Make widgets thread safe.

plugins/hppwidgetsplugin/configurationlistwidget.cc

@@ -75,8 +75,8 @@ namespace hpp {
 
     void ConfigurationListWidget::onSaveClicked ()
     {
-      hpp::floatSeq_var c = plugin_->client()->robot()->getCurrentConfig ();
-      list()->addItem(makeItem(name()->text(), c.in()));
+      hpp::floatSeq const* c = plugin_->getCurrentConfig ();
+      list()->addItem(makeItem(name()->text(), *c));
       name()->setText(basename_ + QString::number(count_));
       count_++;
     }
@@ -85,8 +85,7 @@ namespace hpp {
     {
       if (current != 0) {
           const hpp::floatSeq& c = getConfig(current);
-          plugin_->client()->robot()->setCurrentConfig (c);
-          main_->requestApplyCurrentConfiguration();
+          plugin_->setCurrentConfig (c);
           if (previous_ &&
               previous_ != current->listWidget()) {
               previous_->clearSelection();

plugins/hppwidgetsplugin/hppwidgetsplugin.cc

@@ -216,6 +216,7 @@ namespace hpp {
     void HppWidgetsPlugin::setCurrentConfig (const hpp::floatSeq& q)
     {
       config_ = q;
+      MainWindow::instance()->requestApplyCurrentConfiguration();
     }
 
     hpp::floatSeq const* HppWidgetsPlugin::getCurrentConfig () const
@@ -317,8 +318,6 @@ namespace hpp {
                             "interface) and you did not refresh this GUI. "
                             "Use the refresh button \"Tools\" menu.");
       }
-      // Something smarter could be done here.
-      // For instance, the joint tree item could know the NodePtr_t of their bodies.
       hpp::TransformSeq_var Ts = client()->robot ()->getLinksPosition (config_, linkNames_);
       fromHPP (Ts, bodyConfs_);
       main->osg()->applyConfigurations (bodyNames_, bodyConfs_);
@@ -330,8 +329,6 @@ namespace hpp {
           ite->item->updateFromRobotConfig (config_);
         }
       }
-      // for (std::list<std::string>::const_iterator it = jointFrames_.begin ();
-          // it != jointFrames_.end (); ++it) {
       Ts = client()->robot()->getJointsPosition(config_, jointFrames_);
       fromHPP (Ts, bodyConfs_);
       main->osg()->applyConfigurations (jointGroupNames_, bodyConfs_);
@@ -414,8 +411,7 @@ namespace hpp {
           if (type == "node") {
             try {
               hpp::floatSeq_var q = hpp_->problem()->node(n);
-              hpp_->robot()->setCurrentConfig(q.in());
-              gepetto::gui::MainWindow::instance()->requestApplyCurrentConfiguration();
+              setCurrentConfig(q.in());
             } catch (const hpp::Error& e) {
               emit logFailure(QString::fromLocal8Bit(e.msg));
             }
@@ -429,8 +425,7 @@ namespace hpp {
             hpp::floatSeq_var times;
             hpp::floatSeqSeq_var waypoints = hpp_->problem()->getWaypoints((CORBA::UShort)pid, times.out());
             if (n < waypoints->length()) {
-              hpp_->robot()->setCurrentConfig(waypoints[n]);
-              MainWindow::instance()->requestApplyCurrentConfiguration();
+              setCurrentConfig(waypoints[n]);
             }
           }
         }

plugins/hppwidgetsplugin/pathplayer.cc

@@ -88,7 +88,10 @@ namespace hpp {
         wsm->createGroup (pn);
         wsm->addToGroup(pn, "hpp-gui");
       }
-      hpp::floatSeq_var curCfg = hpp->robot()->getCurrentConfig();
+      // Temporary object to avoid dynamic allocation.
+      // Arguments are max, length, storage, take ownership.
+      char* tmps[1];
+      hpp::Names_t names (1, 1, tmps, false);
       graphics::Configuration pos;
       osgVector3 pos1, pos2;
       for (unsigned int i = 0; i < waypoints->length(); ++i) {
@@ -96,9 +99,9 @@ namespace hpp {
         ss.clear(); ss.str(std::string()); ss << pn << "/node" << i;
         std::string xyzName = ss.str();
         // Get positions
-        hpp->robot()->setCurrentConfig(waypoints[i]);
-        hpp::Transform__var t = hpp->robot()->getJointPosition(jointName.c_str());
-        fromHPP(t, pos);
+        names[0] = jointName.c_str();
+        hpp::TransformSeq_var Ts = hpp->robot()->getJointsPosition(waypoints[i], names);
+        fromHPP(Ts[0], pos);
         pos1 = pos2; pos2 = pos.position;
         // Create the nodes
         if (wsm->nodeExists(xyzName)) wsm->deleteNode(xyzName, false);
@@ -111,7 +114,6 @@ namespace hpp {
           wsm->addLine(xyzName, pos1, pos2, colorE);
         }
       }
-      hpp->robot()->setCurrentConfig(curCfg.in());
       wsm->refresh();
     }
 
@@ -142,25 +144,28 @@ namespace hpp {
       graphics::WindowsManager::Color_t colorE (1.f, 0.f, 0.f, 1.f);
       gepetto::gui::WindowsManagerPtr_t wsm = main->osg();
       HppWidgetsPlugin::HppClient* hpp = plugin_->client();
-      hpp::floatSeq_var curCfg = hpp->robot()->getCurrentConfig();
       CORBA::Double length = hpp->problem()->pathLength(pid);
       double dt = lengthBetweenRefresh();
       CORBA::ULong nbPos = (CORBA::ULong)(length / dt) + 1;
+      osgVector3 pos;
       ::osg::Vec3ArrayRefPtr posSeq = new ::osg::Vec3Array;
+      // Temporary object to avoid dynamic allocation.
+      // Arguments are max, length, storage, take ownership.
+      char* tmps[1];
+      hpp::Names_t names (1, 1, tmps, false);
       float statusStep = 100.f / (float) nbPos;
       emit displayPath_status(0);
       for (CORBA::ULong i = 0; i < nbPos; ++i) {
         double t = std::min (i * dt, length);
         hpp::floatSeq_var q = hpp->problem()->configAtParam(pid, t);
-        hpp->robot()->setCurrentConfig(q);
-        hpp::Transform__var transform = hpp->robot()->getJointPosition(jointName.c_str());
-        const hpp::Transform__slice* tt = transform.in();
-        posSeq->push_back(::osg::Vec3 ((float)tt[0],(float)tt[1],(float)tt[2]));
+        names[0] = jointName.c_str();
+        hpp::TransformSeq_var Ts = hpp->robot()->getJointsPosition(q.in(), names);
+        fromHPP(Ts[0], pos);
+        posSeq->push_back(pos);
         emit displayPath_status(qFloor ((float)i * statusStep));
       }
       if (wsm->nodeExists(pn)) wsm->deleteNode (pn, true);
       wsm->addCurve(pn, posSeq, colorE);
-      hpp->robot()->setCurrentConfig(curCfg.in());
       wsm->addToGroup(pn.c_str(), "hpp-gui");
       wsm->refresh();
       emit displayPath_status (100);

plugins/hppwidgetsplugin/roadmap.cc

@@ -91,12 +91,10 @@ namespace hpp {
 
     void Roadmap::beforeDisplay ()
     {
-      config_ = plugin_->client()->robot()->getCurrentConfig();
     }
 
     void Roadmap::afterDisplay ()
     {
-      plugin_->client()->robot()->setCurrentConfig(config_.in());
     }
 
     std::size_t Roadmap::numberNodes ()
@@ -132,23 +130,19 @@ namespace hpp {
     {
       HppWidgetsPlugin::HppClient* hpp = plugin_->client();
       hpp::floatSeq_var n = hpp->problem()->node(nodeId);
-      hpp->robot()->setCurrentConfig(n.in());
-      hpp::Transform__var t; getPosition (t);
-      fromHPP(t, frame);
+      getPosition (n.in(), frame);
     }
 
     void Roadmap::edgePositions (EdgeID edgeId, Position& start, Position& end)
     {
       HppWidgetsPlugin::HppClient* hpp = plugin_->client();
       hpp::floatSeq_var n1, n2;
-      hpp::Transform__var t;
+      Frame t;
       hpp->problem()->edge(edgeId, n1.out(), n2.out());
-      hpp->robot()->setCurrentConfig(n1.in());
-      getPosition (t);
-      fromHPP(t, start);
-      hpp->robot()->setCurrentConfig(n2.in());
-      getPosition (t);
-      fromHPP(t, end);
+      getPosition (n1.in(), t);
+      start = t.position;
+      getPosition (n2.in(), t);
+      end   = t.position;
     }
 
     void Roadmap::nodeColor (NodeID nodeId, Color& color)
@@ -163,11 +157,18 @@ namespace hpp {
       edgeColorMap_.getColor (iCC, color);
     }
 
-    inline void Roadmap::getPosition (hpp::Transform__var& t) const
+    inline void Roadmap::getPosition (const hpp::floatSeq& q, Frame& t) const
     {
       HppWidgetsPlugin::HppClient* hpp = plugin_->client();
-      if (link_) t = hpp->robot()->getLinkPosition (name_.c_str());
-      else       t = hpp->robot()->getJointPosition(name_.c_str());
+      hpp::TransformSeq_var Ts;
+      // Temporary object to avoid dynamic allocation.
+      // Arguments are max, length, storage, take ownership.
+      char* tmps[1];
+      hpp::Names_t names (1, 1, tmps, false);
+      names[0] = name_.c_str();
+      if (link_) Ts = hpp->robot()->getLinksPosition (q, names);
+      else       Ts = hpp->robot()->getJointsPosition(q, names);
+      fromHPP(Ts[0], t);
     }
   } // namespace gui
 } // namespace hpp

plugins/hppwidgetsplugin/roadmap.hh

@@ -67,12 +67,11 @@ namespace hpp {
 
       private:
         void initRoadmap (); 
-        inline void getPosition(hpp::Transform__var& t) const;
+        inline void getPosition(const hpp::floatSeq& q, Frame& t) const;
 
         HppWidgetsPlugin* plugin_;
         std::string name_;
         bool link_;
-        hpp::floatSeq_var config_;
     };
   } // namespace gui
 } // namespace hpp