The open source OpenXR runtime
d/wmr: Only take the lock once per received packet
+14
-11
+14
-11
src/xrt/drivers/wmr/wmr_hmd.c
+14
-11
src/xrt/drivers/wmr/wmr_hmd.c
···
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hololens_sensors_decode_packet(wh, &wh->packet, buffer, size);
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+
struct xrt_vec3 raw_gyro[4];
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struct xrt_vec3 raw_accel[4];
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+
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for (int i = 0; i < 4; i++) {
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-
struct xrt_vec3 raw_gyro;
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-
struct xrt_vec3 raw_accel;
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vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro[i]);
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vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel[i]);
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}
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vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro);
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vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel);
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-
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os_mutex_lock(&wh->fusion.mutex);
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wh->fusion.last_imu_timestamp_ns = now_ns;
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wh->fusion.last_angular_velocity = raw_gyro;
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os_mutex_lock(&wh->fusion.mutex);
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for (int i = 0; i < 4; i++) {
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m_imu_3dof_update( //
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&wh->fusion.i3dof, //
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wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, //
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&raw_accel, //
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&raw_gyro); //
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os_mutex_unlock(&wh->fusion.mutex);
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&raw_accel[i], //
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&raw_gyro[i]); //
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}
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wh->fusion.last_imu_timestamp_ns = now_ns;
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wh->fusion.last_angular_velocity = raw_gyro[3];
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os_mutex_unlock(&wh->fusion.mutex);
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+
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break;
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}
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case WMR_MS_HOLOLENS_MSG_UNKNOWN_05: