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d/vive_controller: Use a mutex for get_tracked_pose and update_inputs

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This commit is contained in:
Christoph Haag 2021-03-08 13:47:27 +01:00 committed by Jakob Bornecrantz
parent aa65480607
commit 5c014193f7
2 changed files with 26 additions and 15 deletions
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40
src/xrt/drivers/vive/vive_controller.c
View file

@ -107,6 +107,9 @@ vive_controller_device_destroy(struct xrt_device *xdev)
os_thread_helper_destroy(&d->controller_thread); os_thread_helper_destroy(&d->controller_thread);
// Now that the thread is not running we can destroy the lock.
os_mutex_destroy(&d->lock);
m_imu_3dof_close(&d->fusion); m_imu_3dof_close(&d->fusion);
if (d->controller_hid) if (d->controller_hid)
@ -120,7 +123,8 @@ vive_controller_device_update_wand_inputs(struct xrt_device *xdev)
{ {
struct vive_controller_device *d = vive_controller_device(xdev); struct vive_controller_device *d = vive_controller_device(xdev);
os_thread_helper_lock(&d->controller_thread); os_mutex_lock(&d->lock);
uint8_t buttons = d->state.buttons; uint8_t buttons = d->state.buttons;
/* /*
@ -170,7 +174,7 @@ vive_controller_device_update_wand_inputs(struct xrt_device *xdev)
trigger_input->value.vec1.x = d->state.trigger; trigger_input->value.vec1.x = d->state.trigger;
VIVE_TRACE(d, "Trigger: %f", d->state.trigger); VIVE_TRACE(d, "Trigger: %f", d->state.trigger);
os_thread_helper_unlock(&d->controller_thread); os_mutex_unlock(&d->lock);
} }
static void static void
@ -178,7 +182,7 @@ vive_controller_device_update_index_inputs(struct xrt_device *xdev)
{ {
struct vive_controller_device *d = vive_controller_device(xdev); struct vive_controller_device *d = vive_controller_device(xdev);
os_thread_helper_lock(&d->controller_thread); os_mutex_lock(&d->lock);
uint8_t buttons = d->state.buttons; uint8_t buttons = d->state.buttons;
/* /*
@ -286,7 +290,7 @@ vive_controller_device_update_index_inputs(struct xrt_device *xdev)
VIVE_DEBUG(d, "Trackpad force: %f\n", (float)d->state.trackpad_force / UINT8_MAX); VIVE_DEBUG(d, "Trackpad force: %f\n", (float)d->state.trackpad_force / UINT8_MAX);
} }
os_thread_helper_unlock(&d->controller_thread); os_mutex_unlock(&d->lock);
} }
@ -388,17 +392,9 @@ vive_controller_device_get_tracked_pose(struct xrt_device *xdev,
// Clear out the relation. // Clear out the relation.
U_ZERO(out_relation); U_ZERO(out_relation);
os_thread_helper_lock(&d->controller_thread); os_mutex_lock(&d->lock);
// Don't do anything if we have stopped.
if (!os_thread_helper_is_running_locked(&d->controller_thread)) {
os_thread_helper_unlock(&d->controller_thread);
return;
}
predict_pose(d, at_timestamp_ns, out_relation); predict_pose(d, at_timestamp_ns, out_relation);
os_mutex_unlock(&d->lock);
os_thread_helper_unlock(&d->controller_thread);
struct xrt_vec3 pos = out_relation->pose.position; struct xrt_vec3 pos = out_relation->pose.position;
struct xrt_quat quat = out_relation->pose.orientation; struct xrt_quat quat = out_relation->pose.orientation;
@ -477,7 +473,9 @@ vive_controller_device_set_output(struct xrt_device *xdev, enum xrt_output_name
return; return;
} }
os_mutex_lock(&d->lock);
vive_controller_haptic_pulse(d, value); vive_controller_haptic_pulse(d, value);
os_mutex_unlock(&d->lock);
} }
static void static void
@ -933,12 +931,16 @@ vive_controller_device_update(struct vive_controller_device *d)
switch (buf[0]) { switch (buf[0]) {
case VIVE_CONTROLLER_REPORT1_ID: case VIVE_CONTROLLER_REPORT1_ID:
os_mutex_lock(&d->lock);
vive_controller_decode_message(d, &((struct vive_controller_report1 *)buf)->message); vive_controller_decode_message(d, &((struct vive_controller_report1 *)buf)->message);
os_mutex_unlock(&d->lock);
break; break;
case VIVE_CONTROLLER_REPORT2_ID: case VIVE_CONTROLLER_REPORT2_ID:
os_mutex_lock(&d->lock);
vive_controller_decode_message(d, &((struct vive_controller_report2 *)buf)->message[0]); vive_controller_decode_message(d, &((struct vive_controller_report2 *)buf)->message[0]);
vive_controller_decode_message(d, &((struct vive_controller_report2 *)buf)->message[1]); vive_controller_decode_message(d, &((struct vive_controller_report2 *)buf)->message[1]);
os_mutex_unlock(&d->lock);
break; break;
case VIVE_CONTROLLER_DISCONNECT_REPORT_ID: VIVE_DEBUG(d, "Controller disconnected."); break; case VIVE_CONTROLLER_DISCONNECT_REPORT_ID: VIVE_DEBUG(d, "Controller disconnected."); break;
default: VIVE_ERROR(d, "Unknown controller message type: %u", buf[0]); default: VIVE_ERROR(d, "Unknown controller message type: %u", buf[0]);
@ -1184,7 +1186,15 @@ vive_controller_create(struct os_hid_device *controller_hid, enum watchman_gen w
} }
if (d->controller_hid) { if (d->controller_hid) {
int ret = os_thread_helper_start(&d->controller_thread, vive_controller_run_thread, d); // Mutex before thread.
int ret = os_mutex_init(&d->lock);
if (ret != 0) {
VIVE_ERROR(d, "Failed to init mutex!");
vive_controller_device_destroy(&d->base);
return 0;
}
ret = os_thread_helper_start(&d->controller_thread, vive_controller_run_thread, d);
if (ret != 0) { if (ret != 0) {
VIVE_ERROR(d, "Failed to start mainboard thread!"); VIVE_ERROR(d, "Failed to start mainboard thread!");
vive_controller_device_destroy((struct xrt_device *)d); vive_controller_device_destroy((struct xrt_device *)d);

1
src/xrt/drivers/vive/vive_controller.h
View file

@ -49,6 +49,7 @@ struct vive_controller_device
struct os_hid_device *controller_hid; struct os_hid_device *controller_hid;
struct os_thread_helper controller_thread; struct os_thread_helper controller_thread;
struct os_mutex lock;
struct struct
{ {