diff options
| -rw-r--r-- | gui/options-dialog.cpp | 21 | ||||
| -rw-r--r-- | gui/options-dialog.hpp | 3 | ||||
| -rw-r--r-- | gui/settings.ui | 82 | ||||
| -rw-r--r-- | gui/ui.cpp | 61 | ||||
| -rw-r--r-- | gui/ui.h | 3 | ||||
| -rw-r--r-- | opentrack-logic/main-settings.hpp | 6 | ||||
| -rw-r--r-- | opentrack-logic/state.hpp | 2 | ||||
| -rw-r--r-- | opentrack-logic/tracker.cpp | 22 | ||||
| -rw-r--r-- | opentrack-logic/tracker.h | 7 | ||||
| -rw-r--r-- | opentrack-logic/tracklogger.cpp | 28 | ||||
| -rw-r--r-- | opentrack-logic/tracklogger.hpp | 57 | ||||
| -rw-r--r-- | opentrack-logic/work.cpp | 4 | ||||
| -rw-r--r-- | opentrack-logic/work.hpp | 2 |
13 files changed, 290 insertions, 8 deletions
diff --git a/gui/options-dialog.cpp b/gui/options-dialog.cpp index 3b54ae9a..8987ba34 100644 --- a/gui/options-dialog.cpp +++ b/gui/options-dialog.cpp @@ -11,6 +11,7 @@ #include <QPushButton> #include <QLayout> #include <QDialog> +#include <QFileDialog> static QString kopts_to_string(const key_opts& kopts) { @@ -72,6 +73,9 @@ OptionsDialog::OptionsDialog(std::function<void(bool)> pause_keybindings) : tie_setting(main.center_method, ui.center_method); + tie_setting(main.tracklogging_enabled, ui.tracklogging_enabled); + tie_setting(main.tracklogging_filename, ui.tracklogging_filenameedit); + struct tmp { key_opts& opt; @@ -102,6 +106,8 @@ OptionsDialog::OptionsDialog(std::function<void(bool)> pause_keybindings) : connect(val.button, &QPushButton::pressed, this, [=]() -> void { bind_key(val.opt, val.label); }); } } + + connect(ui.tracklogging_fileselectbtn, SIGNAL(clicked()), this, SLOT(browse_datalogging_file())); } void OptionsDialog::bind_key(key_opts& kopts, QLabel* label) @@ -163,3 +169,18 @@ void OptionsDialog::doCancel() close(); } +void OptionsDialog::browse_datalogging_file() +{ + QString filename = ui.tracklogging_filenameedit->text(); + if (filename.isEmpty()) + filename = QDir::currentPath(); + QString newfilename = QFileDialog::getSaveFileName(this, tr("Select Filename"), filename, tr("CSV File (*.csv)")); + if (!newfilename.isEmpty()) + ui.tracklogging_filenameedit->setText(newfilename); +} + +void OptionsDialog::update_widgets_states(bool tracker_is_running) +{ + ui.tracklogging_enabled->setEnabled(!tracker_is_running); + ui.tracklogging_fileselectbtn->setEnabled(!tracker_is_running); +}
\ No newline at end of file diff --git a/gui/options-dialog.hpp b/gui/options-dialog.hpp index 66386a79..f84ee8f6 100644 --- a/gui/options-dialog.hpp +++ b/gui/options-dialog.hpp @@ -13,6 +13,8 @@ signals: void saving(); public: OptionsDialog(std::function<void(bool)> pause_keybindings); +public slots: + void update_widgets_states(bool tracker_is_running); private: main_settings main; std::function<void(bool)> pause_keybindings; @@ -22,4 +24,5 @@ private slots: void doOK(); void doCancel(); void bind_key(key_opts &kopts, QLabel* label); + void browse_datalogging_file(); }; diff --git a/gui/settings.ui b/gui/settings.ui index 4654dd85..9c573da2 100644 --- a/gui/settings.ui +++ b/gui/settings.ui @@ -33,7 +33,7 @@ </sizepolicy> </property> <property name="currentIndex"> - <number>0</number> + <number>2</number> </property> <widget class="QWidget" name="tab"> <attribute name="title"> @@ -1205,6 +1205,86 @@ </widget> </item> <item> + <widget class="QGroupBox" name="groupBox_10"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Expanding"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimumSize"> + <size> + <width>0</width> + <height>20</height> + </size> + </property> + <property name="title"> + <string>Data Logging</string> + </property> + <layout class="QVBoxLayout" name="verticalLayout_2"> + <item> + <widget class="QLabel" name="tracklogging_label"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Expanding"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="text"> + <string>Record pose data in a csv file. WARNING: overwrites file contents without warning every time the tracker is started.</string> + </property> + <property name="wordWrap"> + <bool>true</bool> + </property> + </widget> + </item> + <item> + <widget class="QCheckBox" name="tracklogging_enabled"> + <property name="text"> + <string>Enable</string> + </property> + </widget> + </item> + <item> + <layout class="QHBoxLayout" name="horizontalLayout_2"> + <property name="spacing"> + <number>0</number> + </property> + <property name="bottomMargin"> + <number>0</number> + </property> + <item> + <widget class="QPushButton" name="tracklogging_fileselectbtn"> + <property name="text"> + <string>Select File ...</string> + </property> + </widget> + </item> + <item> + <widget class="QLineEdit" name="tracklogging_filenameedit"> + <property name="enabled"> + <bool>false</bool> + </property> + <property name="acceptDrops"> + <bool>true</bool> + </property> + <property name="inputMask"> + <string notr="true"/> + </property> + <property name="text"> + <string notr="true"/> + </property> + <property name="readOnly"> + <bool>true</bool> + </property> + </widget> + </item> + </layout> + </item> + </layout> + </widget> + </item> + <item> <spacer name="verticalSpacer_3"> <property name="orientation"> <enum>Qt::Vertical</enum> @@ -15,6 +15,7 @@ #include <QFileDialog> #include <QDesktopServices> #include <QCoreApplication> +#include <cassert> #ifdef _WIN32 # include <windows.h> @@ -285,6 +286,45 @@ void MainWindow::reload_options() ensure_tray(); } +/* + Allocates a new logger instance depending on main settings. Result is assigned to logger variable of State object. + May open warning dialogs. + May also assign nullptr in case of an error. +*/ +void MainWindow::initialize_logger() +{ + logger = nullptr; + if (s.tracklogging_enabled) + { + if (static_cast<QString>(s.tracklogging_filename).isEmpty()) + { + QMessageBox::warning(this, tr("Logging Error"), + tr("No filename given for track logging. Aborting."), + QMessageBox::Ok, + QMessageBox::NoButton); + return; + } + try + { + logger = TrackLoggerCSV::make(s); + } + catch (std::ios_base::failure &) + { + QMessageBox::warning(this, tr("Logging Error"), + tr("Unable to open file: ") + s.tracklogging_filename + tr(". Aborting."), + QMessageBox::Ok, + QMessageBox::NoButton); + return; + } + } + else + { + logger = TrackLogger::make(); + } + assert(logger != nullptr); +} + + void MainWindow::startTracker() { if (work) @@ -310,9 +350,17 @@ void MainWindow::startTracker() return; } + initialize_logger(); + if (logger == nullptr) + { + // error -> rollback + libs = SelectedLibraries(); + return; + } + save_modules(); - work = std::make_shared<Work>(pose, libs, winId()); + work = std::make_shared<Work>(pose, libs, *logger, winId()); reload_options(); @@ -331,6 +379,12 @@ void MainWindow::startTracker() // trackers take care of layout state updates const bool is_inertial = ui.video_frame->layout() == nullptr; updateButtonState(true, is_inertial); + + // Update the state of the options window directly. + // Might be better to emit signals and allow the options window + // to connect its slots to them (?) + if (options_widget) + options_widget->update_widgets_states(true); ui.btnStopTracker->setFocus(); } @@ -358,12 +412,16 @@ void MainWindow::stopTracker() work = nullptr; libs = SelectedLibraries(); + logger = nullptr; { double p[6] = {0,0,0, 0,0,0}; display_pose(p, p); } updateButtonState(false, false); + + if (options_widget) + options_widget->update_widgets_states(false); set_title(); @@ -495,6 +553,7 @@ void MainWindow::show_options_dialog() if (mk_window(&options_widget, [&](bool flag) -> void { set_keys_enabled(!flag); })) { connect(options_widget.get(), &OptionsDialog::saving, this, &MainWindow::reload_options); + options_widget->update_widgets_states(work != nullptr); } } @@ -102,6 +102,9 @@ private slots: void startTracker(); void stopTracker(); void reload_options(); + + void initialize_logger(); + signals: void emit_start_tracker(); void emit_stop_tracker(); diff --git a/opentrack-logic/main-settings.hpp b/opentrack-logic/main-settings.hpp index a7dcd11c..81eb99cf 100644 --- a/opentrack-logic/main-settings.hpp +++ b/opentrack-logic/main-settings.hpp @@ -73,6 +73,8 @@ struct main_settings key_opts key_start_tracking, key_stop_tracking, key_toggle_tracking, key_restart_tracking; key_opts key_center, key_toggle, key_zero; key_opts key_toggle_press, key_zero_press; + value<bool> tracklogging_enabled; + value<QString> tracklogging_filename; main_settings() : b(bundle("opentrack-ui")), a_x(b, "x", TX), @@ -98,7 +100,9 @@ struct main_settings key_toggle(b, "toggle"), key_zero(b, "zero"), key_toggle_press(b, "toggle-press"), - key_zero_press(b, "zero-press") + key_zero_press(b, "zero-press"), + tracklogging_enabled(b, "tracklogging-enabled", false), + tracklogging_filename(b, "tracklogging-filename", QString()) { } }; diff --git a/opentrack-logic/state.hpp b/opentrack-logic/state.hpp index 1c608f7a..bdab9afe 100644 --- a/opentrack-logic/state.hpp +++ b/opentrack-logic/state.hpp @@ -14,6 +14,7 @@ using namespace options; #include "main-settings.hpp" #include "mappings.hpp" #include "selected-libraries.hpp" +#include "tracklogger.hpp" #include "work.hpp" #include <vector> #include <QString> @@ -29,4 +30,5 @@ struct State main_settings s; Mappings pose; mem<Work> work; + mem<TrackLogger> logger; }; diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index a1f206a1..8101932c 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -21,7 +21,7 @@ # include <windows.h> #endif -Tracker::Tracker(Mappings &m, SelectedLibraries &libs) : +Tracker::Tracker(Mappings &m, SelectedLibraries &libs, TrackLogger &logger) : m(m), newpose {0,0,0, 0,0,0}, centerp(s.center_at_startup), @@ -29,6 +29,7 @@ Tracker::Tracker(Mappings &m, SelectedLibraries &libs) : zero_(false), should_quit(false), libs(libs), + logger(logger), r_b(get_camera_offset_matrix().t()), t_b {0,0,0} { @@ -134,6 +135,8 @@ void Tracker::logic() raw(i) = newpose[i]; } + logger.write_pose(raw); // raw tracker input + if (is_nan(raw)) raw = last_raw; @@ -207,10 +210,13 @@ void Tracker::logic() } } + logger.write_pose(value); // after various transformations to account for camera position + // whenever something can corrupt its internal state due to nan/inf, elide the call if (is_nan(value)) { nan = true; + logger.write_pose(value); // for consistency with filtered value } else { @@ -218,8 +224,11 @@ void Tracker::logic() Pose tmp = value; if (libs.pFilter) + { libs.pFilter->filter(tmp, value); + } } + logger.write_pose(value); // filtered value if filter present // CAVEAT rotation only, due to tcomp for (int i = 3; i < 6; i++) @@ -256,6 +265,8 @@ void Tracker::logic() for (int i = 0; i < 3; i++) value(i) = map(value(i), m(i)); + logger.write_pose(value); // after mapping + if (nan) { value = last_mapped; @@ -265,6 +276,8 @@ void Tracker::logic() (void) map(value(i), m(i)); } + logger.next_line(); + libs.pProtocol->pose(value); last_mapped = value; @@ -283,8 +296,15 @@ void Tracker::run() (void) timeBeginPeriod(1); #endif + logger.write("//dt;raw;before filter;after filter;after mapping; every pose has channels TX, TY, TZ, Yaw, Pitch, Roll"); + logger.next_line(); + while (!should_quit) { + { + double dt = t.elapsed_seconds(); + logger.write(&dt, 1); + } t.start(); double tmp[6] {0,0,0, 0,0,0}; diff --git a/opentrack-logic/tracker.h b/opentrack-logic/tracker.h index fae8bd9e..b4d39a44 100644 --- a/opentrack-logic/tracker.h +++ b/opentrack-logic/tracker.h @@ -20,6 +20,7 @@ #include "spline-widget/functionconfig.h" #include "main-settings.hpp" #include "opentrack-compat/options.hpp" +#include "tracklogger.hpp" #include <QMutex> #include <QThread> @@ -62,6 +63,10 @@ private: volatile bool zero_; volatile bool should_quit; SelectedLibraries const& libs; + // The owner of the reference is the main window. + // This design might be usefull if we decide later on to swap out + // the logger while the tracker is running. + TrackLogger &logger; using rmat = euler::rmat; using euler_t = euler::euler_t; @@ -78,7 +83,7 @@ private: static constexpr double r2d = 180. / OPENTRACK_PI; static constexpr double d2r = OPENTRACK_PI / 180.; public: - Tracker(Mappings& m, SelectedLibraries& libs); + Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger &logger); ~Tracker(); rmat get_camera_offset_matrix(); diff --git a/opentrack-logic/tracklogger.cpp b/opentrack-logic/tracklogger.cpp new file mode 100644 index 00000000..5e4cf4f9 --- /dev/null +++ b/opentrack-logic/tracklogger.cpp @@ -0,0 +1,28 @@ +#include "tracklogger.hpp" +#include "tracker.h" + + +void TrackLoggerCSV::write(const char *s) +{ + out << s; +} + + +void TrackLoggerCSV::write(const double *p, int n) +{ + if (!first_col) + out.put(';'); + first_col = false; + for (int i = 0; i < n-1; ++i) + { + out << p[i]; + out.put(';'); + } + out << p[n-1]; +} + +void TrackLoggerCSV::next_line() +{ + out << std::endl; + first_col = true; +}
\ No newline at end of file diff --git a/opentrack-logic/tracklogger.hpp b/opentrack-logic/tracklogger.hpp new file mode 100644 index 00000000..feed7fa2 --- /dev/null +++ b/opentrack-logic/tracklogger.hpp @@ -0,0 +1,57 @@ +#pragma once +#include "main-settings.hpp" +#include "opentrack-compat/options.hpp" + +#include <fstream> +#include <QString> +#include <QMessageBox> +#include <QWidget> + +class OPENTRACK_LOGIC_EXPORT TrackLogger +{ +public: + TrackLogger() + { + } + + static mem<TrackLogger> make() { return std::make_shared<TrackLogger>(); } + + virtual void write(const char *) + { + } + + virtual void write(const double *, int n) + { + } + + virtual void next_line() + { + } + + void write_pose(const double *p) + { + write(p, 6); + } +}; + + +class OPENTRACK_LOGIC_EXPORT TrackLoggerCSV : public TrackLogger +{ + std::ofstream out; + bool first_col; +public: + TrackLoggerCSV(const QString &filename) : TrackLogger(), + first_col(true) + { + out.open(filename.toStdString()); + if (!out.is_open()) + throw std::ios_base::failure("unable to open file"); + } + + static mem<TrackLogger> make(const main_settings &s) { return std::static_pointer_cast<TrackLogger>(std::make_shared<TrackLoggerCSV>(s.tracklogging_filename)); } + + virtual void write(const char *s); + virtual void write(const double *p, int n); + virtual void next_line(); +}; + diff --git a/opentrack-logic/work.cpp b/opentrack-logic/work.cpp index 820112bf..e5b08c18 100644 --- a/opentrack-logic/work.cpp +++ b/opentrack-logic/work.cpp @@ -1,9 +1,9 @@ #include "work.hpp" -Work::Work(Mappings& m, SelectedLibraries& libs, WId handle) : +Work::Work(Mappings& m, SelectedLibraries& libs, TrackLogger &logger, WId handle) : libs(libs), - tracker(std::make_shared<Tracker>(m, libs)), + tracker(std::make_shared<Tracker>(m, libs, logger)), sc(std::make_shared<Shortcuts>()), handle(handle), keys { diff --git a/opentrack-logic/work.hpp b/opentrack-logic/work.hpp index 70322be2..6425b11c 100644 --- a/opentrack-logic/work.hpp +++ b/opentrack-logic/work.hpp @@ -33,7 +33,7 @@ struct OPENTRACK_LOGIC_EXPORT Work std::vector<key_tuple> keys; main_settings s; - Work(Mappings& m, SelectedLibraries& libs, WId handle); + Work(Mappings& m, SelectedLibraries& libs, TrackLogger &logger, WId handle); ~Work(); void reload_shortcuts(); }; |