Added commands to get the expressions ports and the IPD

src/devices/openxrheadset/ExpressionsManager.cpp

@@ -13,26 +13,29 @@ bool ExpressionsManager::configure(const std::string& prefix, bool eyeSupported,
     m_eyeSupported = eyeSupported;
     m_lipSupported = lipSupported;
     m_gazeSupported = gazeSupported;
+    m_eyeExpressionsPortName = prefix + "/expressions/eye";
+    m_lipExpressionsPortName = prefix + "/expressions/lip";
+    m_gazePortName = prefix + "/expressions/gaze";
 
     if (m_eyeSupported)
     {
-        if (!m_eyeExpressionsPort.open(prefix + "/expressions/eye"))
+        if (!m_eyeExpressionsPort.open(m_eyeExpressionsPortName))
         {
             return false;
         }
     }
 
     if (m_lipSupported)
     {
-        if (!m_lipExpressionsPort.open(prefix + "/expressions/lip"))
+        if (!m_lipExpressionsPort.open(m_lipExpressionsPortName))
         {
             return false;
         }
     }
 
     if (m_gazeSupported)
     {
-        if (!m_gazePort.open(prefix + "/expressions/gaze"))
+        if (!m_gazePort.open(m_gazePortName))
         {
             return false;
         }
@@ -89,3 +92,18 @@ void ExpressionsManager::close()
     m_lipExpressionsPort.close();
     m_gazePort.close();
 }
+
+std::string ExpressionsManager::getEyeExpressionsPortName() const
+{
+    return m_eyeExpressionsPortName;
+}
+
+std::string ExpressionsManager::getLipExpressionsPortName() const
+{
+    return m_lipExpressionsPortName;
+}
+
+std::string ExpressionsManager::getGazePortName() const
+{
+    return m_gazePortName;
+}

src/devices/openxrheadset/ExpressionsManager.h

@@ -24,6 +24,9 @@ class ExpressionsManager
     bool m_eyeSupported{ false };
     bool m_lipSupported{ false };
     bool m_gazeSupported{ false };
+    std::string m_eyeExpressionsPortName;
+    std::string m_lipExpressionsPortName;
+    std::string m_gazePortName;
 
 public:
 
@@ -34,6 +37,12 @@ class ExpressionsManager
     void setGaze(const OpenXrInterface::Pose& headPose, const OpenXrInterface::Pose& gaze);
 
     void close();
+
+    std::string getEyeExpressionsPortName() const;
+
+    std::string getLipExpressionsPortName() const;
+
+    std::string getGazePortName() const;
 };
 
 

src/devices/openxrheadset/OpenXrHeadset.cpp

@@ -950,6 +950,13 @@ bool yarp::dev::OpenXrHeadset::setInterCameraDistance(const double distance)
     return m_eyesManager.setInterCameraDistance(distance);
 }
 
+double yarp::dev::OpenXrHeadset::getIPD()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+
+    return m_openXrInterface.ipd();
+}
+
 std::string yarp::dev::OpenXrHeadset::getLeftImageControlPortName()
 {
     std::lock_guard<std::mutex> lock(m_mutex);
@@ -1041,3 +1048,39 @@ bool yarp::dev::OpenXrHeadset::resetTransforms()
     m_posesManager.reset();
     return true;
 }
+
+bool yarp::dev::OpenXrHeadset::eyeExpressionsEnabled()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_openXrInterface.eyeExpressionsSupported();
+}
+
+std::string yarp::dev::OpenXrHeadset::getEyeExpressionsPortName()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_expressionsManager.getEyeExpressionsPortName();
+}
+
+bool yarp::dev::OpenXrHeadset::lipExpressionsEnabled()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_openXrInterface.lipExpressionsSupported();
+}
+
+std::string yarp::dev::OpenXrHeadset::getLipExpressionsPortName()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_expressionsManager.getLipExpressionsPortName();
+}
+
+bool yarp::dev::OpenXrHeadset::gazeEnabled()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_openXrInterface.gazeSupported();
+}
+
+std::string yarp::dev::OpenXrHeadset::getGazePortName()
+{
+    std::lock_guard<std::mutex> lock(m_mutex);
+    return m_expressionsManager.getGazePortName();
+}

src/devices/openxrheadset/OpenXrHeadset.h

@@ -190,7 +190,7 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
 
     /**
      * Get the current lateral distance between the visualization of the robot cameras.
-     * @return The IPD in meters.
+     * @return The distance in meters.
      */
     virtual double getInterCameraDistance() override;
 
@@ -201,6 +201,12 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
      */
     virtual bool setInterCameraDistance(const double distance) override;
 
+    /**
+     * Get the current IPD (Inter Pupillary Distance) of the VR eyes.
+     * @return The IPD in meters
+     */
+    virtual double getIPD() override;
+
     /**
      * Get the name of the port trough which it is possible to control the left image.
      * @return the name of the port to control the left image.
@@ -264,6 +270,42 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
      */
     virtual bool resetTransforms() override;
 
+    /**
+     * Check if the eye expressions are enabled
+     * @return True if the eye expressions are enabled, false otherwise
+     */
+    virtual bool eyeExpressionsEnabled() override;
+
+    /**
+     * Get the name of the port trough which it is possible to get the eye expressions.
+     * @return the name of the port to get the eye expressions.
+     */
+    virtual std::string getEyeExpressionsPortName() override;
+
+    /**
+     * Check if the lip expressions are enabled
+     * @return True if the lip expressions are enabled, false otherwise
+     */
+    virtual bool lipExpressionsEnabled() override;
+
+    /**
+     * Get the name of the port trough which it is possible to get the lip expressions.
+     * @return the name of the port to get the lip expressions.
+     */
+    virtual std::string getLipExpressionsPortName() override;
+
+    /**
+     * Check if the gaze acquisition is enabled
+     * @return True if the gaze acquisition is enabled, false otherwise
+     */
+    virtual bool gazeEnabled() override;
+
+    /**
+     * Get the name of the port trough which it is possible to get the gaze position.
+     * @return the name of the port to get the gaze position.
+     */
+    virtual std::string getGazePortName() override;
+
 private:
 
     struct GuiParam

src/devices/openxrheadset/OpenXrInterface.cpp

@@ -1127,6 +1127,8 @@ void OpenXrInterface::updateXrSpaces()
     m_pimpl->mid_views_pose_inverted.orientation = toXr(toEigen(m_pimpl->mid_views_pose.orientation).inverse());
     m_pimpl->mid_views_pose_inverted.position = toXr(toEigen(m_pimpl->mid_views_pose_inverted.orientation) * -toEigen(m_pimpl->mid_views_pose.position));
 
+    m_pimpl->ipd = (toEigen(m_pimpl->views[1].pose.position) - toEigen(m_pimpl->views[0].pose.position)).norm();
+
     for (size_t i = 0; i < m_pimpl->views.size(); ++i)
     {
 #ifdef DEBUG_RENDERING_LOCATION
@@ -1794,6 +1796,11 @@ bool OpenXrInterface::isRunning() const
     return m_pimpl->initialized && !m_pimpl->closing;
 }
 
+float OpenXrInterface::ipd() const
+{
+    return m_pimpl->ipd;
+}
+
 OpenXrInterface::Pose OpenXrInterface::headPose() const
 {
     return XrSpaceLocationToPose(m_pimpl->view_space_location);

src/devices/openxrheadset/OpenXrInterface.h

@@ -170,6 +170,8 @@ class OpenXrInterface
 
     bool isRunning() const;
 
+    float ipd() const;
+
     Pose headPose() const;
 
     Velocity headVelocity() const;

src/devices/openxrheadset/impl/OpenXrInterfaceImpl.h

@@ -279,6 +279,8 @@ class OpenXrInterface::Implementation
     // position of a frame in the middle of the eyes, oriented as the first eye
     XrPosef mid_views_pose_inverted;
 
+    float ipd = 0.06f;
+
     // List of top level paths to retrieve the state of each action
     std::vector<TopLevelPath> top_level_paths;
 

src/devices/openxrheadset/thrifts/OpenXrHeadsetCommands.thrift

@@ -114,7 +114,7 @@ service OpenXrHeadsetCommands
 
    /**
     * Get the current lateral distance between the visualization of the robot cameras.
-    * @return The IPD in meters.
+    * @return The distance in meters.
     */
     double getInterCameraDistance();
 
@@ -125,6 +125,12 @@ service OpenXrHeadsetCommands
     */
     bool setInterCameraDistance(1:double distance);
 
+    /**
+    * Get the current IPD (Inter Pupillary Distance) of the VR eyes.
+    * @return The IPD in meters
+    */
+    double getIPD();
+
    /**
     * Get the name of the port trough which it is possible to control the left image.
     * @return the name of the port to control the left image.
@@ -187,4 +193,40 @@ service OpenXrHeadsetCommands
      * as it will reset all the transforms, including the ones that are not published by this module.
      */
      bool resetTransforms();
+
+    /**
+     * Check if the eye expressions are enabled
+     * @return True if the eye expressions are enabled, false otherwise
+     */
+     bool eyeExpressionsEnabled();
+
+    /**
+     * Get the name of the port trough which it is possible to get the eye expressions.
+     * @return the name of the port to get the eye expressions.
+     */
+     string getEyeExpressionsPortName();
+
+    /**
+     * Check if the lip expressions are enabled
+     * @return True if the lip expressions are enabled, false otherwise
+     */
+     bool lipExpressionsEnabled();
+
+    /**
+     * Get the name of the port trough which it is possible to get the lip expressions.
+     * @return the name of the port to get the lip expressions.
+     */
+     string getLipExpressionsPortName();
+
+    /**
+     * Check if the gaze acquisition is enabled
+     * @return True if the gaze acquisition is enabled, false otherwise
+     */
+     bool gazeEnabled();
+
+    /**
+     * Get the name of the port trough which it is possible to get the gaze position.
+     * @return the name of the port to get the gaze position.
+     */
+     string getGazePortName();
 }