Monado OpenXR Runtime
Changelog for Monado

SPDX-License-Identifier: CC0-1.0
SPDX-FileCopyrightText: 2020-2024 Collabora, Ltd. and the Monado contributors

Monado vNEXT (2024-12-18)

  • Major changes
    • No significant changes
  • XRT Interface
    • Change: Move xrt_instance_info members to nested xrt_application_info struct, and add a parallel xrt_platform_info. (!1655)
    • Add: New xrt/xrt_android.h header. (!1655)
    • Change: Add xrt_instance_android interface, optional aspect of xrt_instance when building on Android. (!1655)
    • Add xrt_compositor::get_display_refresh_rate so that the application can get the current display refresh rate. (!1786)
    • Add xrt_compositor::request_display_refresh_rate so that the application can trigger a display refresh rate change. (!1786)
    • Add xrt_compositor_event_display_refresh_rate_change for compositor can notify applications that the display refresh rate has been changed. (!1786)
    • Add support for device feature usage (!2223)
    • Add: Introduce XRT_ERROR_NOT_IMPLEMENTED, remove XRT_ERROR_DEVICE_FUNCTION_NOT_IMPLEMENTED and XRT_ERROR_COMPOSITOR_FUNCTION_NOT_IMPLEMENTED (!2244)
    • Change: xrt_device_update_inputs returns xrt_result_t (!2246)
    • Change: Add localfloorspace and modify create_local_space to support multi- local_floor space on server side. (!2252)
    • xrt_device_get_tracked_pose returns xrt_result_t to improve error handling in the state tracker (!2271)
    • introduce XRT_ERROR_INPUT_UNSUPPORTED (!2271)
    • Add: Introduce XRT_ERROR_UNSUPPORTED_SPACE_TYPE, XRT_ERROR_ANDROID (!2284, !1655)
    • xrt: rename offset field of xrt_tracking_origin to initial_offset (!2286)
    • Add: New get_battery_status method to xrt_device for getting the device's battery status info. (!2292)
    • Change: Use int64_t (instead of uint64_t) for all timestamps. (!2298)
    • Add: Methods to support XR_FB_face_tracking2 extension (!2299)
    • Change: Add at_timestamp_ns argument to get_face_tracking (!2310)
    • Change: Bump overlay limit from 16 to 128 (!2341)
    • Fixes issue ticket #411, fixes the following client-layer issues when KHR_vulkan_swapchain_format_list is enabled & used: (!2352)
    • Fixes (oxr_)xrGetVulkanDeviceExtensionsKHR not outputting VK_KHR_image_format_list to the list of extensions to enable for apps using XR_KHR_vulkan_enable. (!2352)
    • Adds piping of the enabled state of VK_KHR_image_format_list to vk_bundle and fixes vk_bundle::has_KHR_image_format_list not being set to enabled in the client layer. (!2352)
    • Fixes client-layer not using & setting format-lists for VK_KHR_image_format_list on client vulkan image creation when provided by vulkan based apps using mutable formats. (!2352)
  • State Trackers
    • Add MND_libmonado_path in OpenXR manifest (!2285)
    • Fix possible deadlock from unanswered xrWaitFrame. (!1934, !2344)
    • Fix conformance issues related to session state and session running/non- running. (!1934, !2344)
    • Fix: Conformance issue. (!2327)
    • OpenXR: Add support for device feature usage (!2223)
    • Update OpenXR headers to 1.1.42. (!2353)
    • st/gui: draw gui_widget_native_images with header, scale slider and rotation checkbox. (!2303)
    • st/oxr: add more checks around xrBeginSession and xrEndSession (!2162)
    • st/oxr: Add quirk to return parallel view poses with the environment variable OXR_PARALLEL_VIEWS. (!2312)
    • st/oxr: Implement the EXT_active_action_set_priority extension. (!2370)
  • Drivers
    • steamvr_lh: Support loading SlimeVR OpenVR driver alongside lighthouse. (!2251)
    • steamvr_lh: Implement battery status query. (!2292)
    • steamvr_lh: Add new steamvr beta driver internal interface (!2361)
    • survive: Implement battery status query. (!2292)
  • IPC
    • Add: Support for device feature usage (!2223)
    • Add: Support multi-local_floor space on server side. (!2252)
    • Add: get/set_tracking_origin_offset, get/set_reference_space_offset methods (!2284)
    • Add: device battery status query. (!2292)
  • Compositor
    • Add: New comp_layer_accum helper, factored out from comp_base, that collects layers and swapchains for a frame. (!2317, !2377)
    • Change: Modify comp_base to use comp_layer_accum helper, instead of inlining that code. Users of comp_base will need to update their code accordingly. (!2317, !2377)
    • Change: Small renames in comp/render code for consistency. (!2323)
    • Fix: General correctness and valid usage issues. (!2233)
    • Reverts the default compositor pipeline on android from compute back to graphics based. (!2337)
    • main: Implement the dynamic display refresh rates support on Android platform. (!1786)
    • wayland: introduce the environment variable 'WAYLAND_CONNECTOR' to request a specific connector (!2295)
  • Tracking
    • No significant changes
  • Helper Libraries
    • Change: u_device_noop_update_inputs returns xrt_result_t (!2246)
    • Fixes issue ticket #410, fixes the client layer not setting mutable usage flag on client vulkan image creation when requested by vulkan based apps, causing vulkan validation errors on apps which create image views of swapchain images with different formats. (!2352)
    • Modify create_local_space to support multi-local_floor space on server side. (!2252)
    • a/android: Add APIs for getting supported/current display refresh rates/rate on Android device. (!1786)
    • a/ogl: Add Win32 handle import. (!2302)
    • a/util: Add not-implemented fallback function for xrd_device::get_battery_status. (!2292)
    • space_overseer: STAGE now supported by default. stage_supported remains for drivers requiring active polling for STAGE pose (!2280)
    • space_overseer: add get/set_tracking_origin_offset, get/set_reference_space_offset (!2284)
    • u/android: Change the implementation of getRuntimeSourceDir function to support useLegacyPackaging set to false. (!2153)
    • u/pacing: add U_PACING_APP_IMMEDIATE_WAIT_FRAME_RETURN which will wake the application as soon as possible to begin work on new frames. (!2293)
    • u/system_helper: Add support for device feature usage (!2223)
  • Documentation
    • Illustrate various control flows for swapchain image allocation, including interaction with IPC. (!2300)
  • Misc. Features
    • Add: Lifecycle tests that launch and switch OpenXR applications on Android. (!2311)
    • Doxygen improvements. (!2322, !2333)
    • Handle Android activity lifecycle. (!1655)
    • Miscellaneous code cleanups. (!2342)
    • cmake: Changes project c++-lang-std to C++20 (!2258)
    • libmonado: add get/set for reference space offsets & tracking origin offsets (!2284)
    • libmonado: add getters for tracking origin count and name (!2284)
    • libmonado: bump API version from 1.2 to 1.3 (!2284)
    • libmonado: Add a function for getting a device's battery status information. (!2292)
  • Misc. Fixes
    • Adds new image memory size parameter to d3d12 texture import functions to fix zero size error messages and d3d12 swapchain creation to fail. (!2347)
    • Fix build warnings. (!2307, !2272)
    • Fix: Reliability and robustness improvements on Android. (!2308)
    • Fix: Vulkan-related crashes, Vulkan validation errors, and other Vulkan API usage issues. (!2316, #428, !2332, #381, !2337)
    • Fix: Be able to build properly in directories with whitespace. (!2319)
    • Fixes the image memory size of imported d3d12 texture resources being set to zero causing zero size error messages and d3d12 swapchain creation to fail. (!2347)
    • Removes unneeded warning in swapchain creation about requested sizes being larger than sizes reported by vkGetImageMemoryRequirements for imported images. (!2347)
    • cmake: bump minimum required version to 3.22 (!2261)
    • fix: Fix for simulated hand lag and thumb openness affecting certain applications on valve index knuckles. (!2340)

Monado 24.0.0 (2024-06-07)

This is a substantial release, our first tagged release in three years. In that intervening period, most Monado users have been using the main development branch directly. We intend to release more regularly going forward, with very limited backports of fixes to stable branches as needed.

Compared to 21.0.0, this release features, among many other changes, substantially improved OpenXR conformance, support for additional extensions as well as initial support for OpenXR 1.1 (intended to be conformant but not yet submitted), asynchronous time warp in both the graphics-pipeline and compute-pipeline compositors, equal composition layer support in both compositor pipelines, improved multi-platform capabilities, optical hand tracking in some environments, support for external visual-inertial tracking (VIT aka SLAM) modules, and many driver additions and improvements. The maintainers would like to express our gratitude to the Monado community for their collective efforts, submission of merge requests and issues, mutual support, derived runtimes, and documentation efforts on top of Monado over the past three years. We look forward to keeping the momentum up!

  • Major changes
    • Implement OpenXR 1.1 (!2194)
    • Added WinMR driver, it supports most headsets and controllers. Controllers can be connected both via host-Bluetooth and tunneled with the onboard radio chip. By default has 3DoF tracking, it can do 6DoF if used with the Basalt SLAM tracking software. Distortion is there but doesn't work perfectly on all hardware, best results is on Reverb G2. (!774, !780, !782, !784, !850, !989, !990, !991, !999, !1000, !1003, !1006, !1010, !1011, !1014, !1018, !1025, !1030, !1035, !1041, !1048, !1051, !1052, !1055, !1056, !1060, !1063, !1088, !1101, !1103, !1111, !1134, !1227, !1234, !1244, !1264, !1291, !1334, !1382, !1418, !1446, !1498, !1506, !1550, !1590, !1596, !1602, !1619, !1636, !1643, !1665, !1719, !1744, !1752, !1754, !1797, !1845, !1852, !1855, !1857, !1859)
    • New compute-shader based rendering backend in the compositor. Supports projection, quad, equirect2, cylinder layers. It is not enabled by default. It also supports ATW. On some hardware the use of a compute queue improves latency when pre-empting other GPU work. (!873, !1517, !841, !1998, !2001)
    • Added Tracy as a supported tracing backend, it joins the Perfetto backend. Tracy works on Windows, but doesn't support full system tracing or multi app as well as Perfetto. (!1576, !1577, !1579, !1598, !1827)
    • Add driver for XREAL (formerly nreal) Air glasses, the device features 3dof tracking. Also support XREAL Air 2 and XREAL Air 2 Pro. (!1798, !1989, !2150, #330, !2172)
    • xrt: Updates binding verify usage for new binding code gen and pass in enabled extensions status. (!1896)
    • Add libmonado library, allows control of applications and devices. Exposed API follows semver and is semi-stable. Will never be changed in a backward incompatible way without increasing the major version. Provisions for easily and safely checking version is included, both at compile and runtime. (!1908, !2055, !2099)
    • Add driver for Rokid and Rokid Max glasses, the devices features 3dof tracking. (!1930)
    • Add new curated debug GUI, while not exposing all the of the knobs it presents those knobs in a more organized way compared to the advanced UI. The curated UI also features the readback sink in the background, making it possible for it to double as the peek window. (!1941)
    • Graphics compositor: Add new graphics layer helper code, supports projection, quad, cylinder, and equirect2 layers. This path now completely replaces the old layer renderer that was in the main compositor, making it reusable. (!1983, !1994, !1995, #299, !2026, !2105)
    • Add hot-switch support for input devices like controllers and gamepads. This is not full hot-plug support, but instead only enables switching between devices created at start. (!1992)
    • Add framework support for face tracking xrt-devices. XR_HTC_facial_tracking being the first face tracking extension supported and the conventions of this for expression weights that xrt-device/drivers can output. More will be added in the future. (!2163, !2166, !2218)
    • Add body tracking xrt-devices framework and support for the XR_FB_body_tracking extension. (!2178)
    • Implement experimental XR_MNDX_xdev_space extension (!2211, !2215)
  • XRT Interface
    • Added frame timing code that when the underlying vulkan driver supports the VK_GOOGLE_display_timing extension greatly improves the timing accuracy of the compositor. Along with this tracing code was added to better help use understand what was happening during a frame. (!697)
    • Add functionality to disable individual drivers in the configuration file. (!704)
    • Return xrt_result_t from xrt_gfx_provider_create_gl_egl. (!705)
    • Add XRT_ERROR_EGL_CONFIG_MISSING error, to handle missing config from EGL compositor creation call. (!705, !768)
    • Add small helper function for pushing frames. (!715)
    • Add xrt_compositor_fence interface to handle service and client render synchronisation. (!721)
    • Add XRT_ERROR_THREADING_INIT_FAILURE a new threading related error code. (!721)
    • Add alternative functions to xrt_compositor::wait_frame called xrt_compositor::predict_frame and xrt_compositor::mark_frame these allow one to do frame timing without having to block on the service side. (!721)
    • Add xrt_multi_compositor_control that allows the xrt_system_compositor to expose a interface that the IPC layer can use to manage multiple clients without having to do the rendering. This allows us to move a lot of the code out the IPC layer and make it more about passing calls. (!721)
    • Pass XrFrameEndInfo::displayTime to xrt_compositor::layer_begin so that the compositor can correctly schedule frames, most importantly do not display them too early that might lead to stutter. (!721)
    • Make xrt_swapchain be reference counted. This will greatly help with handling swapchains for multiple clients in the compositor rendering pipeline where a client might go away while the compositor is using it. (!723, !754, !807)
    • Make enum xrt_blend_mode an array instead of a bitfield, so that drivers can specify which one is preferred. (!749)
    • Add new IPC session not created error XRT_ERROR_IPC_SESSION_NOT_CREATED, as some functions cannot be called without first creating a session. (!768)
    • Make eye_relation argument to xrt_device_get_view_pose const, more safety for everybody. (!794)
    • Add XRT_ERROR_IPC_SESSION_ALREADY_CREATED error message to signal that a session has already been created on this connection. (!800)
    • Add a conventions page. (!810, #61)
    • Send down sub-image offsets and sizes in normalised form, this makes it so that compositor does not need to track the size of swapchains. (!847)
    • Add use_dedicated_allocation field to xrt_image_native struct to track if dedicated allocation is required. (!867)
    • Add xrt_vec3_f64 struct. (!870)
    • Make xrt_system_compositor_info::supported_blend_modes an array with an adjacent count field. (!975)
    • Rename all num_ parameters and fields in the interface, typically to _count but sometimes _capacity, to match OpenXR convention. (!977)
    • Remove xrt_view::display::{w|h}_meters, they are not used anywhere. (!1054)
    • Rename xrt_space_graph (and related m_space_graph_* functions in m_space.h) to xrt_relation_chain to more accurately reflect the function of this structure. (!1092)
    • Add the ability for xrt_device to dynamically change the fov of the views return back to the applications. We do this by addning a new function called xrt_device::get_view_poses and removing the old one. This function now returns view poses, fovs and the observer position in one go. (!1105)
    • Add XRT_TIMEOUT to be used for operations that can timeout, same value as VK_TIMEOUT for extra compatibility. (!1147)
    • Make it possible when creating the Vulkan client compositor to say if timeline semaphores has been enabled. (!1164)
    • Add xrt_compositor_semaphore object, add interfaces to xrt_compositor for creating the new semaphore object. Also add interface for passing in semaphore to xrt_compositor::layer_commit. Added support for these interface through the whole Monado stack. (!1164)
    • Add XRT_CHECK_RESULT define to be used for ensure that the result from functions are read and acted upon. (!1166)
    • xrt: Add new XRT_TRACING environmental variable to control if tracing is enabled or not, this is to work around crashes in Perfetto when running the CTS. (!1231)
    • Introduce xrt_uuid_t and xrt_luid_t structs and add these as field to xrt_system_compositor_info to more correctly transport UUID and LUID values. (!1250, !1257, !1259)
    • xrt: Add xrt_swapchain_create_properties to allow client compositors and IPC code to query the main compositor how many images to create on a swapchain, and provide an extension point for more properties as needed. (!1258)
    • Introduce xrt_system_devices struct and xrt_instance_create_system call. This is a prerequisite for builders, also has the added benefit of moving the logic of which devices has which role solely into the service/instance. (!1275, !1279, !1283, !1285, !1299)
    • Introduce xrt_builder struct and various functions on xrt_prober to support them. This is a follow up on the xrt_system_devices changes. These make it much easier to build more complex integrated systems like WinMR and Rift-S, and moves a lot of contextual configuration out of generic drivers like the hand-tracker code needing to know which device it was being used by. (!1285, !1299, !1313)
    • Make an xrt_builder specifically for Lighthouse (vive, index, etc.), and remove Lighthouse devices from the legacy builder. (!1296)
    • No longer include any util headers (in this case u_time.h), the XRT headers are supposed to be completely self contained. The include also messed with build refactoring in the auxiliary directory. (!1328)
    • Mark haptic value in xrt_device_set_output as const. (!1408)
    • Remove unused xrt_layer_cube_data::image_array_index field. (!1421)
    • Add a single header for limits, like max number of swapchain images. (!1553)
    • Add XRT_IPC_SERVICE_PID_FILE_NAME cmake variable to configure the name of pid file. (!1567)
    • Add XRT_OXR_RUNTIME_SUFFIX cmake variable to configure the suffix of the output openXR library. (!1567)
    • Remove the xrt_gfx_native.h as it is no longer needed, it has been replaced by compositor/main own interface file. In the past it was the state tracker or IPC layer that created the xrt_system_compositor directly by calling this function. But now it's the xrt_instances responsibility, and it can pick which compositor to create. So this interface becomes less special and just one of many possible compositors implementations. (!1569)
    • Added XRT_STRUCT_INIT define to help with headers and code that needs to compile as both C and C++ code. This is due to differences in default struct initialization. (!1578)
    • Document using XRT_INPUT_GENERIC_UNBOUNDED_SPACE_POSE unbounded reference space. (!1621)
    • Remote xrt_prober_device::product_name array, the value was only used internally by the prober. There is already a access function for the product name that is needed by USB, so make the interface less confusing. (!1732)
    • Added functions to swapchain to explicitly do the barrier insertion. This pushes the handling of barrier calls into the OpenXR state tracker, while the changes are minimal for the client compositors they no longer have the responsibility to implicitly to insert a barrier when needed. Allows us to in the future support extensions. (!1743)
    • Introduce xrt_layer_frame_data struct that holds per frame data for the xrt_compositor layer interface. This is a sibling to the xrt_layer_data struct which holds per layer data. Both are structs instead of arguments to make it easier to pass the needed data through the layers of Monado, and for easier extension further down the line. (!1755)
    • Extend xrt_swapchain_create_properties to allow the main compositor request extra bits to be used beyond those requested by the OpenXR app. Some compositors might need extra usage bits set beyond just the constant sampled bit. This also ensures that images have exactly the same usages in both the compositor and app. (!1763)
    • Add eye gaze enums to enable exposing eye gaze data to the application. (!1836)
    • Add Gen 3.0 and Tundar vive tracker device names. (!1860)
    • Add generic vive tracker input and output defines. (!1860)
    • Add and passthrough enabled/disabled state of the XR_EXT_hand_tracking extension. (!1890, !1841, !1890)
    • Add and passthrough enabled/disabled state of the XR_EXT_eye_gaze_interaction extension. (!1890)
    • Add a new xrt_input_name entry, XRT_INPUT_GENERIC_PALM_POSE for XR_EXT_palm_pose. (!1896)
    • general: Add support for XR_EXT_hand_interaction profile. (!1901)
    • Add OPPO MR controller defines. (!1904)
    • Add trailing commas to all enums, reduces the size of any future changes to those enums. (!1907)
    • Add new xrt_device_name enum entry for XR_EXT_hand_interaction. (!1915)
    • Add performance settings interface, used to implement XR_EXT_performance_settings. (!1936)
    • Add xrt_thread_hint enum and xrt_compositor::set_thread_hint function, this function lets us implement the XR_KHR_android_thread_settings extension. (!1951)
    • Add xrt_limited_unique_id and xrt_limited_unique_id_t types to donate a special id that is unique to the current process. Use that to decorate xrt_swapchain_native with a limited unique id, useful for caching of the xrt_image_native imports of swapchains and other objects. (!1957, !2066)
    • Add size limit for swapchain. (!1964, !2066)
    • Extend xrt_system_devices with dynamic roles for input devices and add function xrt_system_devices_get_roles to get updated devices. (!1992, !2019)
    • xrt/android: bump AGP to 8.1.0 and use latest google-java-format, spotless and svg-2-android-vector (!2002)
    • Add xrt_device visibility mask interface, this is used to implement the OpenXR extension XR_KHR_visibility_mask. (!2016, !2032, !2034, !2067)
    • Extend xrt_space_overseer and other APIs to support LOCAL_FLOOR. In the Monado interface it is optional, but in OpenXR it is always required if the extension is supported or 1.1 is enabled. (!2018, !2048, !1796)
    • xrt: Make xrt_device::get_visibility_mask return xrt_return_t. (!2034)
    • Tidy the xrt_device.h file to make sure the destroy function is the last function on the device. (!2038)
    • Add XRT_ERROR_DEVICE_FUNCTION_NOT_IMPLEMENTED error message, used to signal when a function that isn't implemented is called. It is not meant to query the availability of the function or feature, only a error condition on bad code. (!2039)
    • handles: Add defines to characterize the behavior of the Vulkan graphics buffer import functionality: on most platforms, the import consumes the reference, but on some it just increases a ref count/clones the reference. (!2042)
    • xrt: Improve the xrt_reference helper functions, making them more clear and better documented. (!2047)
    • Add UNBOUNDED generic space poses, and re-order some of the generic inputs. (!2048)
    • Add reference space usage information, this lets the space overseer know when a space has been used or no longer used. This allows for doing various things like recentering when an application starts, or stopping tracking of the floor if the stage or LOCAL_FLOOR space isn't used. (!2048, !2048, !2092)
    • Fix graphics includes in the xrt_openxr_includes.h header. (!2049)
    • Use uint32_t instead of int64_t for xrt_swapchain_create_info::format. (!2049)
    • Add formats list to xrt_swapchain_create_info, used to implement the OpenXR extension XR_KHR_vulkan_swapchain_format_list. (!2049)
    • For display refresh info add hz prefix, follow code style and add limit to refresh rate array. (!2051)
    • Add new API in xrt_compositor and xrt_multi_compositor_control interfaces for display refresh rate setting and getting, used to implement XR_FB_display_refresh_rate. (!2051)
    • Add new recenter function on xrt_space_overseer and new result code for when recentering isn't supported. (!2055)
    • Introduce two new objects xrt_system, xrt_session, xrt_session_event and xrt_session_event_sink. Along with two new error returns XRT_ERROR_IPC_COMPOSITOR_NOT_CREATED and XRT_ERROR_COMPOSITOR_NOT_SUPPORTED. Also moves the compositor events to the session. (!2062)
    • Add xrt_session_event_reference_space_change_pending event, this is used to generate XrEventDataReferenceSpaceChangePending in OpenXR. (!2081)
    • Pass down broadcast xrt_session_event_sink pointer to prober and builder when creating system, this is used to broadcast events to all sessions. Such as reference space change pending event. (!2081)
    • xrt_defines: Added new define XRT_MAX_VIEWS to define the maximum number of views supported by the system. This is used to define the maximum number of views supported by the distortion calculation as well as other view-related arrays. (!2086)
    • xrt_device: Added new function xrt_device_get_view_configuration to get the view configuration for a device. Array size is determined by XRT_MAX_VIEWS. (!2086)
    • The runtime name is now picked up from the CMake project description. (!2089)
    • Add xrt_device::ref_space_usage function to let an xrt_device know if a reference it's powering is being used or not by any client. (!2091, !2107)
    • Make it possible to get builders from prober, this is useful for generating reports for end-user debugging. (!2094)
    • Make it possible to control where dump goes, this is useful for generating reports for end-user debugging. (!2094)
    • Prevent systemd from activating the user unit in quick succession, if it crashes on startup. This keep the units from entering a failed state. (!2116)
    • config: Add XRT_OS_ANDROID_USE_AHB for Android platform. If this macro is not defined, Vulkan memory will be used to create swapchains. (!2117)
    • xrt: Support STAGE space to be tracked by xrt_devices and implement in steamvr_lh, survive and remote drivers. (!2121)
    • Support overriding steamvr path with the STEAMVR_PATH environment variable. (!2149)
    • Add XRT_SPACE_BOUNDS_UNAVAILABLE and XRT_ERROR_COMPOSITOR_FUNCTION_NOT_IMPLEMENTED enum, and xrt_compositor::get_reference_bounds_rect function to implement xrGetReferenceSpaceBoundsRect (!2180)
    • Fix compile error in t_imu.cpp due to missing header (!2182)
    • Generate the enum xrt_input_name from a macro to avoid code duplication (!2191)
  • State Trackers
    • OpenXR: Keep track of the union of each action set's action sub-action paths (!458)
    • OpenXR: Stricter path verification in xrSyncActions (!458)
    • OpenXR: Fix action state change/timestamp updates (!458)
    • OpenXR: Ignore XrSystemHandTrackingPropertiesEXT when hand tracking extension is not enabled. (!688)
    • OpenXR: Support EGL clients sending in no EGLConfig if the EGLDisplay supports EGL_KHR_no_config_context. (!705)
    • OpenXR: Use new multi compositor controls to set visibility and z_order if available. This is needed for when we are not in service mode. (!759)
    • OpenXR: Add prefix to gfx related session functions to improve sorting. (!847)
    • OpenXR: Break out end frame handling to its own file since it's so big. (!847)
    • OpenXR: Fill in normalised sub-image offsets and sizes. (!847)
    • OpenXR: Add support for XR_KHR_swapchain_usage_input_attachment_bit. (!886)
    • OpenXR: Implement a basic support XR_FB_display_refresh_rate that can report the current refresh rate. (!897)
    • OpenXR: Add support for RenderDoc frame capture of OpenXR applications between xrBeginFrame and xrEndFrame. (!1126)
    • OpenXR: Add XRT_CHECK_RESULT to oxr space functions. (!1166)
    • OpenXR: Ensure even if relation is not locatable return only valid data. (!1166)
    • OpenXR: Improve logging in xrLocateSpace. (!1166)
    • OpenXR: Do not expose the XR_EXT_debug_utils extension, none of the functions where given out but we still listed the extension to the loader. So we put it behind a feature config that is always set to off. (!1312)
    • OpenXR: Make sure to init session fields as early as possible. (!1353)
    • OpenXR: Update headers to 1.0.23. (!1355)
    • OpenXR: Validate faceCount parameter of XrSwapchainCreateInfo. (!1399)
    • OpenXR: Now does the barrier insertion explicitly, see XRT comment for this MR. (!1743)
    • OpenXR: Refactor logging functions and use OutputDebugStringA on Windows. (!1785)
    • OpenXR: Refactor OXR_NO_PRINTING env vars, split them in two (which is useful for Windows that has stderr and Debug console), and make stderr printing default off on Windows. (!1785, !1785, !1889)
    • OpenXR: Set extensions earlier in instance init. (!1796)
    • OpenXR: Refactor wait frame function to avoid setting state before we should. (!1805)
    • OpenXR: Fix crashes when enabling headless extension but using graphics. (!1808, #98)
    • OpenXR: Add support for XR_EXT_eye_gaze_interaction. (!1836, !1867, #269, !2027)
    • OpenXR: Use truncating printf helpers from util. (!1865)
    • OpenXR: Check that argument performanceCounter to xrConvertWin32PerformanceCounterToTimeKHR is valid. (!1880)
    • OpenXR: Add missing cpp defines/checks for: XR_HTCX_vive_tracker_interaction and XR_MNDX_hydra. (!1890)
    • OpenXR: Add disabled XR_EXT_palm_pose, no device driver actually support it yet hence added in a disabled state. (!1896)
    • OpenXR: Add disabled XR_MSFT_hand_intertaction. The binding code has support for this extension, but the bindings are not used in any of the drivers so totally untested and would lead to the wrong expectations of the applications. (!1896)
    • OpenXR: Remove non-reachable return for oxr_xrPathToString (!1899)
    • OpenXR: Add support for XR_EXT_hand_interaction profile (!1901, !2027)
    • OpenXR: Add XR_MNDX_system_buttons extension to expose system buttons for controllers where they have been omitted. (!1903)
    • OpenXR: Add OPPO MR controller extension. (!1904)
    • OpenXR: Fix profile look for XR_EXT_hand_interaction while not breaking XR_msft_hand_interaction binding look-up (!1915)
    • OpenXR: Implement XR_EXT_performance_settings. (!1936)
    • OpenXR: Implementation of XR_KHR_android_thread_settings. (!1951)
    • OpenXR: Verify size limit for swapchain. (!1964, !2066)
    • OpenXR: Prefer use of action ref in binding code, in other words make oxr_action_attachment_bind only use oxr_action_ref params. (!1985)
    • OpenXR: Refactor device getters. (!1985)
    • OpenXR: Add support for new dynamic device roles. The bindings from actions to devices will be recalculated when decides change. (!1992, !1992, !2073)
    • OpenXR: Route log output to Android logcat. (!2003)
    • OpenXR: Implementation of XR_KHR_visibility_mask. (!2016, !2032, !2027)
    • OpenXR: Refactor reference space validation and support checking, code now supports per system set of supported reference spaces. (!2018)
    • OpenXR: Export local_floor if extension enabled and space is supported, since the extension is compile time we may break the space if the system actually doesn't support local_floor. Hopefully those cases should be rare. (!2018, !2018, !2033, !2027)
    • OpenXR: Export unbounded if extension enabled and space is supported, it's exposed via XR_MSFT_unbounded_reference_space. (!2018, !2018, !2027)
    • OpenXR: Fix xrSyncActions' return code with no action sets. (!2024)
    • OpenXR: Properly check all extension interaction profiles if enabled or supported in xrSuggestInteractionProfileBindings. (!2027)
    • OpenXR: Make many more extensions build time options, doesn't change which are enabled by default. This lets runtimes using Monado control which extensions are exposed, this needs to be build time options because extensions are listed before a connection is made to the service. (!2027)
    • OpenXR: Handle session not focused for action input and output and return XR_SESSION_NOT_FOCUSED where needed. (!2035)
    • OpenXR: Use xrt_device function helper. (!2038)
    • OpenXR: Add support for reference space usage. (!2048)
    • OpenXR: Track which graphics API was used to create the session. (!2049)
    • OpenXR: Implement XR_KHR_vulkan_swapchain_format_list. (!2049, !2049, !2059, !2083)
    • OpenXR: Complete implementation of extension XR_FB_display_refresh_rate. (!2051, !2054)
    • OpenXR: Add support for the new xrt_system and xrt_session objects. (!2062)
    • OpenXR: Fix unhandled enum in switch statements. (!2069, !2063)
    • OpenXR: Transition headless session to FOCUSED on xrBeginSession as per the extension, this fixes actions not being active in headless sessions. (!2072)
    • OpenXR: Tidy code a little bit and improve debugging of bindings. (!2072)
    • OpenXR: Add guards around overlay event code and tidy event code. (!2074)
    • OpenXR: Add extension XR_FB_composition_layer_image_layout. (!2075)
    • OpenXR: Add XR_KHR_composition_layer_color_scale_bias support, disabled by default because Monado's main compositor doesn't support it. (!2078, !2082)
    • OpenXR: Use correct define to test for extension support. (!2082)
    • OpenXR: Add XR_FB_composition_layer_alpha_blend support, disabled by default because Monado's main compositor doesn't support it. (!2087)
    • OpenXR: Add extension XR_FB_composition_layer_settings. (!2088)
    • OpenXR: Fix crashes on too many bindings to a single action. (!2109)
    • OpenXR: Increase internal limit of bindings per action. (!2109)
    • OpenXR: Switch to use new loader header. (!2111)
    • OpenXR: Implement extension 'XR_FB_passthrough'. (!2124)
    • OpenXR: Add extension XR_FB_composition_layer_depth_test. (!2129)
    • OpenXR: Fix binding init/updates not being reset for any-pose-subaction paths (!2133)
    • OpenXR: Fix xrGetCurrentInteractionPath returning incorrect paths for a particular hand becoming unbound (!2133)
    • OpenXR: Fix invalid timestamps for action cache updates. (!2146)
    • OpenXR: Get vendor id/name from server. (!2151)
    • OpenXR: Avoid calling oxr_action_cache_stop_output every time when xrSyncActions is called. (!2171)
    • OpenXR: Implement function 'xrGetReferenceSpaceBoundsRect'. (!2180)
    • OpenXR: Fix null-pointer crash bug in xrGetVisibilityMaskKHR with in-process builds and replicates the same behaviour as out-of-process builds of falling back to a default implementation. (!2210, #375)
    • OpenXR: support XrEventDataVisibilityMaskChangedKHR for visibility mask (!2217)
    • OpenXR: Ignore primaryViewConfigurationType with XR_MND_headless (!2225)
    • gui: Add a GUI for recording videos from the Valve Index. (!715)
    • gui: Show git description in monado-gui window title. (!830)
    • gui: Add tracing support (!858)
    • gui: Various fixes for video handling, null checking and wrong argument orders. (!859)
    • gui: Add support to record from ELP 3D camera and select DepthAI camera to calibration. (!859)
    • gui: Support RGBA/RGBx and unusual image strides in record window. (!1120)
    • gui: Add SW Ultrafast and SW Veryfast pipelines in record window. (!1144)
    • gui: Make it possible to enter address and port for remote. (!1356)
    • gui: Expose the new Index Controller UI for the remote driver. (!1356)
    • gui: Add some tracing in the prober code. (!1814)
    • gui: Tweaks for the sinks gui, opened by default and make possible to hide the header. (!1827)
    • gui: General tidy and refactoring code to make it prettier. (!1902)
    • gui: Add code to draw a image to the background of the main window. (!1902)
    • gui: Fix warning with passing arrays. (!1928)
    • gui: Rename OpenGL sink file, slightly improve thread safety and add note. (!1957)
    • gui: Add infinitely fast trigger finger in remote UI. (!2110)
    • gui/calibration: Skip mode selection if there's only one mode. (!1074)
    • gui/calibration: Save/load parameters to file so that you don't have to change them every time. (!1074)
    • oxr: Enable RenderDoc compiling on Android (!2005)
    • oxr: Enable VK_EXT_debug_utils extension for client side on the platform that support it. Since it can not be reliably detected if the extension was enabled by the application on XR_KHR_vulkan_enable instead use the the environmental variable OXR_DEBUG_FORCE_VK_DEBUG_UTILS to force it on. (!2005, !2005, !2044)
    • oxr: RenderDoc support on Vulkan/OpenGL ES client sides and Android platform, make rdc can be captured by the button in UI (!2005)
    • prober: Minor fixes & tidy commits. Mostly around doc-comments and the string descriptor getter function. (!686)
    • prober: Change the default logging level to info so that people can see what drivers are disabled. (!735)
    • prober: Fix warnings found with GCC 13. (!1921)
    • prober: Quit without crashing if no driver is available. (!1996)
    • st/gui: Refactor a few OpenGL drawing code into helper. (!1957)
    • steamvr_drv: Add support for new dynamic device roles. (!1992)
    • steamvr_drv: Add support for the new xrt_system and xrt_session objects. (!2062)
    • steamvr_drv: Fill HMD properties for games and apps to recognize it correctly. (!2102)
  • Drivers
    • Sample driver: Implement missing APIs. (!2067, !2135)
    • ULv5: Add new driver for UltraLeap v5 API for hand-tracking devices. (!2064)
    • adjust the pose for VIT system and assumes basalt (!2058)
    • all: Use u_device_noop_update_inputs helper for drivers with nothing in their update input function. (!2039)
    • all: Standardize use of u_device_get_view_poses helper. (!2039)
    • android_sensors: Fixed the issue of screen stuttering on some Android devices caused by failing to set the IMU event rate. (!1912)
    • android_sensors: Set both orientation and position valid flags in the Android driver's get_tracked_pose callback. hello_xr, Unity and possibly other apps check the view pose flags for both position & orientation flags to be valid otherwise they invoke xrEndFrame with no layers set causing a constant gray screen. (!2219)
    • d/remote: Add and use a multi-os r_socket_t typedef, with R_SOCKET_FMT to define the printf format to use for a socket descriptor (!2165)
    • d/vive: Use raw imu samples for SLAM (!2131)
    • d/wmr: Properly compute hand tracking boundary circle (!2131, !2131, !2173)
    • d/xreal_air,d/vive: Reduce relation history lock contention (!1949)
    • d/{wmr,rift_s,vive,ns}: Share hand bounding box with head tracker (!2131, !2143)
    • depthai: Add a new frameserver driver that supports some of the DepthAI cameras. (!836, !831, !837, !858, !934, !1027, !1029, !1063, !1097, !1153, !1260, !1278, !1282, !1360, !1494, !1519, !1523, !1603, !1649, !1692, !1769, !1770, !1832, !1839, !1881, !2228)
    • euroc: Add euroc driver that plays EuRoC datasets for SLAM system evaluation. (!880)
    • ht: Error out if we can't find a hand-tracking model directory. (!1831)
    • multi: Enable specifying arbitrary xrt_input_name for querying tracker poses. (!741)
    • north_star: Upstream Moshi Turner's "VIPD" distortion. (!839)
    • north_star: Fix the FOV calc on the v1/3D distortion. (!839)
    • north_star: General improvement of code organization. (!839)
    • north_star: Improved JSON parsing. (!839)
    • ohmd: Support OpenHMD controllers and specifically the Oculus Touch controller. (!742)
    • ohmd: Fix warnings and tidy. (!2038)
    • ohmd: Disable WMR and Rift S drivers with a warning to use the native drivers. (!2221)
    • opengloves: Refactor creation. (!1987)
    • pssense: Add trigger force feedback. (!1916)
    • psvr: Ensure that timestamps are always monotonic, stopping any time-traveling sample packets. (!717)
    • qwerty: Add qwerty driver for emulating headset and controllers with mouse and keyboard. (!714, !1789, !1926)
    • qwerty: Fix input timestamps for select and menu. (!2080)
    • realsense: Expand driver to support non-T26x cameras and external SLAM tracking. (!907)
    • remote: Greatly improve the remote driver. Properly shut down the main loop. Use the new xrt_system_devices as base class for r_hub. Expose the Valve Index Controller instead of the simple controller as it better allows to map other controllers to it. Reuse the vive bindings helper library. (!1356)
    • remote: Fix warnings found with GCC 13. (!1921)
    • remote: Add support for new dynamic device roles. (!1992)
    • remote: Add support for local_floor space. (!2018)
    • remote: Fix socket closing on Windows by using socket_close. (!2060, !2061)
    • rift_s: Add Rift-S driver, this works with Monado's hand and SLAM tracking. (!1447, !1580, !1665, !1691, !1823)
    • rs: Fix warnings with function declarations. (!1989)
    • simulated: Support reference space usage via debug printing. (!2091)
    • steamvr_lh: Add driver that wraps the SteamVR Lighthouse driver. (!1861, !1927, !1943, !1947, !1950, !2077, !2090)
    • steamvr_lh: Add Vive Pro support. (!1927)
    • steamvr_lh: Add Index support, also support canting of views. (!1927)
    • steamvr_lh: Add Valve Knuckles support, also support hand tracking. (!1927)
    • steamvr_lh: Basic vive tracker support. (!1927, !1927, !1943)
    • steamvr_lh: Fix warnings with logger defines. (!1929)
    • steamvr_lh: Set driver IPD & brightness on HMD. (!1929, !1929, !1943)
    • steamvr_lh: Fix prediction and jitter and remove old LH_PREDICTION env var. (!1943)
    • steamvr_lh: Use proper timestamp on hands and fix angular/linear velocity handling. (!1947)
    • steamvr_lh: Add a mutex to update_inputs() to prevent unsafe condition in lighthouse driver. (!1968)
    • steamvr_lh: Add tundra as a generic tracker (!1979)
    • steamvr_lh: Silence some useless logging and properly wait for vive wands to settle (!1986)
    • steamvr_lh: Simplify coordinate space conversion. (!2090)
    • steamvr_lh: Make playspace reading more robust by choosing the first tracking universe from lighthousedb.json that is found in chaperone_info.vrchap. (!2114)
    • steamvr_lh: Add additional bindings for vive and index controllers. (!2115)
    • steamvr_lh: Introduce new driver interface (!2136, !2213)
    • steamvr_lh: Adjust location flags behavior for better lighthouse tracking on occlusion (!2212)
    • survive: Add support for Gen 3.0 and Tundra trackers. (!1860)
    • survive: Add support for HTC Vive Pro 2 (!1911)
    • survive: Fall back to default ipd if survive reports 0.0 (!2128)
    • survive/vive: Use new common controller bindings in a/vive. (!1265)
    • ulv5: Add orientation values to hand joints. (!2118)
    • v4l2: Add tracing support. (!858)
    • vf: Show the time on the video test source video server. (!715)
    • vf: Some tidy, frame fixes and tracing support. (!860)
    • vive: Factor out json config parser and reuse it in survive driver. (!674)
    • vive: Add rotation pose prediction to HMD and Controllers (!691)
    • vive: Setup the variable tracking for imu fusion. (!740)
    • vive: Tidy code by improving comments, removing old print, and use defines for hardcoded values. (!793)
    • vive: Minor refactor to IMU conversion code, should be no functional change. (!793)
    • vive: Drian IMU packets at start, this helps reduce time drift due backed up packets confusing the timing code. (!1829)
    • vive: Refactor timing code in source, make it take in account of the age of samples, this reduces the time drift due to irregular delivery of packets. (!1829)
    • vive: Add support for Gen 3.0 and Tundra trackers. (!1860, !1860, !1863)
    • vive: Try to set realtime priority on sensors thread (!1881)
    • vive: Set the correct tracking origin type when we have SLAM. (!1893)
    • vive: Add support for HTC Vive Pro 2 (!1911)
    • vive: Follow common naming of update_inputs. (!2038)
    • wmr: Add Windows Mixed Reality driver, supports 6dof through Basalt. (!774, !803, !1796, !1797)
    • wmr: Add SLAM (6dof inside-out) tracking for WMR headsets. (!1035)
    • wmr: Add initial hand tracking for WMR devices. (!1264)
    • wmr: Add auto exposure and gain module. (!1291)
    • wmr: Send calibration automatically to SLAM tracker. This makes WMR SLAM tracking work out of the box without user intervention with Basalt. (!1334)
    • wmr: Move driver over to builder interface. Currently only a simpler builder, the SLAM and Hand-Tracking setup hasn't been moved out yet. (!1754)
    • wmr: Improve WMR controller orientation when in 3DoF by using the information that is available in the JSON config that is stored on the controllers. (!1858)
    • wmr: Reduce drifting by applying calibration biases to controllers, doesn't fully eliminate as calibration is lacking for all temperature ranges. (!1876)
    • wmr: Try to set realtime priority on USB thread (!1881)
    • wmr: Add WMR_LEFT_DISPLAY_VIEW_Y_OFFSET and WMR_RIGHT_DISPLAY_VIEW_Y_OFFSET environmental variables to adjust screen distortion. (!1988)
    • wmr: Add Dell Visor support to WMR driver. (!2023)
    • wmr: Follow common naming of update_inputs. (!2038)
    • wmr: Add support for Acer AH101 HMD (!2222)
  • IPC
    • Add support for thread hint function. (!1951)
    • Android: Do not require OPENXR permission when connecting to MonadoService. Permission will not be granted if install application before permission container. (!1213)
    • all: Use libbsd pidfile to detect running Monado instances. Enables automatically deleting stale socket files. The socket file is now placed in $XDG_RUNTIME_DIR/monado_comp_ipc by default or falls back to /tmp/monado_comp_ipc again if $XDG_RUNTIME_DIR is not set. (!565)
    • all: Transfer HMD blend mode, don't drop it on the floor. (!694)
    • all: Now that there is a interface that allows the compositor to support multi-client rendering use that instead of doing our own rendering. (!721, !754, !768, !800, !846)
    • all: Ensure that functions that require the compositor can't be called if a session has not been created yet. (!768)
    • all: Add Windows support to the IPC layer, this is based on named pipes. (!1525, !1531, !1584, !1807)
    • all: Add support for XR_EXT_hand_interaction profile - plumbs extension enabled state to ipc server/drivers. (!1901)
    • all: Rename client connected function and document code. (!1909)
    • all: Send less information when describing the client. (!1909)
    • all: Add a stable ID for clients. (!1909)
    • all: Implement performance settings interface, used to implement XR_EXT_performance_settings. (!1936)
    • all: Add support for dynamic device roles. (!1992, !2013)
    • all: Add ability to do more complex IPC communication by introducing VLA functions. These lets us do the marshalling to some extent oursevles, useful for sending a non-fixed amount of data. This support is bi-directional. (!2009, !2009, !2053)
    • all: Add variable length get views function. (!2009)
    • all: Add support for getting the device visibility mask. (!2016, !2032)
    • all: Share per client thread shutdown code between platforms. (!2046)
    • all: Add support for reference space usage. (!2048)
    • all: Implement display refresh rate functions. (!2051, !2054)
    • all: Add support for recentering local spaces. (!2055)
    • all: Add support for the new xrt_system and xrt_session objects. (!2062, !2079, !2095)
    • all: Add interface for XR_FB_passthrough in Ipc communication. (!2124)
    • all: Forwards the results of server swapchain image waits to xrWaitSwapchainImage client calls (!2133)
    • all: Add support for get bounds rect function, used to implement xrGetReferenceSpaceBoundsRect. (!2180)
    • android: Dup the fd from JVM and maintain it in native. (!1924)
    • client: Refactor out the connection connect code into a its own file, this lets it be reused by other things that might want to connect like monado-ctl and libmonado. (!1875)
    • client: Destroy the shared memory area when shutting down. (!1906)
    • client: Add a interface header for ipc_instance_create. (!1917)
    • client: Generate limited unique ids for native swapchains. (!1957)
    • client: Refactor connection init code. (!2011)
    • client: Check git tag as early as possible when connecting. (!2011)
    • client: Use log_level from the message channel. (!2022)
    • client: Add and use return check helpers, this makes it easier to see where the error happened. (!2025, !2025, !2028)
    • client,server: Setting timer resolution (timeBeginPeriod) improves performance with NVIDIA drivers (!2133)
    • server: Factor out the IPC server mainloop into a per-platform structure. (!685)
    • server: Destroy the shared memory area when shutting down. (!1906)
    • server: Add a interface header for ipc_server_main[_android]. (!1917)
    • server: Fix session deactivation negative array index access. (!1991)
    • server: Use macro TEMP_FAILURE_RETRY to avoid closing a client connection on -ENTR. (!2007, !2012)
    • server: Read the exact command size in the client loop on Linux. (!2053)
    • server: Make the server a little bit more chatty by default (switch the default logging level info from warn). Print out a message that the service has started, and advise how to collect information to help in debugging to ease helping end-users. (!2094)
    • server: Don't call teardown if mutex fails to be created. (!2095)
    • server: Pass in log_level to init function. (!2095)
    • server: Use correct log define error message. (!2095)
    • server: Print more client info. (!2095)
    • server: Re-order functions [NFC] (!2096)
    • server: Add "XRT_NO_STDIN" option disables stdin and prevents monado-service from terminating. (!2133)
    • shared: Change IPC script to automatically mark all input aggregates as const. (!1408)
    • shared: Add function to unmap the shared memory area when destroying. (!1906)
    • shared: Minor tidy of various shared files. (!2022)
    • shared: Break out message channel functions to own files. (!2022)
    • shared: Add ipc_print_result helper. (!2025)
    • shared: Minor fixes and tidy ipc_generated_protocol.h file. (!2030)
    • shared: Add ipc_command_size function to the protocol generation. (!2053)
  • Compositor
    • Android: Refactor surface creation flow. (!1742)
    • all: Rename all num_ parameters and fields, typically to _count, to match OpenXR convention. (!977)
    • android: Default to compute compositor to work around issue 381. (!2236)
    • client: Handle EGL_NO_CONTEXT_KHR gracefully if the EGLDisplay supports EGL_KHR_no_config_context. (!705)
    • client: Use the EGL compositor's display in swapchain, previously it tried to use the current one, which when running on a new thread would explode. (!827)
    • client: Initial support for D3D11 client applications on Windows. (!943, !1263, !1295, !1326, !1302, !1337, !1340)
    • client: Wait on Vulkan clients to complete rendering. (!1117)
    • client: Set default log level on vk_bundle in Vulkan compositor. (!1142)
    • client: Fence the client work and send fence to the native compositor. (!1142)
    • client: Initial support for D3D12 client applications on Windows. (!1340)
    • client: Support for OpenGL client applications on Windows. (!1465)
    • client: Reduce the minimum required OpenGL version for client applications to 3.0. (!1465, #47)
    • client: Do not use the global command buffer pool in the Vulkan compositor. (!1748)
    • client: Silence VK_FORMAT_R32_SFLOAT warning in OpenGL code. (!1750)
    • client: Don't use vkDeviceWaitIdle, because it requires all queues to be externally synchronized which we can't enforce. (!1751)
    • client: Use correct format in get_swapchain_create_properties functions, client compositors are given their formats, make then translate to Vulkan before passing on. (!1763)
    • client: Respect native compositor's extra usage bits, so we can remove the hardcoded always sampled bit. This also ensures that images have exactly the same usages in both the compositor and app. (!1763)
    • client: Wait till D3D12 images aren't in use before releasing the swapchain. (!1868)
    • client: Use D3D12 allocator, and work around NVIDIA bug. (!1920)
    • client: Make sure to not double CloseHandle semaphore HANDLE. (!1935)
    • client: Expose size limit for swapchains. (!1964, !2066)
    • client: Add and use helpers to unwrap native swapchains and compositors. (!1982)
    • client: Make it possible to set log level in Vulkan compositor. (!1993)
    • client: Add renderdoc_enabled implementation for Vulkan/OpenGL only on Android platform (!2005)
    • client: Remove event functions. (!2062)
    • client: Replace glTextureStorageMem2DEXT with glTexStorageMem2DEXT to adapt to more vendors' GPU drivers. (!2117)
    • client: Add interface for XR_FB_passthrough in client side. (!2124)
    • client: Run D3D12 swapchain initial barriers after all possible points of failure. (!2161)
    • client/util: Fix several flags being set wrong on barriers and creation of the swapchain images. We were especially wrong with the depth stencil formats. (!1119, !1124, !1125, !1128)
    • comp: Fix layer submission on NVIDIA Tegra. (!677)
    • main: Integrate new frame timing code. (!697)
    • main: Make it possible to create the swapchain later when actually needed, and have the swapchain be in a non-ready state that stops drawing. (!767, #120, !787)
    • main: Do not list VK_FORMAT_A2B10G10R10_UNORM_PACK32 as a supported format, it's not enough to show linear colours without banding but isn't used that often so do not list it. (!833)
    • main: Also resize on VK_SUBOPTIMAL_KHR. (!841)
    • main: Increase the usage of the get_vk helper function. (!967)
    • main: Use the new helpers to reduce code in main library. (!967)
    • main: Add support for mirroring the left view back to the debug gui, so we can record it or see what somebody's doing in VR. (!1120, !1135, !1144)
    • main: Use at least 3 Vulkan images for comp_target_swapchain if supported. (!1268)
    • main: Setting logging level when checking vulkan caps. (!1268)
    • main: Refactor comp_target_swapchain to not pre-declare internal functions, we seem to be moving away from this style in the compositor so refactor the comp_target_swapchain file before adding the vblank thread in there. (!1269)
    • main: Make VK_KHR_external_[fence|semaphore]_fd optional, this is helpful for CI where only lavapipe can be used which does not support those extensions. (!1270)
    • main: Add thread waiting for vblank events, lets the fake pacer properly synchronise with hardware. (!1271)
    • main: Init comp_base as early as possible, because it needs to be finalised last in destroy. It's basically a base class and should follow those semantics. (!1316)
    • main: Propagate more errors from the renderer frame drawing and helper mirror functions. (!1417)
    • main: Render cube layer (!1421)
    • main: Introduce comp_target_factory. This struct allows us to remove long and cumbersome switch statements for each type. Instead the code is generic and tweaks for specific target types can be reused for others more easily with this data driven design of the code. (!1570, !1684)
    • main: Refactor arguments to comp_target_create_images, introduces the struct comp_target_create_images_info. (!1601)
    • main: Refactor how surface formats are handled, this lets the compositor select which formats are considered exactly, and not just prefer one format. (!1601)
    • main: Do not use the global command buffer pool. (!1748)
    • main: Refactor to use vk_surface_info helper. (!1801)
    • main: Refactor frame handling, makes semantics clearer. (!1801, !1801, !1820)
    • main: Avoid acquiring early if the target isn't ready. (!1801)
    • main: Prefer to only have two swapchains, useful for direct mode rendering. (!1801)
    • main: Try to detect when we miss frames even without frame timing information. (!1801)
    • main: Refactor mirror to debug gui code and add support for compute queue. (!1820)
    • main: Use the new samplers on render_resources, remove the layer renderer framebuffer's samplers. (!1824)
    • main: Optionally enable VK_EXT_debug_marker extension on debug builds. (!1877)
    • main: Name all fence objects using debug helper function. (!1877)
    • main: Use vk_cmd_submit_locked in vk_helper to simply peek logic (!1884)
    • main: Add NorthStar to listed displays (!1893)
    • main: Only wait on the main queue when drawing the frame. (!1893)
    • main: Use enumeration helpers in and refactor the NVIDIA direct target code. (!1894, !1894, !1913)
    • main: Set sequence number correctly on readback frames. (!1902)
    • main: Fix warnings found with GCC 13. (!1921)
    • main: Use more enumeration helpers. (!1940)
    • main: Free plane_properties earlier. (!1940)
    • main: Print creation info for direct mode objects. (!1940)
    • main: Always use the mode's extents when creating the surface. (!1940)
    • main: Use new layer squasher helpers and manage scratch images lifetime. (!1955)
    • main: Trace mirror blit function. (!1957)
    • main: Name the runtime Surface on Android. (!1963)
    • main: Refactor the layer rendering code to use render_gfx_render_pass, render_gfx_target_resources and an VkCommandBuffer that is passed in as an argument to the draw call. This allows the layer renderer to share the scratch images with the compute pipeline. (!1969, !1969, !1970)
    • main: Use VK_CHK_WITH_RET instead of vk_check_error, and convert a few other places to the helpers as well. (!1971, !2050)
    • main: Tidy headers in layer renderer. (!1974)
    • main: Refactor the various getters of poses and view data so that they are shared between both graphics and compute paths. (!1974)
    • main: Refactor graphics dispatch, this makes it easier to extract the code later down the line. (!1974)
    • main: Wire up timewarp on the graphics path for the distortion shaders. (!1981)
    • main: Use new graphics layer squasher. (!1995)
    • main: Remove old layer renderer code and integration. (!1995)
    • main: Add argument to specify display mode id for surface creation. (!2010)
    • main: Fix multiple thread access to VkQueue in present. (!2050)
    • main: Implement display refresh rates function stubs. (!2051)
    • main: Remove events code, no longer needed. (!2062)
    • main: Add enum to select FoV source, it was very unclear where exactly the FoV came from, this makes it clearer and also reduces the number of places it's accessed from. (!2101)
    • main: Use new debuggable scratch images (one comp_scratch_single_images per view), used to drive the preview view in the UI and to debug the views. (!2103)
    • main: Use vk_enumerate_swapchain_images helper. (!2104)
    • main: Improve swapchain creation to print more debug information. (!2104)
    • main: Split submit timing into begin and end. (!2108)
    • main: Make sure to not use the array of displays if we fail to allocate it, and also tidy the code. (!2113)
    • main: Let sub-classed targets override compositor extents. The big win here is that targets no longer writes the preferred_[width|height] on the compositor's settings struct. And this moves us closer to not using comp_compositor or comp_settings in the targets which means they can be refactored out of main and put into util, lettings us reuse them, and even have multiple targets active at the same time. (!2113)
    • main: let compositor targets control more of vulkan initialization. (!2134, !2179)
    • main: Fix bug with incorrect surface format matching. (!2183)
    • multi: Introduce a new multi client compositor layer, this allows rendering code to be moved from the IPC layer into the compositor, separating concerns. The main compositor always uses the multi client compositor, as it gives us a async render loop for free. (!721, !754, !759, !1323, !1346, #171)
    • multi: Make sure there are at least some predicted data, to avoid asserts in non-service mode. (!864)
    • multi: Try to set realtime priority on main thread (!1881)
    • multi: Add support for XR_EXT_hand_interaction profile. (!1901)
    • multi: Add stub set thread hint function. (!1951)
    • multi: Implement display refresh rate functions. (!2051)
    • multi: Switch to use xrt_session_event and xrt_session_event_sink. (!2062)
    • multi_layer_entry: Updated the array length of xscs within multi_layer_entry from 4 to 2 * XRT_MAX_VIEWS to accommodate a variable number of views. (!2086, !2175, !2189)
    • null: Add a new compositor intended to be used on CIs that use the Mesa software rasteriser vulkan driver. It is also intended to be a base for how to write a new compositor. It does no rendering and does not open up any window, so has less requirements then the main compositor, both in terms of CPU usage and build dependencies. (!1319)
    • null: Remove events code, no longer needed. (!2062)
    • render: Refactor and reorganize compositor to improve modularity and ease of reuse. This introduces the render folder which aims to be useful Vulkan render code that can be used outside of the compositor. (!959, !959, !967, !970, !982, !1021)
    • render: Add fast path for single layer projection layer skipping the layer renderer and avoiding one copy. (!959)
    • render: Lots of refactoring and tidying in code, making it independent of the compositor and only depending on the vk_bundle. (!959)
    • render: Refactor out into own library. (!967)
    • render: Use query pool to measure GPU time. (!1268)
    • render: Reuse a single command buffer instead of allocating/freeing it every frame. (!1352)
    • render: Do not use the global command buffer pool, use vk_cmd_pool for distrion images upload. (!1748)
    • render: Add new shared samplers, use them and remove the default sampler. (!1824)
    • render: Various smaller commit to tidy the code, better documentation and naming of defines. (!1955)
    • render: Refactor layer squasher code, the shader is now run once per view instead of doing two views in one submission. Makes it easier to split up targets and requires less samplers in one invocation. (!1955)
    • render: Refactor scratch images so that they are fully their own struct and is managed by a user of the render code. (!1955)
    • render: Optimize layer shader, cutting of around 5%-10% of execution time. (!1955)
    • render: Stop timewarp stretching by changing math. (!1956)
    • render: Don't enable depth testing and writing for mesh shader. (!1969)
    • render: Refactor gfx path code to split out render pass vulkan objects from the render target resources struct into the render_gfx_render_pass struct. This allows the render pass to be reused for more than one target. (!1969)
    • render: Use defines helpers from Vulkan helper code instead of defining self. (!1972)
    • render: Refactor mesh distortion dispatch functions. (!1974)
    • render: Expose render_calc_uv_to_tangent_lengths_rect function, document it better and also add tests for it. (!1974)
    • render: Tweak cmake files so that comp_render is usable without any other of the compositor bits. (!1974)
    • render: Add ability to sub-allocate UBOs from a larger buffer, both code and needed scaffolding to use it in the gfx path. (!1976)
    • render: Make gfx mesh distortion shader sub-allocate it's UBO. (!1976)
    • render: Refactor gfx mesh shader allocation and dispatch. (!1980)
    • render: Remove unused render_gfx_view and other fields on render_gfx, the limiting factor to how many views the graphics path can do now is the sizes of descriptor pools and UBO buffer. (!1980)
    • render: Refactor gfx descriptor pool, descriptor layout creation function, ubo upload ad descriptor updating function to be shareable. The common pattern is one UBO and one source image, so make it possible to share these. (!1980)
    • render: Add timewarp to graphics path distortion shaders, works very similar to the compute paths timewarp. (!1981)
    • render: Make it possible to set clear color when starting render pass. (!1983)
    • render: Add new layer shaders and support code. (!1983)
    • render: Prepare gfx shared one ubo and src code for addition of cylinder and equirect2 shaders. (!1994)
    • render: Add cylinder and equirect2 shaders and code for graphics path. (!1994)
    • render: Remove old graphics layer squasher. (!1995)
    • render: render_resources now has a view_count field, which is set to 1 for mono and 2 for stereo. This is used to iterate over the views in the render function. (!2086, !2175, !2189)
    • render: Use the XRT_MAX_VIEWS macro to calculate the length of a series of arrays. (!2086, !2175, !2189)
    • render: Tweak alpha blending, before on the gfx path the written alpha was always zero, this would pose a problem when we want to display the scratch images in the debug UI as they would be completely black. (!2103)
    • shaders: Add blit compute shader. (!1820)
    • swapchain: Change struct xrt_swapchain *l_xsc, struct xrt_swapchain *r_xsc to struct xrt_swapchain *xsc[XRT_MAX_VIEWS], in order to support multiple views' swapchains. When iterating, use xrt_layer_data.view_count. (!2086, !2175, !2189)
    • util: Refactor swapchain and fence code to be more independent of compositor and put into own library. Joined by a comp_base helper that implements a lot of the more boilerplate compositor code. (!967)
    • util: Add Vulkan helper code to initialise a vk_bundle from scratch. (!970)
    • util: Completely propagate errors from image creation failures and some tidy. (!1417, !1417, !2052)
    • util: Remove samplers from comp_swapchain_image, they were always the same. (!1824)
    • util: Name all fence objects using debug helper function. (!1877)
    • util: Improve Vulkan instance creation code to be clearer about what extensions are missing, also generally refactor function to make it better. (!1885)
    • util: Make sure to not destroy invalid VkSemaphore objects. (!1887)
    • util: Track native semaphore handles, following the semantics of other handles in Monado. This fixes the leak of syncobj_file on Linux. (!1887)
    • util: Use enumeration helpers, with a tiny little bit of refactor to increase code reuse. (!1894)
    • util: Add helpers to launch the compute layer squasher shaders and the compute distortion shaders. They are in comp_util because it looks at a list of comp_layer and comp_swapchain structs that comp_base manages. (!1955, !1955, !1967, !1975)
    • util: Generate limited limited ids for native swapchains. (!1957)
    • util: Prefix compute functions with cs, rename file and refactor out layer helpers in preparation for new graphics layer render code. (!1983)
    • util: Prepare code for addition of cylinder and equirect layers to graphics paths, like adding various helpers. (!1994)
    • util: Add cylinder and equirect2 shaders and code for graphics path. (!1994)
    • util: Replace is_view_index_visible helper by is_layer_view_visible. (!1998)
    • util: Also clean up image views on mutex and cond variable creation error in the comp_swapchain.c file. (!2052)
    • util: Refactor how arguments are given, this makes it easier to change the number of views that the code supports. (!2101)
    • util: Add comp_scratch_single_images and comp_scratch_stereo_images helper struct, these uses u_native_images_debug this let us do zero copy viewing or debugging of the images. (!2103)
    • util: Expand on swapchain import error codes. This allows the CTS in Direct3D 12 to not fail when attempting to import sRGB swapchains with flags such as XR_SWAPCHAIN_USAGE_UNORDERED_ACCESS_BIT. (!2167)
    • util: Fix double free when failing to initialize Vulkan swapchain util: Fix double free when failing to import non-Vulkan swapchain (!2199)
    • util: Fix vk_deinit_mutex asserts when vk_create_device fails. (!2214)
    • util: Fix a crash bug in render_gfx_end_target with non-compute pipeline path on certain Android devices when zero layers are committed. (!2216)
    • xrt_layer_type: Renamed the XRT_LAYER_STEREO_PROJECTION to XRT_LAYER_PROJECTION and XRT_LAYER_STEREO_PROJECTION_DEPTH to XRT_LAYER_PROJECTION_DEPTH in the xrt_layer_type enumeration to support both mono and stereo projection layers. This change provides a more inclusive and versatile categorization of projection layers within the XRT framework, accommodating a wider range of use cases. (!2086, !2175, !2189)
  • Tracking
    • h/mercury: Push hand rect masks to the SLAM tracker sinks (!2131)
    • hand: General tidy of the async code. (!1893)
    • hand: Rename new user hand estimation switch. (!1893)
    • hand: Add env variables to control prediction. (!1893)
    • mercury: Add Levenberg-Marquardt optimizer and lots of improvements. Makes hand tracking finally somewhat usable. (!1381)
    • t/hand: Reduce relation history lock contention (!1949)
    • tracking: Remove unused destroy function on async interface. (!1893)
  • Helper Libraries
    • Introduce VIT loader to load a given VIT system, implement the VIT interface in SLAM tracker, and remove the unused MatFrame class. Only turn on the SLAM feature on Linux. (!2058, !2125, !2144)
    • When a space is located in itself as base space, skip locating the space altogether. (!2192)
    • a/bindings: Interaction profile inheritance, support data-inheritance in bindings.json, add a new concept of virtual profiles for profile like extensions (e.g. XR_EXT_palm_pose) which do not define a profile themselves but require their newly defined actions to be supported by all profiles. (!1896)
    • a/bindings: Add support for XR_EXT_hand_interaction profile - Updates bindings & pretty-print for newly added support for XR_EXT_hand_interaction profile. (!1901)
    • a/math: Fix const-correctness in m_relation_history (!2133)
    • a/util: Fix crash bug with XR_EXT_dpad_binding after multiple session re-runs. (!2133)
    • a/util: Fix missing lib in cmake file for building mercury_steamvr_driver (!2169)
    • a/vive: Add FoV tweaks for another index HMD (!1937)
    • all: Rename all num_ parameters and fields, typically to _count, to match OpenXR convention. (!977)
    • android: Tidy code and add warning on not getting refresh rate. (!1907)
    • android: Support creating surface with title. (!1963)
    • android: Add argument to specify display mode id for surface creation. (!2010)
    • aux/debug_ui: bump the minimum gl version to 4.5 (!2147)
    • bindings: Add support for eye gaze bindings extension. (!1836)
    • bindings: Add generic vive tracker input and output bindings, not used for now. (!1860)
    • bindings: Correct ML2 controller extension string. (!1890)
    • bindings: Add system buttons to WinMR controllers, for OpenXR gate them behind the XR_MNDX_system_buttons extension. (!1903)
    • bindings: Add OPPO MR controller profile. (!1904)
    • bindings: Replaces the monado_device entry for XR_EXT_hand_interaction in bindings.json to refer to a new device name type. (!1915)
    • cmake: Split the CMakeLists.txt out into the sub-directories of each library, making each much more manageable when editing. (!1328)
    • d3d: Add D3D helpers used by various parts of Monado, mostly the D3D11 client compositor. (!943, !1326, !1302, !1337)
    • d3d: Add a D3D12 allocator, certain use-cases in D3D12 requires the resource to be allocated directly in D3D12, like multi-gpu. (!1920)
    • d3d: Add copy D3D12 helper functions, needed to work around issues with layout on small textures on NVIDIA hardware. (!1920)
    • external/slam: Update to 7.0.0 with RESET_TRACKER_STATE and ignore masks (!1937)
    • h/mercury: Add min detection confidence option (!1937)
    • m/3dof: Add assert to catch time traveling drivers. (!717)
    • math: Fix for M_PI on Windows. (!735)
    • math: Add math_map_ranges function, does the same thing as Arduino's map. (!839)
    • math: Add clock_offset utility to estimate offset between clocks (!1590)
    • math: Minor tidy of m_api.h, m_base.cpp and CMakeLists.txt. (!1978)
    • math: Add function to calculate a vulkan infinite reverse projection matrix. (!1978)
    • math: Refactor m_clock_offset_a2b to avoid precision problems. (!2106)
    • math: Refactor apply_relation to handle valid/tracked flags more like OpenXR. (!2186)
    • math: Restore upgrading of 3DOF relations with valid positions to ensure 3DOF devices have monado's 3DOF offset. (!2239)
    • misc: Fix double free when shrinking typed array to zero. (!2069)
    • ogl: Add various helper functions, and tidy code a bit. (!1957)
    • os: Rename threading functions to more clearly state that it both stops and waits on the thread. Also add asserts to make sure primitives have been initialized. (!1320, !1324, !1329, !1353)
    • os/threading: Add mutex recursive wrapper. (!1933)
    • os/threading: fix assert in debug build (!2127)
    • os/time: Use timePeriod[Begin|End] when sleeping in precise sleeper (!1585)
    • pacing: Add minimum app margin, also add U_PACING_APP_MIN_MARGIN_MS env var. (!1961)
    • system_helpers: Make system devices easier to embed. (!1977)
    • t/calibration: Add support for RGB image streams, also add a special sink converter helper to handle this case. (!859)
    • t/calibration: Make it possible to select number distortion parameters. (!859)
    • t/calibration: Add support for findChessboardCornersSB in calibration code. (!911)
    • t/cli: Add monado-cli slambatch command for evaluation of SLAM datasets in batch. (!1172)
    • t/euroc: Add EuRoC dataset recorder for saving camera and IMU streams to disk. (!1017)
    • t/euroc: Allow euroc recorder to start and stop recordings in the same session (!1937)
    • t/file: Migrate calibration file format to JSON. (!1005)
    • t/fm: Add simple FrameMat that wraps a cv::Mat, this allows us to easily pass cv::Mat's around without the C code needing to know about OpenCV. (!825)
    • t/hsv: Add tracing support for timing info. (!858)
    • t/psvr: Fix warnings found with GCC 13. (!1921)
    • t/slam: Initial external SLAM tracking support, working with fork of Kimera- VIO. (!889)
    • t/slam: Add Basalt as a possible external SLAM system. (!941)
    • t/slam: Update SLAM interface to support dynamically query external systems for special features. (!1016)
    • t/slam: Add naive prediction to the SLAM tracker. (!1060)
    • t/slam: Add trajectory filters and use IMU for prediction in the SLAM tracker. (!1067)
    • t/slam: Add tools for performance and accuracy evaluation of the SLAM tracker. (!1152)
    • t/slam: Support calibration info from drivers and sending it to the external SLAM system. (!1334)
    • t/slam: Add basic tracing support. (!1796)
    • t/slam: Add reset state button (!1937)
    • t/slam: Turn timestamp asserts into warnings (!1937)
    • t/slam: Use locks for CSV writers (!2000)
    • t/slam: Use newly-extracted "VIT" (visual-inertial tracking) interface project, version 2.0.1, to connect to SLAM trackers. (!2131, !2132)
    • t/slam: Send hand tracking masks to VIT system (!2131)
    • tracking: Tidy and improve xrt::auxiliary::tracking::FrameMat. (!2056)
    • u/aeg: Implement module for auto exposure and gain to help with SLAM tracking. (!1291)
    • u/builder: Introduce new u_builder to make it easier to implement the interface function xrt_builder::open_system. Allowing lots of de-duplication of code that was exactly the same in most builders. (!2057, !2072)
    • u/builders: Refactor space overseer creation helper. (!1987)
    • u/config_json: Add functionality to save/load gui state to file. (!1074)
    • u/debug: Refactor code to be prettier and expose more conversion functions. (!1874)
    • u/debug: Use system properties on Android for the debug settings, properties are prefixed with debug.xrt. so the property for XRT_LOG is debug.xrt.XRT_LOG. (!1874)
    • u/debug_gui: Small refactor of loop and and tracing. (!1814)
    • u/device: Added u_device_2d_extents and u_setup_2d_extents_split_side_by_side, this is hopefully to eliminate confusion: the FOV you had to give to u_device_split_side_by_side was a placeholder value, but some people thought it was the actual headset's FOV. (!839)
    • u/device: Improve comment on u_device_get_view_poses. (!2023)
    • u/device: Add default, no-op and not implemented function helpers. (!2039)
    • u/device: Added new function u_device_setup_one_eye. (!2086)
    • u/fifo: Doc comments, and small improvements to the C++ wrapper helper. (!1810)
    • u/file: Search more paths, and actually test if a directory is there, for hand-tracking models. (!1831)
    • u/file: Changed file open mode from "r" to "rb" to ensure binary mode is used for reading the file. This resolves an issue where file size and read size were inconsistent on Windows platform. (!2164)
    • u/frame_times_widget: Optimize FPS calculation using precomputed frame timings. (!2068)
    • u/generic_callbacks: Fix missing include for generic callback structure. (!1931)
    • u/json: Add cJSON C++ wrapper. (!957)
    • u/linux: Add code that raises the priority of the calling thread to realtime, requires the process to be run as root or have CAP_SYS_NICE set. (!1881)
    • u/live_stats: Add helper to do live statistics on nano-seconds durations. (!2108)
    • u/logging: Fix the first message always getting printed due to un-initialized variable. (!735)
    • u/logging: Add logging sink to intercept log messages. (!1171)
    • u/logging: Log to stderr in Windows. (!1475)
    • u/logging: Truncate the output of hexdump at a safer limit (16MB). (!1865, !1879)
    • u/logging: Refactor printing to be safer using truncating helpers, and increase the reuse of code. (!1865, !1865, !1892)
    • u/logging: Make the CMake variable only be true on Linux. (!1865)
    • u/logging: Add json logging, it can be enabled via the XRT_JSON_LOG env var. (!1898)
    • u/metrics: Add code that allows writing various metrics information that can then be processed for a better view into the run. (!1512, !1521, !1579)
    • u/native_images_debug: Add u_native_images_debug and u_swapchain_debug to debug xrt_image_native and xrt_swapchain_native content. (!2103)
    • u/pacing: Add frame timing helper code designed to use Vulkan display timing extensions to get proper frame timing in the compositor. (!697)
    • u/pacing: Renames and improvements for frame pacing (formerly known as render and display timing) code and APIs. (!1081, !1104)
    • u/pacing: Make present_to_display_offset_ns more clear by changing the name. (!1271)
    • u/pacing: Predict present time and then calculate display time in fake pacer. (!1271)
    • u/pacing: Make the comp time be at least 2ms in fake pacer, this is a more conservative margin for when the fake pacer is used for real hardware. (!1271)
    • u/pacing: Add vblank timing function for display control, lets the fake pacer properly synchronise with hardware. (!1271)
    • u/pacing: Add variable tracking to fake pacer. (!1801)
    • u/pacing: General improvements. (!1809)
    • u/pacing: Add minimum compositor frame time. (!1809)
    • u/pacing: Add minimum application frame time. (!1809, !1809, !1828)
    • u/pacing: Add variable tracking integration to app pacer. (!1828)
    • u/pacing: Add env variable to set present to display offset. (!1828)
    • u/pacing: Add option U_PACING_APP_USE_MIN_FRAME_PERIOD to allow selecting the minimal frame period instead of calculated for pacing. The app is still being throttled, it's just different. (!2076, !2084)
    • u/pacing: Split submit timing into begin and end. (!2108)
    • u/pacing: Keep track of frame times in fake pacer. (!2108)
    • u/pacing: Do live stats tracking in fake pacer. (!2108)
    • u/pp: Pretty print support for new xrt_input_name entry, XRT_INPUT_GENERIC_PALM_POSE for XR_EXT_palm_pose. (!1896)
    • u/pp: Tidy and add more entries to enum printing functions. (!2092)
    • u/pp: Add xrt_reference_space_type printing. (!2092)
    • u/session: Add helper to implement xrt_session. (!2062)
    • u/sink: Add tracing support to sink functions. (!858)
    • u/sink: Add a combiner sink that combines two frames into a stereo frame (!934)
    • u/space: Add local_floor to legacy helper function, making most builders support it automatically. (!2018)
    • u/space: Fix build warning because of non-void function not returning (!2131)
    • u/space_overseer: Make it possible set root as unbounded. (!1621)
    • u/space_overseer: Add support for reference space usage. (!2048)
    • u/space_overseer: Implement recentering for supported setups. (!2055)
    • u/space_overseer: Use broadcast event sink for reference space changes, generates xrt_session_event_reference_space_change_pending events. (!2081)
    • u/space_overseer: Notify the device about reference space usage. (!2091)
    • u/system: Add helper to implement xrt_system. (!2062)
    • u/system_helpers: Refactor hand-tracker helper getters. (!1987)
    • u/system_helpers: Add static system device helper. (!1992)
    • u/time: Add helper comparison functions. (!721)
    • u/time: Add helper to go from milliseconds to nanoseconds. (!1809)
    • u/timing: A rather large refactor that turns makes the rendering timing helper be more like the frame timing helper. This also makes the rendering timing adjust the frame timing of the app so that latency is reduced. (!721)
    • u/trace_marker: Add trace marker support code, this code uses the Linux trace_marker kernel support to enable Monado to trace both function calls and other async events. (!697)
    • u/trace_marker: Switch from homegrown tracing code to using Percetto/Perfetto. (!811, !840)
    • u/trace_marker: Add sink categories. (!858)
    • u/truncate_printf: Add helpers that have the semantics we want for the printf functions [vn|sn]printf. (!1865, !1865, !1923)
    • u/u_config_json: Added new parameter uint32_t *out_view_count to the function u_config_json_get_remote_settings to provide the ability to retrieve the view count from the remote settings. (!2086)
    • u/u_distortion: Modified the function u_distortion_cardboard_calculate to accept a new parameter struct xrt_device *xdev for retrieving the view_count from the device. This view_count is then used for parameter settings, enhancing the functionality and flexibility of the distortion calculation. (!2086)
    • u/var: Improve documentation. (!1827)
    • u/var: Improve documentation and make suffix_with_number argument clearer. (!1902)
    • u/var: Refactor code to make it easier to search for number objects. (!1902)
    • u/var: Add u_native_images_debug as a tracked variable. (!2103)
    • u/var: Protect tracker access with a mutex. Solves a race condition that may crash the debug gui if objects are removed using u_var_remove_root. (!2177)
    • u/windows: Add helper code for various bits of Windows related things, like formatting error numbers into error messages. Also functions related to cpu priority and privilege granting of rights. (!1584)
    • util: Add code to get a limited unique id, it's a simple 64 bit atomic counter. (!1957)
    • vive: Add shared bindings that are used by drv_vive & drv_survive, also add mappings/bindings from the Touch controller to the Index Controller so games only providing Touch bindings works on Index controllers. (!1265)
    • vive: Tidy the files a lot, break the calibration getters out into own file. (!1792)
    • vive: Move the view fov calculation into the config file helper. (!1792)
    • vive: Add hardcoded tweaks for view FoV values. (!1792)
    • vive: Add support for Gen 3.0 and Tundra trackers. (!1860)
    • vive: Refactor documentation and move VID and PID defines here. (!1862)
    • vive: Add support for HTC Vive Pro 2 (!1911)
    • vive: Add C++ guards to poses header. (!1929)
    • vive: Fix use after free, probably left over since refactor. (!1960)
    • vive: Add builder helper to allow sharing of estimation code. (!2008)
    • vk: Add more functions to vk_bundle struct. (!721, !721, !841, !1142, !1820)
    • vk: Make it possible to create a compute only queue. (!841)
    • vk: Refactor and tidy extension handling. (!841)
    • vk: Add support for VK_EXT_robustness2 (!841)
    • vk: Add code to handle optional device features. (!841)
    • vk: Add helpers to manage command buffers and create various state objects. (!982)
    • vk: Refactor and rename various function related to compositor swapchain images and their flags. These changes makes it clear it's only used for these images and image views. (!1128)
    • vk: Check which fence types can be imported and exported on the device. (!1142)
    • vk: Add XRT_CHECK_RESULT to sync functions. (!1166)
    • vk: Refactor bundle functions into a file of their own. (!1203)
    • vk: Separate printing functions into their own file. (!1203, !1203, !1942)
    • vk: Print out information about the opened device. (!1270)
    • vk: Make VK_KHR_external_[fence|semaphore]_fd optional. This is helpful for CI where only lavapipe can be used which does not support those extensions. (!1270)
    • vk: Relax the compute-only queue search to fall back to any queue that supports compute. (!1404)
    • vk: Add new command buffer helpers and vk_cmd_pool helper class. (!1748)
    • vk: Remove the global command buffer pool. (!1748)
    • vk: Refactor vk_csci_get_image_usage_flags to not always set the sampled bit and other bits that where always set. Also tidy with a nice define for checking. (!1763)
    • vk: Add new cmd buffer helper file vk_cmd.[h|c], these does not use the global command pool. (!1766)
    • vk: Add copy and blit command buffer writer helpers to vk_cmd.[h|c]. (!1766)
    • vk: Add vk_surface_info helper for VkSurfaceKHR information gathering. (!1801)
    • vk: Expand readback pool to be able to set Vulkan format. (!1820)
    • vk: Add helper function to name Vulkan objects using VK_EXT_debug_marker, useful when debugging validation errors. (!1877)
    • vk: Name all fence objects with helpers. (!1877)
    • vk: Add two call helper for getting instance extensions, and use it. (!1885)
    • vk: Add function to check required instance extensions. (!1885, !1885, !1973)
    • vk: Add and use enumeration helpers. (!1894, !1940)
    • vk: Add string return function for VkSharingMode. (!1940)
    • vk: Add string return functions for bitfield values, also improving the old bitfield string functions. The new way lets the caller deal with unknown bits. (!1940)
    • vk: Add printers for VkSurface and VkSwapchain create info structs. (!1940)
    • vk: When listing GPUs, also output device type. (!1942)
    • vk: Make sure to print the first GPU as well when selecting physical device. (!1942)
    • vk: Init vk bundle with shaderImageGatherExtended enabled if supported. (!1959)
    • vk: Use VK_CHK_WITH_RET instead of vk_check_error. (!1971)
    • vk: Rename and add more variants of return checking defines, making the define now be all caps so it's easier to see if it effects flow control. (!1971, !1971, !1417)
    • vk: Add vk_print_result helper, used in return checking defines but can also be used outside of them. (!1971, !1971, !2050)
    • vk: Add two mini define helpers in their own header (D and DF) which was redefined in multiple places in the source code. Keep in own header to not clutter namespace. (!1971)
    • vk: Add debug inserting helper function and use it for inserting renderdoc frame delimiter in Vulkan client (!2005)
    • vk: Change the naming function to use the extension VK_EXT_debug_utils, which has been included in core with 1.3, instead of the old VK_EXT_debug_marker extension. Also make the naming function type safe. (!2006, !2014)
    • vk: Fix swapchain leak on Android due to it having different Vulkan import behavior. (!2042)
    • vk: Use formats list from xrt_swapchain_create_info in create_image. (!2049, !2100)
    • vk: Pass create mutable format bit if usage flag is set. (!2100)
    • vk: Return VK_FORMAT_FEATURE_STORAGE_IMAGE_BIT for XRT_SWAPCHAIN_USAGE_UNORDERED_ACCESS from vk_csci_get_image_usage_flags. (!2103)
    • vk: Add enumerators for two surface properties. (!2104)
    • vk: Add vk_enumerate_swapchain_images. (!2104)
    • vk: Tidy surface info function. (!2104)
    • vk: Extend command buffer wait timeout to ~10 seconds. This is necessary because in some platforms (such as Windows 10, NVIDIA RTX 3080Ti) the OpenXR CTS will trigger an issue when the GPU memory fills, where the system hangs for over one second during a paging queue operation. (!2205)
  • Documentation
    • Add documentation for how to write changelogs in the conventions page. (!1872, !2120)
    • Add documentation category in changelog documentation. (!1878)
    • Add doxygen-awesome theme (!1883, !1888)
    • Don't build documentation by default, it is fairly heavy for end users. Also makes the CI scripts cleaner as they don't need to disabled it everywhere. (!1891)
    • README: Add Debian/Ubuntu package for libudev. (!1918)
    • README: Clarify Vulkan SDK requirement on Windows. (!1919)
    • README: Add some Debian/Ubuntu packages. (!1923)
    • comments: Lots of smaller documentation comment fixes. (!1953, !2037, !2070, !2085)
    • Add page with information for Linux packagers. (!2195)
    • doc: Add Ubuntu 24.04 as supported OS [NFC] (!2202)
  • Misc. Features
    • Add JSON Schema for config files. (!785, #82)
    • Add cmake-format config files and scripts/format-cmake.sh to keep our build system tidy. (!984, #72, !1342)
    • Add Nix flake files so that people that use the nix package manager can have an instant Monado development environment. (!2152)
    • Android: Update activity and service icons to the new official Monado logos, and use a modified version for in-process builds to indicate they are mainly for debugging. (!2208)
    • For code that is implemented in C++, note that the default standard mode is now C++17 across all platforms and modules, instead of a mix of 14 and 17 like before. The CI remains the decider of what functionality is available, as it contains the oldest distribution we support (Debian Buster). (!809)
    • Implement tracking overrides using wrapper devices and add a tracking override configuration gui. (!695)
    • In flake.nix and flake.lock, updates nixpkgs to the version where the missing dependency was added. (!2184)
    • Introduce .mailmap file. (!2041)
    • Introduce visual-inertial tracking interface header and remove the old SLAM tracker interface, remove XRT_HAVE_BASALT and XRT_HAVE_KIMERA from CMake (!2058)
    • More improvements to the Android port. (!676, !703, !783, !808, !817, !820, !918, !920, !942, !1020, !1178, !1341, !1357, !1369, !1372, !1377, !1385, !2232, !2204)
    • More work on the Windows port: fix timing, waiting, sleeping, handling the message queue. (!739, !743, !1322)
    • Sign main branch CI-generated APKs for Android release builds. (!2209)
    • a/gst: Add a small and fairly naive framework for integrating gstreamer pipelines into Monado pipelines. Enough to be able to push frames into it and use various encoder elements. (!715, !1966)
    • cmake: remove unused ffmpeg dependency (!2122)
    • cmake: enable policy CMP0083 for position-independent-executable support (!2168, #337)
    • cmake: add VERSION and SOVERSION properties to monado shared library (!2170)
    • ext/imgui: Add helper to draw a image/texture with a cleared background color. (!1957)
    • ext/openxr: Update headers to 1.0.28. (!1900)
    • ext/openxr: Bump OpenXR headers to 1.0.32 (!2063, !2069)
    • ext/openxr: Bump OpenXR headers to 1.0.33 (!2111)
    • ext/openxr: Bump OpenXR headers to 1.0.34 (!2148)
    • external: Update android-jni-wrap, add additional wrapped methods. (!1939, !1963, !2176)
    • external/glad: Add EGL extension EGL_KHR_no_config_context. (!705)
    • external/jni: Add argument to specify display mode id for surface creation. (!2010)
    • gui: Use a single imgui.ini file from the config directory (!1290)
    • imgui: Add ImPlot demo window. (!692)
    • m/vec2: Add float array helper (!1928)
    • m/vec3: Add float array helper (!1928)
    • scripts: Add Include-What-You-Use (IWYU) helper scripts. (!1229)
    • t/cli: Add support for new dynamic device roles. (!1992)
    • t/cli: Add support for xrt_system. (!2062)
    • t/cli: Add new info command that prints information about the system, this is for end-user reports of failures to start monado-service. (!2094)
    • t/common: Refactor the builders so it will be easier to add hotswap support. (!1987)
    • t/common: Add support for new dynamic device roles. (!1992, !1992, !1999, #296, !2020)
    • t/common: Refactor lighthouse builder to use vive_builder helper. (!2008)
    • t/common: Add support for xrt_system and xrt_session. (!2062)
    • t/common: Implement SteamVR builder. (!2077)
    • t/ctl: Use common client connection connect code. (!1875)
    • t/ctl: Support recentering of local spaces. (!2055)
    • t/libmonado: Add support for dynamic device roles. (!2013)
    • t/libmonado: Support recentering of local spaces. (!2055)
    • t/libmonado: Support getting serial number from the device. (!2099)
    • t/sdl_test: Use new OpenGL helpers to import swapchain images. (!1957)
    • t/sdl_test: Add support for new dynamic device roles. (!1992)
    • t/sdl_test: Add support for xrt_system and xrt_session, also remove old events code. (!2062)
    • t/service-lib: Increase the duration of the starting timeout for the IPC. (!2015)
  • Misc. Fixes
    • Allow OpenGL to be found on *nix without requiring GLX, which should allow a Wayland-only build. (!963, #132)
    • Ensure we are always initializing our mutexes. (!737)
    • Fix build issue with Wayland on some distributions. (!1396, #175)
    • Fix several minor bindings and input profile issues. (!2190)
    • Make config file reading more robust. (!785)
    • Move C++-only functionality into the newly-conventional namespaces. (!810)
    • Update vendored Catch2 to 2.13.10 to fix build issue. (!1561, #221)
    • Update outdated URLs, email addresses, and names. (!2041)
    • Update gitignore to exclude files intentionally in the repo. (!2137, #261)
    • Various small warning fixes all over the codebase. (!1869, !2126)
    • Various spelling fixes all over the codebase. (!1871)
    • build: Removed incorrect hidapi dependency from Rift S driver (!2227)
    • ci: Miscellaneous fixes, improvements, and updates. (!1886, !2029, !2031, !2122, !2181, !2196, !2197)
    • ci: use proclamation 2.0.0 (!2123)
    • ci: Add CI for Ubuntu 24.04 (!2202)
    • cmake: Build system will now error out, rather than silently disable the option, if you specifically enable an option whose dependencies are unavailable. (!1262)
    • cmake: Build system option XRT_HAVE_SLAM has been renamed to XRT_FEATURE_SLAM to more accurately describe it, with corresponding move from xrt_config_have.h to xrt_config_build.h. (!1262)
    • cmake: Handle multiple include of compiler flags. (!1882)
    • cmake: Fix GetGitRevisionDescription cmake module for MSys (!1944)
    • cmake: Fix build with SDL2 on Alpine Linux. (!2031)
    • cmake: Suppress warnings from external headers. (!2037)
    • cmake: Update CMake modules from upstream repositories. (!2040, !2041, !2045)
    • cmake: add wayland-client include directory to comp_main target (!2141)
    • d/twrap: Correct axis assignments for poses provided by basalt VIO/SLAM, so they match the OpenXR axis definition. (!2228)
    • ext/oxr: Add missing headers for unpublished monado extensions: XR_MNDX_ball_on_a_stick_controller and XR_MNDX_hydra. (!1890)
    • gitignore: Ignore pyenv local python version file (!2002)
    • gradle: Migrate deprecated gradle's flavorDimension and buildToolsVersion (!2002)
    • h/mercury: Fix warnings found with GCC 13. (!1921)
    • jnipp: Update/patch to fix issues, including crashes. (!2200, !2226)
    • misc: Various NFC format fixes and a removal of unused define. (!1946)
    • scripts: Add regex based ignores for codespell, needed because the ignore words list isn't properly case sensitive. (!1861)
    • t/android_common: Specify mutability flag for PendingIntent object, required for Android S+ (version 31 and above). (!1948)
    • t/common: Make it possible to build the RGB builder without PSVR driver. (!1918)
    • t/common: Fix warnings found with GCC 13. (!1921)
    • t/common: Fix building the Lighthouse builder without the Vive driver. (!1922)
    • t/common: Fix creation on no driver available, only say we can create a system if we have a driver in legacy builder. (!1996)
    • t/common: Use new u_builder helper in most builder. (!2057)
    • t/ctl: Use correct ipc call for toggling client I/O. (!1909)
    • t/north_star: In the North Star builder, add the SLAM device after the HMD device to avoid monado-service crash due to misordering. (!2228)
    • t/sdl_test: Compile as UTF-8 to fix MSVC warning. (!1816)
    • t/sdl_test: sdl-test needs OpenGL4.5 (!1945)
    • vcpkg: Remove SDL "base" feature. It has been removed upstream, see MR. Monado builds on Windows and the debug gui works (XRT_DEBUG_GUI=1). (!2065)

Monado 21.0.0 (2021-01-28)

  • Major changes
    • Adds a initial SteamVR driver state tracker and target that produces a SteamVR plugin that enables any Monado hardware driver to be used in SteamVR. This is the initial upstreaming of this code and has some limitations, like only having working input when emulating a Index controller. (!583)
  • XRT Interface
    • Add xrt_binding_profile struct, related pair structs and fields on xrt_device to allow to move the static rebinding of inputs and outputs into device drivers. This makes it easier to get a overview in the driver itself which bindings it can bind to. (!587)
    • xrt: Generate bindings for Monado and SteamVR from json. (!638)
    • xrt: Introduce xrt_system_compositor, it is basically a analogous to XrSystemID but instead of being a fully fledged xrt_system this is only the compositor part of it. Also fold the prepare_session function into the create native compositor function to simplify the interface. (!652)
    • Expose more information on the frameservers, like product, manufacturer and serial. (!665)
    • Add XRT_FORMAT_BAYER_GR8 format. (!665)
  • State Trackers
    • st/oxr: Add OXR_FRAME_TIMING_SPEW for basic frame timing debug output. (!591)
    • OpenXR: Make sure to restore old EGL display/context/drawables when creating a client EGL compositor. (!602)
    • GUI: Expand with support for controlling the remote driver hand tracking. (!604)
    • st/oxr: Implement XR_KHR_vulkan_enable2 (!633)
    • st/oxr: Add OXR_TRACKING_ORIGIN_OFFSET_{X,Y,Z} env variables as a quick way to tweak 6dof tracking origins. (!634)
    • OpenXR: Be more relaxed with Quat validation, spec says within 1% of unit length, normalize if not within float epsilon. (!659)
  • Drivers
    • ns: Fix memory leak in math code. (!564)
    • psvr: Rename some variables for better readability. (!597)
    • openhmd: Fix viewport calculation of rotated displays. (!600)
    • remote: Add support for simulated hand tracking, this is based on the curl model that is used by the Valve Index Controller. (!604)
    • android: Acquire device display metrics from system. (!611)
    • openhmd: Rotate DK2 display correctly. (!628)
    • d/psmv: The motor on zcmv1 does not rumble at amplitudes < 0.25. Linear rescale amplitude into [0.25, 1] range. (!636)
    • v4l2: Expose more information through new fields in XRT interface. (!665)
    • v4l2: Allocate more buffers when streaming data. (!665)
  • IPC
    • ipc: Port IPC to u_logging. (!601)
    • ipc: Make OXR_DEBUG_GUI work with monado-service. (!622)
  • Compositor
    • comp: Add basic frame timing information to XRT_COMPOSITOR_LOG=trace. (!591)
    • main: Refactor how the compositor interacts with targets, the goal is to enable the compositor to render to destinations that isn't backed by a VkSwapchain. Introduce comp_target and remove comp_window, also refactor vk_swapchain to be a sub-class of comp_target named comp_target_swapchain, the window backends now sub class comp_target_swapchain. (!599)
    • Implement support for XR_KHR_composition_layer_equirect (equirect1). (!620, !624)
    • comp: Improve thread safety. Resolve issues in multithreading CTS. (!645)
    • main: Lower priority on sRGB format. This works around a bug in the OpenXR CTS and mirrors better what at least on other OpenXR runtime does. (!671)
  • Helper Libraries
    • os/time: Make timespec argument const. (!597)
    • os/time: Add a Linux specific way to get the realtime clock (for RealSense). (!597)
    • math: Make sure that we do not drop and positions in poses when the other pose has a non-valid position. (!603)
    • aux/vk: vk_create_device now takes in a list of Vulkan device extensions. (!605)
    • Port everything to u_logging. (!627)
    • u/hand_tracking: Tweak finger curl model making it easier to grip ingame objects. (!635)
    • math: Add math_quat_validate_within_1_percent function. (!659)
    • u/sink: Add Bayer format converter. (!665)
    • u/distortion: Improve both Vive and Index distortion by fixing polynomial math. (!666)
    • u/distortion: Improve Index distortion and tidy code. While this touches the Vive distortion code all Vive headsets seems to have the center set to the same for each channel so doesn't help them. And Vive doesn't have the extra coefficient that the Index does so no help there either. (!667)
  • Misc. Features
  • Misc. Fixes
    • steamvr: Support HMDs with rotated displays (!600)

Monado 0.4.1 (2020-11-04)

  • State Trackers
    • st/oxr: Fix for new conformance tests for xrWaitFrame, xrBeginFrame, xrEndFrame call order. Also fix OpenXR state transition logic depending on a synchronized frame loop. (!589, !590)

Monado 0.4.0 (2020-11-02)

  • XRT Interface
    • add xrt_device_type to xrt_device to differentiate handed controllers from controllers that can be held in either hand. (!412)
    • Rename functions and types that assumed the native graphics buffer handle type was an FD: in auxiliary/vk/vk_helpers.{h,c} vk_create_image_from_fd -> vk_create_image_from_native, in the XRT headers struct xrt_compositor_fd -> xrt_compositor_native (and method name changes from xrt_comp_fd_... -> xrt_comp_native_...), struct xrt_swapchain_fd -> struct xrt_swapchain_native, struct xrt_image_fd -> struct xrt_image_native, and corresponding parameter/member/variable name changes (e.g. struct xrt_swapchain_fd *xscfd becomes struct xrt_swapchain_native *xscn). (!426, !428)
    • Make some fields on xrt_gl_swapchain and xrt_vk_swapchain private moving them into the client compositor code instead of exposing them. (!444)
    • Make xrt_compositor::create_swapchain return xrt_result_t instead of the swapchain, this makes the methods on xrt_compositor more uniform. (!444)
    • Add the method xrt_compositor::import_swapchain allowing a state tracker to create a swapchain from a set of pre-allocated images. Uses the same xrt_swapchain_create_info as xrt_compositor::create_swapchain. (!444)
    • Make xrt_swapchain_create_flags swapchain static image bit match OpenXR. (!454)
    • Add XRT_SWAPCHAIN_USAGE_INPUT_ATTACHMENT flag to xrt_swapchain_usage_bits so that a client can create a Vulkan swapchain that can be used as input attachment. (!459)
    • Remove the flip_y parameter to the creation of the native compositor, this is now a per layer thing. (!461)
    • Add xrt_compositor_info struct that allows the compositor carry information to about its capabilities and its recommended values. Not everything is hooked up at the moment. (!461)
    • Add defines for underlying handle types. (!469)
    • Add a native handle type for graphics sync primitives (currently file descriptors on all platforms). (!469)
    • Add a whole bunch of structs and functions for all of the different layers in OpenXR. The depth layer information only applies to the stereo projection so make a special stereo projection with depth layer. (!476)
    • Add xrt_image_native_allocator as a friend to the compositor interface. This simple interface is intended to be used by the IPC interface to allocate xrt_image_native on the client side and send those to the service. (!478)
    • Re-arrange and document xrt_image_native, making the size field optional. (!493)
    • Add const to all compositor arguments that are info structs, making the interface safer and more clear. Also add max_layers field to the xrt_compositor_info struct. (!501)
    • Add xrt_space_graph struct for calculating space relations. This struct and accompanying makes it easier to reason about space relations than just functions operating directly on xrt_space_relation. The code base is changed to use these new functions. (!519)
    • Remove the linear_acceleration and angular_acceleration fields from the xrt_space_relation struct, these were not used in the codebase and are not exposed in the OpenXR API. They can easily be added back should they be required again by code or a future feature. Drivers are free to retain this information internally, but no longer expose it. (!519)
    • Remove the out_timestamp argument to the xrt_device::get_tracked_pose function, it's not needed anymore and the devices can do prediction better as it knows more about its tracking system the the state tracker. (!521)

    • Replace mesh generator with compute_distortion function on xrt_device. This is used to both make it possible to use mesh shaders for devices and to provide compatibility with SteamVR which requires a compute_distortion function as well.

      The compositor uses this function automatically to create a mesh and uses mesh distortion for all drivers. The function compute_distortion default implementations for none, panotools and vive distortion models are provided in util. (!536)

    • Add a simple curl value based finger tracking model and use it for vive and survive controllers. (!555)
  • State Trackers
    • OpenXR: Add support for attaching Quad layers to action sapces. (!437)
    • OpenXR: Use initial head pose as origin for local space. (!443)
    • OpenXR: Minor fixes for various bits of code: copy-typo in device assignment code; better stub for the unimplemented function xrEnumerateBoundSourcesForAction; better error message on internal error in xrGetCurrentInteractionProfile. (!448)
    • OpenXR: Make the xrGetCurrentInteractionProfile conformance tests pass, needed to implement better error checking as well as generating XrEventDataInteractionProfileChanged events to the client. (!448)
    • OpenXR: Centralize all sub-action path iteration in some x-macros. (!449, !456)
    • OpenXR: Improve the validation in the API function for xrGetInputSourceLocalizedName. (!451)
    • OpenXR: Implement the function xrEnumerateBoundSourcesForAction, currently we only bind one input per top level user path and it's easy to track this. (!451)
    • OpenXR: Properly handle more than one input source being bound to the same action according to the combination rules of the specification. (!452)
    • OpenXR: Fix multiplicity of bounds paths per action - there's one per input/output. (!456)
    • OpenXR: Implement the MND_swapchain_usage_input_attachment_bit extension. (!459)
    • OpenXR: Refactor the native compositor handling a bit, this creates the compositor earlier then before. This allows us to get the viewport information from it. (!461)
    • OpenXR: Implement action set priorities and fix remaining action conformance tests. (!462)
    • st/oxr: Fix crash when calling xrPollEvents when headless mode is selected. (!475)
    • OpenXR: Add stub functions and support plumbing for a lot of layer extensions. (!476)
    • OpenXR: Be sure to return XR_ERROR_FEATURE_UNSUPPORTED if the protected content bit is set and the compositor does not support it. (!481)
    • OpenXR: Update to 1.0.11 and start returning the new XR_ERROR_GRAPHICS_REQUIREMENTS_CALL_MISSING code added in this release. (!482)
    • OpenXR: Enable the XR_KHR_android_create_instance extension. (!492)
    • OpenXR: Add support for creating swapchains with depth formats and submitting depth layers. The depth layers are passed through to the compositor, but are not used yet. (!498)
    • OpenXR: For pose actions the any path (XR_NULL_PATH) needs to be special cased, essentially turning into a separate action sub path, that is assigned at binding time. (!510)
    • OpenXR: More correctly implement xrGetInputSourceLocalizedName allowing apps to more accurently tell the user which input to use. (!532)
    • OpenXR: Pass through equirect layer data to the compositor. (!566)
  • Drivers
    • psvr: We were sending in the wrong type of time to the 3DOF fusion code, switch to nanoseconds instead of fractions of seconds. (!474)
    • rs: Make the pose getting from the T265 be threaded. Before we where getting the pose from the update input function, this would cause some the main thread to block and would therefore cause jitter in the rendering. (!486)
    • survive: Add lighthouse tracking system type hydra: Add lighthouse tracking system type (!489)
    • rs: Add slam tracking system type northstar: Use tracking system from tracker (e.g. rs) if available. (!494)
    • psmv: Introduce proper grip and aim poses, correctly rotate the grip pose to follow the spec more closely. The aim poses replaces the previous ball tip pose that was used before for aim. (!509)
    • survive: Implement haptic feedback. (!557)
    • simulated: Tidy the code a bit and switch over to the new logging API. (!572, !573)
    • psvr: Switch to the new logging API. (!573)
    • Add initial "Cardboard" phone-holder driver for Android. (!581)
  • IPC
    • Generalize handling of native-platform handles in IPC code, allow bi- directional handle transfer, and de-duplicate code between server and client. (!413, !427)
    • generation: Fix handling 'in_handle' by adding a extra sync round-trip, this might be solvable by using SOCK_SEQPACKET. (!444)
    • Implement the xrt_compositor::import_swapchain function, uses the earlier in_handle work. (!444)
    • proto: Transport the xrt_compositor_info over the wire so that the client can get the needed information. (!461)
    • client: Implement the usage of the xrt_image_native_allocator, currently not used. But it is needed for platforms where for various reasons the allocation must happen on the client side. (!478)
    • client: Add a "loopback" image allocator, this code allocates a swapchain from the service then imports that back to the service as if it was imported. This tests both the import code and the image allocator code. (!478)
    • ipc: Allow sending zero handles as a reply, at least the Linux fd handling code allows this. (!491)
    • Use a native AHardwareBuffer allocator on the client side when building for recent-enough Android. (!493)
    • ipc: Add functionality to disable a device input via the monado-ctl utility, this allows us to pass the conformance tests that requires the runtime to turn off a device. (!511)
  • Compositor
    • compositor: Add support for alpha blending with premultiplied alpha. (!425)
    • compositor: Implement subimage rectangle rendering for quad layers. (!433)
    • compositor: Enable subimage rectangle rendering for projection layers. (!436)
    • compositor: Fix printing of current connected displays on nvidia when no allowed display is found. (!477)
    • compositor: Add env var to temporarily add display string to NVIDIA allowlist. (!477)
    • compositor and clients: Use a generic typedef to represent the platform- specific graphics buffer, allowing use of AHardwareBuffer on recent Android. (!479)
    • compositor: Check the protected content bit, and return a non-success code if it's set. Supporting this is optional in OpenXR, but lack of support must be reported to the application. (!481)
    • compositor: Implement cylinder layers. (!495)
    • main: Set the maximum layers supported to 16, we technically support more than 16, but things get out of hand if multiple clients are running and all are using max layers. (!501)
    • main: Add code to check that a format is supported by the GPU before exposing. (!502)
    • compositor: Remove panotools and vive shaders from compositor. (!538)
    • Initial work on a port of the compositor to Android. (!547)
    • render: Implement equirect layer rendering. (!566)
    • main: Fix leaks of sampler objects that was introduced in !566. (!571)
  • Helper Libraries
    • u/vk: Remove unused vk_image struct, this is later recreated for the image allocator code. (!444)
    • u/vk: Add a new image allocate helper, this is used by the main compositor to create, export and import swapchain images. (!444)
    • u/vk: Rename vk_create_semaphore_from_fd to vk_create_semaphore_from_native (!469)
    • aux/android: New Android utility library added. (!493, !547, !581)
    • aux/ogl: Add a function to compute the texture target and binding enum for a given swapchain image creation info. (!493)
    • util: Tidy hand tracking header. (!574)
    • math: Fix doxygen warnings in vector headers. (!574)
  • Misc. Features
    • Support building in-process Monado with meson. (!421)
    • Allow building some components without Vulkan. Vulkan is still required for the compositor and therefore the OpenXR runtime target. (!429)
    • Add an OpenXR Android target: an APK which provides an "About" activity and eventually, an OpenXR runtime. (!574, !581)
  • Misc. Fixes
    • No significant changes

Monado 0.3.0 (2020-07-10)

  • Major changes
    • Centralise the logging functionality in Monado to a single util helper. Previously most of our logging was done via fprints and gated behind booleans, now there are common functions to call and a predefined set of levels. (!408, !409)
  • XRT Interface
    • compositor: Remove the array_size field from the struct, this was the only state tracker supplied value that was on the struct, only have values that the compositor decides over on the struct. (!359)
    • Improve Doxygen documentation of interfaces. Now the inheritance structure and implementation of interfaces is shown in the docs, and helper functions that call through function pointers are listed as "member functions", to help developers understand the internal structure of Monado better. (!365, !367)
    • xrt: Add xrt_result_t return type to many compositor functions that previously had no way to indicate failure. (!369)
    • compositor: Introduce xrt_swapchain_create_info simplifying the argument passing between various layers of the compositor stack and also simplify future refactoring projects. (!407)
  • State Trackers
    • OpenXR: Update headers to 1.0.9. (!358)
    • OpenXR: Verify that the XrViewConfigurationType is supported by the system as required by the OpenXR spec in xrEnumerateEnvironmentBlendModes. (!359)
    • OpenXR: Return the correct error code when verifying the sub action, if it is a valid sub action path but not given at action creation we should return XR_ERROR_PATH_UNSUPPORTED. (!359)
    • OpenXR: Validate the subImage data for both projection and quad layers layers, refactor code out so it can be shared with the different types of layers. Need to track some state on the oxr_swapchain in order to do the checking. (!359)
    • OpenXR: Correct the return error code for action and action set localized name validation. (!359)
    • OpenXR: Correct the error messages on sub action paths errors. (!359)
    • OpenXR: Track the name and localized name for both actions and action sets, that way we can make sure that there are no duplicates. This is required by the spec. (!359)
    • OpenXR: Do better checking if action sets and actions have been attached to the session or not. (!359)
    • OpenXR: Validate the arguments for xrSuggestInteractionProfileBindings better so that it follows the spec better. (!359)
    • OpenXR: Rework the logging formatting of error messages, this makes it easier to read for the application developer. (!359)
    • OpenXR: Correctly ensure that the application has called the required get graphics requirements function when creating a session. (!359)
    • OpenXR: When an XrSession is destroyed purge the event queue of any events that references to it so that no events gets delivered to the applications with stales handles. (!359)
    • OpenXR: Make the event queue thread safe, all done with a simple mutex that is not held for long at all. (!359)
    • OpenXR: A major overhaul of the swapchain acquire, wait and release code. This makes it almost completely conformant with the spec. Tricky parts include that multiple images can be acquired, but only one can be waited on before being released. (!359)
    • OpenXR: Enforce that static swapchains can only be acquired once, this is required by the spec and make sure that a image is only rendered to once, and allows the runtime to perform special optimizations on the image. (!359)
    • OpenXR: Make the function xrGetReferenceSpaceBoundsRect at least conform to the spec without actually implementing it, currently we do not track bounds in Monado. (!359)
    • OpenXR: Make the session state changes obey the specification. The code is fairly hair as is and should be improved at a later time. (!359)
    • OpenXR: Use the correct XrPath for /user/gamepad while it sits in the users hand itsn't /user/hand/gamepad as previously believed. (!359)
    • OpenXR: Where used make sure we verify the view configuration type is a valid enum value, the code is setup so that we in the future can support new values via extensions easily. (!368)
    • OpenXR: More correctly verify the interactive profile binding data, including the given interactive profile is correct and the binding point is valid. (!377)
    • OpenXR: Transform input types in a somewhat flexible, composable way. Also, do conversion at sync time, and use the transformed values to evaluate if the input has changed, per the spec. (!379)
    • OpenXR: Tidy the extensions generated by the script and order them according to extension prefix, starting with KHR, EXT, Vendor, KHRX, EXTX, VendorX. Also rename the MND_ball_on_stick_controller to MNDX_ball_on_a_stick_controller. (!410)
    • OpenXR: Fix overly attached action sets, which would appear to be attached to a session even after the session has been destroyed. Also tidy up comments and other logic surrounding this. (!411)
  • Drivers
    • psvr: Normalize the rotation to not trip up the client app when it gives the rotation back to st/oxr again. (!359)
    • vive: Create vive_config module to isolate config code and avoid duplication between controller and headset code. vive: Probe for controllers in vive_proper interface. vive: Fix a bug where using the Vive Pro crashed Monado. vive: Fix a bug where the controller didn't parse JSON vectors correctly. vive: Move missing functions to and use u_json. (!405)
    • vive: Add support for Gen1 and Gen2 Vive Trackers. (!406)
    • vive: Port to new u_logging API. (!417)
    • comp: Set a compositor window title. (!418)
  • IPC
    • server: Almost completely overhaul the handling of swapchain lifecycle including: correctly track which swapchains are alive; reuse ids; enforce the maximum number of swapchains; and destroy underlying swapchains when they are destroyed by the client. (!359)
    • util: Make sure to not dereference NULL control messages, say in the case of the server failing to create a swapchain. Also add a whole bunch of paranoia when it comes to the alignment of the control message buffers. (!359)
    • ipc: Return XR_ERROR_INSTANCE_LOST on IPC errors. (!369)
  • Compositor
    • main: Include <math.h> in layers renderer for missing tanf function. (!358)
    • swapchain: Give out the oldset image index when a image is acquired. This logic can be made better, but will work for the good case. (!359)
    • swapchain: Close any FDs that are still valid, for instance the ipc server copies the FDs to the client. (!359)
    • client: When we give a image fd to the either OpenGL or Vulkan it is consumed and cannot be reused. So make sure that it is set to an invalid fd value on the xrt_image_fd on the owning xrt_swapchain_fd. (!359)
    • main: We were alpha blending all layers previously, but now we support the layer flag that OpenXR gives us. We do this by using different VkImageViews with different component swizzles. (!394)
    • layer_rendering: Use the visibility flags on quad to correctly show the layers in each eye. (!394)
  • Helper Libraries
    • os/threading: Include xrt_compiler.h to fix missing stdint types. (!358)
    • util: Add a very simple fifo for indices, this is used to keep track of swapchain in order of age (oldness). (!359)
    • util: Expand u_hashset to be able to automatically allocate a u_hashet_item and insert it. (!359)
  • Misc. Features
    • build: Allow enabling inter-procedural optimization in CMake GUIs, if supported by platform and compiler. (!330)
  • Misc. Fixes
    • No significant changes

Monado 0.2 (2020-05-29)

  • Major changes
    • Add support for a new service process. This process houses the hardware drivers and compositor. In order to do this, a whole new subsection of Monado called ipc was added. It lives in src/xrt/ipc and sits between the state trackers and the service hosting the drivers and compositor. (!295)
    • Support optional systemd socket-activation: if not disabled at configure time, monado-service can be launched by systemd as a service with an associated socket. If the service is launched this way, it will use the systemd-created domain socket instead of creating its own. (If launched manually, it will still create its own as normal.) This allows optional auto-launching of the service when running a client (OpenXR) application. Associated systemd unit files are also included. (!306)
  • XRT Interface
    • Add a new settings interface for transporting camera settings, in xrt/xrt_settings.h. (!266)
    • Make it possible to send JSON object to drivers when probing for devices. (!266)
    • Added new xrt_instance object to be root object, a singleton that allows us to better swap out the whole stack underneath the state trackers. This is now implemented by the xrt_prober code and used by the OpenXR state tracker. (!274)
    • Remove the struct timestate argument from the struct xrt_device interface. It should be easy to write a driver and the state tracker should be the one that tracks this state. It was mostly triggered by the out of process compositor work. (!280)
    • Add the new format XRT_FORMAT_UYVY422 to the interface and various parts of the code where it is needed to be supported, like the conversion functions and calibration code. Also rename the XRT_FORMAT_YUV422 to XRT_FORMAT_YUYV422. (!283)
    • Expose manufacturer and serial number in the prober interface, right now only for the video device probing. But this is the only thing that really requires this in order to tell different cameras apart. (!286)
    • Add XRT_CAST_PTR_TO_OXR_HANDLE and XRT_CAST_OXR_HANDLE_TO_PTR macros to perform warning-free conversion between pointers and OpenXR handles, even on 32-bit platforms. They should be used instead of raw casts. (!294)
    • Remove declaration and implementations of xrt_prober_create: the minimal functionality previously performed there should now be moved to xrt_instance_create. (!347)
  • State Trackers
    • gui: Fix compilation issue in st/gui when building without OpenCV. (#63, !256)
    • OpenXR: Don't return struct with invalid type from xrEnumerateViewConfigurationViews. (!234)
    • prober: Print more information from the prober when spewing. (!261)
    • gui: Save camera and calibration data using new settings structs and format. (!266)
    • prober: Load tracking config from json and use new settings struct. (!266)
    • gui: Fix name not being shown when video device does not have any modes. (!269)
    • gui: Remove old video test scene, never used and seemed to be broken. (!275)
    • gui: Fix build when OpenCV is not available or disabled. (!292)
    • OpenXR: Fix build when OpenGL is not enabled. (!292)
    • OpenXR: Validate that we support the given XR_ENVIRONMENT_BLEND_MODE as according to the OpenXR spec. And better print the error messages. (!345)
    • OpenXR: Validate given displayTime in xrEndFrame as required by the spec. (!345)
    • OpenXR: Validate internal state that we get from the compositor. (!345)
    • OpenXR: Validate time better in xrConvertTimeToTimespecTimeKHR and add better error print. (!348)
    • OpenXR: Correctly translate the XrSwapchainCreateFlags flags to xrt ones. (!349)
    • OpenXR: In order to be able to correctly validate XrPath ids turn them into a atom and keep all created paths in a array. (!349)
    • OpenXR: Give better error messages on invalid poses in quad layers instead of using the simple macro. (!350)
    • OpenXR: Validate poses for project layer views, using the same expressive error messages as the quad layers. (!350)
    • OpenXR: Translate the swapchain usage bits from OpenXR enums to Monado's internal enums. (!350)
    • OpenXR: Report a spec following amount of maximum layers supported. (!354)
    • OpenXR: Correctly reject invalid times given to xrLocateSpace. (!354)
    • OpenXR: Correctly handle the space relation flag bits, some old hacked up code left over since Monado's first days have been removed. (!356)
  • Drivers
    • dd: Add a driver for the Google Daydream View controller. (!242)
    • all: Use new pre-filter and 3-DoF filter in drivers. (!249)
    • arduino: Added a Arduino based flexible input device driver, along with Arduino C++ code for it. (!251)
    • psmv: Use all 6 measurements to compute acceleration bias, and port to new IMU prefilter. (!255)
    • v4l2: Add special tweaks for the ELP camera. (!266)
    • vive: Add basic 3DOF driver for Vive Wand Controller with full input support and Valve Index Controller with partial input support. (!281)
    • psvr: Use a better 3dof fusion for the PSVR when no tracking is available. (!282)
    • psvm: Move the led and rumble updating from the application facing update_inputs function to the internal thread instead. (!287)
    • psmv: Fix failure to build from source on PPC. (!288, #69)
  • Compositor
    • main: Fix XCB memory leaks and correctly use XCB/Xlib interop. (!257)
    • main: Shorten Vulkan initializers. (!259)
    • main: Port XCB and direct mode back ends to plain C. (!262)
    • main: Add support for Vive Pro, Valve Index, Oculus DK1, DK2 and CV1 to NVIDIA direct mode. (!263)
    • client: Make sure that the number of images is decided by the fd compositor. (!270)
    • main: Split RandR and NVIDIA direct mode window back ends. (!271)
    • main: Improve synchronization and remove redundant vkDeviceWaitIdle calls. (!277)
    • main: Delay the destruction of swapchains until a time where it is safe, this allows swapchains to be destroyed from other threads. (!278)
    • client: Propagate the supported formats from the real compositor to the client ones. (!282)
    • renderer: Change the idle images colour from bright white to grey. (!282)
    • main: Add support for multiple projection layers. (!340)
    • main: Implement quad layers. (!340)
    • main: Only allocate one image for static swapchains. (!349)
  • Helper Libraries
    • tracking: Add image undistort/normalize cache mechanism, to avoid needing to remap every frame. (!255)
    • tracking: Improve readability and documentation of IMU fusion class. (!255)
    • u/file: Add file helpers to load files from config directory. (!266)
    • u/json: Add bool getter function. (!266)
    • tracking: Expose save function with non-hardcoded path for calibration data. (!266)
    • tracking: Remove all path hardcoded calibration data loading and saving functions. (!266)
    • threading: New helper functions and structs for doing threaded work, these are on a higher level then the one in os wrappers. (!278)
    • threading: Fix missing #pragma once in os/os_threading.h. (!282)
    • u/time: Temporarily disable the time skew in time state and used fixed offset instead to fix various time issues in st/oxr. Will be fixed properly later. (!348)
    • math: Correctly validate quaternion using non-squared "length" instead of squared "length", certain combinations of elements would produce valid regular "length" but not valid squared ones. (!350)
  • Misc. Features
    • build: Refactor CMake build system to make static (not object) libraries and explicitly describe dependencies. (!233, !237, !238, !240)
    • os/ble: Add utility functionality for accessing Bluetooth Low-Energy (Bluetooth LE or BLE) over D-Bus, in os/os_ble.h and os/os_ble_dbus.c. (!242)
    • util: Add some bit manipulation helper functions in util/u_bitwise.c and util/u_bitwise.c. (!242)
    • tracking: Make stereo_camera_calibration reference counted, and have the prober, not the calibration, call the save function. (!245)
    • math: Expand algebraic math functions in math/m_api.h, math/m_vec3.h and math/m_base.cpp. (!249)
    • math: Add pre-filter and a simple understandable 3-DoF fusion filter. (!249)
    • build: Enable the build system to install monado-cli and monado-gui. (!252)
    • build: Unify inputs for generated files between CMake and Meson builds. (!252)
    • build: Support building with system cJSON instead of bundled copy. (!284, #62)
    • ci: Perform test builds using the Android NDK (for armeabi-v7a and armv8-a). This is not a full Android port (missing a compositor, etc) but it ensures we don't add more Android porting problems. (!292)
  • Misc. Fixes
    • os/ble: Check if org.bluez name is available before calling in os/os_ble_dbus.c. (#65, #64, !265)
    • README: Added information to the README containing OpenHMD version requirement and information regarding the requirement of GL_EXT_memory_object_fd and limitations on Monado's compositor. (!4)
    • build: Fix build issues and build warnings when 32-bit. (!230)
    • os/ble: Fix crash due to bad dbus path, triggered by bad return checking when probing for BLE devices. (!247)
    • d/dd: Use the correct time delta in DayDream driver. (!249)
    • doc: Stop changelog snippets from showing up in 'Related Pages' (!253)
    • build: Fix meson warnings, increase compiler warning level. (!258)
    • os/ble: Fix leak in os/os_ble_dbus.c code when failing to find any device. (!264)
    • os/ble: Make ble code check for some error returns in os/os_ble_dbus.c. (!265)
    • u/hashset: Fix warnings in util/u_hashset.h after pedantic warnings were enabled for C++. (!268)
    • build: Fix failure to build from source on ppc64 and s390x. (!284)
    • build: Mark OpenXR runtime target in CMake as a MODULE library, instead of a SHARED library. (!284)
    • windows: Way way back when Gallium was made auxiliary was named aux but then it was ported to Windows and it was renamed to auxiliary since Windows is allergic to filenames that match its device names (e.g., AUX, CON, PRN, etc.). Through the ages, this knowledge was lost and so we find ourselves with the same problem. Although Monado inherited the correct name, the same old mistake was made in docs. (!314)
    • build: For CMake rename (nearly) all build options so they begin with XRT_ and match the defines used in the source. You will probably want to clear your build directory and reconfigure from scratch. (!327)
    • ipc: Correctly set the shared semaphore value when creating it, the wrong value resulted in the client not blocking in xrWaitFrame. (!348)
    • ipc: Previously some arguments where dropped at swapchain creation time, correct pass them between the client and server. (!349)

Monado 0.1.0 (2020-02-24)

Initial (non-release) tag to promote/support packaging.