From d475a433ec40f335fa0bffdf774bac4c69d7fc10 Mon Sep 17 00:00:00 2001
From: Justin Berger <jdavidberger@gmail.com>
Date: Fri, 23 Mar 2018 14:43:32 +0000
Subject: Made calibration installation driveable from the command line; also
 turns on if there is no calibration

---
 data_recorder.c   |  4 ----
 src/survive.c     | 25 +++++++++++++++++++++++++
 src/survive_cal.c |  3 +++
 3 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/data_recorder.c b/data_recorder.c
index eef233d..427a953 100644
--- a/data_recorder.c
+++ b/data_recorder.c
@@ -17,10 +17,6 @@ int main(int argc, char **argv) {
 	}
 
 	survive_startup(ctx);
-	if (survive_configi(ctx, "calibrate", SC_GET, 1)) {
-		SV_INFO("Installing calibration");
-		survive_cal_install(ctx);
-	}
 
 	while (survive_poll(ctx) == 0) {
 	}
diff --git a/src/survive.c b/src/survive.c
index a8e7b94..3f3b844 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -269,6 +269,31 @@ int survive_startup(SurviveContext *ctx) {
 
 	ctx->state = SURVIVE_RUNNING;
 
+	int calibrateMandatory = survive_configi(ctx, "calibrate", SC_GET, 0);
+	int calibrateForbidden = survive_configi(ctx, "no-calibrate", SC_GET, 0);
+	if (calibrateMandatory && calibrateForbidden) {
+		SV_INFO("Contradictory settings --calibrate and --no-calibrate specified. Switching to normal behavior.");
+		calibrateMandatory = calibrateForbidden = 0;
+	}
+
+	if (!calibrateForbidden) {
+		bool isCalibrated = true;
+		for (int i = 0; i < ctx->activeLighthouses; i++) {
+			isCalibrated &= ctx->bsd[i].PositionSet;
+		}
+
+		if (!isCalibrated) {
+			SV_INFO("Uncalibrated configuration detected. Attaching calibration. Please don't move tracked objects for "
+					"the duration of calibration. Pass '--no-calibrate' to skip calibration");
+		}
+
+		bool doCalibrate = isCalibrated == false || calibrateMandatory;
+
+		if (doCalibrate) {
+			survive_cal_install(ctx);
+		}
+	}
+
 	return 0;
 }
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index c94bd0d..218f5c1 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -116,6 +116,9 @@ int survive_cal_get_status( struct SurviveContext * ctx, char * description, int
 
 void survive_cal_install( struct SurviveContext * ctx )
 {
+	if (ctx->calptr)
+		return;
+
 	int i;
 	struct SurviveCalData * cd = ctx->calptr = calloc( 1, sizeof( struct SurviveCalData ) );
 
-- 
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