Add captureFrame method

idl/gepetto/viewer/graphical-interface.idl

@@ -341,6 +341,8 @@ typedef sequence<Position> PositionSeq;
     /// \param input state : 0 for off, 1 or 2 for other things.
     boolean setHighlight (in string nodeName, in long state) raises (Error);
 
+    void captureFrame (in WindowID wid, in string imageFilename) raises (Error);
+
     /// Start capturing a window into image files.
     /// \param windowId the ID of the window
     /// \param filename, extension image files will be

include/gepetto/viewer/corba/windows-manager.hh

@@ -249,6 +249,7 @@ namespace graphics {
             virtual bool setAlpha(const std::string& nodeName, const float& alpha);
             virtual bool setAlpha(const std::string& nodeName, const int& alphaPercentage);
 
+            virtual void captureFrame (const WindowID windowId, const std::string& filename);
             virtual bool startCapture (const WindowID windowId, const std::string& filename,
                     const std::string& extension);
             virtual bool stopCapture (const WindowID windowId);

src/graphical-interface.impl.cpp

@@ -367,6 +367,8 @@ namespace graphics {
 
       BIND_TO_WINDOWS_MANAGER_2(BOOL, setHighlight, STRING, LONG)
 
+      BIND_TO_WINDOWS_MANAGER_2(VOID, captureFrame, WINDOW_ID, STRING)
+
       BIND_TO_WINDOWS_MANAGER_3(BOOL, startCapture, WINDOW_ID, STRING, STRING)
 
       BIND_TO_WINDOWS_MANAGER_1(BOOL, stopCapture, WINDOW_ID)

src/graphical-interface.impl.hh

@@ -142,6 +142,7 @@ public:
   virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)  throw (Error);
   virtual bool setHighlight(const char* nodeNameCorba, ::CORBA::Long state)  throw (Error);
 
+  virtual void captureFrame (const WindowID windowId, const char* filename) throw (Error);
   virtual bool startCapture (const WindowID windowId, const char* filename,
       const char* extension) throw (Error);
   virtual bool stopCapture (const WindowID windowId) throw (Error);

src/windows-manager.cpp

@@ -1172,6 +1172,19 @@ namespace graphics {
         return true;
     }
 
+    void WindowsManager::captureFrame (const WindowID wid, const std::string& filename)
+    {
+      WindowManagerPtr_t wm = getWindowManager(wid, true);
+      mtx_.lock();
+      try {
+        wm->captureFrame (filename);
+      } catch (const std::exception& exc) {
+        mtx_.unlock();
+        throw;
+      }
+      mtx_.unlock();
+    }
+
     bool WindowsManager::startCapture (const WindowID windowId, const std::string& filename,
             const std::string& extension)
     {