Add setHighlight method

idl/gepetto/viewer/graphical-interface.idl

@@ -277,6 +277,11 @@ typedef unsigned long WindowID;
     /// \param input lightingMode : lighting mode can be "ON" or "OFF".
     boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
 
+    /// Change the highlight status
+    /// \param input nodeName : name of the node.
+    /// \param input state : 0 for off, 1 or 2 for other things.
+    boolean setHighlight (in string nodeName, in long state) 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.h

@@ -153,6 +153,7 @@ namespace graphics {
             virtual bool setScale(const char* nodeNameCorba, const value_type* scale);
             virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba);
             virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba);
+            virtual bool setHighlight(const char* nodeNameCorba, int state);
 
             virtual bool startCapture (const WindowID windowId, const char* filename,
                     const char* extension);

src/graphical-interface.impl.cpp

@@ -465,6 +465,16 @@ namespace graphics {
 	}
       }
 
+      bool GraphicalInterface::setHighlight (const char* nodeNameCorba,
+                                             ::CORBA::Long state) throw (Error)
+      {
+	try {
+          return windowsManager_->setHighlight ( nodeNameCorba, state) ;
+        } catch (const std::exception& exc) {
+	  throw Error (exc.what ());
+	}
+      }
+
       bool GraphicalInterface::startCapture (const WindowID windowId, const char* filename,
           const char* extension) throw (Error)
       {

src/graphical-interface.impl.hh

@@ -117,6 +117,7 @@ public:
   virtual bool setScale(const char* nodeNameCorba, const value_type* scale)throw (Error);
   virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba)  throw (Error);
   virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)  throw (Error);
+  virtual bool setHighlight(const char* nodeNameCorba, ::CORBA::Long state)  throw (Error);
 
   virtual bool startCapture (const WindowID windowId, const char* filename,
       const char* extension) throw (Error);

src/windows-manager.cpp

@@ -1032,6 +1032,21 @@ namespace graphics {
         return true;
     }
 
+    bool WindowsManager::setHighlight (const char* nodeNameCorba,
+            int state)
+    {
+        const std::string nodeName (nodeNameCorba);
+        if (nodes_.find (nodeName) == nodes_.end ()) {
+            std::cout << "Node \"" << nodeName << "\" doesn't exist."
+                << std::endl;
+            return false;
+        }
+	mtx_.lock();
+        nodes_[nodeName]->setHighlightState (state);
+	mtx_.unlock();
+        return true;
+    }
+
     bool WindowsManager::startCapture (const WindowID windowId, const char* filename,
             const char* extension)
     {