Create SchemaRecord wrapper types for all schemas

nvddr · nvddr · commit 7f551df226ea · 2026-02-25T15:49:28.000-08:00
Add XXRecord root_type wrapper tables for MCAP serialization:
- HandPoseRecord, ControllerSnapshotRecord, HeadPoseRecord,
  FullBodyPosePicoRecord, Generic3AxisPedalOutputRecord,
  LocomotionCommandRecord, FrameMetadataRecord
- Rename ControllerData to ControllerSnapshotRecord
- Update tracker schema names and binary schema references
- Update serialize() methods to pack into Record builders
- Add static_assert VT_DATA checks in C++ tests
diff --git a/src/core/deviceio/cpp/controller_tracker.cpp b/src/core/deviceio/cpp/controller_tracker.cpp
@@ -364,9 +364,9 @@ Timestamp ControllerTracker::Impl::serialize(flatbuffers::FlatBufferBuilder& bui
 
     const ControllerSnapshot& snapshot = (channel_index == 0) ? left_controller_ : right_controller_;
 
-    ControllerDataBuilder data_builder(builder);
-    data_builder.add_data(&snapshot);
-    builder.Finish(data_builder.Finish());
+    ControllerSnapshotRecordBuilder record_builder(builder);
+    record_builder.add_data(&snapshot);
+    builder.Finish(record_builder.Finish());
 
     return snapshot.timestamp();
 }
diff --git a/src/core/deviceio/cpp/frame_metadata_tracker_oak.cpp b/src/core/deviceio/cpp/frame_metadata_tracker_oak.cpp
@@ -62,8 +62,11 @@ class FrameMetadataTrackerOak::Impl : public ITrackerImpl
         }
 
         const auto& data = m_streams[channel_index].data;
-        auto offset = FrameMetadataOak::Pack(builder, &data);
-        builder.Finish(offset);
+        auto data_offset = FrameMetadataOak::Pack(builder, &data);
+
+        FrameMetadataOakRecordBuilder record_builder(builder);
+        record_builder.add_data(data_offset);
+        builder.Finish(record_builder.Finish());
 
         if (data.timestamp)
             return *data.timestamp;
@@ -122,13 +125,13 @@ std::string_view FrameMetadataTrackerOak::get_name() const
 
 std::string_view FrameMetadataTrackerOak::get_schema_name() const
 {
-    return "core.FrameMetadataOak";
+    return "core.FrameMetadataOakRecord";
 }
 
 std::string_view FrameMetadataTrackerOak::get_schema_text() const
 {
-    return std::string_view(
-        reinterpret_cast<const char*>(FrameMetadataOakBinarySchema::data()), FrameMetadataOakBinarySchema::size());
+    return std::string_view(reinterpret_cast<const char*>(FrameMetadataOakRecordBinarySchema::data()),
+                            FrameMetadataOakRecordBinarySchema::size());
 }
 
 const FrameMetadataOakT& FrameMetadataTrackerOak::get_stream_data(const DeviceIOSession& session, size_t stream_index) const
diff --git a/src/core/deviceio/cpp/full_body_tracker_pico.cpp b/src/core/deviceio/cpp/full_body_tracker_pico.cpp
@@ -179,8 +179,11 @@ const FullBodyPosePicoT& FullBodyTrackerPicoImpl::get_body_pose() const
 
 Timestamp FullBodyTrackerPicoImpl::serialize(flatbuffers::FlatBufferBuilder& builder, size_t /*channel_index*/) const
 {
-    auto offset = FullBodyPosePico::Pack(builder, &body_pose_);
-    builder.Finish(offset);
+    auto data_offset = FullBodyPosePico::Pack(builder, &body_pose_);
+
+    FullBodyPosePicoRecordBuilder record_builder(builder);
+    record_builder.add_data(data_offset);
+    builder.Finish(record_builder.Finish());
 
     if (body_pose_.timestamp)
     {
diff --git a/src/core/deviceio/cpp/generic_3axis_pedal_tracker.cpp b/src/core/deviceio/cpp/generic_3axis_pedal_tracker.cpp
@@ -28,7 +28,7 @@ class Generic3AxisPedalTracker::Impl : public ITrackerImpl
         // Try to read new data from tensor stream
         if (m_schema_reader.read_buffer(m_buffer))
         {
-            auto fb = GetGeneric3AxisPedalOutput(m_buffer.data());
+            auto fb = flatbuffers::GetRoot<Generic3AxisPedalOutput>(m_buffer.data());
             if (fb)
             {
                 fb->UnPackTo(&m_data);
@@ -42,8 +42,12 @@ class Generic3AxisPedalTracker::Impl : public ITrackerImpl
 
     Timestamp serialize(flatbuffers::FlatBufferBuilder& builder, size_t /*channel_index*/) const override
     {
-        auto offset = Generic3AxisPedalOutput::Pack(builder, &m_data);
-        builder.Finish(offset);
+        auto data_offset = Generic3AxisPedalOutput::Pack(builder, &m_data);
+
+        Generic3AxisPedalOutputRecordBuilder record_builder(builder);
+        record_builder.add_data(data_offset);
+        builder.Finish(record_builder.Finish());
+
         return m_data.timestamp ? *m_data.timestamp : Timestamp{};
     }
 
@@ -82,13 +86,13 @@ std::string_view Generic3AxisPedalTracker::get_name() const
 
 std::string_view Generic3AxisPedalTracker::get_schema_name() const
 {
-    return "core.Generic3AxisPedalOutput";
+    return "core.Generic3AxisPedalOutputRecord";
 }
 
 std::string_view Generic3AxisPedalTracker::get_schema_text() const
 {
-    return std::string_view(reinterpret_cast<const char*>(Generic3AxisPedalOutputBinarySchema::data()),
-                            Generic3AxisPedalOutputBinarySchema::size());
+    return std::string_view(reinterpret_cast<const char*>(Generic3AxisPedalOutputRecordBinarySchema::data()),
+                            Generic3AxisPedalOutputRecordBinarySchema::size());
 }
 
 const SchemaTrackerConfig& Generic3AxisPedalTracker::get_config() const
diff --git a/src/core/deviceio/cpp/hand_tracker.cpp b/src/core/deviceio/cpp/hand_tracker.cpp
@@ -99,8 +99,11 @@ Timestamp HandTracker::Impl::serialize(flatbuffers::FlatBufferBuilder& builder,
 
     const HandPoseT& hand = (channel_index == 0) ? left_hand_ : right_hand_;
 
-    auto offset = HandPose::Pack(builder, &hand);
-    builder.Finish(offset);
+    auto data_offset = HandPose::Pack(builder, &hand);
+
+    HandPoseRecordBuilder record_builder(builder);
+    record_builder.add_data(data_offset);
+    builder.Finish(record_builder.Finish());
 
     if (hand.timestamp)
     {
diff --git a/src/core/deviceio/cpp/head_tracker.cpp b/src/core/deviceio/cpp/head_tracker.cpp
@@ -75,8 +75,11 @@ const HeadPoseT& HeadTracker::Impl::get_head() const
 
 Timestamp HeadTracker::Impl::serialize(flatbuffers::FlatBufferBuilder& builder, size_t /*channel_index*/) const
 {
-    auto offset = HeadPose::Pack(builder, &head_);
-    builder.Finish(offset);
+    auto data_offset = HeadPose::Pack(builder, &head_);
+
+    HeadPoseRecordBuilder record_builder(builder);
+    record_builder.add_data(data_offset);
+    builder.Finish(record_builder.Finish());
 
     if (head_.timestamp)
     {
diff --git a/src/core/deviceio/cpp/inc/deviceio/controller_tracker.hpp b/src/core/deviceio/cpp/inc/deviceio/controller_tracker.hpp
@@ -34,8 +34,8 @@ class ControllerTracker : public ITracker
 
     std::string_view get_schema_text() const override
     {
-        return std::string_view(
-            reinterpret_cast<const char*>(ControllerDataBinarySchema::data()), ControllerDataBinarySchema::size());
+        return std::string_view(reinterpret_cast<const char*>(ControllerSnapshotRecordBinarySchema::data()),
+                                ControllerSnapshotRecordBinarySchema::size());
     }
 
     std::vector<std::string> get_record_channels() const override
@@ -49,7 +49,7 @@ class ControllerTracker : public ITracker
 
 private:
     static constexpr const char* TRACKER_NAME = "ControllerTracker";
-    static constexpr const char* SCHEMA_NAME = "core.ControllerData";
+    static constexpr const char* SCHEMA_NAME = "core.ControllerSnapshotRecord";
 
     std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;
 
diff --git a/src/core/deviceio/cpp/inc/deviceio/full_body_tracker_pico.hpp b/src/core/deviceio/cpp/inc/deviceio/full_body_tracker_pico.hpp
@@ -32,13 +32,13 @@ class FullBodyTrackerPico : public ITracker
 
     std::string_view get_schema_name() const override
     {
-        return "core.FullBodyPosePico";
+        return "core.FullBodyPosePicoRecord";
     }
 
     std::string_view get_schema_text() const override
     {
-        return std::string_view(
-            reinterpret_cast<const char*>(FullBodyPosePicoBinarySchema::data()), FullBodyPosePicoBinarySchema::size());
+        return std::string_view(reinterpret_cast<const char*>(FullBodyPosePicoRecordBinarySchema::data()),
+                                FullBodyPosePicoRecordBinarySchema::size());
     }
 
     std::vector<std::string> get_record_channels() const override
diff --git a/src/core/deviceio/cpp/inc/deviceio/hand_tracker.hpp b/src/core/deviceio/cpp/inc/deviceio/hand_tracker.hpp
@@ -33,7 +33,7 @@ class HandTracker : public ITracker
     std::string_view get_schema_text() const override
     {
         return std::string_view(
-            reinterpret_cast<const char*>(HandPoseBinarySchema::data()), HandPoseBinarySchema::size());
+            reinterpret_cast<const char*>(HandPoseRecordBinarySchema::data()), HandPoseRecordBinarySchema::size());
     }
 
     std::vector<std::string> get_record_channels() const override
@@ -50,7 +50,7 @@ class HandTracker : public ITracker
 
 private:
     static constexpr const char* TRACKER_NAME = "HandTracker";
-    static constexpr const char* SCHEMA_NAME = "core.HandPose";
+    static constexpr const char* SCHEMA_NAME = "core.HandPoseRecord";
 
     std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;
 
diff --git a/src/core/deviceio/cpp/inc/deviceio/head_tracker.hpp b/src/core/deviceio/cpp/inc/deviceio/head_tracker.hpp
@@ -34,7 +34,7 @@ class HeadTracker : public ITracker
     std::string_view get_schema_text() const override
     {
         return std::string_view(
-            reinterpret_cast<const char*>(HeadPoseBinarySchema::data()), HeadPoseBinarySchema::size());
+            reinterpret_cast<const char*>(HeadPoseRecordBinarySchema::data()), HeadPoseRecordBinarySchema::size());
     }
 
     std::vector<std::string> get_record_channels() const override
@@ -47,7 +47,7 @@ class HeadTracker : public ITracker
 
 private:
     static constexpr const char* TRACKER_NAME = "HeadTracker";
-    static constexpr const char* SCHEMA_NAME = "core.HeadPose";
+    static constexpr const char* SCHEMA_NAME = "core.HeadPoseRecord";
 
     std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;
 
diff --git a/src/core/deviceio/cpp/inc/deviceio/schema_tracker.hpp b/src/core/deviceio/cpp/inc/deviceio/schema_tracker.hpp
@@ -64,7 +64,7 @@ struct SchemaTrackerConfig
  *         return SchemaTracker::get_required_extensions();
  *     }
  *     std::string_view get_name() const override { return "LocomotionTracker"; }
- *     std::string_view get_schema_name() const override { return "core.LocomotionCommand"; }
+ *     std::string_view get_schema_name() const override { return "core.LocomotionCommandRecord"; }
  *     std::string_view get_schema_text() const override {
  *         return std::string_view(
  *             reinterpret_cast<const char*>(LocomotionBinarySchema::data()),
@@ -89,7 +89,7 @@ struct SchemaTrackerConfig
  *
  *         bool update(XrTime time) override {
  *             if (m_schema_reader.read_buffer(buffer_)) {
- *                 auto fb = GetLocomotionCommand(buffer_.data());
+ *                 auto fb = flatbuffers::GetRoot<LocomotionCommand>(buffer_.data());
  *                 if (fb) {
  *                     fb->UnPackTo(&data_);
  *                     return true;
@@ -101,8 +101,10 @@ struct SchemaTrackerConfig
  *         Timestamp serialize(flatbuffers::FlatBufferBuilder& builder,
  *                            size_t channel_index) const override
  *         {
- *             auto offset = LocomotionCommand::Pack(builder, &data_);
- *             builder.Finish(offset);
+ *             auto data_offset = LocomotionCommand::Pack(builder, &data_);
+ *             LocomotionCommandRecordBuilder record_builder(builder);
+ *             record_builder.add_data(data_offset);
+ *             builder.Finish(record_builder.Finish());
  *             return data_.timestamp ? *data_.timestamp : Timestamp{};
  *         }
  *
diff --git a/src/core/schema/fbs/controller.fbs b/src/core/schema/fbs/controller.fbs
@@ -47,9 +47,13 @@ struct ControllerSnapshot {
     timestamp: Timestamp;
 }
 
-// Controller data wrapper for a single controller (table type for top-level serialization).
-table ControllerData {
+// MCAP recording wrapper for ControllerSnapshot.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table ControllerSnapshotRecord {
     data: ControllerSnapshot (id: 0);
 }
 
-root_type ControllerData;
+root_type ControllerSnapshotRecord;
diff --git a/src/core/schema/fbs/full_body.fbs b/src/core/schema/fbs/full_body.fbs
@@ -65,4 +65,13 @@ table FullBodyPosePico {
     joints: BodyJointsPico (id: 2);
 }
 
-root_type FullBodyPosePico;
+// MCAP recording wrapper for FullBodyPosePico.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table FullBodyPosePicoRecord {
+    data: FullBodyPosePico (id: 0);
+}
+
+root_type FullBodyPosePicoRecord;
diff --git a/src/core/schema/fbs/hand.fbs b/src/core/schema/fbs/hand.fbs
@@ -36,4 +36,13 @@ table HandPose {
     timestamp: Timestamp (id: 2);
 }
 
-root_type HandPose;
+// MCAP recording wrapper for HandPose.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table HandPoseRecord {
+    data: HandPose (id: 0);
+}
+
+root_type HandPoseRecord;
diff --git a/src/core/schema/fbs/head.fbs b/src/core/schema/fbs/head.fbs
@@ -18,4 +18,13 @@ table HeadPose {
     timestamp: Timestamp (id: 2);
 }
 
-root_type HeadPose;
+// MCAP recording wrapper for HeadPose.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table HeadPoseRecord {
+    data: HeadPose (id: 0);
+}
+
+root_type HeadPoseRecord;
diff --git a/src/core/schema/fbs/locomotion.fbs b/src/core/schema/fbs/locomotion.fbs
@@ -19,4 +19,13 @@ table LocomotionCommand {
   pose: Pose (id: 2);
 }
 
-root_type LocomotionCommand;
+// MCAP recording wrapper for LocomotionCommand.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table LocomotionCommandRecord {
+    data: LocomotionCommand (id: 0);
+}
+
+root_type LocomotionCommandRecord;
diff --git a/src/core/schema/fbs/oak.fbs b/src/core/schema/fbs/oak.fbs
@@ -21,4 +21,13 @@ table FrameMetadataOak {
   sequence_number: uint64 (id: 2);
 }
 
-root_type FrameMetadataOak;
+// MCAP recording wrapper for FrameMetadataOak.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table FrameMetadataOakRecord {
+    data: FrameMetadataOak (id: 0);
+}
+
+root_type FrameMetadataOakRecord;
diff --git a/src/core/schema/fbs/pedals.fbs b/src/core/schema/fbs/pedals.fbs
@@ -24,4 +24,13 @@ table Generic3AxisPedalOutput {
   rudder: float (id: 4);
 }
 
-root_type Generic3AxisPedalOutput;
+// MCAP recording wrapper for Generic3AxisPedalOutput.
+//
+// Record types are the root types written to MCAP channels by the McapRecorder.
+// Trackers serialize into Record types via their serialize() method, but the
+// public query API returns the inner data type directly.
+table Generic3AxisPedalOutputRecord {
+    data: Generic3AxisPedalOutput (id: 0);
+}
+
+root_type Generic3AxisPedalOutputRecord;
diff --git a/src/core/schema/python/schema_module.cpp b/src/core/schema/python/schema_module.cpp
@@ -39,7 +39,7 @@ PYBIND11_MODULE(_schema, m)
     // Bind pedals types (Generic3AxisPedalOutput table).
     core::bind_pedals(m);
 
-    // Bind OAK types (StreamType enum, FrameMetadata table).
+    // Bind OAK types (StreamType enum, FrameMetadataOak table).
     core::bind_oak(m);
 
     // Bind full body types (BodyJointPose, BodyJointsPico structs, FullBodyPosePicoT table).
diff --git a/src/core/schema_tests/cpp/test_controller.cpp b/src/core/schema_tests/cpp/test_controller.cpp
diff --git a/src/core/schema_tests/cpp/test_full_body.cpp b/src/core/schema_tests/cpp/test_full_body.cpp
diff --git a/src/core/schema_tests/cpp/test_hand.cpp b/src/core/schema_tests/cpp/test_hand.cpp
diff --git a/src/core/schema_tests/cpp/test_head.cpp b/src/core/schema_tests/cpp/test_head.cpp
diff --git a/src/core/schema_tests/cpp/test_locomotion.cpp b/src/core/schema_tests/cpp/test_locomotion.cpp
diff --git a/src/core/schema_tests/cpp/test_oak.cpp b/src/core/schema_tests/cpp/test_oak.cpp
diff --git a/src/core/schema_tests/cpp/test_pedals.cpp b/src/core/schema_tests/cpp/test_pedals.cpp

Original file line number	Diff line number	Diff line change
`@@ -62,8 +62,11 @@ class FrameMetadataTrackerOak::Impl : public ITrackerImpl`
`62`	`62`	`}`
`63`	`63`
`64`	`64`	`const auto& data = m_streams[channel_index].data;`
`65`		`- auto offset = FrameMetadataOak::Pack(builder, &data);`
`66`		`- builder.Finish(offset);`
	`65`	`+ auto data_offset = FrameMetadataOak::Pack(builder, &data);`
	`66`	`+`
	`67`	`+ FrameMetadataOakRecordBuilder record_builder(builder);`
	`68`	`+ record_builder.add_data(data_offset);`
	`69`	`+ builder.Finish(record_builder.Finish());`
`67`	`70`
`68`	`71`	`if (data.timestamp)`
`69`	`72`	`return *data.timestamp;`
`@@ -122,13 +125,13 @@ std::string_view FrameMetadataTrackerOak::get_name() const`
`122`	`125`
`123`	`126`	`std::string_view FrameMetadataTrackerOak::get_schema_name() const`
`124`	`127`	`{`
`125`		`- return "core.FrameMetadataOak";`
	`128`	`+ return "core.FrameMetadataOakRecord";`
`126`	`129`	`}`
`127`	`130`
`128`	`131`	`std::string_view FrameMetadataTrackerOak::get_schema_text() const`
`129`	`132`	`{`
`130`		`- return std::string_view(`
`131`		`- reinterpret_cast<const char*>(FrameMetadataOakBinarySchema::data()), FrameMetadataOakBinarySchema::size());`
	`133`	`+ return std::string_view(reinterpret_cast<const char*>(FrameMetadataOakRecordBinarySchema::data()),`
	`134`	`+ FrameMetadataOakRecordBinarySchema::size());`
`132`	`135`	`}`
`133`	`136`
`134`	`137`	`const FrameMetadataOakT& FrameMetadataTrackerOak::get_stream_data(const DeviceIOSession& session, size_t stream_index) const`
Original file line number	Diff line number	Diff line change
`@@ -179,8 +179,11 @@ const FullBodyPosePicoT& FullBodyTrackerPicoImpl::get_body_pose() const`
`179`	`179`
`180`	`180`	`Timestamp FullBodyTrackerPicoImpl::serialize(flatbuffers::FlatBufferBuilder& builder, size_t /channel_index/) const`
`181`	`181`	`{`
`182`		`- auto offset = FullBodyPosePico::Pack(builder, &body_pose_);`
`183`		`- builder.Finish(offset);`
	`182`	`+ auto data_offset = FullBodyPosePico::Pack(builder, &body_pose_);`
	`183`	`+`
	`184`	`+ FullBodyPosePicoRecordBuilder record_builder(builder);`
	`185`	`+ record_builder.add_data(data_offset);`
	`186`	`+ builder.Finish(record_builder.Finish());`
`184`	`187`
`185`	`188`	`if (body_pose_.timestamp)`
`186`	`189`	`{`
Original file line number	Diff line number	Diff line change
`@@ -28,7 +28,7 @@ class Generic3AxisPedalTracker::Impl : public ITrackerImpl`
`28`	`28`	`// Try to read new data from tensor stream`
`29`	`29`	`if (m_schema_reader.read_buffer(m_buffer))`
`30`	`30`	`{`
`31`		`- auto fb = GetGeneric3AxisPedalOutput(m_buffer.data());`
	`31`	`+ auto fb = flatbuffers::GetRoot<Generic3AxisPedalOutput>(m_buffer.data());`
`32`	`32`	`if (fb)`
`33`	`33`	`{`
`34`	`34`	`fb->UnPackTo(&m_data);`
`@@ -42,8 +42,12 @@ class Generic3AxisPedalTracker::Impl : public ITrackerImpl`
`42`	`42`
`43`	`43`	`Timestamp serialize(flatbuffers::FlatBufferBuilder& builder, size_t /channel_index/) const override`
`44`	`44`	`{`
`45`		`- auto offset = Generic3AxisPedalOutput::Pack(builder, &m_data);`
`46`		`- builder.Finish(offset);`
	`45`	`+ auto data_offset = Generic3AxisPedalOutput::Pack(builder, &m_data);`
	`46`	`+`
	`47`	`+ Generic3AxisPedalOutputRecordBuilder record_builder(builder);`
	`48`	`+ record_builder.add_data(data_offset);`
	`49`	`+ builder.Finish(record_builder.Finish());`
	`50`	`+`
`47`	`51`	`return m_data.timestamp ? *m_data.timestamp : Timestamp{};`
`48`	`52`	`}`
`49`	`53`
`@@ -82,13 +86,13 @@ std::string_view Generic3AxisPedalTracker::get_name() const`
`82`	`86`
`83`	`87`	`std::string_view Generic3AxisPedalTracker::get_schema_name() const`
`84`	`88`	`{`
`85`		`- return "core.Generic3AxisPedalOutput";`
	`89`	`+ return "core.Generic3AxisPedalOutputRecord";`
`86`	`90`	`}`
`87`	`91`
`88`	`92`	`std::string_view Generic3AxisPedalTracker::get_schema_text() const`
`89`	`93`	`{`
`90`		`- return std::string_view(reinterpret_cast<const char*>(Generic3AxisPedalOutputBinarySchema::data()),`
`91`		`- Generic3AxisPedalOutputBinarySchema::size());`
	`94`	`+ return std::string_view(reinterpret_cast<const char*>(Generic3AxisPedalOutputRecordBinarySchema::data()),`
	`95`	`+ Generic3AxisPedalOutputRecordBinarySchema::size());`
`92`	`96`	`}`
`93`	`97`
`94`	`98`	`const SchemaTrackerConfig& Generic3AxisPedalTracker::get_config() const`
Original file line number	Diff line number	Diff line change
`@@ -75,8 +75,11 @@ const HeadPoseT& HeadTracker::Impl::get_head() const`
`75`	`75`
`76`	`76`	`Timestamp HeadTracker::Impl::serialize(flatbuffers::FlatBufferBuilder& builder, size_t /channel_index/) const`
`77`	`77`	`{`
`78`		`- auto offset = HeadPose::Pack(builder, &head_);`
`79`		`- builder.Finish(offset);`
	`78`	`+ auto data_offset = HeadPose::Pack(builder, &head_);`
	`79`	`+`
	`80`	`+ HeadPoseRecordBuilder record_builder(builder);`
	`81`	`+ record_builder.add_data(data_offset);`
	`82`	`+ builder.Finish(record_builder.Finish());`
`80`	`83`
`81`	`84`	`if (head_.timestamp)`
`82`	`85`	`{`
Original file line number	Diff line number	Diff line change
`@@ -34,8 +34,8 @@ class ControllerTracker : public ITracker`
`34`	`34`
`35`	`35`	`std::string_view get_schema_text() const override`
`36`	`36`	`{`
`37`		`- return std::string_view(`
`38`		`- reinterpret_cast<const char*>(ControllerDataBinarySchema::data()), ControllerDataBinarySchema::size());`
	`37`	`+ return std::string_view(reinterpret_cast<const char*>(ControllerSnapshotRecordBinarySchema::data()),`
	`38`	`+ ControllerSnapshotRecordBinarySchema::size());`
`39`	`39`	`}`
`40`	`40`
`41`	`41`	`std::vector<std::string> get_record_channels() const override`
`@@ -49,7 +49,7 @@ class ControllerTracker : public ITracker`
`49`	`49`
`50`	`50`	`private:`
`51`	`51`	`static constexpr const char* TRACKER_NAME = "ControllerTracker";`
`52`		`- static constexpr const char* SCHEMA_NAME = "core.ControllerData";`
	`52`	`+ static constexpr const char* SCHEMA_NAME = "core.ControllerSnapshotRecord";`
`53`	`53`
`54`	`54`	`std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;`
`55`	`55`
Original file line number	Diff line number	Diff line change
`@@ -32,13 +32,13 @@ class FullBodyTrackerPico : public ITracker`
`32`	`32`
`33`	`33`	`std::string_view get_schema_name() const override`
`34`	`34`	`{`
`35`		`- return "core.FullBodyPosePico";`
	`35`	`+ return "core.FullBodyPosePicoRecord";`
`36`	`36`	`}`
`37`	`37`
`38`	`38`	`std::string_view get_schema_text() const override`
`39`	`39`	`{`
`40`		`- return std::string_view(`
`41`		`- reinterpret_cast<const char*>(FullBodyPosePicoBinarySchema::data()), FullBodyPosePicoBinarySchema::size());`
	`40`	`+ return std::string_view(reinterpret_cast<const char*>(FullBodyPosePicoRecordBinarySchema::data()),`
	`41`	`+ FullBodyPosePicoRecordBinarySchema::size());`
`42`	`42`	`}`
`43`	`43`
`44`	`44`	`std::vector<std::string> get_record_channels() const override`
Original file line number	Diff line number	Diff line change
`@@ -33,7 +33,7 @@ class HandTracker : public ITracker`
`33`	`33`	`std::string_view get_schema_text() const override`
`34`	`34`	`{`
`35`	`35`	`return std::string_view(`
`36`		`- reinterpret_cast<const char*>(HandPoseBinarySchema::data()), HandPoseBinarySchema::size());`
	`36`	`+ reinterpret_cast<const char*>(HandPoseRecordBinarySchema::data()), HandPoseRecordBinarySchema::size());`
`37`	`37`	`}`
`38`	`38`
`39`	`39`	`std::vector<std::string> get_record_channels() const override`
`@@ -50,7 +50,7 @@ class HandTracker : public ITracker`
`50`	`50`
`51`	`51`	`private:`
`52`	`52`	`static constexpr const char* TRACKER_NAME = "HandTracker";`
`53`		`- static constexpr const char* SCHEMA_NAME = "core.HandPose";`
	`53`	`+ static constexpr const char* SCHEMA_NAME = "core.HandPoseRecord";`
`54`	`54`
`55`	`55`	`std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;`
`56`	`56`
Original file line number	Diff line number	Diff line change
`@@ -34,7 +34,7 @@ class HeadTracker : public ITracker`
`34`	`34`	`std::string_view get_schema_text() const override`
`35`	`35`	`{`
`36`	`36`	`return std::string_view(`
`37`		`- reinterpret_cast<const char*>(HeadPoseBinarySchema::data()), HeadPoseBinarySchema::size());`
	`37`	`+ reinterpret_cast<const char*>(HeadPoseRecordBinarySchema::data()), HeadPoseRecordBinarySchema::size());`
`38`	`38`	`}`
`39`	`39`
`40`	`40`	`std::vector<std::string> get_record_channels() const override`
`@@ -47,7 +47,7 @@ class HeadTracker : public ITracker`
`47`	`47`
`48`	`48`	`private:`
`49`	`49`	`static constexpr const char* TRACKER_NAME = "HeadTracker";`
`50`		`- static constexpr const char* SCHEMA_NAME = "core.HeadPose";`
	`50`	`+ static constexpr const char* SCHEMA_NAME = "core.HeadPoseRecord";`
`51`	`51`
`52`	`52`	`std::shared_ptr<ITrackerImpl> create_tracker(const OpenXRSessionHandles& handles) const override;`
`53`	`53`