UI / Feedback refactor (#51)

* FIX-WIP: trying to sqashing to avoid large files

* WIP: tool selection working with pad

* CAP-FIX: solved the toolhead pane

* FIX: switch color for toolhead

* FIX: switch color for toolheadx2

* FIX-CAP: ui pane for ACIM done refactoring

* CAP: refactored ACIM pane + fix #49

* CAP: refactored mapping

* CAP: refactored the drilling feedback

* TEMP-FIX: temporary fix, there still some leftover elements in the space

* FIX: camera not connected solved

---------

Co-authored-by: Andrea Settimi <>

.gitattributes

@@ -1,2 +1,3 @@
 assets/tslam-final_eval.tgz filter=lfs diff=lfs merge=lfs -text
 assets/ttool-v2.0.0-34-g96053edf.tgz filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text

CMakeLists.txt

@@ -36,6 +36,10 @@ option(SILENT_LOGGING "Do not log messages in the terminal if on." ON)
 option(TEST_GRAPHICS "Test graphics by launching opengl with glfw window." ON)
 option(AC_SYNC_GIT_SUBMODULES "Sync to the latest version of submodules" ON)
 mark_as_advanced(AC_SYNC_GIT_SUBMODULES)
+# -------------------- DEV UI OPTIONS --------------------------------
+# This preprocessor variable is used to enable the dev ui in the application.
+# In order to light up the beta tester's experience, the dev ui is disabled by default.
+option(ENABLE_DEV_UI "Enable the dev ui in the application" OFF)
 
 
 # pre-compile variables
@@ -54,6 +58,9 @@ endif()
 if(SILENT_LOGGING)
     target_compile_definitions(${PROJECT_NAME} PRIVATE SILENT_LOGGING=true)
 endif()
+if(ENABLE_DEV_UI)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE ENABLE_DEV_UI=true)
+endif()
 
 #------------------------------------------------------------------------------------------------------------
 # GLOBAL 3rd libs (NOT compatible with add_subdirectory())

config.ini

@@ -1,24 +1,24 @@
 [AIAC]
-ACInfoModel = AC_acims/mybeam.acim
+ACInfoModel = /home/localuser/augmented-carpentry/AC_acims/CD07.acim
 AlignFlip = 0
-AlignOffset = 0
-AlignRotation = 8
+AlignOffset = 4.21429
+AlignRotation = 5
 CamID = 0
-CamParamsFile = assets/tslam/calibration_orange_B_1280_720_r.yml
+CamParamsFile = assets/tslam/calibration_orange_A_1280_720_r.yml
 ScaleFactor = 50
-ScannedModel = AC_scanned_map/test_beam/map-2024-5-6-11-13-44.ply
+ScannedModel = ./scanned_map/map-2024-5-29-13-46-0.ply
 
 [Renderer]
 DigitalModelPath = assets/tslam/example3dModel.ply
 MeshPaths = 
 PointCloudMapPath = assets/tslam/examplePointCloud.ply
 
 [TSlam]
-MapFile = AC_scanned_map/test_beam/map-2024-5-6-11-13-44.map
+MapFile = /home/localuser/augmented-carpentry/scanned_map/map-2024-5-29-13-46-0.map
 VocFile = assets/tslam/orb.fbow
 
 [TTool]
-CachedToolhead = circular_saw_blade_makita_190
+CachedToolhead = auger_drill_bit_20_235
 ConfigFile = deps/TTool/assets/config.yml
 DatasetDir = deps/TTool/assets/toolheads
 TToolRootPath = deps/TTool

imgui.ini

@@ -119,8 +119,8 @@ Size=455,656
 Collapsed=0
 
 [Window][augmented_carpentry]
-Pos=419,21
-Size=379,555
+Pos=414,26
+Size=384,463
 Collapsed=1
 
 [Window][bla]
@@ -134,7 +134,7 @@ Size=207,206
 Collapsed=0
 
 [Window][Scene Viewport]
-Pos=6,19
+Pos=3,26
 Size=403,389
 Collapsed=1
 
@@ -169,7 +169,7 @@ Size=350,333
 Collapsed=0
 
 [Window][Open Vocab##ChooseVocab]
-Pos=60,60
+Pos=14,72
 Size=346,289
 Collapsed=0
 
@@ -690,3 +690,19 @@ Column 0  Sort=0v
 RefScale=14
 Column 0  Sort=0v
 
+[Table][0x66BBE681,4]
+RefScale=14
+Column 0  Sort=0v
+
+[Table][0xEF3A02CC,4]
+RefScale=14
+Column 0  Sort=0v
+
+[Table][0xC89E969A,4]
+RefScale=14
+Column 0  Sort=0v
+
+[Table][0xA67CB060,4]
+RefScale=14
+Column 0  Sort=0v
+

src/AIAC/ACInfoModel.cpp

@@ -38,23 +38,20 @@ namespace AIAC
         AIAC_INFO("Set Current Component to Hole #" + m_ID);
         m_AxisGO->SetColor(HOLE_AXIS_COLOR[ACIMState::CURRENT]);
         m_CylinderGO->SetColor(HOLE_CYLINDER_COLOR[ACIMState::CURRENT]);
-        m_RadiusLabelGO->SetVisibility(true);
     }
 
     void TimberInfo::Hole::SetAsDone() {
         TimberInfo::Component::SetAsDone();
         AIAC_INFO("Set " + m_ID + " as Done");
         m_AxisGO->SetColor(HOLE_AXIS_COLOR[ACIMState::DONE]);
         m_CylinderGO->SetColor(HOLE_CYLINDER_COLOR[ACIMState::DONE]);
-        m_RadiusLabelGO->SetVisibility(false);
     }
 
     void TimberInfo::Hole::SetAsNotDone() {
         TimberInfo::Component::SetAsNotDone();
         AIAC_INFO("Set " + m_ID + " as Not Done");
         m_AxisGO->SetColor(HOLE_AXIS_COLOR[ACIMState::NOT_DONE]);
         m_CylinderGO->SetColor(HOLE_CYLINDER_COLOR[ACIMState::NOT_DONE]);
-        m_RadiusLabelGO->SetVisibility(false);
     }
 
     void TimberInfo::Hole::SwapStartEnd() {
@@ -198,8 +195,6 @@ namespace AIAC
         }
     }
 
-
-
     std::vector<std::string> TimberInfo::GetAllComponentsIDs() const {
         // This is only for C++20, but we're using C++17, I leave it here for future reference
         // #include <ranges>
@@ -237,6 +232,43 @@ namespace AIAC
         HideAllComponentsExceptCurrent();
     }
 
+    std::string TimberInfo::ShortenComponentID(std::string id) {
+        if(id.find("Hole") != std::string::npos){
+            return "H" + id.substr(5);
+        } else if(id.find("Cut") != std::string::npos){
+            return "C" + id.substr(4);
+        }
+        return id;
+    }
+
+    void TimberInfo::SetNextComponentAsCurrent()
+    {
+        auto ids = GetAllComponentsIDs();
+        auto it = std::find(ids.begin(), ids.end(), m_CurrentComponentID);
+        if(it == ids.end()){
+            AIAC_ERROR("TimberInfo::SetNextComponentAsCurrent() : Current Component ID not found");
+            return;
+        }
+        if(++it == ids.end()){
+            it = ids.begin();
+        }
+        SetCurrentComponentTo(*it);
+    }
+
+    void TimberInfo::SetPrevComponentAsCurrent()
+    {
+        auto ids = GetAllComponentsIDs();
+        auto it = std::find(ids.begin(), ids.end(), m_CurrentComponentID);
+        if(it == ids.end()){
+            AIAC_ERROR("TimberInfo::SetPrevComponentAsCurrent() : Current Component ID not found");
+            return;
+        }
+        if(it == ids.begin()){
+            it = ids.end();
+        }
+        SetCurrentComponentTo(*--it);
+    }
+
     void TimberInfo::HideAllComponentsExceptCurrent() {
         for (const auto& [_, component] : m_Components) {
             if(component->m_ID != m_CurrentComponentID){
@@ -264,6 +296,14 @@ namespace AIAC
             AIAC_ERROR("ACInfoModel::Load() file does not exist");
             return false;
         }
+        if (std::filesystem::is_directory(path)){
+            AIAC_ERROR("ACInfoModel::Load() path is a directory");
+            return false;
+        }
+        if (path.find(".acim") == std::string::npos){
+            AIAC_ERROR("ACInfoModel::Load() file is not .acim");
+            return false;
+        }
 
         m_FilePath = path;
 
@@ -305,7 +345,7 @@ namespace AIAC
                 holeInfo.m_StartExposed = StringToBool(hole.child("start").child("exposed").child_value());
                 holeInfo.m_End = StringToVec3(hole.child("end").child("coordinates").child_value()) * m_Scale;
                 holeInfo.m_EndExposed = StringToBool(hole.child("end").child("exposed").child_value());
-                holeInfo.m_Radius = std::stof(hole.child("radius").child_value()) * m_Scale;
+                holeInfo.m_Radius = std::stof(hole.child("radius").child_value());
 
                 // build GOPrimitive
                 holeInfo.m_AxisGO = GOLine::Add(holeInfo.m_Start, holeInfo.m_End, 2.0f);
@@ -315,18 +355,14 @@ namespace AIAC
                 holeInfo.m_StartPointGO = GOPoint::Add(holeInfo.m_Start, 2.0f);
                 holeInfo.m_EndPointGO = GOPoint::Add(holeInfo.m_End, 2.0f);
                 auto centerPoint = (holeInfo.m_Start + holeInfo.m_End) * 0.5f;
-                holeInfo.m_IDLabelGO = GOText::Add(holeInfo.m_ID, centerPoint, m_LabelSize);
-                auto radiusText = std::to_string(holeInfo.m_Radius);
-                radiusText = radiusText.substr(0, radiusText.find(".") + 3);
-                holeInfo.m_RadiusLabelGO = GOText::Add(radiusText, holeInfo.m_Start, m_LabelSize);
-                holeInfo.m_RadiusLabelGO->SetVisibility(false);
+                std::string shortenHoleID = m_TimberInfo.ShortenComponentID(holeInfo.m_ID);
+                holeInfo.m_IDLabelGO = GOText::Add(shortenHoleID, centerPoint, m_LabelSize);
 
                 holeInfo.m_GOPrimitives.push_back(holeInfo.m_AxisGO);
                 holeInfo.m_GOPrimitives.push_back(holeInfo.m_CylinderGO);
                 holeInfo.m_GOPrimitives.push_back(holeInfo.m_StartPointGO);
                 holeInfo.m_GOPrimitives.push_back(holeInfo.m_EndPointGO);
                 holeInfo.m_GOPrimitives.push_back(holeInfo.m_IDLabelGO);
-                holeInfo.m_GOPrimitives.push_back(holeInfo.m_RadiusLabelGO);
 
                 m_TimberInfo.m_Holes[holeInfo.m_ID] = holeInfo;
                 m_TimberInfo.m_Components[holeInfo.m_ID] = &m_TimberInfo.m_Holes[holeInfo.m_ID];
@@ -340,7 +376,8 @@ namespace AIAC
                 cutInfo.m_State = StringToState(cut.child("state").child_value());
                 cutInfo.IsMarkedDone = cutInfo.m_State == ACIMState::DONE;
                 cutInfo.m_Center = StringToVec3(cut.child("center").child_value()) * m_Scale;
-                cutInfo.m_IDLabelGO = GOText::Add(cutInfo.m_ID, cutInfo.m_Center, m_LabelSize);
+                std::string shortenCutID = m_TimberInfo.ShortenComponentID(cutInfo.m_ID);
+                cutInfo.m_IDLabelGO = GOText::Add(shortenCutID, cutInfo.m_Center, m_LabelSize);
                 cutInfo.m_GOPrimitives.push_back(cutInfo.m_IDLabelGO);
 
                 auto faces = cut.child("faces");
@@ -397,12 +434,6 @@ namespace AIAC
                     }
                 }
 
-                // for(auto const& [faceID, faceInfo]: cutInfo.m_Faces){
-                //     cout << faceID << faceInfo.m_Exposed << endl;
-                //     cout << glm::to_string(faceInfo.GetNormal()) << endl;
-                //     cout << glm::to_string(faceInfo.GetCenter()) << endl;
-                // }
-
                 auto edges = cut.child("edges");
                 for(auto edge = edges.child("edge"); edge; edge=edge.next_sibling("edge")){
                     auto id = edge.attribute("id").as_string();

src/AIAC/ACInfoModel.h

@@ -122,6 +122,9 @@ class TimberInfo{
         std::shared_ptr<GOPoint> GetStartPointGO() { return m_StartPointGO; }
         std::shared_ptr<GOPoint> GetEndPointGO() { return m_EndPointGO; }
 
+    public:  __always_inline
+        double GetRadius() const { return m_Radius; }
+
     private:
         // These values uses original coordinate in xml file
         // i.e. not transformation (rotation / translation) is applied
@@ -137,7 +140,6 @@ class TimberInfo{
         std::shared_ptr<GOCylinder> m_CylinderGO;
         std::shared_ptr<GOPoint> m_StartPointGO;
         std::shared_ptr<GOPoint> m_EndPointGO;
-        std::shared_ptr<GOText> m_RadiusLabelGO;
         std::shared_ptr<GOText> m_IDLabelGO;
 
         friend class ACInfoModel;
@@ -220,6 +222,7 @@ class TimberInfo{
 
     inline std::string GetID() const { return m_ID; }
     std::vector<std::string> GetAllComponentsIDs() const;
+
     inline Component* GetComponent(const std::string& id) { return m_Components[id]; }
     inline Component* GetCurrentComponent() { 
         if(m_Components.find(m_CurrentComponentID) == m_Components.end())
@@ -228,13 +231,42 @@ class TimberInfo{
     }
     std::string GetCurrentComponentID() { return m_CurrentComponentID; }
     void SetCurrentComponentTo(std::string id);
+    void SetNextComponentAsCurrent();
+    void SetPrevComponentAsCurrent();
 
     inline std::vector<glm::vec3> GetBoundingBox() const { return m_Bbox; }
     inline std::vector<std::pair<int, int> > GetBboxEdgesIndices() const { return m_BboxEdgesIndices; }
 
     void HideAllComponentsExceptCurrent();
     void ShowAllComponents();
 
+public: ///< small utilities to calculate the progress of fabrication
+    /// @brief Get the number of fabricate components
+    inline int GetFabricatedComponents() {
+        int count = 0;
+        for(auto& comp : m_Components){
+            if(comp.second->m_State == ACIMState::DONE)
+                count++;
+        }
+        return count;
+    }
+    /// @brief Get the total number of components
+    inline int GetTotalComponents() { return m_Components.size(); }
+    /// @brief Get the progress of fabrication in percentage
+    inline float GetFabricationProgress() {
+        return (float)GetFabricatedComponents() / GetTotalComponents() * 100;
+    }
+
+private:  ///< utils for visualization
+    /**
+     * @brief Transform the notation from .acim into more lightweight notation
+     * for visuals (e.g. "Hole#1" -> "H1" and "Cut#1" -> "C1")
+     * 
+     * @param id the original id of the component
+     * @return std::string the shortened id for visualization
+     */
+    std::string ShortenComponentID(std::string id);
+
 public:
     bool IsShowingAllComponents = false;
 

src/AIAC/ACInfoToolheadManager.h

@@ -22,9 +22,14 @@ namespace AIAC
             void SetActiveToolhead(const std::string& toolheadName);
             /// @brief Get the active toolhead model
             inline std::shared_ptr<ACInfoToolhead> GetActiveToolhead() const { return this->m_ActiveACInfoToolhead; }
+            /// @brief Get the toolhead model by its name
+            inline std::shared_ptr<ACInfoToolhead> GetToolhead(const std::string& toolheadName) const { return this->m_ACInfoToolheadMap.at(toolheadName); }
             /// @brief Get the active toolhead model's name
             inline std::string GetActiveToolheadName() const { return this->m_ActiveACInfoToolhead->GetName(); }
-
+            /// @brief Get the toolhead's type by its name
+            inline ACToolHeadType GetToolheadType(const std::string& toolheadName) const { return this->m_ACInfoToolheadMap.at(toolheadName)->GetType(); }
+
+
             /// @brief Return the  list of names of the toolheads loaded
             inline std::vector<std::string> GetToolheadNames() const
             {

src/AIAC/Feedback/CutCircularSawFeedback.cpp

@@ -19,6 +19,8 @@ namespace AIAC
         this->m_LineDistStart->SetColor(GOColor::YELLOW);
         this->m_TxtDistStart->SetColor(GOColor::WHITE);
 
+        this->m_TxtDistStart->SetTextSize(GOTextSize::ExtraSmall);
+
         this->m_AllPrimitives.push_back(m_LineDistStart);
         this->m_AllPrimitives.push_back(m_TxtDistStart);
 
@@ -47,8 +49,14 @@ namespace AIAC
         m_LinePitchFeed->SetColor(GOColor::RED);
         m_GuideTxtRollPitch->SetColor(GOColor::WHITE);
 
+        m_GuideTxtRollPitch->SetTextSize(GOTextSize::ExtraSmall);
+
         m_AllPrimitives.push_back(m_LineFaceNormal);
         m_AllPrimitives.push_back(m_LineBladeNormal);
+        m_AllPrimitives.push_back(m_LinePitchFeed);
+        m_AllPrimitives.push_back(m_GuideTxtRollPitch);
+
+        Deactivate();
     }
 
     CutCircularSawFeedbackVisualizer::CutCircularSawFeedbackVisualizer()
@@ -65,6 +73,8 @@ namespace AIAC
         m_ProjLineOfBlade->SetColor(GOColor::CYAN);
         m_TxtBottomDist->SetColor(GOColor::WHITE);
 
+        m_TxtBottomDist->SetTextSize(GOTextSize::ExtraSmall);
+
         m_AllPrimitives.push_back(m_BottomPoint);
         m_AllPrimitives.push_back(m_LineToBottomPt);
         m_AllPrimitives.push_back(m_ProjLineOnFace);
@@ -86,8 +96,10 @@ namespace AIAC
     }
 
     void CutCircularSawFeedback::Deactivate() {
-        m_CutPlaneVisualizer.Deactivate();
         m_GeneralVisualizer.Deactivate();
+        m_CutPlaneVisualizer.Deactivate();
+        m_OrientationVisualizer.Deactivate();
+        m_PositionStartVisualizer.Deactivate();
     }
 
     void CutCircularSawFeedback::updateToolPosition() {