From 394cbc465e776137834eea830038b43ea98f6268 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 00:30:48 -0500
Subject: Switch types over to avoiding extra struct keyword.  Switch poses to
 "SurvivePose" type.

---
 include/libsurvive/poser.h         | 22 +++++++++++-----------
 include/libsurvive/survive.h       |  8 ++++----
 include/libsurvive/survive_types.h | 17 +++++++++++------
 3 files changed, 26 insertions(+), 21 deletions(-)

(limited to 'include')

diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h
index 4894acf..c514953 100644
--- a/include/libsurvive/poser.h
+++ b/include/libsurvive/poser.h
@@ -11,22 +11,22 @@ typedef enum PoserType_t
 	POSERDATA_FULL_SCENE, 	//Full, statified X, Y sweep data for both lighthouses.
 } PoserType;
 
-struct PoserData
+typedef struct
 {
 	PoserType pt;
 	uint8_t data[0];
-};
+} PoserData;
 
-struct PoserDataIMU
+typedef struct
 {
 	PoserType pt;
 	uint8_t datamask;  //0 = accel present, 1 = gyro present, 2 = mag present.
 	FLT accel[3];
 	FLT gyro[3];
 	FLT mag[3];
-};
+} PoserDataIMU;
 
-struct PoserDataLight
+typedef struct
 {
 	PoserType pt;
 	int sensor_id;
@@ -34,21 +34,21 @@ struct PoserDataLight
 	uint32_t timecode;  //In object-local ticks.
 	FLT length;			//In seconds
 	FLT angle;			//In radians from center of lighthouse.
-};
+} PoserDataLight;
 
-struct PoserDataFullScene
+typedef struct
 {
 	PoserType pt;
 
 	//If "lengths[...]" < 0, means not a valid piece of sweep information.
 	FLT  lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
-	FLT  angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];  //2 Axes
+	FLT  angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];  //2 Axes  (Angles in LH space)
 
-	struct PoserDataIMU lastimu;
-};
+	PoserDataIMU lastimu;
+} PoserDataFullScene;
 
 //When you register your posers using the internal system, 
-typedef int (*PoserCB)( struct SurviveObject * so, struct PoserData * pd );
+typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
 
 
 #endif
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 536c7fb..20e50ca 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -4,14 +4,14 @@
 #include <stdint.h>
 #include "poser.h"
 
-struct SurviveContext;
+typedef struct SurviveContext SurviveContext;
 
 //DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
 //for optimization on 32- and 64-bit systems.
 
 struct SurviveObject
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 
 	char    codename[4];    //3 letters, null-terminated.  Currently HMD, WM0, WM1.
 	char    drivername[4];  //3 letters for driver.  Currently "HTC"
@@ -27,8 +27,8 @@ struct SurviveObject
 
 	//Pose Information, also "resolver" field.
 	FLT    PoseConfidence; //0..1
-	FLT    Position[3];
-	FLT    Rotation[4];
+	SurvivePose OutPose;
+	SurvivePose FromLHPose[NUM_LIGHTHOUSES]; //Optionally filled out by poser, contains computed position from each lighthouse.
 	void * PoserData;   //Initialized to zero, configured by poser, can be anything the poser wants.
 	PoserCB * PoserFn;
 
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index 593819f..6137774 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -9,6 +9,11 @@
 #endif
 #endif
 
+typedef struct SurvivePose
+{
+	FLT  Pos[3];
+	FLT  Rot[4];
+} SurvivePose;
 
 //Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools.
 //It will also require a recompile.  TODO: revisit this and correct the comment once fixed.
@@ -17,13 +22,13 @@
 #define INTBUFFSIZE			64
 #define SENSORS_PER_OBJECT	32
 
-struct SurviveObject;
-struct SurviveContext;
+typedef struct SurviveObject SurviveObject;
+typedef struct SurviveContext SurviveContext;
 
-typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault );
-typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
-typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
-typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault );
+typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
+typedef void (*imu_process_func)( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
+typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
 
 #endif
 
-- 
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