Merge branch 'debian/sid' into debian/buster-backports

.editorconfig

-# To use this config on you editor, follow the instructions at:
+# To use this config on your editor, follow the instructions at:
 # http://editorconfig.org
 
 # SPDX-License-Identifier: CC0-1.0
-# SPDX-FileCopyrightText: 2018-2020 Collabora, Ltd. and the Monado contributors
+# SPDX-FileCopyrightText: 2018-2021 Collabora, Ltd. and the Monado contributors
 
 root = true
 
@@ -13,7 +13,7 @@ insert_final_newline = true
 [*.{c,h,cpp}]
 indent_style = tab
 indent_size = 8
-max_line_length = 80
+max_line_length = 120
 
 [*.py]
 indent_size = 4

.gitignore

@@ -9,19 +9,34 @@ CMakeLists.txt.user.*
 *Makefile
 *cmake_install.cmake
 *libopenxr_monado.so
+*.a
 CMakeDoxyfile.in
 CMakeDoxygenDefaults.cmake
+CTestTestfile.cmake
+DartConfiguration.tcl
 doc/Doxyfile
 doc/html/
 doc/latex/
 openxr_monado-dev.json
 openxr_monado.json
+src/xrt/auxiliary/bindings/b_generated_bindings.*
+src/xrt/auxiliary/u_git_tag.c
 src/xrt/compositor/shaders/*.vert.h
 src/xrt/compositor/shaders/*.frag.h
+src/xrt/compositor/shaders/*.comp.h
+src/xrt/include/xrt/xrt_config_*.h
+src/xrt/ipc/*_generated.*
 src/xrt/targets/cli/monado-cli
+src/xrt/targets/ctl/monado-ctl
 src/xrt/targets/gui/monado-gui
+src/xrt/targets/service/monado-service
+src/xrt/targets/openxr/active_runtime.cmake
 src/xrt/targets/openxr/intermediate_manifest.json
+src/xrt/targets/openxr/make_manifest.cmake
 src/xrt/targets/targets_enabled_drivers.h
+steamvr-monado/
+tests/tests_generic_callbacks
+tests/tests_input_transform
 
 # Ignore Python caches
 __pycache__/
@@ -71,7 +86,16 @@ local.properties
 .cxx
 .settings
 .project
+.classpath
 
 gradlew
 gradlew.bat
 gradle-wrapper.jar
+
+# Ignore Sourcetrail things
+*.srctrlbm
+*.srctrldb
+*.srctrlprj
+
+# Ignore clangd things
+.cache/

.gitlab-ci.yml

 # SPDX-License-Identifier: CC0-1.0
-# SPDX-FileCopyrightText: 2018-2020 Collabora, Ltd. and the Monado contributors
+# SPDX-FileCopyrightText: 2018-2021 Collabora, Ltd. and the Monado contributors
 
 variables:
   FDO_UPSTREAM_REPO: monado/monado
 
-.templates_sha: &templates_sha 322bf2b8f29b6491caeb13861201e96969ddc169
-
-.package_only_branch: &package_only_branch master
+.templates_sha: &templates_sha db8eb22cd1abb036560faaebd36a38565a3ebda2
 
 # Variables listing packages for Debian-based distros
 .monado.variables.debian-based-packages:
   variables:
-    CORE_REQUIRED_PACKAGES: "build-essential git wget unzip cmake meson ninja-build libeigen3-dev curl patch python3 pkg-config libx11-dev libx11-xcb-dev libxxf86vm-dev libxrandr-dev libxcb-randr0-dev libvulkan-dev glslang-tools libglvnd-dev libgl1-mesa-dev ca-certificates libusb-1.0-0-dev  libudev-dev"
-    FEATURE_PACKAGES: "libhidapi-dev libwayland-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libegl1-mesa-dev libdbus-1-dev"
-    PACKAGING_PACKAGES: "devscripts debhelper osc osc-plugins-dput dput-ng gettext-base markdown"
+    # Packages required for build and some other basic jobs
+    CORE_REQUIRED_PACKAGES: "build-essential git wget unzip cmake meson ninja-build libeigen3-dev curl patch python3 pkg-config libx11-dev libx11-xcb-dev libxxf86vm-dev libxrandr-dev libxcb-randr0-dev libvulkan-dev glslang-tools libglvnd-dev libgl1-mesa-dev ca-certificates libusb-1.0-0-dev libudev-dev"
+
+    # These are optional packages, that we're building against to ensure we build as much code as possible
+    FEATURE_PACKAGES: "libhidapi-dev libwayland-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libegl1-mesa-dev libdbus-1-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libsystemd-dev libbsd-dev"
+
+    # Only used for building packages
+    PACKAGING_PACKAGES: "devscripts debhelper dput-ng gettext-base markdown doxygen graphviz"
+
+    # Used for ancillary "not compilation" jobs/features, like docs, changelogs, formatting, etc.
     TOOLS_REQUIRED_PACKAGES: "clang-format-7 codespell doxygen graphviz python3-pip python3-click"
 
+    # The NDK builder uses only these packages
+    NDK_PACKAGES: "git wget unzip cmake meson ninja-build libeigen3-dev python3 pkg-config ca-certificates glslang-tools"
+
 # Variables for build and usage of Debian 10 (Buster) image
 .monado.variables.debian:buster:
   variables:
     FDO_DISTRIBUTION_VERSION: buster
-    FDO_DISTRIBUTION_TAG: "2020-07-10.0"
+    FDO_DISTRIBUTION_TAG: "2021-04-15.0"
 
 # Variables for build and usage of Ubuntu 20.04 LTS (Focal) image
 .monado.variables.ubuntu:focal:
   variables:
     FDO_DISTRIBUTION_VERSION: "20.04"
-    FDO_DISTRIBUTION_TAG: "2020-07-10.0"
+    FDO_DISTRIBUTION_TAG: "2021-04-15.0"
+
+# Variables for build and usage of Ubuntu 20.10 (Groovy) image
+.monado.variables.ubuntu:groovy:
+  variables:
+    FDO_DISTRIBUTION_VERSION: "20.10"
+    FDO_DISTRIBUTION_TAG: "2021-04-15.0"
 
 # Variables for build and usage of Debian 10 (Buster) + Android NDK image
 .monado.variables.debian:buster-ndk:
@@ -38,7 +52,7 @@ variables:
 # Variables for build and usage of Arch Linux image
 .monado.variables.arch:rolling:
   variables:
-    FDO_DISTRIBUTION_TAG: "2020-05-12.0"
+    FDO_DISTRIBUTION_TAG: "2021-09-14.0"
 
 include:
   - project: "freedesktop/ci-templates"
@@ -95,7 +109,7 @@ arch:container_prep:
     FDO_DISTRIBUTION_PACKAGES: "git gcc clang cmake meson ninja pkgconfig python3 diffutils patch doxygen graphviz eigen hidapi libxrandr mesa glslang vulkan-headers vulkan-icd-loader check glfw-x11 libusb opencv gtk3 ffmpeg v4l-utils qt5-base"
 
 # Ubuntu Focal (x64)
-ubuntu:container_prep:
+ubuntu:focal:container_prep:
   stage: container_prep
   extends:
     - .monado.variables.ubuntu:focal
@@ -106,6 +120,18 @@ ubuntu:container_prep:
     # a list of packages to install - assembled from .monado.variables.debian-based-packages
     FDO_DISTRIBUTION_PACKAGES: "${CORE_REQUIRED_PACKAGES} ${FEATURE_PACKAGES} ${PACKAGING_PACKAGES} ${TOOLS_REQUIRED_PACKAGES}"
 
+# Ubuntu Groovy (x64)
+ubuntu:groovy:container_prep:
+  stage: container_prep
+  extends:
+    - .monado.variables.ubuntu:groovy
+    - .monado.variables.container-prep-base
+    - .monado.variables.debian-based-packages
+    - .fdo.container-build@ubuntu # from ci-templates
+  variables:
+    # a list of packages to install - assembled from .monado.variables.debian-based-packages
+    FDO_DISTRIBUTION_PACKAGES: "${CORE_REQUIRED_PACKAGES} ${FEATURE_PACKAGES} ${PACKAGING_PACKAGES}"
+
 # Debian Buster + the Android NDK in /opt/android-ndk
 # The NDK itself gets installed by .gitlab-ci/ndk:container_prep.sh
 ndk:container_prep:
@@ -117,7 +143,7 @@ ndk:container_prep:
   variables:
     # Repo suffix is set in .monado.variables.debian:buster-ndk
     # a list of packages to install
-    FDO_DISTRIBUTION_PACKAGES: "git wget unzip cmake meson ninja-build libeigen3-dev python3 pkg-config ca-certificates glslang-tools"
+    FDO_DISTRIBUTION_PACKAGES: "${NDK_PACKAGES}"
 
 # Style check job
 format-and-spellcheck:
@@ -133,10 +159,20 @@ format-and-spellcheck:
     expire_in: 1 week
     when: on_failure
 
+# Verify REUSE compliance
+reuse:
+  stage: build
+  image:
+    name: fsfe/reuse:latest
+    entrypoint: [""]
+  script:
+    - reuse lint
+
 # "Base" job for a CMake build
 .monado.base-job.build-cmake:
   stage: build
   script:
+    - rm -rf build
     - mkdir build
     - pushd build
     - cmake -GNinja .. $CMAKE_ARGS
@@ -149,6 +185,7 @@ format-and-spellcheck:
 .monado.base-job.build-meson:
   stage: build
   script:
+    - rm -rf build
     - mkdir build
     - pushd build
     - meson .. $MESON_ARGS
@@ -260,11 +297,46 @@ debian:cmake:32bit:
     # OpenCV and local OpenHMD doesn't play nicely with us in multi-arch.
     CMAKE_ARGS: -DCMAKE_TOOLCHAIN_FILE=../.gitlab-ci/i386.cmake -DXRT_HAVE_OPENCV=off -DXRT_BUILD_DRIVER_OHMD=off
 
+# Base of Android NDK builds.
+# Takes the last :-delimited part of the name as the ABI to build for,
+# so you don't need to do anything other than "extends" in the job
+.monado.ndk:build-base:
+  stage: build
+  extends:
+    - .monado.variables.debian:buster-ndk
+    - .fdo.suffixed-image@debian # from ci-templates
+  variables:
+    ANDROID_PLATFORM: 26
+  script:
+    - mkdir build
+    - pushd build
+    # This extracts the ABI from the job name
+    - export ABI=$(echo $CI_JOB_NAME | cut --delimiter=":" -f 2)
+    # Note we are pointing CMake to the host install of Eigen3 because it's header-only
+    # and thus this is safe to do.
+    - cmake -GNinja .. -DANDROID_PLATFORM=$ANDROID_PLATFORM -DANDROID_ABI=$ABI -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/lib/cmake/eigen3/
+    - grep "^XRT_" CMakeCache.txt
+    - ninja
+
+ndk:armeabi-v7a:
+  extends: .monado.ndk:build-base
+
+ndk:arm64-v8a:
+  extends: .monado.ndk:build-base
+
 # Packaging
+.monado.packaging.conditions:
+  rules:
+    # Only the default branch of the "upstream" repo.
+    - if: "$CI_PROJECT_PATH == $FDO_UPSTREAM_REPO && $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH"
+      when: on_success
+    # Otherwise, don't build packages.
+    - when: never
+
 .monado.base-job.debuild:
+  extends:
+    - .monado.packaging.conditions
   stage: package
-  only:
-    - *package_only_branch
   before_script:
     # Configure git - needed despite not actually committing here.
     - git config --global user.email "ryan.pavlik@collabora.com"
@@ -273,7 +345,7 @@ debian:cmake:32bit:
     # Prep the source tree
     - git clean -dfx
     - git merge origin/${PACKAGE_BRANCH} --no-commit
-    - FULLNAME="Monado CI <ryan.pavlik@collabora.com>" debian/extra/prepare-commit-package.sh ${CI_COMMIT_SHA} 1~${BACKPORT_SUFFIX}~ci$(date --utc "+%Y%m%d")
+    - DEBFULLNAME="Monado CI" DEBEMAIL="ryan.pavlik@collabora.com" debian/extra/prepare-commit-package.sh ${CI_COMMIT_SHA} 1~${BACKPORT_SUFFIX}~ci$(date --utc "+%Y%m%d")
     # Build the package
     - debuild -uc -us
     # Use dput-ng to move the package-related files into some artifacts.
@@ -308,16 +380,27 @@ ubuntu:focal:package:
     PACKAGE_BRANCH: ubuntu/focal
     DISTRO: focal
 
+ubuntu:groovy:package:
+  extends:
+    - .monado.variables.ubuntu:groovy
+    - .fdo.distribution-image@ubuntu # from ci-templates
+    - .monado.base-job.debuild
+
+  variables:
+    BACKPORT_SUFFIX: ubuntu20.04
+    PACKAGE_BRANCH: ubuntu/focal
+    DISTRO: focal
+
 reprepro:package:
   stage: reprepro
-  only:
-    - *package_only_branch
   extends:
     - .monado.variables.debian:buster
+    - .monado.packaging.conditions
     - .fdo.distribution-image@debian # from ci-templates
   dependencies:
     - debian:buster:package
     - ubuntu:focal:package
+    - ubuntu:groovy:package
   before_script:
     # Convince gnupg to work properly in CI
     - mkdir -p ~/.gnupg && chmod 700 ~/.gnupg
@@ -353,33 +436,6 @@ reprepro:package:
       - "repo/"
     expire_in: 2 days
 
-# Base of Android NDK builds.
-# Takes the last :-delimited part of the name as the ABI to build for,
-# so you don't need to do anything other than "extends" in the job
-.monado.ndk:build-base:
-  stage: build
-  extends:
-    - .monado.variables.debian:buster-ndk
-    - .fdo.suffixed-image@debian # from ci-templates
-  variables:
-    ANDROID_PLATFORM: 26
-  script:
-    - mkdir build
-    - pushd build
-    # This extracts the ABI from the job name
-    - export ABI=$(echo $CI_JOB_NAME | cut --delimiter=":" -f 2)
-    # Note we are pointing CMake to the host install of Eigen3 because it's header-only
-    # and thus this is safe to do.
-    - cmake -GNinja .. -DANDROID_PLATFORM=$ANDROID_PLATFORM -DANDROID_ABI=$ABI -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/lib/cmake/eigen3/
-    - grep "^XRT_" CMakeCache.txt
-    - ninja
-
-ndk:armeabi-v7a:
-  extends: .monado.ndk:build-base
-
-ndk:arm64-v8a:
-  extends: .monado.ndk:build-base
-
 ###
 # Pages
 ###

.gitlab-ci/ubuntu_groovy_container_prep.sh

+#!/bin/bash
+# Copyright 2021, Collabora, Ltd. and the Monado contributors
+# SPDX-License-Identifier: BSL-1.0
+
+# Nothing really needed.

.reuse/dep5

@@ -10,17 +10,11 @@ Files: doc/changes/drivers/*
   doc/changes/xrt/*
   doc/changes/auxiliary/*
   doc/changes/compositor/*
-Copyright: 2020, Collabora, Ltd. and the Monado contributors
+  doc/changes/big/*
+Copyright: 2020-2021, Collabora, Ltd. and the Monado contributors
 License: CC0-1.0
 Comment: Prevents needing a license header per fragment between releases.
 
-Files: src/external/flexkalman/.clang-format
-       src/external/flexkalman/flexkalman/README.md
-Copyright: 2015, 2016, Sensics, Inc.
- 2019, Collabora, Ltd.
-License: Apache-2.0
-Comment: Copyright statement and license identifier missing.
-
 Files: src/external/cjson/*
 Copyright: 2009-2017, Dave Gamble and cJSON contributors
 License: MIT
@@ -32,14 +26,6 @@ Copyright: 2020, Two Blue Cubes Ltd.
 License: BSL-1.0
 Comment: SPDX-License-Identifier missing.
 
-Files: src/external/openxr_includes/loader_interfaces.h
-Copyright: 2017, LunarG, Inc.
- 2017, Valve Corporation
- 2017-2019, The Khronos Group Inc.
-License: Apache-2.0
-Comment: SPDX-License-Identifier missing.
-
-
 Files: src/external/jnipp/*
 Copyright: 2016-2020, Mitchell Dowd
  2020, Collabora, Ltd.
@@ -52,6 +38,11 @@ Copyright: 2016, mcximing
 License: BSD-2-Clause
 Comment: SPDX-License-Identifier missing.
 
+Files: src/external/openvr_includes/*
+Copyright: 2015-2020, Valve Corporation
+License: BSD-3-Clause
+Comment: License identifier missing.
+
 Files: src/external/imgui/imgui*
  src/external/imgui/imconfig.h
 Copyright: 2014-2020, Omar Cornut

CMakeLists.txt

-# Copyright 2018-2020, Collabora, Ltd.
+# Copyright 2018-2021, Collabora, Ltd.
 # SPDX-License-Identifier: BSL-1.0
 
 cmake_minimum_required(VERSION 3.10.2)
@@ -12,10 +12,18 @@ endif()
 option(XRT_OPENXR_INSTALL_ABSOLUTE_RUNTIME_PATH "Use the absolute path to the runtime in the installed manifest, rather than a bare filename." ON)
 option(XRT_OPENXR_INSTALL_ACTIVE_RUNTIME "Make Monado the default OpenXR runtime on install" ON)
 
+# We use C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# So that clangd/Intellisense/Sourcetrail know how to parse our code.
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 ###
 # Dependencies
 ###
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/sanitizers")
 include(CMakeDependentOption)
 include(SPIR-V)
 include(GNUInstallDirs)
@@ -26,36 +34,46 @@ if(NOT ${CMAKE_VERSION} VERSION_LESS 3.9)
 	check_ipo_supported(RESULT HAS_IPO)
 endif()
 
-# Redundant mention of version is required because module defaults to looking for 2.91-compatible,
-# which the config file for a 3.x says it's not compatible with.
-find_package(Eigen3 3 REQUIRED)
-find_package(Vulkan)
-find_package(EGL)
-find_package(HIDAPI)
-find_package(OpenHMD)
-find_package(OpenCV COMPONENTS core calib3d highgui imgproc imgcodecs features2d video CONFIG)
-find_package(Libusb1)
-find_package(JPEG)
-find_package(realsense2 CONFIG)
-find_package(SDL2 CONFIG)
-find_package(ZLIB)
-find_package(cJSON)
-find_package(Systemd)
-find_package(OpenGLES COMPONENTS V3)
-
 # Android SDK doesn't look for 3.8 and 3.9, which is what new distros ship with.
 set(Python_ADDITIONAL_VERSIONS 3.8 3.9)
 if(NOT CMAKE_VERSION VERSION_LESS 3.12)
 	find_package(Python3 REQUIRED Interpreter)
 	set(PYTHON_EXECUTABLE Python3::Interpreter)
 else()
-	find_package(PythonInterp REQUIRED VERSION 3)
+	find_program(PYTHON_EXECUTABLE python3)
 	if(PYTHON_EXECUTABLE MATCHES "WindowsApps")
 		# If you hit this error, you will have to install Python 3 or try harder to tell CMake where it is.
 		message(FATAL_ERROR "Found WindowsApps alias for Python. Make sure Python3 is installed, then choose 'Manage App Execution Aliases' in Start and disable the aliases for Python.")
 	endif()
 endif()
 
+# Redundant mention of version is required because module defaults to looking for 2.91-compatible,
+# which the config file for a 3.x says it's not compatible with.
+find_package(Eigen3 3 REQUIRED)
+find_package(Vulkan MODULE)
+find_package(EGL MODULE)
+find_package(HIDAPI MODULE)
+find_package(OpenHMD MODULE)
+find_package(OpenCV COMPONENTS core calib3d highgui imgproc imgcodecs features2d video CONFIG)
+find_package(Libusb1 MODULE)
+find_package(JPEG MODULE)
+find_package(realsense2 CONFIG)
+find_package(depthai CONFIG)
+find_package(SDL2 CONFIG)
+find_package(ZLIB MODULE)
+find_package(cJSON MODULE)
+find_package(Systemd MODULE)
+find_package(OpenGLES MODULE COMPONENTS V3)
+find_package(LeapV2 MODULE)
+find_package(ONNXRuntime MODULE)
+find_package(Percetto MODULE)
+if(NOT ANDROID)
+	find_package(PkgConfig MODULE)
+endif()
+
+#https://github.com/arsenm/sanitizers-cmake
+find_package(Sanitizers MODULE)
+
 add_library(xrt-pthreads INTERFACE)
 if(WIN32)
 	find_package(pthreads_windows REQUIRED)
@@ -66,7 +84,7 @@ else()
 	target_link_libraries(xrt-pthreads INTERFACE Threads::Threads)
 endif()
 
-if(NOT ANDROID)
+if(PKGCONFIG_FOUND AND NOT ANDROID)
 	# @TODO Turn into a find_package LIBUVC file.
 	pkg_check_modules(LIBUVC libuvc)
 
@@ -79,7 +97,6 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
 	set(XRT_HAVE_LINUX YES)
 	# Compositor backend
 	find_package(X11)
-	find_package(PkgConfig)
 
 	find_package(udev REQUIRED)
 	set(XRT_HAVE_V4L2 TRUE)
@@ -91,9 +108,11 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
 		pkg_search_module(WAYLAND wayland-client)
 		pkg_search_module(WAYLAND_SCANNER wayland-scanner)
 		pkg_search_module(WAYLAND_PROTOCOLS wayland-protocols)
+		pkg_search_module(LIBDRM libdrm)
 	endif()
 	find_package(OpenGL COMPONENTS GLX)
 	pkg_search_module(DBUS dbus-1)
+	pkg_search_module(LIBBSD libbsd)
 
 	pkg_check_modules(GST
 		gstreamer-1.0
@@ -112,13 +131,31 @@ if(ANDROID)
 	find_library(ANDROID_LOG_LIBRARY log)
 endif()
 
+# Find a external SLAM implementation
+set(EXTERNAL_SLAM_SYSTEMS kimera_vio)
+foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS)
+	if(PKGCONFIG_FOUND)
+		pkg_check_modules(${slam_system} ${slam_system})
+	endif()
+	if(${slam_system}_FOUND)
+		set(SLAM ON)
+		set(SLAM_NAME ${slam_system})
+		set(SLAM_LIBRARIES ${${slam_system}_LIBRARIES})
+		set(SLAM_INCLUDE_DIRS ${${slam_system}_INCLUDE_DIRS})
+		break()
+	endif()
+endforeach()
+
 # This one is named differently because that's what CTest uses
 option(BUILD_TESTING "Enable building of the test suite?" ON)
 
 option(XRT_FEATURE_COLOR_LOG "Enable logging in color on supported platforms" ON)
+cmake_dependent_option(XRT_HAVE_PERCETTO "Enable percetto support" ON "PERCETTO_FOUND" OFF)
+cmake_dependent_option(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" OFF "XRT_HAVE_PERCETTO" OFF)
 
 cmake_dependent_option(CMAKE_INTERPROCEDURAL_OPTIMIZATION "Enable inter-procedural (link-time) optimization" OFF "HAS_IPO" OFF)
-cmake_dependent_option(XRT_HAVE_WAYLAND "Enable Wayland support" ON "WAYLAND_FOUND AND WAYLAND_SCANNER_FOUND AND WAYLAND_PROTOCOLS_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_WAYLAND "Enable Wayland support" ON "WAYLAND_FOUND AND WAYLAND_SCANNER_FOUND AND WAYLAND_PROTOCOLS_FOUND AND LIBDRM_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_WAYLAND_DIRECT "Enable Wayland direct support" ON "XRT_HAVE_WAYLAND AND LIBDRM_FOUND AND WAYLAND_PROTOCOLS_VERSION VERSION_GREATER_EQUAL 1.22" OFF)
 cmake_dependent_option(XRT_HAVE_XLIB "Enable xlib support" ON "X11_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_XRANDR "Enable xlib-xrandr support" ON "XRANDR_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_XCB "Enable xcb support" ON "XCB_FOUND" OFF)
@@ -128,10 +165,10 @@ cmake_dependent_option(XRT_HAVE_OPENGL "Enable OpenGL Graphics API support" ON "
 cmake_dependent_option(XRT_HAVE_OPENGLES "Enable OpenGL-ES Graphics API support" ON "OpenGLES_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_EGL "Enable OpenGL on EGL Graphics API support" ON "EGL_FOUND; XRT_HAVE_OPENGL OR XRT_HAVE_OPENGLES" OFF)
 cmake_dependent_option(XRT_HAVE_DBUS "Enable dbus support (for BLE support)" ON "DBUS_FOUND" OFF)
-cmake_dependent_option(XRT_HAVE_VF "Enable gstreamer support (for video file support)" ON "GST_FOUND" OFF)
 cmake_dependent_option(XRT_FEATURE_COMPOSITOR_MAIN "Build main compositor host functionality" ON "XRT_HAVE_VULKAN; XRT_HAVE_WAYLAND OR XRT_HAVE_XCB OR ANDROID OR WIN32" OFF)
+cmake_dependent_option(XRT_HAVE_LIBBSD "Enable libbsd support" ON "LIBBSD_FOUND" OFF)
 cmake_dependent_option(XRT_FEATURE_OPENXR "Build OpenXR runtime target" ON "XRT_FEATURE_COMPOSITOR_MAIN" OFF)
-cmake_dependent_option(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" ON "NOT WIN32" OFF)
+cmake_dependent_option(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" ON "NOT WIN32 AND XRT_FEATURE_OPENXR" OFF)
 cmake_dependent_option(XRT_HAVE_SYSTEMD "Enable systemd support (for socket activation of service)" ON "Systemd_FOUND AND XRT_FEATURE_SERVICE" OFF)
 cmake_dependent_option(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" ON "XRT_HAVE_SYSTEMD" OFF)
 cmake_dependent_option(XRT_INSTALL_ABSOLUTE_SYSTEMD_UNIT_FILES "Use an absolute path to monado-system in installed user unit files for systemd socket activation" ON "XRT_INSTALL_SYSTEMD_UNIT_FILES" OFF)
@@ -172,30 +209,37 @@ cmake_dependent_option(XRT_HAVE_LIBUVC "Enable libuvc video driver" ON "LIBUVC_F
 cmake_dependent_option(XRT_HAVE_FFMPEG "Enable ffmpeg testing video driver" ON "FFMPEG_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_SDL2 "Enable use of SDL2" ON "SDL2_FOUND AND XRT_HAVE_OPENGL" OFF)
 cmake_dependent_option(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" ON "CJSON_FOUND" OFF)
-
-
+cmake_dependent_option(XRT_HAVE_GST "Enable gstreamer" ON "GST_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" ON "ONNXRUNTIME_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" ON "kimera_vio_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_SLAM "Enable SLAM tracking support" ON "SLAM;XRT_HAVE_OPENCV" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" ON "HIDAPI_FOUND" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_RS "Enable RealSense device driver" ON "realsense2_FOUND" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" ON "ZLIB_FOUND AND XRT_HAVE_LINUX" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" ON "OPENHMD_FOUND" OFF)
-cmake_dependent_option(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" ON "XRT_HAVE_V4L2" OFF)
+cmake_dependent_option(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" ON "XRT_HAVE_ONNXRUNTIME AND XRT_HAVE_OPENCV AND XRT_HAVE_V4L2" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" ON "XRT_HAVE_DBUS" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" ON "XRT_HAVE_DBUS" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" ON "ILLIXR_PATH" OFF)
-
 option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
+cmake_dependent_option(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" ON "LeapV2_FOUND" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" ON "XRT_HAVE_LINUX OR ANDROID" OFF)
+option(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" ON)
 
 # These all use the Monado internal hid wrapper.
 cmake_dependent_option(XRT_BUILD_DRIVER_HDK "Enable HDK driver" ON "XRT_HAVE_INTERNAL_HID" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" ON "XRT_HAVE_INTERNAL_HID" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" ON "XRT_HAVE_INTERNAL_HID" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_NS "Enable North Star driver" ON "XRT_HAVE_INTERNAL_HID" OFF)
+cmake_dependent_option(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" ON "XRT_HAVE_GST" OFF)
+cmake_dependent_option(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" ON "depthai_FOUND" OFF)
 
 # This one defaults to off, even if we find the deps.
 cmake_dependent_option(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" ON "SURVIVE_FOUND" OFF)
 
 cmake_dependent_option(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" ON "ANDROID" OFF)
+cmake_dependent_option(XRT_BUILD_DRIVER_QWERTY "Enable Qwerty driver" ON "XRT_HAVE_SDL2" OFF)
+cmake_dependent_option(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" ON "XRT_HAVE_OPENCV" OFF)
 
 # You can set this from a superproject to add a driver
 # All drivers must be listed in here to be included in the generated header!
@@ -216,7 +260,13 @@ list(APPEND AVAILABLE_DRIVERS
 	"REMOTE"
 	"SURVIVE"
 	"V4L2"
+	"ULV2"
+	"VF"
+	"DEPTHAI"
 	"VIVE"
+	"QWERTY"
+	"WMR"
+	"EUROC"
 	)
 
 
@@ -290,6 +340,17 @@ if(CMAKE_INTERPROCEDURAL_OPTIMIZATION)
 	message(STATUS "Inter-procedural optimization enabled")
 endif()
 
+# Make sure we have pretty colours
+option (FORCE_COLORED_OUTPUT "Always produce ANSI-colored output (GNU/Clang only)." FALSE)
+
+if ("${FORCE_COLORED_OUTPUT}")
+	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+		add_compile_options (-fdiagnostics-color=always)
+	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+		add_compile_options (-fcolor-diagnostics)
+	endif ()
+endif ()
+
 ###
 # Decend into madness.
 ###
@@ -298,30 +359,37 @@ add_subdirectory(src)
 add_subdirectory(doc)
 
 if(BUILD_TESTING)
-    include(CTest)
-    add_subdirectory(tests)
+	include(CTest)
+	add_subdirectory(tests)
 endif()
 
 message(STATUS "#####----- Config -----#####")
-message(STATUS "#    GIT_DESC:     ${GIT_DESC}")
+message(STATUS "#    GIT_DESC:        ${GIT_DESC}")
 message(STATUS "#")
-message(STATUS "#    WAYLAND:      ${XRT_HAVE_WAYLAND}")
-message(STATUS "#    XLIB:         ${XRT_HAVE_XLIB}")
-message(STATUS "#    XRANDR:       ${XRT_HAVE_XRANDR}")
-message(STATUS "#    XCB:          ${XRT_HAVE_XCB}")
-message(STATUS "#    OPENGL:       ${XRT_HAVE_OPENGL}")
-message(STATUS "#    OPENGLES:     ${XRT_HAVE_OPENGLES}")
-message(STATUS "#    VULKAN:       ${XRT_HAVE_VULKAN}")
-message(STATUS "#    EGL:          ${XRT_HAVE_EGL}")
-message(STATUS "#    DBUS:         ${XRT_HAVE_DBUS}")
-message(STATUS "#    VF:           ${XRT_HAVE_VF}")
-message(STATUS "#    LIBUSB:       ${XRT_HAVE_LIBUSB}")
-message(STATUS "#    JPEG:         ${XRT_HAVE_JPEG}")
-message(STATUS "#    OPENCV:       ${XRT_HAVE_OPENCV}")
-message(STATUS "#    LIBUVC:       ${XRT_HAVE_LIBUVC}")
-message(STATUS "#    FFMPEG:       ${XRT_HAVE_FFMPEG}")
-message(STATUS "#    SDL2:         ${XRT_HAVE_SDL2}")
-message(STATUS "#    SYSTEM_CJSON: ${XRT_HAVE_SYSTEM_CJSON}")
+message(STATUS "#    GST (GStreamer): ${XRT_HAVE_GST}")
+message(STATUS "#    WAYLAND:         ${XRT_HAVE_WAYLAND}")
+message(STATUS "#    WAYLAND_DIRECT:  ${XRT_HAVE_WAYLAND_DIRECT}")