drivers: Improve word choice/clarity

src/xrt/drivers/depthai/depthai_driver.cpp

@@ -334,7 +334,6 @@ depthai_do_one_frame(struct depthai_fs *depthai)
 	auto nano = std::chrono::duration_cast<std::chrono::duration<int64_t, std::nano>>(duration);
 	uint64_t timestamp_ns = nano.count();
 
-	// Sanity check.
 	if (num >= ARRAY_SIZE(depthai->sink)) {
 		DEPTHAI_ERROR(depthai, "Instance number too large! (%u)", num);
 		return;

src/xrt/drivers/hdk/hdk_device.cpp

@@ -155,7 +155,7 @@ hdk_device_update(struct hdk_device *hd)
 
 	// HDMI status only valid in reports version 3.
 	// Expecting either version 1 (100Hz) or 3 (400Hz):
-	// https://github.com/OSVR/OSVR-HDK-MCU-Firmware/blob/master/Source%20code/Embedded/src/DeviceDrivers/BNO070_using_hostif.c#L511
+	// https://github.com/OSVR/OSVR-HDK-MCU-Firmware/blob/main/Source%20code/Embedded/src/DeviceDrivers/BNO070_using_hostif.c#L511
 
 	// Next byte is sequence number, ignore
 	buf++;
@@ -191,7 +191,7 @@ hdk_device_update(struct hdk_device *hd)
 
 	// This is in the "world" coordinate system.
 
-	// Note that we must "rotate" this velocity by the first transform above
+	// Note that we must "rotate" this velocity by the first transform from earlier
 	// (90 about x), hence putting it in a pure quat.
 	struct xrt_quat ang_vel_quat;
 	ang_vel_quat.x = fromFixedPoint<6, 9>(hdk_get_le_int16(buf));

src/xrt/drivers/hydra/hydra_driver.c

@@ -376,7 +376,7 @@ hydra_system_enter_motion_control(struct hydra_system *hs, timepoint_ns now)
 
 	os_hid_set_feature(hs->command_hid, HYDRA_REPORT_START_MOTION, sizeof(HYDRA_REPORT_START_MOTION));
 
-	// Doing a dummy get-feature now.
+	// Doing a throwaway get-feature now.
 	uint8_t buf[91] = {0};
 	os_hid_get_feature(hs->command_hid, 0, buf, sizeof(buf));
 
@@ -594,7 +594,7 @@ hydra_found(struct xrt_prober *xp,
 	struct hydra_system *hs = U_TYPED_CALLOC(struct hydra_system);
 	hs->base.type = XRT_TRACKING_TYPE_HYDRA;
 	snprintf(hs->base.name, XRT_TRACKING_NAME_LEN, "%s", "Razer Hydra magnetic tracking");
-	// Dummy transform from local space to base.
+	// Arbitrary static transform from local space to base.
 	hs->base.offset.position.y = 1.0f;
 	hs->base.offset.position.z = -0.25f;
 	hs->base.offset.orientation.w = 1.0f;

src/xrt/drivers/illixr/illixr_component.cpp

@@ -19,7 +19,7 @@
 
 using namespace ILLIXR;
 
-/// Dummy plugin class for an instance during phonebook registration
+/// Simulated plugin class for an instance during phonebook registration
 class illixr_plugin : public plugin
 {
 public:

src/xrt/drivers/north_star/distortion_3d/deformation_northstar.cpp

@@ -182,7 +182,7 @@ OpticalSystem::SolveDisplayUVToRenderUV(const Vector2 &inputUV, Vector2 const &i
 		Vector3 rayDir;
 
 		// we can do all three calls below to RenderUVToDisplayUV at the
-		// same time via SIMD or better yet we can vectorize across all
+		// same time using SIMD or better yet we can vectorize across all
 		// the uvs if we have a list of them
 		curDisplayUV = RenderUVToDisplayUV(curCameraUV);
 		Vector2 displayUVGradX =

src/xrt/drivers/north_star/ns_hmd.c

@@ -202,7 +202,6 @@ ns_vipd_parse(struct ns_hmd *ns)
 
 	try_get_fov(ns, config_json, &temp_data->fov[0], &temp_data->fov[1]);
 
-	// stupid
 	memcpy(&ns->base.hmd->distortion.fov[0], &temp_data->fov[0], sizeof(struct xrt_fov));
 	memcpy(&ns->base.hmd->distortion.fov[1], &temp_data->fov[1], sizeof(struct xrt_fov));
 

src/xrt/drivers/psmv/psmv_driver.c

@@ -256,7 +256,7 @@ struct psmv_parsed_calibration_zcm1
 	 * vector before subtracting from the gyro 80rpm measures, I get a
 	 * better calibration.
 	 *
-	 * So in order to get the accurate 80rpm measures:
+	 * So to get the accurate 80rpm measures:
 	 * GyroMeasure80rpm-(GyroBias1*UnknownVector2) or
 	 * GyroMeasure80rpm-(GyroBias2*UnknownVector2)
 	 */
@@ -408,7 +408,7 @@ struct psmv_parsed_input
 			//! Accelerometer and gyro scope samples (ZCM2).
 			struct psmv_parsed_sample sample;
 
-			//! Copy of above (ZCM2).
+			//! Copy of preceding (ZCM2).
 			struct psmv_parsed_sample sample_copy;
 		};
 	};
@@ -1005,7 +1005,7 @@ psmv_found(struct xrt_prober *xp,
 		return 0;
 	}
 
-	// Sanity check for device type.
+	// Validate device type.
 	switch (devices[index]->product_id) {
 	case PSMV_PID_ZCM1: break;
 	case PSMV_PID_ZCM2: break;

src/xrt/drivers/realsense/rs_ddev.c

@@ -41,7 +41,7 @@
 
 
 /*!
- * Stupid convenience macro to print out a pose, only used for debugging
+ * Convenience macro to print out a pose, only used for debugging
  */
 #define print_pose(msg, pose)                                                                                          \
 	U_LOG_E(msg " %f %f %f  %f %f %f %f", pose.position.x, pose.position.y, pose.position.z, pose.orientation.x,   \

src/xrt/drivers/sample/sample_hmd.c

@@ -5,7 +5,7 @@
  * @brief  Sample HMD device, use as a starting point to make your own device driver.
  *
  *
- * Based largely on dummy_hmd.c
+ * Based largely on simulated_hmd.c
  *
  * @author Jakob Bornecrantz <jakob@collabora.com>
  * @author Ryan Pavlik <ryan.pavlik@collabora.com>

src/xrt/drivers/survive/survive_driver.c

@@ -1357,7 +1357,7 @@ survive_device_autoprobe(struct xrt_auto_prober *xap,
 	}
 
 #ifdef XRT_BUILD_DRIVER_HANDTRACKING
-	// We want to hit this codepath when we find a HMD but no controllers.
+	// We want to enter this codepath when we find a HMD but no controllers.
 	if ((ss->hmd != NULL) && !found_controllers) {
 		struct t_stereo_camera_calibration *cal = NULL;
 
@@ -1376,7 +1376,8 @@ survive_device_autoprobe(struct xrt_auto_prober *xap,
 			out_xdevs[out_idx++] = two_hands[0];
 			out_xdevs[out_idx++] = two_hands[1];
 		}
-		// Don't need it anymore. And it's not even created unless we hit this codepath, which is somewhat hard.
+		// Don't need it anymore. And it's not even created unless we enter this codepath, which is somewhat
+		// hard.
 		t_stereo_camera_calibration_reference(&cal, NULL);
 	}
 #endif

src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp

@@ -183,7 +183,7 @@ ulv2_process_hand(Leap::Hand hand, xrt_hand_joint_set *joint_set, int hi)
 			ulv2_process_joint(nextJ(ld), fb(ld).basis(), fb(ld).width(), hi, xrtj(LITTLE_TIP));
 			break;
 			// I hear that Sagittarius has a better api, in C even, so hopefully
-			// there'll be less weird boilerplate whenever we get access to that
+			// there'll be less weird boilerplate whenever we get that
 		}
 	}
 }
@@ -220,7 +220,7 @@ leap_input_loop(void *ptr_to_xdev)
 			          "connected to Leap Motion "
 			          "controller. Retrying (%i / %i)",
 			          i, num_tries);
-			// This codepath should very rarely get hit as nowadays this gets probed by VID/PID, so you'd
+			// This codepath should very rarely be enter as nowadays this gets probed by VID/PID, so you'd
 			// have to be pretty fast to unplug after it gets probed and before this check.
 		} else {
 			ULV2_INFO(ulv2d,

src/xrt/drivers/v4l2/v4l2_interface.h

@@ -50,7 +50,7 @@ struct v4l2_source_descriptor
 	/*!
 	 * Offset from start off frame to start of pixels.
 	 *
-	 * Aka crop_scanline_bytes_start.
+	 * Also known as crop_scanline_bytes_start.
 	 *
 	 * Special case for ps4 camera
 	 */

src/xrt/drivers/vive/vive_lighthouse.c

@@ -435,7 +435,7 @@ _handle_sweep_pulse(struct lighthouse_watchman *watchman, uint8_t id, uint32_t t
 	}
 
 	if (frame->sweep_ids & (1 << id)) {
-		LH_WARN("%s: sensor %u hit twice per frame, assuming reflection", watchman->name, id);
+		LH_WARN("%s: sensor %u triggered twice per frame, assuming reflection", watchman->name, id);
 		return;
 	}
 

src/xrt/drivers/vive/vive_prober.c

@@ -286,7 +286,8 @@ init_valve_index(struct xrt_prober *xp,
 			out_xdevs[out_idx++] = two_hands[0];
 			out_xdevs[out_idx++] = two_hands[1];
 		}
-		// Don't need it anymore. And it's not even created unless we hit this codepath, which is somewhat hard.
+		// Don't need it anymore. And it's not even created unless we enter this codepath, which is somewhat
+		// hard.
 		t_stereo_camera_calibration_reference(&cal, NULL);
 	}
 #endif

src/xrt/drivers/vive/vive_protocol.h

@@ -276,7 +276,7 @@ struct vive_headset_lighthouse_v2_pulse_report
 {
 	uint8_t id;
 	struct vive_headset_lighthouse_v2_pulse pulse[4];
-	/* Seen to be all values in range [0 - 53], related to hit sensor (and
+	/* Seen to be all values in range [0 - 53], related to triggered sensor (and
 	 * imu?). */
 	uint8_t unknown1;
 	/* Always 0 */