From 1566732d9dfa2e51702f5ffcac85dc4dfdd7f34e Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@kit.edu>
Date: Tue, 20 Jul 2021 17:21:43 +0200
Subject: [PATCH] (FP, RK) ArViz: Replace Coin timer by QtTimer to fix ArViz
from freezing (update() would not be called in some cases)
---
.../components/ArViz/Coin/Visualizer.cpp | 20 +++++++++----------
.../ArViz/ArVizWidgetController.cpp | 9 +++++++++
.../gui-plugins/ArViz/ArVizWidgetController.h | 2 ++
3 files changed, 21 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 96ad7fed3..3f24eecf8 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -51,11 +51,11 @@ namespace armarx::viz
return "UNKNOWN";
}
- static void updateVisualizationCB(void* data, SoSensor* sensor)
- {
- auto* visu = static_cast<CoinVisualizer*>(data);
- visu->update();
- }
+ // static void updateVisualizationCB(void* data, SoSensor* sensor)
+ // {
+ // auto* visu = static_cast<CoinVisualizer*>(data);
+ // visu->update();
+ // }
struct TimedBlock
{
@@ -89,10 +89,10 @@ namespace armarx::viz
&CoinVisualizerWrapper::onUpdateFailure);
root = new SoSeparator;
- timerSensor = new SoTimerSensor(updateVisualizationCB, this);
+ //timerSensor = new SoTimerSensor(updateVisualizationCB, this);
- float cycleTimeMS = 33.0f;
- timerSensor->setInterval(SbTime(cycleTimeMS / 1000.0f));
+ //float cycleTimeMS = 33.0f;
+ //timerSensor->setInterval(SbTime(cycleTimeMS / 1000.0f));
}
CoinVisualizer::~CoinVisualizer()
@@ -115,8 +115,8 @@ namespace armarx::viz
state = CoinVisualizerState::STARTING;
stateStorage = storage;
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- sensor_mgr->insertTimerSensor(timerSensor);
+ //SoSensorManager* sensor_mgr = SoDB::getSensorManager();
+ //sensor_mgr->insertTimerSensor(timerSensor);
}
void CoinVisualizer::stop()
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 44d9c0aa5..3de4e9110 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -65,6 +65,9 @@ namespace armarx
widget.setupUi(getWidget());
+ updateTimer = new QTimer(this);
+ connect(updateTimer, &QTimer::timeout, this, QOverload<>::of(&This::onUpdate));
+
timingObserverTimer = new QTimer(this);
connect(timingObserverTimer, &QTimer::timeout, this, QOverload<>::of(&This::onTimingObserverUpdate));
@@ -186,6 +189,7 @@ namespace armarx
changeMode(ArVizWidgetMode::Live);
timingObserverTimer->start(33);
+ updateTimer->start(33);
}
void ArVizWidgetController::onDisconnectGui()
@@ -440,6 +444,11 @@ namespace armarx
layerTreeChanged(nullptr, 0);
}
+ void ArVizWidgetController::onUpdate()
+ {
+ visualizer.update();
+ }
+
void ArVizWidgetController::onTimingObserverUpdate()
{
viz::CoinVisualizer_UpdateTiming timing = visualizer.getTiming();
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
index 7a3a0bfa3..31383a63e 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.h
@@ -140,6 +140,7 @@ namespace armarx
void showAllLayers(bool visible);
void showFilteredLayers(bool visible);
+ void onUpdate();
void onTimingObserverUpdate();
@@ -174,6 +175,7 @@ namespace armarx
QPointer<SimpleConfigDialog> configDialog;
+ QTimer* updateTimer;
QTimer* timingObserverTimer;
viz::CoinVisualizer_UpdateTiming lastTiming;
StringVariantBaseMap timingMap;
--
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