Follow changes in gepetto-viewer package

* Use class graphics::WindowsManager to handle windows.

CMakeLists.txt

@@ -30,6 +30,7 @@ SET(PROJECT_DESCRIPTION "Corba server for gepetto-viewer")
 SET(PROJECT_URL "")
 
 SET(${PROJECT_NAME}_HEADERS
+  include/gepetto/viewer/corba/server.hh
   include/gepetto/viewer/corba/client.hh
   include/gepetto/viewer/corba/se3.hh
   )

idl/gepetto/viewer/graphical-interface.idl

@@ -17,9 +17,9 @@ module corbaserver {
 //     the "refresh" function each time you want actualize position of the Viewer.
 //     This system is used to synchronize movement of all objects.
 
-typedef double Transform [7];
-typedef double Position [3];
-typedef double Color [4];
+typedef float Transform [7];
+typedef float Position [3];
+typedef float Color [4];
 
   /// Corba exception travelling through the Corba channel
   interface GraphicalInterface {
@@ -181,7 +181,7 @@ typedef double Color [4];
 
     /// Set a new configuration to a node. THIS CONFIGURATION WILL AFFECTIVE ONLY AFTER CALLING REFRESH FUNCTION!!!
     /// \param input nodeName : name of the node.
-    /// \param input configuration : Double[7] new configuration.
+    /// \param input configuration : Float[7] new configuration.
     boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
 
     /// Add Landmark at the center of a node

include/gepetto/viewer/corba/client.hh

@@ -24,12 +24,13 @@ private:
     CORBA::ORB_var orb_;
   gepetto::corbaserver::GraphicalInterface_var manager_;
 
-    static void se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position);
+    static void se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position);
 
 protected:
 
 public:
     typedef CORBA::ULong WindowID;
+    typedef float value_type;
 
     // Default constructor
     ClientCpp();
@@ -52,27 +53,27 @@ public:
     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);
+    bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const value_type* color);
     //bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
 
     //bool addCapsule(const char* capsuleName, float radius, float height) ;
-    bool addCapsule(const char* capsuleName, const float radius, const float height, const double* color);
+    bool addCapsule(const char* capsuleName, const float radius, const float height, const value_type* color);
 
     bool addMesh(const char* meshName, const char* meshPath) ;
 
     //bool addCone(const char* coneName, float radius, float height) ;
-    bool addCone(const char* coneName, const float radius, const float height, const double* color);
+    bool addCone(const char* coneName, const float radius, const float height, const value_type* color);
 
     //bool addCylinder(const char* cylinderName, float radius, float height) ;
-    bool addCylinder(const char* cylinderName, const float radius, const float height, const double* color);
+    bool addCylinder(const char* cylinderName, const float radius, const float height, const value_type* color);
 
     //bool addSphere(const char* sphereName, float radius) ;
-    bool addSphere(const char* sphereName, const float radius, const double* color);
+    bool addSphere(const char* sphereName, const float radius, const value_type* color);
 
-    bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
+    bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color);
 
-    bool addTriangleFace(const char* lineName, const double* pos1, const double* pos2, const double* pos3, const double* color);
-    bool addSquareFace(const char* lineName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color);
+    bool addTriangleFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color);
+    bool addSquareFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color);
 
     bool addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath);
 

include/gepetto/viewer/corba/se3.hh

@@ -124,7 +124,7 @@ private:
 Matrix3 rot;
 Vector3 trans;
 };
-typedef SE3Tpl<double,0> SE3;
+typedef SE3Tpl<float,0> SE3;
 } // namespace se3
 #endif // ifndef __se3_se3_hpp__
 

src/CMakeLists.txt

@@ -33,7 +33,6 @@ ADD_LIBRARY(${LIBRARY_NAME}
   graphical-interfaceSK.cc
   graphical-interface.impl.cpp
   graphical-interface.impl.hh
-  server.hh
   server.cc
   server-private.cc
   server-private.hh

src/client-cpp.cc

@@ -11,9 +11,9 @@
 namespace graphics { 
 namespace corbaServer {
 
-void ClientCpp::se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position)
+void ClientCpp::se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position)
 {
-    Eigen::Quaternion<double> q(se3position.rotation());
+    Eigen::Quaternion<value_type> q(se3position.rotation());
     corbaPosition[0] = se3position.translation()(0);
     corbaPosition[1] = se3position.translation()(1);
     corbaPosition[2] = se3position.translation()(2);    
@@ -110,7 +110,7 @@ bool ClientCpp::addSceneToWindow(const char* sceneName, const ClientCpp::WindowI
     return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3);
 }*/
 
-bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color)
+bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const value_type* color)
 {
     return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3, color);
 }
@@ -120,7 +120,7 @@ bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float bo
     return manager_->addCapsule(capsuleName, radius, height);
 }*/
 
-bool ClientCpp::addCapsule(const char* capsuleName, const float radius, const float height, const double* color)
+bool ClientCpp::addCapsule(const char* capsuleName, const float radius, const float height, const value_type* color)
 {
     return manager_->addCapsule(capsuleName, radius, height, color);
 }
@@ -135,7 +135,7 @@ bool ClientCpp::addMesh(const char* meshName, const char* meshPath)
     return manager_->addCone(coneName, radius, height);
 }*/
 
-bool ClientCpp::addCone(const char* coneName, const float radius, const float height, const double* color)
+bool ClientCpp::addCone(const char* coneName, const float radius, const float height, const value_type* color)
 {
     return manager_->addCone(coneName, radius, height, color);
 }
@@ -145,7 +145,7 @@ bool ClientCpp::addCone(const char* coneName, const float radius, const float he
     return manager_->addCylinder(cylinderName, radius, height);
 }*/
 
-bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const float height, const double* color)
+bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const float height, const value_type* color)
 {
     return manager_->addCylinder(cylinderName, radius, height, color);
 }
@@ -155,22 +155,22 @@ bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const
     return manager_->addSphere(sphereName, radius);
 }*/
 
-bool ClientCpp::addSphere(const char* sphereName, const float radius, const double* color)
+bool ClientCpp::addSphere(const char* sphereName, const float radius, const value_type* color)
 {
     return manager_->addSphere(sphereName, radius, color);
 }
 
-bool ClientCpp::addLine(const char* lineName, const double* pos1, const double* pos2, const double* color)
+bool ClientCpp::addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color)
 {
     return manager_->addLine(lineName, pos1, pos2, color);
 }
 
-bool ClientCpp::addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color)
+bool ClientCpp::addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color)
 {
     return manager_->addTriangleFace(faceName, pos1, pos2, pos3, color);
 }
 
-bool ClientCpp::addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color)
+bool ClientCpp::addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color)
 {
     return manager_->addSquareFace(faceName, pos1, pos2, pos3, pos4, color);
 }
@@ -192,7 +192,7 @@ bool ClientCpp::addToGroup(const char* nodeName, const char* groupName)
 
 bool ClientCpp::applyConfiguration(const char* nodeName, const se3::SE3& se3position)
 {
-    CORBA::Double corbaPosition[7];
+    CORBA::Float corbaPosition[7];
     ClientCpp::se3ToCorba(corbaPosition, se3position);
     return manager_->applyConfiguration(nodeName, corbaPosition);
 }

src/corbaserver.cc

@@ -9,14 +9,15 @@
 // See the COPYING file for more information.
 
 #include <iostream>
-#include "server.hh"
+#include "gepetto/viewer/corba/server.hh"
 
 using graphics::corbaServer::Server;
 
 int
 main (int argc, const char* argv[])
 {
-  Server server (argc, argv, true);
+  graphics::WindowsManagerPtr_t wm = graphics::WindowsManager::create ();
+  Server server (wm, argc, argv, true);
 
   server.startCorbaServer ();
   server.processRequest(true);

src/graphical-interface.impl.hh

@@ -10,26 +10,8 @@
 #define SCENEVIEWER_CORBASERVER_GRAPHICALINTERFACE_HH
 
 #include <omniORB4/CORBA.h>
-#include <boost/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
-#include <gepetto/viewer/window-manager.h>
-#include <gepetto/viewer/node.h>
-#include <gepetto/viewer/group-node.h>
-#include <gepetto/viewer/leaf-node-box.h>
-#include <gepetto/viewer/leaf-node-capsule.h>
-#include <gepetto/viewer/leaf-node-cone.h>
-#include <gepetto/viewer/leaf-node-cylinder.h>
-#include <gepetto/viewer/leaf-node-line.h>
-#include <gepetto/viewer/leaf-node-face.h>
-#include <gepetto/viewer/leaf-node-sphere.h>
-#include <gepetto/viewer/macros.h>
-#include <gepetto/viewer/config-osg.h>
-#include <gepetto/viewer/leaf-node-ground.h>
-#include <gepetto/viewer/leaf-node-collada.h>
-#include <gepetto/viewer/urdf-parser.h>
-
-#include "server.hh"
+
+#include "gepetto/viewer/corba/server.hh"
 #include "graphical-interface.hh"
 
 namespace graphics {
@@ -42,35 +24,15 @@ struct NodeConfiguration {
     osgQuat quat;
 };
 
+using graphics::WindowsManagerPtr_t;
 class GraphicalInterface :
     public virtual POA_gepetto::corbaserver::GraphicalInterface
 {
 private:
+    WindowsManagerPtr_t windowsManager_;
     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_;
-    boost::mutex mtx_;
-    int rate_;
-    std::list<NodeConfiguration> newNodeConfigurations_;
-
-    static osgVector4 getColor(const std::string& colorName);
-    static osgVector4 getColor(const double* color);
-    static std::string parentName(const std::string& name);
-    static VisibilityMode getVisibility(const std::string& visibilityName);
-    static WireFrameMode getWire(const std::string& wireName);
-    static LightingMode getLight(const std::string& lightName);
-    void initParent(const std::string& nodeName, NodePtr_t node);
-    void addNode(const std::string& nodeName, NodePtr_t node);
-    void addGroup(const std::string& groupName, GroupNodePtr_t group);
-    void threadRefreshing(WindowManagerPtr_t window);
-    static osgQuat corbaConfToOsgQuat(const double* configurationCorba);
-    static osgVector3 corbaConfToOsgVec3(const double* configurationCorba);
-
-protected:
+    typedef graphics::WindowsManager::value_type value_type;
 
 public:
     /**
@@ -91,22 +53,22 @@ public:
   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);
+  virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const value_type* color) throw (Error);
 
-  virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color) throw (Error);
+  virtual bool addCapsule(const char* capsuleName, float radius, float height, const value_type* color) throw (Error);
 
   virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba)  throw (Error);
 
-  virtual bool addCone(const char* coneName, float radius, float height, const double* color) throw (Error);
+  virtual bool addCone(const char* coneName, float radius, float height, const value_type* color) throw (Error);
 
-  virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color) throw (Error);
+  virtual bool addCylinder(const char* cylinderName, float radius, float height, const value_type* color) throw (Error);
 
-  virtual bool addSphere(const char* sphereName, float radius, const double* color) throw (Error);
+  virtual bool addSphere(const char* sphereName, float radius, const value_type* color) throw (Error);
 
-  virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color) throw (Error);
+  virtual bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color) throw (Error);
 
-  virtual bool addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color) throw (Error);
-  virtual bool addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color) throw (Error);
+  virtual bool addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color) throw (Error);
+  virtual bool addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color) throw (Error);
 
   virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
 
@@ -124,7 +86,7 @@ public:
   virtual bool createGroup(const char* groupNameCorba)  throw (Error);
   virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba)  throw (Error);
 
-  virtual bool applyConfiguration(const char* nodeNameCorba, const double* configuration)  throw (Error);
+  virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration)  throw (Error);
 
   virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
   virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);

src/server-private.cc

@@ -13,7 +13,7 @@
 
 #include "graphical-interface.impl.hh"
 #include "server-private.hh"
-#include "fwd.hh"
+#include "gepetto/viewer/corba/fwd.hh"
 
 namespace graphics
 {

src/server-private.hh

@@ -12,7 +12,7 @@
 # define SCENVIEWER_CORBASERVER_SERVER_PRIVATE_HH
 
 # include "graphical-interface.impl.hh"
-# include "fwd.hh"
+# include "gepetto/viewer/corba/fwd.hh"
 
 namespace graphics
 {

src/server.cc

@@ -12,11 +12,10 @@
 #include <pthread.h>
 #include <iostream>
 #include <stdexcept>
-#include "server.hh"
 
+#include "gepetto/viewer/corba/server.hh"
 #include "server-private.hh"
 
-
 namespace graphics
 {
   namespace corbaServer
@@ -42,7 +41,8 @@ namespace graphics
     //} // end of anonymous namespace.
 
 
-    Server::Server(int argc, const char *argv[], bool inMultiThread)
+    Server::Server(WindowsManagerPtr_t wm, int argc, const char *argv[],
+        bool inMultiThread) : windowsManager_ (wm)
     {
       private_ = new impl::Server;
 

src/server.hh

@@ -11,13 +11,16 @@
 #ifndef SCENEVIEWER_CORBASERVER_SERVER_HH
 # define SCENEVIEWER_CORBASERVER_SERVER_HH
 
-
-#include "fwd.hh"
+#include "gepetto/viewer/corba/fwd.hh"
+#include <gepetto/viewer/windows-manager.h>
 
 namespace graphics
 {
   namespace corbaServer
   {
+    using graphics::WindowsManager;
+    using graphics::WindowsManagerPtr_t;
+
     /// Implementation of Hpp module Corba server.
 
     ///  This class initializes the Corba server and starts the following Corba interface implementations.
@@ -50,6 +53,7 @@ namespace graphics
     {
     public:
       /// Constructor
+      /// \param the object that handles CORBA requests.
       /// \param argc, argv parameter to feed ORB initialization.
       /// \param multiThread whether the server may process request using
       ///        multithred policy.
@@ -59,7 +63,8 @@ namespace graphics
       /// \note It is highly recommended not to enable multi-thread policy in
       ///       CORBA request processing if this library is run from an openGL
       ///       based GUI, since OpenGL does not support multithreading.
-      Server (int argc, const char* argv[], bool multiThread = false);
+      Server (WindowsManagerPtr_t windowsManager, int argc,
+          const char* argv[], bool multiThread = false);
 
       /// \brief Shutdown CORBA server
       ~Server ();
@@ -74,8 +79,10 @@ namespace graphics
       ///             returns.
       int processRequest (bool loop);
 
-      //core::ProblemSolverPtr_t problemSolver () const;
-      //core::ProblemSolverPtr_t problemSolver ();
+      WindowsManagerPtr_t windowsManager () const
+      {
+        return windowsManager_;
+      }
 
     private:
 
@@ -92,6 +99,7 @@ namespace graphics
 
       impl::Server* private_;
 
+      WindowsManagerPtr_t windowsManager_;
     };
 
   } // end of namespace corbaServer.

src/test-client-cpp.cc

@@ -29,12 +29,12 @@ int main(int, const char **)
 
     sleep(5);
 
-    //vector<double> tri01 (3);
+    //vector<float> tri01 (3);
 
-    double pos1[3]= {1.,0.,0.};
-    double pos2[3] = {0.,1.,0.};
-    double pos3[3]= {0.,1.,1.};
-    double color[4] = {1.,1.,1.,1.};
+    float pos1[3]= {1.,0.,0.};
+    float pos2[3] = {0.,1.,0.};
+    float pos3[3]= {0.,1.,1.};
+    float color[4] = {1.,1.,1.,1.};
     client.addTriangleFace("scene1/triangle", pos1, pos2, pos3, color);
 
     sleep(15);