The open source OpenXR runtime
d/wmr: Expand USB transfers to 9
Enqueue more USB camera transfers to better cope
with extended mis-scheduling in the kernel.
9 pending transfers is 9/90 = 100ms, or 3 loops
through the SLAM/controller/controller exposures
cycle
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2394>
authored by
Jan Schmidt
and committed by
Marge Bot
4a905bbb
37bb719e
+3
-1
+3
-1
src/xrt/drivers/wmr/wmr_camera.c
+3
-1
src/xrt/drivers/wmr/wmr_camera.c
···
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#define CAM_ENDPOINT 0x05
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-
#define NUM_XFERS 4
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+
#define NUM_XFERS 9
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#define WMR_CAMERA_CMD_GAIN 0x80
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#define WMR_CAMERA_CMD_ON 0x81
···
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for (i = 0; i < NUM_XFERS; i++) {
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cam->xfers[i] = libusb_alloc_transfer(0);
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if (cam->xfers[i] == NULL) {
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+
WMR_CAM_ERROR(cam, "Failed to allocate transfer %d", i);
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res = LIBUSB_ERROR_NO_MEM;
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goto fail;
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}
···
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res = libusb_submit_transfer(cam->xfers[i]);
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if (res < 0) {
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+
WMR_CAM_ERROR(cam, "Failed to submit transfer %d", i);
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goto fail;
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}
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}