finalised app

Author: MartBony

src/Actions/SettingsAction.cpp

@@ -26,7 +26,8 @@ SettingsAction::SettingsAction(QObject* parent, const QString& title) :
     //_eyeOffsetAction(this, "Eye offset", 0.8, 2, 1.04, 3),
     _pointOpacityAction(this, "Point opacity", 0, 1, 1.0f, 2),
     //_camDistAction(this, "Cam dist", 0, 3, 1.75, 2),
-    _selectionColorPicker(this, "Selection Color", QColor(255,0,0))
+    _selectionColorPicker(this, "Selection Color", QColor(255,0,0)),
+    _resetViewAction(this, "Reset camera")
 {
     GroupsAction::GroupActions groupActions;
 
@@ -78,6 +79,10 @@ SettingsAction::SettingsAction(QObject* parent, const QString& title) :
         _plugin->getOpenGLRendererWidget()->toggleFullScreen();
         });
 
+    connect(&_resetViewAction, &TriggerAction::triggered, this, [this]() {
+        _plugin->getOpenGLRendererWidget()->resetViewPos();
+        });
+
     connect(&_clearSelectionAction, &TriggerAction::triggered, this, [this]() {
         _plugin->clearSelection();
         _pointOpacityAction.setValue(1.f);

src/Actions/SettingsAction.h

@@ -63,6 +63,7 @@ class SettingsAction : public GroupAction
     TriggerAction& getConnectToTrackerAction() { return _connectToTrackerAction; }
     TriggerAction& getStartCalibAction() { return _startCalibAction; }
     TriggerAction& getToggleFullScreen() { return _toggleFullScreen; }
+    TriggerAction& getResetViewAction() { return _resetViewAction; }
     TriggerAction& getClearSelectionAction() { return _clearSelectionAction; }
     DecimalAction& getPointOpacityAction() { return _pointOpacityAction; }
     //DecimalAction& getEyeOffsetAction() { return _eyeOffsetAction; }
@@ -85,6 +86,7 @@ class SettingsAction : public GroupAction
     TriggerAction           _startCalibAction;
     TriggerAction           _clearSelectionAction;
     TriggerAction           _toggleFullScreen;
+    TriggerAction           _resetViewAction;
     DecimalAction           _pointOpacityAction;
     //DecimalAction           _eyeOffsetAction;
     //DecimalAction           _camDistAction;

src/Controllers/Tracker.cpp

@@ -48,13 +48,14 @@ void MyListener::OnTrackerData(const PSTech::pstsdk::TrackerData& td)
             // Unlocked automaically when the mutex goes out of scope
             const std::lock_guard<std::mutex> lock(mtx);
 
-             pstToQtMatrix(mat, targetMatrices[index]);
+            pstToQtMatrix(mat, targetMatrices[index]);
 
         }
 
     }
 
 }
+
 QMatrix4x4 MyListener::getTragetMatrix(const int& index) const {
     const std::lock_guard<std::mutex> lock(mtx);
     // If the viewer instance is greater than the number of targets, just use the last target
@@ -96,6 +97,14 @@ static void Exithandler(int sig)
 
 
 PSTracker::PSTracker(QObject *parent) : QObject(parent) {
+    connectionTimer = new QTimer(this);
+    connect(connectionTimer, &QTimer::timeout, this, [this]() {
+        qDebug() << "Checking connection";
+        if (!checkTrackerStatus()) {
+            emit stopped();
+        }
+        connectionTimer->stop();
+    });
     // Register the exit handler with the application
     #ifdef WIN32
         SetConsoleCtrlHandler((PHANDLER_ROUTINE)ConsoleHandler, TRUE);
@@ -107,18 +116,24 @@ PSTracker::PSTracker(QObject *parent) : QObject(parent) {
     #endif
 }
 
-void PSTracker::initPST() {
+/// <summary>
+/// Establsh connection with the PS Tech
+/// </summary>
+void PSTracker::Connect() {
     PSTech::pstsdk::EnableLogging();
-    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";
+    try {
+        Exithandler(0);
+        if (_pst != nullptr) {
+            qDebug() << "Deleting old PST instance";
+            delete _pst;
         }
+        qDebug() << "Creating PST instance";
+        _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 "The PS-tech tracker is not detected";
     }
 }
 
@@ -128,8 +143,10 @@ PSTracker::~PSTracker() {
 }
 
 
+
+
 bool PSTracker::checkTrackerStatus() {
-    if (!_detected) {
+    if (_pst == nullptr) {
         throw "The PS-tech tracker is not detected";
     }
 
@@ -154,6 +171,11 @@ bool PSTracker::checkTrackerStatus() {
     }
     case PSTech::pstsdk::StatusMessage::ERR_TIMEOUT: {
         qDebug() << "PS Tech : Grabber timeout error";
+        if (!triedAutoReboot) {
+            triedAutoReboot = true;
+            qDebug() << "tryingAutoReboot";
+            Start();
+        }
         break;
     }
     case PSTech::pstsdk::StatusMessage::ERR_NOCAMS_FOUND: {
@@ -188,14 +210,16 @@ bool PSTracker::getTrackerConnected() const {
     return _connected;
 };
 
-
-void PSTracker::Connect()
+/// <summary>
+/// Start the PS Tech server and listen at target movements
+/// </summary>
+void PSTracker::Start()
 {
-    if (!_detected) throw "The PS-tech tracker is not detected";
+    if (_pst == nullptr) throw "The PS-tech tracker is not detected";
 
-        if (_connected){
-            return;
-        }
+    if (_connected){
+        return;
+    }
 
     // Implement error handling of PSTech::TrackerException exceptions to prevent 
     // improper PST Tracker shutdown on errors.
@@ -224,6 +248,9 @@ void PSTracker::Connect()
         _pst->Start();
 
 
+        triedAutoReboot = false;
+
+        _pst->DisableImageTransfer();
 
 
 
@@ -265,6 +292,11 @@ void PSTracker::Connect()
         if (checkTrackerStatus()) {
             _connected = true;
             emit connected();
+
+            qDebug() << "Tracker started";
+        }
+        else {
+            qDebug() << "Failed starting tracker";
         }
 
     }
@@ -279,7 +311,6 @@ void PSTracker::Connect()
         //return;
     }
 
-    qDebug() << "Connected to tracker!";
 }
 
 /// <summary>
@@ -295,13 +326,9 @@ bool PSTracker::GetTargetMatrix(const int& index, QMatrix4x4& pose)
     {
         pose = listener.getTragetMatrix(index);
 
-        // Exagerrate translations to move more freely
-        pose.data()[12] *= 10;
-        pose.data()[13] *= 10;
-        pose.data()[14] *= 10;
-
 
         if (listener.getIsIdle(index)) {
+            if(!connectionTimer->isActive()) connectionTimer->start(5*1000);
             return false;
         }
 
@@ -338,6 +365,7 @@ bool PSTracker::GetTargetMatrix(const int& index, QMatrix4x4& pose)
 
     }
 
+    if (!connectionTimer->isActive()) connectionTimer->start(5 * 1000);
     return false;
 }
 

src/Controllers/Tracker.h

@@ -12,6 +12,7 @@
 #include <iostream>
 #include <mutex>
 #include <QElapsedTimer>
+#include <QTimer>
 
 #include <vector>
 #include <string>
@@ -98,7 +99,9 @@ class PSTracker : public QObject
 public:
     PSTracker(QObject* parent = nullptr);
     ~PSTracker();
+
     void Connect();
+    void Start();
 
     bool GetTargetMatrix(const int& index, QMatrix4x4& pose);
     QMatrix4x4 GetReference() const;
@@ -111,12 +114,12 @@ class PSTracker : public QObject
     }
 
     bool getTrackerConnected() const;
-    void initPST();
 
 
 
 signals:
     void connected();
+    void stopped();
 
 
 private:
@@ -125,13 +128,14 @@ class PSTracker : public QObject
     MyListener listener;
     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 */
     QElapsedTimer lerpTimer;
+
+    QTimer* connectionTimer;
+
     /** Time to animate the target between the last live position to the new one, after there has been a tracking lost */
     const qint64 lerpDuraton = 300;
     std::vector<bool> poseAcurate;
@@ -140,4 +144,6 @@ class PSTracker : public QObject
     QMatrix4x4 oldPos;
     float idleRotationAngle = 0.0f;
 
+    bool triedAutoReboot = false;
+
 };