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d/wmr: Rename variables and tidy code (NFC)

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This commit is contained in:
Jakob Bornecrantz 2021-04-23 14:47:56 +01:00
parent 2b70189b45
commit a41a869c71
2 changed files with 23 additions and 15 deletions
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27
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -147,10 +147,13 @@ hololens_sensors_read_packets(struct wmr_hmd *wh)
vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro);
vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel);
os_mutex_lock(&wh->fusion_mutex);
m_imu_3dof_update(&wh->fusion, wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK,
&wh->raw_accel, &wh->raw_gyro);
os_mutex_unlock(&wh->fusion_mutex);
os_mutex_lock(&wh->fusion.mutex);
m_imu_3dof_update( //
&wh->fusion.i3dof, //
wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, //
&wh->raw_accel, //
&wh->raw_gyro); //
os_mutex_unlock(&wh->fusion.mutex);
}
break;
case WMR_MS_HOLOLENS_MSG_UNKNOWN_05:
@ -370,9 +373,9 @@ wmr_hmd_get_tracked_pose(struct xrt_device *xdev,
// Clear relation.
U_ZERO(out_relation);
os_mutex_lock(&wh->fusion_mutex);
out_relation->pose.orientation = wh->fusion.rot;
os_mutex_unlock(&wh->fusion_mutex);
os_mutex_lock(&wh->fusion.mutex);
out_relation->pose.orientation = wh->fusion.i3dof.rot;
os_mutex_unlock(&wh->fusion.mutex);
out_relation->relation_flags = (enum xrt_space_relation_flags)( //
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
@ -426,9 +429,9 @@ wmr_hmd_destroy(struct xrt_device *xdev)
}
// Destroy the fusion.
m_imu_3dof_close(&wh->fusion);
m_imu_3dof_close(&wh->fusion.i3dof);
os_mutex_destroy(&wh->fusion_mutex);
os_mutex_destroy(&wh->fusion.mutex);
free(wh);
}
@ -463,7 +466,7 @@ wmr_hmd_create(struct os_hid_device *hid_holo, struct os_hid_device *hid_ctrl, e
snprintf(wh->base.str, XRT_DEVICE_NAME_LEN, "HP Reverb VR Headset");
// Mutex before thread.
ret = os_mutex_init(&wh->fusion_mutex);
ret = os_mutex_init(&wh->fusion.mutex);
if (ret != 0) {
WMR_ERROR(wh, "Failed to init mutex!");
wmr_hmd_destroy(&wh->base);
@ -511,12 +514,12 @@ wmr_hmd_create(struct os_hid_device *hid_holo, struct os_hid_device *hid_ctrl, e
return NULL;
}
m_imu_3dof_init(&wh->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
m_imu_3dof_init(&wh->fusion.i3dof, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
// Setup variable tracker.
u_var_add_root(wh, "WMR HMD", true);
u_var_add_gui_header(wh, &wh->gui.fusion, "3DoF Fusion");
m_imu_3dof_add_vars(&wh->fusion, wh, "");
m_imu_3dof_add_vars(&wh->fusion.i3dof, wh, "");
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
u_var_add_log_level(wh, &wh->log_level, "log_level");

11
src/xrt/drivers/wmr/wmr_hmd.h
View file

@ -72,9 +72,14 @@ struct wmr_hmd
struct xrt_vec3 raw_accel;
struct xrt_vec3 raw_gyro;
struct os_mutex fusion_mutex;
//! Protected by @ref fusion_mutex.
struct m_imu_3dof fusion;
struct
{
//! Protects all members of the `fusion` substruct.
struct os_mutex mutex;
//! Main fusion calculator.
struct m_imu_3dof i3dof;
} fusion;
struct
{