Spaces -> Tabs (code formatting change)

1 files changed, 154 insertions, 155 deletions

diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c
index 1882002..6615f1e 100644
--- a/src/survive_default_devices.c
+++ b/src/survive_default_devices.c
@@ -1,93 +1,92 @@
+#include "survive_default_devices.h"
 #include <jsmn.h>
+#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include "survive_default_devices.h"
-#include <stdio.h>
 
 #include "json_helpers.h"
 
-static SurviveObject* survive_create_device(SurviveContext * ctx,
-					    const char* driver_name,
-					    void* driver,
-					    const char* device_name,
-					    haptic_func fn) {
-  SurviveObject * device = calloc( 1, sizeof( SurviveObject ) );
-
-  device->ctx = ctx;
-  device->driver = driver;
-  memcpy( device->codename, device_name, strlen(device_name) );
-  memcpy( device->drivername, driver_name, strlen(driver_name) );
-
-  device->timebase_hz = 48000000;
-  device->pulsedist_max_ticks = 500000;
-  device->pulselength_min_sync = 2200;
-  device->pulse_in_clear_time = 35000;
-  device->pulse_max_for_sweep = 1800;
-  device->pulse_synctime_offset = 20000;
-  device->pulse_synctime_slack = 5000;
-  device->timecenter_ticks = device->timebase_hz / 240;
-
-  device->haptic = fn;
-  
-  return device;
+static SurviveObject *
+survive_create_device(SurviveContext *ctx, const char *driver_name,
+					  void *driver, const char *device_name, haptic_func fn) {
+	SurviveObject *device = calloc(1, sizeof(SurviveObject));
+
+	device->ctx = ctx;
+	device->driver = driver;
+	memcpy(device->codename, device_name, strlen(device_name));
+	memcpy(device->drivername, driver_name, strlen(driver_name));
+
+	device->timebase_hz = 48000000;
+	device->pulsedist_max_ticks = 500000;
+	device->pulselength_min_sync = 2200;
+	device->pulse_in_clear_time = 35000;
+	device->pulse_max_for_sweep = 1800;
+	device->pulse_synctime_offset = 20000;
+	device->pulse_synctime_slack = 5000;
+	device->timecenter_ticks = device->timebase_hz / 240;
+
+	device->haptic = fn;
+
+	return device;
 }
 
-SurviveObject* survive_create_hmd(SurviveContext * ctx, const char* driver_name, void* driver) {
-  return survive_create_device(ctx, driver_name, driver, "HMD", 0);
+SurviveObject *survive_create_hmd(SurviveContext *ctx, const char *driver_name,
+								  void *driver) {
+	return survive_create_device(ctx, driver_name, driver, "HMD", 0);
 }
 
-SurviveObject* survive_create_wm0(SurviveContext * ctx, const char* driver_name, void* driver, haptic_func fn) {
-  return survive_create_device(ctx, driver_name, driver, "WM0", fn);
+SurviveObject *survive_create_wm0(SurviveContext *ctx, const char *driver_name,
+								  void *driver, haptic_func fn) {
+	return survive_create_device(ctx, driver_name, driver, "WM0", fn);
 }
-SurviveObject* survive_create_wm1(SurviveContext * ctx, const char* driver_name, void* driver, haptic_func fn) {
-  return survive_create_device(ctx, driver_name, driver, "WM1", fn);
+SurviveObject *survive_create_wm1(SurviveContext *ctx, const char *driver_name,
+								  void *driver, haptic_func fn) {
+	return survive_create_device(ctx, driver_name, driver, "WM1", fn);
 }
-SurviveObject* survive_create_tr0(SurviveContext * ctx, const char* driver_name, void* driver) {
-  return survive_create_device(ctx, driver_name, driver, "TR0", 0);
+SurviveObject *survive_create_tr0(SurviveContext *ctx, const char *driver_name,
+								  void *driver) {
+	return survive_create_device(ctx, driver_name, driver, "TR0", 0);
 }
-SurviveObject* survive_create_ww0(SurviveContext * ctx, const char* driver_name, void* driver) {
-  return survive_create_device(ctx, driver_name, driver, "WW0", 0);
+SurviveObject *survive_create_ww0(SurviveContext *ctx, const char *driver_name,
+								  void *driver) {
+	return survive_create_device(ctx, driver_name, driver, "WW0", 0);
 }
 
-
 static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
- if (tok->type == JSMN_STRING && (int) strlen(s) == tok->end - tok->start &&
-    strncmp(json + tok->start, s, tok->end - tok->start) == 0) {
+	if (tok->type == JSMN_STRING && (int)strlen(s) == tok->end - tok->start &&
+		strncmp(json + tok->start, s, tok->end - tok->start) == 0) {
 		return 0;
 	}
 	return -1;
 }
-static int ParsePoints( SurviveContext * ctx, SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i )
-{
+static int ParsePoints(SurviveContext *ctx, SurviveObject *so, char *ct0conf,
+					   FLT **floats_out, jsmntok_t *t, int i) {
 	int k;
-	int pts = t[i+1].size;
-	jsmntok_t * tk;
+	int pts = t[i + 1].size;
+	jsmntok_t *tk;
 
 	so->nr_locations = 0;
-	*floats_out = malloc( sizeof( **floats_out ) * 32 * 3 );
+	*floats_out = malloc(sizeof(**floats_out) * 32 * 3);
 
-	for( k = 0; k < pts; k++ )
-	{
-		tk = &t[i+2+k*4];
+	for (k = 0; k < pts; k++) {
+		tk = &t[i + 2 + k * 4];
 
 		int m;
-		for( m = 0; m < 3; m++ )
-		{
+		for (m = 0; m < 3; m++) {
 			char ctt[128];
 
 			tk++;
 			int elemlen = tk->end - tk->start;
 
-			if( tk->type != 4 || elemlen > sizeof( ctt )-1 )
-			{
-				SV_ERROR( "Parse error in JSON\n" );
+			if (tk->type != 4 || elemlen > sizeof(ctt) - 1) {
+				SV_ERROR("Parse error in JSON\n");
 				return 1;
 			}
 
-			memcpy( ctt, ct0conf + tk->start, elemlen );
+			memcpy(ctt, ct0conf + tk->start, elemlen);
 			ctt[elemlen] = 0;
-			FLT f = atof( ctt );
-			int id = so->nr_locations*3+m;
+			FLT f = atof(ctt);
+			int id = so->nr_locations * 3 + m;
 			(*floats_out)[id] = f;
 		}
 		so->nr_locations++;
@@ -95,106 +94,106 @@ static int ParsePoints( SurviveContext * ctx, SurviveObject * so, char * ct0conf
 	return 0;
 }
 
-int survive_load_htc_config_format(char* ct0conf, int len, SurviveObject * so) {
-  if (len == 0)
-    return -1;
-
-  SurviveContext* ctx = so->ctx;
-  //From JSMN example.
-  jsmn_parser p;
-  jsmntok_t t[4096];
-  jsmn_init(&p);
-  int i;
-  int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t)/sizeof(t[0]));	
-  if (r < 0) {
-    SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r);
-    return -1;
-  }
-  if (r < 1 || t[0].type != JSMN_OBJECT) {
-    SV_INFO("Object expected in HMD configuration\n");
-    return -2;
-  }
-
-  for (i = 1; i < r; i++) {
-    jsmntok_t * tk = &t[i];
-
-    char ctxo[100];
-    int ilen = tk->end - tk->start;
-    if( ilen > 99 ) ilen = 99;
-    memcpy(ctxo, ct0conf + tk->start, ilen);
-    ctxo[ilen] = 0;
-
-    //				printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start, tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") );
-    //				printf( "%.*s\n", ilen, ct0conf + tk->start );
-
-    if (jsoneq(ct0conf, tk, "modelPoints") == 0) {
-      if( ParsePoints( ctx, so, ct0conf, &so->sensor_locations, t, i  ) )
-	{
-	  break;
+int survive_load_htc_config_format(char *ct0conf, int len, SurviveObject *so) {
+	if (len == 0)
+		return -1;
+
+	SurviveContext *ctx = so->ctx;
+	// From JSMN example.
+	jsmn_parser p;
+	jsmntok_t t[4096];
+	jsmn_init(&p);
+	int i;
+	int r = jsmn_parse(&p, ct0conf, len, t, sizeof(t) / sizeof(t[0]));
+	if (r < 0) {
+		SV_INFO("Failed to parse JSON in HMD configuration: %d\n", r);
+		return -1;
 	}
-    }
-    if (jsoneq(ct0conf, tk, "modelNormals") == 0) {
-      if( ParsePoints( ctx, so, ct0conf, &so->sensor_normals, t, i  ) )
-	{
-	  break;
+	if (r < 1 || t[0].type != JSMN_OBJECT) {
+		SV_INFO("Object expected in HMD configuration\n");
+		return -2;
 	}
-    }
-
-
-    if (jsoneq(ct0conf, tk, "acc_bias") == 0) {
-      int32_t count = (tk+1)->size;
-      FLT* values = NULL;
-      if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
-	so->acc_bias = values;
-	so->acc_bias[0] *= .125; //XXX Wat?  Observed by CNL.  Biasing by more than this seems to hose things.
-	so->acc_bias[1] *= .125;
-	so->acc_bias[2] *= .125;
-      }
-    }
-    if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
-      int32_t count = (tk+1)->size;
-      FLT* values = NULL;
-      if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
-	so->acc_scale = values;
-      }
-    }
-
-    if (jsoneq(ct0conf, tk, "gyro_bias") == 0) {
-      int32_t count = (tk+1)->size;
-      FLT* values = NULL;
-      if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
-	so->gyro_bias = values;
-      }
-    }
-    if (jsoneq(ct0conf, tk, "gyro_scale") == 0) {
-      int32_t count = (tk+1)->size;
-      FLT* values = NULL;
-      if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
-	so->gyro_scale = values;
-      }
-    }
-  }
-
-
-  char fname[64];
-
-  sprintf( fname, "calinfo/%s_points.csv", so->codename );
-  FILE * f = fopen( fname, "w" );
-  int j;
-  for( j = 0; j < so->nr_locations; j++ )
-    {
-      fprintf( f, "%f %f %f\n", so->sensor_locations[j*3+0], so->sensor_locations[j*3+1], so->sensor_locations[j*3+2] );
-    }
-  fclose( f );
-
-  sprintf( fname, "calinfo/%s_normals.csv", so->codename );
-  f = fopen( fname, "w" );
-  for( j = 0; j < so->nr_locations; j++ )
-    {
-      fprintf( f, "%f %f %f\n", so->sensor_normals[j*3+0], so->sensor_normals[j*3+1], so->sensor_normals[j*3+2] );
-    }
-  fclose( f );
-
-  
-  return 0;
+
+	for (i = 1; i < r; i++) {
+		jsmntok_t *tk = &t[i];
+
+		char ctxo[100];
+		int ilen = tk->end - tk->start;
+		if (ilen > 99)
+			ilen = 99;
+		memcpy(ctxo, ct0conf + tk->start, ilen);
+		ctxo[ilen] = 0;
+
+		//				printf( "%d / %d / %d / %d %s %d\n", tk->type, tk->start,
+		//tk->end, tk->size, ctxo, jsoneq(ct0conf, &t[i], "modelPoints") );
+		//				printf( "%.*s\n", ilen, ct0conf + tk->start );
+
+		if (jsoneq(ct0conf, tk, "modelPoints") == 0) {
+			if (ParsePoints(ctx, so, ct0conf, &so->sensor_locations, t, i)) {
+				break;
+			}
+		}
+		if (jsoneq(ct0conf, tk, "modelNormals") == 0) {
+			if (ParsePoints(ctx, so, ct0conf, &so->sensor_normals, t, i)) {
+				break;
+			}
+		}
+
+		if (jsoneq(ct0conf, tk, "acc_bias") == 0) {
+			int32_t count = (tk + 1)->size;
+			FLT *values = NULL;
+			if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
+				so->acc_bias = values;
+				so->acc_bias[0] *= .125; // XXX Wat?  Observed by CNL.  Biasing
+										 // by more than this seems to hose
+										 // things.
+				so->acc_bias[1] *= .125;
+				so->acc_bias[2] *= .125;
+			}
+		}
+		if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
+			int32_t count = (tk + 1)->size;
+			FLT *values = NULL;
+			if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
+				so->acc_scale = values;
+			}
+		}
+
+		if (jsoneq(ct0conf, tk, "gyro_bias") == 0) {
+			int32_t count = (tk + 1)->size;
+			FLT *values = NULL;
+			if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
+				so->gyro_bias = values;
+			}
+		}
+		if (jsoneq(ct0conf, tk, "gyro_scale") == 0) {
+			int32_t count = (tk + 1)->size;
+			FLT *values = NULL;
+			if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
+				so->gyro_scale = values;
+			}
+		}
+	}
+
+	char fname[64];
+
+	sprintf(fname, "calinfo/%s_points.csv", so->codename);
+	FILE *f = fopen(fname, "w");
+	int j;
+	for (j = 0; j < so->nr_locations; j++) {
+		fprintf(f, "%f %f %f\n", so->sensor_locations[j * 3 + 0],
+				so->sensor_locations[j * 3 + 1],
+				so->sensor_locations[j * 3 + 2]);
+	}
+	fclose(f);
+
+	sprintf(fname, "calinfo/%s_normals.csv", so->codename);
+	f = fopen(fname, "w");
+	for (j = 0; j < so->nr_locations; j++) {
+		fprintf(f, "%f %f %f\n", so->sensor_normals[j * 3 + 0],
+				so->sensor_normals[j * 3 + 1], so->sensor_normals[j * 3 + 2]);
+	}
+	fclose(f);
+
+	return 0;
 }