void AppStage_ComputeTrackerPoses::renderUI()
{
const float k_panel_width = 300.f;
const char *k_window_title = "Compute Tracker Poses";
const ImGuiWindowFlags window_flags =
ImGuiWindowFlags_ShowBorders |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoCollapse;
switch (m_menuState)
{
case eMenuState::inactive:
break;
case eMenuState::pendingControllerListRequest:
case eMenuState::pendingControllerStartRequest:
case eMenuState::pendingTrackerListRequest:
case eMenuState::pendingTrackerStartRequest:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 80));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Pending device initialization...");
if (ImGui::Button("Return to Tracker Settings"))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::failedControllerListRequest:
case eMenuState::failedControllerStartRequest:
case eMenuState::failedTrackerListRequest:
case eMenuState::failedTrackerStartRequest:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 180));
ImGui::Begin(k_window_title, nullptr, window_flags);
switch (m_menuState)
{
case eMenuState::failedControllerListRequest:
ImGui::Text("Failed controller list retrieval!");
break;
case eMenuState::failedControllerStartRequest:
ImGui::Text("Failed controller stream start!");
break;
case eMenuState::failedTrackerListRequest:
ImGui::Text("Failed tracker list retrieval!");
break;
case eMenuState::failedTrackerStartRequest:
ImGui::Text("Failed tracker stream start!");
break;
}
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::verifyTrackers:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - 500.f / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(500.f, (m_trackerViews.size() > 0) ? 150.f : 100.f));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Verify that your tracking cameras can see the tracking origin");
ImGui::Separator();
if (m_trackerViews.size() > 1)
{
ImGui::Text("Tracker #%d", m_renderTrackerIndex + 1);
if (ImGui::Button("Previous Tracker"))
{
go_previous_tracker();
}
ImGui::SameLine();
if (ImGui::Button("Next Tracker"))
{
go_next_tracker();
}
}
if (ImGui::Button("Looks Good!"))
{
setState(eMenuState::calibrateWithMat);
}
if (ImGui::Button("Hmm... Something is wrong."))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::calibrateWithMat:
{
m_pCalibrateWithMat->renderUI();
} break;
case eMenuState::testTracking:
{
ImGui::SetNextWindowPos(ImVec2(20.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(250.f, 260.f));
ImGui::Begin("Test Tracking", nullptr, window_flags);
// display per tracker UI
for (t_tracker_state_map_iterator iter = m_trackerViews.begin(); iter != m_trackerViews.end(); ++iter)
{
const ClientTrackerView *trackerView = iter->second.trackerView;
ImGui::PushItemWidth(125.f);
if (does_tracker_see_any_controller(trackerView))
{
ImGui::Text("Tracker #%d: OK", trackerView->getTrackerId());
}
else
{
ImGui::Text("Tracker #%d: FAIL", trackerView->getTrackerId());
}
ImGui::PopItemWidth();
ImGui::SameLine();
ImGui::PushItemWidth(100.f);
ImGui::PushID(trackerView->getTrackerId());
if (ImGui::Button("Tracker Video"))
{
m_renderTrackerIter = iter;
setState(eMenuState::showTrackerVideo);
}
ImGui::PopID();
ImGui::PopItemWidth();
}
ImGui::Separator();
if (!m_bSkipCalibration)
{
ImGui::Text("Calibration Complete");
if (ImGui::Button("Redo Calibration"))
{
setState(eMenuState::verifyTrackers);
}
}
if (ImGui::Button("Exit"))
{
m_app->setAppStage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
}
break;
case eMenuState::showTrackerVideo:
{
ImGui::SetNextWindowPos(ImVec2(20.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(200, 100));
ImGui::Begin("Tracker Video Feed", nullptr, window_flags);
ImGui::Text("Tracker ID: #%d", m_renderTrackerIter->second.trackerView->getTrackerId());
if (ImGui::Button("Return"))
{
setState(eMenuState::testTracking);
}
ImGui::End();
}
break;
case eMenuState::calibrateStepFailed:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Calibration Failed");
if (ImGui::Button("Restart Calibration"))
{
setState(eMenuState::verifyTrackers);
}
if (ImGui::Button("Cancel"))
{
m_app->setAppStage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
}
break;
default:
assert(0 && "unreachable");
}
}
void AppStage_TestRumble::renderUI()
{
const float k_panel_width = 500;
const char *k_window_title = "Controller Settings";
const ImGuiWindowFlags window_flags =
ImGuiWindowFlags_ShowBorders |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoCollapse;
switch (m_menuState)
{
case eMenuState::waitingForStreamStartResponse:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Waiting for controller stream to start...");
ImGui::End();
} break;
case eMenuState::failedStreamStart:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Failed to start controller stream!");
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::idle:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Press trigger to test rumble");
if (ImGui::Button("Return to Controller Settings"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
default:
assert(0 && "unreachable");
}
}
void AppStage_ComputeTrackerPoses::renderUI()
{
const float k_panel_width = 300.f;
const char *k_window_title = "Compute Tracker Poses";
const ImGuiWindowFlags window_flags =
ImGuiWindowFlags_ShowBorders |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoCollapse;
switch (m_menuState)
{
case eMenuState::inactive:
break;
case eMenuState::pendingControllerListRequest:
case eMenuState::pendingControllerStartRequest:
case eMenuState::pendingTrackerListRequest:
case eMenuState::pendingTrackerStartRequest:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 80));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Pending device initialization...");
if (ImGui::Button("Return to Tracker Settings"))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::failedControllerListRequest:
case eMenuState::failedControllerStartRequest:
case eMenuState::failedTrackerListRequest:
case eMenuState::failedTrackerStartRequest:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 180));
ImGui::Begin(k_window_title, nullptr, window_flags);
switch (m_menuState)
{
case eMenuState::failedControllerListRequest:
ImGui::Text("Failed controller list retrieval!");
break;
case eMenuState::failedControllerStartRequest:
ImGui::Text("Failed controller stream start!");
break;
case eMenuState::failedTrackerListRequest:
ImGui::Text("Failed tracker list retrieval!");
break;
case eMenuState::failedTrackerStartRequest:
ImGui::Text("Failed tracker stream start!");
break;
}
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::verifyHMD:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 180));
ImGui::Begin(k_window_title, nullptr, window_flags);
if (m_hmdView != nullptr)
{
ImGui::Text("Verify that your HMD is tracking correctly");
ImGui::Separator();
if (ImGui::Button("Looks Good!"))
{
setState(eMenuState::verifyTrackers);
}
if (ImGui::Button("Hmm... Something is wrong."))
{
request_exit_to_app_stage(AppStage_HMDSettings::APP_STAGE_NAME);
}
}
ImGui::End();
} break;
case eMenuState::verifyTrackers:
{
// const int trackerCount = static_cast<int>(m_trackerViews.size());
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - 500.f / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(500.f, (m_trackerViews.size() > 0) ? 150.f : 100.f));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Verify that your tracking cameras can see the tracking origin");
ImGui::Separator();
if (m_trackerViews.size() > 1)
{
ImGui::Text("Tracker #%d", m_renderTrackerIndex + 1);
if (ImGui::Button("Previous Tracker"))
{
go_previous_tracker();
}
ImGui::SameLine();
if (ImGui::Button("Next Tracker"))
{
go_next_tracker();
}
}
if (ImGui::Button("Looks Good!"))
{
setState(eMenuState::selectCalibrationType);
}
if (ImGui::Button("Hmm... Something is wrong."))
{
request_exit_to_app_stage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::selectCalibrationType:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Select a camera pose estimation method");
if (m_hmdView != nullptr && ImGui::Button("Attach PSMove To HMD"))
{
setState(eMenuState::calibrateWithHMD);
}
if (ImGui::Button("Use Calibration Mat"))
{
setState(eMenuState::calibrateWithMat);
}
if (ImGui::Button("Cancel"))
{
m_app->setAppStage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eMenuState::calibrateWithHMD:
{
m_pCalibrateWithHMD->renderUI();
} break;
case eMenuState::calibrateWithMat:
{
m_pCalibrateWithMat->renderUI();
} break;
case eMenuState::testTracking:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Calibration Complete");
if (ImGui::Button("Redo Calibration"))
{
setState(eMenuState::selectCalibrationType);
}
if (ImGui::Button("Exit"))
{
m_app->setAppStage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
}
break;
case eMenuState::calibrateStepFailed:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Calibration Failed");
if (ImGui::Button("Restart Calibration"))
{
setState(eMenuState::selectCalibrationType);
}
if (ImGui::Button("Cancel"))
{
m_app->setAppStage(AppStage_TrackerSettings::APP_STAGE_NAME);
}
ImGui::End();
}
break;
default:
assert(0 && "unreachable");
}
}
void AppStage_MagnetometerCalibration::renderUI()
{
const float k_panel_width= 500;
const char *k_window_title= "Controller Settings";
const ImGuiWindowFlags window_flags =
ImGuiWindowFlags_ShowBorders |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoCollapse;
switch (m_menuState)
{
case eCalibrationMenuState::waitingForStreamStartResponse:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Waiting for controller stream to start...");
ImGui::End();
} break;
case eCalibrationMenuState::failedStreamStart:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Failed to start controller stream!");
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::failedBadCalibration:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::TextWrapped(
"Bad controller hardware calibration!\n" \
"Try un-pairing and re-pairing the controller.");
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::measureBExtents:
{
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
if (m_sampleCount < k_max_magnetometer_samples)
{
ImGui::TextWrapped(
"Calibrating Controller ID #%d\n" \
"[Step 1 of 2: Measuring extents of the magnetometer]\n" \
"Rotate the controller in all directions.", m_controllerView->GetControllerID());
}
else
{
ImGui::TextWrapped(
"Calibrating Controller ID #%d\n" \
"[Step 1 of 2: Measuring extents of the magnetometer - Complete!]\n" \
"Press OK to continue", m_controllerView->GetControllerID());
}
if (m_samplePercentage < 100)
{
ImGui::ProgressBar(static_cast<float>(m_samplePercentage) / 100.f, ImVec2(250, 20));
if ((m_samplePercentage > 60) && ImGui::Button("Force Accept"))
{
m_controllerView->GetPSMoveViewMutable().SetLEDOverride(0, 0, 0);
m_menuState = waitForGravityAlignment;
}
ImGui::SameLine();
}
else
{
if (ImGui::Button("Ok"))
{
m_controllerView->GetPSMoveViewMutable().SetLEDOverride(0, 0, 0);
m_menuState = waitForGravityAlignment;
}
ImGui::SameLine();
}
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
}
{
ImGui::SetNextWindowPos(ImVec2(10.f, 450.f));
ImGui::SetNextWindowSize(ImVec2(170.f, 80.f));
ImGui::Begin("Ellipse Fitting Mode", nullptr, window_flags);
if (ImGui::RadioButton("Bounds Fitting", &m_ellipseFitMethod, _ellipse_fit_method_box))
{
// Refit to a box
eigen_alignment_fit_bounding_box_ellipsoid(
m_alignedSamples->magnetometerEigenSamples, m_sampleCount, m_sampleFitEllipsoid);
}
if (ImGui::RadioButton("Min Volume Fitting", &m_ellipseFitMethod, _ellipse_fit_method_min_volume))
{
// Re-fit using min bounds
eigen_alignment_fit_min_volume_ellipsoid(
m_alignedSamples->magnetometerEigenSamples, m_sampleCount, 0.0001f, m_sampleFitEllipsoid);
}
ImGui::End();
}
} break;
case eCalibrationMenuState::waitForGravityAlignment:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x/2.f - k_panel_width/2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 200));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::TextWrapped(
"[Step 2 of 2: Measuring reference magnetic field direction]\n" \
"Stand the controller on a level surface with the Move button facing you.\n" \
"This will be the default orientation of the move controller.\n" \
"Measurement will start once the controller is aligned with gravity and stable.");
if (m_bIsStable)
{
std::chrono::time_point<std::chrono::high_resolution_clock> now= std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> stableDuration = now - m_stableStartTime;
float fraction = static_cast<float>(stableDuration.count() / k_stabilize_wait_time_ms);
ImGui::ProgressBar(fraction, ImVec2(250, 20));
ImGui::Spacing();
}
else
{
ImGui::Text("Move Destabilized! Waiting for stabilization..");
}
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::measureBDirection:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x/2.f - k_panel_width/2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 200));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::TextWrapped(
"[Step 2 of 2: Measuring reference magnetic field direction]\n" \
"Stand the controller on a level surface with the Move button facing you.\n"
"This will be the default orientation of the move controller.\n"
"Measurement will start once the controller is aligned with gravity and stable.");
ImGui::ProgressBar(
static_cast<float>(m_identityPoseSampleCount) / static_cast<float>(k_desired_magnetometer_sample_count),
ImVec2(250, 20));
ImGui::Spacing();
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::waitForSetCalibrationResponse:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Sending final calibration to server...");
ImGui::End();
} break;
case eCalibrationMenuState::failedSetCalibration:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Failed to set calibration!");
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::complete:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 80));
ImGui::Begin(k_window_title, nullptr, window_flags);
if (m_bBypassCalibration)
{
ImGui::Text("Testing Calibration of Controller ID #%d", m_controllerView->GetControllerID());
}
else
{
ImGui::Text("Calibration of Controller ID #%d complete!", m_controllerView->GetControllerID());
}
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::pendingExit:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Waiting for controller stream to stop...");
ImGui::End();
} break;
default:
assert(0 && "unreachable");
}
}
void AppStage_GyroscopeCalibration::renderUI()
{
const float k_panel_width = 500;
const char *k_window_title = "Gyroscope Calibration";
const ImGuiWindowFlags window_flags =
ImGuiWindowFlags_ShowBorders |
ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoCollapse;
switch (m_menuState)
{
case eCalibrationMenuState::pendingTrackingSpaceSettings:
case eCalibrationMenuState::waitingForStreamStartResponse:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Waiting for server response...");
ImGui::End();
} break;
case eCalibrationMenuState::failedStreamStart:
case eCalibrationMenuState::failedTrackingSpaceSettings:
{
ImGui::SetNextWindowPosCenter();
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::Text("Failed server request!");
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::waitForStable:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 140));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::TextWrapped(
"[Step 1 of 2: Measuring gyroscope drift and bias]\n" \
"Set the controller down on a level surface.\n" \
"Measurement will start once the controller is aligned with gravity and stable.");
if (m_bIsStable || m_bForceControllerStable)
{
std::chrono::time_point<std::chrono::high_resolution_clock> now= std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> stableDuration = now - m_stableStartTime;
float fraction = static_cast<float>(stableDuration.count() / k_stabilize_wait_time_ms);
ImGui::ProgressBar(fraction, ImVec2(250, 20));
ImGui::Spacing();
}
else
{
ImGui::Text("Controller Destabilized! Waiting for stabilization..");
}
if (ImGui::Button("Trust me, it's stable"))
{
m_bForceControllerStable= true;
}
ImGui::SameLine();
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::measureBiasAndDrift:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
std::chrono::time_point<std::chrono::high_resolution_clock> now= std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> stableDuration = now - m_gyroNoiseSamples->sampleStartTime;
float timeFraction = static_cast<float>(stableDuration.count() / k_desired_drift_sampling_time);
const float sampleFraction =
static_cast<float>(m_gyroNoiseSamples->sample_count)
/ static_cast<float>(k_desired_noise_sample_count);
ImGui::TextWrapped(
"[Step 1 of 2: Measuring gyroscope drift and bias]\n" \
"Sampling Gyroscope...");
ImGui::ProgressBar(fminf(sampleFraction, timeFraction), ImVec2(250, 20));
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::measureComplete:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 130));
ImGui::Begin(k_window_title, nullptr, window_flags);
ImGui::TextWrapped(
"Sampling complete.\n" \
"Press OK to continue or Redo to recalibration.");
if (ImGui::Button("Ok"))
{
PSM_SetControllerLEDOverrideColor(m_controllerView->ControllerID, 0, 0, 0);
setState(eCalibrationMenuState::test);
}
ImGui::SameLine();
if (ImGui::Button("Redo"))
{
m_gyroNoiseSamples->clear();
setState(eCalibrationMenuState::waitForStable);
}
ImGui::SameLine();
if (ImGui::Button("Cancel"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::End();
} break;
case eCalibrationMenuState::test:
{
ImGui::SetNextWindowPos(ImVec2(ImGui::GetIO().DisplaySize.x / 2.f - k_panel_width / 2.f, 20.f));
ImGui::SetNextWindowSize(ImVec2(k_panel_width, 140));
ImGui::Begin("Test Orientation", nullptr, window_flags);
if (m_bBypassCalibration)
{
ImGui::Text("Testing Calibration of Controller ID #%d", m_controllerView->ControllerID);
}
else
{
ImGui::Text("Calibration of Controller ID #%d complete!", m_controllerView->ControllerID);
}
PSMQuatf controllerQuat;
if (PSM_GetControllerOrientation(m_controllerView->ControllerID, &controllerQuat) == PSMResult_Success)
{
const Eigen::Quaternionf eigen_quat = psm_quatf_to_eigen_quaternionf(controllerQuat);
const Eigen::EulerAnglesf euler_angles = eigen_quaternionf_to_euler_angles(eigen_quat);
ImGui::Text("Pitch(x): %.2f, Yaw(y): %.2f, Roll(z): %.2f",
m_lastCalibratedGyroscope.x * k_radians_to_degreees,
m_lastCalibratedGyroscope.y * k_radians_to_degreees,
m_lastCalibratedGyroscope.z * k_radians_to_degreees);
ImGui::Text("Attitude: %.2f, Heading: %.2f, Bank: %.2f",
euler_angles.get_attitude_degrees(), euler_angles.get_heading_degrees(), euler_angles.get_bank_degrees());
}
if (m_controllerView->ControllerType == PSMController_DualShock4)
{
ImGui::TextWrapped(
"[Press the Options button with controller pointed straight forward\n" \
"to recenter the controller]");
}
else if (m_controllerView->ControllerType == PSMController_Move)
{
ImGui::TextWrapped(
"[Hold the Select button with controller pointed forward\n" \
"to recenter the controller]");
}
if (ImGui::Button("Ok"))
{
request_exit_to_app_stage(AppStage_ControllerSettings::APP_STAGE_NAME);
}
ImGui::SameLine();
if (ImGui::Button("Return to Main Menu"))
{
request_exit_to_app_stage(AppStage_MainMenu::APP_STAGE_NAME);
}
ImGui::End();
} break;
default:
assert(0 && "unreachable");
}
}
