From 606b23b5c43715f948a43de9e38ce4fecbc2d4a5 Mon Sep 17 00:00:00 2001
From: Jakob Bornecrantz <jakob@collabora.com>
Date: Tue, 18 May 2021 03:45:34 +0100
Subject: [PATCH] d/rs: Tidy code (NFC)
---
src/xrt/drivers/realsense/rs_6dof.c | 85 +++++++++++++++++++----------
1 file changed, 56 insertions(+), 29 deletions(-)
diff --git a/src/xrt/drivers/realsense/rs_6dof.c b/src/xrt/drivers/realsense/rs_6dof.c
index 76ff17c5d..c568d2e0a 100644
--- a/src/xrt/drivers/realsense/rs_6dof.c
+++ b/src/xrt/drivers/realsense/rs_6dof.c
@@ -342,6 +342,54 @@ rs_run_thread(void *ptr)
return NULL;
}
+static bool
+load_config(struct rs_6dof *rs)
+{
+ struct u_config_json config_json = {0};
+
+ u_config_json_open_or_create_main_file(&config_json);
+ if (!config_json.file_loaded) {
+ return false;
+ }
+
+ const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense");
+ if (realsense_config_json == NULL) {
+ return false;
+ }
+
+ const cJSON *mapping = u_json_get(realsense_config_json, "enable_mapping");
+ const cJSON *pose_jumping = u_json_get(realsense_config_json, "enable_pose_jumping");
+ const cJSON *relocalization = u_json_get(realsense_config_json, "enable_relocalization");
+ const cJSON *pose_prediction = u_json_get(realsense_config_json, "enable_pose_prediction");
+ const cJSON *pose_filtering = u_json_get(realsense_config_json, "enable_pose_filtering");
+
+ // if json key isn't in the json, default to true. if it is in there, use json value
+ if (mapping != NULL) {
+ rs->enable_mapping = cJSON_IsTrue(mapping);
+ }
+ if (pose_jumping != NULL) {
+ rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
+ }
+ if (relocalization != NULL) {
+ rs->enable_relocalization = cJSON_IsTrue(relocalization);
+ }
+ if (pose_prediction != NULL) {
+ rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
+ }
+ if (pose_filtering != NULL) {
+ rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
+ }
+
+ return true;
+}
+
+
+/*
+ *
+ * Device functions.
+ *
+ */
+
static void
rs_6dof_update_inputs(struct xrt_device *xdev)
{
@@ -398,6 +446,13 @@ rs_6dof_destroy(struct xrt_device *xdev)
free(rs);
}
+
+/*
+ *
+ * 'Exported' functions.
+ *
+ */
+
struct xrt_device *
rs_6dof_create(void)
{
@@ -409,35 +464,7 @@ rs_6dof_create(void)
rs->enable_pose_prediction = true;
rs->enable_pose_filtering = true;
- struct u_config_json config_json = {0};
-
- u_config_json_open_or_create_main_file(&config_json);
- if (config_json.file_loaded) {
- const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense");
- if (realsense_config_json != NULL) {
- const cJSON *mapping = u_json_get(realsense_config_json, "enable_mapping");
- const cJSON *pose_jumping = u_json_get(realsense_config_json, "enable_pose_jumping");
- const cJSON *relocalization = u_json_get(realsense_config_json, "enable_relocalization");
- const cJSON *pose_prediction = u_json_get(realsense_config_json, "enable_pose_prediction");
- const cJSON *pose_filtering = u_json_get(realsense_config_json, "enable_pose_filtering");
-
- // if json key isn't in the json, default to true. if it is in there, use json value
- if (mapping != NULL) {
- rs->enable_mapping = cJSON_IsTrue(mapping);
- }
- if (pose_jumping != NULL) {
- rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
- }
- if (relocalization != NULL) {
- rs->enable_relocalization = cJSON_IsTrue(relocalization);
- }
- if (pose_prediction != NULL) {
- rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
- }
- if (pose_filtering != NULL) {
- rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
- }
- }
+ if (load_config(rs)) {
U_LOG_D("Used config file");
} else {
U_LOG_D("Did not use config file");
--
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