Merge branch 'unstable' into trackhat-ui

Sponsored-by: TrackHat

* unstable: (112 commits)
  Revert "accela: try more complex deadzone algorithm"
  pt: add wiki link for calibration instructions
  qfc: more gray colors when graph is disabled
  qfc, mapping: disallow editing and change color when checkbox disabled
  qfc: don't allow editing when disabled
  plugin-support: workaround multiple copies of modules
  accela: change translation gain
  accela: change rotation gain
  pt: change extraction code
  freepie-udp: add license
  freepie-udp: update
  accela: try more complex deadzone algorithm
  accela: add helpful comment
  accela: revert to more quadratic spline at start
  also save if save pending when start tracking
  ui: force saving if saving timer is pending
  accela: slightly more linear function
  pose-widget: simplify
  freepie-udp: nix harmless warning
  pose-widget: add comment
  simple-mat: add __restrict for GNU
  ui: save settings on a timer
  ui: show a warning if configuration directory can't be used
  aruco: tune min/max marker size
  win32-joystick: fix duplicate device name selection logic
  ui: no need to reset settings on tracking start
  ui: save profile when combobox text changes, not merely index
  ui: save current tracker/filter/proto, not last
  win32-joystick: fix COM failure path
  win32-joystick: nix unused variable
  win32-joystick: allow for unique selection of joysticks
  qfc: also draw line from function start while moving
  no need to save on tracking start anymore
  save axis opts, not just spline control points
  tracker: change centering order again
  fix typo
  cmake: don't say "opentrack" twice for osx build
  ui: really don't switch profiles while refreshing combobox
  pt: fix type mismatch
  ui: save prior to switching configs
  tracker_rs: adjusted tracker's name
  ui: don't reload settings if config wasn't changed
  ui: save everything before switching profiles
  options: return .ini basename easier
  tracker_rs: more readable icon
  tracker_rs: prevent potential thread starvation
  ui: switch to newly-created config
  ui: decruft
  ui: also bail on new config if its name is ".ini"
  ui: auto-refresh config list
  ui: display up to 20 profiles w/o scrolling
  ui: create an empty config properly in another code branch
  udp-tracker: silence harmless warning
  plugin-support: fix typo
  plugin-support: set more sane RTLD flags
  plugin-support: free modules from address space when needed
  ui: rename symbol to reflect current usage
  ui: move some slots to private
  ui, shortcuts: these are slots, actually
  ui: no need to write anything to new empty config
  ui: avoid potential memory leak
  ft: new game support
  game-data: chomp newlines in extractor
  ui: append extension in the right place
  simple-mat: fix arglist SFINAE
  simple-mat: can use static_cast here
  nix default empty config. it gets created on its own.
  ui: these aren't qt slots
  ui: nix wrong headers
  ui: remove GNU GPL
  ui: simplify condition
  props changed only
  main, ui: store config files in a predefined directory
  pt: show extracted points' areas and success count
  close dialogs on switch to new module
  ...

9 files changed, 144 insertions, 87 deletions

diff --git a/opentrack/main-settings.hpp b/opentrack/main-settings.hpp
index 96520fe9..dd61143e 100644
--- a/opentrack/main-settings.hpp
+++ b/opentrack/main-settings.hpp
@@ -15,9 +15,11 @@
 using namespace options;
 
 struct axis_opts {
+    pbundle b;
     value<bool> invert, altp;
     value<int> src;
     axis_opts(pbundle b, QString pfx, int idx) :
+        b(b),
         invert(b, n(pfx, "invert-sign"), false),
         altp(b, n(pfx, "alt-axis-sign"), false),
         src(b, n(pfx, "source-index"), idx)
diff --git a/opentrack/mappings.hpp b/opentrack/mappings.hpp
index 85d9900c..2391efd1 100644
--- a/opentrack/mappings.hpp
+++ b/opentrack/mappings.hpp
@@ -62,6 +62,7 @@ public:
         {
             axes[i].curve.loadSettings(*iniFile, axes[i].name1);
             axes[i].curveAlt.loadSettings(*iniFile, axes[i].name2);
+            axes[i].opts.b->reload();
         }
     }
     void save_mappings()
@@ -72,6 +73,7 @@ public:
         {
             axes[i].curve.saveSettings(*iniFile, axes[i].name1);
             axes[i].curveAlt.saveSettings(*iniFile, axes[i].name2);
+            axes[i].opts.b->save();
         }
     }
 
@@ -81,6 +83,7 @@ public:
         {
             axes[i].curve.invalidate_unsaved_settings();
             axes[i].curveAlt.invalidate_unsaved_settings();
+            axes[i].opts.b->reload();
         }
     }
 };
diff --git a/opentrack/options.hpp b/opentrack/options.hpp
index 9768bc43..f2c09479 100644
--- a/opentrack/options.hpp
+++ b/opentrack/options.hpp
@@ -30,6 +30,7 @@
 #include <QCoreApplication>
 #include <QFileInfo>
 #include <QDir>
+#include <QStandardPaths>
 
 #include <cinttypes>
 
@@ -38,8 +39,8 @@
 #include <memory>
 template<typename t> using mem = std::shared_ptr<t>;
 
-#define OPENTRACK_CONFIG_FILENAME_KEY "settings-file"
-#define OPENTRACK_DEFAULT_CONFIG_PATH "/settings/default.ini"
+#define OPENTRACK_CONFIG_FILENAME_KEY "settings-filename"
+#define OPENTRACK_DEFAULT_CONFIG "default.ini"
 #define OPENTRACK_ORG "TrackHat opentrack-2.3"
 
 namespace options {
@@ -90,30 +91,30 @@ namespace options {
     public:
         group(const string& name) : name(name)
         {
-            QSettings conf(ini_pathname(), QSettings::IniFormat);
+            auto conf = ini_file();
             auto q_name = QString::fromStdString(name);
-            conf.beginGroup(q_name);
-            for (auto& k_ : conf.childKeys())
+            conf->beginGroup(q_name);
+            for (auto& k_ : conf->childKeys())
             {
                 auto tmp = k_.toUtf8();
                 string k(tmp);
-                kvs[k] = conf.value(k_);
+                kvs[k] = conf->value(k_);
             }
-            conf.endGroup();
+            conf->endGroup();
         }
 
         void save()
         {
-            QSettings s(ini_pathname(), QSettings::IniFormat);
+            auto s = ini_file();
             auto q_name = QString::fromStdString(name);
-            s.beginGroup(q_name);
+            s->beginGroup(q_name);
             for (auto& i : kvs)
             {
                 auto k = QString::fromStdString(i.first);
-                s.setValue(k, i.second);
+                s->setValue(k, i.second);
             }
-            s.endGroup();
-            s.sync();
+            s->endGroup();
+            s->sync();
         }
 
         template<typename t>
@@ -132,22 +133,46 @@ namespace options {
             return kvs.count(s) != 0;
         }
 
-        static const QString ini_pathname()
+        static QString ini_directory()
         {
+            const auto dirs = QStandardPaths::standardLocations(QStandardPaths::DocumentsLocation);
+            if (dirs.size() == 0)
+                return "";
+            if (QDir(dirs[0]).mkpath(OPENTRACK_ORG))
+                return dirs[0] + "/" OPENTRACK_ORG;
+            return "";
+        }
+
+        static QString ini_filename()
+        {
+            QSettings settings(OPENTRACK_ORG);
+            return settings.value(OPENTRACK_CONFIG_FILENAME_KEY, OPENTRACK_DEFAULT_CONFIG).toString();
+        }
+
+        static QString ini_pathname()
+        {
+            const auto dir = ini_directory();
+            if (dir == "")
+                return "";
             QSettings settings(OPENTRACK_ORG);
-            return settings.value(OPENTRACK_CONFIG_FILENAME_KEY, QCoreApplication::applicationDirPath() + OPENTRACK_DEFAULT_CONFIG_PATH).toString();
+            return dir + "/" + settings.value(OPENTRACK_CONFIG_FILENAME_KEY, OPENTRACK_DEFAULT_CONFIG).toString();
         }
         
         static const QStringList ini_list()
         {
-            QFileInfo info(group::ini_pathname());
-            QDir settings_dir(info.dir());
+            const auto dirname = ini_directory();
+            if (dirname == "")
+                return QStringList();
+            QDir settings_dir(dirname);
             return settings_dir.entryList( QStringList { "*.ini" } , QDir::Files, QDir::Name );
         }
         
         static const mem<QSettings> ini_file()
         {
-            return std::make_shared<QSettings>(ini_pathname(), QSettings::IniFormat);
+            const auto pathname = ini_pathname();
+            if (pathname != "")
+                return std::make_shared<QSettings>(ini_pathname(), QSettings::IniFormat);
+            return std::make_shared<QSettings>();
         }
     };
 
diff --git a/opentrack/plugin-api.hpp b/opentrack/plugin-api.hpp
index 572b7f31..732dbb3d 100644
--- a/opentrack/plugin-api.hpp
+++ b/opentrack/plugin-api.hpp
@@ -42,7 +42,7 @@ signals:
     }
 
 // implement this in all plugins
-// also you must link against "opentrack-api" in CMakeList.txt to avoid vtable link errors
+// also you must link against "opentrack-api" in CMakeLists.txt to avoid vtable link errors
 struct Metadata
 {
     // plugin name to be displayed in the interface
diff --git a/opentrack/plugin-support.hpp b/opentrack/plugin-support.hpp
index 78443cae..cd7eb528 100644
--- a/opentrack/plugin-support.hpp
+++ b/opentrack/plugin-support.hpp
@@ -103,7 +103,7 @@ struct dylib {
 #   if defined(__APPLE__)
                     RTLD_LOCAL|RTLD_FIRST|RTLD_NOW
 #   else
-                    RTLD_NOW|RTLD_GLOBAL|RTLD_NODELETE
+                    RTLD_LOCAL|RTLD_NOW // XXX RTLD_DEEPBIND on Linux?
 #   endif
                         );
     
@@ -184,6 +184,14 @@ struct dylib {
                 std::cout.flush();
                 if (!get_metadata(lib, longName, icon))
                     continue;
+                using d = const mem<dylib>&;
+                if (std::any_of(ret.cbegin(),
+                                ret.cend(),
+                                [&](d a) {return a->type == lib->type && a->name == lib->name;}))
+                {
+                    qDebug() << "Duplicate lib" << lib->filename;
+                    continue;
+                }
                 ret.push_back(lib);
             }
         }
diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp
index 7432e665..e462812b 100644
--- a/opentrack/simple-mat.hpp
+++ b/opentrack/simple-mat.hpp
@@ -41,66 +41,84 @@ namespace {
         enum { P = a == 1 ? 1 : 3 };
         enum { Q = a == 1 ? 3 : 1 };
     };
+
+    template<typename num, int h, int w, typename...ts>
+    struct is_arglist_correct
+    {
+        enum { value = h * w == sizeof...(ts) };
+    };
 }
 
 template<typename num, int h_, int w_>
-struct Mat
+class Mat
 {
+#ifdef __GNUC__
+    __restrict
+#endif
     num data[h_][w_];
+
+    static_assert(h_ > 0 && w_ > 0, "must have positive mat dimensions");
+
+    Mat(std::initializer_list<num>&& xs) = delete;
+
+public:
+
+    // parameters w_ and h_ are rebound so that SFINAE occurs
+    // removing them causes a compile-time error -sh 20150811
     
     template<int Q = w_> typename std::enable_if<equals<Q, 1, 0>::value, num>::type
-    __inline operator()(int i) const { return data[i][0]; }
+    inline operator()(int i) const { return data[i][0]; }
     
     template<int P = h_> typename std::enable_if<equals<P, 1, 1>::value, num>::type
-    __inline operator()(int i) const { return data[0][i]; }
+    inline operator()(int i) const { return data[0][i]; }
     
     template<int Q = w_> typename std::enable_if<equals<Q, 1, 2>::value, num&>::type
-    __inline operator()(int i) { return data[i][0]; }
+    inline operator()(int i) { return data[i][0]; }
     
     template<int P = h_> typename std::enable_if<equals<P, 1, 3>::value, num&>::type
-    __inline operator()(int i) { return data[0][i]; }
+    inline operator()(int i) { return data[0][i]; }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num>::type
-    __inline x() const { return operator()(0); }
+    inline x() const { return operator()(0); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num>::type
-    __inline y() const { return operator()(1); }
+    inline y() const { return operator()(1); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num>::type
-    __inline z() const { return operator()(2); }
+    inline z() const { return operator()(2); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num>::type
-    __inline w() const { return operator()(3); }
+    inline w() const { return operator()(3); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num&>::type
-    __inline x() { return operator()(0); }
+    inline x() { return operator()(0); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num&>::type
-    __inline y() { return operator()(1); }
+    inline y() { return operator()(1); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num&>::type
-    __inline z() { return operator()(2); }
+    inline z() { return operator()(2); }
     
     template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num&>::type
-    __inline w() { return operator()(3); }
+    inline w() { return operator()(3); }
     
     template<int R, int S, int P = h_, int Q = w_>
     typename std::enable_if<is_vector_pair<R, S, P, Q>::value, num>::type
-    __inline dot(const Mat<num, R, S>& p2) const {
+    dot(const Mat<num, R, S>& p2) const {
         num ret = 0;
         constexpr int len = vector_len<R, S>::value;
         for (int i = 0; i < len; i++)
-            ret += operator()(i) * p2.operator ()(i);
+            ret += operator()(i) * p2(i);
         return ret;
     }
     
     template<int R, int S, int P = h_, int Q = w_>
     typename std::enable_if<is_dim3<P, Q, R, S>::value, Mat<num, is_dim3<P, Q, R, S>::P, is_dim3<P, Q, R, S>::Q>>::type
-    __inline cross(const Mat<num, R, S>& p2) const
+    cross(const Mat<num, R, S>& p2) const
     {
-        return Mat<num, R, S>({y() * p2.z() - p2.y() * z(),
-                               p2.x() * z() - x() * p2.z(),
-                               x() * p2.y() - y() * p2.x()});
+        return Mat<num, R, S>(y() * p2.z() - p2.y() * z(),
+                              p2.x() * z() - x() * p2.z(),
+                              x() * p2.y() - y() * p2.x());
     }
     
     Mat<num, h_, w_> operator+(const Mat<num, h_, w_>& other) const
@@ -108,7 +126,7 @@ struct Mat
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                ret(j, i) = this->operator ()(j, i) + other(j, i);
+                ret(j, i) = data[j][i] + other.data[j][i];
         return ret;
     }
     
@@ -117,7 +135,7 @@ struct Mat
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                ret(j, i) = this->operator ()(j, i) - other(j, i);
+                ret(j, i) = data[j][i] - other.data[j][i];
         return ret;
     }
     
@@ -126,7 +144,7 @@ struct Mat
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                ret(j, i) = this->operator ()(j, i) + other;
+                ret(j, i) = data[j][i] + other;
         return ret;
     }
     
@@ -135,7 +153,7 @@ struct Mat
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                ret(j, i) = this->operator ()(j, i) - other;
+                ret(j, i) = data[j][i] - other;
         return ret;
     }
     
@@ -144,7 +162,7 @@ struct Mat
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                ret(j, i) = operator()(j, i) * other;
+                ret(j, i) = data[j][i] * other;
         return ret;
     }
     
@@ -158,30 +176,41 @@ struct Mat
                 num sum = num(0);
 
                 for (int k = 0; k < h_; k++)
-                    sum += data[j][k]*other.data[k][i];
+                    sum += data[j][k]*other(k, i);
 
-                ret.data[j][i] = sum;
+                ret(j, i) = sum;
             }
 
         return ret;
     }
 
-    __inline num operator()(int j, int i) const { return data[j][i]; }
-    __inline num& operator()(int j, int i) { return data[j][i]; }
+    inline num operator()(int j, int i) const { return data[j][i]; }
+    inline num& operator()(int j, int i) { return data[j][i]; }
 
-    Mat(std::initializer_list<num>&& list)
+    template<typename... ts, int h__ = h_, int w__ = w_,
+             typename = typename std::enable_if<is_arglist_correct<num, h__, w__, ts...>::value>::type>
+    Mat(ts const&... xs)
     {
-        auto iter = list.begin();
-        for (int i = 0; i < h_; i++)
-            for (int j = 0; j < w_; j++)
-                data[i][j] = *iter++;
+        const std::initializer_list<num> init = { static_cast<num>(xs)... };
+        auto iter = init.begin();
+        for (int j = 0; j < h_; j++)
+            for (int i = 0; i < w_; i++)
+                data[j][i] = *iter++;
+    }
+
+    template<typename t>
+    Mat(const t* xs)
+    {
+        for (int j = 0; j < h_; j++)
+            for (int i = 0; i < w_; i++)
+                data[j][i] = num(*xs++);
     }
 
     Mat()
     {
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                data[j][i] = 0;
+                data[j][i] = num(0);
     }
 
     Mat(const num* mem)
@@ -191,6 +220,8 @@ struct Mat
                 data[j][i] = mem[i*h_+j];
     }
 
+    Mat(num* mem) : Mat(const_cast<const num*>(mem)) {}
+
     // XXX add more operators as needed, third-party dependencies mostly
     // not needed merely for matrix algebra -sh 20141030
 
@@ -234,10 +265,10 @@ struct Mat
         if (std::abs(pitch_1) + std::abs(roll_1) + std::abs(yaw_1) > std::abs(pitch_2) + std::abs(roll_2) + std::abs(yaw_2))
         {
             bool fix_neg_pitch = pitch_1 < 0;
-            return dmat<3, 1>({yaw_2, std::fmod(fix_neg_pitch ? -pi - pitch_1 : pitch_2, pi), roll_2});
+            return dmat<3, 1>(yaw_2, std::fmod(fix_neg_pitch ? -pi - pitch_1 : pitch_2, pi), roll_2);
         }
         else
-            return dmat<3, 1>({yaw_1, pitch_1, roll_1});
+            return dmat<3, 1>(yaw_1, pitch_1, roll_1);
     }
     
     // tait-bryan angles, not euler
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index e9d85f5d..58e911bf 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -52,14 +52,14 @@ double Tracker::map(double pos, Mapping& axis)
 void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output, bool rz)
 {
     // TY is really yaw axis. need swapping accordingly.
-    dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] });
+    dmat<3, 1> tvec( xyz[2], -xyz[0], -xyz[1] );
     const dmat<3, 1> ret = rmat * tvec;
     if (!rz)
-        output[2] = ret(0, 0);
+        output[2] = ret(0);
     else
         output[2] = xyz[2];
-    output[1] = -ret(2, 0);
-    output[0] = -ret(1, 0);
+    output[1] = -ret(2);
+    output[0] = -ret(1);
 }
 
 void Tracker::logic()
@@ -81,7 +81,12 @@ void Tracker::logic()
     if (!zero_)
         for (int i = 0; i < 6; i++)
         {
-            value(i) = newpose[i];
+            auto& axis = m(i);
+            int k = axis.opts.src;
+            if (k < 0 || k >= 6)
+                value(i) = 0;
+            else
+                value(i) = newpose[k];
             raw(i) = newpose[i];
         }
     else
@@ -90,7 +95,7 @@ void Tracker::logic()
         
         for (int i = 0; i < 3; i++)
         {
-            raw(i+3) = value(i+3) = mat(i, 0) * r2d;
+            raw(i+3) = value(i+3) = mat(i) * r2d;
             raw(i) = value(i) = t_b[i];
         }
     }
@@ -102,7 +107,7 @@ void Tracker::logic()
     };
     const rmat cam = rmat::euler_to_rmat(off);
     rmat r = rmat::euler_to_rmat(&value[Yaw]);
-    dmat<3, 1> t { value(0), value(1), value(2) };
+    dmat<3, 1> t(value(0), value(1), value(2));
     
     r = cam * r;
     
@@ -122,19 +127,19 @@ void Tracker::logic()
     {
         centerp = false;
         for (int i = 0; i < 3; i++)
-            t_b[i] = t(i, 0);
+            t_b[i] = t(i);
         r_b = r;
     }
     
     {
-        double tmp[3] = { t(0, 0) - t_b[0], t(1, 0) - t_b[1], t(2, 0) - t_b[2] };
+        double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] };
         t_compensate(cam, tmp, tmp, false);
-        const rmat m_ = r_b.t() * r;
+        const rmat m_ = r * r_b.t();
         const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
             value(i) = tmp[i];
-            value(i+3) = euler(i, 0) * r2d;
+            value(i+3) = euler(i) * r2d;
         }
     }
     
@@ -144,7 +149,7 @@ void Tracker::logic()
         if (libs.pFilter)
             libs.pFilter->filter(tmp, value);
     }
-    
+
     for (int i = 0; i < 6; i++)
         value(i) = map(value(i), m(i));
     
@@ -153,27 +158,14 @@ void Tracker::logic()
                      value,
                      value,
                      s.tcomp_tz);
-    
-    for (int i = 0; i < 6; i++)
-        value[i] *= inverts[i] ? -1. : 1.;
-
-    Pose output_pose_;
 
     for (int i = 0; i < 6; i++)
-    {
-        auto& axis = m(i);
-        int k = axis.opts.src;
-        if (k < 0 || k >= 6)
-            output_pose_(i) = 0;
-        else
-            output_pose_(i) = value(k);
-    }
-
+        value[i] *= inverts[i] ? -1. : 1.;
 
-    libs.pProtocol->pose(output_pose_);
+    libs.pProtocol->pose(value);
 
     QMutexLocker foo(&mtx);
-    output_pose = output_pose_;
+    output_pose = value;
     raw_6dof = raw;
 }
 
@@ -202,10 +194,6 @@ void Tracker::run() {
     }
 
     {
-        // do one last pass with origin pose
-        for (int i = 0; i < 6; i++)
-            newpose[i] = 0;
-        logic();
         // filter may inhibit exact origin
         Pose p;
         libs.pProtocol->pose(p);
diff --git a/opentrack/win32-shortcuts.cpp b/opentrack/win32-shortcuts.cpp
index d4107949..d4107949 100755..100644
--- a/opentrack/win32-shortcuts.cpp
+++ b/opentrack/win32-shortcuts.cpp
diff --git a/opentrack/win32-shortcuts.h b/opentrack/win32-shortcuts.h
index 3e824b89..3e824b89 100755..100644
--- a/opentrack/win32-shortcuts.h
+++ b/opentrack/win32-shortcuts.h