GUI: Updated data recorder action and message info on close

guilib/include/rtabmap/gui/DataRecorder.h

@@ -47,14 +47,17 @@ public:
 	DataRecorder(QWidget * parent = 0);
 	bool init(const QString & path, bool recordInRAM = true);
 
-	void close();
+	void closeRecorder();
 
 	virtual ~DataRecorder();
 
+	const QString & path() const {return path_;}
+
 public slots:
 	void addData(const rtabmap::SensorData & data);
 	void showImage(const rtabmap::SensorData & data);
 protected:
+	virtual void closeEvent(QCloseEvent* event);
 	void handleEvent(UEvent * event);
 
 private:
@@ -62,6 +65,7 @@ private:
 	ImageView* imageView_;
 	UTimer timer_;
 	int dataQueue_;
+	QString path_;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/MainWindow.h

@@ -66,6 +66,7 @@ class DetailedProgressDialog;
 class TwistGridWidget;
 class ExportCloudsDialog;
 class PostProcessingDialog;
+class DataRecorder;
 
 class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
 {
@@ -185,6 +186,7 @@ private slots:
 	void resetOdometry();
 	void triggerNewMap();
 	void dataRecorder();
+	void dataRecorderDestroyed();
 	void updateNodeVisibility(int, bool);
 
 signals:
@@ -260,6 +262,7 @@ private:
 	AboutDialog * _aboutDialog;
 	ExportCloudsDialog * _exportDialog;
 	PostProcessingDialog * _postProcessingDialog;
+	DataRecorder * _dataRecorder;
 
 	QSet<int> _lastIds;
 	int _lastId;

guilib/src/DataRecorder.cpp

@@ -35,6 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/gui/ImageView.h>
 #include <rtabmap/gui/UCv2Qt.h>
 #include <QtCore/QMetaType>
+#include <QMessageBox>
+#include <QtGui/QCloseEvent>
 #include <QHBoxLayout>
 
 namespace rtabmap {
@@ -50,6 +52,7 @@ DataRecorder::DataRecorder(QWidget * parent) :
 
 	imageView_->setImageDepthShown(true);
 	QHBoxLayout * layout = new QHBoxLayout(this);
+	layout->setMargin(0);
 	layout->addWidget(imageView_);
 	this->setLayout(layout);
 }
@@ -73,6 +76,7 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
 			UERROR("Error initializing the memory.");
 			return false;
 		}
+		path_ = path;
 		return true;
 	}
 	else
@@ -82,18 +86,23 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
 	}
 }
 
-void DataRecorder::close()
+void DataRecorder::closeRecorder()
 {
 	if(memory_)
 	{
 		delete memory_;
 		memory_ = 0;
 	}
+	UINFO("Data recorded to \"%s\".", this->path().toStdString().c_str());
+	if(this->isVisible())
+	{
+		QMessageBox::information(this, tr("Data recorder"), tr("Data recorded to \"%1\".").arg(this->path()));
+	}
 }
 
 DataRecorder::~DataRecorder()
 {
-	this->close();
+	this->closeRecorder();
 }
 
 void DataRecorder::addData(const rtabmap::SensorData & data)
@@ -125,6 +134,12 @@ void DataRecorder::showImage(const rtabmap::SensorData & data)
 	}
 }
 
+void DataRecorder::closeEvent(QCloseEvent* event)
+{
+	this->closeRecorder();
+	event->accept();
+}
+
 void DataRecorder::handleEvent(UEvent * event)
 {
 	if(event->getClassName().compare("CameraEvent") == 0)

guilib/src/MainWindow.cpp

@@ -115,6 +115,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_preferencesDialog(0),
 	_aboutDialog(0),
 	_exportDialog(0),
+	_dataRecorder(0),
 	_lastId(0),
 	_processingStatistics(false),
 	_odometryReceived(false),
@@ -2809,6 +2810,11 @@ void MainWindow::startDetection()
 		}
 	}
 
+	if(_dataRecorder)
+	{
+		UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
+	}
+
 	_lastOdomPose.setNull();
 	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCleanDataBuffer)); // clean sensors buffer
 	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdTriggerNewMap)); // Trigger a new map
@@ -2917,6 +2923,13 @@ void MainWindow::stopDetection()
 		delete _odomThread;
 		_odomThread = 0;
 	}
+
+	if(_dataRecorder)
+	{
+		delete _dataRecorder;
+		_dataRecorder = 0;
+	}
+
 	emit stateChanged(kInitialized);
 }
 
@@ -4373,7 +4386,7 @@ void MainWindow::triggerNewMap()
 
 void MainWindow::dataRecorder()
 {
-	if(_camera)
+	if(_dataRecorder == 0)
 	{
 		QString path = QFileDialog::getSaveFileName(this, tr("Save to..."), "output.db", "RTAB-Map database (*.db)");
 		if(!path.isEmpty())
@@ -4383,38 +4396,45 @@ void MainWindow::dataRecorder()
 			if(r == QMessageBox::No || r == QMessageBox::Yes)
 			{
 				bool recordInRAM = r == QMessageBox::Yes;
-				QWidget * window = new QWidget(this, Qt::Popup);
-				window->setAttribute(Qt::WA_DeleteOnClose);
-				window->setWindowFlags(Qt::Dialog);
-				window->setWindowTitle(tr("Data recorder (%1)").arg(path));
 
-				DataRecorder * recorder = new DataRecorder(window);
+				_dataRecorder = new DataRecorder(this);
+				_dataRecorder->setWindowFlags(Qt::Dialog);
+				_dataRecorder->setAttribute(Qt::WA_DeleteOnClose, true);
+				_dataRecorder->setWindowTitle(tr("Data recorder (%1)").arg(path));
 
-				QVBoxLayout *layout = new QVBoxLayout();
-				layout->addWidget(recorder);
-				window->setLayout(layout);
-
-				if(recorder->init(path, recordInRAM))
+				if(_dataRecorder->init(path, recordInRAM))
 				{
-					window->show();
-					recorder->registerToEventsManager();
-					UEventsManager::createPipe(_camera, recorder, "CameraEvent");
+					this->connect(_dataRecorder, SIGNAL(destroyed(QObject*)), this, SLOT(dataRecorderDestroyed()));
+					_dataRecorder->show();
+					_dataRecorder->registerToEventsManager();
+					if(_camera)
+					{
+						UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
+					}
+					_ui->actionData_recorder->setEnabled(false);
 				}
 				else
 				{
 					QMessageBox::warning(this, tr(""), tr("Cannot initialize the data recorder!"));
 					UERROR("Cannot initialize the data recorder!");
-					delete window;
+					delete _dataRecorder;
+					_dataRecorder = 0;
 				}
 			}
 		}
 	}
 	else
 	{
-		UERROR("Camera should be already created.");
+		UERROR("Only one recorder at the same time.");
 	}
 }
 
+void MainWindow::dataRecorderDestroyed()
+{
+	_ui->actionData_recorder->setEnabled(true);
+	_dataRecorder = 0;
+}
+
 //END ACTIONS
 
 void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, bool binaryMode)
@@ -5011,7 +5031,6 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->actionGenerate_local_map->setEnabled(false);
 		_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
-		_ui->actionData_recorder->setEnabled(false);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(false);
 		_ui->actionDownload_graph->setEnabled(false);
@@ -5059,7 +5078,6 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setEnabled(true);
 		_ui->actionGenerate_local_map->setEnabled(true);
 		_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
-		_ui->actionData_recorder->setEnabled(false);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(true);
 		_ui->actionDownload_graph->setEnabled(true);
@@ -5096,7 +5114,6 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->actionGenerate_local_map->setEnabled(false);
 		_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
-		_ui->actionData_recorder->setEnabled(true);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(false);
 		_ui->actionDownload_graph->setEnabled(false);