The open source OpenXR runtime
d/wmr: Rename variables and tidy code (NFC)
+23
-15
+15
-12
src/xrt/drivers/wmr/wmr_hmd.c
+15
-12
src/xrt/drivers/wmr/wmr_hmd.c
···
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147
vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro);
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vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel);
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-
os_mutex_lock(&wh->fusion_mutex);
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-
m_imu_3dof_update(&wh->fusion, wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK,
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-
&wh->raw_accel, &wh->raw_gyro);
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-
os_mutex_unlock(&wh->fusion_mutex);
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+
os_mutex_lock(&wh->fusion.mutex);
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+
m_imu_3dof_update( //
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+
&wh->fusion.i3dof, //
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+
wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, //
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+
&wh->raw_accel, //
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+
&wh->raw_gyro); //
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+
os_mutex_unlock(&wh->fusion.mutex);
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}
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break;
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case WMR_MS_HOLOLENS_MSG_UNKNOWN_05:
···
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373
// Clear relation.
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U_ZERO(out_relation);
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-
os_mutex_lock(&wh->fusion_mutex);
374
-
out_relation->pose.orientation = wh->fusion.rot;
375
-
os_mutex_unlock(&wh->fusion_mutex);
376
+
os_mutex_lock(&wh->fusion.mutex);
377
+
out_relation->pose.orientation = wh->fusion.i3dof.rot;
378
+
os_mutex_unlock(&wh->fusion.mutex);
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out_relation->relation_flags = (enum xrt_space_relation_flags)( //
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XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
···
426
429
}
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431
// Destroy the fusion.
429
-
m_imu_3dof_close(&wh->fusion);
432
+
m_imu_3dof_close(&wh->fusion.i3dof);
430
433
431
-
os_mutex_destroy(&wh->fusion_mutex);
434
+
os_mutex_destroy(&wh->fusion.mutex);
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435
433
436
free(wh);
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437
}
···
463
466
snprintf(wh->base.str, XRT_DEVICE_NAME_LEN, "HP Reverb VR Headset");
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467
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468
// Mutex before thread.
466
-
ret = os_mutex_init(&wh->fusion_mutex);
469
+
ret = os_mutex_init(&wh->fusion.mutex);
467
470
if (ret != 0) {
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WMR_ERROR(wh, "Failed to init mutex!");
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472
wmr_hmd_destroy(&wh->base);
···
511
514
return NULL;
512
515
}
513
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514
-
m_imu_3dof_init(&wh->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
517
+
m_imu_3dof_init(&wh->fusion.i3dof, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
515
518
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// Setup variable tracker.
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u_var_add_root(wh, "WMR HMD", true);
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521
u_var_add_gui_header(wh, &wh->gui.fusion, "3DoF Fusion");
519
-
m_imu_3dof_add_vars(&wh->fusion, wh, "");
522
+
m_imu_3dof_add_vars(&wh->fusion.i3dof, wh, "");
520
523
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
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u_var_add_log_level(wh, &wh->log_level, "log_level");
522
525
+8
-3
src/xrt/drivers/wmr/wmr_hmd.h
+8
-3
src/xrt/drivers/wmr/wmr_hmd.h
···
72
72
struct xrt_vec3 raw_accel;
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struct xrt_vec3 raw_gyro;
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74
75
-
struct os_mutex fusion_mutex;
76
-
//! Protected by @ref fusion_mutex.
77
-
struct m_imu_3dof fusion;
75
+
struct
76
+
{
77
+
//! Protects all members of the `fusion` substruct.
78
+
struct os_mutex mutex;
79
+
80
+
//! Main fusion calculator.
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+
struct m_imu_3dof i3dof;
82
+
} fusion;
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struct
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{