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a/math: Extend m_relation_history to pass the tests.

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Ryan Pavlik 2021-12-02 15:43:39 -06:00 committed by Jakob Bornecrantz
parent 217dee2ce3
commit 2b64e5b965
1 changed files with 20 additions and 3 deletions
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23
src/xrt/auxiliary/math/m_relation_history.cpp
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@ -87,7 +87,7 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
os_mutex_lock(&rh->mutex); os_mutex_lock(&rh->mutex);
m_relation_history_result ret = M_RELATION_HISTORY_RESULT_INVALID; m_relation_history_result ret = M_RELATION_HISTORY_RESULT_INVALID;
if (rh->has_first_sample == 0) { if (rh->has_first_sample == 0 || at_timestamp_ns == 0) {
// Do nothing. You push nothing to the buffer you get nothing from the buffer. // Do nothing. You push nothing to the buffer you get nothing from the buffer.
goto end; goto end;
} }
@ -156,9 +156,13 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
idx -= step; idx -= step;
continue; continue;
} }
if (ts_before == at_timestamp_ns || ts_after == at_timestamp_ns) {
// exact match
break;
}
if ((ts_before < at_timestamp_ns) && (ts_after > at_timestamp_ns)) { if ((ts_before < at_timestamp_ns) && (ts_after > at_timestamp_ns)) {
// Found what we're looking for - at_timestamp_ns is between the reading before us and // Found what we're looking for - at_timestamp_ns is between the reading before
// the reading after us. Break out of the loop // us and the reading after us. Break out of the loop
break; break;
} }
@ -181,6 +185,19 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
// Do the thing. // Do the thing.
struct xrt_space_relation before = rh->impl[idx]->relation; struct xrt_space_relation before = rh->impl[idx]->relation;
struct xrt_space_relation after = rh->impl[idx - 1]->relation; struct xrt_space_relation after = rh->impl[idx - 1]->relation;
if (rh->impl[idx]->timestamp == at_timestamp_ns) {
// exact match: before
*out_relation = before;
ret = M_RELATION_HISTORY_RESULT_EXACT;
goto end;
}
if (rh->impl[idx - 1]->timestamp == at_timestamp_ns) {
// exact match: after
*out_relation = after;
ret = M_RELATION_HISTORY_RESULT_EXACT;
goto end;
}
int64_t diff_before, diff_after = 0; int64_t diff_before, diff_after = 0;
diff_before = at_timestamp_ns - rh->impl[idx]->timestamp; diff_before = at_timestamp_ns - rh->impl[idx]->timestamp;
diff_after = rh->impl[idx - 1]->timestamp - at_timestamp_ns; diff_after = rh->impl[idx - 1]->timestamp - at_timestamp_ns;