Decouple plugins from OpenXR with transport-neutral session and channel interfaces - #1082
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Decouple plugins from OpenXR with transport-neutral session and channel interfaces#1082tengw-nv wants to merge 4 commits into
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📝 WalkthroughWalkthroughThe change introduces transport-neutral plugin session, pull-channel, wrist-tracking, schema-push, and hand-tracking APIs. OpenXR adapters implement these APIs and retain runtime-specific handling. Examples, live trackers, and plugins now receive injected session or channel objects. Plugin composition roots create Estimated code review effort: 5 (Critical) | ~120 minutes Merge Risk: 🟡 Moderate · up to OpenXR failures can terminate the Haptikos or Wuji processes, creating a second pull channel can fail, and the new unit tests may be skipped by label-based CI. These issues should be resolved before merge. Sequence Diagram(s)sequenceDiagram
participant Main
participant OpenXRPluginSession
participant Plugin
participant PullChannel
participant PushChannel
Main->>OpenXRPluginSession: create session with requirements
Main->>Plugin: inject session and tracker dependencies
Plugin->>OpenXRPluginSession: create pull or push channel
Plugin->>PullChannel: update and read tracker data
Plugin->>PushChannel: publish schema or hand-tracking samples
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 14.29% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 119 functions across 50 files. (33 skipped: 24 unsupported, 9 over the file limit.) ✨ Finishing Touches 💡 2📝 Generate docstrings 💡
🛠️ Fix failing CI checks 💡
🧪 Generate unit tests (beta)
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Signed-off-by: Teng Wei <tengw@nvidia.com>
Signed-off-by: Teng Wei <tengw@nvidia.com>
Signed-off-by: Teng Wei <tengw@nvidia.com>
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Actionable comments posted: 4
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Inline comments:
In `@src/plugins/haptikos/haptikos_hands_plugin.cpp`:
- Around line 112-113: Extend the existing Haptikos worker try/catch boundary to
include both left- and right-hand HandTrackingPusher construction via
create_hand_tracking_push_channel and their HandTrackingPusher::push calls, so
exceptions use the existing Haptikos failure handling instead of escaping
worker_thread.
In `@src/plugins/plugin_utils/openxr_plugin_session.cpp`:
- Around line 214-219: Update OpenXRPluginSession::create_pull_channel to
prevent a second live OpenXRPluginPullChannel when trackers_ includes a
ControllerTracker, either by guarding active-channel creation or reusing
existing session resources. Do not use requirements_.wrist_tracking_pull as the
guard, since it only controls the optional wrist source; preserve creation of
the baseline pull channel.
In `@src/plugins/wuji_glove/wuji_glove_plugin.cpp`:
- Around line 624-631: Extend the worker thread’s existing exception boundary to
include both pump_hand calls, pump_hand(m_left_pusher, ...) and
pump_hand(m_right_pusher, ...). Ensure exceptions from lazy channel creation or
push are caught by the same handler, which must preserve the existing cleanup
and m_failed/m_running state updates.
In `@tests/cpp/core/pusherio/CMakeLists.txt`:
- Line 18: Update the catch_discover_tests invocation for pusherio_tests to
enable Catch2 tag-to-CTest-label mapping via ADD_TAGS_AS_LABELS, so tests tagged
[unit] remain selectable with CTest -L unit.
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📒 Files selected for processing (83)
AGENTS.mdexamples/schemaio/CMakeLists.txtexamples/schemaio/pedal_pusher.cppsrc/core/AGENTS.mdsrc/core/codegen/templates/fragments/live_factory_push.templatesrc/core/codegen/templates/push/live.cpp.templatesrc/core/codegen/templates/push/live.hpp.templatesrc/core/live_trackers/AGENTS.mdsrc/core/live_trackers/cpp/live_deviceio_factory.cppsrc/core/live_trackers/cpp/live_tensor_push_tracker_impl.cppsrc/core/live_trackers/cpp/live_tensor_push_tracker_impl.hppsrc/core/pusherio/cpp/CMakeLists.txtsrc/core/pusherio/cpp/hand_tracking_pusher.cppsrc/core/pusherio/cpp/inc/pusherio/hand_tracking_push_channel.hppsrc/core/pusherio/cpp/inc/pusherio/hand_tracking_pusher.hppsrc/core/pusherio/cpp/inc/pusherio/openxr_schema_push_channel.hppsrc/core/pusherio/cpp/inc/pusherio/plugin_session.hppsrc/core/pusherio/cpp/inc/pusherio/schema_pusher.hppsrc/core/pusherio/cpp/inc/pusherio/wrist_tracking_source.hppsrc/core/pusherio/cpp/openxr_schema_push_channel.cppsrc/core/pusherio/cpp/schema_pusher.cppsrc/plugins/controller_se3_tracker/CMakeLists.txtsrc/plugins/controller_se3_tracker/controller_se3_tracker_plugin.cppsrc/plugins/controller_se3_tracker/controller_se3_tracker_plugin.hppsrc/plugins/controller_se3_tracker/main.cppsrc/plugins/controller_synthetic_hands/README.mdsrc/plugins/controller_synthetic_hands/controller_synthetic_hands.cppsrc/plugins/controller_synthetic_hands/synthetic_hands_plugin.cppsrc/plugins/controller_synthetic_hands/synthetic_hands_plugin.hppsrc/plugins/generic_3axis_pedal/CMakeLists.txtsrc/plugins/generic_3axis_pedal/generic_3axis_pedal_plugin.cppsrc/plugins/generic_3axis_pedal/generic_3axis_pedal_plugin.hppsrc/plugins/generic_3axis_pedal/main.cppsrc/plugins/haptikos/README.mdsrc/plugins/haptikos/haptikos_hands_plugin.cppsrc/plugins/haptikos/haptikos_hands_plugin.hppsrc/plugins/haptikos/main.cppsrc/plugins/manus/app/CMakeLists.txtsrc/plugins/manus/app/main.cppsrc/plugins/manus/core/CMakeLists.txtsrc/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hppsrc/plugins/manus/core/manus_hand_tracking_plugin.cppsrc/plugins/manus/tools/manus_hand_tracker_printer.cppsrc/plugins/noitom_mocap/CMakeLists.txtsrc/plugins/noitom_mocap/main.cppsrc/plugins/noitom_mocap/noitom_mocap_plugin.cppsrc/plugins/noitom_mocap/noitom_mocap_plugin.hppsrc/plugins/oak/CMakeLists.txtsrc/plugins/oak/core/frame_sink.cppsrc/plugins/oak/core/frame_sink.hppsrc/plugins/oak/main.cppsrc/plugins/oglo_tactile/CMakeLists.txtsrc/plugins/oglo_tactile/main.cppsrc/plugins/oglo_tactile/oglo_glove_sink.cppsrc/plugins/oglo_tactile/oglo_glove_sink.hppsrc/plugins/oglo_tactile/oglo_tactile_plugin.cppsrc/plugins/oglo_tactile/oglo_tactile_plugin.hppsrc/plugins/plugin_utils/CMakeLists.txtsrc/plugins/plugin_utils/inc/plugin_utils/openxr_plugin_session.hppsrc/plugins/plugin_utils/openxr_hand_tracking_push_channel.cppsrc/plugins/plugin_utils/openxr_hand_tracking_push_channel.hppsrc/plugins/plugin_utils/openxr_plugin_session.cppsrc/plugins/rebot_devarm_leader/CMakeLists.txtsrc/plugins/rebot_devarm_leader/main.cppsrc/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin.cppsrc/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin.hppsrc/plugins/so101_leader/CMakeLists.txtsrc/plugins/so101_leader/main.cppsrc/plugins/so101_leader/so101_leader_plugin.cppsrc/plugins/so101_leader/so101_leader_plugin.hppsrc/plugins/vive_se3_tracker/CMakeLists.txtsrc/plugins/vive_se3_tracker/main.cppsrc/plugins/vive_se3_tracker/vive_se3_tracker_plugin.cppsrc/plugins/vive_se3_tracker/vive_se3_tracker_plugin.hppsrc/plugins/wuji_glove/README.mdsrc/plugins/wuji_glove/wuji_glove.cppsrc/plugins/wuji_glove/wuji_glove_plugin.cppsrc/plugins/wuji_glove/wuji_glove_plugin.hpptests/cpp/core/CMakeLists.txttests/cpp/core/pusherio/CMakeLists.txttests/cpp/core/pusherio/test_hand_tracking_pusher.cpptests/cpp/core/pusherio/test_plugin_pull_channel.cpptests/cpp/core/pusherio/test_schema_pusher_session.cpp
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Signed-off-by: Teng Wei <tengw@nvidia.com>
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Description
Summary
This MR introduces a transport-neutral plugin I/O abstraction so plugin implementations no longer depend on concrete OpenXR sessions, runtime handles,
DeviceIOSession,HandInjector, orWristPoseSource.Plugins now interact through
IPluginSession, which creates:IPluginPullChannelfor tracker and wrist dataISchemaPushChannelfor FlatBuffer/schema outputIHandTrackingPushChannelfor hand-joint outputThe existing OpenXR behavior is preserved behind
OpenXRPluginSessionand its channel adapters. This establishes the boundary needed for a future remote session/bridge without implementing that remote transport in this MR.Key changes
PluginSessionRequirementsfor declaring plugin capabilities.Design notes
OpenXRPluginSessionconstruction is limited to executable composition roots.PluginSessionHandle.Limitations
RemotePluginSessionor the network bridge.Fixes #(issue)
Type of change
Testing
clang-format --dry-run --Werrorcheck passed.git diff --checkpassed.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCOSummary by CodeRabbit
New Features
Documentation
Tests