Update timestamps to monotonic

docs/source/device/add_device.rst

@@ -117,7 +117,7 @@ tensor samples from OpenXR. Implement a concrete tracker class (e.g.
 - **Factory registration** — Register your tracker in the live factory dispatch table
   (see ``LiveDeviceIOFactory``). The factory constructs an ``ITrackerImpl`` that holds
   a ``SchemaTracker``, builds a ``SchemaTrackerConfig`` from the tracker's stored
-  configuration, and implements ``update(XrTime)`` and
+  configuration, and implements ``update(int64_t monotonic_time_ns)`` and
   ``serialize_all(channel_index, callback)``.
 
 In the **Impl**:

examples/lerobot/record.py

@@ -110,7 +110,7 @@ def main():
             try:
                 while time.time() - start_time < 10.0:
                     # Update session and all trackers
-                    session.update()
+                    session.update(time.monotonic_ns())
 
                     # Get hand data
                     left_tracked: schema.HandPoseTrackedT = hand_tracker.get_left_hand(

examples/oxr/cpp/oxr_session_sharing.cpp

@@ -5,6 +5,7 @@
 #include <deviceio_trackers/hand_tracker.hpp>
 #include <deviceio_trackers/head_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <oxr_utils/os_time.hpp>
 
 #include <chrono>
 #include <iostream>
@@ -76,8 +77,9 @@ try
     for (int i = 0; i < 10; ++i)
     {
         // Both sessions update using the same underlying OpenXR session
-        session1->update();
-        session2->update();
+        const int64_t graph_time_ns = core::os_monotonic_now_ns();
+        session1->update(graph_time_ns);
+        session2->update(graph_time_ns);
 
         // Get data from both trackers
         const auto& left_tracked = hand_tracker->get_left_hand(*session1);

examples/oxr/cpp/oxr_simple_api_demo.cpp

@@ -5,6 +5,7 @@
 #include <deviceio_trackers/hand_tracker.hpp>
 #include <deviceio_trackers/head_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <oxr_utils/os_time.hpp>
 
 #include <iostream>
 #include <memory>
@@ -76,7 +77,7 @@ try
     for (int i = 0; i < 5; ++i)
     {
         // Session handles internal update() calls to trackers
-        session->update();
+        session->update(core::os_monotonic_now_ns());
 
         // External user only uses public query methods
         const auto& left_tracked = hand_tracker->get_left_hand(*session);

examples/oxr/python/modular_example.py

@@ -60,7 +60,7 @@ def main():
 
             while time.time() - start_time < 10.0:
                 # Update session and all trackers
-                session.update()
+                session.update(time.monotonic_ns())
 
                 # Print every 60 frames (~1 second)
                 if frame_count % 60 == 0:

examples/oxr/python/modular_example_with_mcap.py

@@ -71,7 +71,7 @@ def main():
             start_time = time.time()
 
             while time.time() - start_time < 30.0:
-                session.update()
+                session.update(time.monotonic_ns())
 
                 # Print every 60 frames (~1 second)
                 if frame_count % 60 == 0:

examples/oxr/python/test_controller_tracker.py

@@ -51,7 +51,7 @@
 
         # Test 4: Initial update
         print("[Test 4] Testing initial data retrieval...")
-        session.update()
+        session.update(time.monotonic_ns())
 
         print("✓ Update successful")
         print()
@@ -101,7 +101,7 @@ def assert_trackers_consistent(label, ta, tb):
         last_status_print = start_time
 
         while time.time() - start_time < 10.0:
-            session.update()
+            session.update(time.monotonic_ns())
 
             current_time = time.time()
             if current_time - last_status_print >= 0.5:

examples/oxr/python/test_extensions.py

@@ -9,6 +9,8 @@
 do not expose get_required_extensions().
 """
 
+import time
+
 import isaacteleop.deviceio as deviceio
 import isaacteleop.oxr as oxr
 
@@ -87,7 +89,7 @@
         print("  ✅ Initialized successfully")
 
         # Quick update test
-        session.update()
+        session.update(time.monotonic_ns())
         left_tracked = hand.get_left_hand(session)
         head_tracked = head.get_head(session)
         print("  ✅ Update successful")

examples/oxr/python/test_full_body_tracker.py

@@ -55,7 +55,7 @@
 
         # Test 5: Initial update
         print("[Test 5] Testing initial data retrieval...")
-        session.update()
+        session.update(time.monotonic_ns())
 
         print("✓ Update successful")
         print()
@@ -86,7 +86,7 @@
         last_status_print = start_time
 
         while time.time() - start_time < 10.0:
-            session.update()
+            session.update(time.monotonic_ns())
 
             # Get current body pose
             current_time = time.time()

examples/oxr/python/test_hand_inactive_on_plugin_stop.py

@@ -29,7 +29,7 @@
 
 def poll_hands(hand_tracker, deviceio_session):
     """Return (left_active, right_active) for the current frame."""
-    deviceio_session.update()
+    deviceio_session.update(time.monotonic_ns())
     left = hand_tracker.get_left_hand(deviceio_session)
     right = hand_tracker.get_right_hand(deviceio_session)
     return left.data is not None, right.data is not None

examples/oxr/python/test_modular.py

@@ -46,7 +46,7 @@
 
         # Test 4: Update and get data
         print("[Test 4] Testing data retrieval...")
-        session.update()
+        session.update(time.monotonic_ns())
 
         print("✓ Update successful")
         print()
@@ -89,7 +89,7 @@
         start_time = time.time()
 
         while time.time() - start_time < 5.0:
-            session.update()
+            session.update(time.monotonic_ns())
 
             if frame_count % 60 == 0:
                 elapsed = time.time() - start_time

examples/oxr/python/test_oak_camera.py

@@ -84,7 +84,7 @@ def _run_schema_pusher(
 
             while time.time() - start_time < duration:
                 plugin.check_health()
-                session.update()
+                session.update(time.monotonic_ns())
                 frame_count += 1
 
                 elapsed = time.time() - start_time

examples/oxr/python/test_session_sharing.py

@@ -83,8 +83,8 @@
         frame_count = 0
         while time.time() - start_time < 5.0:
             # Both sessions update using the same underlying OpenXR session
-            session1.update()
-            session2.update()
+            session1.update(time.monotonic_ns())
+            session2.update(time.monotonic_ns())
 
             # Print status every 60 frames
             if frame_count % 60 == 0:

examples/oxr/python/test_synthetic_hands.py

@@ -96,7 +96,7 @@ def run_test():
                 if frame_count % 60 == 0:
                     plugin.check_health()  # Throws PluginCrashException if plugin crashed
 
-                deviceio_session.update()
+                deviceio_session.update(time.monotonic_ns())
 
                 if frame_count % 60 == 0:
                     left_tracked = hand_tracker.get_left_hand(deviceio_session)

examples/retargeting/python/sources_example.py

@@ -121,7 +121,7 @@ def main():
 
             while time.time() - start_time < 10.0:
                 # Update session and all trackers
-                session.update()
+                session.update(time.monotonic_ns())
 
                 # Print every 60 frames (~1 second)
                 if frame_count % 60 == 0:

examples/schemaio/frame_metadata_printer.cpp

@@ -17,6 +17,7 @@
 #include <deviceio_session/deviceio_session.hpp>
 #include <deviceio_trackers/frame_metadata_tracker_oak.hpp>
 #include <oxr/oxr_session.hpp>
+#include <oxr_utils/os_time.hpp>
 
 #include <chrono>
 #include <iostream>
@@ -107,7 +108,7 @@ try
 
     while (true)
     {
-        session->update();
+        session->update(core::os_monotonic_now_ns());
 
         // Refresh stream count and extend per-stream tracking if streams were added.
         stream_count = tracker->get_stream_count();

examples/schemaio/pedal_printer.cpp

@@ -18,6 +18,7 @@
 #include <deviceio_session/deviceio_session.hpp>
 #include <deviceio_trackers/generic_3axis_pedal_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <oxr_utils/os_time.hpp>
 
 #include <chrono>
 #include <iomanip>
@@ -69,7 +70,7 @@ try
     while (received_count < MAX_SAMPLES)
     {
         // Update session (this calls update on all trackers)
-        session->update();
+        session->update(core::os_monotonic_now_ns());
 
         // Print current data if available
         const auto& tracked = tracker->get_data(*session);

src/core/deviceio_base/cpp/CMakeLists.txt

@@ -14,8 +14,6 @@ target_include_directories(deviceio_base
 target_link_libraries(deviceio_base
     INTERFACE
         isaacteleop_schema
-        oxr::oxr_utils
-        OpenXR::headers
 )
 
 add_library(deviceio::deviceio_base ALIAS deviceio_base)

src/core/deviceio_base/cpp/inc/deviceio_base/tracker.hpp

@@ -3,18 +3,14 @@
 
 #pragma once
 
-#include <openxr/openxr.h>
-
+#include <cstdint>
 #include <memory>
 #include <string>
 #include <string_view>
 
 namespace core
 {
 
-// Forward declarations
-struct OpenXRSessionHandles;
-
 // Base interface for tracker implementations.
 // The actual worker objects updated each frame by DeviceIOSession.
 class ITrackerImpl
@@ -23,13 +19,18 @@ class ITrackerImpl
     virtual ~ITrackerImpl() = default;
 
     /**
-     * @brief Updates tracker state for the specified OpenXR time.
+     * @brief Updates tracker state for the current graph step.
+     *
+     * @param graph_time_ns Logical timestamp for this update step (nanoseconds,
+     *        monotonic clock). Used as the MCAP logTime/publishTime. Tracker
+     *        implementations that perform synchronous device queries compute
+     *        their own wall-clock "now" for DeviceDataTimestamp fields.
      *
      * @throws std::runtime_error On critical tracker/runtime failures.
      * @note A thrown exception indicates a fatal condition; the application is
      *       expected to terminate rather than continue running.
      */
-    virtual void update(XrTime time) = 0;
+    virtual void update(int64_t graph_time_ns) = 0;
 };
 
 /**

src/core/deviceio_session/cpp/CMakeLists.txt

@@ -20,6 +20,7 @@ target_include_directories(deviceio_session
 target_link_libraries(deviceio_session
     PUBLIC
         deviceio::deviceio_base
+        oxr::oxr_utils
         Teleop::openxr_extensions
     PRIVATE
         deviceio::deviceio_trackers

src/core/deviceio_session/cpp/deviceio_session.cpp

@@ -24,7 +24,7 @@ namespace core
 DeviceIOSession::DeviceIOSession(const std::vector<std::shared_ptr<ITracker>>& trackers,
                                  const OpenXRSessionHandles& handles,
                                  std::optional<McapRecordingConfig> recording_config)
-    : handles_(handles), time_converter_(handles)
+    : handles_(handles)
 {
     std::vector<std::pair<const ITracker*, std::string>> tracker_names;
 
@@ -101,13 +101,11 @@ std::unique_ptr<DeviceIOSession> DeviceIOSession::run(const std::vector<std::sha
     return std::unique_ptr<DeviceIOSession>(new DeviceIOSession(trackers, handles, std::move(recording_config)));
 }
 
-void DeviceIOSession::update()
+void DeviceIOSession::update(int64_t graph_time_ns)
 {
-    XrTime current_time = time_converter_.os_monotonic_now();
-
     for (auto& kv : tracker_impls_)
     {
-        kv.second->update(current_time);
+        kv.second->update(graph_time_ns);
     }
 }
 

src/core/deviceio_session/cpp/inc/deviceio_session/deviceio_session.hpp

@@ -6,7 +6,6 @@
 #include <deviceio_base/tracker.hpp>
 #include <oxr_utils/oxr_funcs.hpp>
 #include <oxr_utils/oxr_session_handles.hpp>
-#include <oxr_utils/oxr_time.hpp>
 
 #include <memory>
 #include <optional>
@@ -65,11 +64,14 @@ class DeviceIOSession : public ITrackerSession
      * If recording is active, tracker implementations write MCAP samples
      * directly during this call.
      *
+     * @param graph_time_ns Logical timestamp for this update step (nanoseconds,
+     *        monotonic clock). Forwarded to tracker impls for MCAP envelope time.
+     *
      * @throws std::runtime_error On critical tracker/runtime failures.
      * @note A thrown exception indicates a fatal condition; the application is
      *       expected to terminate rather than continue running.
      */
-    void update();
+    void update(int64_t graph_time_ns);
 
     const ITrackerImpl& get_tracker_impl(const ITracker& tracker) const override
     {
@@ -88,7 +90,6 @@ class DeviceIOSession : public ITrackerSession
 
     const OpenXRSessionHandles handles_;
     std::unordered_map<const ITracker*, std::unique_ptr<ITrackerImpl>> tracker_impls_;
-    XrTimeConverter time_converter_;
 
     // Owned MCAP writer; null when recording is not configured.
     std::unique_ptr<mcap::McapWriter> mcap_writer_;

src/core/deviceio_session/py_utils/inc/deviceio_py_utils/session.hpp

@@ -29,13 +29,13 @@ class PyDeviceIOSession : public ITrackerSession
     {
     }
 
-    void update()
+    void update(int64_t graph_time_ns)
     {
         if (!impl_)
         {
             throw std::runtime_error("Session has been closed/destroyed");
         }
-        impl_->update();
+        impl_->update(graph_time_ns);
     }
 
     void close()

src/core/deviceio_session/python/session_bindings.cpp

@@ -41,7 +41,8 @@ PYBIND11_MODULE(_deviceio_session, m)
 
     py::class_<core::PyDeviceIOSession, core::ITrackerSession, std::unique_ptr<core::PyDeviceIOSession>>(
         m, "DeviceIOSession")
-        .def("update", &core::PyDeviceIOSession::update, "Update session and all trackers")
+        .def("update", &core::PyDeviceIOSession::update, py::arg("graph_time_ns"),
+             "Update session and all trackers. graph_time_ns is used as MCAP logTime/publishTime.")
         .def("close", &core::PyDeviceIOSession::close,
              "Release the native session immediately (usually automatic via context manager)")
         .def("__enter__", &core::PyDeviceIOSession::enter)

src/core/deviceio_trackers/cpp/CMakeLists.txt

@@ -27,8 +27,6 @@ target_include_directories(deviceio_trackers
 target_link_libraries(deviceio_trackers
     PUBLIC
         deviceio::deviceio_base
-    PRIVATE
-        Teleop::openxr_extensions
 )
 
 add_library(deviceio::deviceio_trackers ALIAS deviceio_trackers)