d/ns: Tidy code

src/xrt/drivers/north_star/distortion/deformation_northstar.cpp

@@ -4,6 +4,7 @@
 
 #include "deformation_northstar.h"
 
+
 OpticalSystem::OpticalSystem(const OpticalSystem &_in)
 {
 	ellipseMinorAxis = _in.ellipseMinorAxis;
@@ -107,7 +108,6 @@ OpticalSystem::RegenerateMesh()
 	}
 }
 
-
 Vector2
 OpticalSystem::RenderUVToDisplayUV(Vector2 inputUV)
 {
@@ -187,7 +187,6 @@ OpticalSystem::RenderUVToDisplayUV(Vector3 inputUV)
 	return ScreenUV_Real;
 }
 
-
 Vector2
 OpticalSystem::SolveDisplayUVToRenderUV(Vector2 inputUV,
                                         Vector2 initailGuess,
@@ -294,22 +293,22 @@ OpticalSystem::DisplayUVToRenderUVPreviousSeed(Vector2 inputUV)
 }
 
 
-extern "C" ns_optical_system *
+extern "C" struct ns_optical_system *
 ns_create_optical_system(struct ns_eye *eye)
 {
 	OpticalSystem *opticalSystem = new OpticalSystem();
 	opticalSystem->LoadOpticalData(eye);
 	opticalSystem->setiters(50, 50);
 	opticalSystem->RegenerateMesh();
-	return (ns_optical_system *)opticalSystem;
+	return (struct ns_optical_system *)opticalSystem;
 }
 
 extern "C" void
 ns_display_uv_to_render_uv(struct ns_uv in,
                            struct ns_uv *out,
-                           struct ns_eye eye)
+                           struct ns_eye *eye)
 {
-	OpticalSystem *opticalSystem = (OpticalSystem *)eye.optical_system;
+	OpticalSystem *opticalSystem = (OpticalSystem *)eye->optical_system;
 	Vector2 inUV = Vector2(in.u, 1.f - in.v);
 	Vector2 outUV = opticalSystem->DisplayUVToRenderUVPreviousSeed(inUV);
 	out->u = outUV.x;

src/xrt/drivers/north_star/ns_hmd.c

@@ -9,7 +9,6 @@
  * @ingroup drv_ns
  */
 
-
 #include <math.h>
 #include <stdio.h>
 #include <unistd.h>
@@ -37,22 +36,10 @@
  *
  */
 
-struct ns_hmd *
-get_ns_hmd(struct xrt_device *xdev)
-{
-	return (struct ns_hmd *)xdev;
-}
-
-static inline struct ns_mesh *
-ns_mesh(struct u_uv_generator *gen)
-{
-	return (struct ns_mesh *)gen;
-}
-
 static void
 ns_hmd_destroy(struct xrt_device *xdev)
 {
-	struct ns_hmd *ns = get_ns_hmd(xdev);
+	struct ns_hmd *ns = ns_hmd(xdev);
 
 	// Remove the variable tracking.
 	u_var_remove_root(ns);
@@ -63,7 +50,7 @@ ns_hmd_destroy(struct xrt_device *xdev)
 static void
 ns_hmd_update_inputs(struct xrt_device *xdev, struct time_state *timekeeping)
 {
-	struct ns_hmd *ns = get_ns_hmd(xdev);
+	struct ns_hmd *ns = ns_hmd(xdev);
 
 	if (ns->tracker != NULL) {
 		ns->tracker->update_inputs(ns->tracker, timekeeping);
@@ -77,7 +64,7 @@ ns_hmd_get_tracked_pose(struct xrt_device *xdev,
                         int64_t *out_timestamp,
                         struct xrt_space_relation *out_relation)
 {
-	struct ns_hmd *ns = get_ns_hmd(xdev);
+	struct ns_hmd *ns = ns_hmd(xdev);
 
 
 	// If the tracking device is created use it.
@@ -107,7 +94,7 @@ ns_hmd_get_view_pose(struct xrt_device *xdev,
                      uint32_t view_index,
                      struct xrt_pose *out_pose)
 {
-	struct ns_hmd *ns = get_ns_hmd(xdev);
+	struct ns_hmd *ns = ns_hmd(xdev);
 	*out_pose = ns->eye_configs[view_index].eye_pose;
 }
 
@@ -129,7 +116,8 @@ ns_mesh_calc(struct u_uv_generator *gen,
 
 	struct ns_uv uv = {u, v};
 	struct ns_uv warped_uv = {0.0f, 0.0f};
-	ns_display_uv_to_render_uv(uv, &warped_uv, mesh->ns->eye_configs[view]);
+	ns_display_uv_to_render_uv(uv, &warped_uv,
+	                           &mesh->ns->eye_configs[view]);
 
 	result->r.x = warped_uv.u;
 	result->r.y = warped_uv.v;

src/xrt/drivers/north_star/ns_hmd.h

@@ -16,16 +16,11 @@
 #include "xrt/xrt_defines.h"
 #include "xrt/xrt_device.h"
 
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/*!
- * @defgroup drv_ns North Star Driver
- * @ingroup drv
- *
- * @brief Driver for the North Star HMD.
- */
 
 /*
  *
@@ -65,14 +60,12 @@ extern "C" {
  *
  */
 
-
 /*!
  * Opaque struct for optical system C++ integration
  *
  * @ingroup drv_ns
  */
-typedef struct _ns_optical_system ns_optical_system;
-
+struct ns_optical_system;
 
 /*!
  * Simple UV struct.
@@ -85,7 +78,6 @@ struct ns_uv
 	float v;
 };
 
-
 /*!
  * Configuration information about the LMC or Rigel sensor according to the
  * configuration file.
@@ -99,7 +91,6 @@ struct ns_leap
 	struct xrt_pose pose;
 };
 
-
 /*!
  * Distortion information about an eye parsed from the configuration file.
  *
@@ -120,7 +111,7 @@ struct ns_eye
 	struct xrt_matrix_4x4 sphere_to_world_space;
 	struct xrt_matrix_4x4 world_to_screen_space;
 
-	ns_optical_system *optical_system;
+	struct ns_optical_system *optical_system;
 };
 
 /*!
@@ -155,12 +146,6 @@ struct ns_mesh
 	struct ns_hmd *ns;
 };
 
-/*!
- * @dir drivers/north_star
- *
- * @brief @ref drv_ns files.
- */
-
 
 /*
  *
@@ -169,25 +154,38 @@ struct ns_mesh
  */
 
 /*!
- * Convert the display UV to the render UV using the distortion mesh.
+ * Get the North Star HMD information from a @ref xrt_device.
  *
  * @ingroup drv_ns
  */
-void
-ns_display_uv_to_render_uv(struct ns_uv display_uv,
-                           struct ns_uv *render_uv,
-                           struct ns_eye eye);
+XRT_MAYBE_UNUSED static inline struct ns_hmd *
+ns_hmd(struct xrt_device *xdev)
+{
+	return (struct ns_hmd *)xdev;
+}
 
 /*!
- * Get the North Star HMD information from the xrt_device.
+ * Get the North Star mesh generator from a @ref u_uv_generator.
  *
  * @ingroup drv_ns
  */
-struct ns_hmd *
-get_ns_hmd(struct xrt_device *xdev);
+XRT_MAYBE_UNUSED static inline struct ns_mesh *
+ns_mesh(struct u_uv_generator *gen)
+{
+	return (struct ns_mesh *)gen;
+}
 
+/*!
+ * Convert the display UV to the render UV using the distortion mesh.
+ *
+ * @ingroup drv_ns
+ */
+void
+ns_display_uv_to_render_uv(struct ns_uv display_uv,
+                           struct ns_uv *render_uv,
+                           struct ns_eye *eye);
 
-ns_optical_system *
+struct ns_optical_system *
 ns_create_optical_system(struct ns_eye *eye);
 
 

src/xrt/drivers/north_star/ns_interface.h

@@ -14,6 +14,7 @@
 extern "C" {
 #endif
 
+
 /*!
  * @defgroup drv_ns North Star Driver
  * @ingroup drv