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Added exception handling
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@Dschadu
Dschadu committed Aug 9, 2020
1 parent e5d0a8c commit e8779b8
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Showing 3 changed files with 89 additions and 52 deletions.
132 changes: 85 additions & 47 deletions motionPose/MotionPoseController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ namespace driver
m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer;

m_sSerialNumber = "MotionPoseVirtualController 0.2.0";
m_sSerialNumber = "MotionPoseVirtualController 0.2.1";
m_sModelNumber = "MotionPoseVirtualController";

rigYawOffset = 0;
Expand Down Expand Up @@ -121,64 +121,101 @@ namespace driver
pchResponseBuffer[0] = 0;
}

vr::DriverPose_t CMotionPoseControllerDriver::GetPose()
// Create a string with last error message
std::string CMotionPoseControllerDriver::GetLastErrorStdStr()
{
_pose.poseIsValid = false;
_pose.deviceIsConnected = _moverConnected;
_pose.shouldApplyHeadModel = false;
_pose.willDriftInYaw = false;

vr::HmdQuaternion_t yaw = vrmath::quaternionFromRotationY(rigYawOffset);

// Create connection to OVRMC
if (!_ovrmcConnected)
DWORD error = GetLastError();
if (error)
{
if (openMmf(MapFile_OVRMC, mmfFile_OVRMC, L"Local\\OVRMC_MMFv1", 4096, _ovrmcConnected))
LPVOID lpMsgBuf;
DWORD bufLen = FormatMessage(
FORMAT_MESSAGE_ALLOCATE_BUFFER |
FORMAT_MESSAGE_FROM_SYSTEM |
FORMAT_MESSAGE_IGNORE_INSERTS,
NULL,
error,
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
(LPTSTR)&lpMsgBuf,
0, NULL);
if (bufLen)
{
Data_OVRMC = (MMFstruct_OVRMC_v1*)mmfFile_OVRMC;
}
}
else
{
// Get data from OVRMC
rigOffset = Data_OVRMC->Translation;
rigYawOffset = Data_OVRMC->Rotation.v[1];
}
LPCSTR lpMsgStr = (LPCSTR)lpMsgBuf;
std::string result(lpMsgStr, lpMsgStr + bufLen);

if (!_moverConnected)
{
_pose.result = vr::TrackingResult_Calibrating_InProgress;
_pose.qRotation = vrmath::quaternionFromYawRollPitch(rigYawOffset, 0, 0);
LocalFree(lpMsgBuf);

// Init was unsuccessful, return empty pose
if (!openMmf(MapFile_Mover, mmfFile_Mover, L"Local\\motionRigPose", 4096, _moverConnected))
{
return _pose;
return result;
}

rigPose = (MMFstruct_Mover_v1*)mmfFile_Mover;
}
return std::string();
}

vr::DriverPose_t CMotionPoseControllerDriver::GetPose()
{
__try
{
_pose.poseIsValid = false;
_pose.deviceIsConnected = _moverConnected;
_pose.shouldApplyHeadModel = false;
_pose.willDriftInYaw = false;

// Convert from mm to m
vr::HmdVector3d_t rigTranslation = { 0 };
rigTranslation.v[0] = rigPose->rigSway / (double)1000.0;
rigTranslation.v[1] = rigPose->rigHeave / (double)1000.0;
rigTranslation.v[2] = -rigPose->rigSurge / (double)1000.0;
vr::HmdQuaternion_t yaw = vrmath::quaternionFromRotationY(rigYawOffset);

// Create the rotation. Convert from degree to radian
_pose.qRotation = vrmath::quaternionFromYawRollPitch(rigYawOffset + rigPose->rigYaw * 0.01745329251994329, -rigPose->rigRoll * 0.01745329251994329, rigPose->rigPitch * 0.01745329251994329);
// Create connection to OVRMC
if (!_ovrmcConnected)
{
if (openMmf(MapFile_OVRMC, mmfFile_OVRMC, L"Local\\OVRMC_MMFv1", 4096, _ovrmcConnected))
{
Data_OVRMC = (MMFstruct_OVRMC_v1*)mmfFile_OVRMC;
}
}
else if (Data_OVRMC != nullptr)
{
// Get data from OVRMC
rigOffset = Data_OVRMC->Translation;
rigYawOffset = Data_OVRMC->Rotation.v[1];
}

// Create the translation (XYZ position in 3d space)
vr::HmdVector3d_t rigVector = vrmath::quaternionRotateVector(_pose.qRotation, rigTranslation) + rigOffset;
_pose.vecPosition[0] = rigVector.v[0];
_pose.vecPosition[1] = rigVector.v[1];
_pose.vecPosition[2] = rigVector.v[2];
if (!_moverConnected)
{
_pose.result = vr::TrackingResult_Calibrating_InProgress;
_pose.qRotation = vrmath::quaternionFromYawRollPitch(rigYawOffset, 0, 0);

_pose.poseIsValid = true;
_pose.result = vr::TrackingResult_Running_OK;
// Init was unsuccessful, return empty pose
if (!openMmf(MapFile_Mover, mmfFile_Mover, L"Local\\motionRigPose", 4096, _moverConnected))
{
return _pose;
}

return _pose;
rigPose = (MMFstruct_Mover_v1*)mmfFile_Mover;
}

if (rigPose != nullptr)
{
// Convert from mm to m
vr::HmdVector3d_t rigTranslation = { 0 };
rigTranslation.v[0] = rigPose->rigSway / (double)1000.0;
rigTranslation.v[1] = rigPose->rigHeave / (double)1000.0;
rigTranslation.v[2] = -rigPose->rigSurge / (double)1000.0;

// Create the rotation. Convert from degree to radian
_pose.qRotation = vrmath::quaternionFromYawRollPitch(rigYawOffset + rigPose->rigYaw * 0.01745329251994329, -rigPose->rigRoll * 0.01745329251994329, rigPose->rigPitch * 0.01745329251994329);

// Create the translation (XYZ position in 3d space)
vr::HmdVector3d_t rigVector = vrmath::quaternionRotateVector(_pose.qRotation, rigTranslation) + rigOffset;
_pose.vecPosition[0] = rigVector.v[0];
_pose.vecPosition[1] = rigVector.v[1];
_pose.vecPosition[2] = rigVector.v[2];

_pose.poseIsValid = true;
_pose.result = vr::TrackingResult_Running_OK;
}
return _pose;
}
__except (GetExceptionCode() == EXCEPTION_IN_PAGE_ERROR ? EXCEPTION_EXECUTE_HANDLER : EXCEPTION_CONTINUE_SEARCH)
{
throw std::exception();
}
}

void CMotionPoseControllerDriver::RunFrame()
Expand All @@ -189,7 +226,8 @@ namespace driver
}
catch (std::exception& e)
{
LOG(ERROR) << "MMF failed: " << e.what();
LOG(ERROR) << "MMF failed: " << e.what() << " " << GetLastErrorStdStr();


// Close mover connection
if (CloseHandle(MapFile_Mover) == 0)
Expand Down
8 changes: 3 additions & 5 deletions motionPose/MotionPoseController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ namespace driver
const char* logConfigDefault =
"* GLOBAL:\n"
" FORMAT = \"[%level] %datetime{%Y-%M-%d %H:%m:%s}: %msg\"\n"
" FILENAME = \"driver_motioncompensation.log\"\n"
" FILENAME = \"driver_motionpose.log\"\n"
" ENABLED = true\n"
" TO_FILE = true\n"
" TO_STANDARD_OUTPUT = true\n"
Expand Down Expand Up @@ -95,10 +95,6 @@ namespace driver

void init_logging();

bool initializeMoverMmf();

void initializeOvrmcMmf();

bool openMmf(HANDLE& MapFile, char*& mmfFile, LPCWSTR szName, int BufferSize, bool& Connected);

virtual void Deactivate();
Expand All @@ -112,6 +108,8 @@ namespace driver
/** debug request from a client */
virtual void DebugRequest(const char* pchRequest, char* pchResponseBuffer, uint32_t unResponseBufferSize);

std::string GetLastErrorStdStr();

virtual vr::DriverPose_t GetPose();

void RunFrame();
Expand Down
1 change: 1 addition & 0 deletions motionPose/motionPose.vcxproj
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,7 @@
<PrecompiledHeaderFile>
</PrecompiledHeaderFile>
<AdditionalIncludeDirectories>third-party\easylogging++;openvr\headers;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<ExceptionHandling>Async</ExceptionHandling>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
Expand Down

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