls
 			_ptr_orientation_combo->SelectedIndex(_tracker_pointers[0]->orientationTrackingOption);
 			_ptr_position_combo->SelectedIndex(
 				_tracker_pointers[0]->m_no_position_filtering_requested
-				? -1 // Select the pre-applied placeholder
-				: _tracker_pointers[0]->positionTrackingFilterOption);
+					? -1 // Select the pre-applied placeholder
+					: _tracker_pointers[0]->positionTrackingFilterOption);
 		}
 
 		// Set mathbased to enable/disable
@@ -698,8 +698,8 @@ namespace winrt::Microsoft::UI::Xaml::Controls
 							for (int i = 0; i < 3; i++)
 							{
 								// Update status in server
-								ktvr::set_tracker_state<false>(
-									tracker_p->base_tracker, tracker_p->data_isActive);
+								ktvr::update_tracker_state_vector<false>(
+									{{tracker_p->base_tracker, tracker_p->data_isActive}});
 								Sleep(20); // Wait a bit
 							}
 						}

diff --git a/Amethyst/K2Interfacing.h b/Amethyst/K2Interfacing.h
@@ -198,7 +198,7 @@ namespace k2app::interfacing
 			arg.find(L"focus_trackers") != std::wstring::npos)
 		{
 			shared::main::thisDispatcherQueue->TryEnqueue([&]()
-			-> winrt::Windows::Foundation::IAsyncAction
+				-> winrt::Windows::Foundation::IAsyncAction
 				{
 					// Bring Amethyst to front
 					SetActiveWindow(shared::main::thisAppWindowID);
@@ -238,7 +238,7 @@ namespace k2app::interfacing
 		else if (arg.find(L"focus_restart") != std::wstring::npos)
 		{
 			shared::main::thisDispatcherQueue->TryEnqueue([&]()
-			-> winrt::Windows::Foundation::IAsyncAction
+				-> winrt::Windows::Foundation::IAsyncAction
 				{
 					// Bring Amethyst to front
 					SetActiveWindow(shared::main::thisAppWindowID);
@@ -566,9 +566,10 @@ namespace k2app::interfacing
 			if (!k2_tracker_statuses.empty())
 				for (int i = 0; i < 3; i++)
 				{
-					// Update status in server
-					spawned.push_back(
-						ktvr::update_tracker_state_vector<true>(k2_tracker_statuses).success());
+					// Update tracker statuses in the server
+					for (const auto& result : ktvr::update_tracker_state_vector<true>(k2_tracker_statuses) |
+					     std::views::values) // Slice by values (only use the success? property)
+						spawned.push_back(result); // Push back the message call result, sleep a bit before proceeding
 					std::this_thread::sleep_for(std::chrono::milliseconds(15));
 				}
 
@@ -762,44 +763,31 @@ namespace k2app::interfacing
 			try
 			{
 				// Send a ping message and capture the data
-				const auto [test_response, send_time, full_time] = ktvr::test_connection();
+				const auto [success, send_time,
+					receive_time, full_time] = ktvr::test_connection();
 
 				// Dump data to variables
 				pingTime = full_time;
-				parsingTime = // Subtract message creation (got) time and send time
-					test_response.messagemanualtimestamp() - test_response.messagetimestamp();
+				parsingTime = receive_time - send_time;
 
 				// Log ?success
 				LOG(INFO) <<
 					"Connection test has ended, [result: " <<
-					(test_response.success() ? "success" : "fail") <<
-					"], response code: " << test_response.result();
+					(success ? "success" : "fail") << "]";
 
 				// Log some data if needed
-				LOG(INFO) <<
-					"\nTested ping time: " << full_time << " [micros], "
-
-					<< "call time: " <<
-					// Subtract message creation (got) time and send time
-					test_response.messagemanualtimestamp() - send_time
-					<< " [micros], " <<
-
-					"\nparsing time: " <<
-					parsingTime // Just look at the k2api
-					<< " [micros], "
-
-					"flight-back time: " <<
-					// Subtract message creation (got) time and send time
-					AME_API_GET_TIMESTAMP_NOW - test_response.messagemanualtimestamp()
-					<< " [micros]";
+				LOG(INFO) << "\n" <<
+					"Tested ping time: " << pingTime << " [micros], " <<
+					"call/parsing time: " << parsingTime << " [micros], " <<
+					"flight-back time: " << AME_API_GET_TIMESTAMP_NOW - receive_time << " [micros]";
 
 				// Release
 				pingCheckingThreadsNumber = std::clamp(
 					static_cast<int>(pingCheckingThreadsNumber) - 1, 0,
 					static_cast<int>(maxPingCheckingThreads) + 1);
 
 				// Return the result
-				return test_response.success();
+				return success;
 			}
 			catch (const std::exception& e)
 			{
@@ -935,7 +923,7 @@ namespace k2app::interfacing
 
 		else
 			shared::main::thisDispatcherQueue->TryEnqueue([&]()
-			-> winrt::Windows::Foundation::IAsyncAction
+				-> winrt::Windows::Foundation::IAsyncAction
 				{
 					// Sleep a bit before checking
 					winrt::apartment_context ui_thread;
@@ -1192,10 +1180,10 @@ namespace k2app::interfacing
 
 	inline bool IsCurrentWindowActive()
 	{
-		if (k2app::shared::main::thisAppWindowID == nullptr)
+		if (shared::main::thisAppWindowID == nullptr)
 			return true; // Give up k?
 
-		return GetActiveWindow() == k2app::shared::main::thisAppWindowID;
+		return GetActiveWindow() == shared::main::thisAppWindowID;
 	}
 
 	inline bool IsDashboardOpen()
@@ -1852,7 +1840,7 @@ namespace k2app::interfacing
 				const std::function
 					_n_callback = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                     const RoutedEventArgs& e) ->
-					void
+						void
 					{
 						if (OnClick) // Check if not null
 							OnClick(this);
@@ -2009,7 +1997,7 @@ namespace k2app::interfacing
 					_n_callback = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                     const Controls::NumberBoxValueChangedEventArgs
 					                     & e) ->
-					void
+						void
 					{
 						if (OnValueChanged) // Check if not null
 							OnValueChanged(this, static_cast<int>(e.NewValue()));
@@ -2208,7 +2196,7 @@ namespace k2app::interfacing
 					_n_callback = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                     const Controls::SelectionChangedEventArgs
 					                     & e) ->
-					void
+						void
 					{
 						if (OnSelectionChanged) // Check if not null
 							OnSelectionChanged(this, _ptr_combo_box->SelectedIndex());
@@ -2363,7 +2351,7 @@ namespace k2app::interfacing
 				const std::function
 					_n_callback_checked = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                             const RoutedEventArgs& e) ->
-					void
+						void
 					{
 						if (OnChecked) // Check if not null
 							OnChecked(this);
@@ -2376,7 +2364,7 @@ namespace k2app::interfacing
 				const std::function
 					_n_callback_unchecked = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                               const RoutedEventArgs& e) ->
-					void
+						void
 					{
 						if (OnUnchecked) // Check if not null
 							OnUnchecked(this);
@@ -2525,7 +2513,7 @@ namespace k2app::interfacing
 				const std::function
 					_n_callback = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                     const RoutedEventArgs& e) ->
-					void
+						void
 					{
 						// Check which handler to raise
 						if (this->Get()->IsOn())
@@ -2664,7 +2652,7 @@ namespace k2app::interfacing
 				const std::function
 					_n_callback = [this](const winrt::Windows::Foundation::IInspectable& sender,
 					                     const Input::KeyRoutedEventArgs& e) ->
-					void
+						void
 					{
 						if (e.Key() == winrt::Windows::System::VirtualKey::Enter)
 							OnEnterKeyDown(this);

diff --git a/Amethyst/K2Main.h b/Amethyst/K2Main.h
@@ -323,9 +323,13 @@ namespace k2app::main
 				// (When they're unfrozen, they go back to instant updates)
 				if (p_frozen_loops >= 1000)
 				{
+					std::vector<ktvr::ITrackerType> frozen_k2_tracker_bases;
 					for (const auto& tracker : K2Settings.K2TrackersVector)
 						if (tracker.data_isActive)
-							ktvr::refresh_tracker_pose<false>(tracker.base_tracker);
+							frozen_k2_tracker_bases.push_back(tracker.base_tracker);
+
+					// Refresh in the server driver
+					refresh_tracker_pose_vector<false>(frozen_k2_tracker_bases);
 
 					// Reset
 					p_frozen_loops = 0;
@@ -360,11 +364,14 @@ namespace k2app::main
 					// (When they're unfrozen, they go back to instant updates)
 					if (p_frozen_loops >= 1000)
 					{
-						// Only lower body joints
+						std::vector<ktvr::ITrackerType> frozen_k2_tracker_bases;
 						for (auto& tracker : K2Settings.K2TrackersVector)
-							if (tracker.data_isActive &&
+							if (tracker.data_isActive && // Only lower body joints
 								static_cast<int>(ITrackerType_Joint[tracker.base_tracker]) >= 16)
-								ktvr::refresh_tracker_pose<false>(tracker.base_tracker);
+								frozen_k2_tracker_bases.push_back(tracker.base_tracker);
+
+						// Refresh in the server driver
+						refresh_tracker_pose_vector<false>(frozen_k2_tracker_bases);
 
 						// Reset
 						p_frozen_loops = 0;
@@ -524,8 +531,8 @@ namespace k2app::main
 									// try even 5 times cause why not
 									for (int i = 0; i < 5; i++)
 									{
-										ktvr::set_tracker_state<false>(
-											K2Settings.K2TrackersVector[tracker_index].base_tracker, false);
+										ktvr::update_tracker_state_vector<false>(
+											{{K2Settings.K2TrackersVector[tracker_index].base_tracker, false}});
 										Sleep(20);
 									}
 									co_await _ui_thread;

diff --git a/Amethyst/SettingsPage.xaml.cpp b/Amethyst/SettingsPage.xaml.cpp
@@ -1193,7 +1193,7 @@ void Amethyst::implementation::SettingsPage::TrackerConfigButton_Click(
 		menuTrackerToggleItem.Click(
 			[&, index, tracker_map, current_tracker, this]
 		(const Windows::Foundation::IInspectable& sender, const RoutedEventArgs& e)
-		-> Windows::Foundation::IAsyncAction
+			-> Windows::Foundation::IAsyncAction
 			{
 				// Notify of the setup end
 				k2app::shared::settings::settings_localInitFinished = false;
@@ -1219,8 +1219,8 @@ void Amethyst::implementation::SettingsPage::TrackerConfigButton_Click(
 
 							// Make actual changes
 							if (trackerState && k2app::interfacing::K2AppTrackersInitialized)
-								ktvr::set_tracker_state<false>(
-									k2app::K2Settings.K2TrackersVector.at(_t).base_tracker, false);
+								ktvr::update_tracker_state_vector<false>(
+									{{k2app::K2Settings.K2TrackersVector.at(_t).base_tracker, false}});
 
 							// Sleep on UI's background
 							apartment_context _ui_thread;
@@ -1921,9 +1921,9 @@ Windows::Foundation::IAsyncAction Amethyst::implementation::SettingsPage::AutoSt
 }
 
 
-void winrt::Amethyst::implementation::SettingsPage::ToggleFlipTeachingTip_Closed(
-	const winrt::Microsoft::UI::Xaml::Controls::TeachingTip& sender,
-	const winrt::Microsoft::UI::Xaml::Controls::TeachingTipClosedEventArgs& args)
+void Amethyst::implementation::SettingsPage::ToggleFlipTeachingTip_Closed(
+	const Controls::TeachingTip& sender,
+	const Controls::TeachingTipClosedEventArgs& args)
 {
 	k2app::shared::main::interfaceBlockerGrid->IsHitTestVisible(false);
 }