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Just a little janitorial work, I simply like to clean as I read.
I did the following:
I can undo the weird indentation stuff if you don't like it,
but C++ Core Guidelines encourage liberal use of whitespace for
legibility.
C++ code is still very C-like, could make it more "idiomatic",
but I'm happy with it.
Tested it on our hardware and still seems to do what it should when I click around!
Please double check function arrays (for off-by 1 or wrong indices), and getRootData() - I reordered a lot of code.
If these kind of changes are welcome, I'm happy to do some more.