From 9d8668a0a6ee898b40b55d88f0de5285ad4ac6ed Mon Sep 17 00:00:00 2001
From: Jakob Bornecrantz <jakob@collabora.com>
Date: Sun, 23 Apr 2023 00:11:50 +0100
Subject: [PATCH] cmake: Remove _SLAM suffixes on KIMERA and BASALT have
 defines

---
 CMakeLists.txt                                 | 10 +++++-----
 src/xrt/auxiliary/tracking/t_tracker_slam.cpp  |  4 ++--
 src/xrt/drivers/euroc/euroc_device.c           |  6 +++---
 src/xrt/drivers/realsense/rs_hdev.c            |  6 +++---
 src/xrt/drivers/rift_s/rift_s_tracker.c        |  3 ++-
 src/xrt/drivers/twrap/twrap_slam.c             |  4 ++--
 src/xrt/drivers/vive/vive_device.c             |  4 ++--
 src/xrt/drivers/wmr/wmr_hmd.c                  |  4 ++--
 src/xrt/include/xrt/xrt_config_have.h.cmake_in |  6 +++---
 9 files changed, 24 insertions(+), 23 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d848b0cfa..becc1851e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -250,8 +250,8 @@ option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bun
 
 # SLAM backends and deps (sorted)
 option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND)
-option_with_deps(XRT_HAVE_BASALT_SLAM "Enable Basalt support" DEPENDS basalt_FOUND)
-option_with_deps(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_FOUND)
+option_with_deps(XRT_HAVE_BASALT "Enable Basalt support" DEPENDS basalt_FOUND)
+option_with_deps(XRT_HAVE_KIMERA "Enable Kimera support" DEPENDS kimera_vio_FOUND)
 
 # Hand tracking deps
 option_with_deps(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" DEPENDS ONNXRUNTIME_FOUND)
@@ -277,7 +277,7 @@ set(XRT_FEATURE_OPENXR_DEBUG_UTILS OFF) # Has never been enabled
 option_with_deps(XRT_FEATURE_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32")
 option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_MODULE_IPC XRT_FEATURE_OPENXR)
 option_with_deps(XRT_FEATURE_SERVICE_SYSTEMD "Enable systemd socket activation of the service" DEPENDS XRT_HAVE_SYSTEMD XRT_FEATURE_SERVICE)
-option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT_SLAM OR XRT_HAVE_KIMERA_SLAM")
+option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT OR XRT_HAVE_KIMERA")
 option(XRT_FEATURE_SSE2 "Build using SSE2 instructions, if building for 32-bit x86" ON)
 option_with_deps(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" DEPENDS "NOT ANDROID")
 option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS "XRT_HAVE_PERCETTO OR XRT_HAVE_TRACY")
@@ -498,7 +498,7 @@ endif()
 message(STATUS "#####----- Config -----#####")
 message(STATUS "#    GIT_DESC:        ${GIT_DESC}")
 message(STATUS "#")
-message(STATUS "#    BASALT:          ${XRT_HAVE_BASALT_SLAM}")
+message(STATUS "#    BASALT:          ${XRT_HAVE_BASALT}")
 message(STATUS "#    BLUETOOTH:       ${XRT_HAVE_BLUETOOTH}")
 message(STATUS "#    D3D11:           ${XRT_HAVE_D3D11}")
 message(STATUS "#    D3D12:           ${XRT_HAVE_D3D12}")
@@ -508,7 +508,7 @@ message(STATUS "#    FFMPEG:          ${XRT_HAVE_FFMPEG}")
 message(STATUS "#    GST (GStreamer): ${XRT_HAVE_GST}")
 message(STATUS "#    HIDAPI:          ${XRT_HAVE_HIDAPI}")
 message(STATUS "#    JPEG:            ${XRT_HAVE_JPEG}")
-message(STATUS "#    KIMERA:          ${XRT_HAVE_KIMERA_SLAM}")
+message(STATUS "#    KIMERA:          ${XRT_HAVE_KIMERA}")
 message(STATUS "#    LIBBSD:          ${XRT_HAVE_LIBBSD}")
 message(STATUS "#    LIBUSB:          ${XRT_HAVE_LIBUSB}")
 message(STATUS "#    LIBUVC:          ${XRT_HAVE_LIBUVC}")
diff --git a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
index b25e7072c..c4a6c7cfe 100644
--- a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+++ b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021, Collabora, Ltd.
+// Copyright 2021-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -106,7 +106,7 @@ using cv::UMatUsageFlags;
 
 #define USING_OPENCV_3_3_1 (CV_VERSION_MAJOR == 3 && CV_VERSION_MINOR == 3 && CV_VERSION_REVISION == 1)
 
-#if defined(XRT_HAVE_KIMERA_SLAM) && !USING_OPENCV_3_3_1
+#if defined(XRT_HAVE_KIMERA) && !USING_OPENCV_3_3_1
 #pragma message "Kimera-VIO uses OpenCV 3.3.1, use that to prevent conflicts"
 #endif
 
diff --git a/src/xrt/drivers/euroc/euroc_device.c b/src/xrt/drivers/euroc/euroc_device.c
index 8defa610d..58a83c0f7 100644
--- a/src/xrt/drivers/euroc/euroc_device.c
+++ b/src/xrt/drivers/euroc/euroc_device.c
@@ -1,4 +1,4 @@
-// Copyright 2021, Collabora, Ltd.
+// Copyright 2021-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -140,9 +140,9 @@ euroc_device_get_tracked_pose(struct xrt_device *xdev,
 		int pose_bits = XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
 		bool pose_tracked = out_relation->relation_flags & pose_bits;
 		if (pose_tracked) {
-#if defined(XRT_HAVE_KIMERA_SLAM)
+#if defined(XRT_HAVE_KIMERA)
 			ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose);
-#elif defined(XRT_HAVE_BASALT_SLAM)
+#elif defined(XRT_HAVE_BASALT)
 			ed->pose = euroc_device_correct_pose_from_basalt(out_relation->pose);
 #else
 			ed->pose = out_relation->pose;
diff --git a/src/xrt/drivers/realsense/rs_hdev.c b/src/xrt/drivers/realsense/rs_hdev.c
index 9c9308ec2..d0980fbdc 100644
--- a/src/xrt/drivers/realsense/rs_hdev.c
+++ b/src/xrt/drivers/realsense/rs_hdev.c
@@ -1,4 +1,4 @@
-// Copyright 2021-2022, Collabora, Ltd.
+// Copyright 2021-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -294,9 +294,9 @@ rs_hdev_get_tracked_pose(struct xrt_device *xdev,
 	bool pose_tracked = out_relation->relation_flags & pose_bits;
 
 	if (pose_tracked) {
-#if defined(XRT_HAVE_KIMERA_SLAM)
+#if defined(XRT_HAVE_KIMERA)
 		rh->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose);
-#elif defined(XRT_HAVE_BASALT_SLAM)
+#elif defined(XRT_HAVE_BASALT)
 		rh->pose = rs_hdev_correct_pose_from_basalt(out_relation->pose);
 #else
 		rh->pose = out_relation->pose;
diff --git a/src/xrt/drivers/rift_s/rift_s_tracker.c b/src/xrt/drivers/rift_s/rift_s_tracker.c
index 010b35d28..b40147f12 100644
--- a/src/xrt/drivers/rift_s/rift_s_tracker.c
+++ b/src/xrt/drivers/rift_s/rift_s_tracker.c
@@ -3,6 +3,7 @@
  * Copyright 2013, Jakob Bornecrantz.
  * Copyright 2016 Philipp Zabel
  * Copyright 2019-2022 Jan Schmidt
+ * Copyright 2023, Collabora, Ltd.
  * SPDX-License-Identifier: BSL-1.0
  *
  */
@@ -635,7 +636,7 @@ rift_s_tracker_get_tracked_pose(struct rift_s_tracker *t,
 		// Get the IMU pose from the SLAM tracker
 		xrt_tracked_slam_get_tracked_pose(t->tracking.slam, at_timestamp_ns, &imu_relation);
 
-#if defined(XRT_HAVE_BASALT_SLAM)
+#if defined(XRT_HAVE_BASALT)
 		rift_s_tracker_correct_pose_from_basalt(&imu_relation.pose);
 #endif
 
diff --git a/src/xrt/drivers/twrap/twrap_slam.c b/src/xrt/drivers/twrap/twrap_slam.c
index deed14306..2d878595d 100644
--- a/src/xrt/drivers/twrap/twrap_slam.c
+++ b/src/xrt/drivers/twrap/twrap_slam.c
@@ -1,4 +1,4 @@
-// Copyright 2022, Collabora, Ltd.
+// Copyright 2022-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -177,7 +177,7 @@ twrap_slam_create_device(struct xrt_frame_context *xfctx,
 	snprintf(dx->base.serial, XRT_DEVICE_NAME_LEN, "Generic Inside-Out Head Tracker");
 
 #ifdef XRT_FEATURE_SLAM
-#ifdef XRT_HAVE_BASALT_SLAM
+#ifdef XRT_HAVE_BASALT
 	// Arrived at mostly by trial and error; seeminly does a 90-degree rotation about the X axis.
 	dx->pre_rotate_x = (struct xrt_vec3){1.0f, 0.0f, 0.0f};
 	dx->pre_rotate_z = (struct xrt_vec3){0.0f, 1.0f, 0.0f};
diff --git a/src/xrt/drivers/vive/vive_device.c b/src/xrt/drivers/vive/vive_device.c
index 8e5df1ee2..176e12146 100644
--- a/src/xrt/drivers/vive/vive_device.c
+++ b/src/xrt/drivers/vive/vive_device.c
@@ -1,5 +1,5 @@
 // Copyright 2016-2019, Philipp Zabel
-// Copyright 2019-2021, Collabora, Ltd.
+// Copyright 2019-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -152,7 +152,7 @@ vive_device_get_slam_tracked_pose(struct xrt_device *xdev,
 	bool pose_tracked = out_relation->relation_flags & pose_bits;
 
 	if (pose_tracked) {
-#if defined(XRT_HAVE_BASALT_SLAM)
+#if defined(XRT_HAVE_BASALT)
 		d->pose = vive_device_correct_pose_from_basalt(out_relation->pose);
 #else
 		d->pose = out_relation->pose;
diff --git a/src/xrt/drivers/wmr/wmr_hmd.c b/src/xrt/drivers/wmr/wmr_hmd.c
index 488fe450c..c89d697f5 100644
--- a/src/xrt/drivers/wmr/wmr_hmd.c
+++ b/src/xrt/drivers/wmr/wmr_hmd.c
@@ -1,6 +1,6 @@
 // Copyright 2018, Philipp Zabel.
 // Copyright 2020-2021, N Madsen.
-// Copyright 2020-2022, Collabora, Ltd.
+// Copyright 2020-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -1065,7 +1065,7 @@ wmr_hmd_get_slam_tracked_pose(struct xrt_device *xdev,
 	bool pose_tracked = out_relation->relation_flags & pose_bits;
 
 	if (pose_tracked) {
-#if defined(XRT_HAVE_BASALT_SLAM)
+#if defined(XRT_HAVE_BASALT)
 		wh->pose = wmr_hmd_correct_pose_from_basalt(out_relation->pose);
 #else
 		wh->pose = out_relation->pose;
diff --git a/src/xrt/include/xrt/xrt_config_have.h.cmake_in b/src/xrt/include/xrt/xrt_config_have.h.cmake_in
index 155d89830..cd6ec6564 100644
--- a/src/xrt/include/xrt/xrt_config_have.h.cmake_in
+++ b/src/xrt/include/xrt/xrt_config_have.h.cmake_in
@@ -1,4 +1,4 @@
-// Copyright 2019-2022, Collabora, Ltd.
+// Copyright 2019-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -11,7 +11,7 @@
 
 /* keep sorted */
 
-#cmakedefine XRT_HAVE_BASALT_SLAM
+#cmakedefine XRT_HAVE_BASALT
 #cmakedefine XRT_HAVE_BLUETOOTH
 #cmakedefine XRT_HAVE_D3D11
 #cmakedefine XRT_HAVE_D3D12
@@ -22,7 +22,7 @@
 #cmakedefine XRT_HAVE_GST
 #cmakedefine XRT_HAVE_HIDAPI
 #cmakedefine XRT_HAVE_JPEG
-#cmakedefine XRT_HAVE_KIMERA_SLAM
+#cmakedefine XRT_HAVE_KIMERA
 #cmakedefine XRT_HAVE_LIBBSD
 #cmakedefine XRT_HAVE_LIBUDEV
 #cmakedefine XRT_HAVE_LIBUSB