From 1830bb208eb1c4a9e094e960407ab653b64f0c5a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 29 Jan 2015 15:07:20 +0100
Subject: [PATCH] WindowManager are referenced to by an ID instead of the
string.
---
idl/gepetto/viewer/graphical-interface.idl | 7 ++--
include/gepetto/viewer/corba/client.hh | 6 ++--
src/client-cpp.cc | 6 ++--
src/graphical-interface.impl.cpp | 38 +++++++++-------------
src/graphical-interface.impl.hh | 10 +++---
src/test-client-cpp.cc | 4 +--
6 files changed, 35 insertions(+), 36 deletions(-)
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 16377b7..90ef3cd 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -34,7 +34,8 @@ typedef double Color [4];
/// Create a new window.
/// \param input name : name of the new window.
- boolean createWindow(in string name) raises (Error);
+ /// return the ID of the newly create window.
+ unsigned long createWindow(in string name) raises (Error);
/// Print names of nodes on the SceneViewer-corbaserver terminal.
@@ -54,8 +55,8 @@ typedef double Color [4];
/// Add groupNode sceneName to the WindowManager windowName so
/// sceneName and all its children will be displayed in the window windowName.
/// \param input sceneName : name of the groupNode.
- /// \param input windowName : name of rhe window.
- boolean addSceneToWindow(in string sceneName, in string windowName) raises (Error);
+ /// \param input windowId : ID of rhe window.
+ boolean addSceneToWindow(in string sceneName, in unsigned long windowId) raises (Error);
/// create a box called boxName.
/// \param input boxName : name of the box.
diff --git a/include/gepetto/viewer/corba/client.hh b/include/gepetto/viewer/corba/client.hh
index 7f98e15..2b7aa18 100644
--- a/include/gepetto/viewer/corba/client.hh
+++ b/include/gepetto/viewer/corba/client.hh
@@ -29,6 +29,8 @@ private:
protected:
public:
+ typedef CORBA::ULong WindowID;
+
// Default constructor
ClientCpp();
// Default destructor
@@ -40,14 +42,14 @@ public:
bool setRate(int rate);
void refresh();
- bool createWindow(const char* windowName);
+ WindowID createWindow(const char* windowName);
//void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
void createScene(const char* sceneName) ;
void createSceneWithFloor(const char* sceneName) ;
- bool addSceneToWindow(const char* sceneName, const char* windowName) ;
+ bool addSceneToWindow(const char* sceneName, const WindowID windowId) ;
bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color);
diff --git a/src/client-cpp.cc b/src/client-cpp.cc
index e28c8d1..395e6f0 100644
--- a/src/client-cpp.cc
+++ b/src/client-cpp.cc
@@ -82,7 +82,7 @@ void ClientCpp::refresh()
manager_->refresh();
}
-bool ClientCpp::createWindow(const char* windowName)
+ClientCpp::WindowID ClientCpp::createWindow(const char* windowName)
{
return manager_->createWindow(windowName);
}
@@ -100,9 +100,9 @@ void ClientCpp::createSceneWithFloor(const char* sceneName)
manager_->createSceneWithFloor(sceneName);
}
-bool ClientCpp::addSceneToWindow(const char* sceneName, const char* windowName)
+bool ClientCpp::addSceneToWindow(const char* sceneName, const ClientCpp::WindowID windowId)
{
- return manager_->addSceneToWindow(sceneName, windowName);
+ return manager_->addSceneToWindow(sceneName, windowId);
}
/*bool ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3)
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 6592050..5907fc8 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -173,24 +173,18 @@ namespace graphics {
}
}
- bool GraphicalInterface::createWindow (const char* windowNameCorba)
+ GraphicalInterface::WindowID GraphicalInterface::createWindow (const char* windowNameCorba)
throw (Error)
{
try {
std::string windowName (windowNameCorba);
- if (windowManagers_.find (windowName) != windowManagers_.end ()) {
- std::cout << "You need to chose an other name, \"" << windowName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- WindowManagerPtr_t newWindow = WindowManager::create ();
- windowManagers_[windowName] = newWindow;
- boost::thread refreshThread (boost::bind
- (&GraphicalInterface::threadRefreshing,
- this, newWindow));
- return true;
- }
+ WindowManagerPtr_t newWindow = WindowManager::create ();
+ WindowID windowId = windowManagers_.size ();
+ windowManagers_.push_back (newWindow);
+ boost::thread refreshThread (boost::bind
+ (&GraphicalInterface::threadRefreshing,
+ this, newWindow));
+ return windowId;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -257,19 +251,18 @@ namespace graphics {
}
bool GraphicalInterface::addSceneToWindow (const char* sceneNameCorba,
- const char* windowNameCorba)
+ WindowID windowId)
throw (Error)
{
try {
std::string sceneName (sceneNameCorba);
- std::string windowName (windowNameCorba);
- if (windowManagers_.find (windowName) != windowManagers_.end () &&
+ if ((windowId >= 0 || windowId < windowManagers_.size ()) &&
groupNodes_.find (sceneName) != groupNodes_.end () ) {
- windowManagers_[windowName]->addNode (groupNodes_[sceneName]);
+ windowManagers_[windowId]->addNode (groupNodes_[sceneName]);
return true;
}
else {
- std::cout << "Window name \"" << windowName
+ std::cout << "Window ID \"" << windowId
<< "\" and/or scene name \"" << sceneName
<< "\" doesn't exist." << std::endl;
return false;
@@ -536,9 +529,10 @@ namespace graphics {
{
try {
std::cout << "List of Windows :" << std::endl;
- for (std::map<std::string, WindowManagerPtr_t>::iterator it=
- windowManagers_.begin (); it!=windowManagers_.end (); ++it)
- std::cout << " " << it->first << std::endl;
+ size_t rank = 0;
+ for (WindowManagers_t::iterator it = windowManagers_.begin ();
+ it!=windowManagers_.end (); ++it)
+ std::cout << rank << " - " << (*it)->getViewerClone ()->getSlave (0)._camera->getGraphicsContext ()->getTraits ()->windowName << std::endl;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index b02fef2..b7a6f18 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -46,8 +46,10 @@ class GraphicalInterface :
public virtual POA_gepetto::corbaserver::GraphicalInterface
{
private:
- typedef gepetto::Error Error;
- std::map<std::string, WindowManagerPtr_t> windowManagers_;
+ typedef gepetto::Error Error;
+ typedef CORBA::ULong WindowID;
+ typedef std::vector <WindowManagerPtr_t> WindowManagers_t;
+ WindowManagers_t windowManagers_;
std::map<std::string, NodePtr_t> nodes_;
std::map<std::string, GroupNodePtr_t> groupNodes_;
corbaServer::Server* server_;
@@ -82,11 +84,11 @@ public:
virtual bool setRate(CORBA::Long rate) throw (Error);
virtual void refresh() throw (Error);
- virtual bool createWindow(const char* windowNameCorba) throw (Error);
+ virtual WindowID createWindow(const char* windowNameCorba) throw (Error);
virtual void createScene(const char* sceneNameCorba) throw (Error);
virtual void createSceneWithFloor(const char* sceneNameCorba) throw (Error);
- virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) throw (Error);
+ virtual bool addSceneToWindow(const char* sceneNameCorba, const WindowID windowId) throw (Error);
virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color) throw (Error);
diff --git a/src/test-client-cpp.cc b/src/test-client-cpp.cc
index 15f0fe6..8690b2f 100644
--- a/src/test-client-cpp.cc
+++ b/src/test-client-cpp.cc
@@ -22,9 +22,9 @@ int main(int, const char **)
se3::SE3 position4 = se3::SE3::Random();
se3::SE3 position5 = se3::SE3::Random();
- client.createWindow("window1");
+ ClientCpp::WindowID windowId = client.createWindow("window1");
client.createScene("scene1");
- client.addSceneToWindow("scene1","window1");
+ client.addSceneToWindow("scene1",windowId);
client.addURDF("scene1/hrp2", "/local/mgeisert/devel/src/hrp2/hrp2_14_description/urdf/hrp2_14_capsule.urdf", "/local/mgeisert/devel/src/hrp2/");
sleep(5);
--
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