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[merge-to-it] sharpa_avatar: detect a silent glove by new sample stamps #1197

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Merged
lotusl-code merged 1 commit into from
Oct 8, 2026
Merged

[merge-to-it] sharpa_avatar: detect a silent glove by new sample stamps #1197

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19 changes: 16 additions & 3 deletions src/plugins/sharpa_avatar/core/avatar_hand_tracking_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <stdexcept>
#include <string>
#include <string_view>
#include <tuple>
#include <utility>
#include <vector>

Expand All @@ -35,7 +36,7 @@ namespace
{

constexpr size_t kJointFlatbufferSize = 4096;
constexpr auto kAvatarDataTimeout = std::chrono::seconds(10);
constexpr auto kAvatarDataTimeout = std::chrono::seconds(3);
constexpr auto kGloveRetryInterval = std::chrono::seconds(2);
constexpr auto kGloveWaitLogInterval = std::chrono::seconds(10);
constexpr auto kHapticCommandTimeout = std::chrono::milliseconds(200);
Expand Down Expand Up @@ -256,6 +257,7 @@ void GloveState::reset() noexcept
robot_frame = {};
device.reset();
last_successful_fetch.reset();
last_sample_stamp = {};
}

AvatarTracker::AvatarTracker(AvatarPluginConfig config) : m_config(std::move(config)), m_sdk(m_config.sdk_config_path)
Expand Down Expand Up @@ -428,15 +430,26 @@ void AvatarTracker::refresh_data()
}

const bool expects_data = m_config.human || m_config.raw || m_config.robot;
// fetch_data() keeps returning a silent glove's last sample, so only a newer
// sample stamp counts as data for the timeout below.
bool fetched_any = false;
const auto note_stamp = [&state, &fetched_any](const ::avatar::Stamp& stamp)
{
if (std::tie(stamp.sec, stamp.nanosec) >
std::tie(state.last_sample_stamp.sec, state.last_sample_stamp.nanosec))
{
state.last_sample_stamp = stamp;
fetched_any = true;
}
};
if (m_config.human)
{
::avatar::AvatarDataFrame frame;
const bool fetched =
state.device->fetch_data(frame, ::avatar::DeviceDataCategory::HUMAN) == ::avatar::ErrorCode::SUCCESS;
fetched_any = fetched_any || fetched;
if (fetched)
{
note_stamp(frame.skeleton.header.stamp);
state.landmarks = std::move(frame.skeleton.landmark);
}
else
Expand All @@ -452,10 +465,10 @@ void AvatarTracker::refresh_data()
}
::avatar::AvatarDataFrame frame;
const bool fetched = state.device->fetch_data(frame, category) == ::avatar::ErrorCode::SUCCESS;
fetched_any = fetched_any || fetched;
::avatar::AvatarDataFrame& cached = cached_joint_frame(state, category);
if (fetched)
{
note_stamp(hand_payload(frame, category).header.stamp);
cached = std::move(frame);
}
else
Expand Down
2 changes: 2 additions & 0 deletions src/plugins/sharpa_avatar/core/inc/avatar/avatar_hand_tracking_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,8 @@ struct GloveState
::avatar::AvatarDataFrame robot_frame;
// Empty until start() or a successful fetch; drives the data-timeout window.
std::optional<std::chrono::steady_clock::time_point> last_successful_fetch;
// Newest sample stamp seen; a fetch only counts as data when it advances this.
::avatar::Stamp last_sample_stamp;
};

class __attribute__((visibility("default"))) AvatarTracker
Expand Down
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