From 76623e6a945cb8be50f8081f610b397e480dcf58 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Fri, 3 Mar 2017 01:32:49 -0500
Subject: First thoughts on a resolver?

---
 src/survive_internal.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_internal.h b/src/survive_internal.h
index 5962623..1fdef41 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -1,4 +1,4 @@
-//<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License.
+//<>< (C) 2016-2017 C. N. Lohr, MOSTLY Under MIT/x11 License.
 //
 //Based off of https://github.com/collabora/OSVR-Vive-Libre
 // Originally Copyright 2016 Philipp Zabel
@@ -36,7 +36,6 @@ struct SurviveUSBInterface;
 typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
 typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
 
-
 //This is defined in survive.h
 struct SurviveObject;
 struct SurviveCalData;
-- 
cgit v1.2.3


From 58b19da6848e64c9ca7aa47d8b3e0cd30db89d44 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Fri, 3 Mar 2017 02:15:04 -0500
Subject: Split out into some more things in the include folder.  Getting
 closer to trying to have posers.

---
 src/survive_internal.h | 2 --
 1 file changed, 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_internal.h b/src/survive_internal.h
index 1fdef41..9d04d93 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -27,8 +27,6 @@
 //XXX TODO This one needs to be rewritten.
 #define SV_KILL()		exit(0)
 
-#define INTBUFFSIZE			64
-#define SENSORS_PER_OBJECT	32
 
 struct SurviveContext;
 struct SurviveUSBInterface;
-- 
cgit v1.2.3


From 19d18fef008792e8918d4ded2dd7fa015bb2fedb Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sun, 5 Mar 2017 09:45:38 -0500
Subject: Set max sensor # so it doesn't get confusd with -1 data.

---
 src/survive_data.c | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/survive_data.c b/src/survive_data.c
index e55b640..ac640c6 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -11,7 +11,14 @@ void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le )
 	struct SurviveContext * ctx = so->ctx;
 	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
-//	printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
+	//if( so->codename[0] != 'H' )
+	//printf( "*** %s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
+
+	if( le->sensor_id > SENSORS_PER_OBJECT )
+	{
+		return;
+	}
+
 
 	so->tsl = le->timestamp;
 	if( le->length < 20 ) return;  ///Assuming 20 is an okay value for here.
-- 
cgit v1.2.3


From 0ebe84be5824202aecfd87ac58005afa76b36be9 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Mon, 6 Mar 2017 22:05:02 -0500
Subject: Load strings from config files. I need to finish the loading of
 numeric values and arrays.

---
 src/survive_cal.c    |  2 +-
 src/survive_config.c | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 src/survive_config.h |  3 ++-
 3 files changed, 60 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_cal.c b/src/survive_cal.c
index f372309..33d1faa 100644
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -53,7 +53,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	b->OOTXSet = 1;
 
 	config_set_lighthouse(b,id);
-	config_save("config.json");
+//	config_save("config.json");
 }
 
 int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length )
diff --git a/src/survive_config.c b/src/survive_config.c
index c46e300..d91596f 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -109,6 +109,14 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) {
 config_entry* next_unused_entry(config_group *cg) {
 	config_entry *cv = cg->config_entries + cg->used_entries;
 	assert(cg->used_entries < cg->max_entries);
+
+/*
+	if (cg->used_entries >= cg->max_entries) {
+		cg->max_entries+=10;
+		cg->config_entries = realloc(cg->config_entries, sizeof(config_entry)*cg->max_entries);
+	}
+*/
+
 	cg->used_entries++;
 	return cv;
 }
@@ -213,3 +221,52 @@ void config_save(const char* path) {
 	fclose(f);
 }
 
+void print_json_value(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	for (i=0;i<count; ++i) {
+		printf("%s:%s \n", tag, values[i]);
+	}
+}
+
+config_group* cg_stack[10]; //handle 10 nested objects deep
+uint8_t cg_stack_head = 0;
+
+void handle_config_group(char* tag) {
+	cg_stack_head++;
+	if (strcmp("lighthouse0",tag) == 0) {
+		cg_stack[cg_stack_head] = lh_config;
+	} else if (strcmp("lighthouse1",tag) == 0) {
+		cg_stack[cg_stack_head] = lh_config+1;
+	} else {
+		cg_stack[cg_stack_head] = &global_config_values;
+	}
+}
+
+void pop_config_group() {
+	cg_stack_head--;
+}
+
+void handle_tag_value(char* tag, char** values, uint16_t count) {
+	print_json_value(tag,values,count);
+	config_group* cg = cg_stack[cg_stack_head];
+
+	//parse out numeric values
+
+	if (count == 1) config_set_str(cg,tag,values[0]);
+//	else if (count>1) config_set_str
+}
+
+void config_read(const char* path) {
+	json_begin_object = handle_config_group;
+	json_end_object = pop_config_group;
+	json_tag_value = handle_tag_value;
+
+	cg_stack[0] = &global_config_values;
+
+	json_load_file(path);
+
+	json_begin_object = NULL;
+	json_end_object = NULL;
+	json_tag_value = NULL;
+}
+
diff --git a/src/survive_config.h b/src/survive_config.h
index 14e2fc6..2610e2e 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -37,7 +37,8 @@ extern config_group lh_config[2]; //lighthouse configs
 
 
 void config_init();
-void config_open(const char* path, const char* mode);
+//void config_open(const char* path, const char* mode);
+void config_read(const char* path);
 void config_close();
 //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length);
 void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx);
-- 
cgit v1.2.3


From a7b423ba1f0b28d0e6f3f375475cf93d66b922c9 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Mon, 6 Mar 2017 22:21:15 -0500
Subject: remove unused function

---
 src/survive_config.c | 9 +--------
 src/survive_config.h | 1 -
 2 files changed, 1 insertion(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index d91596f..83951fb 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -14,7 +14,7 @@ config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 
 //static uint16_t used_entries = 0;
 
-static FILE *config_file = NULL;
+//static FILE *config_file = NULL;
 const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count);
 
 void init_config_group(config_group *cg, uint16_t count) {
@@ -39,13 +39,6 @@ void config_init() {
 	}
 }
 
-void config_load(const char* path) {
-	config_file = fopen(path, "r");
-}
-
-void config_close() {
-	fclose(config_file);
-}
 
 void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) {
 	config_group *cg = lh_config+idx;
diff --git a/src/survive_config.h b/src/survive_config.h
index 2610e2e..b14f928 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -39,7 +39,6 @@ extern config_group lh_config[2]; //lighthouse configs
 void config_init();
 //void config_open(const char* path, const char* mode);
 void config_read(const char* path);
-void config_close();
 //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length);
 void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx);
 
-- 
cgit v1.2.3


From 90ed96e7b59e60a39f1e1f33223c6ffb0ee833f7 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Tue, 7 Mar 2017 20:33:19 -0500
Subject: parse out integers and floats

---
 src/survive_config.c | 81 ++++++++++++++++++++++++++++++++++++++++++++++++++--
 src/survive_config.h |  1 +
 2 files changed, 80 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index 83951fb..d8bad17 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -4,6 +4,8 @@
 #include "survive_config.h"
 #include <json_helpers.h>
 
+#include <errno.h>
+
 #define MAX_CONFIG_ENTRIES 100
 #define MAX_LIGHTHOUSES 2
 
@@ -99,6 +101,21 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) {
 	return config_set_float(cg, tag, def);
 }
 
+uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values, const FLT* def, uint16_t count) {
+	config_entry *cv = find_config_entry(cg, tag);
+
+	if (cv != NULL) {
+		*values = (FLT*)cv->data;
+		return cv->elements;
+	}
+
+	if (def == NULL) return 0;
+
+	config_set_float_a(cg, tag, def, count);
+	*values = def;
+	return count;
+}
+
 config_entry* next_unused_entry(config_group *cg) {
 	config_entry *cv = cg->config_entries + cg->used_entries;
 	assert(cg->used_entries < cg->max_entries);
@@ -239,13 +256,73 @@ void pop_config_group() {
 	cg_stack_head--;
 }
 
+
+int parse_floats(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	FLT f[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+	for(i=0;i<count;++i) {
+
+		#ifdef USE_DOUBLE
+		f[i] = strtod(values[i], &end);
+		#else
+		f[i] = strtof(values[i], &end);
+		#endif
+
+//		if (values[i] == end) return 0; //not a float
+		if (*end != '\0') return 0; //not an integer
+	}
+
+	if (count>1) {
+		config_set_float_a(cg, tag, f, count);
+	}
+	else {
+		config_set_float(cg, tag, f[0]);
+	}
+
+	return 1;
+}
+
+int parse_uint32(char* tag, char** values, uint16_t count) {
+	uint16_t i = 0;
+	uint32_t l[count];
+	char* end = NULL;
+	config_group* cg = cg_stack[cg_stack_head];
+
+/*
+	//look for non numeric values
+	for(end=values[0];*end!='\0';++end) {
+		if ((*end<48) || (*end>57)) return 0;
+	}
+
+	end=NULL;
+*/
+	for(i=0;i<count;++i) {
+		l[i] = strtol(values[i], &end, 10);
+//		if (values[i] == end) return 0; //not an integer
+		if (*end != '\0') return 0; //not an integer
+	}
+
+//	if (count>1)
+//		config_set_uint32_array(cg, tag, f, count);
+//	else
+		config_set_uint32(cg, tag, l[0]);
+
+	return 1;
+}
+
 void handle_tag_value(char* tag, char** values, uint16_t count) {
 	print_json_value(tag,values,count);
 	config_group* cg = cg_stack[cg_stack_head];
 
-	//parse out numeric values
+	if (parse_uint32(tag,values,count) > 0) return; //parse integers first, stricter rules
+
+	if (parse_floats(tag,values,count) > 0) return;
 
-	if (count == 1) config_set_str(cg,tag,values[0]);
+	//should probably also handle string arrays
+	config_set_str(cg,tag,values[0]);
 //	else if (count>1) config_set_str
 }
 
diff --git a/src/survive_config.h b/src/survive_config.h
index b14f928..234db68 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -48,6 +48,7 @@ const uint32_t config_set_uint32(config_group *cg, const char *tag, const uint32
 const char* config_set_str(config_group *cg, const char *tag, const char* value);
 
 FLT config_read_float(config_group *cg, const char *tag, const FLT def);
+uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values, const FLT* def, uint16_t count);
 uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def);
 const char* config_read_str(config_group *cg, const char *tag, const char *def);
 
-- 
cgit v1.2.3


From 6613cdc174401379b88f253385e8f82304de42f5 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Tue, 7 Mar 2017 21:20:39 -0500
Subject: simplify use of realloc

---
 src/survive_config.c | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index d8bad17..23d7ef1 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -59,11 +59,10 @@ void sstrcpy(char** dest, const char *src) {
 	uint32_t len = strlen(src)+1;
 	assert(dest!=NULL);
 
-	if (*dest == NULL) {
-		*dest = (char*)malloc(len);
-	} else {
-		*dest = (char*)realloc(*dest, len);
-	}
+	char* ptr = (char*)realloc(*dest, len); //acts like mallos if dest==NULL
+	assert(ptr!=NULL);
+	*dest = ptr;
+
 	strcpy(*dest,src);
 }
 
@@ -170,12 +169,10 @@ const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* valu
 
 	sstrcpy(&(cv->tag), tag);
 
-	if (cv->data == NULL) {
-		cv->data = (char*)malloc(sizeof(FLT)*count);
-	}
-	else {
-		cv->data = (char*)realloc(cv->data, sizeof(FLT)*count);
-	}
+	char* ptr = (char*)realloc(cv->data, sizeof(FLT)*count);
+	assert(ptr!=NULL);
+	cv->data = ptr;
+
 	printf("float array\n");
 
 	memcpy(cv->data,values,sizeof(FLT)*count);
-- 
cgit v1.2.3


From be3b6becc78ca68287e2570eea292535fc3327ec Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Tue, 7 Mar 2017 21:24:32 -0500
Subject: dynamically expand config_entries in config_group

---
 src/survive_config.c | 35 ++++++++++++++++++++++++++---------
 1 file changed, 26 insertions(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index 23d7ef1..b59bd85 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -33,6 +33,26 @@ void init_config_group(config_group *cg, uint16_t count) {
 	}
 }
 
+void resize_config_group(config_group *cg, uint16_t count) {
+	uint16_t i = 0;
+
+	if (count > cg->max_entries) {
+		config_entry* ptr = realloc(cg->config_entries, sizeof(config_entry)*count);
+		assert(ptr!=NULL);
+
+		cg->config_entries = ptr;
+
+		for (i=cg->max_entries;i<count;++i) {
+			cg->config_entries[i].data = NULL;
+			cg->config_entries[i].tag = NULL;
+			cg->config_entries[i].type = CONFIG_UNKNOWN;
+			cg->config_entries[i].elements = 0;
+		}
+
+		cg->max_entries = count;
+	}
+}
+
 void config_init() {
 	uint16_t i = 0;
 	init_config_group(&global_config_values, MAX_CONFIG_ENTRIES);
@@ -59,7 +79,7 @@ void sstrcpy(char** dest, const char *src) {
 	uint32_t len = strlen(src)+1;
 	assert(dest!=NULL);
 
-	char* ptr = (char*)realloc(*dest, len); //acts like mallos if dest==NULL
+	char* ptr = (char*)realloc(*dest, len); //acts like malloc if dest==NULL
 	assert(ptr!=NULL);
 	*dest = ptr;
 
@@ -116,15 +136,12 @@ uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values
 }
 
 config_entry* next_unused_entry(config_group *cg) {
-	config_entry *cv = cg->config_entries + cg->used_entries;
-	assert(cg->used_entries < cg->max_entries);
+	config_entry *cv = NULL;
+//	assert(cg->used_entries < cg->max_entries);
 
-/*
-	if (cg->used_entries >= cg->max_entries) {
-		cg->max_entries+=10;
-		cg->config_entries = realloc(cg->config_entries, sizeof(config_entry)*cg->max_entries);
-	}
-*/
+	if (cg->used_entries >= cg->max_entries) resize_config_group(cg, cg->max_entries + 10);
+
+	cv = cg->config_entries + cg->used_entries;
 
 	cg->used_entries++;
 	return cv;
-- 
cgit v1.2.3


From 57e82519b4844620851784e7682a2c562cb06d47 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Tue, 7 Mar 2017 21:39:40 -0500
Subject: add init and destroy functions for config_entry

---
 src/survive_config.c | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index b59bd85..f30bf87 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -9,8 +9,6 @@
 #define MAX_CONFIG_ENTRIES 100
 #define MAX_LIGHTHOUSES 2
 
-
-
 config_group global_config_values;
 config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 
@@ -19,6 +17,18 @@ config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 //static FILE *config_file = NULL;
 const FLT* config_set_float_a(config_group *cg, const char *tag, const FLT* values, uint8_t count);
 
+void init_config_entry(config_entry* ce) {
+	ce->data = NULL;
+	ce->tag = NULL;
+	ce->type = CONFIG_UNKNOWN;
+	ce->elements = 0;
+}
+
+void destroy_config_entry(config_entry* ce) {
+	if (ce->tag!=NULL) free(ce->tag);
+	if (ce->data!=NULL) free(ce->data);
+}
+
 void init_config_group(config_group *cg, uint16_t count) {
 	uint16_t i = 0;
 	cg->config_entries = malloc(count*sizeof(config_entry));
@@ -26,10 +36,7 @@ void init_config_group(config_group *cg, uint16_t count) {
 	cg->max_entries = count;
 
 	for (i=0;i<count;++i) {
-		cg->config_entries[i].data = NULL;
-		cg->config_entries[i].tag = NULL;
-		cg->config_entries[i].type = CONFIG_UNKNOWN;
-		cg->config_entries[i].elements = 0;
+		init_config_entry(cg->config_entries+i);
 	}
 }
 
@@ -43,10 +50,7 @@ void resize_config_group(config_group *cg, uint16_t count) {
 		cg->config_entries = ptr;
 
 		for (i=cg->max_entries;i<count;++i) {
-			cg->config_entries[i].data = NULL;
-			cg->config_entries[i].tag = NULL;
-			cg->config_entries[i].type = CONFIG_UNKNOWN;
-			cg->config_entries[i].elements = 0;
+			init_config_entry(cg->config_entries+i);
 		}
 
 		cg->max_entries = count;
-- 
cgit v1.2.3


From b13b5f9af2c2803f919d8897cd3ed5d24831cad3 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Tue, 7 Mar 2017 21:48:30 -0500
Subject: null after free

---
 src/survive_config.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index f30bf87..8e0241a 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -25,8 +25,8 @@ void init_config_entry(config_entry* ce) {
 }
 
 void destroy_config_entry(config_entry* ce) {
-	if (ce->tag!=NULL) free(ce->tag);
-	if (ce->data!=NULL) free(ce->data);
+	if (ce->tag!=NULL) { free(ce->tag); ce->tag=NULL; }
+	if (ce->data!=NULL) { free(ce->data); ce->data=NULL; }
 }
 
 void init_config_group(config_group *cg, uint16_t count) {
-- 
cgit v1.2.3


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.

---
 src/survive_cal.c        |  6 ++--
 src/survive_cal.h        | 14 ++++-----
 src/survive_cal_lhfind.c | 14 ++++-----
 src/survive_config.c     |  5 ++--
 src/survive_config.h     |  4 +--
 src/survive_data.c       |  4 +--
 src/survive_internal.h   | 34 ++++++++++------------
 src/survive_process.c    | 12 ++++----
 src/survive_vive.c       | 74 +++++++++++++++++++++++++-----------------------
 9 files changed, 83 insertions(+), 84 deletions(-)

(limited to 'src')

diff --git a/src/survive_cal.c b/src/survive_cal.c
index 33d1faa..2acf51c 100644
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -27,8 +27,8 @@ static void reset_calibration( struct SurviveCalData * cd );
 
 void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 {
-	struct SurviveContext * ctx = (struct SurviveContext*)(ct->user);
-	struct SurviveCalData * cd = ctx->calptr;
+	SurviveContext * ctx = (SurviveContext*)(ct->user);
+	SurviveCalData * cd = ctx->calptr;
 	int id = ct->user1;
 
 	SV_INFO( "Got OOTX packet %d %p", id, cd );
@@ -36,7 +36,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	lighthouse_info_v6 v6;
 	init_lighthouse_info_v6(&v6, packet->data);
 
-	struct BaseStationData * b = &ctx->bsd[id];
+	BaseStationData * b = &ctx->bsd[id];
 	//print_lighthouse_info_v6(&v6);
 
 	b->BaseStationID = v6.id;
diff --git a/src/survive_cal.h b/src/survive_cal.h
index bb4eb32..a5e372e 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -21,21 +21,21 @@
 #include "ootx_decoder.h"
 #include "survive_internal.h"
 
-void survive_cal_install( struct SurviveContext * ctx );
-int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length );
+void survive_cal_install( SurviveContext * ctx );
+int survive_cal_get_status( SurviveContext * ctx, char * description, int description_length );
 
 //void survive_cal_teardown( struct SurviveContext * ctx );
 
 //Called from survive_default_light_process
-void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  );
-void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  );
+void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
 
 #define MAX_SENSORS_TO_CAL 96
 #define DRPTS 1024
 #define MAX_CAL_PT_DAT (MAX_SENSORS_TO_CAL*NUM_LIGHTHOUSES*2)
 struct SurviveCalData
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 	//OOTX Data is sync'd off of the sync pulses coming from the lighthouses.
 	ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
 
@@ -57,7 +57,7 @@ struct SurviveCalData
 
 	int senid_of_checkpt; //This is a point on a watchman that can be used to check the lh solution.
 
-	struct SurviveObject * hmd;
+	SurviveObject * hmd;
 
 	//Stage:
 	// 0: Idle
@@ -68,7 +68,7 @@ struct SurviveCalData
 
 //The following function is not included in the core survive_cal and must be compiled from a camfind file.
 //It should use data for stage 4 and report if it found the 
-int survive_cal_lhfind( struct SurviveCalData * cd );
+int survive_cal_lhfind( SurviveCalData * cd );
 
 
 #endif
diff --git a/src/survive_cal_lhfind.c b/src/survive_cal_lhfind.c
index 93d9dc0..a1bb2cc 100644
--- a/src/survive_cal_lhfind.c
+++ b/src/survive_cal_lhfind.c
@@ -7,13 +7,13 @@
 #define MIN_HITS_FOR_VALID 10
 
 
-FLT static RunOpti(  struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat );
+FLT static RunOpti(  SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat );
 
 //Values used for RunTest()
 
-int survive_cal_lhfind( struct SurviveCalData * cd )
+int survive_cal_lhfind( SurviveCalData * cd )
 {
-	struct SurviveContext * ctx = cd->ctx;
+	SurviveContext * ctx = cd->ctx;
 	int cycle, i;
 	int lh = 0;
 	FLT dx, dy, dz;
@@ -137,8 +137,8 @@ int survive_cal_lhfind( struct SurviveCalData * cd )
 		}
 
 		cd->ctx->bsd[lh].PositionSet = 1;
-		copy3d( cd->ctx->bsd[lh].Position, LighthousePos );
-		quatcopy( cd->ctx->bsd[lh].Quaternion, LighthouseQuat );
+		copy3d( cd->ctx->bsd[lh].Pose.Pos, LighthousePos );
+		quatcopy( cd->ctx->bsd[lh].Pose.Rot, LighthouseQuat );
 	}
 
 	return 0; //Return 0 if success.
@@ -149,14 +149,14 @@ int survive_cal_lhfind( struct SurviveCalData * cd )
 
 
 
-static FLT RunOpti( struct SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat )
+static FLT RunOpti( SurviveCalData * cd, int lh, int print, FLT * LighthousePos, FLT * LighthouseQuat )
 {
 	int i, p;
 	FLT UsToTarget[3];
 	FLT LastUsToTarget[3];
 	FLT mux = .9;
 	quatsetnone( LighthouseQuat );
-	struct SurviveObject * hmd = cd->hmd;
+	SurviveObject * hmd = cd->hmd;
 	FLT * hmd_points  = hmd->sensor_locations;
 	FLT * hmd_normals = hmd->sensor_normals;
 
diff --git a/src/survive_config.c b/src/survive_config.c
index f30bf87..352a15b 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -66,12 +66,11 @@ void config_init() {
 }
 
 
-void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx) {
+void config_set_lighthouse(BaseStationData* bsd, uint8_t idx) {
 	config_group *cg = lh_config+idx;
 	config_set_uint32(cg,"index", idx);
 	config_set_uint32(cg,"id", bsd->BaseStationID);
-	config_set_float_a(cg,"position", bsd->Position, 3);
-	config_set_float_a(cg,"quaternion", bsd->Quaternion, 4);
+	config_set_float_a(cg,"pose", &bsd->Pose.Pos[0], 7);
 	config_set_float_a(cg,"fcalphase", bsd->fcalphase, 2);
 	config_set_float_a(cg,"fcaltilt", bsd->fcaltilt,2);
 	config_set_float_a(cg,"fcalcurve", bsd->fcalcurve,2);
diff --git a/src/survive_config.h b/src/survive_config.h
index 234db68..cd16c76 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -40,7 +40,7 @@ void config_init();
 //void config_open(const char* path, const char* mode);
 void config_read(const char* path);
 //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length);
-void config_set_lighthouse(struct BaseStationData* bsd, uint8_t idx);
+void config_set_lighthouse(BaseStationData* bsd, uint8_t idx);
 
 void config_save(const char* path);
 const FLT config_set_float(config_group *cg, const char *tag, const FLT value);
@@ -52,4 +52,4 @@ uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values
 uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def);
 const char* config_read_str(config_group *cg, const char *tag, const char *def);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/survive_data.c b/src/survive_data.c
index ac640c6..63cc5c2 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -6,9 +6,9 @@
 #include <string.h>
 
 //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
-void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le )
+void handle_lightcap( SurviveObject * so, LightcapElement * le )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
 	//if( so->codename[0] != 'H' )
diff --git a/src/survive_internal.h b/src/survive_internal.h
index 9d04d93..83a429c 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -29,20 +29,20 @@
 
 
 struct SurviveContext;
-struct SurviveUSBInterface;
+struct SurvivecalData;
 
 typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
 typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
 
 //This is defined in survive.h
-struct SurviveObject;
-struct SurviveCalData;
+typedef struct SurviveObject SurviveObject;
+typedef struct SurviveCalData SurviveCalData;
 
-struct BaseStationData
+typedef struct
 {
 	uint8_t PositionSet:1;
-	FLT Position[3];
-	FLT Quaternion[4];
+
+	SurvivePose Pose;
 
 	uint8_t OOTXSet:1;
 	uint32_t BaseStationID;
@@ -51,7 +51,7 @@ struct BaseStationData
 	FLT fcalcurve[2];
 	FLT fcalgibpha[2];
 	FLT fcalgibmag[2];
-};
+} BaseStationData;
 
 struct SurviveContext
 {
@@ -62,11 +62,11 @@ struct SurviveContext
 	angle_process_func angleproc;
 
 	//Calibration data:
-	struct BaseStationData bsd[NUM_LIGHTHOUSES];
+	BaseStationData bsd[NUM_LIGHTHOUSES];
 
-	struct SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
+	SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
 
-	struct SurviveObject ** objs;
+	SurviveObject ** objs;
 	int objs_ct;
 
 	void ** drivers;
@@ -76,25 +76,21 @@ struct SurviveContext
 	int driver_ct;
 };
 
-int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj );
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
 
-void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
 
 //For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
-struct LightcapElement
+typedef struct
 {
 	uint8_t sensor_id;
 	uint8_t type;
 	uint16_t length;
 	uint32_t timestamp;
-} __attribute__((packed));
+} __attribute__((packed))  LightcapElement;
 
 //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
-void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le );
-
-
-//Accept Data from backend.
-void survive_data_cb( struct SurviveUSBInterface * si );
+void handle_lightcap( SurviveObject * so, LightcapElement * le );
 
 
 #endif
diff --git a/src/survive_process.c b/src/survive_process.c
index 75453da..edabfff 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -6,9 +6,9 @@
 //XXX TODO: Once data is avialble in the context, use the stuff here to handle converting from time codes to
 //proper angles, then from there perform the rest of the solution. 
 
-void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
+void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	int base_station = acode >> 2;
 	int axis = acode & 1;
 
@@ -25,7 +25,7 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in
 
 	//Need to now do angle correction.
 #if 1
-	struct BaseStationData * bsd = &ctx->bsd[base_station];
+	BaseStationData * bsd = &ctx->bsd[base_station];
 
 	//XXX TODO: This seriously needs to be worked on.  See: https://github.com/cnlohr/libsurvive/issues/18
 	angle += bsd->fcalphase[axis];
@@ -39,9 +39,9 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in
 }
 
 
-void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
 {
-	struct SurviveContext * ctx = so->ctx;
+	SurviveContext * ctx = so->ctx;
 	if( ctx->calptr )
 	{
 		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
@@ -51,7 +51,7 @@ void survive_default_angle_process( struct SurviveObject * so, int sensor_id, in
 }	
 
 
-void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void survive_default_imu_process( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
 {
 	//TODO: Writeme!
 }
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 47886c9..6be5114 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -24,13 +24,6 @@
 
 struct SurviveViveData;
 
-//USB Subsystem 
-void survive_usb_close( struct SurviveContext * t );
-int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1 );
-int survive_usb_poll( struct SurviveContext * ctx );
-int survive_get_config( char ** config, struct SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
-
-
 const short vidpids[] = {
 	0x0bb4, 0x2c87, 0, //The main HTC HMD device
 	0x28de, 0x2000, 0, //Valve lighthouse
@@ -60,15 +53,18 @@ const char * devnames[] = {
 #define USB_IF_LIGHTCAP		4
 #define MAX_INTERFACES				5
 
-typedef void (*usb_callback)( struct SurviveUSBInterface * ti );
+typedef struct SurviveUSBInterface SurviveUSBInterface;
+typedef struct SurviveViveData SurviveViveData;
+
+typedef void (*usb_callback)( SurviveUSBInterface * ti );
 
 struct SurviveUSBInterface
 {
-	struct SurviveViveData * sv;
-	struct SurviveContext * ctx;
+	SurviveViveData * sv;
+	SurviveContext * ctx;
 
 	struct libusb_transfer * transfer;
-	struct SurviveObject * assoc_obj;
+	SurviveObject * assoc_obj;
 	int actual_len;
 	uint8_t buffer[INTBUFFSIZE];
 	usb_callback cb;
@@ -78,16 +74,24 @@ struct SurviveUSBInterface
 
 struct SurviveViveData
 {
-	struct SurviveContext * ctx;
+	SurviveContext * ctx;
 
 	//XXX TODO: UN-STATICIFY THIS.
-	struct SurviveUSBInterface uiface[MAX_INTERFACES];
+	SurviveUSBInterface uiface[MAX_INTERFACES];
 	//USB Subsystem
 	struct libusb_context* usbctx;
 	struct libusb_device_handle * udev[MAX_USB_DEVS];
 
 };
 
+void survive_data_cb( SurviveUSBInterface * si );
+
+//USB Subsystem 
+void survive_usb_close( SurviveContext * t );
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1 );
+int survive_usb_poll( SurviveContext * ctx );
+int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int interface, int send_extra_magic );
+
 
 
 
@@ -115,10 +119,10 @@ static void handle_transfer(struct libusb_transfer* transfer)
 
 
 
-static int AttachInterface( struct SurviveViveData * sv, struct SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
+static int AttachInterface( SurviveViveData * sv, SurviveObject * assocobj, int which_interface_am_i, libusb_device_handle * devh, int endpoint, usb_callback cb, const char * hname )
 {
-	struct SurviveContext * ctx = sv->ctx;
-	struct SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
+	SurviveContext * ctx = sv->ctx;
+	SurviveUSBInterface * iface = &sv->uiface[which_interface_am_i];
 	iface->ctx = ctx;
 	iface->sv = sv;
 	iface->which_interface_am_i = which_interface_am_i;
@@ -680,7 +684,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		}
 
 
-		struct LightcapElement les[10];
+		LightcapElement les[10];
 		int lese = 0; //les's end
 
 		//Second, go through all LEDs and extract the lightevent from them. 
@@ -711,7 +715,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				//reverse sorted, but that is to minimize operations.  To read it
 				//in sorted order simply read it back backwards.
 				//Use insertion sort, since we should most of the time, be in order.
-				struct LightcapElement * le = &les[lese++];
+				LightcapElement * le = &les[lese++];
 				le->sensor_id = led;
 				le->type = 0xfe;
 
@@ -725,7 +729,7 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 				int swap = lese-2;
 				while( swap >= 0 && les[swap].timestamp < les[swap+1].timestamp )
 				{
-					struct LightcapElement l;
+					LightcapElement l;
 					memcpy( &l, &les[swap], sizeof( l ) );
 					memcpy( &les[swap], &les[swap+1], sizeof( l ) );
 					memcpy( &les[swap+1], &l, sizeof( l ) );
@@ -744,17 +748,17 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 		return;
 	end:
 		{
-			struct SurviveContext * ctx = w->ctx;
+			SurviveContext * ctx = w->ctx;
 			SV_INFO( "Light decoding fault: %d\n", fault );
 		}
 	}
 }
 
 
-void survive_data_cb( struct SurviveUSBInterface * si )
+void survive_data_cb( SurviveUSBInterface * si )
 {
 	int size = si->actual_len;
-	struct SurviveContext * ctx = si->ctx;
+	SurviveContext * ctx = si->ctx;
 #if 0
 	int i;
 	printf( "%16s: %d: ", si->hname, len );
@@ -767,7 +771,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 #endif 
 
 	int iface = si->which_interface_am_i;
-	struct SurviveObject * obj = si->assoc_obj;
+	SurviveObject * obj = si->assoc_obj;
 	uint8_t * readdata = si->buffer;
 
 	int id = POP1;
@@ -818,7 +822,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 	case USB_IF_WATCHMAN1:
 	case USB_IF_WATCHMAN2:
 	{
-		struct SurviveObject * w = obj;
+		SurviveObject * w = obj;
 		if( id == 35 )
 		{
 			handle_watchman( w, readdata);
@@ -844,7 +848,7 @@ void survive_data_cb( struct SurviveUSBInterface * si )
 		int i;
 		for( i = 0; i < 7; i++ )
 		{
-			handle_lightcap( obj, (struct LightcapElement*)&readdata[i*8] );
+			handle_lightcap( obj, (LightcapElement*)&readdata[i*8] );
 		}
 		break;
 	}
@@ -875,7 +879,7 @@ static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
 }
 
 
-static int ParsePoints( struct SurviveContext * ctx, struct 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;
@@ -914,9 +918,9 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so,
 	return 0;
 }
 
-static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, int devno, int iface, int extra_magic )
+static int LoadConfig( SurviveViveData * sv, SurviveObject * so, int devno, int iface, int extra_magic )
 {
-	struct SurviveContext * ctx = sv->ctx;
+	SurviveContext * ctx = sv->ctx;
 	char * ct0conf = 0;
 	int len = survive_get_config( &ct0conf, sv, devno, iface, extra_magic );
 
@@ -1002,21 +1006,21 @@ static int LoadConfig( struct SurviveViveData * sv, struct SurviveObject * so, i
 }
 
 
-int survive_vive_close( struct SurviveContext * ctx, void * driver )
+int survive_vive_close( SurviveContext * ctx, void * driver )
 {
-	struct SurviveViveData * sv = driver;
+	SurviveViveData * sv = driver;
  
 	survive_vive_usb_close( sv );
 }
 
 
-int DriverRegHTCVive( struct SurviveContext * ctx )
+int DriverRegHTCVive( SurviveContext * ctx )
 {
 	int i, r;
-	struct SurviveObject * hmd = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm0 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveObject * wm1 = calloc( 1, sizeof( struct SurviveObject ) );
-	struct SurviveViveData * sv = calloc( 1, sizeof( struct SurviveViveData ) );
+	SurviveObject * hmd = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) );
 
 	sv->ctx = ctx;
 
-- 
cgit v1.2.3


From a087915c5dd8c356911453a019723ebaa9904a36 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 00:53:28 -0500
Subject: Move most of the libsurvive stuff into a common area.

---
 src/survive_driverman.h | 24 +++-------------
 src/survive_internal.h  | 75 -------------------------------------------------
 2 files changed, 4 insertions(+), 95 deletions(-)

(limited to 'src')

diff --git a/src/survive_driverman.h b/src/survive_driverman.h
index 5e13caf..216333a 100644
--- a/src/survive_driverman.h
+++ b/src/survive_driverman.h
@@ -10,29 +10,13 @@
 #ifndef SURVIVE_DRIVERMAN_H
 #define SURVIVE_DRIVERMAN_H
 
-//Driver registration
-#define MAX_DRIVERS 32
-
-void   RegisterDriver( const char * name, void * data );
-void * GetDriver( const char * name );
-const char * GetDriverNameMatching( const char * prefix, int place );
-void   ListDrivers();
-
-#define REGISTER_LINKTIME( func ) \
-	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }
-
+#include "survive.h"
 
-//
-// Specific types of drivers.
-//
-
-struct SurviveContext;
+//Very little here.  Mostly included in survive.h.
 
-//Device drivers (prefix your drivers with "DriverReg") i.e.
-//		REGISTER_LINKTIME( DriverRegHTCVive );
-typedef int (*DeviceDriver)( struct SurviveContext * ctx );
+//Driver registration
+#define MAX_DRIVERS 32
 
-//more driver types here? i.e. posefinders, etc.
 
 #endif
 
diff --git a/src/survive_internal.h b/src/survive_internal.h
index 83a429c..ff156ad 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -1,15 +1,5 @@
 //<>< (C) 2016-2017 C. N. Lohr, MOSTLY Under MIT/x11 License.
 //
-//Based off of https://github.com/collabora/OSVR-Vive-Libre
-// Originally Copyright 2016 Philipp Zabel
-// Originally Copyright 2016 Lubosz Sarnecki <lubosz.sarnecki@collabora.co.uk>
-// Originally Copyright (C) 2013 Fredrik Hultin
-// Originally Copyright (C) 2013 Jakob Bornecrantz
-//
-//But, re-written as best as I can to get it put under an open souce license instead of a forced-source license.
-//If there are portions of the code too similar to the original, I would like to know  so they can be re-written.
-//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
-
 
 #ifndef _SURVIVE_INTERNAL_H
 #define _SURVIVE_INTERNAL_H
@@ -28,71 +18,6 @@
 #define SV_KILL()		exit(0)
 
 
-struct SurviveContext;
-struct SurvivecalData;
-
-typedef int (*DeviceDriverCb)( struct SurviveContext * ctx, void * driver );
-typedef int (*DeviceDriverMagicCb)( struct SurviveContext * ctx, void * driver, int magic_code, void * data, int datalen );
-
-//This is defined in survive.h
-typedef struct SurviveObject SurviveObject;
-typedef struct SurviveCalData SurviveCalData;
-
-typedef struct
-{
-	uint8_t PositionSet:1;
-
-	SurvivePose Pose;
-
-	uint8_t OOTXSet:1;
-	uint32_t BaseStationID;
-	FLT fcalphase[2];
-	FLT fcaltilt[2];
-	FLT fcalcurve[2];
-	FLT fcalgibpha[2];
-	FLT fcalgibmag[2];
-} BaseStationData;
-
-struct SurviveContext
-{
-	text_feedback_func faultfunction;
-	text_feedback_func notefunction;
-	light_process_func lightproc;
-	imu_process_func imuproc;
-	angle_process_func angleproc;
-
-	//Calibration data:
-	BaseStationData bsd[NUM_LIGHTHOUSES];
-
-	SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
-
-	SurviveObject ** objs;
-	int objs_ct;
-
-	void ** drivers;
-	DeviceDriverCb * driverpolls;
-	DeviceDriverCb * drivercloses;
-	DeviceDriverMagicCb * drivermagics;
-	int driver_ct;
-};
-
-int survive_add_object( SurviveContext * ctx, SurviveObject * obj );
-
-void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic );
-
-//For lightcap, etc.  Don't change this structure at all.  Regular vive is dependent on it being exactly as-is.
-typedef struct
-{
-	uint8_t sensor_id;
-	uint8_t type;
-	uint16_t length;
-	uint32_t timestamp;
-} __attribute__((packed))  LightcapElement;
-
-//This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
-void handle_lightcap( SurviveObject * so, LightcapElement * le );
-
-
 #endif
 
 
-- 
cgit v1.2.3


From 2a4a803b2f162692ca11e700b32da0a77049bfd2 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 01:01:42 -0500
Subject: cleaning up more header stuff

---
 src/survive.c           |  1 -
 src/survive_driverman.c |  2 +-
 src/survive_driverman.h | 22 ----------------------
 src/survive_internal.h  | 10 +++++-----
 src/survive_vive.c      |  8 +++-----
 5 files changed, 9 insertions(+), 34 deletions(-)
 delete mode 100644 src/survive_driverman.h

(limited to 'src')

diff --git a/src/survive.c b/src/survive.c
index 9bc1a2c..e1ab943 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -3,7 +3,6 @@
 
 #include <survive.h>
 #include "survive_internal.h"
-#include "survive_driverman.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/survive_driverman.c b/src/survive_driverman.c
index 8cdfb71..d694e64 100644
--- a/src/survive_driverman.c
+++ b/src/survive_driverman.c
@@ -3,7 +3,7 @@
 // See notice in survive_driverman.h
 //
 
-#include "survive_driverman.h"
+#include "survive_internal.h"
 #include <string.h>
 #include <stdio.h>
 
diff --git a/src/survive_driverman.h b/src/survive_driverman.h
deleted file mode 100644
index 216333a..0000000
--- a/src/survive_driverman.h
+++ /dev/null
@@ -1,22 +0,0 @@
-// (C) 2017 <>< C. N. Lohr, Under MIT/x11 License.
-//
-// This file is intended to be used for self-registering functions.  By using
-// this it means that you do not need to have complicated switch statements or
-// #defines for dfferent inclusion of drivers/other code.  You can simply
-// register your function and it will be put into a list.
-//
-//
-
-#ifndef SURVIVE_DRIVERMAN_H
-#define SURVIVE_DRIVERMAN_H
-
-#include "survive.h"
-
-//Very little here.  Mostly included in survive.h.
-
-//Driver registration
-#define MAX_DRIVERS 32
-
-
-#endif
-
diff --git a/src/survive_internal.h b/src/survive_internal.h
index ff156ad..392104a 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -7,16 +7,16 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
-#include "survive_driverman.h"
 #include <zlib.h>
 #include <survive.h>
 
-#define SV_INFO( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->notefunction( ctx, stbuff ); }
-#define SV_ERROR( x... ) { char stbuff[1024]; sprintf( stbuff, x ); ctx->faultfunction( ctx, stbuff ); }
 
-//XXX TODO This one needs to be rewritten.
-#define SV_KILL()		exit(0)
+//Driver registration
+#define MAX_DRIVERS 32
 
+void * GetDriver( const char * name );
+const char * GetDriverNameMatching( const char * prefix, int place );
+void   ListDrivers();
 
 #endif
 
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 6be5114..61716d3 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -10,14 +10,12 @@
 //If there are portions of the code too similar to the original, I would like to know  so they can be re-written.
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
-#include "survive_internal.h"
-#include "survive_driverman.h"
+#include <survive.h>
 #include <jsmn.h>
-
-#include "survive_internal.h"
 #include <libusb-1.0/libusb.h>
 #include <stdio.h>
-#include <unistd.h> //sleep if I ever use it.
+#include <stdlib.h>
+#include <unistd.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/stat.h>
-- 
cgit v1.2.3


From c65498054c77192b2a12fdb5ef44439a14110292 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 01:43:56 -0500
Subject: Architect the way the posers receive data.

---
 src/survive.c         | 57 +++++++++++++++++++++++++++++++++++++++------------
 src/survive_cal.h     |  2 ++
 src/survive_process.c | 29 ++++++++++++++++++++++----
 src/survive_vive.c    | 16 +++++++++++++--
 4 files changed, 85 insertions(+), 19 deletions(-)

(limited to 'src')

diff --git a/src/survive.c b/src/survive.c
index e1ab943..efa5d82 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -20,11 +20,11 @@ static void survivenote( struct SurviveContext * ctx, const char * fault )
 }
 
 
-struct SurviveContext * survive_init( int headless )
+SurviveContext * survive_init( int headless )
 {
 	int r = 0;
 	int i = 0;
-	struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) );
+	SurviveContext * ctx = calloc( 1, sizeof( SurviveContext ) );
 
 	ctx->faultfunction = survivefault;
 	ctx->notefunction = survivenote;
@@ -35,7 +35,6 @@ struct SurviveContext * survive_init( int headless )
 
 	const char * DriverName;
 	while( ( DriverName = GetDriverNameMatching( "DriverReg", i++ ) ) )
-
 	{
 		DeviceDriver dd = GetDriver( DriverName );
 		printf( "Loading driver %s (%p) (%d)\n", DriverName, dd, i );
@@ -43,10 +42,34 @@ struct SurviveContext * survive_init( int headless )
 		printf( "Driver %s reports status %d\n", DriverName, r );
 	}
 
+	i = 0;
+	const char * PreferredPoser = "PoserDummy"; //config_read_str( cg, "DefualtPoser", "PoserDummy" ); /XXX Axlecrusher, can you add config stuff for this?
+	PoserCB PreferredPoserCB = 0;
+	const char * FirstPoser = 0;
+	printf( "Available posers:\n" );
+	while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) )
+	{
+		PoserCB p = GetDriver( DriverName );
+		if( !PreferredPoserCB ) PreferredPoserCB = p;
+		int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0;
+		printf( "\t%c%s\n", ThisPoser?'*':' ', DriverName );
+		if( ThisPoser ) PreferredPoserCB = p;
+	}
+	printf( "Totals %d posers.  Using selected poser (or first!).\n", i-1 );
+	if( !PreferredPoserCB )
+	{
+		SV_ERROR( "Error.  Cannot find any valid poser." );
+	}
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		ctx->objs[i]->PoserFn = PreferredPoserCB;
+	}
+
 	return ctx;
 }
 
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_info_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->notefunction = fbp;
@@ -54,7 +77,7 @@ void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func f
 		ctx->notefunction = survivenote;
 }
 
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
+void survive_install_error_fn( SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->faultfunction = fbp;
@@ -62,7 +85,7 @@ void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func
 		ctx->faultfunction = survivefault;
 }
 
-void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp )
+void survive_install_light_fn( SurviveContext * ctx, light_process_func fbp )
 {
 	if( fbp )
 		ctx->lightproc = fbp;
@@ -70,7 +93,7 @@ void survive_install_light_fn( struct SurviveContext * ctx, light_process_func f
 		ctx->lightproc = survive_default_light_process;
 }
 
-void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp )
+void survive_install_imu_fn( SurviveContext * ctx,  imu_process_func fbp )
 {
 	if( fbp )
 		ctx->imuproc = fbp;
@@ -79,7 +102,7 @@ void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp
 }
 
 
-void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp )
+void survive_install_angle_fn( SurviveContext * ctx,  angle_process_func fbp )
 {
 	if( fbp )
 		ctx->angleproc = fbp;
@@ -87,15 +110,15 @@ void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func
 		ctx->angleproc = survive_default_angle_process;
 }
 
-int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj )
+int survive_add_object( SurviveContext * ctx, SurviveObject * obj )
 {
 	int oldct = ctx->objs_ct;
-	ctx->objs = realloc( ctx->objs, sizeof( struct SurviveObject * ) * (oldct+1) );
+	ctx->objs = realloc( ctx->objs, sizeof( SurviveObject * ) * (oldct+1) );
 	ctx->objs[oldct] = obj;
 	ctx->objs_ct = oldct+1;
 }
 
-void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
+void survive_add_driver( SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
 {
 	int oldct = ctx->driver_ct;
 	ctx->drivers = realloc( ctx->drivers, sizeof( void * ) * (oldct+1) );
@@ -109,7 +132,7 @@ void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriv
 	ctx->driver_ct = oldct+1;
 }
 
-int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen )
+int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int datalen )
 {
 	int oldct = ctx->driver_ct;
 	int i;
@@ -119,7 +142,7 @@ int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data
 	}	
 }
 
-void survive_close( struct SurviveContext * ctx )
+void survive_close( SurviveContext * ctx )
 {
 	const char * DriverName;
 	int r = 0;
@@ -133,6 +156,14 @@ void survive_close( struct SurviveContext * ctx )
 
 	int oldct = ctx->driver_ct;
 	int i;
+
+	for( i = 0; i < ctx->objs_ct; i++ )
+	{
+		PoserData pd;
+		pd.pt = POSERDATA_DISASSOCIATE;
+		if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd );
+	}
+
 	for( i = 0; i < oldct; i++ )
 	{
 		ctx->drivercloses[i]( ctx, ctx->drivers[i] );
diff --git a/src/survive_cal.h b/src/survive_cal.h
index a5e372e..dd2a1e2 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -2,6 +2,8 @@
 
 // All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
 
+//XXX XXX XXX Warning:  This subsystem will likely be mostly re-written.
+
 #ifndef _SURVIVE_CAL_H
 #define _SURVIVE_CAL_H
 
diff --git a/src/survive_process.c b/src/survive_process.c
index edabfff..2fea99d 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -46,13 +46,34 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode
 	{
 		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
 	}
-
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataLight l = {
+			.pt = POSERDATA_LIGHT,
+			.sensor_id = sensor_id,
+			.acode = acode,
+			.timecode = timecode,
+			.length = length,
+			.angle = angle,
+		};
+		so->PoserFn( so, (PoserData *)&l );
+	}
 }	
 
 
-void survive_default_imu_process( SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
 {
-	//TODO: Writeme!
+	if( so->PoserFn )
+	{
+		PoserDataIMU imu = {
+			.pt = POSERDATA_IMU,
+			.datamask = mask,
+			.accel = { accelgyromag[0], accelgyromag[1], accelgyromag[2] },
+			.gyro = {  accelgyromag[3], accelgyromag[4], accelgyromag[5] },
+			.mag = {   accelgyromag[6], accelgyromag[7], accelgyromag[8] },
+			.timecode = timecode,
+		};
+		so->PoserFn( so, (PoserData *)&imu );
+	}
 }
 
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 61716d3..7da2897 100644
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -595,7 +595,13 @@ static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
 	if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset.
 	{
 		propset |= 2;
-		w->ctx->imuproc( w, (int16_t *)&readdata[1], (time1<<24)|(time2<<16)|readdata[0], 0 );
+		//XXX XXX BIG TODO!!! Actually recal gyro data.
+		FLT agm[9] = { readdata[1], readdata[2], readdata[3],
+						readdata[4], readdata[5], readdata[6],
+						0,0,0 };
+
+		w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 );
+
 		int16_t * k = (int16_t *)readdata+1;
 		//printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] );
 		readdata += 13; qty -= 13;
@@ -810,7 +816,13 @@ void survive_data_cb( SurviveUSBInterface * si )
 			if( cd > 0 )
 			{
 				obj->oldcode = code;
-				ctx->imuproc( obj, acceldata, timecode, code );
+
+				//XXX XXX BIG TODO!!! Actually recal gyro data.
+				FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2],
+								acceldata[3], acceldata[4], acceldata[5],
+								0,0,0 };
+
+				ctx->imuproc( obj, 3, agm, timecode, code );
 			}
 		}
 
-- 
cgit v1.2.3


From 5eeecb19eb884baf4781280a9c8e1c394fe9c669 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 8 Mar 2017 19:13:02 -0500
Subject: update with poser in tree

---
 src/poser_dummy.c | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 src/poser_dummy.c

(limited to 'src')

diff --git a/src/poser_dummy.c b/src/poser_dummy.c
new file mode 100644
index 0000000..67f8edb
--- /dev/null
+++ b/src/poser_dummy.c
@@ -0,0 +1,52 @@
+#include <survive.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+typedef struct
+{
+	int something;
+	//Stuff
+} DummyData;
+
+int PoserDummy( SurviveObject * so, PoserData * pd )
+{
+	PoserType pt = pd->pt;
+	SurviveContext * ctx = so->ctx;
+	DummyData * dd = so->PoserData;
+
+	if( !dd ) so->PoserData = dd = malloc( sizeof( DummyData ) );
+
+	switch( pt )
+	{
+	case POSERDATA_IMU:
+	{
+		PoserDataIMU * imu = (PoserDataIMU*)pd;
+		//printf( "IMU:%s (%f %f %f) (%f %f %f)\n", so->codename, imu->accel[0], imu->accel[1], imu->accel[2], imu->gyro[0], imu->gyro[1], imu->gyro[2] );
+		break;
+	}
+	case POSERDATA_LIGHT:
+	{
+		PoserDataLight * l = (PoserDataLight*)pd;
+		//printf( "LIG:%s %d @ %f rad, %f s (AC %d) (TC %d)\n", so->codename, l->sensor_id, l->angle, l->length, l->acode, l->timecode );
+		break;
+	}
+	case POSERDATA_FULL_SCENE:
+	{
+		PoserDataFullScene * fs = (PoserDataFullScene*)pd;
+		//printf( "Full scene data.\n" );
+		break;
+	}
+	case POSERDATA_DISASSOCIATE:
+	{
+		free( dd );
+		so->PoserData = 0;
+		//printf( "Need to disassociate.\n" );
+		break;
+	}
+	}
+
+}
+
+
+REGISTER_LINKTIME( PoserDummy );
+
-- 
cgit v1.2.3


From d69cf82a079f93ae1109f70fd011a0efa75b44b5 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Wed, 8 Mar 2017 21:17:50 -0500
Subject: shoehorn configuration into SurviveContext

---
 src/survive.c        | 21 ++++++++++++++++++++-
 src/survive_cal.c    |  2 +-
 src/survive_config.c | 45 +++++++++++++++++++++++++++++++--------------
 src/survive_config.h | 20 ++++++++++++--------
 4 files changed, 64 insertions(+), 24 deletions(-)

(limited to 'src')

diff --git a/src/survive.c b/src/survive.c
index efa5d82..09eb432 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -8,6 +8,8 @@
 #include <string.h>
 #include <zlib.h>
 
+#include "survive_config.h"
+
 static void survivefault( struct SurviveContext * ctx, const char * fault )
 {
 	fprintf( stderr, "Error: %s\n", fault );
@@ -26,6 +28,14 @@ SurviveContext * survive_init( int headless )
 	int i = 0;
 	SurviveContext * ctx = calloc( 1, sizeof( SurviveContext ) );
 
+	ctx->global_config_values = malloc( sizeof(config_group) );
+	ctx->lh_config = malloc( sizeof(config_group) * NUM_LIGHTHOUSES);
+
+	init_config_group(ctx->global_config_values,10);
+	init_config_group(ctx->lh_config,10);
+
+	config_read(ctx, "config.json");
+
 	ctx->faultfunction = survivefault;
 	ctx->notefunction = survivenote;
 
@@ -43,7 +53,7 @@ SurviveContext * survive_init( int headless )
 	}
 
 	i = 0;
-	const char * PreferredPoser = "PoserDummy"; //config_read_str( cg, "DefualtPoser", "PoserDummy" ); /XXX Axlecrusher, can you add config stuff for this?
+	const char * PreferredPoser = config_read_str( ctx->global_config_values, "DefualtPoser", "PoserDummy" );
 	PoserCB PreferredPoserCB = 0;
 	const char * FirstPoser = 0;
 	printf( "Available posers:\n" );
@@ -169,11 +179,20 @@ void survive_close( SurviveContext * ctx )
 		ctx->drivercloses[i]( ctx, ctx->drivers[i] );
 	}
 
+
+	config_save(ctx, "config.json");
+
+	destroy_config_group(ctx->global_config_values);
+	destroy_config_group(ctx->lh_config);
+
 	free( ctx->objs );
 	free( ctx->drivers );
 	free( ctx->driverpolls );
 	free( ctx->drivermagics );
 	free( ctx->drivercloses );
+	free( ctx->global_config_values );
+	free( ctx->lh_config );
+
 	free( ctx );
 }
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index 2acf51c..06914eb 100644
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -52,7 +52,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	b->fcalgibmag[1] = v6.fcal_1_gibmag;
 	b->OOTXSet = 1;
 
-	config_set_lighthouse(b,id);
+	config_set_lighthouse(ctx->lh_config,b,id);
 //	config_save("config.json");
 }
 
diff --git a/src/survive_config.c b/src/survive_config.c
index 4de6a3a..de0530b 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -9,8 +9,8 @@
 #define MAX_CONFIG_ENTRIES 100
 #define MAX_LIGHTHOUSES 2
 
-config_group global_config_values;
-config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
+//config_group global_config_values;
+//config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
 
 //static uint16_t used_entries = 0;
 
@@ -40,6 +40,17 @@ void init_config_group(config_group *cg, uint16_t count) {
 	}
 }
 
+void destroy_config_group(config_group* cg) {
+	uint16_t i = 0;
+	if (cg->config_entries==NULL) return;
+
+	for (i=0;i<cg->max_entries;++i) {
+		destroy_config_entry(cg->config_entries+i);
+	}
+
+	free(cg->config_entries);
+}
+
 void resize_config_group(config_group *cg, uint16_t count) {
 	uint16_t i = 0;
 
@@ -57,6 +68,7 @@ void resize_config_group(config_group *cg, uint16_t count) {
 	}
 }
 
+/*
 void config_init() {
 	uint16_t i = 0;
 	init_config_group(&global_config_values, MAX_CONFIG_ENTRIES);
@@ -64,9 +76,9 @@ void config_init() {
 		init_config_group(lh_config+i, 9);
 	}
 }
+*/
 
-
-void config_set_lighthouse(BaseStationData* bsd, uint8_t idx) {
+void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx) {
 	config_group *cg = lh_config+idx;
 	config_set_uint32(cg,"index", idx);
 	config_set_uint32(cg,"id", bsd->BaseStationID);
@@ -123,7 +135,7 @@ FLT config_read_float(config_group *cg, const char *tag, const FLT def) {
 	return config_set_float(cg, tag, def);
 }
 
-uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values, const FLT* def, uint16_t count) {
+uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count) {
 	config_entry *cv = find_config_entry(cg, tag);
 
 	if (cv != NULL) {
@@ -236,14 +248,17 @@ void write_config_group(FILE* f, config_group *cg, char *tag) {
 	}
 }
 
-void config_save(const char* path) {
+//struct SurviveContext;
+SurviveContext* survive_context;
+
+void config_save(SurviveContext* sctx, const char* path) {
 	uint16_t i = 0;
 
 	FILE* f = fopen(path, "w");
 
-	write_config_group(f,&global_config_values, NULL);
-	write_config_group(f,lh_config, "lighthouse0");
-	write_config_group(f,lh_config+1, "lighthouse1");
+	write_config_group(f,sctx->global_config_values, NULL);
+	write_config_group(f,sctx->lh_config, "lighthouse0");
+	write_config_group(f,sctx->lh_config+1, "lighthouse1");
 
 	fclose(f);
 }
@@ -261,11 +276,11 @@ uint8_t cg_stack_head = 0;
 void handle_config_group(char* tag) {
 	cg_stack_head++;
 	if (strcmp("lighthouse0",tag) == 0) {
-		cg_stack[cg_stack_head] = lh_config;
+		cg_stack[cg_stack_head] = survive_context->lh_config;
 	} else if (strcmp("lighthouse1",tag) == 0) {
-		cg_stack[cg_stack_head] = lh_config+1;
+		cg_stack[cg_stack_head] = survive_context->lh_config+1;
 	} else {
-		cg_stack[cg_stack_head] = &global_config_values;
+		cg_stack[cg_stack_head] = survive_context->global_config_values;
 	}
 }
 
@@ -343,12 +358,14 @@ void handle_tag_value(char* tag, char** values, uint16_t count) {
 //	else if (count>1) config_set_str
 }
 
-void config_read(const char* path) {
+void config_read(SurviveContext* sctx, const char* path) {
+	survive_context = sctx;
+
 	json_begin_object = handle_config_group;
 	json_end_object = pop_config_group;
 	json_tag_value = handle_tag_value;
 
-	cg_stack[0] = &global_config_values;
+	cg_stack[0] = sctx->global_config_values;
 
 	json_load_file(path);
 
diff --git a/src/survive_config.h b/src/survive_config.h
index cd16c76..c8c7762 100644
--- a/src/survive_config.h
+++ b/src/survive_config.h
@@ -26,29 +26,33 @@ typedef struct {
 	uint32_t elements;
 } config_entry;
 
-typedef struct {
+typedef struct config_group {
 	config_entry *config_entries;
 	uint16_t	used_entries;
 	uint16_t	max_entries;
 } config_group;
 
-extern config_group global_config_values;
-extern config_group lh_config[2]; //lighthouse configs
+//extern config_group global_config_values;
+//extern config_group lh_config[2]; //lighthouse configs
 
+void init_config_group(config_group *cg, uint16_t count);
+void destroy_config_group(config_group* cg);
 
-void config_init();
+//void config_init();
 //void config_open(const char* path, const char* mode);
-void config_read(const char* path);
+
 //void config_write_lighthouse(struct BaseStationData* bsd, uint8_t length);
-void config_set_lighthouse(BaseStationData* bsd, uint8_t idx);
+void config_set_lighthouse(config_group* lh_config, BaseStationData* bsd, uint8_t idx);
+
+void config_read(SurviveContext* sctx, const char* path);
+void config_save(SurviveContext* sctx, const char* path);
 
-void config_save(const char* path);
 const FLT config_set_float(config_group *cg, const char *tag, const FLT value);
 const uint32_t config_set_uint32(config_group *cg, const char *tag, const uint32_t value);
 const char* config_set_str(config_group *cg, const char *tag, const char* value);
 
 FLT config_read_float(config_group *cg, const char *tag, const FLT def);
-uint16_t config_read_float_array(config_group *cg, const char *tag, FLT** values, const FLT* def, uint16_t count);
+uint16_t config_read_float_array(config_group *cg, const char *tag, const FLT** values, const FLT* def, uint16_t count);
 uint32_t config_read_uint32(config_group *cg, const char *tag, const uint32_t def);
 const char* config_read_str(config_group *cg, const char *tag, const char *def);
 
-- 
cgit v1.2.3


From e7994264c36713b485b51f5505707bd8743b9e4d Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Wed, 8 Mar 2017 21:19:38 -0500
Subject: comment out unneeded #defines

---
 src/survive_config.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index de0530b..38c24e1 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -6,8 +6,8 @@
 
 #include <errno.h>
 
-#define MAX_CONFIG_ENTRIES 100
-#define MAX_LIGHTHOUSES 2
+//#define MAX_CONFIG_ENTRIES 100
+//#define MAX_LIGHTHOUSES 2
 
 //config_group global_config_values;
 //config_group lh_config[MAX_LIGHTHOUSES]; //lighthouse configs
-- 
cgit v1.2.3


From 9e1eda90ff4c426750eed202c03808f6406988bb Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Wed, 8 Mar 2017 21:37:20 -0500
Subject: do not malloc if size is 0

---
 src/survive_config.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/survive_config.c b/src/survive_config.c
index 38c24e1..3f0f199 100644
--- a/src/survive_config.c
+++ b/src/survive_config.c
@@ -31,9 +31,13 @@ void destroy_config_entry(config_entry* ce) {
 
 void init_config_group(config_group *cg, uint16_t count) {
 	uint16_t i = 0;
-	cg->config_entries = malloc(count*sizeof(config_entry));
 	cg->used_entries = 0;
 	cg->max_entries = count;
+	cg->config_entries = NULL;
+
+	if (count==0) return;
+
+	cg->config_entries = malloc(count*sizeof(config_entry));
 
 	for (i=0;i<count;++i) {
 		init_config_entry(cg->config_entries+i);
-- 
cgit v1.2.3