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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" << "25"; |
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ffmpegOutputOptions << "-vf" << "scale=trunc(iw/2)*2:trunc(ih/2)*2" << "-r" |
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<< "25" << "-vcodec" << "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'; |
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const char nl = '\n'; |
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os << nl << "Configuration:" << nl << tab |
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<< "Configuration file: " << tab << configurationFile << nl |
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<< tab << "Log file: " << tab |
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<< (logFile.empty() ? "standard output" : logFile) << nl << tab |
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<< "Predefined robots: " << tab << predifinedRobotConf << nl |
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<< tab << "Predefined environments: " << tab << predifinedEnvConf |
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<< nl << tab << "User configuration search path: " << tab |
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<< QFileInfo(QSettings(QSettings::UserScope, |
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QCoreApplication::organizationName(), " ") |
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.fileName()) |
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.absolutePath() |
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.toStdString() |
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<< nl << tab << "System configuration search path:" << tab |
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<< QFileInfo(QSettings(QSettings::SystemScope, |
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QCoreApplication::organizationName(), " ") |
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.fileName()) |
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.absolutePath() |
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.toStdString() |
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<< nl << nl << "Options:" << nl << tab |
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<< "Verbose: " << tab << verbose << nl << tab |
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<< "No plugin: " << tab << noPlugin << nl << tab |
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<< "Use omni name service: " << tab << useNameService << nl |
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<< tab << "Refresh rate: " << tab << refreshRate |
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<< nl << nl << "Screen capture options:" << nl << tab |
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<< "Directory: " << tab << captureDirectory << nl |
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<< tab << "Filename: " << tab << captureFilename |
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<< nl << tab << "Extension: " << tab |
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<< captureExtension << nl << tab |
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<< "ffmpeg command: " << tab << ffmpeg.toStdString() |
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<< nl << tab << "ffmpeg input options: " << tab |
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<< ffmpegInputOptions.join(" ").toStdString() << nl << tab |
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<< "ffmpeg output options: " << tab |
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<< ffmpegOutputOptions.join(" ").toStdString() |
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<< nl << nl << "omniORB configuration"; |
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|
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for (int i = 1; i < omniORBargv_.size(); i += 2) |
364 |
|
|
os << nl << tab << omniORBargv_[i - 1].toStdString() << " = " |
365 |
|
|
<< omniORBargv_[i].toStdString(); |
366 |
|
|
return os; |
367 |
|
|
} |
368 |
|
|
|
369 |
|
|
QString Settings::getQSettingsFileName(const std::string& settingsName) const { |
370 |
|
|
QString name(QString::fromStdString(settingsName)); |
371 |
|
|
QString ext(".conf"); |
372 |
|
|
// Remove extension |
373 |
|
|
if (name.endsWith(ext)) name = name.left(name.size() - ext.size()); |
374 |
|
|
return name; |
375 |
|
|
} |
376 |
|
|
|
377 |
|
|
void Settings::readRobotFile() { |
378 |
|
|
QSettings robot(QSettings::SystemScope, QCoreApplication::organizationName(), |
379 |
|
|
getQSettingsFileName(predifinedRobotConf)); |
380 |
|
|
if (robot.status() != QSettings::NoError) { |
381 |
|
|
logError(QString("Unable to open configuration file ") + robot.fileName()); |
382 |
|
|
} else { |
383 |
|
|
foreach (QString name, robot.childGroups()) { |
384 |
|
|
robot.beginGroup(name); |
385 |
|
|
QString robotName = robot.value("RobotName", name).toString(); |
386 |
|
|
DialogLoadRobot::addRobotDefinition( |
387 |
|
|
name, robotName, robot.value("RootJointType", "freeflyer").toString(), |
388 |
|
|
robot.value("ModelName", robotName).toString(), |
389 |
|
|
robot.value("Package", "").toString(), |
390 |
|
|
robot.value("URDFSuffix", "").toString(), |
391 |
|
|
robot.value("SRDFSuffix", "").toString()); |
392 |
|
|
robot.endGroup(); |
393 |
|
|
} |
394 |
|
|
log(QString("Read configuration file ") + robot.fileName()); |
395 |
|
|
} |
396 |
|
|
} |
397 |
|
|
|
398 |
|
|
void Settings::readEnvFile() { |
399 |
|
|
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
400 |
|
|
getQSettingsFileName(predifinedEnvConf)); |
401 |
|
|
if (env.status() != QSettings::NoError) { |
402 |
|
|
logError(QString("Unable to open configuration file ") + env.fileName()); |
403 |
|
|
} else { |
404 |
|
|
foreach (QString name, env.childGroups()) { |
405 |
|
|
env.beginGroup(name); |
406 |
|
|
QString envName = env.value("EnvironmentName", name).toString(); |
407 |
|
|
DialogLoadEnvironment::addEnvironmentDefinition( |
408 |
|
|
name, envName, env.value("Package", "").toString(), |
409 |
|
|
env.value("URDFFilename").toString(), |
410 |
|
|
env.value("URDFSuffix").toString(), |
411 |
|
|
env.value("SRDFSuffix").toString()); |
412 |
|
|
env.endGroup(); |
413 |
|
|
} |
414 |
|
|
log(QString("Read configuration file ") + env.fileName()); |
415 |
|
|
} |
416 |
|
|
} |
417 |
|
|
|
418 |
|
|
#define GET_PARAM(what, type, variantMethod) \ |
419 |
|
|
{ \ |
420 |
|
|
QVariant param(env.value(#what, what)); \ |
421 |
|
|
if (param.canConvert<type>()) \ |
422 |
|
|
what = param.variantMethod(); \ |
423 |
|
|
else \ |
424 |
|
|
logError("Setting viewer/" #what " should be an " #type "."); \ |
425 |
|
|
} |
426 |
|
|
|
427 |
|
|
void Settings::readSettingFile() { |
428 |
|
|
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
429 |
|
|
getQSettingsFileName(configurationFile)); |
430 |
|
|
if (env.status() != QSettings::NoError) { |
431 |
|
|
logError(QString("Unable to open configuration file ") + env.fileName()); |
432 |
|
|
} else { |
433 |
|
|
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
434 |
|
|
env.beginGroup("viewer"); |
435 |
|
|
GET_PARAM(refreshRate, int, toInt); |
436 |
|
|
int nbMultiSamples = 4; |
437 |
|
|
GET_PARAM(nbMultiSamples, int, toInt); |
438 |
|
|
ds->setNumMultiSamples(nbMultiSamples); |
439 |
|
|
|
440 |
|
|
QString appStyle; |
441 |
|
|
GET_PARAM(appStyle, QString, toString); |
442 |
|
|
if (!appStyle.isNull()) { |
443 |
|
|
if (QStyleFactory::keys().contains(appStyle, Qt::CaseInsensitive)) |
444 |
|
|
this->appStyle = appStyle; |
445 |
|
|
else { |
446 |
|
|
logError("Available application styles are " + |
447 |
|
|
QStyleFactory::keys().join(", ")); |
448 |
|
|
logError("Requested value is " + appStyle); |
449 |
|
|
logError("Current value is " + this->appStyle); |
450 |
|
|
} |
451 |
|
|
} |
452 |
|
|
|
453 |
|
|
GET_PARAM(useNameService, bool, toBool); |
454 |
|
|
env.endGroup(); |
455 |
|
|
|
456 |
|
|
env.beginGroup("plugins"); |
457 |
|
|
foreach (QString name, env.childKeys()) { |
458 |
|
|
addPlugin(name, (noPlugin) ? false : env.value(name, true).toBool()); |
459 |
|
|
} |
460 |
|
|
env.endGroup(); |
461 |
|
|
|
462 |
|
|
env.beginGroup("pyplugins"); |
463 |
|
|
foreach (QString name, env.childKeys()) { |
464 |
|
|
addPyPlugin(name, (noPlugin) ? false : env.value(name, true).toBool()); |
465 |
|
|
} |
466 |
|
|
env.endGroup(); |
467 |
|
|
|
468 |
|
|
env.beginGroup("omniORB"); |
469 |
|
|
foreach (QString name, env.childKeys()) { |
470 |
|
|
addOmniORB("-ORB" + name, env.value(name).toString()); |
471 |
|
|
} |
472 |
|
|
env.endGroup(); |
473 |
|
|
|
474 |
|
|
env.beginGroup("ffmpeg"); |
475 |
|
|
ffmpeg = env.value("command", ffmpeg).toString(); |
476 |
|
|
ffmpegInputOptions = |
477 |
|
|
env.value("input_options", ffmpegInputOptions).toStringList(); |
478 |
|
|
ffmpegOutputOptions = |
479 |
|
|
env.value("output_options", ffmpegOutputOptions).toStringList(); |
480 |
|
|
env.endGroup(); |
481 |
|
|
|
482 |
|
|
env.beginGroup("settings"); |
483 |
|
|
logFile = env.value("log", QString::fromStdString(logFile)) |
484 |
|
|
.toString() |
485 |
|
|
.toStdString(); |
486 |
|
|
env.endGroup(); |
487 |
|
|
log(QString("Read configuration file ") + env.fileName()); |
488 |
|
|
} |
489 |
|
|
} |
490 |
|
|
|
491 |
|
|
void Settings::writeRobotFile() { |
492 |
|
|
QSettings robot(QSettings::SystemScope, QCoreApplication::organizationName(), |
493 |
|
|
getQSettingsFileName(predifinedRobotConf)); |
494 |
|
|
if (!robot.isWritable()) { |
495 |
|
|
log(QString("Configuration file ") + robot.fileName() + |
496 |
|
|
QString(" is not writable.")); |
497 |
|
|
return; |
498 |
|
|
} |
499 |
|
|
foreach (DialogLoadRobot::RobotDefinition rd, |
500 |
|
|
DialogLoadRobot::getRobotDefinitions()) { |
501 |
|
|
if (rd.name_.isEmpty()) continue; |
502 |
|
|
robot.beginGroup(rd.name_); |
503 |
|
|
robot.setValue("RobotName", rd.robotName_); |
504 |
|
|
robot.setValue("ModelName", rd.modelName_); |
505 |
|
|
robot.setValue("RootJointType", rd.rootJointType_); |
506 |
|
|
robot.setValue("Package", rd.package_); |
507 |
|
|
robot.setValue("URDFSuffix", rd.urdfSuf_); |
508 |
|
|
robot.setValue("SRDFSuffix", rd.srdfSuf_); |
509 |
|
|
robot.endGroup(); |
510 |
|
|
} |
511 |
|
|
log(QString("Wrote configuration file ") + robot.fileName()); |
512 |
|
|
} |
513 |
|
|
|
514 |
|
|
void Settings::writeEnvFile() { |
515 |
|
|
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
516 |
|
|
getQSettingsFileName(predifinedEnvConf)); |
517 |
|
|
if (!env.isWritable()) { |
518 |
|
|
logError(QString("Configuration file") + env.fileName() + |
519 |
|
|
QString("is not writable.")); |
520 |
|
|
return; |
521 |
|
|
} |
522 |
|
|
foreach (DialogLoadEnvironment::EnvironmentDefinition ed, |
523 |
|
|
DialogLoadEnvironment::getEnvironmentDefinitions()) { |
524 |
|
|
if (ed.name_.isEmpty()) continue; |
525 |
|
|
env.beginGroup(ed.name_); |
526 |
|
|
env.setValue("RobotName", ed.envName_); |
527 |
|
|
env.setValue("Package", ed.package_); |
528 |
|
|
env.setValue("URDFFilename", ed.urdfFilename_); |
529 |
|
|
env.endGroup(); |
530 |
|
|
} |
531 |
|
|
log(QString("Wrote configuration file ") + env.fileName()); |
532 |
|
|
} |
533 |
|
|
|
534 |
|
|
void Settings::writeSettingFile() { |
535 |
|
|
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
536 |
|
|
getQSettingsFileName(configurationFile)); |
537 |
|
|
if (!env.isWritable()) { |
538 |
|
|
logError(QString("Configuration file") + env.fileName() + |
539 |
|
|
QString("is not writable.")); |
540 |
|
|
return; |
541 |
|
|
} |
542 |
|
|
|
543 |
|
|
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
544 |
|
|
env.beginGroup("viewer"); |
545 |
|
|
env.setValue("refreshRate", refreshRate); |
546 |
|
|
env.setValue("nbMultiSamples", ds->getNumMultiSamples()); |
547 |
|
|
env.setValue("useNameService", useNameService); |
548 |
|
|
env.setValue("appStyle", appStyle); |
549 |
|
|
env.endGroup(); |
550 |
|
|
|
551 |
|
|
env.beginGroup("plugins"); |
552 |
|
|
for (PluginManager::Map::const_iterator p = |
553 |
|
|
pluginManager_.plugins().constBegin(); |
554 |
|
|
p != pluginManager_.plugins().constEnd(); p++) { |
555 |
|
|
env.setValue(p.key(), (noPlugin) ? false : p.value()->isLoaded()); |
556 |
|
|
} |
557 |
|
|
env.endGroup(); |
558 |
|
|
|
559 |
|
|
env.beginGroup("pyplugins"); |
560 |
|
|
for (PluginManager::PyMap::const_iterator p = |
561 |
|
|
pluginManager_.pyplugins().constBegin(); |
562 |
|
|
p != pluginManager_.pyplugins().constEnd(); p++) { |
563 |
|
|
env.setValue(p.key(), (noPlugin) |
564 |
|
|
? false |
565 |
|
|
: pluginManager_.isPyPluginLoaded(p.key()) || |
566 |
|
|
pyplugins_.contains(p.key())); |
567 |
|
|
} |
568 |
|
|
env.endGroup(); |
569 |
|
|
|
570 |
|
|
env.beginGroup("omniORB"); |
571 |
|
|
for (int i = 1; i < omniORBargv_.size(); i += 2) |
572 |
|
|
env.setValue(omniORBargv_[i - 1].mid(4), omniORBargv_[i]); |
573 |
|
|
env.endGroup(); |
574 |
|
|
|
575 |
|
|
env.beginGroup("ffmpeg"); |
576 |
|
|
env.setValue("command", ffmpeg); |
577 |
|
|
env.setValue("input_options", ffmpegInputOptions); |
578 |
|
|
env.setValue("output_options", ffmpegInputOptions); |
579 |
|
|
env.endGroup(); |
580 |
|
|
|
581 |
|
|
env.beginGroup("settings"); |
582 |
|
|
env.setValue("log", QString::fromStdString(logFile)); |
583 |
|
|
env.endGroup(); |
584 |
|
|
log(QString("Wrote configuration file ") + env.fileName()); |
585 |
|
|
} |
586 |
|
|
|
587 |
|
|
const char** Settings::makeOmniORBargs(int& argc) { |
588 |
|
|
argc = omniORBargv_.size(); |
589 |
|
|
const char** argv = new const char*[argc]; |
590 |
|
|
for (int i = 0; i < argc; ++i) { |
591 |
|
|
const QString& v = omniORBargv_[i]; |
592 |
|
|
argv[i] = strdup(v.toLocal8Bit().constData()); |
593 |
|
|
} |
594 |
|
|
return argv; |
595 |
|
|
} |
596 |
|
|
|
597 |
|
|
QVariant Settings::getSetting(const QString& key, |
598 |
|
|
const QVariant& defaultValue) { |
599 |
|
|
QSettings env(QSettings::SystemScope, QCoreApplication::organizationName(), |
600 |
|
|
getQSettingsFileName(configurationFile)); |
601 |
|
|
if (env.status() == QSettings::NoError) { |
602 |
|
|
return env.value(key, defaultValue); |
603 |
|
|
} |
604 |
|
|
return defaultValue; |
605 |
|
|
} |
606 |
|
|
|
607 |
|
|
void Settings::addRobotFromString(const std::string& rbtStr) { |
608 |
|
|
QString rbt = QString::fromStdString(rbtStr); |
609 |
|
|
QStringList split = rbt.split(",", QString::KeepEmptyParts); |
610 |
|
|
if (split.size() != 7) { |
611 |
|
|
logError("Robot string is not of length 7"); |
612 |
|
|
logError(rbt); |
613 |
|
|
return; |
614 |
|
|
} |
615 |
|
|
DialogLoadRobot::addRobotDefinition(split[0], split[1], split[2].toLower(), |
616 |
|
|
split[3], split[4], split[5], split[6]); |
617 |
|
|
} |
618 |
|
|
|
619 |
|
|
void Settings::addEnvFromString(const std::string& envStr) { |
620 |
|
|
QString env = QString::fromStdString(envStr); |
621 |
|
|
QStringList split = env.split(",", QString::KeepEmptyParts); |
622 |
|
|
if (split.size() != 6) { |
623 |
|
|
logError("Environment string is not of length 6"); |
624 |
|
|
logError(env); |
625 |
|
|
return; |
626 |
|
|
} |
627 |
|
|
DialogLoadEnvironment::addEnvironmentDefinition(split[0], split[1], split[2], |
628 |
|
|
split[3], split[4], split[5]); |
629 |
|
|
} |
630 |
|
|
|
631 |
|
|
void Settings::addPlugin(const QString& plg, bool init) { |
632 |
|
|
if (init) pluginsToInit_.append(plg); |
633 |
|
|
pluginManager_.declarePlugin(plg); |
634 |
|
|
} |
635 |
|
|
|
636 |
|
|
void Settings::addPyPlugin(const QString& plg, bool init) { |
637 |
|
|
if (init) pyplugins_.append(plg); |
638 |
|
|
pluginManager_.declarePyPlugin(plg); |
639 |
|
|
} |
640 |
|
|
|
641 |
|
|
void Settings::addPyScript(const QString& fileName) { |
642 |
|
|
pyscripts_.append(fileName); |
643 |
|
|
} |
644 |
|
|
|
645 |
|
|
void Settings::addOmniORB(const QString& arg, const QString& value) { |
646 |
|
|
int i = omniORBargv_.indexOf(arg); |
647 |
|
|
if (i == -1) |
648 |
|
|
omniORBargv_ << arg << value; |
649 |
|
|
else |
650 |
|
|
omniORBargv_[i + 1] = value; |
651 |
|
|
} |
652 |
|
|
|
653 |
|
|
void Settings::log(const QString& t) { |
654 |
|
|
if (!verbose) return; |
655 |
|
|
if (mw) |
656 |
|
|
mw->log(t); |
657 |
|
|
else |
658 |
|
|
gepetto::log() << t.toLocal8Bit().constData() << std::endl; |
659 |
|
|
} |
660 |
|
|
|
661 |
|
|
void Settings::logError(const QString& t) { |
662 |
|
|
if (mw) |
663 |
|
|
mw->logError(t); |
664 |
|
|
else |
665 |
|
|
qWarning() << t; |
666 |
|
|
} |
667 |
|
|
} // namespace gui |
668 |
|
|
} // namespace gepetto |