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u/space_overseer: Use broadcast event sink for reference space changes

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Generates xrt_session_event_reference_space_change_pending events.
This commit is contained in:
Jakob Bornecrantz 2023-12-12 21:29:20 +00:00
parent 9a22d029a4
commit ba79c268b1
4 changed files with 35 additions and 4 deletions
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2
src/xrt/auxiliary/util/u_builders.c
View file

@ -173,7 +173,7 @@ u_builder_create_space_overseer_legacy(struct xrt_session_event_sink *broadcast,
* Space overseer.
*/
struct u_space_overseer *uso = u_space_overseer_create();
struct u_space_overseer *uso = u_space_overseer_create(broadcast);
struct xrt_pose T_stage_local = XRT_POSE_IDENTITY;
T_stage_local.position.y = 1.6;

31
src/xrt/auxiliary/util/u_space_overseer.c
View file

@ -10,6 +10,7 @@
#include "xrt/xrt_space.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_session.h"
#include "xrt/xrt_tracking.h"
#include "os/os_time.h"
@ -90,6 +91,9 @@ struct u_space_overseer
//! Tracks usage of reference spaces.
struct xrt_reference ref_space_use[XRT_SPACE_REFERENCE_TYPE_COUNT];
//! Event sink to broadcast events to all sessions.
struct xrt_session_event_sink *broadcast;
/*!
* Can we do a recenter of the local and local_floor spaces, protected
* by the lock.
@ -544,6 +548,7 @@ static xrt_result_t
recenter_local_spaces(struct xrt_space_overseer *xso)
{
struct u_space_overseer *uso = u_space_overseer(xso);
xrt_result_t xret;
// Take the full lock from the start.
pthread_rwlock_wrlock(&uso->lock);
@ -617,6 +622,29 @@ recenter_local_spaces(struct xrt_space_overseer *xso)
update_offset_write_locked(ulocal, &local_offset);
update_offset_write_locked(ulocal_floor, &local_floor_offset);
// Push the events.
union xrt_session_event xse = XRT_STRUCT_INIT;
// Basics
xse.ref_change.event_type = XRT_SESSION_EVENT_REFERENCE_SPACE_CHANGE_PENDING;
xse.ref_change.pose_valid = false;
xse.ref_change.pose_in_previous_space = (struct xrt_pose)XRT_POSE_IDENTITY;
xse.ref_change.timestamp_ns = os_monotonic_get_ns();
// Event for local space.
xse.ref_change.ref_type = XRT_SPACE_REFERENCE_TYPE_LOCAL;
xret = xrt_session_event_sink_push(uso->broadcast, &xse);
if (xret != XRT_SUCCESS) {
U_LOG_E("Failed to push event for LOCAL!");
}
// Event for local floor space.
xse.ref_change.ref_type = XRT_SPACE_REFERENCE_TYPE_LOCAL_FLOOR;
xret = xrt_session_event_sink_push(uso->broadcast, &xse);
if (xret != XRT_SUCCESS) {
U_LOG_E("Failed to push event LOCAL_FLOOR!");
}
pthread_rwlock_unlock(&uso->lock);
return XRT_SUCCESS;
@ -656,7 +684,7 @@ destroy(struct xrt_space_overseer *xso)
*/
struct u_space_overseer *
u_space_overseer_create(void)
u_space_overseer_create(struct xrt_session_event_sink *broadcast)
{
struct u_space_overseer *uso = U_TYPED_CALLOC(struct u_space_overseer);
uso->base.create_offset_space = create_offset_space;
@ -667,6 +695,7 @@ u_space_overseer_create(void)
uso->base.ref_space_dec = ref_space_dec;
uso->base.recenter_local_spaces = recenter_local_spaces;
uso->base.destroy = destroy;
uso->broadcast = broadcast;
XRT_MAYBE_UNUSED int ret = 0;

4
src/xrt/auxiliary/util/u_space_overseer.h
View file

@ -17,6 +17,7 @@ extern "C" {
struct u_space_overseer;
struct xrt_session_event_sink;
/*
@ -28,10 +29,11 @@ struct u_space_overseer;
/*!
* Create a default implementation of a space overseer.
*
* @param[in] broadcast Event sink that broadcasts events to all sessions.
* @ingroup aux_util
*/
struct u_space_overseer *
u_space_overseer_create(void);
u_space_overseer_create(struct xrt_session_event_sink *broadcast);
/*!
* Sets up the space overseer and all semantic spaces in a way that works with

2
src/xrt/drivers/remote/r_hub.c
View file

@ -477,7 +477,7 @@ r_create_devices(uint16_t port,
* Space overseer.
*/
struct u_space_overseer *uso = u_space_overseer_create();
struct u_space_overseer *uso = u_space_overseer_create(broadcast);
struct xrt_space_overseer *xso = (struct xrt_space_overseer *)uso;
assert(uso != NULL);