new track logging: record poses in various stages of processing into a file

5 files changed, 168 insertions, 2 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>
diff --git a/gui/ui.cpp b/gui/ui.cpp
index 85d5d029..3bda6ee2 100644
--- a/gui/ui.cpp
+++ b/gui/ui.cpp
@@ -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);
     }
 }
 
diff --git a/gui/ui.h b/gui/ui.h
index 7415d3d4..acec615e 100644
--- a/gui/ui.h
+++ b/gui/ui.h
@@ -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();