From a015a5bc3631f813281c5af85a29b9d84a3eb924 Mon Sep 17 00:00:00 2001
From: Mike Turvey <mturvey6@gmail.com>
Date: Tue, 19 Dec 2017 23:30:52 -0700
Subject: Add support for using only 1 lighthouse

Change adds a config option for the number of "active" lighthouses,
which can be 1.  Calibrate will run with a single lighthouse
if the new config option LighthouseCount is set to 1.
---
 calibrate.c                  | 2 ++
 include/libsurvive/survive.h | 1 +
 src/survive.c                | 2 ++
 src/survive_cal.c            | 4 ++--
 4 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/calibrate.c b/calibrate.c
index 43643b3..8c56e43 100644
--- a/calibrate.c
+++ b/calibrate.c
@@ -14,6 +14,7 @@
 
 struct SurviveContext * ctx;
 int  quit = 0;
+static LighthouseCount = 0;
 
 void HandleKey( int keycode, int bDown )
 {
@@ -343,6 +344,7 @@ void * SurviveThread(void *jnk)
 {
 	ctx = survive_init( 0 );
 
+
 	uint8_t i =0;
 	for (i=0;i<32;++i) {
 		sensor_name[i] = malloc(3);
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 1532d62..c4b2abe 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -102,6 +102,7 @@ struct SurviveContext
 	struct config_group* lh_config; //lighthouse configs
 
 	//Calibration data:
+	int activeLighthouses;
 	BaseStationData bsd[NUM_LIGHTHOUSES];
 	SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
 
diff --git a/src/survive.c b/src/survive.c
index f637bd8..0c88137 100755
--- a/src/survive.c
+++ b/src/survive.c
@@ -75,6 +75,8 @@ SurviveContext * survive_init( int headless )
 
 	config_read(ctx, "config.json");
 
+	ctx->activeLighthouses = config_read_uint32(ctx->global_config_values, "LighthouseCount", 2);
+
 	ctx->faultfunction = survivefault;
 	ctx->notefunction = survivenote;
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index ae92bad..0dbadd3 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -218,7 +218,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
 			int i;
 			for( i = 0; i < NUM_LIGHTHOUSES; i++ )
 				if( ctx->bsd[i].OOTXSet == 0 ) break;
-			if( i == NUM_LIGHTHOUSES ) cd->stage = 2;  //TODO: Make this configuratble to allow single lighthouse.
+			if( i == ctx->activeLighthouses ) cd->stage = 2;  //TODO: Make this configuratble to allow single lighthouse.
 		}
 		break;
 	case 3: //Look for light sync lengths.
@@ -309,7 +309,7 @@ void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uin
 			cd->found_common = 1;
 			for( i = 0; i < cd->numPoseObjects; i++ )
 			//for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
-			for( j = 0; j < NUM_LIGHTHOUSES; j++ )
+			for( j = 0; j < ctx->activeLighthouses; j++ )
 			{
 				int sensors_visible = 0;
 				for( k = 0; k < SENSORS_PER_OBJECT; k++ )
-- 
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