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[merge-to-it] sharpa_avatar: judge glove liveness by fetched data, not the online flag (#1181) #1198

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Merged
lotusl-code merged 2 commits into from
Oct 8, 2026
Merged

[merge-to-it] sharpa_avatar: judge glove liveness by fetched data, not the online flag (#1181) #1198

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2971e46
[merge-to-it] sharpa_avatar: judge glove liveness by fetched data, no…
lotusl-code Oct 7, 2026
0c87e8a
[merge-to-it] sharpa_avatar: time out a haptic-only glove by its RAW …
lotusl-code Oct 8, 2026
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31 changes: 13 additions & 18 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 @@ -428,13 +428,11 @@ void AvatarTracker::refresh_data()
{
continue;
}
if (!state.device->get_device_info().online)
{
state.reset();
continue;
}
// Liveness comes from fetched data, not get_device_info().online: the SDK
// leaves that flag false on a glove first discovered offline and powered on later.
// A haptic-only glove still fetches RAW so the data timeout below can drop a dead handle.
const bool probe_raw = !m_config.human && !m_config.raw && !m_config.robot;

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;
Expand Down Expand Up @@ -464,7 +462,7 @@ void AvatarTracker::refresh_data()
}
for (const ::avatar::DeviceDataCategory category : kJointDataCategories)
{
if (!dataset_enabled(category))
if (!dataset_enabled(category) && !(probe_raw && category == ::avatar::DeviceDataCategory::RAW))
{
continue;
}
Expand All @@ -481,18 +479,15 @@ void AvatarTracker::refresh_data()
cached = {};
}
}
if (expects_data)
const auto now = std::chrono::steady_clock::now();
if (fetched_any)
{
const auto now = std::chrono::steady_clock::now();
if (fetched_any)
{
state.last_successful_fetch = now;
}
else if (!state.last_successful_fetch || now - *state.last_successful_fetch >= kAvatarDataTimeout)
{
logger()->warn("{} glove disconnected: no data for {} s.", to_string(side), kAvatarDataTimeout.count());
state.reset();
}
state.last_successful_fetch = now;
}
else if (!state.last_successful_fetch || now - *state.last_successful_fetch >= kAvatarDataTimeout)
{
logger()->warn("{} glove disconnected: no data for {} s.", to_string(side), kAvatarDataTimeout.count());
state.reset();
}
}
}
Expand Down
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