The open source OpenXR runtime
t/common: Refactor RGB builder [NFC]
+28
-14
+28
-14
src/xrt/targets/common/target_builder_rgb_tracking.c
+28
-14
src/xrt/targets/common/target_builder_rgb_tracking.c
···
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assert(out_xsysd != NULL);
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assert(*out_xsysd == NULL);
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-
struct u_system_devices *usysd = u_system_devices_allocate();
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+
struct xrt_tracking_origin *origin = NULL;
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+
struct xrt_system_devices *xsysd = NULL;
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+
struct xrt_frame_context *xfctx = NULL;
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+
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+
{
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+
struct u_system_devices *usysd = u_system_devices_allocate();
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+
xsysd = &usysd->base;
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+
xfctx = &usysd->xfctx;
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+
origin = &usysd->origin;
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+
}
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/*
···
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struct build_state build = {0};
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if (get_settings(config, &build.settings)) {
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#ifdef XRT_HAVE_OPENCV
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-
build.xfctx = &usysd->xfctx;
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-
build.origin = &usysd->origin;
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+
build.xfctx = xfctx;
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+
build.origin = origin;
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build.origin->type = XRT_TRACKING_TYPE_RGB;
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build.origin->offset.orientation.y = 1.0f;
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build.origin->offset.position.z = -2.0f;
···
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// Lock the device list
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xret = xrt_prober_lock_list(xp, &xpdevs, &xpdev_count);
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if (xret != XRT_SUCCESS) {
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-
u_system_devices_destroy(&usysd);
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+
xrt_system_devices_destroy(&xsysd);
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return xret;
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}
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···
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// Unlock the device list
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xret = xrt_prober_unlock_list(xp, &xpdevs);
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if (xret != XRT_SUCCESS) {
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-
u_system_devices_destroy(&usysd);
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+
xrt_system_devices_destroy(&xsysd);
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return xret;
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}
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-
391
-
usysd->base.xdevs[usysd->base.xdev_count++] = head;
392
-
usysd->base.roles.head = head;
399
+
// Add to devices.
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+
xsysd->xdevs[xsysd->xdev_count++] = head;
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401
402
+
struct xrt_device *left = NULL, *right = NULL;
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if (psmv_red != NULL) {
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-
usysd->base.xdevs[usysd->base.xdev_count++] = psmv_red;
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-
usysd->base.roles.right = psmv_red;
404
+
xsysd->xdevs[xsysd->xdev_count++] = psmv_red;
405
+
right = psmv_red; // Notice right.
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}
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if (psmv_purple != NULL) {
400
-
usysd->base.xdevs[usysd->base.xdev_count++] = psmv_purple;
401
-
usysd->base.roles.left = psmv_purple;
409
+
xsysd->xdevs[xsysd->xdev_count++] = psmv_purple;
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+
left = psmv_purple; // Notice left.
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}
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+
// Assign to role(s).
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xsysd->roles.head = head;
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xsysd->roles.left = left;
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xsysd->roles.right = right;
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+
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/*
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* Done.
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*/
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-
*out_xsysd = &usysd->base;
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-
u_builder_create_space_overseer(&usysd->base, out_xso);
423
+
*out_xsysd = xsysd;
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+
u_builder_create_space_overseer(xsysd, out_xso);
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return XRT_SUCCESS;
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}