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d/vive: Drain all imu packets at startup

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This commit is contained in:
Jakob Bornecrantz 2023-05-19 11:40:00 +01:00
parent 7f1c5e9bd5
commit 70850472b2
1 changed files with 28 additions and 6 deletions
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34
src/xrt/drivers/vive/vive_device.c
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@ -436,6 +436,12 @@ update_imu(struct vive_device *d, const void *buffer)
}
}
static void
drain_imu(struct vive_device *d, const void *buffer)
{
// Noop
}
/*
*
@ -784,16 +790,32 @@ vive_sensors_run_thread(void *ptr)
U_TRACE_SET_THREAD_NAME("Vive: Sensors");
os_thread_helper_lock(&d->sensors_thread);
while (os_thread_helper_is_running_locked(&d->sensors_thread)) {
os_thread_helper_unlock(&d->sensors_thread);
/*
* We want to drain all old packets to avoid old ones,
* read packets with a noop function for 50ms.
*/
uint64_t then_ns = os_monotonic_get_ns();
uint64_t future_50ms_ns = then_ns + U_TIME_1MS_IN_NS * (uint64_t)50;
while (future_50ms_ns > os_monotonic_get_ns() && os_thread_helper_is_running(&d->sensors_thread)) {
// Lock not held.
if (!vive_sensors_read_one_msg(d, d->sensors_dev, VIVE_IMU_REPORT_ID, 52, drain_imu)) {
return NULL;
}
}
/*
* Now read the packets.
*/
while (os_thread_helper_is_running(&d->sensors_thread)) {
// Lock not held.
if (!vive_sensors_read_one_msg(d, d->sensors_dev, VIVE_IMU_REPORT_ID, 52, update_imu)) {
return NULL;
}
// Just keep swimming.
os_thread_helper_lock(&d->sensors_thread);
}
return NULL;