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Keep exact controller head queries outside the pose mutex

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lbgos committed 2026-10-13 06:51:36 +03:00
1 parent 5c23f4b9a2
commit 59d3eddac1
3 files changed
+157 -25
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src/xrt/drivers/rift_s/rift_s_controller.c
+59 -23
View File
@@ -269,6 +269,7 @@ attitude_sample(struct rift_s_controller *ctrl, unsigned int index)
static void
suspend_position_tracking(struct rift_s_controller *ctrl)
{
ctrl->motion_generation++;
rift_s_position_filter_suspend(&ctrl->position_filter);
if (ctrl->sys != NULL) {
rift_s_motion_reset_hand(ctrl->sys->motion,
@@ -921,6 +922,7 @@ imu_descriptor_give_up(struct rift_s_controller *ctrl, const char *reason)
static void
reset_position_filter(struct rift_s_controller *ctrl)
{
ctrl->motion_generation++;
rift_s_position_filter_reset(&ctrl->position_filter);
float accel_noise = debug_get_float_option_rift_s_position_accel_noise();
float bias_walk = debug_get_float_option_rift_s_position_bias_walk();
@@ -970,40 +972,69 @@ position_tracking_at(const struct rift_s_controller *ctrl, timepoint_ns t, bool
return age > RIFT_S_COAST_AFTER_NS ? POSITION_COASTING : POSITION_TRACKED;
}
// Adapt the Monado filter's current uncertainty to the model reliability gate. Normal
// vision delivery latency must not activate a model merely because capture time is old.
void
rift_s_controller_update_motion(struct rift_s_controller *ctrl, timepoint_ns capture_ns)
// Capture controller state before the potentially slow HMD query. The radio dispatch
// keeps the devices alive and serializes IMU reports with configuration changes.
struct motion_update
{
struct rift_s_motion_sample sample;
uint64_t generation;
};
static bool
prepare_motion_update(struct rift_s_controller *ctrl, timepoint_ns capture_ns, struct motion_update *update)
{
if (ctrl->sys == NULL || ctrl->sys->motion == NULL || !ctrl->position_filter.initialized) {
return;
return false;
}
bool velocity_tracked;
enum position_tracking state = position_tracking_at(ctrl, capture_ns, &velocity_tracked);
*update = (struct motion_update){0};
update->generation = ctrl->motion_generation;
struct rift_s_motion_sample *sample = &update->sample;
sample->timestamp_ns = capture_ns;
sample->pose.orientation = ctrl->pose.orientation;
rift_s_position_filter_predict(&ctrl->position_filter, capture_ns, 0, &sample->pose.position,
&sample->linear_velocity);
sample->linear_acceleration = ctrl->world_accel;
sample->angular_velocity = ctrl->fusion.last.gyro;
for (int axis = 0; axis < 3; ++axis) {
sample->position_variance[axis] =
state != POSITION_LOST && !ctrl->position_filter.suspended && ctrl->track_vision_updates >= 3
? ctrl->position_filter.state.P[axis][0][0]
: -1;
}
return true;
}
static void
submit_motion_update(struct rift_s_controller *ctrl, const struct motion_update *update)
{
struct xrt_device *head = rift_s_system_get_hmd(ctrl->sys);
struct xrt_space_relation head_relation = XRT_SPACE_RELATION_ZERO;
if (head == NULL ||
head->get_tracked_pose(head, XRT_INPUT_GENERIC_HEAD_POSE, capture_ns, &head_relation) != XRT_SUCCESS ||
head->get_tracked_pose(head, XRT_INPUT_GENERIC_HEAD_POSE, update->sample.timestamp_ns, &head_relation) != XRT_SUCCESS ||
(head_relation.relation_flags &
(XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT)) !=
(XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT)) {
return;
}
bool velocity_tracked;
enum position_tracking state = position_tracking_at(ctrl, capture_ns, &velocity_tracked);
struct rift_s_motion_sample sample = {0};
sample.timestamp_ns = capture_ns;
sample.pose.orientation = ctrl->pose.orientation;
rift_s_position_filter_predict(&ctrl->position_filter, capture_ns, 0, &sample.pose.position,
&sample.linear_velocity);
sample.linear_acceleration = ctrl->world_accel;
sample.angular_velocity = ctrl->fusion.last.gyro;
for (int axis = 0; axis < 3; ++axis) {
sample.position_variance[axis] =
state != POSITION_LOST && !ctrl->position_filter.suspended && ctrl->track_vision_updates >= 3
? ctrl->position_filter.state.P[axis][0][0]
: -1;
os_mutex_lock(&ctrl->mutex);
// A clock reset, loss or replacement during the unlocked query must not revive an old model.
if (update->generation == ctrl->motion_generation) {
unsigned int hand = ctrl->base.device_type == XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER ? 1 : 0;
rift_s_motion_update(ctrl->sys->motion, hand, &update->sample, &head_relation.pose);
}
unsigned int hand = ctrl->base.device_type == XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER ? 1 : 0;
rift_s_motion_update(ctrl->sys->motion, hand, &sample, &head_relation.pose);
os_mutex_unlock(&ctrl->mutex);
}
void
rift_s_controller_update_motion(struct rift_s_controller *ctrl, timepoint_ns capture_ns)
{
struct motion_update update;
os_mutex_lock(&ctrl->mutex);
bool prepared = prepare_motion_update(ctrl, capture_ns, &update);
os_mutex_unlock(&ctrl->mutex);
if (prepared) submit_motion_update(ctrl, &update);
}
bool
@@ -1137,7 +1168,12 @@ handle_imu_update(struct rift_s_controller *ctrl,
ctrl->last_imu_capture_ns = capture_ns;
if (ctrl->world_accel_valid) {
rift_s_position_filter_imu(&ctrl->position_filter, capture_ns, &ctrl->world_accel);
rift_s_controller_update_motion(ctrl, capture_ns);
struct motion_update update;
if (prepare_motion_update(ctrl, capture_ns, &update)) {
os_mutex_unlock(&ctrl->mutex);
submit_motion_update(ctrl, &update);
os_mutex_lock(&ctrl->mutex);
}
}
}
if (log_imu) {
src/xrt/drivers/rift_s/rift_s_controller.h
+4 -2
View File
@@ -203,6 +203,8 @@ struct rift_s_controller
timepoint_ns last_fix_ns;
//! Host capture time and world-frame acceleration (gravity removed) of the newest IMU sample.
timepoint_ns last_imu_capture_ns;
//! Invalidates motion snapshots across clock resets, device loss and replacement.
uint64_t motion_generation;
struct xrt_vec3 world_accel;
bool world_accel_valid;
//! Last reported aim/grip position source, for logging transitions.
@@ -407,8 +409,8 @@ rift_s_controller_get_led_model(struct xrt_device *xdev, struct t_constellation_
bool
rift_s_controller_push_pose_observation(struct xrt_device *xdev, const struct t_constellation_pose_observation *obs);
// Feed motion models from the current capture-time filter state. Caller holds the controller mutex
// and keeps the system devices alive, as the radio dispatch does.
// Feed motion models from a capture-time snapshot. Locks the controller only for snapshot/commit;
// the caller keeps the system devices alive and serializes IMU updates, as radio dispatch does.
void
rift_s_controller_update_motion(struct rift_s_controller *ctrl, timepoint_ns capture_ns);