A implementation of the xrt_space_overseer interface. More...

#include "xrt/xrt_space.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_session.h"
#include "xrt/xrt_tracking.h"
#include "os/os_time.h"
#include "math/m_space.h"
#include "util/u_misc.h"
#include "util/u_hashmap.h"
#include "util/u_logging.h"
#include "util/u_space_overseer.h"
#include <assert.h>
#include <math.h>
#include <pthread.h>

Include dependency graph for u_space_overseer.c:

Data Structures
struct	u_space
	Representing a single space, can be several ones. More...

struct	u_space_overseer
	Default implementation of the xrt_space_overseer object. More...

Enumerations
enum	u_space_type { U_SPACE_TYPE_NULL , U_SPACE_TYPE_POSE , U_SPACE_TYPE_OFFSET , U_SPACE_TYPE_ROOT }
	Keeps track of what kind of space it is. More...

Functions
static struct u_space *	u_space (struct xrt_space *xs)

static struct u_space_overseer *	u_space_overseer (struct xrt_space_overseer *xso)

static const char *	type_to_small_string (enum xrt_reference_space_type type)

static struct u_space *	get_semantic_space (struct u_space_overseer *uso, enum xrt_reference_space_type type)

static void	u_space_reference (struct u_space *dst, struct u_space src)
	A lot of code here uses u_space directly and need to change reference count so this helper is here to make that easier. More...

static void	hashmap_unreference_space_items (void item, void priv)
	Helper function when clearing a hashmap to also unreference a space. More...

static struct u_space *	find_xdev_space_read_locked (struct u_space_overseer uso, struct xrt_device xdev)

static struct u_space *	find_xto_space_read_locked (struct u_space_overseer uso, struct xrt_tracking_origin xto)

static bool	space_is_offset_compatible (struct u_space *us)

static void	update_offset_write_locked (struct u_space us, const struct xrt_pose new_offset)
	Updates the offset of a NULL or OFFSET space. More...

static void	get_offset_or_ident_read_locked (const struct u_space us, struct xrt_pose offset)
	Returns the offset for an offset space or an identity pose, it's valid to call on all spaces. More...

static void	notify_ref_space_usage_device (struct u_space_overseer *uso, enum xrt_reference_space_type type, bool used)

static void	push_then_traverse (struct xrt_relation_chain xrc, struct u_space space, int64_t at_timestamp_ns)
	For each space, push the relation of that space and then traverse by calling `push_then_traverse` again with the parent space. More...

static void	traverse_then_push_inverse (struct xrt_relation_chain xrc, struct u_space space, int64_t at_timestamp_ns)
	For each space, traverse by calling `traverse_then_push_inverse` again with the parent space then push the inverse of the relation of that. More...

static void	build_relation_chain_read_locked (struct u_space_overseer uso, struct xrt_relation_chain xrc, struct u_space base, struct u_space target, int64_t at_timestamp_ns)

static void	build_relation_chain (struct u_space_overseer uso, struct xrt_relation_chain xrc, struct u_space base, struct u_space target, int64_t at_timestamp_ns)

static void	special_resolve (struct xrt_relation_chain xrc, struct xrt_space_relation out_relation)

static void	space_destroy (struct xrt_space *xs)

static struct u_space *	create_space (enum u_space_type type, struct u_space *parent)
	Creates a space, returns with a reference of one. More...

static void	create_and_set_root_space (struct u_space_overseer *uso)

static xrt_result_t	create_offset_space (struct xrt_space_overseer xso, struct xrt_space parent, const struct xrt_pose offset, struct xrt_space *out_space)

static xrt_result_t	create_pose_space (struct xrt_space_overseer xso, struct xrt_device xdev, enum xrt_input_name name, struct xrt_space **out_space)

static xrt_result_t	locate_space (struct xrt_space_overseer xso, struct xrt_space base_space, const struct xrt_pose base_offset, int64_t at_timestamp_ns, struct xrt_space space, const struct xrt_pose offset, struct xrt_space_relation out_relation)

static bool	pose_approx (const struct xrt_pose a, const struct xrt_pose b)

static int32_t	find_same_space_before (struct xrt_space *spaces, const struct xrt_pose offsets, uint32_t space_index)

static xrt_result_t	locate_spaces (struct xrt_space_overseer xso, struct xrt_space base_space, const struct xrt_pose base_offset, int64_t at_timestamp_ns, struct xrt_space spaces, uint32_t space_count, const struct xrt_pose offsets, struct xrt_space_relation *out_relations)

static xrt_result_t	locate_device (struct xrt_space_overseer xso, struct xrt_space base_space, const struct xrt_pose base_offset, int64_t at_timestamp_ns, struct xrt_device xdev, struct xrt_space_relation *out_relation)

static xrt_result_t	ref_space_inc (struct xrt_space_overseer *xso, enum xrt_reference_space_type type)

static xrt_result_t	ref_space_dec (struct xrt_space_overseer *xso, enum xrt_reference_space_type type)

static xrt_result_t	recenter_local_spaces (struct xrt_space_overseer *xso)

static xrt_result_t	create_local_space (struct xrt_space_overseer xso, struct xrt_space out_local_space, struct xrt_space *out_local_floor_space)

static xrt_result_t	get_tracking_origin_offset (struct xrt_space_overseer xso, struct xrt_tracking_origin xto, struct xrt_pose *out_offset)

static xrt_result_t	set_tracking_origin_offset (struct xrt_space_overseer xso, struct xrt_tracking_origin xto, const struct xrt_pose *offset)

static xrt_result_t	get_reference_space_offset (struct xrt_space_overseer xso, enum xrt_reference_space_type type, struct xrt_pose out_offset)

static xrt_result_t	set_reference_space_offset (struct xrt_space_overseer xso, enum xrt_reference_space_type type, const struct xrt_pose offset)

static void	destroy (struct xrt_space_overseer *xso)

struct u_space_overseer *	u_space_overseer_create (struct xrt_session_event_sink *broadcast)
	Create a default implementation of a space overseer. More...

void	u_space_overseer_legacy_setup (struct u_space_overseer uso, struct xrt_device xdevs, uint32_t xdev_count, struct xrt_device head, const struct xrt_pose *local_offset, bool root_is_unbounded, bool per_app_local_spaces)
	Sets up the space overseer and all semantic spaces in a way that works with the old xrt_tracking_origin information. More...

void	u_space_overseer_create_null_space (struct u_space_overseer uso, struct xrt_space parent, struct xrt_space **out_space)
	Creates a space without any offset, this is just for optimisation over a regular offset space. More...

void	u_space_overseer_link_space_to_device (struct u_space_overseer uso, struct xrt_space xs, struct xrt_device *xdev)
	The space overseer internally keeps track the space that xrt_device is in, and then uses that mapping when creating pose spaces. More...

Detailed Description

A implementation of the xrt_space_overseer interface.

Author: Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Enumeration Type Documentation

◆ u_space_type

enum u_space_type

Keeps track of what kind of space it is.

Function Documentation

◆ create_space()

static struct u_space * create_space	(	enum u_space_type	type,
		struct u_space *	parent
	)

static

Creates a space, returns with a reference of one.

The lock doesn't need to be held as this function is not modifying any of the currently existing spaces only creating a new one that is not pointed to by any other spaces.

◆ get_offset_or_ident_read_locked()

static void get_offset_or_ident_read_locked	(	const struct u_space *	us,
		struct xrt_pose *	offset
	)

static

Returns the offset for an offset space or an identity pose, it's valid to call on all spaces.

References u_space::type.

◆ hashmap_unreference_space_items()

static void hashmap_unreference_space_items	(	void *	item,
		void *	priv
	)

static

Helper function when clearing a hashmap to also unreference a space.

References u_space_reference().

◆ push_then_traverse()

static void push_then_traverse	(	struct xrt_relation_chain *	xrc,
		struct u_space *	space,
		int64_t	at_timestamp_ns
	)

static

For each space, push the relation of that space and then traverse by calling push_then_traverse again with the parent space.

That means traverse goes from a leaf space to a the root space, relations are pushed in the same order.

References u_space::type.

◆ traverse_then_push_inverse()

static void traverse_then_push_inverse	(	struct xrt_relation_chain *	xrc,
		struct u_space *	space,
		int64_t	at_timestamp_ns
	)

static

For each space, traverse by calling traverse_then_push_inverse again with the parent space then push the inverse of the relation of that.

That means traverse goes from a leaf space to a the root space, relations are pushed in the reversed order.

References u_space::type.

◆ u_space_reference()

static void u_space_reference	(	struct u_space **	dst,
		struct u_space *	src
	)

inlinestatic

A lot of code here uses u_space directly and need to change reference count so this helper is here to make that easier.

References xrt_space::destroy, xrt_space::reference, xrt_reference::xrt_reference_dec_and_is_zero(), and xrt_reference::xrt_reference_inc().

Referenced by hashmap_unreference_space_items().

◆ update_offset_write_locked()

static void update_offset_write_locked	(	struct u_space *	us,
		const struct xrt_pose *	new_offset
	)

static

Updates the offset of a NULL or OFFSET space.

References u_space::type.

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ u_space_type

Function Documentation

◆ create_space()

◆ get_offset_or_ident_read_locked()

◆ hashmap_unreference_space_items()

◆ push_then_traverse()

◆ traverse_then_push_inverse()

◆ u_space_reference()

◆ update_offset_write_locked()