[{"ts":1744534382262,"type":"say","say":"text","text":"I need to examine the lighthouse_driver_wrapper.cpp file to understand the current implementation of the RunFrame function and how it's attempting to read IMU data from HID devices. Please show me the relevant code sections that deal with HID device reading and IMU data processing in the RunFrame function. Focus specifically on understanding what's missing regarding the report ID and buffer offsets for the six IMU data values (accelerometer and gyroscope XYZ).\n\nWhen you've completed this analysis, use the attempt_completion tool to provide a concise summary of the current implementation and its limitations regarding IMU data reading."},{"ts":1744534382308,"type":"say","say":"api_req_started","text":"{\"request\":\"\\nI need to examine the lighthouse_driver_wrapper.cpp file to understand the current implementation of the RunFrame function and how it's attempting to read IMU data from HID devices. Please show me the relevant code sections that deal with HID device reading and IMU data processing in the RunFrame function. Focus specifically on understanding what's missing regarding the report ID and buffer offsets for the six IMU data values (accelerometer and gyroscope XYZ).\\n\\nWhen you've completed this analysis, use the attempt_completion tool to provide a concise summary of the current implementation and its limitations regarding IMU data reading.\\n\\n\\n\\n# VSCode Visible Files\\ndrivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\\n\\n# VSCode Open Tabs\\nREADME.md,docs/Driver_API_Documentation.md,drivers/sauna/lighthouse_driver_wrapper.h,drivers/sauna/tests/integration_test.cpp,drivers/sauna/lighthouse_driver_wrapper.cpp,../../IServerTrackedDeviceProvider.md,drivers/sauna/tests/run_integration_tests.bat,.gitignore,drivers/sauna/driver.vrdrivermanifest,drivers/sauna/imu_data_provider.h,drivers/sauna/imu_data_provider.cpp,drivers/sauna/sauna_device_driver.cpp,drivers/sauna/README.md,drivers/sauna/docs/api_documentation.md,drivers/sauna/driver_sauna.cpp,drivers/sauna/tests/test_utils.h,drivers/sauna/tests/test_utils.cpp,drivers/sauna/tests/run_unit_tests.cpp,drivers/sauna/tests/test_imu_data_provider.cpp,drivers/sauna/tests/test_lighthouse_driver_wrapper.cpp\\n\\n# Current Time\\n4/13/2025, 1:53:02 AM (America/Los_Angeles, UTC-7:00)\\n\\n# Current Context Size (Tokens)\\n(Not available)\\n\\n# Current Cost\\n$0.00\\n\\n# Current Mode\\ncode\\nCode\\n\\n\\n# Current Workspace Directory 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list truncated. Use list_files on specific subdirectories if you need to explore further.)\\n\",\"tokensIn\":4,\"tokensOut\":113,\"cacheWrites\":12901,\"cacheReads\":0,\"cost\":0.05008575}"},{"ts":1744534384375,"type":"say","say":"text","text":"I need to examine the lighthouse_driver_wrapper.cpp file to understand the RunFrame function and how it's attempting to read IMU data from HID devices. Let me first read the file to get a better understanding of the implementation.\n\nI'll use the read_file tool to view the lighthouse_driver_wrapper.cpp file.","partial":false},{"ts":1744534386228,"type":"ask","ask":"tool","text":"{\"tool\":\"readFile\",\"path\":\"drivers/sauna/lighthouse_driver_wrapper.cpp\",\"isOutsideWorkspace\":false,\"content\":\"c:\\\\Users\\\\decid\\\\Documents\\\\projects\\\\openvr-resilient\\\\drivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\",\"reason\":\" (max 500 lines)\"}","partial":false},{"ts":1744534390263,"type":"say","say":"api_req_started","text":"{\"request\":\"[read_file for 'drivers/sauna/lighthouse_driver_wrapper.cpp'] Result:\\n\\ndrivers/sauna/lighthouse_driver_wrapper.cpp\\n\\n 1 | #include \\\"lighthouse_driver_wrapper.h\\\"\\r\\n 2 | #include \\\"imu_data_provider.h\\\"\\r\\n 3 | #include \\r\\n 4 | #include \\r\\n 5 | #include \\r\\n 6 | #include \\r\\n 7 | #include \\r\\n 8 | #include \\r\\n 9 | #include \\r\\n 10 | #include \\r\\n 11 | #include \\r\\n 12 | #include \\r\\n 13 | \\r\\n 14 | #if defined(_WIN32)\\r\\n 15 | #include \\r\\n 16 | #include \\r\\n 17 | #include \\r\\n 18 | #pragma comment(lib, \\\"hid.lib\\\")\\r\\n 19 | #pragma comment(lib, \\\"setupapi.lib\\\")\\r\\n 20 | #define OPENVR_DLL_EXPORT extern \\\"C\\\" __declspec(dllexport)\\r\\n 21 | #define OPENVR_DLL_IMPORT extern \\\"C\\\" __declspec(dllimport)\\r\\n 22 | #define OPENVR_FNTABLE_CALLTYPE __stdcall\\r\\n 23 | #define HMODULE_TYPE HMODULE\\r\\n 24 | #define LOAD_LIBRARY(path) LoadLibraryA(path)\\r\\n 25 | #define GET_PROC_ADDRESS(handle, name) GetProcAddress((HMODULE)handle, name)\\r\\n 26 | #define FREE_LIBRARY(handle) FreeLibrary((HMODULE)handle)\\r\\n 27 | #define PATH_SEPARATOR \\\"\\\\\\\\\\\"\\r\\n 28 | #elif defined(__linux__) || defined(__APPLE__)\\r\\n 29 | #include \\r\\n 30 | #define OPENVR_DLL_EXPORT extern \\\"C\\\" __attribute__((visibility(\\\"default\\\")))\\r\\n 31 | #define OPENVR_DLL_IMPORT extern \\\"C\\\"\\r\\n 32 | #define OPENVR_FNTABLE_CALLTYPE\\r\\n 33 | #define HMODULE_TYPE void*\\r\\n 34 | #define LOAD_LIBRARY(path) dlopen(path, RTLD_NOW)\\r\\n 35 | #define GET_PROC_ADDRESS(handle, name) dlsym(handle, name)\\r\\n 36 | #define FREE_LIBRARY(handle) dlclose(handle)\\r\\n 37 | #define PATH_SEPARATOR \\\"/\\\"\\r\\n 38 | #endif\\r\\n 39 | \\r\\n 40 | namespace sauna\\r\\n 41 | {\\r\\n 42 | \\r\\n 43 | LighthouseDriverWrapper::LighthouseDriverWrapper()\\r\\n 44 | : m_pLighthouseDriverLib(nullptr)\\r\\n 45 | , m_pLighthouseProvider(nullptr)\\r\\n 46 | , m_fnCreateInterface(nullptr)\\r\\n 47 | , m_fnGetDriverCount(nullptr)\\r\\n 48 | , m_fnGetDriverName(nullptr)\\r\\n 49 | , m_pIMUDataProvider(nullptr)\\r\\n 50 | {\\r\\n 51 | }\\r\\n 52 | \\r\\n 53 | LighthouseDriverWrapper::~LighthouseDriverWrapper()\\r\\n 54 | {\\r\\n 55 | Shutdown();\\r\\n 56 | }\\r\\n 57 | bool LighthouseDriverWrapper::Initialize()\\r\\n 58 | {\\r\\n 59 | // Create a debug log file\\r\\n 60 | FILE* logFile = fopen(\\\"lighthouse_init_debug.log\\\", \\\"w\\\");\\r\\n 61 | if (logFile) {\\r\\n 62 | fprintf(logFile, \\\"=== Initialize called at %lld ===\\\\n\\\", (long long)time(nullptr));\\r\\n 63 | }\\r\\n 64 | \\r\\n 65 | auto Log = [&](const char* format, ...) {\\r\\n 66 | if (logFile) {\\r\\n 67 | va_list args;\\r\\n 68 | va_start(args, format);\\r\\n 69 | vfprintf(logFile, format, args);\\r\\n 70 | fprintf(logFile, \\\"\\\\n\\\");\\r\\n 71 | fflush(logFile);\\r\\n 72 | va_end(args);\\r\\n 73 | }\\r\\n 74 | };\\r\\n 75 | \\r\\n 76 | Log(\\\"Starting lighthouse driver initialization\\\");\\r\\n 77 | \\r\\n 78 | if (m_pLighthouseProvider) {\\r\\n 79 | Log(\\\"Provider already initialized, returning true\\\");\\r\\n 80 | if (logFile) fclose(logFile);\\r\\n 81 | return true;\\r\\n 82 | }\\r\\n 83 | \\r\\n 84 | Log(\\\"Calling LoadLighthouseDriver()\\\");\\r\\n 85 | if (!LoadLighthouseDriver()) {\\r\\n 86 | Log(\\\"LoadLighthouseDriver() failed\\\");\\r\\n 87 | if (logFile) fclose(logFile);\\r\\n 88 | return false;\\r\\n 89 | }\\r\\n 90 | Log(\\\"LoadLighthouseDriver() succeeded\\\");\\r\\n 91 | \\r\\n 92 | // Get the lighthouse driver provider\\r\\n 93 | Log(\\\"Getting lighthouse driver provider interface\\\");\\r\\n 94 | vr::EVRInitError eError = vr::VRInitError_None;\\r\\n 95 | m_pLighthouseProvider = static_cast(\\r\\n 96 | m_fnCreateInterface(vr::IServerTrackedDeviceProvider_Version, &eError));\\r\\n 97 | \\r\\n 98 | if (!m_pLighthouseProvider || eError != vr::VRInitError_None) {\\r\\n 99 | Log(\\\"Failed to get lighthouse driver provider interface, error code: %d\\\", eError);\\r\\n100 | UnloadLighthouseDriver();\\r\\n101 | if (logFile) fclose(logFile);\\r\\n102 | return false;\\r\\n103 | }\\r\\n104 | Log(\\\"Successfully got lighthouse driver provider interface\\\");\\r\\n105 | \\r\\n106 | // Initialize the lighthouse driver\\r\\n107 | Log(\\\"Initializing lighthouse driver with proper context initialization\\\");\\r\\n108 | \\r\\n109 | // We've already successfully preloaded openvr_api.dll in LoadLighthouseDriver\\r\\n110 | // Let's focus on initializing the driver context properly\\r\\n111 | \\r\\n112 | // Based on our analysis of lighthouse_console.exe, it's not using driver_lighthouse.dll at all!\\r\\n113 | // Instead, it's connecting directly to the lighthouse devices using HID interfaces.\\r\\n114 | Log(\\\"Implementing a direct HID approach based on lighthouse_console.exe\\\");\\r\\n115 | \\r\\n116 | // We'll need to implement HID communication directly\\r\\n117 | Log(\\\"Implementing direct HID communication\\\");\\r\\n118 | \\r\\n119 | #if defined(_WIN32)\\r\\n120 | // On Windows, we'll use the Windows HID API\\r\\n121 | Log(\\\"Using Windows HID API\\\");\\r\\n122 | \\r\\n123 | // First, let's enumerate all HID devices to find the lighthouse devices\\r\\n124 | Log(\\\"Enumerating HID devices\\\");\\r\\n125 | \\r\\n126 | // We've already included the Windows HID API headers at the top of the file\\r\\n127 | \\r\\n128 | // Get the GUID for HID devices\\r\\n129 | GUID hidGuid;\\r\\n130 | HidD_GetHidGuid(&hidGuid);\\r\\n131 | \\r\\n132 | // Get a handle to the device information set\\r\\n133 | HDEVINFO deviceInfoSet = SetupDiGetClassDevs(&hidGuid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);\\r\\n134 | if (deviceInfoSet == INVALID_HANDLE_VALUE) {\\r\\n135 | Log(\\\"Failed to get device information set\\\");\\r\\n136 | m_pLighthouseProvider = nullptr;\\r\\n137 | UnloadLighthouseDriver();\\r\\n138 | if (logFile) fclose(logFile);\\r\\n139 | return false;\\r\\n140 | }\\r\\n141 | \\r\\n142 | // Enumerate all HID devices\\r\\n143 | SP_DEVICE_INTERFACE_DATA deviceInterfaceData;\\r\\n144 | deviceInterfaceData.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);\\r\\n145 | \\r\\n146 | // We'll store the lighthouse devices we find\\r\\n147 | std::vector lighthouseDevices;\\r\\n148 | \\r\\n149 | // Enumerate all HID devices\\r\\n150 | for (DWORD deviceIndex = 0; SetupDiEnumDeviceInterfaces(deviceInfoSet, NULL, &hidGuid, deviceIndex, &deviceInterfaceData); deviceIndex++) {\\r\\n151 | // Get the device path\\r\\n152 | DWORD requiredSize = 0;\\r\\n153 | SetupDiGetDeviceInterfaceDetail(deviceInfoSet, &deviceInterfaceData, NULL, 0, &requiredSize, NULL);\\r\\n154 | \\r\\n155 | PSP_DEVICE_INTERFACE_DETAIL_DATA deviceInterfaceDetailData = (PSP_DEVICE_INTERFACE_DETAIL_DATA)malloc(requiredSize);\\r\\n156 | deviceInterfaceDetailData->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);\\r\\n157 | \\r\\n158 | if (SetupDiGetDeviceInterfaceDetail(deviceInfoSet, &deviceInterfaceData, deviceInterfaceDetailData, requiredSize, NULL, NULL)) {\\r\\n159 | // Get the device path - this is a string, not a wide string in this case\\r\\n160 | std::string devicePath = (char*)deviceInterfaceDetailData->DevicePath;\\r\\n161 | \\r\\n162 | Log(\\\"Device path: %s\\\", devicePath.c_str());\\r\\n163 | \\r\\n164 | // Open the device using CreateFileA\\r\\n165 | HANDLE deviceHandle = CreateFileA(devicePath.c_str(), GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, 0, NULL);\\r\\n166 | if (deviceHandle != INVALID_HANDLE_VALUE) {\\r\\n167 | // Get the device attributes\\r\\n168 | HIDD_ATTRIBUTES deviceAttributes;\\r\\n169 | deviceAttributes.Size = sizeof(HIDD_ATTRIBUTES);\\r\\n170 | \\r\\n171 | if (HidD_GetAttributes(deviceHandle, &deviceAttributes)) {\\r\\n172 | // Check if this is a lighthouse device\\r\\n173 | if (deviceAttributes.VendorID == 0x28DE) {\\r\\n174 | // This is a Valve device\\r\\n175 | Log(\\\"Found Valve device: VID=0x%04X, PID=0x%04X, Path=%s\\\", deviceAttributes.VendorID, deviceAttributes.ProductID, devicePath.c_str());\\r\\n176 | \\r\\n177 | // Get the product string\\r\\n178 | wchar_t productString[256] = {0};\\r\\n179 | if (HidD_GetProductString(deviceHandle, productString, sizeof(productString))) {\\r\\n180 | // Convert to ASCII\\r\\n181 | char productStringA[256] = {0};\\r\\n182 | WideCharToMultiByte(CP_ACP, 0, productString, -1, productStringA, sizeof(productStringA), NULL, NULL);\\r\\n183 | \\r\\n184 | Log(\\\"Product String: %s\\\", productStringA);\\r\\n185 | \\r\\n186 | // Check if this is a lighthouse device\\r\\n187 | // Based on the log, we need to look for \\\"IMU\\\", \\\"Controller\\\", \\\"Optical\\\", \\\"Lighthouse\\\", or \\\"LHR-\\\"\\r\\n188 | if (strstr(productStringA, \\\"Lighthouse\\\") != NULL ||\\r\\n189 | strstr(productStringA, \\\"LHR-\\\") != NULL ||\\r\\n190 | strstr(productStringA, \\\"IMU\\\") != NULL ||\\r\\n191 | strstr(productStringA, \\\"Controller\\\") != NULL ||\\r\\n192 | strstr(productStringA, \\\"Optical\\\") != NULL) {\\r\\n193 | Log(\\\"Found lighthouse device: %s\\\", productStringA);\\r\\n194 | // Store the device path as a string\\r\\n195 | lighthouseDevices.push_back(devicePath);\\r\\n196 | }\\r\\n197 | }\\r\\n198 | }\\r\\n199 | }\\r\\n200 | \\r\\n201 | CloseHandle(deviceHandle);\\r\\n202 | }\\r\\n203 | }\\r\\n204 | \\r\\n205 | free(deviceInterfaceDetailData);\\r\\n206 | }\\r\\n207 | \\r\\n208 | // Clean up\\r\\n209 | SetupDiDestroyDeviceInfoList(deviceInfoSet);\\r\\n210 | \\r\\n211 | // Check if we found any lighthouse devices\\r\\n212 | if (lighthouseDevices.empty()) {\\r\\n213 | Log(\\\"No lighthouse devices found\\\");\\r\\n214 | m_pLighthouseProvider = nullptr;\\r\\n215 | UnloadLighthouseDriver();\\r\\n216 | if (logFile) fclose(logFile);\\r\\n217 | return false;\\r\\n218 | }\\r\\n219 | \\r\\n220 | Log(\\\"Found %d lighthouse devices\\\", lighthouseDevices.size());\\r\\n221 | \\r\\n222 | // Store the lighthouse devices for later use\\r\\n223 | m_lighthouseDevices = lighthouseDevices;\\r\\n224 | \\r\\n225 | // Now we need to read IMU data from the devices\\r\\n226 | Log(\\\"Reading IMU data from devices\\\");\\r\\n227 | \\r\\n228 | // We'll read IMU data in the RunFrame method\\r\\n229 | Log(\\\"IMU data will be read in RunFrame\\\");\\r\\n230 | Log(\\\"Successfully found lighthouse devices\\\");\\r\\n231 | \\r\\n232 | // We don't need the lighthouse driver anymore\\r\\n233 | UnloadLighthouseDriver();\\r\\n234 | m_pLighthouseProvider = nullptr;\\r\\n235 | \\r\\n236 | // Return success\\r\\n237 | if (logFile) fclose(logFile);\\r\\n238 | return true;\\r\\n239 | return true;\\r\\n240 | #else\\r\\n241 | // On other platforms, we'll need to implement a different approach\\r\\n242 | Log(\\\"HID communication not implemented for this platform\\\");\\r\\n243 | m_pLighthouseProvider = nullptr;\\r\\n244 | UnloadLighthouseDriver();\\r\\n245 | if (logFile) fclose(logFile);\\r\\n246 | return false;\\r\\n247 | #endif\\r\\n248 | }\\r\\n249 | \\r\\n250 | void LighthouseDriverWrapper::Shutdown()\\r\\n251 | {\\r\\n252 | if (m_pLighthouseProvider)\\r\\n253 | {\\r\\n254 | m_pLighthouseProvider->Cleanup();\\r\\n255 | m_pLighthouseProvider = nullptr;\\r\\n256 | }\\r\\n257 | \\r\\n258 | UnloadLighthouseDriver();\\r\\n259 | }\\r\\n260 | \\r\\n261 | void LighthouseDriverWrapper::RunFrame()\\r\\n262 | {\\r\\n263 | // Create a debug log file\\r\\n264 | FILE* logFile = fopen(\\\"lighthouse_runframe_debug.log\\\", \\\"a\\\");\\r\\n265 | if (logFile) {\\r\\n266 | fprintf(logFile, \\\"RunFrame called at %lld\\\\n\\\", (long long)time(nullptr));\\r\\n267 | }\\r\\n268 | \\r\\n269 | if (m_pLighthouseProvider)\\r\\n270 | {\\r\\n271 | if (logFile) {\\r\\n272 | fprintf(logFile, \\\"Calling m_pLighthouseProvider->RunFrame()\\\\n\\\");\\r\\n273 | fflush(logFile);\\r\\n274 | }\\r\\n275 | \\r\\n276 | // Since we skipped initialization, this might not work properly\\r\\n277 | // But we'll try it anyway\\r\\n278 | try {\\r\\n279 | m_pLighthouseProvider->RunFrame();\\r\\n280 | if (logFile) {\\r\\n281 | fprintf(logFile, \\\"RunFrame completed successfully\\\\n\\\");\\r\\n282 | fflush(logFile);\\r\\n283 | }\\r\\n284 | } catch (...) {\\r\\n285 | if (logFile) {\\r\\n286 | fprintf(logFile, \\\"Exception in RunFrame\\\\n\\\");\\r\\n287 | fflush(logFile);\\r\\n288 | }\\r\\n289 | }\\r\\n290 | } else {\\r\\n291 | if (logFile) {\\r\\n292 | fprintf(logFile, \\\"m_pLighthouseProvider is null\\\\n\\\");\\r\\n293 | fflush(logFile);\\r\\n294 | }\\r\\n295 | }\\r\\n296 | \\r\\n297 | // Read IMU data from the lighthouse devices\\r\\n298 | if (!m_lighthouseDevices.empty() && m_pIMUDataProvider) {\\r\\n299 | if (logFile) {\\r\\n300 | fprintf(logFile, \\\"Reading IMU data from %d lighthouse devices\\\\n\\\", (int)m_lighthouseDevices.size());\\r\\n301 | fflush(logFile);\\r\\n302 | }\\r\\n303 | \\r\\n304 | // For each lighthouse device\\r\\n305 | for (const auto& devicePath : m_lighthouseDevices) {\\r\\n306 | // Open the device\\r\\n307 | HANDLE deviceHandle = CreateFileA(devicePath.c_str(), GENERIC_READ, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, 0, NULL);\\r\\n308 | if (deviceHandle != INVALID_HANDLE_VALUE) {\\r\\n309 | if (logFile) {\\r\\n310 | fprintf(logFile, \\\"Opened device: %s\\\\n\\\", devicePath.c_str());\\r\\n311 | fflush(logFile);\\r\\n312 | }\\r\\n313 | \\r\\n314 | // Create a buffer for reading\\r\\n315 | const int bufferSize = 64;\\r\\n316 | unsigned char buffer[bufferSize];\\r\\n317 | \\r\\n318 | // Read from the device\\r\\n319 | DWORD bytesRead = 0;\\r\\n320 | if (ReadFile(deviceHandle, buffer, bufferSize, &bytesRead, NULL)) {\\r\\n321 | if (bytesRead > 0) {\\r\\n322 | if (logFile) {\\r\\n323 | fprintf(logFile, \\\"Read %d bytes from device\\\\n\\\", bytesRead);\\r\\n324 | fflush(logFile);\\r\\n325 | }\\r\\n326 | \\r\\n327 | // Create an IMU sample\\r\\n328 | vr::ImuSample_t sample;\\r\\n329 | \\r\\n330 | // Parse the IMU data from the buffer\\r\\n331 | // The format of the data depends on the specific device\\r\\n332 | // We need to analyze the buffer to determine the format\\r\\n333 | \\r\\n334 | if (logFile) {\\r\\n335 | fprintf(logFile, \\\"Buffer contents (first 16 bytes): \\\");\\r\\n336 | for (int i = 0; i < min(16, (int)bytesRead); i++) {\\r\\n337 | fprintf(logFile, \\\"%02X \\\", buffer[i]);\\r\\n338 | }\\r\\n339 | fprintf(logFile, \\\"\\\\n\\\");\\r\\n340 | fflush(logFile);\\r\\n341 | }\\r\\n342 | \\r\\n343 | // Check if this is an IMU report\\r\\n344 | // IMU reports typically have a specific report ID\\r\\n345 | // For Valve devices, this is often 0x01\\r\\n346 | if (buffer[0] == 0x01) {\\r\\n347 | // This is likely an IMU report\\r\\n348 | // Parse the accelerometer and gyroscope data\\r\\n349 | \\r\\n350 | // The data is typically in little-endian format\\r\\n351 | // Each value is usually a 16-bit signed integer\\r\\n352 | // We need to convert it to a float in the appropriate units\\r\\n353 | \\r\\n354 | // Extract accelerometer data (typically in g's)\\r\\n355 | // Assuming the data is at offset 1, 3, and 5\\r\\n356 | int16_t accelX = (buffer[2] << 8) | buffer[1];\\r\\n357 | int16_t accelY = (buffer[4] << 8) | buffer[3];\\r\\n358 | int16_t accelZ = (buffer[6] << 8) | buffer[5];\\r\\n359 | \\r\\n360 | // Extract gyroscope data (typically in rad/s)\\r\\n361 | // Assuming the data is at offset 7, 9, and 11\\r\\n362 | int16_t gyroX = (buffer[8] << 8) | buffer[7];\\r\\n363 | int16_t gyroY = (buffer[10] << 8) | buffer[9];\\r\\n364 | int16_t gyroZ = (buffer[12] << 8) | buffer[11];\\r\\n365 | \\r\\n366 | // Convert to the appropriate units\\r\\n367 | // The conversion factor depends on the specific device\\r\\n368 | // For Valve devices, this is typically 1/32768 * 2g for accelerometer\\r\\n369 | // and 1/32768 * 8.7266 rad/s for gyroscope\\r\\n370 | const float accelScale = 2.0f / 32768.0f;\\r\\n371 | const float gyroScale = 8.7266f / 32768.0f;\\r\\n372 | \\r\\n373 | sample.vAccel.v[0] = accelX * accelScale;\\r\\n374 | sample.vAccel.v[1] = accelY * accelScale;\\r\\n375 | sample.vAccel.v[2] = accelZ * accelScale;\\r\\n376 | \\r\\n377 | sample.vGyro.v[0] = gyroX * gyroScale;\\r\\n378 | sample.vGyro.v[1] = gyroY * gyroScale;\\r\\n379 | sample.vGyro.v[2] = gyroZ * gyroScale;\\r\\n380 | \\r\\n381 | // Set the timestamp\\r\\n382 | sample.fSampleTime = (float)time(nullptr);\\r\\n383 | \\r\\n384 | // Register the device if not already registered\\r\\n385 | m_pIMUDataProvider->RegisterDevice(0); // HMD is usually device 0\\r\\n386 | \\r\\n387 | // Add the sample\\r\\n388 | m_pIMUDataProvider->AddIMUSample(0, sample);\\r\\n389 | \\r\\n390 | if (logFile) {\\r\\n391 | fprintf(logFile, \\\"Parsed IMU data: Accel=[%f, %f, %f], Gyro=[%f, %f, %f]\\\\n\\\",\\r\\n392 | sample.vAccel.v[0], sample.vAccel.v[1], sample.vAccel.v[2],\\r\\n393 | sample.vGyro.v[0], sample.vGyro.v[1], sample.vGyro.v[2]);\\r\\n394 | fflush(logFile);\\r\\n395 | }\\r\\n396 | }\\r\\n397 | \\r\\n398 | if (logFile) {\\r\\n399 | fprintf(logFile, \\\"Added IMU sample to provider\\\\n\\\");\\r\\n400 | fflush(logFile);\\r\\n401 | }\\r\\n402 | }\\r\\n403 | }\\r\\n404 | \\r\\n405 | // Close the device\\r\\n406 | CloseHandle(deviceHandle);\\r\\n407 | }\\r\\n408 | }\\r\\n409 | }\\r\\n410 | \\r\\n411 | if (logFile) {\\r\\n412 | fclose(logFile);\\r\\n413 | }\\r\\n414 | }\\r\\n415 | \\r\\n416 | void LighthouseDriverWrapper::EnterStandby()\\r\\n417 | {\\r\\n418 | // Create a debug log file\\r\\n419 | FILE* logFile = fopen(\\\"lighthouse_standby_debug.log\\\", \\\"a\\\");\\r\\n420 | if (logFile) {\\r\\n421 | fprintf(logFile, \\\"EnterStandby called at %lld\\\\n\\\", (long long)time(nullptr));\\r\\n422 | }\\r\\n423 | \\r\\n424 | if (m_pLighthouseProvider)\\r\\n425 | {\\r\\n426 | if (logFile) {\\r\\n427 | fprintf(logFile, \\\"Calling m_pLighthouseProvider->EnterStandby()\\\\n\\\");\\r\\n428 | fflush(logFile);\\r\\n429 | }\\r\\n430 | \\r\\n431 | try {\\r\\n432 | m_pLighthouseProvider->EnterStandby();\\r\\n433 | if (logFile) {\\r\\n434 | fprintf(logFile, \\\"EnterStandby completed successfully\\\\n\\\");\\r\\n435 | fflush(logFile);\\r\\n436 | }\\r\\n437 | } catch (...) {\\r\\n438 | if (logFile) {\\r\\n439 | fprintf(logFile, \\\"Exception in EnterStandby\\\\n\\\");\\r\\n440 | fflush(logFile);\\r\\n441 | }\\r\\n442 | }\\r\\n443 | } else {\\r\\n444 | if (logFile) {\\r\\n445 | fprintf(logFile, \\\"m_pLighthouseProvider is null\\\\n\\\");\\r\\n446 | fflush(logFile);\\r\\n447 | }\\r\\n448 | }\\r\\n449 | \\r\\n450 | if (logFile) {\\r\\n451 | fclose(logFile);\\r\\n452 | }\\r\\n453 | }\\r\\n454 | \\r\\n455 | void LighthouseDriverWrapper::LeaveStandby()\\r\\n456 | {\\r\\n457 | // Create a debug log file\\r\\n458 | FILE* logFile = fopen(\\\"lighthouse_standby_debug.log\\\", \\\"a\\\");\\r\\n459 | if (logFile) {\\r\\n460 | fprintf(logFile, \\\"LeaveStandby called at %lld\\\\n\\\", (long long)time(nullptr));\\r\\n461 | }\\r\\n462 | \\r\\n463 | if (m_pLighthouseProvider)\\r\\n464 | {\\r\\n465 | if (logFile) {\\r\\n466 | fprintf(logFile, \\\"Calling m_pLighthouseProvider->LeaveStandby()\\\\n\\\");\\r\\n467 | fflush(logFile);\\r\\n468 | }\\r\\n469 | \\r\\n470 | try {\\r\\n471 | m_pLighthouseProvider->LeaveStandby();\\r\\n472 | if (logFile) {\\r\\n473 | fprintf(logFile, \\\"LeaveStandby completed successfully\\\\n\\\");\\r\\n474 | fflush(logFile);\\r\\n475 | }\\r\\n476 | } catch (...) {\\r\\n477 | if (logFile) {\\r\\n478 | fprintf(logFile, \\\"Exception in LeaveStandby\\\\n\\\");\\r\\n479 | fflush(logFile);\\r\\n480 | }\\r\\n481 | }\\r\\n482 | } else {\\r\\n483 | if (logFile) {\\r\\n484 | fprintf(logFile, \\\"m_pLighthouseProvider is null\\\\n\\\");\\r\\n485 | fflush(logFile);\\r\\n486 | }\\r\\n487 | }\\r\\n488 | \\r\\n489 | if (logFile) {\\r\\n490 | fclose(logFile);\\r\\n491 | }\\r\\n492 | }\\r\\n493 | \\r\\n494 | bool LighthouseDriverWrapper::LoadLighthouseDriver()\\r\\n495 | {\\r\\n496 | // Create a direct debug log file\\r\\n497 | FILE* logFile = fopen(\\\"lighthouse_driver_debug.log\\\", \\\"w\\\");\\r\\n498 | if (!logFile) {\\r\\n499 | return false;\\r\\n500 | }\\r\\n\\nShowing only 500 of 729 total lines. Use start_line and end_line if you need to read more\\n# lighthouse_driver_wrapper.cpp\\n1--729 | #include \\\"lighthouse_driver_wrapper.h\\\"\\r\\n40--729 | namespace sauna\\r\\n43--51 | LighthouseDriverWrapper::LighthouseDriverWrapper()\\r\\n41--729 | {\\r\\n53--56 | LighthouseDriverWrapper::~LighthouseDriverWrapper()\\r\\n57--248 | bool LighthouseDriverWrapper::Initialize()\\r\\n65--74 | auto Log = [&](const char* format, ...) {\\r\\n58--248 | {\\r\\n250--259 | void LighthouseDriverWrapper::Shutdown()\\r\\n261--414 | void LighthouseDriverWrapper::RunFrame()\\r\\n416--453 | void LighthouseDriverWrapper::EnterStandby()\\r\\n455--492 | void LighthouseDriverWrapper::LeaveStandby()\\r\\n494--714 | bool LighthouseDriverWrapper::LoadLighthouseDriver()\\r\\n506--513 | auto Log = [&](const char* format, ...) {\\r\\n495--714 | {\\r\\n716--727 | void LighthouseDriverWrapper::UnloadLighthouseDriver()\\r\\n\\n\\n\\n\\n# VSCode Visible Files\\ndrivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\\n\\n# VSCode Open Tabs\\nREADME.md,docs/Driver_API_Documentation.md,drivers/sauna/lighthouse_driver_wrapper.h,drivers/sauna/tests/integration_test.cpp,drivers/sauna/lighthouse_driver_wrapper.cpp,../../IServerTrackedDeviceProvider.md,drivers/sauna/tests/run_integration_tests.bat,.gitignore,drivers/sauna/driver.vrdrivermanifest,drivers/sauna/imu_data_provider.h,drivers/sauna/imu_data_provider.cpp,drivers/sauna/sauna_device_driver.cpp,drivers/sauna/README.md,drivers/sauna/docs/api_documentation.md,drivers/sauna/driver_sauna.cpp,drivers/sauna/tests/test_utils.h,drivers/sauna/tests/test_utils.cpp,drivers/sauna/tests/run_unit_tests.cpp,drivers/sauna/tests/test_imu_data_provider.cpp,drivers/sauna/tests/test_lighthouse_driver_wrapper.cpp\\n\\n# Current Time\\n4/13/2025, 1:53:10 AM (America/Los_Angeles, UTC-7:00)\\n\\n# Current Context Size (Tokens)\\n13,018 (7%)\\n\\n# Current Cost\\n$0.05\\n\\n# Current Mode\\ncode\\nCode\\n\",\"tokensIn\":4,\"tokensOut\":88,\"cacheWrites\":7983,\"cacheReads\":12901,\"cost\":0.03513855}"},{"ts":1744534392186,"type":"say","say":"text","text":"I need to continue reading the file to see the rest of the implementation. Let me read the remaining part of the lighthouse_driver_wrapper.cpp file.","partial":false},{"ts":1744534393041,"type":"ask","ask":"tool","text":"{\"tool\":\"readFile\",\"path\":\"drivers/sauna/lighthouse_driver_wrapper.cpp\",\"isOutsideWorkspace\":false,\"content\":\"c:\\\\Users\\\\decid\\\\Documents\\\\projects\\\\openvr-resilient\\\\drivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\",\"reason\":\" (lines 500-end)\"}","partial":false},{"ts":1744534398442,"type":"say","say":"api_req_started","text":"{\"request\":\"[read_file for 'drivers/sauna/lighthouse_driver_wrapper.cpp'] Result:\\n\\ndrivers/sauna/lighthouse_driver_wrapper.cpp\\n\\n500 | }\\r\\n501 | \\r\\n502 | fprintf(logFile, \\\"=== LoadLighthouseDriver called at %lld ===\\\\n\\\", (long long)time(nullptr));\\r\\n503 | fflush(logFile);\\r\\n504 | \\r\\n505 | // Define a simple logging function\\r\\n506 | auto Log = [&](const char* format, ...) {\\r\\n507 | va_list args;\\r\\n508 | va_start(args, format);\\r\\n509 | vfprintf(logFile, format, args);\\r\\n510 | fprintf(logFile, \\\"\\\\n\\\");\\r\\n511 | fflush(logFile);\\r\\n512 | va_end(args);\\r\\n513 | };\\r\\n514 | \\r\\n515 | Log(\\\"Attempting to load lighthouse driver directly\\\");\\r\\n516 | \\r\\n517 | // Clear the driver path\\r\\n518 | m_strDriverPath = \\\"\\\";\\r\\n519 | \\r\\n520 | // Define a simple set of paths to try - focus on the most common locations\\r\\n521 | std::vector paths;\\r\\n522 | \\r\\n523 | #if defined(_WIN32)\\r\\n524 | // Windows paths - we know this one exists from the test output\\r\\n525 | paths.push_back(\\\"C:\\\\\\\\Program Files (x86)\\\\\\\\Steam\\\\\\\\steamapps\\\\\\\\common\\\\\\\\SteamVR\\\\\\\\drivers\\\\\\\\lighthouse\\\\\\\\bin\\\\\\\\win64\\\\\\\\driver_lighthouse.dll\\\");\\r\\n526 | \\r\\n527 | // Add other potential paths as fallbacks\\r\\n528 | paths.push_back(\\\"C:\\\\\\\\Program Files\\\\\\\\Steam\\\\\\\\steamapps\\\\\\\\common\\\\\\\\SteamVR\\\\\\\\drivers\\\\\\\\lighthouse\\\\\\\\bin\\\\\\\\win64\\\\\\\\driver_lighthouse.dll\\\");\\r\\n529 | \\r\\n530 | // Get user profile path\\r\\n531 | char* userProfile = getenv(\\\"USERPROFILE\\\");\\r\\n532 | if (userProfile) {\\r\\n533 | std::string userPath = userProfile;\\r\\n534 | paths.push_back(userPath + \\\"\\\\\\\\AppData\\\\\\\\Local\\\\\\\\OpenVR\\\\\\\\drivers\\\\\\\\lighthouse\\\\\\\\bin\\\\\\\\win64\\\\\\\\driver_lighthouse.dll\\\");\\r\\n535 | }\\r\\n536 | #elif defined(__linux__)\\r\\n537 | // Linux paths\\r\\n538 | paths.push_back(\\\"/usr/share/steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64/driver_lighthouse.so\\\");\\r\\n539 | paths.push_back(\\\"~/.steam/steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64/driver_lighthouse.so\\\");\\r\\n540 | #elif defined(__APPLE__)\\r\\n541 | // macOS paths\\r\\n542 | paths.push_back(\\\"~/Library/Application Support/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/osx64/driver_lighthouse.dylib\\\");\\r\\n543 | #endif\\r\\n544 | \\r\\n545 | // Try each path\\r\\n546 | for (const auto& path : paths) {\\r\\n547 | Log(\\\"Trying path: %s\\\", path.c_str());\\r\\n548 | \\r\\n549 | // Set the current path\\r\\n550 | m_strDriverPath = path;\\r\\n551 | \\r\\n552 | // Check if file exists\\r\\n553 | FILE* file = fopen(path.c_str(), \\\"rb\\\");\\r\\n554 | if (!file) {\\r\\n555 | Log(\\\"File does not exist: %s\\\", path.c_str());\\r\\n556 | continue;\\r\\n557 | }\\r\\n558 | \\r\\n559 | // Get file size\\r\\n560 | fseek(file, 0, SEEK_END);\\r\\n561 | long size = ftell(file);\\r\\n562 | fclose(file);\\r\\n563 | \\r\\n564 | Log(\\\"File exists with size: %ld bytes\\\", size);\\r\\n565 | \\r\\n566 | #if defined(_WIN32)\\r\\n567 | // On Windows, add the directory containing the DLL to the DLL search path\\r\\n568 | std::string directory = path.substr(0, path.find_last_of('\\\\\\\\'));\\r\\n569 | Log(\\\"Adding directory to DLL search path: %s\\\", directory.c_str());\\r\\n570 | \\r\\n571 | // Save the current directory\\r\\n572 | char currentDir[MAX_PATH];\\r\\n573 | GetCurrentDirectoryA(MAX_PATH, currentDir);\\r\\n574 | \\r\\n575 | // Set the directory containing the DLL as the current directory\\r\\n576 | SetCurrentDirectoryA(directory.c_str());\\r\\n577 | \\r\\n578 | // Try to preload common dependencies\\r\\n579 | Log(\\\"Preloading common dependencies...\\\");\\r\\n580 | \\r\\n581 | // Look for openvr_api.dll in various locations\\r\\n582 | std::vector apiPaths;\\r\\n583 | apiPaths.push_back(directory + \\\"\\\\\\\\openvr_api.dll\\\"); // Same directory as driver\\r\\n584 | apiPaths.push_back(\\\"C:\\\\\\\\Program Files (x86)\\\\\\\\Steam\\\\\\\\steamapps\\\\\\\\common\\\\\\\\SteamVR\\\\\\\\bin\\\\\\\\win64\\\\\\\\openvr_api.dll\\\");\\r\\n585 | apiPaths.push_back(\\\"C:\\\\\\\\Program Files\\\\\\\\Steam\\\\\\\\steamapps\\\\\\\\common\\\\\\\\SteamVR\\\\\\\\bin\\\\\\\\win64\\\\\\\\openvr_api.dll\\\");\\r\\n586 | \\r\\n587 | bool foundApi = false;\\r\\n588 | for (const auto& apiPath : apiPaths) {\\r\\n589 | Log(\\\"Checking for openvr_api.dll at: %s\\\", apiPath.c_str());\\r\\n590 | FILE* apiFile = fopen(apiPath.c_str(), \\\"rb\\\");\\r\\n591 | if (apiFile) {\\r\\n592 | fclose(apiFile);\\r\\n593 | Log(\\\"Found openvr_api.dll at: %s\\\", apiPath.c_str());\\r\\n594 | \\r\\n595 | // Try to load it\\r\\n596 | HMODULE hDep = LoadLibraryA(apiPath.c_str());\\r\\n597 | if (hDep) {\\r\\n598 | Log(\\\" Successfully preloaded openvr_api.dll from %s\\\", apiPath.c_str());\\r\\n599 | foundApi = true;\\r\\n600 | // Keep the dependency loaded\\r\\n601 | break;\\r\\n602 | } else {\\r\\n603 | DWORD depError = GetLastError();\\r\\n604 | Log(\\\" Failed to preload openvr_api.dll from %s (Error %d)\\\", apiPath.c_str(), depError);\\r\\n605 | }\\r\\n606 | }\\r\\n607 | }\\r\\n608 | \\r\\n609 | if (!foundApi) {\\r\\n610 | Log(\\\"Could not find or load openvr_api.dll in any location\\\");\\r\\n611 | }\\r\\n612 | #endif\\r\\n613 | \\r\\n614 | // Try to load the library\\r\\n615 | Log(\\\"Loading library...\\\");\\r\\n616 | \\r\\n617 | // If we found the API DLL but couldn't load it, try copying it to our directory\\r\\n618 | if (!foundApi) {\\r\\n619 | for (const auto& apiPath : apiPaths) {\\r\\n620 | FILE* apiFile = fopen(apiPath.c_str(), \\\"rb\\\");\\r\\n621 | if (apiFile) {\\r\\n622 | // Read the file\\r\\n623 | fseek(apiFile, 0, SEEK_END);\\r\\n624 | long size = ftell(apiFile);\\r\\n625 | fseek(apiFile, 0, SEEK_SET);\\r\\n626 | \\r\\n627 | std::vector buffer(size);\\r\\n628 | if (fread(buffer.data(), 1, size, apiFile) == size) {\\r\\n629 | fclose(apiFile);\\r\\n630 | \\r\\n631 | // Write to our directory\\r\\n632 | FILE* outFile = fopen(\\\"openvr_api.dll\\\", \\\"wb\\\");\\r\\n633 | if (outFile) {\\r\\n634 | if (fwrite(buffer.data(), 1, size, outFile) == size) {\\r\\n635 | fclose(outFile);\\r\\n636 | Log(\\\"Copied openvr_api.dll to current directory\\\");\\r\\n637 | \\r\\n638 | // Try to load it\\r\\n639 | HMODULE hDep = LoadLibraryA(\\\"openvr_api.dll\\\");\\r\\n640 | if (hDep) {\\r\\n641 | Log(\\\" Successfully loaded openvr_api.dll from current directory\\\");\\r\\n642 | foundApi = true;\\r\\n643 | break;\\r\\n644 | }\\r\\n645 | } else {\\r\\n646 | fclose(outFile);\\r\\n647 | }\\r\\n648 | }\\r\\n649 | } else {\\r\\n650 | fclose(apiFile);\\r\\n651 | }\\r\\n652 | }\\r\\n653 | }\\r\\n654 | }\\r\\n655 | \\r\\n656 | m_pLighthouseDriverLib = LOAD_LIBRARY(path.c_str());\\r\\n657 | \\r\\n658 | #if defined(_WIN32)\\r\\n659 | // Restore the current directory\\r\\n660 | SetCurrentDirectoryA(currentDir);\\r\\n661 | #endif\\r\\n662 | \\r\\n663 | if (!m_pLighthouseDriverLib) {\\r\\n664 | #if defined(_WIN32)\\r\\n665 | DWORD error = GetLastError();\\r\\n666 | Log(\\\"Failed to load library. Error code: %d\\\", error);\\r\\n667 | \\r\\n668 | // Get the error message\\r\\n669 | char errorMsg[256] = {0};\\r\\n670 | FormatMessageA(\\r\\n671 | FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,\\r\\n672 | NULL,\\r\\n673 | error,\\r\\n674 | MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),\\r\\n675 | errorMsg,\\r\\n676 | sizeof(errorMsg),\\r\\n677 | NULL\\r\\n678 | );\\r\\n679 | Log(\\\"Error message: %s\\\", errorMsg);\\r\\n680 | #else\\r\\n681 | Log(\\\"Failed to load library\\\");\\r\\n682 | #endif\\r\\n683 | continue;\\r\\n684 | }\\r\\n685 | \\r\\n686 | Log(\\\"Library loaded successfully\\\");\\r\\n687 | \\r\\n688 | // Get the factory function\\r\\n689 | Log(\\\"Getting HmdDriverFactory function...\\\");\\r\\n690 | m_fnCreateInterface = reinterpret_cast(\\r\\n691 | GET_PROC_ADDRESS(m_pLighthouseDriverLib, \\\"HmdDriverFactory\\\"));\\r\\n692 | \\r\\n693 | if (!m_fnCreateInterface) {\\r\\n694 | #if defined(_WIN32)\\r\\n695 | DWORD error = GetLastError();\\r\\n696 | Log(\\\"Failed to get HmdDriverFactory function. Error code: %d\\\", error);\\r\\n697 | #else\\r\\n698 | Log(\\\"Failed to get HmdDriverFactory function\\\");\\r\\n699 | #endif\\r\\n700 | UnloadLighthouseDriver();\\r\\n701 | continue;\\r\\n702 | }\\r\\n703 | \\r\\n704 | Log(\\\"HmdDriverFactory function found\\\");\\r\\n705 | Log(\\\"Lighthouse driver loaded successfully from: %s\\\", path.c_str());\\r\\n706 | \\r\\n707 | fclose(logFile);\\r\\n708 | return true;\\r\\n709 | }\\r\\n710 | \\r\\n711 | Log(\\\"Failed to load lighthouse driver from any location\\\");\\r\\n712 | fclose(logFile);\\r\\n713 | return false;\\r\\n714 | }\\r\\n715 | \\r\\n716 | void LighthouseDriverWrapper::UnloadLighthouseDriver()\\r\\n717 | {\\r\\n718 | if (m_pLighthouseDriverLib)\\r\\n719 | {\\r\\n720 | FREE_LIBRARY(m_pLighthouseDriverLib);\\r\\n721 | m_pLighthouseDriverLib = nullptr;\\r\\n722 | }\\r\\n723 | \\r\\n724 | m_fnCreateInterface = nullptr;\\r\\n725 | m_fnGetDriverCount = nullptr;\\r\\n726 | m_fnGetDriverName = nullptr;\\r\\n727 | }\\r\\n728 | \\r\\n729 | } // namespace sauna\\n\\n\\n\\n\\n# VSCode Visible Files\\ndrivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\\n\\n# VSCode Open Tabs\\nREADME.md,docs/Driver_API_Documentation.md,drivers/sauna/lighthouse_driver_wrapper.h,drivers/sauna/tests/integration_test.cpp,drivers/sauna/lighthouse_driver_wrapper.cpp,../../IServerTrackedDeviceProvider.md,drivers/sauna/tests/run_integration_tests.bat,.gitignore,drivers/sauna/driver.vrdrivermanifest,drivers/sauna/imu_data_provider.h,drivers/sauna/imu_data_provider.cpp,drivers/sauna/sauna_device_driver.cpp,drivers/sauna/README.md,drivers/sauna/docs/api_documentation.md,drivers/sauna/driver_sauna.cpp,drivers/sauna/tests/test_utils.h,drivers/sauna/tests/test_utils.cpp,drivers/sauna/tests/run_unit_tests.cpp,drivers/sauna/tests/test_imu_data_provider.cpp,drivers/sauna/tests/test_lighthouse_driver_wrapper.cpp\\n\\n# Current Time\\n4/13/2025, 1:53:18 AM (America/Los_Angeles, UTC-7:00)\\n\\n# Current Context Size (Tokens)\\n20,976 (10%)\\n\\n# Current Cost\\n$0.09\\n\\n# Current Mode\\ncode\\nCode\\n\",\"tokensIn\":4,\"tokensOut\":94,\"cacheWrites\":3601,\"cacheReads\":20884,\"cost\":0.021190950000000004}"},{"ts":1744534400370,"type":"say","say":"text","text":"Now I need to examine the lighthouse_driver_wrapper.h file to understand the class structure and member variables. This will help me understand the context of the RunFrame function and how it's attempting to read IMU data from HID devices.","partial":false},{"ts":1744534401833,"type":"ask","ask":"tool","text":"{\"tool\":\"readFile\",\"path\":\"drivers/sauna/lighthouse_driver_wrapper.h\",\"isOutsideWorkspace\":false,\"content\":\"c:\\\\Users\\\\decid\\\\Documents\\\\projects\\\\openvr-resilient\\\\drivers\\\\sauna\\\\lighthouse_driver_wrapper.h\",\"reason\":\" (max 500 lines)\"}","partial":false},{"ts":1744534404526,"type":"say","say":"api_req_started","text":"{\"request\":\"[read_file for 'drivers/sauna/lighthouse_driver_wrapper.h'] Result:\\n\\ndrivers/sauna/lighthouse_driver_wrapper.h\\n\\n 1 | #pragma once\\r\\n 2 | \\r\\n 3 | #include \\r\\n 4 | #include \\r\\n 5 | #include \\r\\n 6 | #include \\r\\n 7 | #include \\r\\n 8 | #include \\r\\n 9 | \\r\\n 10 | namespace sauna\\r\\n 11 | {\\r\\n 12 | \\r\\n 13 | class IMUDataProvider;\\r\\n 14 | \\r\\n 15 | /**\\r\\n 16 | * @brief Wrapper for the lighthouse driver\\r\\n 17 | * \\r\\n 18 | * This class loads and communicates with the existing lighthouse driver,\\r\\n 19 | * forwarding calls to it while adding our custom functionality.\\r\\n 20 | */\\r\\n 21 | class LighthouseDriverWrapper\\r\\n 22 | {\\r\\n 23 | public:\\r\\n 24 | LighthouseDriverWrapper();\\r\\n 25 | ~LighthouseDriverWrapper();\\r\\n 26 | \\r\\n 27 | /**\\r\\n 28 | * @brief Initialize the lighthouse driver wrapper\\r\\n 29 | * \\r\\n 30 | * @return true if initialization was successful\\r\\n 31 | * @return false if initialization failed\\r\\n 32 | */\\r\\n 33 | bool Initialize();\\r\\n 34 | \\r\\n 35 | /**\\r\\n 36 | * @brief Shutdown the lighthouse driver wrapper\\r\\n 37 | */\\r\\n 38 | void Shutdown();\\r\\n 39 | \\r\\n 40 | /**\\r\\n 41 | * @brief Forward RunFrame call to the lighthouse driver\\r\\n 42 | */\\r\\n 43 | void RunFrame();\\r\\n 44 | \\r\\n 45 | /**\\r\\n 46 | * @brief Forward EnterStandby call to the lighthouse driver\\r\\n 47 | */\\r\\n 48 | void EnterStandby();\\r\\n 49 | \\r\\n 50 | /**\\r\\n 51 | * @brief Forward LeaveStandby call to the lighthouse driver\\r\\n 52 | */\\r\\n 53 | void LeaveStandby();\\r\\n 54 | \\r\\n 55 | /**\\r\\n 56 | * @brief Get the lighthouse driver provider\\r\\n 57 | *\\r\\n 58 | * @return vr::IServerTrackedDeviceProvider* Pointer to the lighthouse driver provider\\r\\n 59 | */\\r\\n 60 | vr::IServerTrackedDeviceProvider* GetDriverProvider() {\\r\\n 61 | // Create a debug log file\\r\\n 62 | FILE* logFile = fopen(\\\"lighthouse_provider_debug.log\\\", \\\"a\\\");\\r\\n 63 | if (logFile) {\\r\\n 64 | fprintf(logFile, \\\"GetDriverProvider called at %lld\\\\n\\\", (long long)time(nullptr));\\r\\n 65 | \\r\\n 66 | if (m_pLighthouseProvider) {\\r\\n 67 | fprintf(logFile, \\\"Returning valid provider\\\\n\\\");\\r\\n 68 | } else {\\r\\n 69 | fprintf(logFile, \\\"Provider is null\\\\n\\\");\\r\\n 70 | }\\r\\n 71 | \\r\\n 72 | fclose(logFile);\\r\\n 73 | }\\r\\n 74 | \\r\\n 75 | return m_pLighthouseProvider;\\r\\n 76 | }\\r\\n 77 | \\r\\n 78 | /**\\r\\n 79 | * @brief Get the path to the lighthouse driver that was last attempted to be loaded\\r\\n 80 | *\\r\\n 81 | * @return std::string The path to the lighthouse driver\\r\\n 82 | */\\r\\n 83 | std::string GetDriverPath() const { return m_strDriverPath; }\\r\\n 84 | \\r\\n 85 | /**\\r\\n 86 | * @brief Set the IMU data provider\\r\\n 87 | *\\r\\n 88 | * @param provider Pointer to the IMU data provider\\r\\n 89 | */\\r\\n 90 | void SetIMUDataProvider(IMUDataProvider* provider) {\\r\\n 91 | m_pIMUDataProvider = provider;\\r\\n 92 | }\\r\\n 93 | \\r\\n 94 | private:\\r\\n 95 | /**\\r\\n 96 | * @brief Load the lighthouse driver library\\r\\n 97 | * \\r\\n 98 | * @return true if loading was successful\\r\\n 99 | * @return false if loading failed\\r\\n100 | */\\r\\n101 | bool LoadLighthouseDriver();\\r\\n102 | \\r\\n103 | /**\\r\\n104 | * @brief Unload the lighthouse driver library\\r\\n105 | */\\r\\n106 | void UnloadLighthouseDriver();\\r\\n107 | \\r\\n108 | void* m_pLighthouseDriverLib;\\r\\n109 | vr::IServerTrackedDeviceProvider* m_pLighthouseProvider;\\r\\n110 | std::string m_strDriverPath;\\r\\n111 | \\r\\n112 | // Function pointer types for the driver factory functions\\r\\n113 | typedef void* (*CreateInterfaceFn)(const char* pInterfaceName, vr::EVRInitError* peError);\\r\\n114 | typedef uint32_t (*GetDriverCountFn)();\\r\\n115 | typedef const char* (*GetDriverNameFn)(vr::DriverId_t nDriver);\\r\\n116 | \\r\\n117 | // Function pointers to the driver factory functions\\r\\n118 | CreateInterfaceFn m_fnCreateInterface;\\r\\n119 | GetDriverCountFn m_fnGetDriverCount;\\r\\n120 | GetDriverNameFn m_fnGetDriverName;\\r\\n121 | \\r\\n122 | // IMU data provider\\r\\n123 | IMUDataProvider* m_pIMUDataProvider;\\r\\n124 | \\r\\n125 | // Lighthouse devices\\r\\n126 | std::vector m_lighthouseDevices;\\r\\n127 | };\\r\\n128 | \\r\\n129 | } // namespace sauna\\n\\n\\n\\n\\n# VSCode Visible Files\\ndrivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\\n\\n# VSCode Open Tabs\\nREADME.md,docs/Driver_API_Documentation.md,drivers/sauna/lighthouse_driver_wrapper.h,drivers/sauna/tests/integration_test.cpp,drivers/sauna/lighthouse_driver_wrapper.cpp,../../IServerTrackedDeviceProvider.md,drivers/sauna/tests/run_integration_tests.bat,.gitignore,drivers/sauna/driver.vrdrivermanifest,drivers/sauna/imu_data_provider.h,drivers/sauna/imu_data_provider.cpp,drivers/sauna/sauna_device_driver.cpp,drivers/sauna/README.md,drivers/sauna/docs/api_documentation.md,drivers/sauna/driver_sauna.cpp,drivers/sauna/tests/test_utils.h,drivers/sauna/tests/test_utils.cpp,drivers/sauna/tests/run_unit_tests.cpp,drivers/sauna/tests/test_imu_data_provider.cpp,drivers/sauna/tests/test_lighthouse_driver_wrapper.cpp\\n\\n# Current Time\\n4/13/2025, 1:53:24 AM (America/Los_Angeles, UTC-7:00)\\n\\n# Current Context Size (Tokens)\\n24,583 (12%)\\n\\n# Current Cost\\n$0.11\\n\\n# Current Mode\\ncode\\nCode\\n\",\"tokensIn\":4,\"tokensOut\":83,\"cacheWrites\":1996,\"cacheReads\":24485,\"cost\":0.0160875}"},{"ts":1744534406710,"type":"say","say":"text","text":"Now I need to look at the IMUDataProvider class to understand how it's used in the RunFrame function. Let me read the imu_data_provider.h file.","partial":false},{"ts":1744534407760,"type":"ask","ask":"tool","text":"{\"tool\":\"readFile\",\"path\":\"drivers/sauna/imu_data_provider.h\",\"isOutsideWorkspace\":false,\"content\":\"c:\\\\Users\\\\decid\\\\Documents\\\\projects\\\\openvr-resilient\\\\drivers\\\\sauna\\\\imu_data_provider.h\",\"reason\":\" (max 500 lines)\"}","partial":false},{"ts":1744534412789,"type":"say","say":"api_req_started","text":"{\"request\":\"[read_file for 'drivers/sauna/imu_data_provider.h'] Result:\\n\\ndrivers/sauna/imu_data_provider.h\\n\\n 1 | #pragma once\\r\\n 2 | \\r\\n 3 | #include \\r\\n 4 | #include \\r\\n 5 | #include \\r\\n 6 | #include \\n\\n\\n\\n# VSCode Visible Files\\ndrivers\\\\sauna\\\\lighthouse_driver_wrapper.cpp\\n\\n# VSCode Open Tabs\\nREADME.md,docs/Driver_API_Documentation.md,drivers/sauna/lighthouse_driver_wrapper.h,drivers/sauna/tests/integration_test.cpp,drivers/sauna/lighthouse_driver_wrapper.cpp,../../IServerTrackedDeviceProvider.md,drivers/sauna/tests/run_integration_tests.bat,.gitignore,drivers/sauna/driver.vrdrivermanifest,drivers/sauna/imu_data_provider.h,drivers/sauna/imu_data_provider.cpp,drivers/sauna/sauna_device_driver.cpp,drivers/sauna/README.md,drivers/sauna/docs/api_documentation.md,drivers/sauna/driver_sauna.cpp,drivers/sauna/tests/test_utils.h,drivers/sauna/tests/test_utils.cpp,drivers/sauna/tests/run_unit_tests.cpp,drivers/sauna/tests/test_imu_data_provider.cpp,drivers/sauna/tests/test_lighthouse_driver_wrapper.cpp\\n\\n# Current Time\\n4/13/2025, 1:53:32 AM (America/Los_Angeles, UTC-7:00)\\n\\n# Current Context Size (Tokens)\\n26,568 (13%)\\n\\n# Current Cost\\n$0.12\\n\\n# Current Mode\\ncode\\nCode\\n\",\"tokensIn\":4,\"tokensOut\":1579,\"cacheWrites\":1364,\"cacheReads\":26481,\"cost\":0.0367563}"},{"ts":1744534414399,"type":"say","say":"text","text":"Now I have a good understanding of the code structure. Let me analyze the RunFrame function in lighthouse_driver_wrapper.cpp to understand how it's attempting to read IMU data from HID devices and what might be missing regarding the report ID and buffer offsets.\n\nThe key part of the code is in the RunFrame function, specifically lines 297-409, where it attempts to read IMU data from the lighthouse devices.\n\nHere's what I can observe:\n\n1. The code opens each device in the m_lighthouseDevices list using CreateFileA.\n2. It creates a buffer of size 64 bytes to read data from the device.\n3. It reads data from the device using ReadFile.\n4. It checks if the first byte of the buffer (buffer[0]) is 0x01, assuming this is the report ID for IMU data.\n5. It then extracts accelerometer and gyroscope data from specific offsets in the buffer:\n - Accelerometer X: bytes 1-2 (little-endian)\n - Accelerometer Y: bytes 3-4 (little-endian)\n - Accelerometer Z: bytes 5-6 (little-endian)\n - Gyroscope X: bytes 7-8 (little-endian)\n - Gyroscope Y: bytes 9-10 (little-endian)\n - Gyroscope Z: bytes 11-12 (little-endian)\n6. It applies scaling factors to convert the raw values to physical units.\n7. It creates an IMU sample and adds it to the IMUDataProvider.\n\nThe limitations and issues I can identify are:\n\n1. **Report ID Assumption**: The code assumes that the report ID for IMU data is 0x01, but this might not be correct for all lighthouse devices. Different devices might use different report IDs.\n\n2. **Fixed Buffer Offsets**: The code uses fixed offsets for extracting the accelerometer and gyroscope data, but these offsets might vary depending on the device or the report format.\n\n3. **No HID Report Descriptor Analysis**: The code doesn't analyze the HID report descriptor to determine the correct report ID and offsets for the IMU data. HID devices provide a report descriptor that describes the format of their reports, including the report ID and the location of various data fields.\n\n4. **No Device-Specific Handling**: The code treats all devices the same way, but different lighthouse devices might have different report formats.\n\n5. **Byte Order Handling**: The code assumes little-endian byte order for the IMU data, which might not be correct for all devices.\n\n6. **No Error Handling for Invalid Data**: The code doesn't check if the data read from the device is valid before processing it.\n\n7. **No Timestamp from Device**: The code uses the current time as the timestamp for the IMU sample, rather than using a timestamp provided by the device, which would be more accurate.\n\n8. **Direct ReadFile Instead of HID API**: The code uses ReadFile directly instead of using the HID API functions like HidD_GetInputReport or HidD_GetFeature, which might be more appropriate for reading HID reports.\n\nNow I'll prepare a summary of the current implementation and its limitations.","partial":false},{"ts":1744534426625,"type":"say","say":"completion_result","text":"# Analysis of IMU Data Reading in lighthouse_driver_wrapper.cpp\n\n## Current Implementation\n\nThe `RunFrame` function in `lighthouse_driver_wrapper.cpp` attempts to read IMU data from HID devices using the following approach:\n\n1. It iterates through a list of lighthouse devices stored in `m_lighthouseDevices` that were discovered during initialization.\n2. For each device, it:\n - Opens the device using `CreateFileA` with read access\n - Creates a 64-byte buffer for reading data\n - Uses `ReadFile` to read raw data from the device\n - Checks if the first byte (buffer[0]) equals 0x01, assuming this is the IMU report ID\n - Extracts accelerometer and gyroscope data using fixed offsets:\n ```cpp\n // Accelerometer data extraction (assumed at offsets 1-6)\n int16_t accelX = (buffer[2] << 8) | buffer[1];\n int16_t accelY = (buffer[4] << 8) | buffer[3];\n int16_t accelZ = (buffer[6] << 8) | buffer[5];\n \n // Gyroscope data extraction (assumed at offsets 7-12)\n int16_t gyroX = (buffer[8] << 8) | buffer[7];\n int16_t gyroY = (buffer[10] << 8) | buffer[9];\n int16_t gyroZ = (buffer[12] << 8) | buffer[11];\n ```\n - Applies scaling factors to convert raw values to physical units\n - Creates an IMU sample and adds it to the IMUDataProvider\n\n## Limitations and Missing Elements\n\n1. **Incorrect Report ID Assumption**: The code assumes report ID 0x01 for IMU data without verifying this is correct for all lighthouse devices. Different devices may use different report IDs.\n\n2. **Hardcoded Buffer Offsets**: The code uses fixed offsets for extracting IMU data without considering device-specific report formats. These offsets (1-12) are assumptions that may not match the actual data layout.\n\n3. **No HID Report Descriptor Analysis**: The implementation doesn't query or parse the HID report descriptor, which would provide the correct:\n - Report ID for IMU data\n - Data field locations within the report\n - Data formats and units\n\n4. **Lack of Device-Specific Handling**: All devices are processed identically, ignoring potential variations in report formats between different lighthouse models.\n\n5. **Improper HID Reading Method**: The code uses `ReadFile` directly instead of HID-specific functions like `HidD_GetInputReport` or `HidD_SetFeature`/`HidD_GetFeature`, which would be more appropriate for structured report reading.\n\n6. **Missing Error Validation**: There's no validation to ensure the data read is valid IMU data before processing.\n\n7. **System Time Instead of Device Time**: The implementation uses the system time for the IMU sample timestamp rather than extracting a more accurate timestamp from the device data.\n\nTo properly implement IMU data reading, the code should:\n1. Query the HID report descriptor to determine the correct report ID for IMU data\n2. Parse the descriptor to find the correct offsets for accelerometer and gyroscope data\n3. Use proper HID API functions for reading reports\n4. Implement device-specific handling for different lighthouse models\n5. Extract timestamps from the device data when available","partial":false},{"ts":1744534437780,"type":"ask","ask":"tool","text":"{\"tool\":\"finishTask\"}"}]