Catch server exceptions and throw them to client via corba.

idl/gepetto/viewer/graphical-interface.idl

 // file graphicalinterface.idl
 module gepetto {
+  /// Corba exception travelling through the Corba channel
+  exception Error
+  {
+    string msg;
+  };
+
 module corbaserver {
 
 // Comments :
@@ -9,7 +15,7 @@ module corbaserver {
 //     SceneViewer-corbaserver window for more information)
 // 3)  applyConfiguration doesn't move object straigh forward, you need to used
 //     the "refresh" function each time you want actualize position of the Viewer.
-//     This system is used to synchronize movement of all objects. 
+//     This system is used to synchronize movement of all objects.
 
 typedef double Transform [7];
 typedef double Position [3];
@@ -20,39 +26,36 @@ typedef double Color [4];
 
     /// Set time between window frames
     /// \param input rate : waiting time (ms) between two frames.
-       boolean setRate(in long rate);
+    boolean setRate(in long rate) raises (Error);
 
     /// Change configurations according to the last applyConfigurations.d
-       void refresh();
+    void refresh() raises (Error);
 
 
     /// Create a new window.
     /// \param input name : name of the new window.
-       boolean createWindow(in string name);
+    boolean createWindow(in string name) raises (Error);
 
 
     /// Print names of nodes on the SceneViewer-corbaserver terminal.
-       void getNodeList();
+    void getNodeList() raises (Error);
 
     /// Print names of windows on the SceneViewer-corbaserver terminal.
-       void getWindowList();
-
-       //void createWindow(in string name, in unsigned long x, in unsigned long y, in unsigned long width, in unsigned long height) ;
-
+    void getWindowList() raises (Error);
 
     /// Create a group node.
     /// \param input sceneName : name of the group.
-       boolean createScene(in string sceneName) ;
+    boolean createScene(in string sceneName) raises (Error);
 
     /// Create a group node and a GroudNode ("sceneName/floor") as child
     /// \param input sceneName : name of the group
-       boolean createSceneWithFloor(in string sceneName) ;
+    boolean createSceneWithFloor(in string sceneName) raises (Error);
 
     /// 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) ;
+    boolean addSceneToWindow(in string sceneName, in string windowName) raises (Error);
 
     /// create a box called boxName.
     /// \param input boxName : name of the box.
@@ -60,112 +63,103 @@ typedef double Color [4];
     /// \param input boxSize2 : lenght of the box (y axis).
     /// \param input boxSize3 : lenght of the box (z axis).
     /// \param input RGBAcolor : Color of the box.
-       boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) ;
-
-       //boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3) ;
-
-       //boolean addCapsule(in string capsuleName, in float radius, in float height) ;
+    boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) raises (Error);
 
     /// create a box called CapsuleName.
     /// \param input CapsuleName : name of the capsule.
     /// \param input radius : radius of the capsule.
     /// \param input height : lenght of the segment that generates the capsule.
     /// \param input RGBAcolor : Color of the capsule.
-       boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) ;
+    boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) raises (Error);
 
     /// create a node to display a mesh (works for .dae, .obj and some other formats)
     /// \param input meshName : name of the new meshNode.
     /// \param input meshPath : full path to the mesh file.
-       boolean addMesh(in string meshName, in string meshPath) ;
-
-       //boolean addCone(in string coneName, in float radius, in float height) ;
+    boolean addMesh(in string meshName, in string meshPath) raises (Error);
 
     /// create a node to display a mesh (works for .dae, .obj and some other formats)
     /// \param input meshName : name of the new meshNode.
     /// \param input meshPath : full path to the mesh file.
-       boolean addCone(in string coneName, in float radius, in float height, in Color RGBAcolor) ;
-
-       //boolean addCylinder(in string cylinderName, in float radius, in float height) ;
+    boolean addCone(in string coneName, in float radius, in float height, in Color RGBAcolor) raises (Error);
 
     /// create a Cyllinder called cylinderName
     /// \param input cylinderName : name of the cylinder.
     /// \param input radius : radius of the cylinder.
     /// \param input height : lenght of the cylinder.
     /// \param input RGBAcolor : color of the cylinder.
-       boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) ;
-
-       //boolean addSphere(in string sphereName, in float radius) ;
+    boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error);
 
     /// create a sphere called sphereName
     /// \param input sphereName : name of the sphere.
     /// \param input radius : radius of the sphere.
     /// \param input RGBAcolor : color of the sphere.
-       boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) ;
+    boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) raises (Error);
 
     /// create a line called lineName.
     /// \param input lineName : name of the line.
     /// \param input pos1 : position one extremity of the line.
     /// \param input pos2 : position the other extremity of the line.
     /// \param input RGBAcolor : color of the line.
-       boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) ;
+    boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error);
 
     /// create a four vertices face called faceName.
     /// \param input faceName : name of the face.
     /// \param input pos1, pos2, pos3, pos4 : position of the vertices.
     /// \param input RGBAcolor : color of the face.
-       boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) ;
+    boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) raises (Error);
 
     /// create a three vertices face called faceName.
     /// \param input faceName : name of the face.
     /// \param input pos1, pos2, pos3 : position of the vertices.
     /// \param input RGBAcolor : color of the face.
-       boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) ;
+    boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error);
 
     /// parse an URDF model
     /// a groupNode will be created and each link will be child node of this node.
-    /// Links will be named "urdfName/linkName", linkName is the name of the link in the URDF file.
-    /// \param input urdfName : name of the groupNode that will be created.
+    /// Links will be named "prefix/linkName", linkName is the name of the link
+    /// in the URDF file.
+    /// \param input prefix: name of the groupNode that will be created.
     /// \param input urdfPath : full path to the URDF file.
-    /// \param input urddfPackage : path of the package to the package folder of the robot (this path should finish by "/").
-       boolean addURDF(in string urdfName, in string urdfPath, in string urdfPackage) ;
+    /// \param input urdfPackage : path of the package to the package folder of the robot (this path should finish by "/").
+    boolean addURDF(in string prefix, in string urdfPath, in string urdfPackage) raises (Error);
 
     /// create a groupNode called groupName
     /// \param input groupName : name of the group.
-       boolean createGroup(in string groupName) ;
+    boolean createGroup(in string groupName) raises (Error);
 
     /// set a node as child to a group node.
     /// \param input nodeName : name of the child node.
-    /// \param input groupName : name of the mother node (=group node). 
-       boolean addToGroup(in string nodeName, in string groupName) ;
+    /// \param input groupName : name of the mother node (=group node).
+    boolean addToGroup(in string nodeName, in string groupName) raises (Error);
 
     /// 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.
-       boolean applyConfiguration(in string nodeName, in Transform configuration) ;
+    boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
 
     /// Add Landmark at the center of a node (x=blue, y=green, z=red).
     /// \param input nodeName : name of the node
     /// \param input size : lenght of axises.
-       boolean addLandmark(in string nodeName, in float size) ;
+    boolean addLandmark(in string nodeName, in float size) raises (Error);
 
     /// delete Landmark of a node.
     /// \param input nodeName : name of the node
-       boolean deleteLandmark(in string nodeName) ;
+    boolean deleteLandmark(in string nodeName) raises (Error);
 
     /// Change the visibility of a node. If this node is a group node, visibility mode will be apply to all children.
     /// \param input nodeName : name of the node.
     /// \param input visibilityMode : visibility mode can be "ON", "OFF" or "ALWAYS_ON_TOP".
-       boolean setVisibility(in string nodeName, in string visibilityMode) ;
+    boolean setVisibility(in string nodeName, in string visibilityMode) raises (Error);
 
     /// Change wireframe mode of a node. If this node is a group node, wireframe mode will be apply to all children.
     /// \param input nodeName : name of the node.
     /// \param input wireframeMode : wiredframe mode can be "FILL", "WIREFRAME" or "FILL_AND_WIREFRAME".
-       boolean setWireFrameMode(in string nodeName, in string wireFrameMode) ;
+    boolean setWireFrameMode(in string nodeName, in string wireFrameMode) raises (Error);
 
     /// Change lighting mode of a node. If this node is a group node, lighting mode will be apply to all children.
     /// \param input nodeName : name of the node.
     /// \param input lightingMode : lighting mode can be "ON" or "OFF".
-       boolean setLightingMode(in string nodeName, in string lightingMode) ;
+    boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
   };
 };
 };

src/graphical-interface.impl.hh

@@ -46,6 +46,7 @@ class GraphicalInterface :
     public virtual POA_gepetto::corbaserver::GraphicalInterface
 {
 private:
+  typedef gepetto::Error Error;
     std::map<std::string, WindowManagerPtr_t> windowManagers_;
     std::map<std::string, NodePtr_t> nodes_;
     std::map<std::string, GroupNodePtr_t> groupNodes_;
@@ -75,55 +76,49 @@ public:
         */
     GraphicalInterface (corbaServer::Server* server);
 
-    virtual void getNodeList();
-    virtual void getWindowList();
+  virtual void getNodeList() throw (Error);
+  virtual void getWindowList() throw (Error);
 
-    virtual bool setRate(CORBA::Long rate);
-    virtual void refresh();
+  virtual bool setRate(CORBA::Long rate) throw (Error);
+  virtual void refresh() throw (Error);
 
-    virtual bool createWindow(const char* windowNameCorba);
-    //virtual void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
+  virtual bool createWindow(const char* windowNameCorba) throw (Error);
 
-    virtual bool createScene(const char* sceneNameCorba) ;
-    virtual bool createSceneWithFloor(const char* sceneNameCorba) ;
-    virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) ;
+  virtual bool createScene(const char* sceneNameCorba)  throw (Error);
+  virtual bool createSceneWithFloor(const char* sceneNameCorba)  throw (Error);
+  virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba)  throw (Error);
 
 
-    virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color);
-    //virtual bool addBox(const char* boxNameCorba, float boxSize1, float boxSize2, float boxSize3) ;
+  virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color) throw (Error);
 
-    //virtual bool addCapsule(const char* capsuleNameCorba, float radius, float height) ;
-    virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color);
+  virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color) throw (Error);
 
-    virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) ;
+  virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba)  throw (Error);
 
-    //virtual bool addCone(const char* coneNameCorba, float radius, float height) ;
-    virtual bool addCone(const char* coneName, float radius, float height, const double* color);
+  virtual bool addCone(const char* coneName, float radius, float height, const double* color) throw (Error);
 
-    //virtual bool addCylinder(const char* cylinderNameCorba, float radius, float height) ;
-    virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color);
+  virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color) throw (Error);
 
-    //virtual bool addSphere(const char* sphereNameCorba, float radius) ;
-    virtual bool addSphere(const char* sphereName, float radius, const double* color);
+  virtual bool addSphere(const char* sphereName, float radius, const double* color) throw (Error);
 
-    virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
+  virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color) throw (Error);
 
-    virtual bool addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color);
-    virtual bool addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color);
+  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 addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
+  virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
 
-    virtual bool createGroup(const char* groupNameCorba) ;
-    virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) ;
+  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) ;
+  virtual bool applyConfiguration(const char* nodeNameCorba, const double* configuration)  throw (Error);
 
-    virtual bool addLandmark(const char* nodeNameCorba, float size);
-    virtual bool deleteLandmark(const char* nodeNameCorba);
+  virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
+  virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);
 
-    virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) ;
-    virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) ;
-    virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) ;
+  virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba)  throw (Error);
+  virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba)  throw (Error);
+  virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)  throw (Error);
 
 }; // end of class