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ios: added recovery feature

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matlabbe
2022-01-02 17:08:44 -05:00
parent fcde52c6bf
commit 3147b4ab56
7 changed files with 205 additions and 52 deletions
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134
app/ios/RTABMapApp/ViewController.swift
View File

@@ -1428,14 +1428,120 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
mMapNodes = 0;
self.openedDatabasePath = nil
let tmpDatabase = self.getTmpDirectory().appendingPathComponent(self.RTABMAP_TMP_DB)
let inMemory = UserDefaults.standard.bool(forKey: "DatabaseInMemory")
self.rtabmap!.openDatabase(databasePath: tmpDatabase.path, databaseInMemory: inMemory, optimize: false)
if(!(self.mState == State.STATE_CAMERA || self.mState == State.STATE_MAPPING))
if(!(self.mState == State.STATE_CAMERA || self.mState == State.STATE_MAPPING) &&
FileManager.default.fileExists(atPath: tmpDatabase.path) &&
tmpDatabase.fileSize > 1024*1024) // > 1MB
{
self.setGLCamera(type: 0);
self.startCamera();
dismiss(animated: true, completion: {
let msg = "The previous session (\(tmpDatabase.fileSizeString)) was not correctly saved, do you want to recover it?"
let alert = UIAlertController(title: "Recovery", message: msg, preferredStyle: .alert)
let alertActionNo = UIAlertAction(title: "Ignore", style: .destructive) {
(UIAlertAction) -> Void in
do {
try FileManager.default.removeItem(at: tmpDatabase)
}
catch {
print("Could not clear tmp database: \(error)")
}
self.newScan()
}
alert.addAction(alertActionNo)
let alertActionCancel = UIAlertAction(title: "Cancel", style: .cancel) {
(UIAlertAction) -> Void in
// do nothing
}
alert.addAction(alertActionCancel)
let alertActionYes = UIAlertAction(title: "Yes", style: .default) {
(UIAlertAction2) -> Void in
let fileName = Date().getFormattedDate(format: "yyMMdd-HHmmss") + ".db"
let outputDbPath = self.getDocumentDirectory().appendingPathComponent(fileName).path
var indicator: UIActivityIndicatorView?
let alertView = UIAlertController(title: "Recovering", message: "Please wait while recovering data...", preferredStyle: .alert)
let alertViewActionCancel = UIAlertAction(title: "Cancel", style: .cancel) {
(UIAlertAction) -> Void in
self.dismiss(animated: true, completion: {
self.progressView = nil
indicator = UIActivityIndicatorView(style: .large)
indicator?.frame = CGRect(x: 0.0, y: 0.0, width: 60.0, height: 60.0)
indicator?.center = self.view.center
self.view.addSubview(indicator!)
indicator?.bringSubviewToFront(self.view)
indicator?.startAnimating()
self.rtabmap!.cancelProcessing();
})
}
alertView.addAction(alertViewActionCancel)
let previousState = self.mState
self.updateState(state: .STATE_PROCESSING);
self.present(alertView, animated: true, completion: {
// Add your progressbar after alert is shown (and measured)
let margin:CGFloat = 8.0
let rect = CGRect(x: margin, y: 84.0, width: alertView.view.frame.width - margin * 2.0 , height: 2.0)
self.progressView = UIProgressView(frame: rect)
self.progressView!.progress = 0
self.progressView!.tintColor = self.view.tintColor
alertView.view.addSubview(self.progressView!)
var success : Bool = false
DispatchQueue.background(background: {
success = self.rtabmap!.recover(from: tmpDatabase.path, to: outputDbPath)
}, completion:{
if(indicator != nil)
{
indicator!.stopAnimating()
indicator!.removeFromSuperview()
}
if self.progressView != nil
{
self.dismiss(animated: self.openedDatabasePath == nil, completion: {
if(success)
{
let alertSaved = UIAlertController(title: "Database saved!", message: String(format: "Database \"%@\" successfully recovered!", fileName), preferredStyle: .alert)
let yes = UIAlertAction(title: "OK", style: .default) {
(UIAlertAction) -> Void in
self.openDatabase(fileUrl: URL(fileURLWithPath: outputDbPath))
}
alertSaved.addAction(yes)
self.present(alertSaved, animated: true, completion: nil)
}
else
{
self.updateState(state: previousState);
self.showToast(message: "Recovery failed!", seconds: 4)
}
})
}
else
{
self.showToast(message: "Recovery canceled", seconds: 2)
self.updateState(state: previousState);
}
})
})
}
alert.addAction(alertActionYes)
self.present(alert, animated: true, completion: nil)
})
}
else
{
self.rtabmap!.openDatabase(databasePath: tmpDatabase.path, databaseInMemory: inMemory, optimize: false, clearDatabase: true)
if(!(self.mState == State.STATE_CAMERA || self.mState == State.STATE_MAPPING))
{
self.setGLCamera(type: 0);
self.startCamera();
}
}
}
@@ -1519,12 +1625,19 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.openedDatabasePath = URL(fileURLWithPath: filePath)
let alert = UIAlertController(title: "Database saved!", message: String(format: "Database \"%@\" successfully saved on the SD-CARD!", fileName), preferredStyle: .alert)
let alert = UIAlertController(title: "Database saved!", message: String(format: "Database \"%@\" successfully saved!", fileName), preferredStyle: .alert)
let yes = UIAlertAction(title: "OK", style: .default) {
(UIAlertAction) -> Void in
}
alert.addAction(yes)
self.present(alert, animated: true, completion: nil)
do {
let tmpDatabase = self.getTmpDirectory().appendingPathComponent(self.RTABMAP_TMP_DB)
try FileManager.default.removeItem(at: tmpDatabase)
}
catch {
print("Could not clear tmp database: \(error)")
}
self.updateDatabases()
self.updateState(state: previousState)
})
@@ -1560,6 +1673,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
indicator?.bringSubviewToFront(self.view)
indicator?.startAnimating()
self.rtabmap!.cancelProcessing()
})
}))
@@ -1664,6 +1779,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
alertView.addAction(UIAlertAction(title: "Cancel", style: .cancel, handler: { _ in
self.dismiss(animated: true)
self.progressView = nil
self.rtabmap!.cancelProcessing()
}))
let previousState = mState
@@ -1800,7 +1916,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
stopMapping(ignoreSaving: true)
}
let tmpDatabase = self.getTmpDirectory().appendingPathComponent(self.RTABMAP_TMP_DB)
openedDatabasePath = fileUrl;
let fileName: String = self.openedDatabasePath!.lastPathComponent
@@ -1812,7 +1927,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
updateState(state: .STATE_PROCESSING);
var status = 0
DispatchQueue.background(background: {
status = self.rtabmap!.openDatabase(databaseSource: self.openedDatabasePath!.path, databasePath: tmpDatabase.path, databaseInMemory: true, optimize: false)
status = self.rtabmap!.openDatabase(databasePath: self.openedDatabasePath!.path, databaseInMemory: true, optimize: false, clearDatabase: false)
}, completion:{
// main thread
if(status == -1) {
@@ -1974,6 +2089,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
alertView.addAction(UIAlertAction(title: "Cancel", style: .cancel, handler: { _ in
self.dismiss(animated: true)
self.progressView = nil
self.rtabmap!.cancelProcessing()
}))
let previousState = mState;