Improved experience when tracker not detected

Author: Martin Gregorio

CMakeLists.txt

@@ -37,6 +37,9 @@ if(NOT DEFINED SDL_BUILD_DIR)
     message(FATAL_ERROR "Please set SDL_BUILD_DIR to the directory where the SDL library is installed")
 endif()
 file(TO_CMAKE_PATH ${SDL_BUILD_DIR} SDL_BUILD_DIR)
+if(NOT EXISTS ${SDL_BUILD_DIR})
+    message(FATAL_ERROR "There is an issue with the SDL path provided.")
+endif()
 
 
 

src/Controllers/Tracker.cpp

@@ -86,22 +86,33 @@ PSTracker::PSTracker(QObject *parent) : QObject(parent) {
         signal(SIGQUIT, Exithandler);
         signal(SIGINT, Exithandler);
     #endif
-    try {
-        _pst = new PSTech::pstsdk::Tracker();
-    } catch (PSTech::TrackerException& e) {
-        std::cout << "Could not connect to tracker." << std::endl;
-       std::cout << e.full_description() << std::endl; // DEV 
-        // throw e;
+}
+
+void PSTracker::initPST() {
+    if (_pst == nullptr) {
+        try {
+            _pst = new PSTech::pstsdk::Tracker();
+            _detected = true;
+        }
+        catch (PSTech::TrackerException& e) {
+            std::cout << "Could not connect to tracker." << std::endl;
+            std::cout << e.full_description() << std::endl; // DEV 
+            throw "The PS-tech tracker is not detected";
+        }
     }
 }
 
 PSTracker::~PSTracker() {
     Exithandler(0);
-    if (_pst != nullptr) delete _pst;
+    delete _pst;
 }
 
 
 bool PSTracker::checkTrackerStatus() {
+    if (!_detected) {
+        throw "The PS-tech tracker is not detected";
+    }
+
     qDebug() << "PS Tech system check : ";
     PSTech::pstsdk::StatusMessage msg = _pst->Systemcheck();
     switch (msg) {
@@ -169,9 +180,16 @@ bool PSTracker::getTrackerConnected() const {
 };
 
 
+bool PSTracker::getTrackerActive() const {
+    return _connected;
+};
+
+
 void PSTracker::Connect()
 {
-
+    if (!_detected) throw "The PS-tech tracker is not detected";
+    
+    if (checkTrackerStatus()) return;
 
     // Implement error handling of PSTech::TrackerException exceptions to prevent 
     // improper PST Tracker shutdown on errors.

src/Controllers/Tracker.h

@@ -110,14 +110,19 @@ class PSTracker : public QObject
     bool poseIsLive() const { return poseAcurate && listener.poseIsLive(); }
 
     bool getTrackerConnected() const;
+    bool getTrackerActive() const;
+    void initPST();
 
 
 private:
     PSTech::pstsdk::TargetStatuses targets;
 
     MyListener listener;
-    PSTech::pstsdk::Tracker* _pst;
+    PSTech::pstsdk::Tracker* _pst = nullptr;
 
+    /* Reflects whether an instance of pst exists, ie if a tracker is plugged in */
+    bool _detected = false;
+    /* Reflects whether the tracker is activated and actively sending information */
     bool _connected = false;
 
     /** Timing of the animation after there has been a tracking lost */
@@ -129,6 +134,4 @@ class PSTracker : public QObject
     QMatrix4x4 lerpTrajectory;
     QMatrix4x4 oldPos;
 
-signals:
-    void connected() const;
 };

src/ReferenceSetup.cpp

@@ -3,19 +3,16 @@
 #include <QVBoxLayout>
 
 
-ReferenceSetupWidget::ReferenceSetupWidget(QWidget* parent, PSTracker* trackerPtr) : QWidget(parent, Qt::Window)
+ReferenceSetupWidget::ReferenceSetupWidget(QWidget* parent) : 
+    QWidget(parent, Qt::Window),
+    tracker(nullptr)
 {
     setWindowTitle("PS Tracker Reference Setup");
     resize(400, 350);
 
     setFocusPolicy(Qt::FocusPolicy::ClickFocus);
     installEventFilter(this);
 
-    tracker = trackerPtr;
-
-    // When the object is instanciated (VolumeViewer is opened)
-    // Load back the reference systemn used in the previosu session
-    //connect(tracker, &PSTracker::connected, this, [this]() {setStoredReference(); });
 
     createUI();
 
@@ -87,7 +84,10 @@ void ReferenceSetupWidget::createUI() {
 }
 
 void ReferenceSetupWidget::show(){
-    if (!tracker->getTrackerConnected())
+    if(tracker == nullptr){
+
+    } 
+    else if (!tracker->getTrackerConnected())
     {
         instructions->setText("Please click \"connect tracker\" and try again.");
         imageLabel->setPixmap(illustrations[3]);

src/ReferenceSetup.h

@@ -30,7 +30,7 @@ class ReferenceSetupWidget : public QWidget {
 
 
 public:
-    ReferenceSetupWidget(QWidget* parent, PSTracker* trackerPtr);
+    ReferenceSetupWidget(QWidget* parent);
 
     void show();
 
@@ -40,6 +40,7 @@ class ReferenceSetupWidget : public QWidget {
     void continueCalib();
     void startMeasurement();
     void stopMeasurement();
+    void setTracker(PSTracker* trackerPtr) {};
 
 private:
     QLabel* instructions;

src/Renderer/OpenGL/OpenGLRendererWidget.cpp

@@ -3,6 +3,7 @@
 #include <QEvent>
 #include <QMouseEvent>
 #include <QWindow>
+#include <QVBoxLayout>
 
 #include <QMainWindow>
 #include <algorithm>
@@ -11,8 +12,17 @@
 
 
 OpenGLRendererWidget::OpenGLRendererWidget() :
-    QOpenGLWidget()
+    QOpenGLWidget(),
+    _tracker(nullptr),
+    msgLabel(new QLabel(this))
 {
+    // UI
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    msgLabel->setAlignment(Qt::AlignBottom);
+    msgLabel->setStyleSheet(QString::fromUtf8("color: rgb(235, 235, 235);"));
+    layout->addWidget(msgLabel);
+    setLayout(layout);
+
 
     setAcceptDrops(true);
     setFocusPolicy(Qt::FocusPolicy::ClickFocus);
@@ -45,7 +55,7 @@ OpenGLRendererWidget::OpenGLRendererWidget() :
 
     #endif
 
-    refWidget = new ReferenceSetupWidget(this, &_tracker);
+    refWidget = new ReferenceSetupWidget(this);
 
     pedal = new PedalManager();
 
@@ -83,10 +93,11 @@ OpenGLRendererWidget::OpenGLRendererWidget() :
         }
         }
     });
+        
+}
 
-    connectToTracker();
-
-    
+OpenGLRendererWidget::~OpenGLRendererWidget() {
+    delete _tracker;
 }
 
 //void OpenGLRendererWidget::setTexels(int width, int height, int depth, std::vector<float>& texels)
@@ -117,10 +128,20 @@ void OpenGLRendererWidget::setColormap(const QImage& colormap)
 }
 
 
-void OpenGLRendererWidget::connectToTracker()
+void OpenGLRendererWidget::connectToTracker(PSTracker* tracker)
 {
-    _tracker.Connect();
-    setFocus();
+    if (tracker == nullptr) _tracker = new PSTracker();
+    else _tracker = tracker;
+
+    try {
+        _tracker->initPST();
+        _tracker->Connect();
+    }
+    catch (const char* err) {
+        msgLabel->setText(err);
+    }
+
+    emit trackerAvailable(_tracker);
 }
 
 void OpenGLRendererWidget::setEyeOffset(float eyeOffset)
@@ -199,8 +220,8 @@ void OpenGLRendererWidget::paintGL()
     _volumeRenderer.render(defaultFramebufferObject(), getCamPos(), aspect, true, _controls->getControlMatrix());
 #else
     QMatrix4x4 pose;
-    if (_tracker.GetTargetMatrix(pose)) {
-        _volumeRenderer.render(defaultFramebufferObject(), getCamPos(), aspect, _tracker.poseIsLive(), pose);
+    if (_tracker != nullptr && _tracker->GetTargetMatrix(pose)) {
+        _volumeRenderer.render(defaultFramebufferObject(), getCamPos(), aspect, _tracker->poseIsLive(), pose);
     }
 #endif
 }
@@ -211,7 +232,7 @@ void OpenGLRendererWidget::cleanup()
 #ifdef CONTROLS
     if(_controls != nullptr) delete _controls;
 #endif
-
+    delete _tracker;
 
     makeCurrent();
 }

src/Renderer/OpenGL/OpenGLRendererWidget.h

@@ -45,6 +45,7 @@ class OpenGLRendererWidget : public QOpenGLWidget, QOpenGLFunctions_4_2_Core
 
 public:
     OpenGLRendererWidget();
+    ~OpenGLRendererWidget();
 
 
     VolumeRenderer& getVolumeRenderer() { return _volumeRenderer; }
@@ -54,11 +55,13 @@ class OpenGLRendererWidget : public QOpenGLWidget, QOpenGLFunctions_4_2_Core
     void setData(std::vector<float>& data);
     void setColors(std::vector<float>& colors);
     void setColormap(const QImage& colormap);
-    void connectToTracker();
+    void connectToTracker(PSTracker* tracker = nullptr);
     void setEyeOffset(float eyeOffset);
     void setCamDist(float camDist);
     void setSelectionMode(const int32_t& mode);
-    void openCalib() const { refWidget->show(); };
+    void openCalib() const { refWidget->show(); }
+
+    PSTracker* getTracker() const { return _tracker; }
 
 public:
     bool eventFilter(QObject* target, QEvent* event);
@@ -88,9 +91,11 @@ private slots:
     void created();
     void newSelection(const SelectionMode& type, const bool& replace);
 
+    void trackerAvailable(PSTracker* tracker);
+
 private:
     VolumeRenderer _volumeRenderer;
-    PSTracker _tracker;
+    PSTracker* _tracker;
 
     #ifdef CONTROLS
         ControlsWidget* _controls;
@@ -116,7 +121,7 @@ private slots:
 
     SelectionMode selectionMode;
 
-
+    QLabel* msgLabel;
 
     QTimer* _updateTimer = nullptr;
 

src/VolumeViewerPlugin.cpp

@@ -113,6 +113,22 @@ VolumeViewerPlugin::VolumeViewerPlugin(const PluginFactory* factory) :
 void VolumeViewerPlugin::init()
 {    
 
+    // Detect other instances of the plugin and use their tracker
+    const std::vector<Plugin*> instances = plugins().getPluginsByFactory(getFactory());
+    if (instances.size() > 0) {
+        VolumeViewerPlugin* firstInstance = static_cast<VolumeViewerPlugin*>(instances[0]);
+        connect(&firstInstance->getOpenGLRendererWidget(), &OpenGLRendererWidget::trackerAvailable, this, [this](PSTracker* tracker) {
+            getOpenGLRendererWidget().connectToTracker(tracker);
+        });
+    }
+    else {
+        getOpenGLRendererWidget().connectToTracker();
+    }
+
+
+    qDebug() << "Number of instances " << instances.size();
+
+
     // Create the layout.
     auto layout = new QVBoxLayout();
     layout->setContentsMargins(0, 0, 0, 0);
@@ -123,9 +139,7 @@ void VolumeViewerPlugin::init()
 
     getWidget().setLayout(layout);
 
-    // Martin : Control widget
-    controls = new QWidget();
-    // END Martin : Control widget
+
 
     // Set the drop indicator widget (the widget that indicates that the view is eligible for data dropping)
     _dropWidget->setDropIndicatorWidget(new DropWidget::DropIndicatorWidget(&getWidget(), "No data loaded", "Drag an item from the data hierarchy and drop it here to visualize data..."));

src/VolumeViewerPlugin.h

@@ -220,8 +220,7 @@ class VolumeViewerPlugin : public ViewPlugin
     HorizontalToolbarAction             _primaryToolbarAction;      /** Horizontal toolbar for primary content */
     HorizontalToolbarAction             _secondaryToolbarAction;    /** Secondary toolbar for secondary content */
 
-    // Martin : widget
-    QWidget* controls;
+
 };
 
 /**