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// Copyright (c) 2015, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include <QDir> |
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#include <QSettings> |
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#include <QStyleFactory> |
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#include <QtDebug> |
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#include <gepetto/gui/dialog/dialogloadenvironment.hh> |
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#include <gepetto/gui/dialog/dialogloadrobot.hh> |
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#include <gepetto/gui/mainwindow.hh> |
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#include <gepetto/gui/settings.hh> |
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#include <osg/ArgumentParser> |
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#include <osg/DisplaySettings> |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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#include <gepetto/gui/pythonwidget.hh> |
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#endif |
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#include "../log.hh" |
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namespace gepetto { |
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namespace gui { |
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Settings::Settings(const char* installDir) |
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: configurationFile("settings"), |
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predifinedRobotConf("robots"), |
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predifinedEnvConf("environments"), |
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stateConf(".state"), |
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verbose(false), |
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noPlugin(false), |
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useNameService(false), |
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refreshRate(30), |
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captureDirectory(), |
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captureFilename("screenshot"), |
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captureExtension("png"), |
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ffmpeg(FFMPEG), |
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installDirectory(installDir) |
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#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0)) |
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, |
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appStyle("cleanlooks") |
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#else |
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, |
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appStyle("fusion") |
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#endif |
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, |
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mw(0) { |
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QDir user(QDir::home()); |
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const char path[] = "Pictures/gepetto-gui"; |
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user.mkpath(path); |
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user.cd(path); |
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captureDirectory = user.absolutePath().toStdString(); |
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ffmpegInputOptions << "-r" |
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<< "25"; |
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ffmpegOutputOptions << "-vf" |
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<< "scale=trunc(iw/2)*2:trunc(ih/2)*2" |
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<< "-r" |
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<< "25" |
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<< "-vcodec" |
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<< "libx264"; |
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} |
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void Settings::setupPaths() const { |
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QProcessEnvironment env = QProcessEnvironment::systemEnvironment(); |
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if (env.contains("GEPETTO_GUI_SETTINGS_DIR")) { |
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QSettings::setPath(QSettings::IniFormat, QSettings::SystemScope, |
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env.value("GEPETTO_GUI_SETTINGS_DIR")); |
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QSettings::setPath(QSettings::NativeFormat, QSettings::SystemScope, |
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env.value("GEPETTO_GUI_SETTINGS_DIR")); |
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} else { |
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QSettings::setPath(QSettings::IniFormat, QSettings::SystemScope, |
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installDirectory + "/etc"); |
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QSettings::setPath(QSettings::NativeFormat, QSettings::SystemScope, |
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installDirectory + "/etc"); |
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} |
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if (env.contains("GEPETTO_GUI_PLUGIN_DIRS")) { |
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foreach (QString p, env.value("GEPETTO_GUI_PLUGIN_DIRS").split(':')) { |
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PluginManager::addPluginDir(p + "/gepetto-gui-plugins"); |
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} |
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} |
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foreach (QString p, env.value("LD_LIBRARY_PATH").split(':')) { |
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PluginManager::addPluginDir(p + "/gepetto-gui-plugins"); |
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} |
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PluginManager::addPluginDir(installDirectory + "/lib/gepetto-gui-plugins"); |
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} |
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int Settings::initSettings(int argc, char* argv[]) { |
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// 1. Declare the supported options. |
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osg::ArgumentParser arguments(&argc, argv); |
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osg::ApplicationUsage* au(arguments.getApplicationUsage()); |
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au->setApplicationName(arguments.getApplicationName()); |
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au->setCommandLineUsage(arguments.getApplicationName() + " [options]"); |
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au->addCommandLineOption("-v or --verbose", "Activate verbose output"); |
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au->addCommandLineOption("-g or --generate-config-files", |
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"generate configuration files in " + |
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installDirectory.toStdString() + |
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"/etc and quit"); |
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au->addCommandLineOption("-c or --config-file", |
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"set the configuration file (do not include .conf)", |
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configurationFile); |
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au->addCommandLineOption("--log", "set the file where logs are written", |
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logFile); |
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au->addCommandLineOption( |
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"--predefined-robots", |
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"set the predefined robots configuration file (do not include .conf)", |
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predifinedRobotConf); |
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au->addCommandLineOption("--predefined-environments", |
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"set the predefined environments configuration file " |
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"(do not include .conf)", |
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predifinedEnvConf); |
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au->addCommandLineOption("--add-robot", |
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"Add a robot (a list of comma sperated string)"); |
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au->addCommandLineOption( |
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"--add-env", "Add an environment (a list of comma sperated string)"); |
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au->addCommandLineOption("-p or --load-plugin", "load the plugin"); |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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au->addCommandLineOption("-q or --load-pyplugin", |
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"load the PythonQt module as a plugin"); |
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au->addCommandLineOption("-x or --run-pyscript", |
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"run a script into the PythonQt console"); |
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#endif |
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au->addCommandLineOption("-P or --no-plugin", "do not load any plugin"); |
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au->addCommandLineOption("-w or --auto-write-settings", |
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"write the settings in the configuration file"); |
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au->addCommandLineOption("--no-viewer-server", |
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"do not start the Gepetto Viewer server"); |
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au->addCommandLineOption( |
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"--use-nameservice", |
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"The server will be registered to the Omni NameService"); |
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// 2. Read configuration files |
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if (arguments.read("-c", configurationFile) || |
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arguments.read("--config-file", configurationFile)) { |
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} |
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if (arguments.read("--predefined-robots", predifinedRobotConf)) { |
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} |
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if (arguments.read("--predefined-environments", predifinedEnvConf)) { |
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} |
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fromFiles(); |
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arguments.read("--log", logFile); |
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// 3. Read other command line arguments |
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bool genAndQuit = false; |
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int retVal = 0; |
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// Declare the supported options. |
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osg::ApplicationUsage::Type help(arguments.readHelpType()); |
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osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
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ds->readCommandLine(arguments); // populate the help message. |
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verbose = (arguments.read("-v") || arguments.read("--verbose")); |
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genAndQuit = |
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(arguments.read("-g") || arguments.read("--generate-config-files")); |
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noPlugin = (arguments.read("-P") || arguments.read("--no-plugin")); |
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autoWriteSettings = |
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(arguments.read("-w") || arguments.read("--auto-write-settings")); |
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bool startViewerServer = (!arguments.read("--no-viewer-server")); |
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while (arguments.read("--use-nameservice", useNameService)) { |
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} |
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std::string opt; |
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while (arguments.read("--add-robot", opt)) addRobotFromString(opt); |
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while (arguments.read("--add-env", opt)) addEnvFromString(opt); |
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if (startViewerServer) { |
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// TODO omniorbserver.so should be the first plugin |
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// because of ORB::init... |
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// addPlugin ("omniorbserver.so", true); |
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pluginsToInit_.prepend("omniorbserver.so"); |
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pluginManager_.declarePlugin("omniorbserver.so"); |
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} |
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while (arguments.read("-p", opt) || arguments.read("--load-plugin", opt)) |
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addPlugin(QString::fromStdString(opt), !noPlugin); |
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while (arguments.read("-q", opt) || arguments.read("--load-pyplugin", opt)) |
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addPyPlugin(QString::fromStdString(opt), !noPlugin); |
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while (arguments.read("-x", opt) || arguments.read("--run-pyscript", opt)) |
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addPyScript(QString::fromStdString(opt)); |
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for (int i = 0; i < arguments.argc() - 1;) { |
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if (strncmp(arguments.argv()[i], "-ORB", 4) == 0) { |
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addOmniORB(arguments.argv()[i], arguments.argv()[i + 1]); |
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arguments.remove(i, 2); |
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} else |
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++i; |
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} |
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arguments.reportRemainingOptionsAsUnrecognized(osg::ArgumentParser::BENIGN); |
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if (arguments.errors(osg::ArgumentParser::CRITICAL)) { |
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arguments.writeErrorMessages(std::cout); |
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retVal = 2; |
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} else if (arguments.errors(osg::ArgumentParser::BENIGN)) { |
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arguments.writeErrorMessages(std::cout); |
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} |
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if (!omniORBargv_.contains("-ORBendPoint")) |
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addOmniORB("-ORBendPoint", ":::12321"); |
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if (genAndQuit && retVal < 1) retVal = 1; |
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if (help != osg::ApplicationUsage::NO_HELP) { |
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arguments.getApplicationUsage()->write(std::cout, help, 80, true); |
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if (help & osg::ApplicationUsage::ENVIRONMENTAL_VARIABLE) { |
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const std::string tab(" "); |
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const char nl = '\n'; |
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std::cout << "---------- gepetto-gui specific variables ---------" << nl |
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<< nl << tab << "GEPETTO_GUI_SETTINGS_DIR" << nl << nl << tab |
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<< tab << "Configure the system configuration directory." << nl |
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<< nl << tab << "GEPETTO_GUI_PLUGIN_DIRS" << nl << nl << tab |
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<< tab << "Configure the plugin search directories." |
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<< std::endl; |
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} |
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if (retVal < 1) retVal = 1; |
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} |
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if (verbose) print(std::cout) << std::endl; |
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if (genAndQuit) writeSettings(); |
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if (!logFile.empty()) setLogFile(logFile.c_str()); |
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return retVal; |
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} |
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void Settings::fromFiles() { |
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readRobotFile(); |
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readEnvFile(); |
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readSettingFile(); |
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} |
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void Settings::writeSettings() { |
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writeRobotFile(); |
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writeEnvFile(); |
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writeSettingFile(); |
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} |
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void Settings::initPlugins() { |
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foreach (QString name, pluginsToInit_) { |
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pluginManager_.loadPlugin(name); |
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pluginManager_.initPlugin(name); |
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} |
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foreach (QString name, pyplugins_) { |
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pluginManager_.loadPyPlugin(name); |
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} |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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PythonWidget* pw = mw->pythonWidget(); |
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// TODO Wouldn't it be better to do this later ? |
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foreach (QString fileName, pyscripts_) { |
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pw->runScript(fileName); |
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} |
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#else |
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foreach (QString fileName, pyscripts_) { |
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logError( |
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"gepetto-viewer was compiled without GEPETTO_GUI_HAS_" |
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"PYTHONQT flag. Cannot not load Python script " + |
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fileName); |
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} |
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#endif |
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} |
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void Settings::restoreState() const { |
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QSettings settings(QSettings::SystemScope, |
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QCoreApplication::organizationName(), |
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getQSettingsFileName(stateConf)); |
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if (settings.status() != QSettings::NoError) { |
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qDebug() << "Could not restore the window state from" |
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<< settings.fileName(); |
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} else { |
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settings.beginGroup("mainWindow"); |
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mw->restoreGeometry(settings.value("geometry").toByteArray()); |
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mw->restoreState(settings.value("state").toByteArray()); |
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mw->centralWidget()->setVisible( |
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settings.value("centralWidgetVisibility", true).toBool()); |
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settings.endGroup(); |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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mw->pythonWidget()->restoreHistory(settings); |
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#endif |
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} |
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} |
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void Settings::restoreDockWidgetsState() const { |
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QSettings settings(QSettings::SystemScope, |
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QCoreApplication::organizationName(), |
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getQSettingsFileName(stateConf)); |
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if (settings.status() != QSettings::NoError) { |
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qDebug() << "Could not restore the dock widget state from" |
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<< settings.fileName(); |
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} else { |
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settings.beginGroup("mainWindow"); |
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mw->restoreState(settings.value("state").toByteArray()); |
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settings.endGroup(); |
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} |
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} |
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void Settings::saveState() const { |
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QSettings settings(QSettings::SystemScope, |
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QCoreApplication::organizationName(), |
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getQSettingsFileName(stateConf)); |
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if (settings.status() != QSettings::NoError) { |
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qDebug() << "Could not save the window state to" << settings.fileName(); |
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} else { |
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settings.beginGroup("mainWindow"); |
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settings.setValue("geometry", mw->saveGeometry()); |
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settings.setValue("state", mw->saveState()); |
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settings.setValue("centralWidgetVisibility", |
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mw->centralWidget()->isVisible()); |
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settings.endGroup(); |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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mw->pythonWidget()->saveHistory(settings); |
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#endif |
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} |
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} |
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void Settings::setMainWindow(gepetto::gui::MainWindow* main) { mw = main; } |
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std::ostream& Settings::print(std::ostream& os) { |
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|
✗ |
const char tab = '\t'; |
| 330 |
|
✗ |
const char nl = '\n'; |
| 331 |
|
|
os << nl << "Configuration:" << nl << tab |
| 332 |
|
✗ |
<< "Configuration file: " << tab << configurationFile << nl |
| 333 |
|
|
<< tab << "Log file: " << tab |
| 334 |
|
✗ |
<< (logFile.empty() ? "standard output" : logFile) << nl << tab |
| 335 |
|
✗ |
<< "Predefined robots: " << tab << predifinedRobotConf << nl |
| 336 |
|
✗ |
<< tab << "Predefined environments: " << tab << predifinedEnvConf |
| 337 |
|
|
<< nl << tab << "User configuration search path: " << tab |
| 338 |
|
✗ |
<< QFileInfo(QSettings(QSettings::UserScope, |
| 339 |
|
✗ |
QCoreApplication::organizationName(), " ") |
| 340 |
|
✗ |
.fileName()) |
| 341 |
|
✗ |
.absolutePath() |
| 342 |
|
✗ |
.toStdString() |
| 343 |
|
|
<< nl << tab << "System configuration search path:" << tab |
| 344 |
|
✗ |
<< QFileInfo(QSettings(QSettings::SystemScope, |
| 345 |
|
✗ |
QCoreApplication::organizationName(), " ") |
| 346 |
|
✗ |
.fileName()) |
| 347 |
|
✗ |
.absolutePath() |
| 348 |
|
✗ |
.toStdString() |
| 349 |
|
|
|
| 350 |
|
|
<< nl << nl << "Options:" << nl << tab |
| 351 |
|
✗ |
<< "Verbose: " << tab << verbose << nl << tab |
| 352 |
|
✗ |
<< "No plugin: " << tab << noPlugin << nl << tab |
| 353 |
|
✗ |
<< "Use omni name service: " << tab << useNameService << nl |
| 354 |
|
✗ |
<< tab << "Refresh rate: " << tab << refreshRate |
| 355 |
|
|
|
| 356 |
|
|
<< nl << nl << "Screen capture options:" << nl << tab |
| 357 |
|
✗ |
<< "Directory: " << tab << captureDirectory << nl |
| 358 |
|
✗ |
<< tab << "Filename: " << tab << captureFilename |
| 359 |
|
|
<< nl << tab << "Extension: " << tab |
| 360 |
|
✗ |
<< captureExtension << nl << tab |
| 361 |
|
✗ |
<< "ffmpeg command: " << tab << ffmpeg.toStdString() |
| 362 |
|
|
<< nl << tab << "ffmpeg input options: " << tab |
| 363 |
|
✗ |
<< ffmpegInputOptions.join(" ").toStdString() << nl << tab |
| 364 |
|
|
<< "ffmpeg output options: " << tab |
| 365 |
|
✗ |
<< ffmpegOutputOptions.join(" ").toStdString() |
| 366 |
|
|
|
| 367 |
|
✗ |
<< nl << nl << "omniORB configuration"; |
| 368 |
|
✗ |
for (int i = 1; i < omniORBargv_.size(); i += 2) |
| 369 |
|
✗ |
os << nl << tab << omniORBargv_[i - 1].toStdString() << " = " |
| 370 |
|
✗ |
<< omniORBargv_[i].toStdString(); |
| 371 |
|
✗ |
return os; |
| 372 |
|
|
} |
| 373 |
|
|
|
| 374 |
|
✗ |
QString Settings::getQSettingsFileName(const std::string& settingsName) const { |
| 375 |
|
✗ |
QString name(QString::fromStdString(settingsName)); |
| 376 |
|
✗ |
QString ext(".conf"); |
| 377 |
|
|
// Remove extension |
| 378 |
|
✗ |
if (name.endsWith(ext)) name = name.left(name.size() - ext.size()); |
| 379 |
|
✗ |
return name; |
| 380 |
|
|
} |
| 381 |
|
|
|
| 382 |
|
✗ |
void Settings::readRobotFile() { |
| 383 |
|
✗ |
QSettings robot(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 384 |
|
✗ |
getQSettingsFileName(predifinedRobotConf)); |
| 385 |
|
✗ |
if (robot.status() != QSettings::NoError) { |
| 386 |
|
✗ |
logError(QString("Unable to open configuration file ") + robot.fileName()); |
| 387 |
|
|
} else { |
| 388 |
|
✗ |
foreach (QString name, robot.childGroups()) { |
| 389 |
|
✗ |
robot.beginGroup(name); |
| 390 |
|
✗ |
QString robotName = robot.value("RobotName", name).toString(); |
| 391 |
|
✗ |
DialogLoadRobot::addRobotDefinition( |
| 392 |
|
✗ |
name, robotName, robot.value("RootJointType", "freeflyer").toString(), |
| 393 |
|
✗ |
robot.value("ModelName", robotName).toString(), |
| 394 |
|
✗ |
robot.value("Package", "").toString(), |
| 395 |
|
✗ |
robot.value("URDFSuffix", "").toString(), |
| 396 |
|
✗ |
robot.value("SRDFSuffix", "").toString()); |
| 397 |
|
✗ |
robot.endGroup(); |
| 398 |
|
|
} |
| 399 |
|
✗ |
log(QString("Read configuration file ") + robot.fileName()); |
| 400 |
|
|
} |
| 401 |
|
|
} |
| 402 |
|
|
|
| 403 |
|
✗ |
void Settings::readEnvFile() { |
| 404 |
|
✗ |
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 405 |
|
✗ |
getQSettingsFileName(predifinedEnvConf)); |
| 406 |
|
✗ |
if (env.status() != QSettings::NoError) { |
| 407 |
|
✗ |
logError(QString("Unable to open configuration file ") + env.fileName()); |
| 408 |
|
|
} else { |
| 409 |
|
✗ |
foreach (QString name, env.childGroups()) { |
| 410 |
|
✗ |
env.beginGroup(name); |
| 411 |
|
✗ |
QString envName = env.value("EnvironmentName", name).toString(); |
| 412 |
|
✗ |
DialogLoadEnvironment::addEnvironmentDefinition( |
| 413 |
|
✗ |
name, envName, env.value("Package", "").toString(), |
| 414 |
|
✗ |
env.value("URDFFilename").toString(), |
| 415 |
|
✗ |
env.value("URDFSuffix").toString(), |
| 416 |
|
✗ |
env.value("SRDFSuffix").toString()); |
| 417 |
|
✗ |
env.endGroup(); |
| 418 |
|
|
} |
| 419 |
|
✗ |
log(QString("Read configuration file ") + env.fileName()); |
| 420 |
|
|
} |
| 421 |
|
|
} |
| 422 |
|
|
|
| 423 |
|
|
#define GET_PARAM(what, type, variantMethod) \ |
| 424 |
|
|
{ \ |
| 425 |
|
|
QVariant param(env.value(#what, what)); \ |
| 426 |
|
|
if (param.canConvert<type>()) \ |
| 427 |
|
|
what = param.variantMethod(); \ |
| 428 |
|
|
else \ |
| 429 |
|
|
logError("Setting viewer/" #what " should be an " #type "."); \ |
| 430 |
|
|
} |
| 431 |
|
|
|
| 432 |
|
✗ |
void Settings::readSettingFile() { |
| 433 |
|
✗ |
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 434 |
|
✗ |
getQSettingsFileName(configurationFile)); |
| 435 |
|
✗ |
if (env.status() != QSettings::NoError) { |
| 436 |
|
✗ |
logError(QString("Unable to open configuration file ") + env.fileName()); |
| 437 |
|
|
} else { |
| 438 |
|
✗ |
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
| 439 |
|
✗ |
env.beginGroup("viewer"); |
| 440 |
|
✗ |
GET_PARAM(refreshRate, int, toInt); |
| 441 |
|
✗ |
int nbMultiSamples = 4; |
| 442 |
|
✗ |
GET_PARAM(nbMultiSamples, int, toInt); |
| 443 |
|
✗ |
ds->setNumMultiSamples(nbMultiSamples); |
| 444 |
|
|
|
| 445 |
|
✗ |
QString appStyle; |
| 446 |
|
✗ |
GET_PARAM(appStyle, QString, toString); |
| 447 |
|
✗ |
if (!appStyle.isNull()) { |
| 448 |
|
✗ |
if (QStyleFactory::keys().contains(appStyle, Qt::CaseInsensitive)) |
| 449 |
|
✗ |
this->appStyle = appStyle; |
| 450 |
|
|
else { |
| 451 |
|
✗ |
logError("Available application styles are " + |
| 452 |
|
✗ |
QStyleFactory::keys().join(", ")); |
| 453 |
|
✗ |
logError("Requested value is " + appStyle); |
| 454 |
|
✗ |
logError("Current value is " + this->appStyle); |
| 455 |
|
|
} |
| 456 |
|
|
} |
| 457 |
|
|
|
| 458 |
|
✗ |
GET_PARAM(useNameService, bool, toBool); |
| 459 |
|
✗ |
env.endGroup(); |
| 460 |
|
|
|
| 461 |
|
✗ |
env.beginGroup("plugins"); |
| 462 |
|
✗ |
foreach (QString name, env.childKeys()) { |
| 463 |
|
✗ |
addPlugin(name, (noPlugin) ? false : env.value(name, true).toBool()); |
| 464 |
|
|
} |
| 465 |
|
✗ |
env.endGroup(); |
| 466 |
|
|
|
| 467 |
|
✗ |
env.beginGroup("pyplugins"); |
| 468 |
|
✗ |
foreach (QString name, env.childKeys()) { |
| 469 |
|
✗ |
addPyPlugin(name, (noPlugin) ? false : env.value(name, true).toBool()); |
| 470 |
|
|
} |
| 471 |
|
✗ |
env.endGroup(); |
| 472 |
|
|
|
| 473 |
|
✗ |
env.beginGroup("omniORB"); |
| 474 |
|
✗ |
foreach (QString name, env.childKeys()) { |
| 475 |
|
✗ |
addOmniORB("-ORB" + name, env.value(name).toString()); |
| 476 |
|
|
} |
| 477 |
|
✗ |
env.endGroup(); |
| 478 |
|
|
|
| 479 |
|
✗ |
env.beginGroup("ffmpeg"); |
| 480 |
|
✗ |
ffmpeg = env.value("command", ffmpeg).toString(); |
| 481 |
|
|
ffmpegInputOptions = |
| 482 |
|
✗ |
env.value("input_options", ffmpegInputOptions).toStringList(); |
| 483 |
|
|
ffmpegOutputOptions = |
| 484 |
|
✗ |
env.value("output_options", ffmpegOutputOptions).toStringList(); |
| 485 |
|
✗ |
env.endGroup(); |
| 486 |
|
|
|
| 487 |
|
✗ |
env.beginGroup("settings"); |
| 488 |
|
✗ |
logFile = env.value("log", QString::fromStdString(logFile)) |
| 489 |
|
✗ |
.toString() |
| 490 |
|
✗ |
.toStdString(); |
| 491 |
|
✗ |
env.endGroup(); |
| 492 |
|
✗ |
log(QString("Read configuration file ") + env.fileName()); |
| 493 |
|
|
} |
| 494 |
|
|
} |
| 495 |
|
|
|
| 496 |
|
✗ |
void Settings::writeRobotFile() { |
| 497 |
|
✗ |
QSettings robot(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 498 |
|
✗ |
getQSettingsFileName(predifinedRobotConf)); |
| 499 |
|
✗ |
if (!robot.isWritable()) { |
| 500 |
|
✗ |
log(QString("Configuration file ") + robot.fileName() + |
| 501 |
|
✗ |
QString(" is not writable.")); |
| 502 |
|
✗ |
return; |
| 503 |
|
|
} |
| 504 |
|
✗ |
foreach (DialogLoadRobot::RobotDefinition rd, |
| 505 |
|
|
DialogLoadRobot::getRobotDefinitions()) { |
| 506 |
|
✗ |
if (rd.name_.isEmpty()) continue; |
| 507 |
|
✗ |
robot.beginGroup(rd.name_); |
| 508 |
|
✗ |
robot.setValue("RobotName", rd.robotName_); |
| 509 |
|
✗ |
robot.setValue("ModelName", rd.modelName_); |
| 510 |
|
✗ |
robot.setValue("RootJointType", rd.rootJointType_); |
| 511 |
|
✗ |
robot.setValue("Package", rd.package_); |
| 512 |
|
✗ |
robot.setValue("URDFSuffix", rd.urdfSuf_); |
| 513 |
|
✗ |
robot.setValue("SRDFSuffix", rd.srdfSuf_); |
| 514 |
|
✗ |
robot.endGroup(); |
| 515 |
|
|
} |
| 516 |
|
✗ |
log(QString("Wrote configuration file ") + robot.fileName()); |
| 517 |
|
|
} |
| 518 |
|
|
|
| 519 |
|
✗ |
void Settings::writeEnvFile() { |
| 520 |
|
✗ |
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 521 |
|
✗ |
getQSettingsFileName(predifinedEnvConf)); |
| 522 |
|
✗ |
if (!env.isWritable()) { |
| 523 |
|
✗ |
logError(QString("Configuration file") + env.fileName() + |
| 524 |
|
✗ |
QString("is not writable.")); |
| 525 |
|
✗ |
return; |
| 526 |
|
|
} |
| 527 |
|
✗ |
foreach (DialogLoadEnvironment::EnvironmentDefinition ed, |
| 528 |
|
|
DialogLoadEnvironment::getEnvironmentDefinitions()) { |
| 529 |
|
✗ |
if (ed.name_.isEmpty()) continue; |
| 530 |
|
✗ |
env.beginGroup(ed.name_); |
| 531 |
|
✗ |
env.setValue("RobotName", ed.envName_); |
| 532 |
|
✗ |
env.setValue("Package", ed.package_); |
| 533 |
|
✗ |
env.setValue("URDFFilename", ed.urdfFilename_); |
| 534 |
|
✗ |
env.endGroup(); |
| 535 |
|
|
} |
| 536 |
|
✗ |
log(QString("Wrote configuration file ") + env.fileName()); |
| 537 |
|
|
} |
| 538 |
|
|
|
| 539 |
|
✗ |
void Settings::writeSettingFile() { |
| 540 |
|
✗ |
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 541 |
|
✗ |
getQSettingsFileName(configurationFile)); |
| 542 |
|
✗ |
if (!env.isWritable()) { |
| 543 |
|
✗ |
logError(QString("Configuration file") + env.fileName() + |
| 544 |
|
✗ |
QString("is not writable.")); |
| 545 |
|
✗ |
return; |
| 546 |
|
|
} |
| 547 |
|
|
|
| 548 |
|
✗ |
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
| 549 |
|
✗ |
env.beginGroup("viewer"); |
| 550 |
|
✗ |
env.setValue("refreshRate", refreshRate); |
| 551 |
|
✗ |
env.setValue("nbMultiSamples", ds->getNumMultiSamples()); |
| 552 |
|
✗ |
env.setValue("useNameService", useNameService); |
| 553 |
|
✗ |
env.setValue("appStyle", appStyle); |
| 554 |
|
✗ |
env.endGroup(); |
| 555 |
|
|
|
| 556 |
|
✗ |
env.beginGroup("plugins"); |
| 557 |
|
✗ |
for (PluginManager::Map::const_iterator p = |
| 558 |
|
✗ |
pluginManager_.plugins().constBegin(); |
| 559 |
|
✗ |
p != pluginManager_.plugins().constEnd(); p++) { |
| 560 |
|
✗ |
env.setValue(p.key(), (noPlugin) ? false : p.value()->isLoaded()); |
| 561 |
|
|
} |
| 562 |
|
✗ |
env.endGroup(); |
| 563 |
|
|
|
| 564 |
|
✗ |
env.beginGroup("pyplugins"); |
| 565 |
|
✗ |
for (PluginManager::PyMap::const_iterator p = |
| 566 |
|
✗ |
pluginManager_.pyplugins().constBegin(); |
| 567 |
|
✗ |
p != pluginManager_.pyplugins().constEnd(); p++) { |
| 568 |
|
✗ |
env.setValue(p.key(), (noPlugin) |
| 569 |
|
|
? false |
| 570 |
|
✗ |
: pluginManager_.isPyPluginLoaded(p.key()) || |
| 571 |
|
✗ |
pyplugins_.contains(p.key())); |
| 572 |
|
|
} |
| 573 |
|
✗ |
env.endGroup(); |
| 574 |
|
|
|
| 575 |
|
✗ |
env.beginGroup("omniORB"); |
| 576 |
|
✗ |
for (int i = 1; i < omniORBargv_.size(); i += 2) |
| 577 |
|
✗ |
env.setValue(omniORBargv_[i - 1].mid(4), omniORBargv_[i]); |
| 578 |
|
✗ |
env.endGroup(); |
| 579 |
|
|
|
| 580 |
|
✗ |
env.beginGroup("ffmpeg"); |
| 581 |
|
✗ |
env.setValue("command", ffmpeg); |
| 582 |
|
✗ |
env.setValue("input_options", ffmpegInputOptions); |
| 583 |
|
✗ |
env.setValue("output_options", ffmpegInputOptions); |
| 584 |
|
✗ |
env.endGroup(); |
| 585 |
|
|
|
| 586 |
|
✗ |
env.beginGroup("settings"); |
| 587 |
|
✗ |
env.setValue("log", QString::fromStdString(logFile)); |
| 588 |
|
✗ |
env.endGroup(); |
| 589 |
|
✗ |
log(QString("Wrote configuration file ") + env.fileName()); |
| 590 |
|
|
} |
| 591 |
|
|
|
| 592 |
|
✗ |
const char** Settings::makeOmniORBargs(int& argc) { |
| 593 |
|
✗ |
argc = omniORBargv_.size(); |
| 594 |
|
✗ |
const char** argv = new const char*[argc]; |
| 595 |
|
✗ |
for (int i = 0; i < argc; ++i) { |
| 596 |
|
✗ |
const QString& v = omniORBargv_[i]; |
| 597 |
|
✗ |
argv[i] = strdup(v.toLocal8Bit().constData()); |
| 598 |
|
|
} |
| 599 |
|
✗ |
return argv; |
| 600 |
|
|
} |
| 601 |
|
|
|
| 602 |
|
✗ |
QVariant Settings::getSetting(const QString& key, |
| 603 |
|
|
const QVariant& defaultValue) { |
| 604 |
|
✗ |
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
| 605 |
|
✗ |
getQSettingsFileName(configurationFile)); |
| 606 |
|
✗ |
if (env.status() == QSettings::NoError) { |
| 607 |
|
✗ |
return env.value(key, defaultValue); |
| 608 |
|
|
} |
| 609 |
|
✗ |
return defaultValue; |
| 610 |
|
|
} |
| 611 |
|
|
|
| 612 |
|
✗ |
void Settings::addRobotFromString(const std::string& rbtStr) { |
| 613 |
|
✗ |
QString rbt = QString::fromStdString(rbtStr); |
| 614 |
|
✗ |
QStringList split = rbt.split(",", QString::KeepEmptyParts); |
| 615 |
|
✗ |
if (split.size() != 7) { |
| 616 |
|
✗ |
logError("Robot string is not of length 7"); |
| 617 |
|
✗ |
logError(rbt); |
| 618 |
|
✗ |
return; |
| 619 |
|
|
} |
| 620 |
|
✗ |
DialogLoadRobot::addRobotDefinition(split[0], split[1], split[2].toLower(), |
| 621 |
|
✗ |
split[3], split[4], split[5], split[6]); |
| 622 |
|
|
} |
| 623 |
|
|
|
| 624 |
|
✗ |
void Settings::addEnvFromString(const std::string& envStr) { |
| 625 |
|
✗ |
QString env = QString::fromStdString(envStr); |
| 626 |
|
✗ |
QStringList split = env.split(",", QString::KeepEmptyParts); |
| 627 |
|
✗ |
if (split.size() != 6) { |
| 628 |
|
✗ |
logError("Environment string is not of length 6"); |
| 629 |
|
✗ |
logError(env); |
| 630 |
|
✗ |
return; |
| 631 |
|
|
} |
| 632 |
|
✗ |
DialogLoadEnvironment::addEnvironmentDefinition(split[0], split[1], split[2], |
| 633 |
|
✗ |
split[3], split[4], split[5]); |
| 634 |
|
|
} |
| 635 |
|
|
|
| 636 |
|
✗ |
void Settings::addPlugin(const QString& plg, bool init) { |
| 637 |
|
✗ |
if (init) pluginsToInit_.append(plg); |
| 638 |
|
✗ |
pluginManager_.declarePlugin(plg); |
| 639 |
|
|
} |
| 640 |
|
|
|
| 641 |
|
✗ |
void Settings::addPyPlugin(const QString& plg, bool init) { |
| 642 |
|
✗ |
if (init) pyplugins_.append(plg); |
| 643 |
|
✗ |
pluginManager_.declarePyPlugin(plg); |
| 644 |
|
|
} |
| 645 |
|
|
|
| 646 |
|
✗ |
void Settings::addPyScript(const QString& fileName) { |
| 647 |
|
✗ |
pyscripts_.append(fileName); |
| 648 |
|
|
} |
| 649 |
|
|
|
| 650 |
|
✗ |
void Settings::addOmniORB(const QString& arg, const QString& value) { |
| 651 |
|
✗ |
int i = omniORBargv_.indexOf(arg); |
| 652 |
|
✗ |
if (i == -1) |
| 653 |
|
✗ |
omniORBargv_ << arg << value; |
| 654 |
|
|
else |
| 655 |
|
✗ |
omniORBargv_[i + 1] = value; |
| 656 |
|
|
} |
| 657 |
|
|
|
| 658 |
|
✗ |
void Settings::log(const QString& t) { |
| 659 |
|
✗ |
if (!verbose) return; |
| 660 |
|
✗ |
if (mw) |
| 661 |
|
✗ |
mw->log(t); |
| 662 |
|
|
else |
| 663 |
|
✗ |
gepetto::log() << t.toLocal8Bit().constData() << std::endl; |
| 664 |
|
|
} |
| 665 |
|
|
|
| 666 |
|
✗ |
void Settings::logError(const QString& t) { |
| 667 |
|
✗ |
if (mw) |
| 668 |
|
✗ |
mw->logError(t); |
| 669 |
|
|
else |
| 670 |
|
✗ |
qWarning() << t; |
| 671 |
|
|
} |
| 672 |
|
|
} // namespace gui |
| 673 |
|
|
} // namespace gepetto |
| 674 |
|
|
|