Move class WindowsManager from gepetto-viewer.

CMakeLists.txt

@@ -30,6 +30,7 @@ SET(PROJECT_DESCRIPTION "Corba server for gepetto-viewer")
 SET(PROJECT_URL "")
 
 SET(${PROJECT_NAME}_HEADERS
+  include/gepetto/viewer/corba/windows-manager.h
   include/gepetto/viewer/corba/server.hh
   include/gepetto/viewer/corba/client.hh
   include/gepetto/viewer/corba/se3.hh

include/gepetto/viewer/corba/server.hh

@@ -12,7 +12,7 @@
 # define SCENEVIEWER_CORBASERVER_SERVER_HH
 
 #include "gepetto/viewer/corba/fwd.hh"
-#include <gepetto/viewer/windows-manager.h>
+#include <gepetto/viewer/corba/windows-manager.h>
 
 namespace graphics
 {

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

+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of gepetto-viewer.
+// gepetto-viewer 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 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. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef SCENEVIEWER_WINDOWMANAGERS_HH
+#define SCENEVIEWER_WINDOWMANAGERS_HH
+
+#include <gepetto/viewer/window-manager.h>
+#include <boost/thread/mutex.hpp>
+
+namespace graphics {
+
+    struct NodeConfiguration {
+        NodePtr_t node;
+        osgVector3 position;
+        osgQuat quat;
+    };
+
+    DEF_CLASS_SMART_PTR(WindowsManager)
+
+    class WindowsManager
+    {
+        public:
+            // Typedef for position and color values.
+            typedef osg::Vec3f::value_type value_type;
+            typedef unsigned int WindowID;
+
+        private:
+            typedef std::vector <WindowManagerPtr_t> WindowManagerVector_t;
+            WindowManagerVector_t windowManagers_;
+            std::map<std::string, NodePtr_t> nodes_;
+            std::map<std::string, GroupNodePtr_t> groupNodes_;
+            boost::mutex mtx_;
+            int rate_;
+            std::list<NodeConfiguration> newNodeConfigurations_;
+
+            static osgVector4 getColor(const std::string& colorName);
+            static osgVector4 getColor(const float* color);
+            static std::string parentName(const std::string& name);
+            static VisibilityMode getVisibility(const std::string& visibilityName);
+            static WireFrameMode getWire(const std::string& wireName);
+            static LightingMode getLight(const std::string& lightName);
+            void initParent(const std::string& nodeName, NodePtr_t node);
+            void addNode(const std::string& nodeName, NodePtr_t node);
+            void addGroup(const std::string& groupName, GroupNodePtr_t group);
+            void threadRefreshing(WindowManagerPtr_t window);
+            static osgQuat corbaConfToOsgQuat(const value_type* configurationCorba);
+            static osgVector3 corbaConfToOsgVec3(const value_type* configurationCorba);
+
+        protected:
+            /**
+              \brief Default constructor
+              */
+            WindowsManager ();
+
+        public:
+            static WindowsManagerPtr_t create ();
+
+            virtual void getNodeList();
+            virtual void getWindowList();
+
+            virtual bool setRate(const int& rate);
+            virtual void refresh();
+
+            virtual WindowID createWindow(const char* windowNameCorba, osg::GraphicsContext* gc = 0);
+
+            virtual void createScene(const char* sceneNameCorba);
+            virtual void createSceneWithFloor(const char* sceneNameCorba);
+            virtual bool addSceneToWindow(const char* sceneNameCorba, const WindowID windowId);
+
+
+            virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const value_type* color);
+
+            virtual bool addCapsule(const char* capsuleName, float radius, float height, const value_type* color);
+
+            virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba);
+
+            virtual bool addCone(const char* coneName, float radius, float height, const value_type* color);
+
+            virtual bool addCylinder(const char* cylinderName, float radius, float height, const value_type* color);
+
+            virtual bool addSphere(const char* sphereName, float radius, const value_type* color);
+
+            virtual bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color);
+
+            virtual bool addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color);
+            virtual bool addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color);
+
+            virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
+
+            virtual bool addUrdfCollision (const char* urdfNameCorba,
+                    const char* urdfPathCorba,
+                    const char* urdfPackagePathCorba) ;
+
+            virtual void addUrdfObjects (const char* urdfNameCorba,
+                    const char* urdfPathCorba,
+                    const char* urdfPackagePathCorba,
+                    bool visual) ;
+
+            virtual bool createGroup(const char* groupNameCorba);
+            virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba);
+
+            virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration);
+
+            virtual bool addLandmark(const char* nodeNameCorba, float size);
+            virtual bool deleteLandmark(const char* nodeNameCorba);
+
+            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 startCapture (const WindowID windowId, const char* filename,
+                    const char* extension);
+            virtual bool stopCapture (const WindowID windowId);
+            virtual bool writeNodeFile (const WindowID windowId, const char* filename);
+
+            WindowManagerPtr_t getWindowManager (const WindowID wid);
+            GroupNodePtr_t getScene (const std::string sceneName);
+            NodePtr_t getNode (const std::string nodeName);
+    };
+} /* namespace graphics */
+
+#endif /* SCENEVIEWER_WINDOWMANAGERS_HH */

src/CMakeLists.txt

@@ -33,6 +33,7 @@ ADD_LIBRARY(${LIBRARY_NAME}
   graphical-interfaceSK.cc
   graphical-interface.impl.cpp
   graphical-interface.impl.hh
+  windows-manager.cpp
   server.cc
   server-private.cc
   server-private.hh