get rid of "volatile" abuse

We heavily used "volatile bool" to check if the thread
loop should stop. But this functionality is already
provided by Qt5's QThread::requestInterruption.

In other cases, "volatile" is wonderfully
underspecified so it's better to ditch its usage in
favor of std::atomic<t>. At the time we don't appear to
be using the "volatile" keyword except when calling
win32's Interlocked*() family of functions as
necessary.

In freetrackclient's header the "volatile" qualifier
was used as part of a typedef. This doesn't work. Use
it as part of data declaration.

19 files changed, 76 insertions, 81 deletions

diff --git a/dinput/keybinding-worker.cpp b/dinput/keybinding-worker.cpp
index 0357752c..41fa3486 100644
--- a/dinput/keybinding-worker.cpp
+++ b/dinput/keybinding-worker.cpp
@@ -28,7 +28,7 @@ KeybindingWorker::~KeybindingWorker()
 {
     qDebug() << "exit: keybinding worker";
 
-    should_quit = true;
+    requestInterruption();
     wait();
     if (dinkeyboard) {
         dinkeyboard->Unacquire();
@@ -74,11 +74,10 @@ bool KeybindingWorker::init()
     return true;
 }
 
-KeybindingWorker::KeybindingWorker() : dinkeyboard(nullptr), din(dinput_handle::make_di()), should_quit(false)
+KeybindingWorker::KeybindingWorker() : dinkeyboard(nullptr), din(dinput_handle::make_di())
 {
-    should_quit = !init();
-
-    start();
+    if (init())
+        start();
 }
 
 KeybindingWorker& KeybindingWorker::make()
@@ -92,7 +91,7 @@ void KeybindingWorker::run()
     unsigned char keystate[256] = {0};
     unsigned char old_keystate[256] = {0};
 
-    while (!should_quit)
+    while (!isInterruptionRequested())
     {
         {
             QMutexLocker l(&mtx);
diff --git a/dinput/keybinding-worker.hpp b/dinput/keybinding-worker.hpp
index 553a314c..6ed277cd 100644
--- a/dinput/keybinding-worker.hpp
+++ b/dinput/keybinding-worker.hpp
@@ -48,7 +48,6 @@ private:
     QMutex mtx;
     QMainWindow fake_main_window;
     dinput_handle::di_t din;
-    volatile bool should_quit;
 
     void run() override;
     bool init();
diff --git a/freetrackclient/fttypes.h b/freetrackclient/fttypes.h
index 050ffc02..4989a570 100644
--- a/freetrackclient/fttypes.h
+++ b/freetrackclient/fttypes.h
@@ -19,51 +19,46 @@
 
 #pragma once
 
-#ifndef _MSC_VER
-#   include <inttypes.h>
-#else
-typedef unsigned __int32 uint32_t;
-typedef __int32 int32_t;
-#endif
+#include <inttypes.h>
 
 #define FREETRACK_HEAP "FT_SharedMem"
 #define FREETRACK_MUTEX "FT_Mutext"
 
 /* only 6 headpose floats and the data id are filled -sh */
-typedef struct __FTData {
-    volatile unsigned int DataID;
-    volatile int CamWidth;
-    volatile int CamHeight;
+typedef struct FTData__ {
+    int32_t DataID;
+    int32_t CamWidth;
+    int32_t CamHeight;
     /* virtual pose */
-    volatile float Yaw;   /* positive yaw to the left */
-    volatile float Pitch; /* positive pitch up */
-    volatile float Roll;  /* positive roll to the left */
-    volatile float X;
-    volatile float Y;
-    volatile float Z;
+    float  Yaw;   /* positive yaw to the left */
+    float  Pitch; /* positive pitch up */
+    float  Roll;  /* positive roll to the left */
+    float  X;
+    float  Y;
+    float  Z;
     /* raw pose with no smoothing, sensitivity, response curve etc. */
-    volatile float RawYaw;
-    volatile float RawPitch;
-    volatile float RawRoll;
-    volatile float RawX;
-    volatile float RawY;
-    volatile float RawZ;
+    float  RawYaw;
+    float  RawPitch;
+    float  RawRoll;
+    float  RawX;
+    float  RawY;
+    float  RawZ;
     /* raw points, sorted by Y, origin top left corner */
-    volatile float X1;
-    volatile float Y1;
-    volatile float X2;
-    volatile float Y2;
-    volatile float X3;
-    volatile float Y3;
-    volatile float X4;
-    volatile float Y4;
+    float  X1;
+    float  Y1;
+    float  X2;
+    float  Y2;
+    float  X3;
+    float  Y3;
+    float  X4;
+    float  Y4;
 } FTData;
 
 /* we add some shit at the end for other legacy proto, sadly */
 
-typedef struct __FTHeap {
+typedef struct FTHeap__ {
     FTData data;
-    volatile int32_t GameID;
-    volatile unsigned char table[8];
-    volatile int32_t GameID2;
+    int32_t GameID;
+    unsigned char table[8];
+    int32_t GameID2;
 } FTHeap;
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index a5d4b86f..533a6f54 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -44,7 +44,7 @@ Tracker::Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger& logger) :
 
 Tracker::~Tracker()
 {
-    set(f_should_quit, true);
+    requestInterruption();
     wait();
 }
 
@@ -384,7 +384,7 @@ void Tracker::run()
 
     t.start();
 
-    while (!get(f_should_quit))
+    while (!isInterruptionRequested())
     {
         logic();
 
@@ -491,5 +491,4 @@ bits::bits() : b(0u)
     set(f_enabled_p, true);
     set(f_enabled_h, true);
     set(f_zero, false);
-    set(f_should_quit, false);
 }
diff --git a/logic/tracker.h b/logic/tracker.h
index 2c4c5610..b1ed4042 100644
--- a/logic/tracker.h
+++ b/logic/tracker.h
@@ -40,7 +40,6 @@ struct bits
         f_enabled_h      = 1 << 1,
         f_enabled_p      = 1 << 2,
         f_zero           = 1 << 3,
-        f_should_quit    = 1 << 4,
     };
 
     std::atomic<unsigned> b;
diff --git a/proto-simconnect/ftnoir_protocol_sc.cpp b/proto-simconnect/ftnoir_protocol_sc.cpp
index 9c0f1a5b..be0c23c4 100644
--- a/proto-simconnect/ftnoir_protocol_sc.cpp
+++ b/proto-simconnect/ftnoir_protocol_sc.cpp
@@ -14,13 +14,13 @@
 #include "opentrack-library-path.h"
 #include "compat/timer.hpp"
 
-simconnect::simconnect() : hSimConnect(nullptr), should_stop(false), should_reconnect(false)
+simconnect::simconnect() : hSimConnect(nullptr), should_reconnect(false)
 {
 }
 
 simconnect::~simconnect()
 {
-    should_stop = true;
+    requestInterruption();
     wait();
 }
 
@@ -34,7 +34,7 @@ void simconnect::run()
         return;
     }
 
-    while (!should_stop)
+    while (!isInterruptionRequested())
     {
         HRESULT hr;
 
@@ -52,7 +52,7 @@ void simconnect::run()
             Timer tm;
             int idle_seconds = 0;
 
-            while (!should_stop)
+            while (!isInterruptionRequested())
             {
                 if (should_reconnect)
                 {
@@ -88,14 +88,15 @@ void simconnect::run()
             qDebug() << "simconnect: can't open handle:" << hr;
         }
 
-        if (!should_stop)
+        if (!isInterruptionRequested())
             Sleep(100);
     }
 
     CloseHandle(event);
 }
 
-void simconnect::pose( const double *headpose ) {
+void simconnect::pose( const double *headpose )
+{
     // euler degrees
     virtSCRotX = float(-headpose[Pitch]);
     virtSCRotY = float(headpose[Yaw]);
diff --git a/proto-simconnect/ftnoir_protocol_sc.h b/proto-simconnect/ftnoir_protocol_sc.h
index 270d922d..93376885 100644
--- a/proto-simconnect/ftnoir_protocol_sc.h
+++ b/proto-simconnect/ftnoir_protocol_sc.h
@@ -11,8 +11,10 @@
  */
 #pragma once
 #include "api/plugin-api.hpp"
-
 #include "ui_ftnoir_sccontrols.h"
+
+#include <atomic>
+
 #include <QThread>
 #include <QMessageBox>
 #include <QSettings>
@@ -70,12 +72,12 @@ private:
 
     void run() override;
 
-    volatile float virtSCPosX;
-    volatile float virtSCPosY;
-    volatile float virtSCPosZ;
-    volatile float virtSCRotX;
-    volatile float virtSCRotY;
-    volatile float virtSCRotZ;
+    std::atomic<float> virtSCPosX;
+    std::atomic<float> virtSCPosY;
+    std::atomic<float> virtSCPosZ;
+    std::atomic<float> virtSCRotX;
+    std::atomic<float> virtSCRotY;
+    std::atomic<float> virtSCRotZ;
 
     importSimConnect_Open simconnect_open;
     importSimConnect_Close simconnect_close;
@@ -84,7 +86,7 @@ private:
     importSimConnect_SubscribeToSystemEvent simconnect_subscribetosystemevent;
 
     HANDLE hSimConnect;
-    volatile bool should_stop, should_reconnect;
+    std::atomic<bool> should_reconnect;
     static void CALLBACK processNextSimconnectEvent(SIMCONNECT_RECV* pData, DWORD cbData, void *pContext);
     settings s;
     QLibrary SCClientLib;
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 7a19b0d3..745ce50d 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -52,7 +52,6 @@ aruco_tracker::aruco_tracker() :
     roi_points(4),
     last_roi(65535, 65535, 0, 0),
     adaptive_size_pos(0),
-    stop(false),
     use_otsu(false)
 {
     // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco.
@@ -61,7 +60,7 @@ aruco_tracker::aruco_tracker() :
 
 aruco_tracker::~aruco_tracker()
 {
-    stop = true;
+    requestInterruption();
     wait();
     // fast start/stop causes breakage
     portable::sleep(1000);
@@ -368,7 +367,7 @@ void aruco_tracker::run()
     fps_timer.start();
     last_detection_timer.start();
 
-    while (!stop)
+    while (!isInterruptionRequested())
     {
         {
             QMutexLocker l(&camera_mtx);
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 02b7e0a7..8531bef9 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -117,7 +117,6 @@ private:
     cv::Rect last_roi;
     Timer fps_timer, last_detection_timer;
     unsigned adaptive_size_pos;
-    volatile bool stop;
     bool use_otsu;
 
     struct resolution_tuple
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
index 4c5d14ef..e5667ebb 100644
--- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
+++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
@@ -6,13 +6,13 @@
 #include <cmath>
 
 
-tracker_freepie::tracker_freepie() : pose { 0,0,0, 0,0,0 }, should_quit(false)
+tracker_freepie::tracker_freepie() : pose { 0,0,0, 0,0,0 }
 {
 }
 
 tracker_freepie::~tracker_freepie()
 {
-    should_quit = true;
+    requestInterruption();
     wait();
 }
 
@@ -42,7 +42,8 @@ void tracker_freepie::run() {
 
     sock.bind(QHostAddress::Any, (unsigned short) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
 
-    while (!should_quit) {
+    while (!isInterruptionRequested())
+    {
         int order[] = {
             bound<int>(s.idx_x, 0, 2),
             bound<int>(s.idx_y, 0, 2),
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.h b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.h
index 5a98e194..51a710f8 100644
--- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.h
+++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.h
@@ -42,7 +42,6 @@ private:
     QUdpSocket sock;
     settings s;
     QMutex mtx;
-    volatile bool should_quit;
 };
 
 class dialog_freepie : public ITrackerDialog
diff --git a/tracker-hatire/ftnoir_tracker_hat.h b/tracker-hatire/ftnoir_tracker_hat.h
index 01b2afff..47f66812 100644
--- a/tracker-hatire/ftnoir_tracker_hat.h
+++ b/tracker-hatire/ftnoir_tracker_hat.h
@@ -5,6 +5,8 @@
 #include "ftnoir_tracker_hat_settings.h"
 #include "ftnoir_arduino_type.h"
 
+#include <atomic>
+
 #include <QObject>
 #include <QPalette>
 #include <QtGui>
@@ -41,7 +43,7 @@ private:
 
     int frame_cnt;
 
-    volatile int CptError;
+    std::atomic<int> CptError;
 
     static inline QByteArray to_latin1(const QString& str) { return str.toLatin1(); }
 };
diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
index 77e62243..9c0d85f8 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -23,7 +23,7 @@
 #endif
 #include <sixense.h>
 
-Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
+Hydra_Tracker::Hydra_Tracker() {}
 
 #include <sixense_math.hpp>
 
diff --git a/tracker-hydra/ftnoir_tracker_hydra.h b/tracker-hydra/ftnoir_tracker_hydra.h
index 31a994d5..15016e4e 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.h
+++ b/tracker-hydra/ftnoir_tracker_hydra.h
@@ -18,7 +18,6 @@ public:
     ~Hydra_Tracker();
     void start_tracker(QFrame *) override;
     void data(double *data) override;
-    volatile bool should_quit;
 private:
     settings s;
     QMutex mutex;
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index b7b0019a..65e367f5 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -11,6 +11,8 @@
 #include "api/plugin-api.hpp"
 #include "ftnoir_tracker_pt_settings.h"
 
+#include <atomic>
+
 #include "numeric.hpp"
 
 #include "camera.h"
@@ -79,9 +81,9 @@ private:
 
     QSize preview_size;
 
-    volatile unsigned point_count;
-    volatile unsigned char commands;
-    volatile bool ever_success;
+    std::atomic<unsigned> point_count;
+    std::atomic<unsigned char> commands;
+    std::atomic<bool> ever_success;
 
     static constexpr f rad2deg = f(180/M_PI);
     //static constexpr float deg2rad = float(M_PI/180);
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 8e0c28de..4022cbb2 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -37,7 +37,7 @@ PointModel::PointModel(settings_pt& s)
     set_model(s);
     // calculate u
     u = M01.cross(M02);
-    u /= norm(u);
+    u = cv::normalize(u);
 
     // calculate projection matrix on M01,M02 plane
     f s11 = M01.dot(M01);
diff --git a/tracker-tobii-eyex/tobii-eyex.hpp b/tracker-tobii-eyex/tobii-eyex.hpp
index 23173f22..62b0d733 100644
--- a/tracker-tobii-eyex/tobii-eyex.hpp
+++ b/tracker-tobii-eyex/tobii-eyex.hpp
@@ -19,6 +19,7 @@ using namespace options;
 
 #include <functional>
 #include <atomic>
+
 #include <QObject>
 #include <QMutex>
 
@@ -77,7 +78,7 @@ private:
     } dev_state;
 
     double yaw, pitch;
-    volatile bool do_center;
+    std::atomic<bool> do_center;
 };
 
 class tobii_eyex_metadata : public Metadata
diff --git a/tracker-udp/ftnoir_tracker_udp.cpp b/tracker-udp/ftnoir_tracker_udp.cpp
index 5f95ab5a..e2d6fc93 100644
--- a/tracker-udp/ftnoir_tracker_udp.cpp
+++ b/tracker-udp/ftnoir_tracker_udp.cpp
@@ -13,13 +13,12 @@
 
 udp::udp() :
     last_recv_pose { 0,0,0, 0,0,0 },
-    last_recv_pose2 { 0,0,0, 0,0,0 },
-    should_quit(false)
+    last_recv_pose2 { 0,0,0, 0,0,0 }
 {}
 
 udp::~udp()
 {
-    should_quit = true;
+    requestInterruption();
     wait();
 }
 
@@ -28,9 +27,10 @@ void udp::run()
     QByteArray datagram;
     datagram.resize(sizeof(last_recv_pose));
 
-    should_quit = !sock.bind(QHostAddress::Any, quint16(s.port), QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+    if (!sock.bind(QHostAddress::Any, quint16(s.port), QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint))
+        return;
 
-    while (!should_quit)
+    while (!isInterruptionRequested())
     {
         if (sock.hasPendingDatagrams())
         {
diff --git a/tracker-udp/ftnoir_tracker_udp.h b/tracker-udp/ftnoir_tracker_udp.h
index b6e0aefd..0167a005 100644
--- a/tracker-udp/ftnoir_tracker_udp.h
+++ b/tracker-udp/ftnoir_tracker_udp.h
@@ -33,7 +33,6 @@ private:
     double last_recv_pose[6], last_recv_pose2[6];
     QMutex mutex;
     settings s;
-    volatile bool should_quit;
 };
 
 class dialog_udp: public ITrackerDialog