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Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).

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This commit is contained in:
matlabbe
2016-09-08 11:55:44 -04:00
parent 53c3981651
commit 2eb2362da8
8 changed files with 131 additions and 65 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+34 -16
View File
@@ -67,6 +67,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// Screen size for normalizing the touch input for orbiting the render camera.
private Point mScreenSize = new Point();
private boolean mPauseFirstTime = true;
private boolean mOnPause = false;
private MenuItem mItemPause;
private MenuItem mItemSave;
@@ -161,6 +162,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mLayoutDebug.setVisibility(LinearLayout.GONE);
mProgressDialog = new ProgressDialog(this);
mProgressDialog.setCanceledOnTouchOutside(false);
mRenderer.setProgressDialog(mProgressDialog);
// Check if the Tango Core is out dated.
@@ -218,6 +220,21 @@ public class RTABMapActivity extends Activity implements OnClickListener {
@Override
protected void onResume() {
super.onResume();
mProgressDialog.setTitle("");
mProgressDialog.setMessage(String.format("Hold Tight! Initializing Tango Service..."));
mProgressDialog.show();
if(mOnPause)
{
mToast.makeText(this, "Mapping is paused!", mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(this, "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\".", mToast.LENGTH_LONG).show();
}
mOnPause = false;
TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
@@ -226,16 +243,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
mGLView.onResume();
mTotalLoopClosures = 0;
if(mItemOpen != null)
{
mItemOpen.setEnabled(false);
mItemPause.setChecked(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemPostProcessing.setEnabled(false);
}
} else {
Log.i(TAG, String.format("Asking for motion tracking permission"));
@@ -248,14 +255,20 @@ public class RTABMapActivity extends Activity implements OnClickListener {
@Override
protected void onPause() {
super.onPause();
// This deletes OpenGL context!
mGLView.onPause();
// Delete all the non-OpenGl resources.
mOnPause = true;
RTABMapLib.onPause();
mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath);
unbindService(mTangoServiceConnection);
if(!mItemPause.isChecked())
{
onOptionsItemSelected(mItemPause);
}
}
@Override
@@ -440,7 +453,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
File tempFile = new File(mTempDatabasePath);
if(tempFile.renameTo(outputFile))
{
msg = String.format("Database saved to \"%s\".", mNewDatabasePath);
msg = String.format("Database saved to \"%s\". Tip: You can open a saved database with \"Open\".", mNewDatabasePath);
Intent intent = new Intent(this, RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
@@ -653,16 +666,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
RTABMapLib.setPausedMapping(true);
((TextView)findViewById(R.id.status)).setText("Paused");
if(mPauseFirstTime)
if(mPauseFirstTime && !mOnPause)
{
mPauseFirstTime = false;
mToast.makeText(getActivity(), String.format("Try \"Post-Processing...\" to optimize even more the map!"), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Tip: Try \"Post-Processing...\" to optimize even more the map!"), mToast.LENGTH_LONG).show();
}
}
else
{
RTABMapLib.setPausedMapping(false);
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
}
}
else if (itemId == R.id.post_processing_standard)
@@ -863,6 +877,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
item.setChecked(!item.isChecked());
RTABMapLib.setDriftCorrection(item.isChecked());
if(item.isChecked())
{
mToast.makeText(getActivity(), String.format("Tip: With drift correction is enabled, move slowly to get better results."), mToast.LENGTH_LONG).show();
}
}
else if(itemId == R.id.graph_visible)
{