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aux/math: use int64_t for timestamps in m_relation_history

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Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2298>
This commit is contained in:
Simon Zeni 2024-08-01 16:42:26 -04:00 committed by Rylie Pavlik
parent e298244516
commit ae7dca3107
5 changed files with 21 additions and 23 deletions
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14
src/xrt/auxiliary/math/m_relation_history.cpp
View file

@ -37,7 +37,7 @@ namespace os = xrt::auxiliary::os;
struct relation_history_entry
{
struct xrt_space_relation relation;
uint64_t timestamp;
int64_t timestamp;
};
static constexpr size_t BufLen = 4096;
@ -57,7 +57,7 @@ m_relation_history_create(struct m_relation_history **rh_ptr)
}
bool
m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation const *in_relation, uint64_t timestamp)
m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation const *in_relation, int64_t timestamp)
{
XRT_TRACE_MARKER();
struct relation_history_entry rhe;
@ -82,7 +82,7 @@ m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation
enum m_relation_history_result
m_relation_history_get(const struct m_relation_history *rh,
uint64_t at_timestamp_ns,
int64_t at_timestamp_ns,
struct xrt_space_relation *out_relation)
{
XRT_TRACE_MARKER();
@ -99,7 +99,7 @@ m_relation_history_get(const struct m_relation_history *rh,
// Find the first element *not less than* our value. the lambda we pass is the comparison
// function, to compare against timestamps.
const auto it =
std::lower_bound(b, e, at_timestamp_ns, [](const relation_history_entry &rhe, uint64_t timestamp) {
std::lower_bound(b, e, at_timestamp_ns, [](const relation_history_entry &rhe, int64_t timestamp) {
return rhe.timestamp < timestamp;
});
@ -183,11 +183,11 @@ m_relation_history_get(const struct m_relation_history *rh,
bool
m_relation_history_estimate_motion(struct m_relation_history *rh,
const struct xrt_space_relation *in_relation,
uint64_t timestamp,
int64_t timestamp,
struct xrt_space_relation *out_relation)
{
uint64_t last_time_ns;
int64_t last_time_ns;
struct xrt_space_relation last_relation;
if (!m_relation_history_get_latest(rh, &last_time_ns, &last_relation)) {
return false;
@ -229,7 +229,7 @@ m_relation_history_estimate_motion(struct m_relation_history *rh,
bool
m_relation_history_get_latest(const struct m_relation_history *rh,
uint64_t *out_time_ns,
int64_t *out_time_ns,
struct xrt_space_relation *out_relation)
{
std::unique_lock<os::Mutex> lock(rh->mutex);

16
src/xrt/auxiliary/math/m_relation_history.h
View file

@ -60,9 +60,7 @@ m_relation_history_create(struct m_relation_history **rh);
* @public @memberof m_relation_history
*/
bool
m_relation_history_push(struct m_relation_history *rh,
struct xrt_space_relation const *in_relation,
uint64_t timestamp);
m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation const *in_relation, int64_t timestamp);
/*!
* Interpolates or extrapolates to the desired timestamp.
@ -74,7 +72,7 @@ m_relation_history_push(struct m_relation_history *rh,
*/
enum m_relation_history_result
m_relation_history_get(const struct m_relation_history *rh,
uint64_t at_timestamp_ns,
int64_t at_timestamp_ns,
struct xrt_space_relation *out_relation);
/*!
@ -90,7 +88,7 @@ m_relation_history_get(const struct m_relation_history *rh,
bool
m_relation_history_estimate_motion(struct m_relation_history *rh,
const struct xrt_space_relation *in_relation,
uint64_t timestamp,
int64_t timestamp,
struct xrt_space_relation *out_relation);
/*!
@ -106,7 +104,7 @@ m_relation_history_estimate_motion(struct m_relation_history *rh,
*/
bool
m_relation_history_get_latest(const struct m_relation_history *rh,
uint64_t *out_time_ns,
int64_t *out_time_ns,
struct xrt_space_relation *out_relation);
/*!
@ -178,7 +176,7 @@ public:
* @copydoc m_relation_history_push
*/
bool
push(xrt_space_relation const &relation, uint64_t ts) noexcept
push(xrt_space_relation const &relation, int64_t ts) noexcept
{
return m_relation_history_push(mPtr, &relation, ts);
}
@ -187,7 +185,7 @@ public:
* @copydoc m_relation_history_get
*/
Result
get(uint64_t at_time_ns, xrt_space_relation *out_relation) const noexcept
get(int64_t at_time_ns, xrt_space_relation *out_relation) const noexcept
{
return m_relation_history_get(mPtr, at_time_ns, out_relation);
}
@ -196,7 +194,7 @@ public:
* @copydoc m_relation_history_get_latest
*/
bool
get_latest(uint64_t *out_time_ns, xrt_space_relation *out_relation) const noexcept
get_latest(int64_t *out_time_ns, xrt_space_relation *out_relation) const noexcept
{
return m_relation_history_get_latest(mPtr, out_time_ns, out_relation);
}

4
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
View file

@ -762,7 +762,7 @@ flush_poses(TrackerSlam &t)
// Last relation
xrt_space_relation lr = XRT_SPACE_RELATION_ZERO;
uint64_t lts;
int64_t lts;
t.slam_rels.get_latest(&lts, &lr);
xrt_vec3 lpos = lr.pose.position;
xrt_quat lrot = lr.pose.orientation;
@ -907,7 +907,7 @@ predict_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *ou
// Get last relation computed purely from SLAM data
xrt_space_relation rel{};
uint64_t rel_ts;
int64_t rel_ts;
bool empty = !t.slam_rels.get_latest(&rel_ts, &rel);
// Stop if there is no previous relation to use for prediction

6
src/xrt/drivers/steamvr_lh/device.cpp
View file

@ -146,11 +146,11 @@ const std::unordered_map<std::string_view, InputClass> controller_classes{
},
};
uint64_t
int64_t
chrono_timestamp_ns()
{
auto now = std::chrono::steady_clock::now().time_since_epoch();
uint64_t ts = std::chrono::duration_cast<std::chrono::nanoseconds>(now).count();
int64_t ts = std::chrono::duration_cast<std::chrono::nanoseconds>(now).count();
return ts;
}
@ -317,7 +317,7 @@ ControllerDevice::update_hand_tracking(struct xrt_hand_joint_set *out)
auto curl_values = u_hand_tracking_curl_values{pinky, ring, middle, index, thumb};
struct xrt_space_relation hand_relation = {};
uint64_t ts = chrono_timestamp_ns();
int64_t ts = chrono_timestamp_ns();
m_relation_history_get_latest(relation_hist, &ts, &hand_relation);
u_hand_sim_simulate_for_valve_index_knuckles(&curl_values, get_xrt_hand(), &hand_relation, out);

4
tests/tests_history_buf.cpp
View file

@ -57,7 +57,7 @@ TEST_CASE("m_relation_history")
constexpr auto T2 = T1 + (uint64_t)U_TIME_1S_IN_NS;
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
uint64_t out_time = 0;
int64_t out_time = 0;
CHECK(m_relation_history_get_size(rh) == 0);
CHECK_FALSE(m_relation_history_get_latest(rh, &out_time, &out_relation));
@ -152,7 +152,7 @@ TEST_CASE("RelationHistory")
constexpr auto T2 = T1 + (uint64_t)U_TIME_1S_IN_NS;
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
uint64_t out_time = 0;
int64_t out_time = 0;
CHECK(rh.size() == 0);
CHECK_FALSE(rh.get_latest(&out_time, &out_relation));