mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2025-03-03 21:26:36 +00:00
d/rs: Tidy code (NFC)
This commit is contained in:
parent
855cdb4c29
commit
606b23b5c4
|
@ -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");
|
||||
|
|
Loading…
Reference in a new issue