From 432fb6276699a7c127cb99b55a420ec68b81be77 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 23 May 2015 21:21:43 +0200
Subject: [PATCH] Add class Client and make class ClientCpp deprecated.
---
cmake | 2 +-
idl/gepetto/viewer/graphical-interface.idl | 1 +
include/gepetto/viewer/corba/client.hh | 24 +++++++-
src/CMakeLists.txt | 22 ++-----
src/client.cc | 68 ++++++++++++++++++++++
src/graphical-interface.impl.hh | 2 +-
src/test-client-cpp.cc | 43 ++++++++++----
7 files changed, 131 insertions(+), 31 deletions(-)
create mode 100644 src/client.cc
diff --git a/cmake b/cmake
index a831f54..271ca4f 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit a831f5403a93b67c6cb8675625e79dd676a565f3
+Subproject commit 271ca4fb6fe78a3f8e2473e095d0f99a7f25e205
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index f871956..4e4cbe1 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -23,6 +23,7 @@ module corbaserver {
typedef float Transform [7];
typedef float Position [3];
typedef float Color [4];
+typedef unsigned long WindowID;
/// Corba exception travelling through the Corba channel
interface GraphicalInterface {
diff --git a/include/gepetto/viewer/corba/client.hh b/include/gepetto/viewer/corba/client.hh
index b8f646d..e87a089 100644
--- a/include/gepetto/viewer/corba/client.hh
+++ b/include/gepetto/viewer/corba/client.hh
@@ -11,13 +11,35 @@
#include <iostream>
#include <omniORB4/CORBA.h>
+#include <gepetto/viewer/corba/deprecated.hh>
#include <gepetto/viewer/corba/se3.hh>
#include <gepetto/viewer/corba/graphical-interface.hh>
namespace graphics {
namespace corbaServer {
+ class Client
+ {
+ public:
+ typedef CORBA::ULong WindowID;
+ Client (int argc, char* argv[]);
+
+ ~Client ();
+
+ void connect (const char* iiop = "corbaloc:rir:/NameService");
+
+ gepetto::corbaserver::GraphicalInterface_var& gui () {
+ return gui_;
+ }
+
+ private:
+ gepetto::corbaserver::GraphicalInterface_var gui_;
+
+ CORBA::ORB_var orb_;
+ };
+
+/// \deprecated Use class Client instead.
class ClientCpp
{
private:
@@ -89,7 +111,7 @@ public:
bool startCapture (const WindowID windowId, const char* filename, const char* extension);
bool stopCapture (const WindowID windowId);
bool writeNodeFile (const WindowID windowId, const char* filename);
-}; //end of class ClientCpp
+} GEPETTO_VIEWER_CORBA_DEPRECATED; //end of class ClientCpp
} //end of namespace corbaserver
} //end of namespace graphics
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 57afced..7b16b08 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -29,16 +29,17 @@ ENDFOREACH()
ADD_LIBRARY(${LIBRARY_NAME}
SHARED
- graphical-interfaceSK.cc
graphical-interface.impl.cpp
graphical-interface.impl.hh
windows-manager.cpp
server.cc
+ client.cc
server-private.cc
server-private.hh
client-cpp.cc
${CMAKE_CURRENT_BINARY_DIR}/gepetto/corbaserver/graphical-interface_idl.py
${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interface.hh
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interfaceSK.cc
)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
@@ -63,23 +64,11 @@ FOREACH (IDL ${IDL_SOURCES})
MAIN_DEPENDENCY
${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
)
- ADD_CUSTOM_COMMAND(
- OUTPUT
- ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
- COMMAND ${OMNIIDL}
- ARGS -bcxx -C${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba
- -I${CMAKE_SOURCE_DIR}/idl
- ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
- MAIN_DEPENDENCY
- ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
- )
SET_SOURCE_FILES_PROPERTIES(
${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
- ${CMAKE_CURRENT_BINARY_DIR}/${IDL}.hh
- ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
- GENERATED=ON
+ PROPERTIES GENERATED ON
)
- INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${IDL}.hh
+ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba)
STRING(REGEX REPLACE "-" "_"
@@ -114,7 +103,8 @@ INSTALL(
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/idl/gepetto/corbaserver
)
-INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/graphical-interface.hh
+INSTALL (FILES
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interface.hh
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba
)
diff --git a/src/client.cc b/src/client.cc
new file mode 100644
index 0000000..b591749
--- /dev/null
+++ b/src/client.cc
@@ -0,0 +1,68 @@
+// Copyright (c) 2015, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of gepetto-viewer-corba.
+// gepetto-viewer-corba is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// gepetto-viewer-corba is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// gepetto-viewer-corba. If not, see <http://www.gnu.org/licenses/>.
+
+#include "gepetto/viewer/corba/client.hh"
+
+#include <iostream>
+
+namespace graphics {
+ namespace corbaServer {
+ using CORBA::Exception;
+ using CORBA::Object_var;
+ using CORBA::SystemException;
+ using CORBA::ORB_init;
+ using CORBA::PolicyList;
+ using omniORB::fatalException;
+
+ Client::Client(int argc, char *argv[]) :
+ orb_ (CORBA::ORB_init (argc, argv))
+ {
+ }
+
+ void Client::connect (const char* iiop)
+ {
+ // Get a reference to the Naming Service
+ CORBA::Object_var rootContextObj = orb_->string_to_object(iiop);
+ CosNaming::NamingContext_var nc =
+ CosNaming::NamingContext::_narrow(rootContextObj.in());
+
+ // Bind robotObj with name Robot to the hppContext:
+ CosNaming::Name name;
+ name.length(2);
+ name[0].id = (const char *) "gepetto";
+ name[0].kind = (const char *) "viewer";
+ name[1].id = (const char *) "corbaserver";
+ name[1].kind = (const char *) "gui";
+ // Invoke the root context to retrieve the object reference
+ CORBA::Object_var managerObj = nc->resolve(name);
+ // Narrow the previous object to obtain the correct type
+ gui_ = gepetto::corbaserver::GraphicalInterface::_narrow(managerObj.in());
+ }
+
+ /// \brief Shutdown CORBA server
+ Client::~Client()
+ {
+ if (!CORBA::is_nil(orb_)) {
+ try {
+ orb_->destroy();
+ std::cout << "Ending CORBA..." << std::endl;
+ } catch(const CORBA::Exception& e) {
+ std::cout << "orb->destroy failed" << std::endl;
+ }
+ }
+ }
+ } // end of namespace corbaServer.
+} // end of namespace graphics.
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 04e806a..b27110b 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -12,7 +12,7 @@
#include <omniORB4/CORBA.h>
#include "gepetto/viewer/corba/server.hh"
-#include "graphical-interface.hh"
+#include "gepetto/viewer/corba/graphical-interface.hh"
namespace graphics {
namespace corbaServer {
diff --git a/src/test-client-cpp.cc b/src/test-client-cpp.cc
index 4dfb52e..0e59fcc 100644
--- a/src/test-client-cpp.cc
+++ b/src/test-client-cpp.cc
@@ -8,24 +8,38 @@
#include <gepetto/viewer/corba/client.hh>
+void se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position)
+{
+ Eigen::Quaternion<float> q(se3position.rotation());
+ corbaPosition[0] = se3position.translation()(0);
+ corbaPosition[1] = se3position.translation()(1);
+ corbaPosition[2] = se3position.translation()(2);
+ corbaPosition[3] = q.w();
+ corbaPosition[4] = q.x();
+ corbaPosition[5] = q.y();
+ corbaPosition[6] = q.z();
+}
+
int main(int, const char **)
{
using namespace graphics;
using namespace corbaServer;
using namespace std;
- ClientCpp client;
+ Client client (0, NULL);
+ client.connect ();
se3::SE3 position1 = se3::SE3::Random();
se3::SE3 position2 = se3::SE3::Random();
se3::SE3 position3 = se3::SE3::Random();
se3::SE3 position4 = se3::SE3::Random();
se3::SE3 position5 = se3::SE3::Random();
+ CORBA::Float pos[7];
- ClientCpp::WindowID windowId = client.createWindow("window1");
- client.createScene("scene1");
- 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/");
+ Client::WindowID windowId = client.gui()->createWindow("window1");
+ client.gui()->createScene("scene1");
+ client.gui()->addSceneToWindow("scene1",windowId);
+ client.gui()->addURDF("scene1/hrp2", "/local/mgeisert/devel/src/hrp2/hrp2_14_description/urdf/hrp2_14_capsule.urdf", "/local/mgeisert/devel/src/hrp2/");
sleep(5);
@@ -35,18 +49,23 @@ int main(int, const char **)
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);
+ client.gui()->addTriangleFace("scene1/triangle", pos1, pos2, pos3, color);
sleep(15);
- client.applyConfiguration("scene1/hrp2/RLEG_LINK0", position1);
- client.applyConfiguration("scene1/hrp2/RLEG_LINK1", position2);
- client.applyConfiguration("scene1/hrp2/LLEG_LINK1", position3);
- client.applyConfiguration("scene1/hrp2/LLEG_LINK2", position4);
- client.applyConfiguration("scene1/hrp2/BODY", position5);
+ se3ToCorba (pos, position1);
+ client.gui()->applyConfiguration("scene1/hrp2/RLEG_LINK0", pos);
+ se3ToCorba (pos, position2);
+ client.gui()->applyConfiguration("scene1/hrp2/RLEG_LINK1", pos);
+ se3ToCorba (pos, position3);
+ client.gui()->applyConfiguration("scene1/hrp2/LLEG_LINK1", pos);
+ se3ToCorba (pos, position4);
+ client.gui()->applyConfiguration("scene1/hrp2/LLEG_LINK2", pos);
+ se3ToCorba (pos, position5);
+ client.gui()->applyConfiguration("scene1/hrp2/BODY", pos);
- client.refresh();
+ client.gui()->refresh();
return 0;
}
--
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