The open source OpenXR runtime
d/wmr: Bracemaggedon
+36
-16
+36
-16
src/xrt/drivers/wmr/wmr_camera.c
+36
-16
src/xrt/drivers/wmr/wmr_camera.c
···
132
132
133
133
for (i = 0; i < cam->config_count; i++) {
134
134
const struct wmr_camera_config *config = &cam->configs[i];
135
-
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING)
135
+
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
136
136
continue;
137
+
}
137
138
138
139
WMR_CAM_DEBUG(cam, "Found head tracking camera index %d width %d height %d", i, config->sensor_width,
139
140
config->sensor_height);
···
153
154
F += config->sensor_width * (config->sensor_height + 1);
154
155
}
155
156
156
-
if (cams_found == 0)
157
+
if (cams_found == 0) {
157
158
return false;
159
+
}
158
160
159
-
if (width < 1280 || height < 480)
161
+
if (width < 1280 || height < 480) {
160
162
return false;
163
+
}
161
164
162
165
n_packets = F / (0x6000 - 32);
163
166
leftover = F - n_packets * (0x6000 - 32);
···
199
202
uint8_t *data;
200
203
201
204
xfer = libusb_alloc_transfer(0);
202
-
if (xfer == NULL)
205
+
if (xfer == NULL) {
203
206
return LIBUSB_ERROR_NO_MEM;
207
+
}
204
208
205
209
data = malloc(len);
206
210
if (data == NULL) {
···
313
317
}
314
318
315
319
res = libusb_init(&cam->ctx);
316
-
if (res < 0)
320
+
if (res < 0) {
317
321
goto fail;
322
+
}
318
323
319
324
cam->dev = libusb_open_device_with_vid_pid(cam->ctx, dev_holo->vendor_id, dev_holo->product_id);
320
-
if (cam->dev == NULL)
325
+
if (cam->dev == NULL) {
321
326
goto fail;
327
+
}
322
328
323
329
res = libusb_claim_interface(cam->dev, 3);
324
-
if (res < 0)
330
+
if (res < 0) {
325
331
goto fail;
332
+
}
326
333
327
334
cam->usb_complete = 0;
328
335
if (os_thread_helper_start(&cam->usb_thread, wmr_cam_usb_thread, cam) != 0) {
···
346
353
u_var_add_sink_debug(cam, &cam->debug_sinks[1], "Controllers");
347
354
348
355
return cam;
356
+
349
357
350
358
fail:
351
359
WMR_CAM_ERROR(cam, "Failed to open camera: %s", libusb_error_name(res));
···
372
380
cam->usb_complete = 1;
373
381
os_thread_helper_unlock(&cam->usb_thread);
374
382
375
-
if (cam->dev != NULL)
383
+
if (cam->dev != NULL) {
376
384
libusb_close(cam->dev);
385
+
}
377
386
378
387
os_thread_helper_destroy(&cam->usb_thread);
379
388
···
401
410
}
402
411
403
412
res = set_active(cam, false);
404
-
if (res < 0)
413
+
if (res < 0) {
405
414
goto fail;
415
+
}
406
416
407
417
res = set_active(cam, true);
408
-
if (res < 0)
418
+
if (res < 0) {
409
419
goto fail;
420
+
}
410
421
411
422
for (i = 0; i < cam->config_count; i++) {
412
423
const struct wmr_camera_config *config = &cam->configs[i];
413
-
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING)
424
+
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
414
425
continue;
426
+
}
415
427
416
428
res = wmr_camera_set_gain(cam, config->location, DEFAULT_GAIN);
417
429
if (res < 0) {
···
427
439
cam->xfers[i]->flags |= LIBUSB_TRANSFER_FREE_BUFFER;
428
440
429
441
res = libusb_submit_transfer(cam->xfers[i]);
430
-
if (res < 0)
442
+
if (res < 0) {
431
443
goto fail;
444
+
}
432
445
}
433
446
434
447
WMR_CAM_INFO(cam, "WMR camera started");
435
448
436
449
return true;
450
+
437
451
438
452
fail:
439
453
if (res < 0)
···
447
461
{
448
462
int res, i;
449
463
450
-
if (!cam->running)
464
+
if (!cam->running) {
451
465
return true;
466
+
}
452
467
cam->running = false;
453
468
454
469
for (i = 0; i < NUM_XFERS; i++) {
455
-
if (cam->xfers[i] != NULL)
470
+
if (cam->xfers[i] != NULL) {
456
471
libusb_cancel_transfer(cam->xfers[i]);
472
+
}
457
473
}
458
474
459
475
res = set_active(cam, false);
460
-
if (res < 0)
476
+
if (res < 0) {
461
477
goto fail;
478
+
}
462
479
463
480
WMR_CAM_INFO(cam, "WMR camera stopped");
464
481
465
482
return true;
466
483
484
+
467
485
fail:
468
-
if (res < 0)
486
+
if (res < 0) {
469
487
WMR_CAM_ERROR(cam, "Error stopping camera input: %s", libusb_error_name(res));
488
+
}
489
+
470
490
return false;
471
491
}
472
492