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d/hdk: Appease clang-tidy a little more.

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This commit is contained in:
Ryan Pavlik 2020-10-21 17:05:33 -05:00
parent 7cebdb4763
commit 97d711a9ef
1 changed files with 24 additions and 16 deletions
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40
src/xrt/drivers/hdk/hdk_device.cpp
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@ -38,6 +38,7 @@
#include "hdk_device.h"
static constexpr uint8_t BITS_PER_BYTE = 8;
/**
* A fixed-point to float conversion function.
@ -45,34 +46,34 @@
* Values are signed, two's-complement, if the supplied integer is.
*
* The conversion is effectively from the fixed-point arithmetic type known
* "unambiguously" as Q INTEGER_BITS.FRACTIONAL_BITS - the number of integer
* "unambiguously" as Q INT_BITS.FRAC_BITS - the number of integer
* bits is not inferred, though it is checked to ensure it adds up.
*
* @tparam INTEGER_BITS The number of bits devoted to the integer part.
* @tparam FRACTIONAL_BITS The number of bits devoted to the fractional
* @tparam INT_BITS The number of bits devoted to the integer part.
* @tparam FRAC_BITS The number of bits devoted to the fractional
* part.
* @tparam IntegerType The input integer type, typically deduced (do not need to
* specify explicitly)
* @param v An input "integer" that is actually a fixed-point value.
*
* INTEGER_BITS and FRACTIONAL_BITS must sum to 8 * sizeof(v), the bit width of
* INT_BITS and FRAC_BITS must sum to 8 * sizeof(v), the bit width of
* the input integer, for unsigned values, or to one less than that (for the
* sign bit) for signed values.
*
* Based in part on the VRPN header vrpn_FixedPoint.h,
* available under BSL-1.0.
*/
template <size_t INTEGER_BITS, size_t FRACTIONAL_BITS, typename IntegerType>
template <size_t INT_BITS, size_t FRAC_BITS, typename IntegerType>
static inline float
fromFixedPoint(IntegerType v)
{
constexpr size_t SIGN_BIT = std::is_signed<IntegerType>::value ? 1 : 0;
static_assert(INTEGER_BITS + FRACTIONAL_BITS + SIGN_BIT ==
8 * sizeof(IntegerType),
"INTEGER_BITS and FRACTIONAL_BITS, plus 1 for a sign bit "
static_assert(INT_BITS + FRAC_BITS + SIGN_BIT ==
BITS_PER_BYTE * sizeof(IntegerType),
"INT_BITS and FRAC_BITS, plus 1 for a sign bit "
"if applicable, must sum to the input "
"integer width, but do not.");
return static_cast<float>(v) / (1 << FRACTIONAL_BITS);
return static_cast<float>(v) / (1 << FRAC_BITS);
}
static inline uint16_t
@ -80,7 +81,7 @@ hdk_get_le_uint16(uint8_t *&bufPtr)
{
assert(bufPtr != nullptr);
uint16_t ret = static_cast<uint16_t>(*bufPtr) |
(static_cast<uint16_t>(*(bufPtr + 1)) << 8);
(static_cast<uint16_t>(*(bufPtr + 1)) << BITS_PER_BYTE);
bufPtr += 2;
return ret;
}
@ -112,10 +113,13 @@ hdk_device_update_inputs(struct xrt_device *xdev)
// Empty
}
static constexpr uint8_t MSG_LEN_LARGE = 32;
static constexpr uint8_t MSG_LEN_SMALL = 16;
static int
hdk_device_update(struct hdk_device *hd)
{
uint8_t buffer[32];
uint8_t buffer[MSG_LEN_LARGE];
auto bytesRead = os_hid_read(hd->dev, buffer, sizeof(buffer), 0);
if (bytesRead == -1) {
@ -130,7 +134,7 @@ hdk_device_update(struct hdk_device *hd)
return 0;
}
while (bytesRead > 0) {
if (bytesRead != 32 && bytesRead != 16) {
if (bytesRead != MSG_LEN_LARGE && bytesRead != MSG_LEN_SMALL) {
HDK_DEBUG(hd, "Only got %d bytes", bytesRead);
hd->quat_valid = false;
return 1;
@ -154,10 +158,14 @@ hdk_device_update(struct hdk_device *hd)
buf++;
struct xrt_quat quat;
quat.x = fromFixedPoint<1, 14>(hdk_get_le_int16(buf));
quat.z = fromFixedPoint<1, 14>(hdk_get_le_int16(buf)) * -1;
quat.y = fromFixedPoint<1, 14>(hdk_get_le_int16(buf));
quat.w = fromFixedPoint<1, 14>(hdk_get_le_int16(buf));
static constexpr int INT_BITS = 1;
static constexpr int FRAC_BITS = 14;
quat.x = fromFixedPoint<INT_BITS, FRAC_BITS>(hdk_get_le_int16(buf));
quat.z =
fromFixedPoint<INT_BITS, FRAC_BITS>(hdk_get_le_int16(buf)) * -1;
quat.y = fromFixedPoint<INT_BITS, FRAC_BITS>(hdk_get_le_int16(buf));
quat.w = fromFixedPoint<INT_BITS, FRAC_BITS>(hdk_get_le_int16(buf));
// Used to produce 90 degree rotations
#define HDK_SIN_PI_OVER_4 0.7071068f
struct xrt_quat rot_90_about_x