Add class Client and make class ClientCpp deprecated.

cmake @ 271ca4fb

-Subproject commit a831f5403a93b67c6cb8675625e79dd676a565f3
+Subproject commit 271ca4fb6fe78a3f8e2473e095d0f99a7f25e205

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 {

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

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
   )
 

src/client.cc

+// 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.

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 {

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;
 }