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Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents

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This commit is contained in:
matlabbe
2026-07-03 19:24:45 -07:00
parent d868cffc76
commit 5d74d9e153
5 changed files with 121 additions and 10 deletions
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guilib/src/PreferencesDialog.cpp
+77 -7
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@@ -49,6 +49,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtGui/QStandardItemModel>
#include <QMainWindow>
#include <QProgressDialog>
#include <QApplication>
#include <functional>
#include <QScrollBar>
#include <QStatusBar>
#include <QFormLayout>
@@ -6837,11 +6839,11 @@ double PreferencesDialog::getSourceScanForceGroundNormalsUp() const
Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{
return createCamera(
this->getSourceDriver(),
_ui->lineEdit_sourceDevice->text(),
_ui->lineEdit_calibrationFile->text(),
useRawImages,
useColor,
this->getSourceDriver(),
_ui->lineEdit_sourceDevice->text(),
_ui->lineEdit_calibrationFile->text(),
useRawImages,
useColor,
false,
false);
}
@@ -7745,7 +7747,20 @@ void PreferencesDialog::setSLAMMode(bool enabled)
void PreferencesDialog::testOdometry()
{
// One progress dialog, reused for both the (slow) camera init and the (slow) close.
// Declared here so it outlives cameraThread below and stays visible while cameraThread's
// destructor closes the device at function scope end.
QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
Camera * camera = this->createCamera();
progress.hide();
if(!camera)
{
return;
@@ -7861,6 +7876,7 @@ void PreferencesDialog::testOdometry()
}
odomViewer->exec();
UDEBUG("Dialog closed, stopping sensor...");
// Tear down the pipes first so no more events are routed to the threads/viewer being
// destroyed, then stop the threads, then delete the viewer. This avoids delivering
@@ -7877,6 +7893,14 @@ void PreferencesDialog::testOdometry()
{
imuThread->join(true);
}
// Reuse the same dialog for the close. The device close() runs in cameraThread's destructor
// at function scope end (not in join()), so 'progress' stays visible across it. On Windows
// the first 2-3 RealSense closes per launch stall ~20s in the Motion Module stop().
progress.setLabelText(tr("Closing camera..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
cameraThread.join(true);
odomThread.join(true);
@@ -7900,7 +7924,21 @@ void PreferencesDialog::testCamera()
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();
// One progress dialog, reused for both the (slow) camera init and the (slow) close.
// min==max==0 => indeterminate/busy bar. Declared in this outer scope so it outlives
// cameraThread below and stays visible while cameraThread's destructor closes the device.
QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
// createCamera() init()s the device on the GUI thread (required by ZED) and takes a few seconds.
Camera * camera = this->createCamera();
progress.hide();
if(camera)
{
SensorCaptureThread cameraThread(camera, this->getAllParameters());
@@ -7945,8 +7983,18 @@ void PreferencesDialog::testCamera()
cameraThread.start();
window->exec();
UDEBUG("Dialog closed, stopping sensor...");
UEventsManager::removePipe(&cameraThread, window, "SensorEvent");
cameraThread.join(true);
// Reuse the same dialog for the close. The device close() runs in cameraThread's
// destructor at scope end (not in join()), so 'progress' - declared in the outer scope -
// stays visible across it. On Windows the first 2-3 RealSense closes per launch stall
// ~20s in the Motion Module stop() (librealsense warm-up); this keeps the user informed.
progress.setLabelText(tr("Closing camera..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
cameraThread.join(true); // cameraThread's destructor (scope end) closes the device
// deleteLater() (not delete): defer destruction to the event loop so Qt finishes
// tearing down the OpenGL widget's context and window-proc subclass and drains
// pending activation messages first.
@@ -8428,7 +8476,20 @@ void PreferencesDialog::testLidar()
window->registerToEventsManager();
window->setDecimation(1);
// One progress dialog, reused for both the (slow) sensor init and the (slow) close.
// Declared in this outer scope so it outlives lidarThread below and stays visible while
// lidarThread's destructor closes the device.
QProgressDialog progress(tr("Starting sensor..."), QString(), 0, 0, this);
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
Lidar * lidar = this->createLidar();
progress.hide();
if(lidar)
{
SensorCaptureThread lidarThread(lidar, this->getAllParameters());
@@ -8447,8 +8508,17 @@ void PreferencesDialog::testLidar()
lidarThread.start();
window->exec();
UDEBUG("Dialog closed, stopping sensor...");
UEventsManager::removePipe(&lidarThread, window, "SensorEvent");
lidarThread.join(true);
// Reuse the same dialog for the close. The device close() runs in lidarThread's
// destructor at scope end (not in join()), so 'progress' - declared in the outer
// scope - stays visible across it.
progress.setLabelText(tr("Closing sensor..."));
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
lidarThread.join(true); // lidarThread's destructor (scope end) closes the device
// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
window->deleteLater();