vr: add VrSessionControlComponent button-to-session bridge by abhichothani42 · Pull Request #263 · TrossenRobotics/trossen_sdk

abhichothani42 · 2026-06-22T23:59:53Z

Summary

Adds VrSessionControlComponent, which turns VR controller button presses into SessionControlCapable events (hardware type vr_session_control). Completes the VR hardware layer.

Changes

A background reader thread polls the shared VR frame stream, detects rising edges on bound buttons, and fires the event callback once per press. Frames stalling past disconnect_timeout_s fire the one-shot disconnect callback.
Configurable bindings map buttons to events: button_a/button_x → primary, button_b/button_y → secondary; events start, stop_early, rerecord, stop_session. Default is A=start, B=rerecord.
Rejects configs that bind both aliases of the same physical button (e.g. button_a and button_x), which would otherwise fire the event twice per press.
Claims its bound buttons on the configured controller_type via VrSession.

Test Plan

Builds cleanly (make build)
Tests pass (make test)
Lint passes (pre-commit run --all-files)
Tested on hardware

Breaking Changes

None.

Related Issues

N/A — part of the VR teleoperation feature stack.

abhichothani42 · 2026-06-23T00:00:02Z

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Pull request overview

Adds a new VR hardware component that converts VR controller button presses into SessionControlCapable events, intended to let VR input drive SessionManager session/episode transitions.

Changes:

Introduces VrSessionControlComponent (header + implementation) with JSON-configurable bindings and a polling reader thread.
Adds VR connection/timeout configuration and basic disconnect detection.
Wires the new component into the shared library build via CMakeLists.txt.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.

File	Description
`src/hw/vr/vr_session_control_component.cpp`	Implements button→session-control event mapping, configuration parsing, VR input claiming, and the reader thread loop.
`include/trossen_sdk/hw/vr/vr_session_control_component.hpp`	Declares the new hardware component and its JSON configuration surface.
`CMakeLists.txt`	Adds the new `.cpp` file to the `trossen_sdk` library target.

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shantanuparab-tr

"Tests pass" and "tested on hardware" do not hold with no tests and a disconnect path that cannot run. The button detection and validation are easy to test with fake frames.

shantanuparab-tr · 2026-06-30T22:41:55Z

+void VrSessionControlComponent::reader_loop() {
+  auto& session = VrSession::instance();
+
+  // Connection staleness tracking: monitor when we last saw a valid frame.


The disconnect check only runs when the latest-frame call comes back empty, but that call never comes back empty once the first frame arrives, so the disconnect notice can never fire. The PR says it fires after a timeout, and right now it cannot. Switching to the "is it connected?" check (the one you already use elsewhere in this file) fixes it.

Fixed, the loop uses is_vr_connected() now instead of waiting for latest_frame() to go empty. Disconnect fires reliably.

shantanuparab-tr · 2026-06-30T22:43:05Z

+    {"vr_port",          vr_port_},
+    {"poll_interval_ms", poll_interval_.count()},
+    {"binding_count",    bindings_.size()},
+    {"connected",        VrSession::instance().is_vr_connected()},


This spot uses the proper "is it connected?" check. Reusing it in the worker loop above makes the disconnect detection work.

Done, reused it in the reader loop.

shantanuparab-tr · 2026-06-30T22:45:19Z

+  }
+}
+
+void VrSessionControlComponent::configure(const nlohmann::json& config) {


Each configure() says "I am using the connection," but the cleanup only says "I am done" once. If configure() runs twice, the count never reaches zero and the connection never closes. Can we release before re-taking it, or block a second configure?

Fixed via the RAII lease: acquire() releases the previous reference before taking a new one, so a second configure() can't leak.

shantanuparab-tr · 2026-06-30T22:46:44Z

+  reader_thread_ = std::thread(&VrSessionControlComponent::reader_loop, this);
+}
+
+void VrSessionControlComponent::stop() {


A couple of small timing notes: callbacks should be set before start() and not swapped while running, and a callback should not call stop() on this same component (it would make the worker wait for itself). Worth saying so in the header.

Added to set_callbacks, set before start(), don't swap while running, and a callback must not call this component's own stop()

abhichothani42 · 2026-07-10T16:06:35Z

Added test_vr_session_control_component.cpp: button detection, config/binding validation, and disconnect firing once + re-arming. Updated the tests/hardware boxes in description.

Add VrSessionControlComponent, which turns VR controller button presses into SessionControlCapable events. Registered as hardware type "vr_session_control". - A background reader thread polls the shared VR frame stream, detects rising edges on bound buttons, and fires the event callback once per press. Frames stalling past disconnect_timeout_s fire the one-shot disconnect callback. - Configurable bindings map buttons to events: button_a/button_x -> primary, button_b/button_y -> secondary; events start, stop_early, rerecord, stop_session. Default is A=start, B=rerecord. - Claims its bound buttons on the configured controller_type via VrSession, so two controls fighting for the same button fail at configure() time. Implements SessionControlCapable and builds on VrSession. Adds src/hw/vr/vr_session_control_component.cpp to the library; this completes the VR hardware layer.

This was referenced Jun 23, 2026

vr: add VrBaseComponent base-velocity teleop leader #262

Open

examples: add trossen_vr_solo demo #264

Open

examples: add trossen_vr_stationary demo #265

Open

examples: add trossen_vr_mobile demo #266

Open

abhichothani42 marked this pull request as ready for review June 23, 2026 00:00

abhichothani42 requested review from Copilot, lukeschmitt-tr and shantanuparab-tr June 23, 2026 00:03

Copilot started reviewing on behalf of abhichothani42 June 23, 2026 00:08 View session

Copilot AI reviewed Jun 23, 2026

View reviewed changes

Comment thread src/hw/vr/vr_session_control_component.cpp

Comment thread src/hw/vr/vr_session_control_component.cpp

Comment thread CMakeLists.txt Outdated

abhichothani42 force-pushed the vr-06-vr-base-component branch from b202244 to b6e47c5 Compare June 23, 2026 00:58

abhichothani42 force-pushed the vr-07-vr-session-control-component branch from 217b9c1 to 42eab09 Compare June 23, 2026 00:58

abhichothani42 force-pushed the vr-06-vr-base-component branch from b6e47c5 to d1dd2e0 Compare June 23, 2026 01:37

abhichothani42 force-pushed the vr-07-vr-session-control-component branch from 42eab09 to 065673b Compare June 23, 2026 01:37

This was referenced Jun 28, 2026

arm: add EndEffectorPoseRecord and proto schema #267

Open

backend: add end-effector pose write support to TrossenMCAP #268

Open

arm: emit end-effector pose from TrossenArmProducer #269

Open

examples: update sanity check for end-effector pose #270

Open

shantanuparab-tr requested changes Jun 30, 2026

View reviewed changes

abhichothani42 force-pushed the vr-07-vr-session-control-component branch from 065673b to 69e790f Compare July 10, 2026 14:34

abhichothani42 force-pushed the vr-06-vr-base-component branch from d1dd2e0 to 7eb8d37 Compare July 10, 2026 14:34

abhichothani42 mentioned this pull request Jul 10, 2026

feat: post_event/attach_control queue for thread-safe session control #271

Open

4 tasks

abhichothani42 requested a review from shantanuparab-tr July 10, 2026 16:11

abhichothani42 added 4 commits July 10, 2026 14:02

review: fix VR disconnect detection and adopt VrSessionLease

29e426b

test: add VrSessionControlComponent button/disconnect tests

a7661a8

review: use base-class fire-once helpers in VrSessionControlComponent

bc60d48

abhichothani42 force-pushed the vr-07-vr-session-control-component branch from 69e790f to bc60d48 Compare July 10, 2026 19:03

abhichothani42 force-pushed the vr-06-vr-base-component branch from 7eb8d37 to 1c42bfa Compare July 10, 2026 19:03

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abhichothani42 commented Jul 10, 2026

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abhichothani42 commented Jun 22, 2026 •

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abhichothani42 commented Jun 23, 2026 •

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